Ablation catheter with fiber Bragg grating strain sensors

1. An ablation catheter, comprising:

a) a flexible, elongate catheter body extending from a catheter body proximal end to a catheter body distal end;

b) an ablation head configured to electrically conduct at least one of a direct current energy and a radio-frequency energy into a target tissue;

c) a power cable supported by the catheter body, the power cable being connectable to a power source for electrically energizing the ablation head;

d) a hypotube disposed between and connected to the catheter body distal end and to the ablation head, wherein the hypotube comprises a spring;

e) at least a first optical fiber and a second optical fiber, both the first and second optical fibers extending from the catheter body proximal end to the hypotube, wherein the first optical fiber comprises a first strain-sensing fiber Bragg grating (FBG) having a first Bragg wavelength, and the second optical fiber comprises a second strain-sensing FBG having a second Bragg wavelength;

f) a collar/collet assembly radially aligned with the spring of the hypotube and the first and second strain-sensing FBGs;

g) at least one light source optically connected to the first and second optical fibers, wherein the light source is configured to emit light of a first spectrum into the first strain-sensing FBG and emit light of a second spectrum into the second strain-sensing FBG;

h) a first light wavelength detector optically connected to the first FBG of the first optical fiber and a second light wavelength detector optically connected to the second FBG of the second optical fiber; and

i) a controller operatively coupled to the first and second light wavelength detectors,

j) wherein, with the at least one light source emitting the first light spectrum into the first FBG and the second light spectrum into the second FBG, and wherein, in comparison to a first state of the reflected first and second Bragg wavelengths with no axial or lateral force imparted to the ablation head, with only an axial force imparted to the ablation head to cause the spring to compress but with the ablation head remaining axially aligned with the catheter body, the collar/collet assembly applies equal radial force to the first and second strain-sensing FBGs so that the first and second light wavelength detectors receive the reflected first and second Bragg wavelengths in a second state, shifted the same amount with respect to the first state of the reflected first and second Bragg wavelengths, and wherein the controller is programmed to calculate the difference between the first and second states of the reflected first and second Bragg wavelengths and to convert the difference into the magnitude of the axial force vector imparted to the ablation head, and

k) wherein, with both axial and lateral forces imparted to the ablation head to cause the ablation head to deflect out of axial alignment with the catheter body, the spring of the hypotube compresses and deflects out of axial alignment to cause the collar/collet assembly to apply a greater lateral force to the first FBG than to the second FBG so that in comparison to the first state of the reflected first and second Bragg wavelengths, a lateral-force-induced third state of the reflected first Bragg wavelength is shifted a greater amount than a lateral-force-induced fourth state of the reflected second Bragg wavelength, and wherein the controller is programmed to calculate the difference in the lateral-force-induced third and fourth states of the reflected first and second Bragg wavelengths in comparison to the first state of the reflected first and second Bragg wavelengths and to convert the difference into a lateral force magnitude and vector imparted to the ablation head.

2. The ablation catheter of claim 1 , wherein:

a) the first optical fiber also comprises a third temperature-sensing FBG having a third Bragg wavelength;

b) the at least one light source optically connected to the first optical fiber is configured to emit light of a third spectrum into the third temperature-sensing FBG; and

c) a third light wavelength detector is optically connected to the third FBG of the first optical fiber, and

d) with the at least one light source emitting the third light spectrum into the third FBG, the controller is operably coupled to the third light wavelength detector and programmed to calculate a temperature-induced third Bragg wavelength shift as the difference between a fifth state of the reflected third Bragg wavelength at a first ambient temperature with the ablation head outside a body tissue in comparison to a sixth state of the reflected third Bragg wavelength at a second, local environment temperature with the ablation head inside a body tissue, and

e) wherein the controller is further programmed to calculate for:

i) the effect of the temperature change on the reflected first and second Bragg wavelengths in the axial-force-induced second state from the temperature-induced third Bragg wavelength shift to thereby calculate a temperature-compensated magnitude of the axial force vector imparted to the ablation head, and

ii) the effect of the temperature change on the reflected first and second Bragg wavelengths in the respective lateral-force-induced third and fourth states from the temperature-induced third Bragg wavelength shift to thereby calculate a temperature-compensated lateral force magnitude and vector imparted to the ablation head as a result of the collar/collet assembly applying a greater lateral force to the first FBG than to the second FBG.

3. The ablation catheter of claim 2 , wherein the first FBG, the second FBG and the third FBG are individually selected from the group of a phase-shifted FBG, a long-period FBG, an apodized FBG, a chirped FBG, and a tilted FBG.

