Source: https://patents.google.com/patent/CN105682597B/en
Timestamp: 2020-08-12 04:27:30
Document Index: 390857750

Matched Legal Cases: ['art 62', 'art 62', 'art 62', 'art 62', 'art 64', 'art 62', 'art 70', 'art 70', 'art 66', 'art 62', 'art 70', 'art 70', 'art 70', 'art 62', 'art 62', 'art 64', 'art 50', 'art 70', 'art 70', 'art 70', 'art 70', 'art 50', 'art 70', 'art 66', 'art 70', 'art 70', 'art 68', 'art 68', 'art 70', 'art 50', 'art 70', 'art 94', 'art 68', 'art 70', 'art 70', 'art 70', 'art 70', 'art.\n10']

CN105682597B - Medical treatment device with contact force sensing tip - Google Patents
Medical treatment device with contact force sensing tip Download PDF
CN105682597B
CN105682597B CN201480060405.2A CN201480060405A CN105682597B CN 105682597 B CN105682597 B CN 105682597B CN 201480060405 A CN201480060405 A CN 201480060405A CN 105682597 B CN105682597 B CN 105682597B
CN201480060405.2A
CN105682597A (en
A·伊兹米尔里
2013-11-07 Priority to US201361962466P priority Critical
2013-11-07 Priority to US61/962,466 priority
2014-11-06 Application filed by 圣犹达医疗用品心脏病学部门有限公司 filed Critical 圣犹达医疗用品心脏病学部门有限公司
2014-11-06 Priority to PCT/US2014/064335 priority patent/WO2015069887A1/en
2016-06-15 Publication of CN105682597A publication Critical patent/CN105682597A/en
2018-06-12 Publication of CN105682597B publication Critical patent/CN105682597B/en
230000035699 Permeability Effects 0.000 claims 2
238000007363 ring formation Methods 0.000 claims 1
The invention discloses for diagnosing or treat the medical treatment device of the tissue in body.Representative device includes with portions of proximal and is configured as the elongated axostylus axostyle of the distal part moved relative to portions of proximal.Flexible member with predetermined stiffness is arranged between nearside and distal part.One or more coils and electric passive element are arranged in axostylus axostyle, and coil or element are configured as moving with distal part.Element includes the material for influencing the electrical characteristics of coil.Distal part leads to the variation of at least one electrical characteristics of coil, contact force size of the variation instruction at least between distal part and tissue in response to the movement of its contact with tissue and the relative movement of coil and element.Several embodiments allow to determine power size and force vector direction.
Medical treatment device with contact force sensing tip
The present invention relates to for diagnosing or treat the medical treatment device of the tissue in body.Particularly, the present invention relates to offers The device of the instruction of contact force between device and tissue.
Various medical treatment devices are inserted into body with the various physical conditions of diagnose and treat.Conduit is for example for performing human body With the various tasks in other bodies, the removal of conveying, body fluid including drug and fluid and Surigical tool and instrument Transport.In diagnose and treat atrial fibrillation, for example, in addition to other tasks, conduit can be used for electrode being delivered to heart Surface is delivered to for the Electrophysiological mapping on the surface of heart and by ablation energy.
Some conduits include for determine conduit and tissue between contact and for controlling conduit in response to contacting Component.In the case of electrophysiological diagnosis or mapping catheter, for example, contact can be intended to provide significant sensor output and The accurate mapping of heart.In the case of ablation catheter, enough contacts are desired to the effective of the ablation lesions in tissue It is formed.
Above-mentioned discussion is merely intended to show this field and should not be taken as negative to right.
In other aspects, various embodiments disclosed herein are related to the medical treatment for diagnosing or treating the tissue in body Devices, systems, and methods.For example, the present invention describes following device and system, the electronics in the distal part of use device Passive element provides the instruction of the contact force between device and tissue, and the moving influence of the distal part of device is contained in dress The flexibility that the portions of proximal of electrical characteristics in one or more of portions of proximal put coil, wherein device passes through such as spring Component is detached with the distal part of device.
The medical treatment device for being used to treat or diagnose the tissue in body of one embodiment according to this teaching includes elongated Tubular shaft, be configured as being contained in body.Axostylus axostyle has portions of proximal and is configured as relative to portions of proximal The mobile distal part in distal end, the movement are included through the longitudinal axis along the axostylus axostyle toward and away from the distal end of portions of proximal It moves and by being deflected from the longitudinal axis.Device further includes the flexible structure between the nearside for being arranged on the axostylus axostyle and distal part Part.The flexible member has predetermined stiffness.Device further includes the electromagnetic coil being arranged in the axostylus axostyle and is arranged on institute State the electric passive element in axostylus axostyle.The electricity passive element includes the material for influencing the electrical characteristics of the electromagnetic coil, and can To include ferrite or unpolarized magnetic material in a particular embodiment.In the electromagnetic coil and the electric passive element One distal part being configured as with axostylus axostyle and relative to another in the electromagnetic coil and the electric passive element It is mobile.In response to distal part and the contact organized and deformation, described electromagnetic coil and the electricity of the flexible member Relative movement between passive element leads to the variation of the electrical characteristics in the electromagnetic coil.The variation instruction flexible member Deformation and the specific contact force between distal part and tissue.
Include medical treatment device for treating or diagnosing the system of the tissue in body, which has elongated tubulose Axostylus axostyle is configured as being contained in body.Axostylus axostyle has portions of proximal and is configured as the distal end shifting relative to portions of proximal Dynamic distal part, the movement include by the distal end of the longitudinal axis along the axostylus axostyle toward and away from portions of proximal move with And by being deflected from the longitudinal axis.Device further includes the flexible member between the nearside for being arranged on the axostylus axostyle and distal part.It is described Flexible member has predetermined stiffness.Device further includes the electromagnetic coil being arranged in the axostylus axostyle and is arranged in the axostylus axostyle Electric passive element.The electricity passive element includes the material for influencing the electrical characteristics of the electromagnetic coil, and can be specific Embodiment includes ferrite or unpolarized magnetic material.One in the electromagnetic coil and the electric passive element by with It is set to the distal part with axostylus axostyle and relative to another movement in the electromagnetic coil and the electric passive element.Response In distal part and the contact organized and deformation, the described electromagnetic coil of the flexible member and the electric passive element it Between relative movement lead to the variations of the electrical characteristics in the electromagnetic coil.The deformation of the variation instruction flexible member and remote Specific contact force between side part and tissue.System further includes electronic control unit, is configured to respond to by electromagnetic wire The signal of generation is enclosed to determine specific contact force size, the variation of the electrical characteristics of the signal designation electromagnetic coil.
Medical treatment device and system according to this teaching is advantageous relative to traditional device and system.According to this teaching Medical treatment device and system are provided for the component of the contact force size between the tissue in measuring device and body, can be than passing The device and system of system are simpler and cheap, and the also absolute vectors orientation of report resulting net force in three dimensions.In device The use of electric passive element reduces compared with conventional apparatus for determining the quantity of conductor required in the device of contact force. Therefore, device and system save the valuable space in device and manufacture cheap.
