Catheter having tri-axial force sensor
View Patent ↗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. An 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, the distal extremity including an ablation end effector having irrigation ports;
at least one irrigation channel disposed within the flexible elongated body, the at least one irrigation channel being in fluid communication with the irrigation ports;
a flexible force measurement structure affixed to the distal extremity of the flexible elongate body, the flexible force measurement structure including a proximal ring and a distal ring arranged concentrically about a longitudinal axis, the flexible force measurement structure being operatively coupled with an emitter and a plurality of receivers, the plurality of receivers adapted to receive signals emitted from the emitter and, in response, the plurality of receivers adapted to output signals that vary in response to a displacement of the distal ring relative to the proximal ring due to a contact force on an exterior of the distal extremity of the flexible elongate body; and
a controller including a microprocessor operatively coupled with the plurality of receivers and adapted to receive and process the signals output therefrom, the microprocessor being configured to compute a contact force vector from the signals, the contact force vector being multi-dimensional and corresponding to the contact force on the exterior of the distal extremity of the flexible elongate body.
2. The apparatus of claim 1 , wherein the ablation end effector is a radiofrequency ablation electrode.
3. The apparatus of claim 1 wherein the plurality of receivers are fiber optics.
4. The apparatus of claim 3 , wherein the emitter is a light source operatively coupled to the fiber optics.
5. The apparatus of claim 1 , wherein the controller is configured to control operation of the ablation end effector based on the signals output from the plurality of receivers.
6. The apparatus of claim 5 wherein the controller is configured to operate the ablation end effector when a magnitude of the multi-dimensional force is within a predetermined range of values.
7. The apparatus of claim 1 , wherein a direction of the multi-dimensional force vector ranges from a purely axial force to a purely radial force.
8. The apparatus of claim 1 , wherein the emitter and at least one of the plurality of receivers are optically coupled to a single optical fiber disposed in the flexible elongate body.
9. The apparatus of claim 1 further comprising a plurality of columnar members extending longitudinally between the proximal ring and the distal ring, each of the columnar members defined by a pair of laterally-oriented members coupled to a pair of longitudinally oriented members.
10. The apparatus of claim 9 wherein the pair of laterally-oriented members is coupled to the pair of longitudinally-oriented members to form a parallelogram-shaped structure, and wherein one of the longitudinal members is coupled to the proximal ring and the other longitudinal member is coupled to the distal ring.
11. An 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, the distal extremity including an ablation end effector having irrigation ports;
at least one irrigation channel disposed within the flexible elongated body, the at least one irrigation channel being in fluid communication with the irrigation ports;
a force measurement structure affixed to the distal extremity of the flexible elongate body, the force measurement structure including a proximal ring and a distal ring separated by a flexible structure, the proximal and distal rings being arranged concentrically about a longitudinal axis, the force measurement structure being operatively coupled with an emitter and a plurality of receivers, the plurality of receivers adapted to receive signals emitted from the emitter and, in response, the plurality of receivers adapted to output signals that vary in response to a displacement of the distal ring relative to the proximal ring due to a contact force on an exterior of the distal extremity of the flexible elongate body; and
a controller including a microprocessor operatively coupled with the plurality of receivers and adapted to receive and process the signals output therefrom, the microprocessor being configured to compute a contact force vector from the signals, the contact force vector being multi-dimensional and corresponding to the contact force on the exterior of the distal extremity of the flexible elongate body.
12. The apparatus of claim 11 , wherein the controller is configured to control operation of the ablation end effector based on the signals output from the plurality of receivers.
13. The apparatus of claim 12 wherein the controller is configured to operate the ablation end effector when a magnitude of the multi-dimensional force is within a predetermined range of values.
14. The apparatus of claim 11 wherein the proximal ring is continuous and the distal ring is continuous.
15. The apparatus of claim 11 wherein the proximal ring, the distal ring and the flexible structure are integrally formed.