US 11,744,659 B2
Load sensing of elongated medical device in robotic actuation
Omid Saber, Waltham, MA (US); Andrew Clark, Waltham, MA (US); Cameron Canale, Groton, MA (US); Saeed Sokhanvar, Belmont, MA (US); and Eric Klem, Lexington, MA (US)
Assigned to Corindus, Inc., Newton, MA (US)
Appl. No. 17/597,456
Filed by Corindus, Inc., Waltham, MA (US)
PCT Filed Jul. 14, 2020, PCT No. PCT/US2020/041904
§ 371(c)(1), (2) Date Jan. 6, 2022,
PCT Pub. No. WO2021/015990, PCT Pub. Date Jan. 28, 2021.
Claims priority of provisional application 63/012,607, filed on Apr. 20, 2020.
Claims priority of provisional application 62/876,489, filed on Jul. 19, 2019.
Prior Publication US 2022/0257323 A1, Aug. 18, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01); A61B 17/00 (2006.01); A61M 25/01 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 34/20 (2016.02); A61B 90/03 (2016.02); A61B 2017/00203 (2013.01); A61B 2017/00725 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/301 (2016.02); A61B 2090/034 (2016.02); A61B 2090/064 (2016.02); A61B 2090/376 (2016.02); A61M 25/0113 (2013.01)] 30 Claims
OG exemplary drawing
 
1. An apparatus comprising:
a drive module including a drive module base component and a load-sensed component;
an elongated medical device (EMD) removably coupled to an isolated component;
the isolated component being isolated from an external load other than an actual load acting on the EMD;
the isolated component being removably coupled to the load-sensed component; and
a load sensor secured to the drive module base component and the load-sensed component sensing the actual load acting on the EMD;
further comprising a cassette including a cassette housing removably attached to the drive module base component, the isolated component being positioned within and separate from the cassette housing in at least one direction when the isolated component is connected to the load-sensed component; and
wherein an actuator to rotate the EMD about its longitudinal axis is located outside of the load-sensed component.