By reading description below and claims and by consulting attached drawing, the foregoing and other side of this introduction Face, feature, details, function and advantage will become obvious.
Fig. 1 is a reality for being used to diagnose or treat the system of the tissue in body of one embodiment according to this teaching Apply the diagrammatic view of example.
Fig. 2 be one embodiment according to this teaching for diagnose or treat tissue medical treatment device a part etc. Away from view.
Fig. 3 is the section view of the medical treatment device of Fig. 2.
Fig. 4 is the part for being used to diagnose or treat the medical treatment device of tissue of another embodiment according to this teaching Section view.
Fig. 5 is the part for being used to diagnose or treat the medical treatment device of tissue of another embodiment according to this teaching Section view.
Fig. 6 is the part for being used to diagnose or treat the medical treatment device of tissue of another embodiment according to this teaching Section view.
Fig. 7 is the part for being used to diagnose or treat the medical treatment device of tissue of another embodiment according to this teaching Section view.
There has been described various equipment, the various embodiments of system and or method.Many details are proposed to provide To the overall structure of embodiment, function, manufacture and the comprehensive understanding used for describing and being shown in the drawings in the description.So And it should be appreciated by those skilled in the art that may be practiced without these specific details the embodiment.Other In the case of, well known operation, component and element are not described in detail with not so that the embodiment described in specification is obscure.Ability Field technique personnel are it should be understood that the non-limiting example of embodiment herein described and illustrated, thus, it is possible to understand, Specific structure and function details disclosed herein can be representative and not necessarily limit the range of embodiment, the reality The range for applying example is defined solely by the appended claims.
Through the drawing to " various embodiments ", " some embodiments ", " one embodiment " or " embodiment " etc. of specification It is included at least one embodiment with a particular feature, structure, or characteristic for meaning to describe in conjunction with the embodiments.Illustrating as a result, Book everywhere in phrase " in various embodiments ", " in some embodiments ", " in one embodiment " or " in embodiment In " etc. appearance necessarily all refer to identical embodiment.In addition, special characteristic, structure or it is specific can be with any suitable side Formula combines in one or more embodiments.The a particular feature, structure, or characteristic that one embodiment shows or describes is combined as a result, It can be combined in whole or in part with the feature of one or more of the other embodiment, structure or characteristic without limitation, on condition that This combination is not illogical or non-functional.
It is appreciated that term " nearside " and " distal side " can treat the instrument of patient with reference to manipulation in the description The doctor of one end uses.Term " nearside " finger device tool refers near the part of doctor and term " distal side " farthest away from doctor Part.Similarly, it is meant " closer to side " closer to doctor, and " farther side " means farther from doctor.It can be into One step understand, in order to succinct and clear, here can be directed to illustrated embodiment use such as " vertical ", " level ", " on " and " under " spatial terminology.However, surgical operating instrument can be used with many directions and position, and these terms be not meant to be It is restricted and absolute.
Referring now to attached drawing, wherein identical reference numeral is used to represent the same or similar component in each view, Fig. 1 show for diagnose or treat the tissue 12 in body 14 system 10 one embodiment.In the shown embodiment, it organizes 12 include the heart tissue in human body.It should be appreciated, however, that system 10 according to this teaching it can be found that combine for diagnosing or Treat human body and it is non-human in various tissues program application.System 10 includes the medical treatment for diagnosing or treating tissue 12 Device.According to one embodiment, system 10 includes the ablation catheter 16 for diagnosing or treating tissue 12, and can be further Including ablation generator 18, long-range catheter guidance systems (RCGS) 20, display system 22, electronic control unit (ECU) 24 and/ Or external field generator 26.Conduit 16 is provided for such as inspection of the internal bodily tissue of tissue 12, diagnose and treat.Root According to one embodiment of the present teachings, conduit 16 rinses radio frequency (RF) ablation catheter including ablation catheter and more particularly.So And, it should be understood that conduit 16 is provided for only signal, and system 10 may be adapted to including electro physiology (EP) mapping catheter It is used together with the other types of conduit of ultrasonic cardiography in heart (ICE) conduit and for being led with other types of ablation Pipe is used together, and the other types of ablation catheter includes those different types of ablation energies of offer (for example, freezing disappears Melt, ultrasonic wave, laser, microwave, electroporation etc.) ablation catheter and/or those be dimensioned and be configured as accessing The ablation catheter of the body of patient or the different zones of cardiovascular system, such as arteria renalis.In addition, it should be understood that system 10 may be adapted to be used together with for diagnosing or treating the other types of medical treatment device of tissue 12, and medical treatment device is included for example For installing the guide sheath of artificial heart valve, small pacemaker or other implantation materials or conduit.Conduit 16 can connect Rinse fluid art source 28 is connected to, the fluid with the bio-compatible of such as physiological saline, (it can be with by flushing pump 30 for the fluid Including for example shown there is the fixed rate roller pump supplied from the gravity of fluid source 28 or variable volume syringe pump) it uses In flushing.Conduit 16 can also be electrically connected to ablation generator 18 and melt RF energy for conveying.Conduit 16 can include electricity Cable connector or interface 32, handle 34, the flexible axostylus axostyle 36 with proximal end 38 and distal end 40 and one or more ablations and sense Survey electrode 42.Conduit 16 can also include other traditional components not shown here, such as temperature sensor, pace-making in addition or Mapping electrodes and corresponding conductor or lead.With reference to figure 1-3, according to this teaching, conduit 16 may further include such as electric The component of magnetic coil 44,46,48 and element 50, for the distal end 40 of sensing tube 16 and the contact force of tissue 12.
It is directed to referring again to FIGS. 1, connector 32 provides from the cable of 30 extension of ablation generator 18, RCGS 20 and pump Machinery, fluid and electrical connection.Connector 32 is proximal end that is conventional and being arranged on conduit 16 in the art.Although shown Handle 34 is attached directly in embodiment, but connector 32 can be coupled to handle 34 indirectly by several feet of such as cable. Handle 34 provides doctor and keeps the position of conduit 16, and can further provide for the axostylus axostyle for manipulating or guiding in body 14 36 component.For example, handle 34 can include changing the length of the control wire for the distal end 40 that axostylus axostyle 36 is extended to by conduit 16 Component manipulate axostylus axostyle 36 to control the translation of the distal end 40 of axostylus axostyle 36 and/or deflection.Handle 34 can be manual by doctor Ground is manipulated or is manipulated automatically via the robot control of such as such as RCGS20.It should be appreciated that the construction of handle 34 can be with Change and can be not present in the Totally robotic of system is implemented.
Referring again to Fig. 1 and 2, axostylus axostyle or flexible tube chamber 36 provide the structural support to other components of conduit 16, this its Its component include electrode 42, coil 44,46,48 and element 50, extend to electrode 42 and coil 44,46,48 electric wire and its Its conductor and possibly for signal processing or the other electronic device of adjusting.Axostylus axostyle 36 can also allow for fluid (including Rinse fluid art and body fluid), transport, conveying and/or the removal of machine, and/or Surigical tool or instrument.Axostylus axostyle 36 can be with Support the tissue imaging apparatus in distal tip.Axostylus axostyle 36 is configured as being contained in body 14, and can be via traditional Guide is introduced into blood vessel or other structures in body 14.Using such as still reaching the available Agilis of medical company from holyTM NxT can manipulate the guiding guide of guide, using RCGS 20 or using be oriented to electric wire, bracing wire or it is known in the art its Its component, axostylus axostyle 36 can be manipulated or guide later the desired locations to such as tissue 12 by body 14.With reference to figure 2-3, Axostylus axostyle 36 can include elongated tubular element 52 and tip assembly 54.
