Apparatus and method for sensing force on a robotically controlled medical instrument
US9480820B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 31, 2013 |
| Grant date | Nov 1, 2016 |
| Priority date | — |
| Expiry date | Aug 26, 2035 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2218/002
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A medical system comprises a medical probe including an elongated probe body, a lumen extending within the probe body, an axially flexible section, and a push-pull member slidably disposed within the lumen. The system comprises a ditherer mechanically coupled to the member for cyclically displacing it axially back and forth within the lumen, such that the ends of the probe body are axially displaced relative to each other via the axially flexible section. The system further comprises a sensor for sensing a force axially applied to the distal end of the probe body. A method comprises introducing a medical probe into a patient, axially dithering the distal end of the medical probe back and forth relative to the proximal end of the medical probe, and sensing a force applied between tissue of the patient and the distal end of the medical probe while the distal end is axially dithered.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.