4. The ablation catheter of claim 2 , further comprising:

a) a third optical fiber extending from the catheter body proximal end to the hypotube, the third optical fiber comprising a fourth strain-sensing FBG having a fourth Bragg wavelength, wherein the collar/collet assembly is radially aligned with the spring of the hypotube and the first, second and fourth strain-sensing FBGs, and wherein the at least one light source is optically connected to the third optical fiber, the light source being configured to emit light of a fourth spectrum into the fourth strain-sensing FBG, and

b) a fourth light wavelength detector optically connected to the fourth FBG of the third optical fiber, and

c) wherein, with the at least one light source emitting the first light spectrum into the first FBG, the second light spectrum into the second FBG, and the fourth light spectrum into the fourth FBG, and wherein, in comparison to a first state of the reflected first, second and fourth Bragg wavelengths with no axial or lateral force imparted to the ablation head, with only an axial force imparted to the ablation head to cause the spring to compress but with the ablation head remaining axially aligned with the catheter body, the collar/collet assembly applies equal radial force to the first, second and fourth strain-sensing FBGs so that the first, second and fourth light wavelength detectors receive the reflected first, second and fourth Bragg wavelengths in a second state, shifted the same amount with respect to the first state of the reflected first, second and fourth Bragg wavelengths, and wherein the controller is also operatively coupled to the fourth light wavelength detector and programmed to calculate the difference between the first and second states of the reflected first, second and fourth Bragg wavelengths and to convert the difference into the magnitude of the axial force vector imparted to the ablation head, and

d) wherein, with both axial and lateral forces imparted to the ablation head to cause the ablation head to deflect out of axial alignment with the catheter body, the spring of the hypotube compresses and deflects out of axial alignment to cause the collar/collet assembly to apply a first lateral force to the first FBG, a second lateral force to the second FBG and a third lateral force to the fourth FBG so that in comparison to the first state of the reflected first, second and fourth Bragg wavelengths, the lateral-force-induced third state of the reflected first Bragg wavelength is shifted the same as or a different amount than the lateral-force-induced fourth state of the reflected second Bragg wavelength, shifted a different amount than a lateral-force-induced seventh state of the reflected fourth Bragg wavelength, and wherein the controller is programmed to calculate the differences in the lateral-force-induced third, fourth and seventh states of the reflected first, second and fourth Bragg wavelengths in comparison to the first state of the reflected first, second and fourth Bragg wavelengths and to convert the difference into a lateral force magnitude and vector imparted to the ablation head.

5. The ablation catheter of claim 4 , wherein the first, second and third optical fibers are evenly spaced at 120° intervals about a circumference of the ablation head.

6. The ablation catheter of claim 1 , wherein the catheter body includes a delivery lumen that extends to the catheter body distal end, and wherein the ablation head has an ablation head lumen in open communication with the hypotube and the catheter body delivery lumen.

7. The ablation catheter of claim 1 , wherein the first and second optical fibers are connected to the ablation head.

8. The ablation catheter of claim 1 , wherein the first and second optical fibers are diametrically opposed to each other inside the hypotube.

9. The ablation catheter of claim 1 , wherein a handle assembly is connected to the proximal end of the catheter body, and wherein at least one push-pull wire extends from the handle assembly to the ablation head, and wherein the handle assembly is manipulatable to move the at least one push-pull wire to selectively deflect the ablation head out of axial alignment with the catheter body.

10. The ablation catheter of claim 9 , wherein there are four push-pull wires extending from the handle assembly to the ablation head, the four push-pull wires being evenly spaced at 90° intervals about a circumference of the ablation head.

11. The ablation catheter of claim 1 , wherein the at least one light source is selected from a Superluminescent Light Emitting Diode (SLED) and a scanning laser.

12. The ablation catheter of claim 1 , wherein a first light source is optically connected to the first optical fiber and a second light source is optically connected to the second optical fiber.

13. The ablation catheter of claim 12 , wherein the first and second light sources are narrow linewidth lasers.

14. The ablation catheter of claim 1 , wherein the hypotube comprises a coil spring or a slotted spring.

15. The ablation catheter of claim 1 , wherein, in addition to being configured to electrically conduct at least one of a direct current energy and a radio-frequency energy into a target tissue, the ablation head is also configured for at least one of cryoablation, laser ablation, chemical ablation, and ultrasonic ablation of a target tissue.