Component 52 is flexible or deformable, and is configured as moving (Fig. 1) in body 14.Component 52 further defines One or more tube chambers are configured as accommodating conductor and control wire and fluid are allowed to pass therethrough.With reference to figure 3, component 52 can With the inner liner 56 for including tubulose, polymer, the litzendraht wire layer 58 that transmits for torque and outer polymer outer cover 60. Bushing 56 can be manufactured by polymer material, such as the polyvinyl fluoride including being sold by E.I.Du Pont Company with registered trademark " TEFLON " (PTFE) PTFE, polyetheramides, nylon or the elastomer such as sold by Arkema companies with registered trademark " PEBAX " heat Thermoplastic elastic.Litzendraht wire layer 58 be configured to supply a suitable level of the pushing away property to axostylus axostyle 36, can torsion, flexibility and Kink resistance.Layer 58 can be formed by stainless steel control wire, and can be to include folded one (including at least two electric wires) Or two the flat wires of various Weaving patterns configuration of cross figure of folded two (including at least four electric wires) (electric wire has transversal Face is substantially rectangular when intercepting along the longitudinal axis of electric wire and being measured along two quadrature axis).The electric wire can be coated with one Layer insulating materials.Electric wire braiding directly can be wound or be placed on the core slided on bushing 56 around bushing 56.Outer cover 60 can be made of polymer material, and can be extruded on layer 58, polymer material such as polyvinyl fluoride (PTFE, packet Include the PTFE sold by E.I.Du Pont Company with registered trademark " TEFLON "), polyetheramides, nylon or thermoplastic elastomer (TPE) (such as by The elastomer that Arkema companies are sold with registered trademark " PEBAX ").Additional detail about several exemplary catheters construction can be with It is found in the United States Patent (USP) No.7 authorized jointly, 914,515, the full content of the patent is included herein by reference.Component 52 can be configured to accommodate tip assembly 54 in the far-end of component 52.
Still referring to FIG. 2-3, tip assembly 54 is included closer to side tip portion 62, farther side tip portion 64 and in portion Divide the intermediate tip portion 66 between 62,64.Proximal tips part 62 is configured as tip assembly 54 in the distal end of component 52 It installs to component 52 at place.Proximal tips part 62 extends to intermediate tip portion 66 from the distal end of component 52.Proximal tips part 62 can be by relative stiffness and more rigid at least than being used to form the material of intermediate tip portion 66 one or more of materials Material is made, and intermediate tip portion 66 has respectively along its axial (longitudinal compression or direction of extension) and bending (revolution) direction The controllable flexibility or rigidity of limit, for example there is in spring.With component 52 together, proximal tips part 62 can be formed The portions of proximal 68 of axostylus axostyle 36.Distal tip portion 64 can include or can be configured as supporting electrode 42.Distal tip Part 64 extends relative to proximal tips part 62 from the opposite side of intermediate tip portion 66.Distal tip portion 64 can also be by Relative stiffness and more rigid at least than being used to form the material of flexible intermediate tip portion 66 one or more of materials It is made.Distal tip portion 64 forms the distal part 70 of axostylus axostyle 36.Intermediate tip portion 66 provides to allow axostylus axostyle 36 Distal part 70 is relative to the component of the movement of the distal end 72 of the portions of proximal 68 of axostylus axostyle 36, and the movement is including along axostylus axostyle 36 Deflection that the longitudinal axis 74 is at an angle of toward and away from the movement of the distal end 72 of portions of proximal 68 and with axis 74 or bending.Intermediate tip Part 66 is made of one or more of materials, and the material is inherently relatively flexible or alternatively, by fluting or slot or It is implemented more flexible using coil structure and the thus material at least than being used to form nearside and distal tip portion 62,64 It is more flexible.Intermediate tip portion 66 limits or including flexible member, such as spring 76 or elastic bending bar, at least one Predetermined or known rigidity (that is, during at least one certain variations state of bending, compression etc., such as gram often degree or gram The measurement of every millimeter of deformation) so that flexible member in response to the deformation of power is known and by using in memory Look-up table or other data structures or by using algorithm, the deformation detected can be transformed into power.Spring 76 can wrap Spiral, coiling, waveform or bellows spring is included, and can be made of a variety of materials, material is included such as not Become rusty steel, platinum, platinum alloy, titanium, beryllium copper, NiTi (nitinol) and invar metal and metal alloy and elastomer polymerize Object.Spring 76 can also be formed from metal stud pipe using laser-induced thermal etching or electrical discharge machining is deleted.Intermediate tip portion 66 It can include the single spring 76 centered on axis 74 or the multiple springs set around axis 74 (for example, surrounding axis 74 along circle Three springs that week is equably spaced).Instead of spring 76, intermediate tip portion 66 can be alternatively by including such as rubber Elastic material is formed, so that flexible member is formed small disk or torus (torus) centered on axis 74.
Tip assembly 54 may further include the sleeve 77 around intermediate tip portion 66, prevent from body 14 Blood enters the inside of tip assembly 54 and/or physiological saline or other fluids flow out to body from the inside of tip assembly 54 14.Sleeve 77 can be sealed to tip assembly in the near proximal ends of the distal end of proximal tips part 62 and distal tip portion 64 54 outer surface.Sleeve 77 can be made of thin flexible tubular elastic material.Sleeve 77 can be formed It is thin and can stretch) not significantly change being integrated with for (such as increase) such as tip 54 that is preferably only determined by spring 76 Imitate rigidity.Therefore, sleeve 77 can be selected so that its shape, construction with material property to spring 76 or similar flexible structure Part has minimum influence or does not influence and cause any rigidity of sleeve 77 not change or have relatively small change, Although the change of temperature and the extension to blood, physiological saline or other fluids in body 14 and conduit 16 in pointed member 54 Exposure.Therefore, sleeve 77 can be configured such that the arbitrary rigidity of sleeve 77 is less than the firm of spring 76 in one embodiment Degree 10% and in another embodiment less than spring 76 rigidity 5% and in another embodiment be less than spring 76 Rigidity 2%.Sleeve 77 can also be configured such that it with low-down suction by the application of material selection or coating Water degree, with the expansion for preventing sleeve 77 and the change of size and rigidity caused by the expansion.Particularly, sleeve 77 Can be configured so that its fluid absorb by weight be less than 10% and in one embodiment by weight be less than 5% and It is less than 2% by weight in another embodiment.Sleeve 77 can also form to reduce rigidity by ripple (not shown).Sleeve 77 It can also be formed the deformable films (or balloon) of opposite thin-walled, can be expanded by fluid (for example, physiological saline) Selectively pushed away from spring 76.
