Apparatus and method for sensing force on a robotically controlled medical instrument

摘要

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.

主权项

1. A medical instrument system, comprising:
an elongated probe body having a bendable section, a distal tip section, and an axially variable-length section disposed between the bendable and distal tip sections, the probe body having a lumen axially extending therethrough; a push-pull member slidably disposed in the lumen of the probe body, the push-pull member having a distal end affixed to the distal tip section of the probe body and a proximal end portion extending out a proximal end of the probe body; a dithering mechanism configured to mechanically couple to the proximal end portion of the push-pull member, the dithering mechanism further configured for cyclically displacing the push-pull member axially back and forth within the lumen of the probe body, such that the distal tip section is axially displaced relative to bendable section via the axially variable-length section; at least one force sensor positioned adjacent to the proximal end portion of the push-pull member, the at least one force sensor being configured for measuring a load applied to the push-pull member; and a processor operatively coupled to the at least one force sensor and configured for determining an external force axially applied to the distal tip section of the probe body based on signals received from the at least one force sensor.