Patent ID: 8083691

Claim:
A medical system, comprising: a medical probe including an elongated probe body having a proximal section , a distal section, and an axially translatable section disposed between the proximal and distal sections, a lumen axially extending within the probe body, and a push-pull rod slidably disposed within the lumen, the push-pull rod having a distal end that is affixed to the distal section of the probe body and a proximal end slidable within and extending from the proximal section of the probe body; a dithering mechanism mechanically coupled to the proximal end of the push-pull rod, the dithering mechanism configured for cyclically displacing the push-pull rod axially back and forth within the lumen within the probe body, such that the displacement of the push-pull rod causes the distal section of the probe body to be axially dithered back and forth relative to the proximal section of the probe body via the axially translatable section of the probe body; and at least one sensor configured for sensing an external force axially applied to a distal tip of the probe body.