Referring again to FIGS. 1, the electrode on the outer surface of film 52 or tip portion 54 is provided for various diagnosis and controls Purpose is treated, including such as electrophysiologic studies, marking catheter and positioning, pace-making and cardiac mapping and ablation.In shown implementation In example, conduit 16 includes ablation tip electrode 42 at the distal end of axostylus axostyle 36 40, is used as RF ablation delivery element.Conduit 16 It can also include one or more annular electrode (not shown) in the nearside of point electrode 42, can be used for obtaining tissue 12 Electrogram (not shown) and for other conventional purposes.It will be appreciated, however, that the quantity of electrode 42, orientation and purpose can With variation.Electrode 42 can be by including comprising gold, platinum, iridium, palladium, rhodium, stainless steel and/or its various conductive material arbitrarily combined It is made.
Referring again to Fig. 2-3, electromagnetic coil 44,46,48 and element 50 provide the distal part 70 for sensing axostylus axostyle 36 Therefore the component of contact force between 12 (referring to Fig. 1) of tissue simultaneously forms force snesor together.Tool there are three coil Fig. 2 and 3 illustrated embodiment can report the size and these subvector phases of power subvector (radially or bending and axial or longitudinal) The absolute three-dimensional of conduit portion 68 closer to side is oriented.Coil 44,46,48 generates signal when being electrically excited, response It is predictably variable in axial direction and the bending position at 50/ tip 54 of element and is transferred to ECU 24.That is, each coil is extremely Element 50 is electrically coupled as it is predictably variable, and the behavior can be in system relative to orientation/position of element 50 It is recorded or models in software or look-up table.In embodiment shown in Fig. 2-3, coil 44,46,48 is arranged on axostylus axostyle 36 In portions of proximal 68, and element 50 is arranged in the distal side deflectionable part 70 of axostylus axostyle 36.However, with reference to figure 4, it should be appreciated that The position of coil 44,46,48 and element 50 can be inverted such that one or more coils 44,46,48 can be alternatively It is arranged in distal part 70, and one or more elements 50 are arranged in portions of proximal 68.In addition, although coil 44,46,48 It is provided entirely in shown in Fig. 2-3 in proximal tips part 62 or distal tip portion 64 with element 50, it is to be understood that, line It is long to reduce the axial direction of force snesor that circle 44,46,48 and/or element 50 can extend at least partially into intermediate tip portion 66 Degree.
" order of contact " refers to the size of net vectorial contact force.Resulting net force size includes sensed axial direction (longitudinal direction) force vector size Component and angulation or bending the contact force vector magnitude component sensed with axis oriented normal.The two vector magnitude sons point Amount is mutually perpendicular to, and the composite force size of instruction organizationally when addition of vectors.The net size of resulting net force vector is pointed to group It knits.Although specific embodiment disclosed herein detects the true three-dimension orientation of the net vector of two sub- vector sums, institute is public here The system and the demand of equipment opened are not that vector orientation is presented to user, even if the vector is big for calculating reported resulting net force It is small.The presentation of orientation is by the permitted selection of the particular embodiment of the present invention as described in.Physics needs resulting net force by tip The equal and opposite power size of tissue resist or balance.This results in the need for " order of contact " of detection resulting net force size.Here institute Disclosed embodiment may or may not two power subvectors of the person of providing a user and net vectorial true three-dimension orientation.This is additional Information is useful on space navigation display " description " power subvector related with catheter tip and net vector.However, orientation It requires no knowledge about resulting net force size (relative to resulting net force spatial orientation) and can be assumed that resulting net force size is pointed to or towards being contacted Tissue.
Again, provide power subvector size and its relative to nearside axostylus axostyle 68 direction in space system as in figs 2 and 3 Preferably include three coils relative to single ferrite component.Power size and vectorial orienting station can be determined.
Less accurate but still useful system disclosed herein can only the power size of detection combination addition of vectors and have The accuracy smaller than the system of Fig. 2 and 3.Specifically, if we look at Fig. 4, it is seen that it illustrates relative to single iron The single coil of oxysome.In shown example, coil is in the tip of farthest side, however, it can be inverted and placed In the catheter section 68 closer to side.It is appreciated that the single ferrite of Fig. 4 and being electrically coupled also with tip 54 partially for single coil Then variation.However, using the configuration, system cannot distinguish between bending and axial deflection.System only can be with (the bending of detection combination In addition compression) it is electrically coupled variation.Despite this, system can still set desired minimum force size.Because the bending of spring and Axial rigidity is usually unequal, and system do not know each contribute in detected couple variations number, thus this is realized Cheaper than Fig. 2 and 3 but less accurate configuration.
Referring again to Fig. 2-3, the generation instruction coil 44,46,48 of coil 44,46,48 generates the position relative to element 50 And the thereby indicate that signal of the position of the distal tip portion 70 of conduit 16.In the shown embodiment, coil 44,46,48 is set In the proximal tips part 62 of tip assembly 54.In another embodiment, during coil can be extended at least partially into further Between tip portion to reduce the distance between coil and element.In another embodiment, element can be additionally configured to pass through reality On border partly extend to enclose offline in spring closer to.Coil 44,46,48 can be alternatively provided in component 52, As long as coil 44,46,48 is prevented from being bent, such as is formed in the tube chamber in component using rigid polymer by being placed on. Coil 44,46,48 can use the conventional conductor 78 (referring to Fig. 3) extended from the proximal end of axostylus axostyle 36 38 coupled to ECU 24.Line Circle 44,46,48 circumferentially can equably separate, and can be mutually parallel and be extended in parallel with axis 74 around axis 74.Line Circle 44,46,48 can orient in an identical manner.Alternatively, coil 44,46,48 can be directed in a reverse direction or Winding is for purpose as described below.Coil 44,46,48 can be set around the fixed FERRITE CORE in inside of themselves Put the inductance to increase coil 44,46,48.In one embodiment, ferrite 50 is not wound by coil.Although in shown implementation Show three coils 44,46,48 in example, it is to be understood that the quantity of coil can according to the precision of the power to be determined and point It measures and changes.Particularly, with reference to figure 4, single coil 44,46 or 48 can be used and provide minimum net contact as described above Less accurate but possible enough measurements of power.The distal end 40 that the use of three coils 44,46,48 allows to determine conduit 16 is three Deformation in dimension space, and therefore provide represent contact force size and orientation (distal part 64 is relative to portions of proximal 68 ) three-dimensional force vector.
