APPARATUSES AND METHODS FOR MONITORING TENDONS OF STEERABLE CATHETERS

摘要

Methods and apparatuses for detecting tension on a tendon and/or mechanical deformation (e.g., breakage) of one or more steering tendon of a steerable and flexible articulating device. Theses apparatuses may have one or more tendons that are each electrically conductive and configured to steer the apparatus when tension is applied to the proximal end of the tendon. Tension and/or breakage (or other deformation) of one or more of these tendons may be detected by monitoring the electrical resistance of the tendons.

主权项

1. A steerable catheter apparatus comprising:
an outer shaft; at least one pull wire enclosed within the outer shaft; and a sensing circuitry electrically coupled to the at least one pull wire to measure a change to an electrical resistance of the at least one pull wire, thereby indicating a change in tension or a breakage of the at least one pull wire.