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. A method to determine a force, comprising:
generating at last one first signal;
creating a plurality of second signals when the at least one first signal interacts with a plurality of sensors;
receiving the plurality of second signals from the plurality of sensors located at a distal end of a catheter;
processing the plurality of second signals to determine a force vector applied to the distal end of the catheter;
outputting a third signal indicative of the force vector.
2. The method according to claim 1 , wherein the force vector is a three-dimensional force vector.
3. The method according to claim 1 , wherein the plurality of second signals comprises three signals and wherein the plurality of sensors comprises three sensors.
4. The method according to claim 1 , further comprising receiving specific information pertaining to the catheter.
5. The method according to claim 4 , wherein the specific information comprises calibration information acquired during a calibration step and stored in a memory of the catheter.
6. The method according to claim 5 , wherein the calibration information comprises a force conversion matrix.
7. The method according to claim 1 , wherein the force vector comprises a normal force, a transverse force, and an angle of application of the transverse force.
8. The method according to claim 1 , wherein outputting the third signal comprises outputting a graphic including a representation of a magnitude and a direction of a transverse force applied to the distal end of the catheter.
9. The method according to claim 1 , further comprising determining a temperature of the distal end of the catheter by changes in the plurality of second signals received from the plurality of sensors.
10. The method according to claim 1 , wherein processing the plurality of second signals further comprises accounting for changes in temperature at the distal end of the catheter.
11. The method according to claim 1 , wherein processing the plurality of second signals comprises a continuous process and outputting the third signal comprises a continuous process such that the third signal of the force vector applied to the distal end of the catheter can be used to guide or control a use of the catheter.
12. A system for determining a force, comprising:
a console comprising a processing logic,
wherein the console is configured to couple to a catheter and to output at least one first signal to interact with at least two sensors, and
wherein the console is configured to receive an output of the at least two sensors, wherein the processing logic is configured to determine a force vector from the output of the at least two sensors, and wherein the console is configured to output a second signal indicative of the force vector.
13. The system according to claim 12 , wherein the processing logic is configured to determine a three-dimensional force vector.
14. The system according to claim 12 , wherein the at least two sensors comprises three sensors.
15. The system according to claim 12 , wherein the console is further configured to receive specific information pertaining to the catheter.
16. The system according to claim 15 , wherein the specific information comprises calibration information acquired during a calibration step and stored in a memory of the catheter.
17. The system according to claim 12 , wherein the force vector comprises a normal force, a transverse force, and an angle of application of the transverse force.
18. The system according to claim 12 , wherein the second signal comprises a graphic including a representation of a magnitude and a direction of a transverse force applied to the distal end of the catheter.
19. The system according to claim 12 , wherein the processing logic is further configured to determine a temperature of the distal end of the catheter by tracking changes in the output received from the at least two sensors.
20. The system according to claim 12 , wherein the processing logic is further configured to account for changes in temperate at the distal end of the catheter by tracking changes in the output received from the at least two sensors.