16. An ablation catheter, comprising:

a) a flexible, elongate catheter body extending from a catheter body proximal end to a catheter body distal end;

b) an ablation head configured to electrically conduct at least one of a direct current energy and a radio-frequency energy into a target tissue;

c) a power cable supported by the catheter body, the power cable being connectable to a power source for electrically energizing the ablation head;

d) a hypotube disposed between and connected to the catheter body distal end and to the ablation head, wherein the hypotube comprises a spring;

e) at least a first optical fiber, a second optical fiber and a third optical fiber, the first, second and third optical fibers extending from the catheter body proximal end to the hypotube, wherein the first optical fiber comprises a first strain-sensing fiber Bragg grating (FBG) having a first Bragg wavelength, the second optical fiber comprises a second strain-sensing FBG having a second Bragg wavelength, and the third optical fiber comprises a third strain-sensing FBG having a third Bragg wavelength, and wherein the first optical fiber further comprises a fourth temperature-sensing FBG having a fourth Bragg wavelength;

f) a collar/collet assembly radially aligned with the spring of the hypotube and the first, second and third strain-sensing FBGs;

g) at least one light source optically connected to the first, second and third optical fibers, wherein the light source is configured to emit light of a first spectrum into the first strain-sensing FBG, emit light of a second spectrum into the second strain-sensing FBG, emit light of a third spectrum into the third strain-sensing FBG, and emit light of a fourth spectrum into the fourth temperature-sensing FBG;

h) a first light wavelength detector optically connected to the first FBG of the first optical fiber, a second light wavelength detector optically connected to the second FBG of the second optical fiber, a third light wavelength detector optically connected to the third FBG of the third optical fiber, and a fourth light wavelength detector optically connected to the fourth FBG of the first optical fiber; and

i) a controller operatively coupled to the first, second, third and fourth light wavelength detectors,

j) wherein, with the at least one light source emitting the first light spectrum into the first FBG, the second light spectrum into the second FBG, the third light spectrum into the third FBG, and the fourth light spectrum into the fourth FBG, and wherein, in comparison to a first state of the reflected first, second and third Bragg wavelengths with no axial or lateral force imparted to the ablation head, with only an axial force imparted to the ablation head to cause the spring to compress but with the ablation head remaining axially aligned with the catheter body, the collar/collet assembly applies equal radial force to the first, second and third strain-sensing FBGs so that the first, second and third light wavelength detectors receive the reflected first, second and third Bragg wavelengths in a second state, shifted the same amount with respect to the first state of the reflected first, second and third Bragg wavelengths, and

k) wherein the controller is programmed to calculate a temperature-induced fourth Bragg wavelength shift as the difference between a third state of the reflected fourth Bragg wavelength of the fourth FBG at a first ambient temperature with the ablation head outside a body tissue in comparison to a fourth state of the reflected fourth Bragg wavelength of the fourth FBG at a second, local environment temperature with the ablation head inside a body tissue, and

l) wherein the controller is programmed to calculate for the effect of the temperature change on the reflected first, second and third Bragg wavelengths in the axial-force-induced second state from the temperature-induced fourth Bragg wavelength shift to thereby calculate a temperature-compensated magnitude of the axial force vector imparted to the ablation head, and

m) wherein, with both axial and lateral forces imparted to the ablation head to cause the ablation head to deflect out of axial alignment with the catheter body, the spring of the hypotube compresses and deflects out of axial alignment to cause the collar/collet assembly to apply a first lateral force to the first FBG, a second lateral force to the second FBG and a third lateral force to the third FBG so that in comparison to the first state of the reflected first, second and third Bragg wavelengths, a lateral-force-induced fifth state of the reflected first Bragg wavelength is shifted the same as or a different amount than a lateral-force-induced sixth state of the reflected second Bragg wavelength, shifted a different amount than a lateral-force-induced seventh state of the reflected third Bragg wavelength, and

n) wherein the controller is further programmed to calculate for the effect of the temperature change on the reflected first, second and third Bragg wavelengths in the respective lateral-force-induced fifth, sixth, and seventh states from the temperature-induced fourth Bragg wavelength shift to thereby calculate a temperature-compensated lateral force magnitude and vector imparted to the ablation head as a result of the collar/collet assembly applying the first lateral force to the first FBG, the second lateral force to the second FBG and the third lateral force to the third FBG.

17. The ablation catheter of claim 16 , wherein, in addition to being configured to electrically conduct at least one of a direct current energy and a radio-frequency energy into a target tissue, the ablation head is also configured for at least one of cryoablation, laser ablation, chemical ablation, and ultrasonic ablation of a target tissue.

