Catheter having tri-axial force sensor
A catheter for diagnosis or treatment of a vessel or organ is provided in which a flexible elongated body includes a tri-axial force sensor formed of a housing and a plurality of optical fibers associated with the housing that measure changes in the intensity of light reflected from the lateral surfaces of the housing resulting from deformation caused by forces applied to a distal extremity of the housing. A controller receives an output of the optical fibers and computes a multi-dimensional force vector corresponding to the contact force.
1. A catheter for exploration or treatment of a vessel or organ, the catheter comprising:
a flexible elongated body having a proximal end and a distal extremity; and
a tri-axial force sensor disposed within the distal extremity, the tri-axial force sensor having a housing including a plurality of laterally-oriented members coupled to a plurality of longitudinally-oriented members, at least some of the laterally-oriented members having reflective surfaces, and a plurality of optical fibers disposed relative to the laterally-oriented members to emit light onto, and to collect light reflected from, the reflective surfaces,
wherein the intensity of the light collected from the reflective surfaces varies as a function of a degree of deformation imposed by a contact force on the housing.
2. The catheter of claim 1 wherein sensitivity of the housing to longitudinal displacements caused by the imposition of a contact force is of the same order of magnitude as sensitivity to radial displacements caused by the contact force.
3. The catheter of claim 1 further comprising a controller operatively coupled to receive an output of the optical fibers, the controller programmed to compute a multi-dimensional force vector corresponding to the contact force.
4. The catheter of claim 1 , wherein the housing comprises a plurality of columnar members extending longitudinally between a proximal ring and a distal ring, each of the columnar members being defined by a pair of the plurality of laterally-oriented members coupled to a corresponding pair of the plurality of longitudinally-oriented members.
5. The catheter of claim 4 wherein the pair of laterally-oriented members and the corresponding pair of longitudinally-oriented members of each columnar member form a parallelogram-shaped structure, and wherein one of the longitudinal members of each columnar member is coupled to the proximal ring and the other longitudinal member of each columnar member is coupled to the distal ring.
6. The catheter of claim 4 , wherein the columnar members are arranged symmetrically around a longitudinal axis of the housing.
7. The catheter of claim 1 , wherein the longitudinally-oriented members have a larger cross-section than the laterally-oriented members.
8. The catheter of claim 1 , wherein adjacent longitudinally-oriented members define a longitudinal gap having a width of less than about 100 μm.
9. The catheter of claim 1 , wherein the housing further comprises stops configured to limit deformation of the housing.
10. The apparatus of claim 1 , wherein the catheter further comprises an end effector to perform diagnosis or treatment of the vessel or organ.
11. Apparatus for exploration or treatment of a vessel or organ, the apparatus comprising:
a flexible elongated body having a proximal end and a distal extremity;
a tri-axial force sensor disposed within the distal extremity and comprising a housing including a plurality of laterally-oriented members having reflective surfaces and a plurality of optical fibers disposed to emit light onto, and to collect reflected light from, the reflective surfaces; and
a controller operatively coupled to receive a signal corresponding to the intensity of the reflected light collected from the reflective surfaces, the controller programmed to compute a multi-dimensional force vector corresponding to a contact force applied to the distal extremity.
12. The apparatus of claim 11 , wherein the housing further comprises a plurality of longitudinally-oriented members coupled to the plurality of laterally-oriented members to form parallelogram-shaped structures.
13. The apparatus of claim 12 , wherein the plurality of longitudinally-oriented members coupled to the plurality of laterally-oriented members define a plurality of columnar members that extend longitudinally between a proximal ring and a distal ring.
14. The apparatus of claim 13 wherein for each columnar member a pair of laterally-oriented members is coupled to a pair of longitudinally-oriented members, and wherein one of the longitudinal members is coupled to the proximal ring and the other longitudinal member is coupled to the distal ring.
15. The apparatus of claim 13 , wherein the columnar members are arranged symmetrically around a longitudinal axis of the housing.
16. The apparatus of claim 12 , wherein the longitudinally-oriented members have a larger cross-section than the laterally-oriented members.
17. The apparatus of claim 16 , wherein adjacent longitudinally-oriented members define a longitudinal gap having a width of less than about 100 μm.
18. The apparatus of claim 11 wherein sensitivity of the housing to longitudinal displacements caused by the imposition of a contact force is of the same order of magnitude as sensitivity to radial displacements caused by the contact force.
19. The apparatus of claim 11 , wherein the housing further comprises stops configured to limit deformation of the housing.
20. The apparatus of claim 11 , further comprising an end effector to perform diagnosis or treatment of the vessel or organ.