Medical apparatus system having optical fiber load sensing capability
An apparatus and method for diagnosis or treatment of a vessel or organ. The apparatus includes a deformable body such as a catheter having a tissue ablation end effector and an irrigation channel in fluid communication therewith. At least two sensors are disposed within a distal extremity of the deformable body, the sensors being responsive to a wave in a specified range of frequency to detect deformations resulting from a contact force applied to the distal extremity. A microprocessor can be operatively coupled with the sensors to receive outputs therefrom, the microprocessor being configured to resolve a multi-dimensional force vector corresponding to the contact force. In one embodiment, the sensors are fiber Bragg grating sensors, and the wave is injected into the fiber Bragg grating strain sensors from a laser diode.
1. An apparatus for diagnosis or treatment of a vessel or organ, comprising:
a deformable body that defines a longitudinal axis and having a distal extremity, said distal extremity including a tissue ablation end effector having irrigation ports;
at least one irrigation channel disposed within said deformable body, said at least one irrigation channel being in fluid communication with said irrigation ports;
at least two optical fiber sensors disposed within said distal extremity to detect deformations imposed on said deformable body resulting from a contact force applied to said distal extremity, said optical fiber sensors being responsive to a wave in a specified range of frequency to detect said deformation; and
a microprocessor operatively coupled with said at least two optical fiber sensors and adapted to receive outputs therefrom, said microprocessor being configured to resolve a multi-dimensional force vector from said outputs, said multi-dimensional force vector corresponding to said contact force applied to said distal extremity and including an axial component that is substantially parallel with said longitudinal axis.
2. The apparatus of claim 1 wherein said at least two optical fiber sensors are fiber Bragg grating strain sensors.
3. The apparatus of claim 2 , wherein said wave is injected into said fiber Bragg grating strain sensors from a laser diode.
4. The apparatus of claim 1 , further comprising a controller operatively coupled with said outputs from said at least two optical fiber sensors, said controller being programmed to control operation of said tissue ablation end effector based on said outputs.
5. The apparatus of claim 4 , further comprising an actuator operatively coupled with said controller and with said deformable body proximal to said distal extremity, said controller being programmed to control said actuator for manipulation of said deformable body.
6. The apparatus of claim 4 wherein said controller is configured to enable energization of said tissue ablation end effector when a magnitude of said multi-dimensional force vector exceeds a predetermined minimum value.
7. The apparatus of claim 1 , wherein a direction of said multi-dimensional force vector ranges from a purely axial force to a purely lateral force.
8. The apparatus of claim 1 , wherein said at least two optical fiber sensors are at least three optical fiber sensors that measure deformations imposed on the deformable body to be measured at three or more non-planar points.
9. The apparatus of claim 1 , wherein said tissue ablation end effector is a radiofrequency ablation electrode.