Referring again to Fig. 2-3, element 50 influences the various electrical characteristics of coil 44,46,48.Particularly, element 50 relative to The axial direction of coil 44,46,48 and the impact on physical properties of Angle Position and the element 50 various electrical characteristics of coil 44,46,48. Element 50 can be that electricity is passive, that is, no net current is input to element 50 by wired connection or is exported from element 50.Knot Fruit, no interconnecting conductor must extend through axostylus axostyle 36 from element 50, thus save the valuable space in conduit 16.So And element 50 can be made of the material of the electrical characteristics of each in influence coil 44,46,48.Element 50 can include leading The component of magnetic and particularly has the component of the magnetic conductivity bigger than the magnetic conductivity of air.Therefore, in some embodiments, it is first Part 50 influences the magnetic field generated by coil 44,46,48.Therefore, if coil 44,46,48 is energized, coil 44,46,48 is sent out Opening up the degree in magnetic field will to what extent be influenced by the magnetic field of the formation coupled to element 50.Element 50 relative to coil 44, 46th, the renewable place of production of 48 movement affects the magnetic field created by each coil 44,46,48 (if such as to utilize electric current arteries and veins The predetermined way excitation of punching).Therefore, the magnetic field of each coil 44,46,48 is measured or detects, such as by detecting these Electric current involved in growth, stable state or attenuation or formation or attenuation at them allows to determine the remote of element 50 and axostylus axostyle 36 Side tip portion 70 relative to coil 44,46,48 position.These measurement can by using for sense electric current, voltage or The various circuits of resonant frequency carry out.
Specific embodiment according to this teaching, element 50 can include ferrite.Ferrite is assembled (amplification) magnetic field and is permitted Perhaps larger field is created, because ferrite has relatively high magnetic conductivity (that is, they assemble and strengthen magnetic field).According to this teaching Other embodiment, element 50 can include unpolarized magnetic material.Element 50 is configured as with the distal portion of axostylus axostyle 36 Dividing 70 movements, (again, in alternative embodiments, the position of coil 44,46,48 and element 50 can be inverted such that coil 44th, it 46,48 is configured as moving with the distal part 70 of axostylus axostyle 36).The movement of the distal part 70 of axostylus axostyle 36 and therefore The movement of element 50 leads to the change of the electrical characteristics of each coil 44,46,48, indicate axostylus axostyle 36 distal part 70 it is specific Specific contact force between deformation and the distal part 70 of axostylus axostyle 36 and tissue 12.For example, the mobile of element 50 will cause often The variation of inductance in a coil 44,46,48.Particularly, if intermediate tip portion 66 is in response to the distal end 40 of axostylus axostyle 36 and group It knits 12 contact and is axially compressed, then the inductance in each coil 44,46,48 will be moved closer to coil with element 44th, 46,48 and increase.If distal tip portion 64 in response to axostylus axostyle 36 distal end 40 with tissue 12 contact and relative to axis 74 bendings, then as element 50 is moved closer to certain coil 44,46,48 and other separate coils 44,46,48, and phase Angled for coil 44,46,48, the inductance in certain coil 44,46,48 will increase, and in other coils 44,46,48 Inductance will reduce.Other than influencing the electrical characteristics of coil 44,46,48, the material of element 50 can be selected to provide relatively In the radiation photograph contrast of the other parts of conduit 16 so that element 50 be used as during fluorescence imaging reference mark or Person can be chosen so as to minimize the thermal gradient during for example melting in conduit 16.Element 50 can be by rigidity or flexible material Material is made.Preferred material is ceramics or cermet ferrite.
The size changed in measured electrical characteristics will be realized by several designed concepts.These ideas include：(1) line Enclose the distance between 44,46,48 and element 50 (in the case of no any contact force, coil 44,46,48 and element 50 it Between distance it is smaller, the starting inductance in coil 44,46,48 will be bigger)；(2) size of element 50 and/or magnetic conductivity (size Larger or with larger magnetic conductivity element 50 will cause to increase under all deflection states in larger coupling)；(3) exist There is no the inductance of coil 44,46,48 in the case of element 50；(4) diameter of element 50 or size and coil 44,46,48 and member The ratio of the distance between part 50；(5) shape (for example, solid or tubulose) of element 50；And (6) element 50 insulation or lead Electrical characteristics.In addition, the direction of the coil windings of coil 44,46,48 will determine perception (direction) to magnetic field.Large number of line Circle winding N can also increase inductance.
Element 50 can be arranged in the distal tip portion 64 of axostylus axostyle 36 and with 44,46,48 axially spaced-apart of coil, such as Shown in Fig. 2-3.With reference to figure 5, in alternative embodiments, element 79 can include in the one or more of coil 44,46,48 The protrusion 80,82,84 of extension so that element 79 be at least partially disposed in coil 44,46,48 and by coil 44,46, 48 surround.In this embodiment, element 79 engages the proximal end of the distal part 70 of the axostylus axostyle 36 of conduit 16 (for example, intermediate tip The proximal end of part 66).As shown in figure 5, element 79 can be rigidly mounted to distal part 70.Distal part 70 is relative to part 68 movement leads to any variation of the overlapping of element 79, protruding portion 80,82,84 and coil 44,46,48.Spring 76 allows The relative movement of coil 44,46,48 and element 79.Similarly, as shown in figure 4, coil 44 is rigidly mounted to tip 70, and Element 50 is rigidly attached to part 68.The distal part 70 of axostylus axostyle 36 is in response between the distal end 40 of conduit 16 and tissue 12 The movement of contact force leads to the movement of element 50.In another embodiment, medical treatment device includes element 50 and element 79.
Element 50 (and element 79) can take variously-shaped or construction.Referring again to FIGS. 2, in one embodiment, member Part 50 is cylindrical in shape, and centre bore 92 extends therethrough with (that is, element 50 is ring-shaped on cross section).Hole 92 It may be used as by rinse fluid art or body fluid or for RF conductors or the tube chamber of temperature sensor.However, element 50 is not It is cylindrical to need, and can not include hole 92.In addition, the inside and outside diameter of element 50 can change.Shown In embodiment, element 50 also has the flat axial end face relative to coil 44,46,48.However, with reference to figure 6, in another implementation Example in, element 94 can alternatively limit cone proximal end 96 so that the central part of element 94 towards coil 44,46, 48 is further more axially extending than the radially outer part of element 94.In this way, the central part of element 94 can be determined To circle 44,46,48 more offline than element 94 closer to, while element 94 is still allowed to be moved with the distal part 70 of conduit 16, and Do not interfere coil 44,46,48 physically.Element 94 is even configured such that the conical tip quilt of the point of element 94 It is arranged between coil 44,46,48 and is leading when enough contact forces are applied to the distal end 70 of conduit 16 or even It is radially aligned at least part of coil 44,46,48 in the case of contact force is not present on the distal end 70 of pipe 16.It is moreover, first Part 94 is rigidly mounted to segment 70, and coil 44,46,48 is rigidly attached to part 68.With reference to figure 7, in another implementation In example, element 98 can include from the axially extending multiple protruding portion 100,102,104 in the proximal end of element 98, so that protruding portion 100th, 102,104 it is more offline than the axial end face of element 98 circle 44,46,48 closer to.Each protruding portion 100,102,104 can be with phase The coil 44,46,48 answered is aligned, and remote enough can must be extended, so that applying in enough contact forces to conduit 16 Distally 70 or even in the case of there is no contact force, protruding portion 100,102, one or more of 104 is at least partly It is surrounded by coil 44,46,48.It the distal end of each coil 44,46,48 can be more wider than the remainder of coil 44,46,48 with appearance Receive protruding portion 100,102,104.Although element 50,79,94 and 98 is respectively shown as entire single main body, but it should reason It solves, any one in element 50,79,94 and 98 can alternatively be formed to be detached by air or physical bond material more A component or main body.In addition, although element 50,94 and 98 is shown as individual main body, element 50,94 and 98 can be by shape As point electrode 42 extension (for example, element 50,94 or 98 can be partially coated with platinum or another conductor for use as electrode 42)。
Referring again to FIGS. 1, ablation generator 18 is generated, is conveyed and controls the ablation RF energy that is used by conduit 16.Hair Raw device 18 includes radio-frequency signal generator 16, is configurable to generate the ablation signal across a pair of of source connector output：It can connect The positive connector of electrode 42 on to conduit 16；And the patch electricity on body 14 can be electrically connected to by conductor or lead The cathode connector of pole (not shown).It should be appreciated that term connector used herein does not mean that the physics of specific type connects Mouth mechanism, but rather broadly it is understood to mean that one or more electrical nodes.Generator 18 is configured as according to one or more Various feedback senses that a user specifies parameter (for example, power, time etc.) and is known in the art and control circuit Under control, signal is generated with preset frequency.Ablation generator 18 can also monitor or control associated with ablation procedure various Parameter, including impedance, conduit 16 tip at temperature, ablation energy, irrigation flow rate and conduit 16 position, and carried Xiang doctor For the feedback about these parameters.
