Triaxial fiber optic force sensing catheter
A fiber optic force sensing assembly for detecting forces imparted at a distal end of a catheter assembly. The structural member may include segments adjacent each other in a serial arrangement, with gaps located between adjacent segments that are bridged by flexures. Fiber optics are coupled to the structural member. In one embodiment, each fiber optic has a distal end disposed adjacent one of the gaps and oriented for emission of light onto and for collection of light reflected from a segment adjacent the gap. The optical fibers cooperate with the deformable structure to provide a change in the intensity of the reflected light, or alternatively to provide a variable gap interferometer for sensing deformation of the structural member. In another embodiment, the gaps are bridged by fiber Bragg gratings that reflect light back through the fiber optic at central wavelengths that vary with the strain imposed on the grating.
1. A catheter for exploration or treatment of a vessel, organ or other tissue, comprising:
a flexible elongated body having a proximal end and a distal extremity; and
a fiber optic force sensing assembly disposed within the flexible elongated body proximate the distal extremity, the fiber optic force sensing assembly including:
a structural member having an outer surface and defining a longitudinal axis, the structural member including a plurality of segments that are adjacent each other to define a plurality of gaps, each of the plurality of gaps being located between adjacent ones of the plurality of segments;
a plurality of flexures dispersed between the plurality of segments so that the adjacent ones of the plurality of segments are bridged by one of the plurality of flexures, each of the flexures defining a portion of the outer surface of the structural member; and
a fiber optic operatively coupled with the structural member.
2. The catheter of claim 1 , further comprising a plurality of fiber optics operatively coupled with the structural member.
3. The catheter of claim 2 , wherein each of the plurality of fiber optics comprises a distal end disposed adjacent one of the plurality of gaps, wherein each of the plurality of fiber optics is configured to emit light onto the segment adjacent the one of the plurality of gaps, wherein a distance between the distal end of the fiber optic and the segment adjacent the one of the plurality of gaps and opposite the distal end of the fiber optic has a dimension that changes in response to bending of a one of the flexures that bridges the one of the plurality of gaps, and further wherein a multi-dimensional contact vector is computed at least in part based on the change in the dimension.
4. The catheter of claim 3 , wherein the distal end of the fiber optic and the segment adjacent the one of the plurality of gaps defines an interferometric gap.
5. The catheter of claim 3 , wherein the fiber optic force sensing assembly is configured to reflect light from the segment adjacent the one of the plurality of gaps, and wherein the fiber optic force sensing assembly is configured to vary the light in intensity in response to bending of the one of the flexures that bridges the one of the plurality of gaps.
6. The catheter of claim 3 , wherein the distal end of the fiber optic is diametrically opposed to the corresponding flexure that bridges the one of the plurality of gaps.
7. The fiber optic force sensing assembly of claim 2 , wherein each of the plurality of fiber optics of the fiber optic force sensing assembly include one of a Fabry-Perot resonator and a fiber Bragg grating.
8. The fiber optic force sensing assembly of claim 7 , wherein the Fabry-Perot resonator comprises an intrinsic Fabry-Perot interferometer.
9. The catheter of claim 1 , wherein the plurality of segments are adjacent each other in a serial arrangement along said longitudinal axis.
10. The catheter of claim 1 , wherein the catheter further comprises a treatment end effector coupled to the elongated body distal to the fiber optic force sensing assembly.