US 12,246,142 B2
Load sensing system for percutaneous device with a curved path
Omid Saber, Waltham, MA (US); and Saeed Sokhanvar, Belmont, MA (US)
Assigned to Siemens Healthineers Endovascular Robotics, Inc., Newton, MA (US)
Filed by Corindus, Inc., Waltham, MA (US)
Filed on Apr. 16, 2020, as Appl. No. 16/850,531.
Claims priority of provisional application 62/839,921, filed on Apr. 29, 2019.
Prior Publication US 2020/0338308 A1, Oct. 29, 2020
Int. Cl. A61M 25/01 (2006.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); G01L 5/16 (2020.01)
CPC A61M 25/0113 (2013.01) [G01L 5/16 (2013.01); A61B 34/76 (2016.02); A61B 2090/064 (2016.02); A61B 2090/066 (2016.02); A61M 25/0116 (2013.01); A61M 2205/332 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An apparatus comprising:
a base;
a support including a non-straight channel extending therethrough, the channel configured to receive an elongated medical device (EMD) extending through the channel;
a slide disposed between the support and the base, where the support moves along the slide and relative to the base in a single degree of freedom in response to a reaction load on the support caused by a first load acting on the EMD and imparted to a wall of the channel by the EMD; and
a sensor against which the support is biased due to the movement of the support relative to the base in the single degree of freedom, the sensor configured to measure the reaction load based on the bias.