RCGS 20 can be provided to manipulate conduit 16.Particularly, RCGS 20 allows to control conduit 16 and any surrounding Translation, distal flex and the virtual rotation of sheath.Therefore, RCGS 20 is provided a user and the system by traditional manual operation Offer controls similar a type of control, but allows repeatable, accurate and dynamic mobile.Doctor can identify Target location (potentially forming path) on the image of tissue 12.The point of these number selections is associated with to patient by RCGS 20 Actual/physical anatomical structure in position, and later can order control conduit 16 be moved to predefined position, the traditional Chinese medical science Raw or RCGS 20 can perform the expectation diagnosis for the treatment of function in predefined position.The various elements of RCGS are more completely retouched Stating can find in the respective following patent application being incorporated herein entirely through reference：What on October 1st, 2009 announced International Patent Application Publication No.WO 2009/120982；The U.S. Patent Application Publication No.2009/ that on October 1st, 2009 announces 0247942；The U.S. Patent Application Publication No.2009/0247944 that on October 1st, 2009 announces；On October 1st, 2009 announces U.S. Patent Application Publication No.2009/0247993；The U.S. Patent Application Publication No.2009/ that on October 1st, 2009 announces 0248042；The U.S. Patent Application Publication No.2010/0256558 that on October 7th, 2010 announces；And on January 20th, 2011 The U.S. Patent Application Publication No.2011/0015569 of announcement.Although the spy of RCGS 20 described and illustrated in aforementioned application Determine embodiment, it is to be understood that, RCGS 20 can take a variety of different embodiments.For example, RCGS 20 can include Any one in the system that Hansen medical companies are sold under trade mark " Magellan " and " Sensei ".RCGS 20 can be with Including magnetic navigation system, the system such as sold under trade mark " Epoch " by Stereotaxis companies, wherein, magnetic field is used to draw Lead the ablation catheter of the magnetic component with the generation in response to magnetic field.
Display system 22 is provided to transfer information to doctor to assist diagnose and treat.Display system 22 can include One or more traditional computer monitors or other display devices.Graphic user interface (GUI) is presented in display system 22 To doctor.GUI can include various information, the image of the geometry including for example organizing 12, with tissue 12 associated electricity Physiological data shows the figure of voltage level at any time of various electrodes 42 and conduit 16 and other medical treatment devices Image and instruction conduit 16 and other devices relative to tissue 12 position relevant information.ECU 24 provides to control Include conduit 16, ablation generator to the conveying of the ablation energy of tissue 12 and for control system 10 from ablation catheter 16 18th, the component of the operation of the various assemblies of RCGS 20 and display system 22.ECU 24 can be further formed to determine conduit 16 and the similar device in body 14 position and orientation system a part, such as by holy still up to medical company in trade mark EnSiteTM NavXTMIt is retouched in the lower United States Patent (USP) No.7,263,397 for selling and being included herein by reference in entire contents The system stated or the MediGuide such as still sold by sage up to medical companyTMTechnology and usually for example it is complete The system for showing and describing in the United States Patent (USP) No.7,386,339 that portion's content is included herein by reference.ECU 24 can include One or more programmable microprocessors or microcontroller can include one or more ASIC.ECU 24 can include Central processing unit (CPU) and input/output (I/O) interface, ECU 24 can include being occurred by ablation via I/O interfaces The multiple input signal of signal that electrode 42 and 44,46,48 and RCGS of coil 20 on device 18, conduit 16 generate, and it is raw Into including being used to control and/or providing data to the electrode 42 and coil 44,46,48, ablation generator 18, RCGS on conduit 16 20 and display system 22 signal multiple output signals.
One side according to this teaching, ECU 24 provide connecing between the distal end 40 for determining conduit 16 and tissue 12 The component of touch.ECU 24 can be configured with the programming instruction from computer program (that is, software) and be determined with implementing The method of contact force between the distal end 40 of conduit 16 and tissue 12.Program can be stored in and 24 associated locals of ECU Memory passes through the addressable remote memory of radio communication network (for example, on file server) or all by ECU 24 On the portable storage media of CD or other kinds of computer readable storage medium.ECU 24 is in response to indicating each line Signal variation, being generated by the coil 44,46,48 on conduit 16 of 44,46,48 electrical characteristics is enclosed to determine contact force.Such as Be discussed above, element 50,79,94 and 98 pairs with each coil 44,46,48 associated electrical characteristics (for example, inductance has The characteristic of pass) have an impact.(that is, not in the case of any contact force is not present in the distal end of conduit 16 40 and between organizing 12 Under compression and unbent condition), there are one be worth for electrical characteristics tool.The movement of the distal part 70 of axostylus axostyle 36 and therefore element 50, 79th, 94 and 98 movement typically results in the variation of each of the electrical characteristics of coil 44,46,48, so that electrical characteristics have newly Value.Taken together in electrical characteristics these variation provide conduits 16 distal end 40 and tissue 12 between contact force and The position of the distal end 40 of conduit 16 and the instruction of orientation.It is associated with coil 44,46,48 that ECU 24 can be configured as measurement The variation of various electrical characteristics, the inductance of inductance, resonant frequency, each coil 44,46,48 including each coil 44,46,48 or The loss of capacitive coupling or the resistance in each coil 44,46,48.As an example, on all three coils 44,46,48 The homogeneous compaction (or stretching) of the distal part 70 of the equivalent change instruction axostylus axostyle 36 of electrical characteristics, and unequal variation corresponds to The bending of distal part 70.
