The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 08, 2011
Filed:
Feb. 22, 2007
Daniel T. Wallace, Burlingame, CA (US);
Gregory Stahler, San Jose, CA (US);
Alex Goldenberg, San Francisco, CA (US);
Gene Reis, San Jose, CA (US);
Robert G. Younge, Portola Valley, CA (US);
Mathew Clopp, Santa Clara, CA (US);
David Camarillo, Stanford, CA (US);
Toby St. John King, Warshash, GB;
Daniel T. Wallace, Burlingame, CA (US);
Gregory Stahler, San Jose, CA (US);
Alex Goldenberg, San Francisco, CA (US);
Gene Reis, San Jose, CA (US);
Robert G. Younge, Portola Valley, CA (US);
Mathew Clopp, Santa Clara, CA (US);
David Camarillo, Stanford, CA (US);
Toby St. John King, Warshash, GB;
Hansen Medical, Inc., Mountain View, CA (US);
Abstract
A method for estimating the force on a distal end of a working catheter includes positioning a portion of a robotically controlled guide catheter and working catheter into a body lumen wherein a distal end of the working catheter projects distally from a distal end of the guide catheter. The working catheter and guide catheter are dithered with respect to one another using a dithering device operatively connected to a proximal portion of the working catheter. The coupling may occur directly to the working catheter or via a seal such as a Touhy seal. The force experienced by the working catheter at a proximal region is measured through at least one dithering cycle. The force at the distal end of the working catheter is then estimated based on the measured force at the proximal region. The estimated force may be displayed to a physician on, for example, a monitor.