18. An ablation catheter, comprising:

a) a flexible, elongate catheter body extending from a catheter body proximal end to a catheter body distal end;

b) an ablation head configured to electrically conduct at least one of a direct current energy and a radio-frequency energy into a target tissue;

c) a power cable supported by the catheter body, the power cable being connectable to a power source for electrically energizing the ablation head;

d) a hypotube disposed between and connected to the catheter body distal end and to the ablation head, wherein the hypotube comprises a spring;

e) a handle assembly connected to the proximal end of the catheter body;

f) at least one push-pull wire extending from the handle assembly connected to the proximal end of the catheter body to the ablation head;

g) at least a first optical fiber and a second optical fiber, both the first and second optical fibers extending at least from the catheter body proximal end to the hypotube, wherein the first optical fiber comprises a first strain-sensing fiber Bragg grating (FBG) having a first Bragg wavelength, the second optical fiber comprises a second strain-sensing FBG having a second Bragg wavelength, and the first optical fiber also comprises a third temperature-sensing FBG having a third Bragg wavelength;

h) a collar/collet assembly radially aligned with the spring of the hypotube and the first and second strain-sensing FBGs;

i) at least one light source optically connected to the first and second optical fibers, wherein the light source is configured to emit light of a first spectrum into the first strain-sensing FBG, emit light of a second spectrum into the second strain-sensing FBG, and emit light of a third spectrum into the third temperature-sensing FBG;

j) a first light wavelength detector optically connected to the first FBG of the first optical fiber, a second light wavelength detector optically connected to the second FBG of the second optical fiber, and a third light wavelength detector optically connected to the third FBG of the first optical fiber; and

k) a controller operatively coupled to the first, second and third light wavelength detectors,

l) wherein, with the at least one light source emitting the first light spectrum into the first FBG, the second light spectrum into the second FBG, and the third light spectrum into the third FBG, and wherein, in comparison to a first state of the reflected first and second Bragg wavelengths with no axial or lateral forces imparted to the ablation head, with only an axial force imparted to the ablation head to cause the spring to compress but with the ablation head remaining axially aligned with the catheter body, the collar/collet assembly applies equal radial force to the first and second strain-sensing FBGs so that the first and second light wavelength detectors receive the reflected first and second Bragg wavelengths in a second state, shifted the same amount with respect to the first state of the reflected first and second Bragg wavelengths, and wherein the controller is programmed to calculate the difference between the first and second states of the reflected first and second Bragg wavelengths and to convert the difference into the magnitude of the axial force vector imparted to the ablation head, and

m) wherein the handle assembly is manipulatable to move the at least one push-pull wire to selectively deflect the ablation head out of axial alignment with the catheter body, and wherein such movement causes the spring of the hypotube to compress and deflect out of axial alignment to cause the collar/collet assembly to apply a greater lateral force to the first FBG than to the second FBG so that in comparison to the first state of the reflected first and second Bragg wavelengths, a lateral-force-induced third state of the reflected first Bragg wavelength is shifted a greater amount than a lateral-force-induced fourth state of the reflected second Bragg wavelength, and wherein the controller is programmed to calculate the difference in the lateral-force-induced third and fourth states of the reflected first and second Bragg wavelengths in comparison to the first state of the reflected first and second Bragg wavelengths and to convert that difference into a lateral force magnitude and vector imparted to the ablation head, and

n) wherein the controller is further programmed to:

i) calculate a temperature-induced third Bragg wavelength shift as the difference between a fifth state of the reflected third Bragg wavelength at a first ambient temperature with the ablation head outside a body tissue in comparison to a sixth state of the reflected third Bragg wavelength at a second, local environment temperature with the ablation head inside a body tissue, and

ii) calculate for the effect of the temperature change on the reflected first and second Bragg wavelengths in the axial-force-induced second state from the temperature-induced third Bragg wavelength shift to thereby calculate a temperature-compensated magnitude of the axial force vector imparted to the ablation head, and

iii) calculate for the effect of the temperature change on the reflected first and second Bragg wavelengths in the respective lateral-force-induced third and fourth states from the temperature-induced third Bragg wavelength shift to thereby calculate a temperature-compensated lateral force magnitude and vector imparted to the ablation head as a result of the collar/collet assembly applying a greater lateral force to the first FBG than to the second FBG.

19. The ablation catheter of claim 18 , wherein, in addition to being configured to electrically conduct at least one of a direct current energy and a radio-frequency energy into a target tissue, the ablation head is also configured for at least one of cryoablation, laser ablation, chemical ablation, and ultrasonic ablation of a target tissue.