One embodiment according to this teaching, ECU 24 itself do not supply an electric current to coil 44,46,48 and in response to The movement of element 50,79,94 or 98 only measures the variation of the electrical characteristics of each coil 44,46,48.According to this teaching other Embodiment, ECU 24 drivings itself or the one or more coils 44,46,48 of excitation are simultaneously measured in driving and/or non-driving coil 44th, the variation of the electrical characteristics on 46,48.For example, in one embodiment, ECU 24 can supply an electric current to a coil 44, and detect remaining coil 46,48 each on electrical characteristics variation, such as by the shifting by element 50,79,94 or 98 The variation of the inductance on coil 46,48 that the supply of dynamic electric current modulating, to coil 44 generates.ECU 24 can be directed to each Coil performs the action, so that ECU 24 supplies an electric current to coil 44, and the change of the electrical characteristics in measuring coil 46,48 Change, supply an electric current to coil 46, and the variation of the electrical characteristics in measuring coil 44,48 later, and later supply electric current To coil 48, and the variation (and can further repeat the cycle) of the electrical characteristics in measuring coil 44,46.In another implementation Example in, ECU 24 can supply an electric current to multiple coils, such as coil 44,46, and measure a remaining coil 48 (or Person is in the case where using more than three coil, multiple coils) electrical characteristics variation.ECU 24 can be again for each line Circle or multiple coils perform the action, so that ECU supplies an electric current to coil 44,46, and the electricity in measuring coil 48 is special Property variation, supply an electric current to coil 46,48 later, and the variation of the electrical characteristics in measuring coil 44 and later will Electric current is supplied to coil 44,48, and the variation (and can further repeat the cycle) of the electrical characteristics in measuring coil 46. In in these embodiments each, ECU 24, which can be configured as, compares the signal by giving the generation of coil 44,46,48 There is no the storage values of the electrical characteristics of the coil 44,46,48 in the case of contact force on the distal end of conduit 16 40 with instruction for value.
In another embodiment, ECU 24 can be configured as the value for comparing the signal generated by giving coil 44,46,48 With indicating that there is no the computation modelings of the electrical characteristics of the coil 44,46,48 in the case of contact force on the distal end of conduit 16 40 Value.Storage value can be stored in the look-up table that is for example stored in the memory inside or outside ECU 24 or other are traditional In data structure.In another embodiment, ECU 24 can supply an electric current to one or more coils 44,46,48, to offset Or the existing, electricity in certain coil 44,46,48 in the case of cancelling in conduit 16 and contact force being not present between organizing 12 The value of characteristic.As it is set forth above in addition in the presence due to element 50,79,94 or 98 and/or other external factor without depositing In the case of contact force, electrical characteristics associated with each coil will have initial or default value.ECU 24 can be by electric current It supplies to coil 44,46, one of 48 to eliminate or cancel the initial or default value.For example, ECU 24 can be by electric current Supply to a coil, such as coil 44, with eliminate or cancel in the case of there is no contact force it is existing, in other coils 46th, the initial or acquiescence inductance value in 48.In this way, 24 calibration signals of ECU measure, so that the measured value of electrical characteristics Merely due to the movement of element 50,79,94 or 98.Coil 44,46,48 can be directed or wind in a reverse direction to be somebody's turn to do with convenient Embodiment.
Other than the higher accuracy and independent sensing of all power sizes and orientation, 3 coils/single ferrite System is another common the advantage is that any undesired zero-g in tip is inclined with single coil/single ferrite system system Turn accurately to be eliminated or removed, because these undesirable initial " zero " deflections can also be smart about size and Orientation Really sense.
Field generator 26 can be provided that the interchangeable external wireless of coil 44,46,48 is allowed to encourage.Although ECU 24 can be used for driving or excitation coil 44,46,48 via the conductor for extending to coil 44,46,48, but alternatively can be with It is expected using external field generator (at least outside conduit 16, but being possibly also outside body 14) come excitation coil 44, 46、48.Field generator 26 generates one or more magnetic fields (having size and Orientation).In one embodiment, field generator packet The coil of one group of three orthogonal configuration is included, is configured as creating the strong of magnetic field and controlling filed in the region including body 14 Degree, orientation and frequency.Field generator 26 can be included such as by holy still up to the MediGuide of medical company saleTM The magnetic field generator of Technology or the generator sold by Biosense Webster companies with trade mark " CARTO ".It can To understand, if field generator 26 is used for excitation coil 44,46,48, from all sides while excitation coil and ferrite.So And the electric behavior of coil is still only associated with ferritic location/orientation.Coil can also be normally used as three-dimension navigation system A part.
Medical treatment device and system 10 according to this teaching is advantageous relative to traditional device and system.According to this teaching Medical treatment device and system 10 provide it is (at least axial/curved for the contact force between the tissue 12 in measuring device and body 14 The size of Qu Xiangliang subcomponents, otherwise preferably also have the component of a vector spatial orientation) component, than traditional device With simple system and cheaply.For example, in a conventional catheters, transmit coil is arranged in the distal tip of conduit, and more A receiving coil is arranged in the portions of proximal of the conduit on the opposite side of calibrating spring.Transmit coil is relative to receiving coil Position and therefore across the force-responsive that spring is applied in the distal tip of conduit in the signal generated by receiving coil Lai really Determine the instruction to provide contact force.Details about the exemplary catheter can be in United States Patent (USP) No.8,357,152 and 2009 It is found in the U.S. Patent Application Publication No.2009/0138007 that on May 28, in announces, entire contents are incorporated herein by reference This.However, the configuration for sending and receiving coil needs multiple conductive lead wires for each coil, including that must pass through spring Two leads.Free space in conduit and similar medical treatment device is thus limited due to the size and intended use of device 's.The route of design conductor to each coil consumes the valuable space in device and increases manufacturing cost.With tradition Device compare, the use of the electric passive element 50,79,94 or 98 in the distal part 70 of device reduces to determine contact The quantity of conductor 78 needed in the device of power.Therefore, device and system 10 save the valuable space in device, and It relatively inexpensive can must manufacture.In addition, any coil wire by spring being removed, which also eliminates it, changes the apparent firm of spring The possibility of degree.
Although describing several embodiments of the present invention above with the particularity of specific degrees, those skilled in the art can With in the case of without departing substantially from the scope of the present invention, to the disclosed embodiments, many modifications may be made.All directions refer to (example Such as, it is upper and lower, upward, downward, left and right, to the left, to the right, it is high and low, above, below, vertical, horizontal, clockwise and the inverse time Needle) recognition purpose is only used for so that reader to be helped to understand the present invention, and particularly to the position of disclosed embodiment, direction or is used Way does not generate limitation.Connection should be interpreted broadly with reference to (for example, attachment, coupling and connection etc.) and can include element Connection between intermediate member and element between relative movement.In this way, connection reference necessarily refers to two elements and directly connects It connects and is fixed to each other.All things included in being described above or shown in attached drawing should be interpreted it is illustrative and It is unrestricted.Changing for details or structure can be made in the case of the present invention limited without departing from the appended claims Become.
It is stated as any patent, announcement or other public materials that content in whole or in part is included herein by reference The degree only not conflicted with included material with existing definition, statement or other public materials illustrated by this paper covers this Wen Zhong.In this way, and with required degree, the disclosure of institute's clear illustration herein substitute included herein by reference it is any Conflict material.It is described to be included herein by reference but rushed with existing definition, statement or other public materials illustrated by this paper The degree that prominent any materials or part thereof are not only clashed between included material and existing public material by comprising.
1. it is a kind of for treating or diagnosing the medical treatment device of the tissue in body, including：
Elongated tubular shaft is configured as being contained in body, the axostylus axostyle have portions of proximal and be configured as relative to The portions of proximal distal end movement distal part, the movement include by the longitudinal axis along the axostylus axostyle toward and away from The distal end of the portions of proximal is mobile and by being deflected from the longitudinal axis；
Flexible member is arranged between nearside and the distal part of the axostylus axostyle, and the flexible member has predetermined stiffness；
The first electromagnetic coil being arranged in the axostylus axostyle；And
The first electric passive element being arranged in the axostylus axostyle, the described first electric passive element include influencing first electromagnetic wire The material of the electrical characteristics of circle,
Wherein, one in first electromagnetic coil and the first electric passive element is configured as remote with the axostylus axostyle Side part and relative to another movement in first electromagnetic coil and the first electric passive element, in response to described remote Deformation, described first electromagnetic coil and the first electric nothing of the contact with the tissue of side part and the flexible member Relative movement between source element leads to the variation of the electrical characteristics in first electromagnetic coil, and the variation indicates the flexibility Contact force size between the deformation of component and at least described distal part and the tissue.
2. medical treatment device according to claim 1 further includes be arranged in the axostylus axostyle second and third electromagnetic coil, First, second, and third electromagnetic coil and the longitudinal axis extend parallel to and around the longitudinal axis circumferentially equably between Every.
3. medical treatment device according to claim 2, wherein, the combination of three coils and a passive element further allows It is axial and bending contact force vector magnitude to determine and axial and bending contact force vector direction determine.
4. medical treatment device according to claim 2, wherein, the described first electric passive element includes one of following：Around institute The non-rotational symmetric shape of the longitudinal axis is stated, torus, annulation, disk or annular centered on the longitudinal axis and including more connecing The element of protrusion that nearly opposite coil is stretched out or extend out in opposite coil.
5. medical treatment device according to claim 3, wherein, the coil is on the first side of the flexible member by rigidity Ground is attached to the axostylus axostyle and the passive element and is rigidly attached in the opposite the second side of the flexible member The axostylus axostyle.
6. medical treatment device according to claim 1, wherein, the described first electric passive element includes magnetically permeable component, Magnetic conductivity with the magnetic conductivity bigger than air.
7. medical treatment device according to claim 6, wherein, the magnetically permeable component includes ferrite.
8. medical treatment device according to claim 6, wherein, the magnetically permeable component includes unpolarized magnetic material.
9. medical treatment device according to claim 1, wherein, the described first electric passive element and at least first electromagnetic wire Enclose axially spaced-apart.
10. medical treatment device according to claim 1, wherein, the described first electric passive element is arranged on first electromagnetism In coil and the first electric passive element is configured as relative to the first electromagnetic coil remains stationary.
11. medical treatment device according to claim 1, wherein, the electricity passive element is included generally facing the described first electricity One in flat end face, conical end face and the centre hole of passive element or hole.
12. medical treatment device according to claim 2, wherein, first, second, and third electromagnetic coil is created to surround and be led The magnetic field of the identical direction of rotation of the whole of pipe axis and with the opposite direction of rotation around the catheter shaft around described One in the magnetic field of catheter shaft.
13. it is a kind of for treating or diagnosing the system of the tissue in body, including：
Medical treatment device, including：
Wherein, one in first electromagnetic coil and the first electric passive element is configured as remote with the axostylus axostyle Side part and relative to another movement in first electromagnetic coil and the first electric passive element, in response to described remote Deformation, described first electromagnetic coil and the first electric nothing of the contact with the tissue of side part and the flexible member Relative movement between source element leads to the variation of the electrical characteristics in first electromagnetic coil, and the variation indicates the flexibility Contact force size between the deformation of component and the distal part and the tissue；And
Electronic control unit, be configured to respond to indicate first electromagnetic coil electrical characteristics it is variation, by described The signal of one electromagnetic coil generation determines specific contact force size.
14. system according to claim 13 further includes be arranged in the axostylus axostyle second and third electromagnetic coil, institute First, second, and third electromagnetic coil and the longitudinal axis is stated to extend parallel to and around the longitudinal axis circumferentially equably angulation Degree ground interval, wherein, first, second, and third electromagnetic coil is configured as allowing to determine axial and bending contact force component The contact force size and direction in space of vector.
15. system according to claim 13, wherein, the medical treatment device is included from first be arranged in the axostylus axostyle Electromagnetic coil extends at least one conductor of the proximal end of the medical treatment device, and the electronic control unit is configured to The contact force is determined to generate the electric current at least one conductor and in first electromagnetic coil, the electric current First electromagnetic coil is encouraged, first electromagnetic coil encourages or it is decayed by the passive element relative to described first The deflection state of electromagnetic coil predictably influences.
16. system according to claim 15, further includes magnetic field generator, it is arranged on the outside of the medical treatment device simultaneously The electric current being configurable to generate in first electromagnetic coil.
17. system according to claim 13, wherein, the electronic control unit is configured to by using line The look-up table of response data is enclosed to determine deflecting force size or orientation and calculate what deflecting force size using model and determine To observed coil will be caused one or both of to respond, to determine specific contact force size or specific contact force vector One or more of direction.
18. system according to claim 14, wherein, the described first electric passive element includes magnetically permeable component, tool There is the magnetic permeability bigger than the magnetic permeability of air.
19. system according to claim 14, wherein, the described first electric passive element and first electromagnetic coil are axial Interval.
20. system according to claim 14, wherein, first electromagnetic coil is around the described first electric passive element A part is set deflectablely in a part for the described first electric passive element.
21. system according to claim 14, wherein, the flexible member, which is included in, is compressed axially direction and bending direction The upper spring with known rigidity connects wherein the spring does not include to the electric wire of electromagnetic coil.
CN201480060405.2A 2013-11-07 2014-11-06 Medical treatment device with contact force sensing tip CN105682597B (en)
US201361962466P true 2013-11-07 2013-11-07
US61/962,466 2013-11-07
PCT/US2014/064335 WO2015069887A1 (en) 2013-11-07 2014-11-06 Medical device with contact force sensing tip
CN105682597A CN105682597A (en) 2016-06-15
CN105682597B true CN105682597B (en) 2018-06-12
ID=52007274
CN201480060405.2A CN105682597B (en) 2013-11-07 2014-11-06 Medical treatment device with contact force sensing tip
US (1) US20160228180A1 (en)
EP (1) EP3043735A1 (en)
JP (1) JP6180634B2 (en)
CN (1) CN105682597B (en)
WO (1) WO2015069887A1 (en)
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2014-11-06 US US15/030,064 patent/US20160228180A1/en active Pending
2014-11-06 EP EP14806770.5A patent/EP3043735A1/en active Pending
2014-11-06 JP JP2016526914A patent/JP6180634B2/en active Active
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JP6180634B2 (en) 2017-08-16
EP3043735A1 (en) 2016-07-20
US20160228180A1 (en) 2016-08-11
CN105682597A (en) 2016-06-15
WO2015069887A1 (en) 2015-05-14
JP2016536065A (en) 2016-11-24
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