Mark B. Kirschenman,John A. Hauck,Andrew P. Skypeck
申请号：
US12933065
公开号：
US08641664B2
申请日:
2009.03.27
申请国别(地区):
US
年份:
2014
代理人:
摘要：
An apparatus for maintaining a robotic catheter system in a responsive state includes a catheter, a plurality of linear translatable control elements, and a controller. In an embodiment, the catheter includes a proximal portion, a distal portion, and at least two steering wires. The steering wires may be configured at one end to control the movement of at least a portion of the distal portion of the catheter and at the other end for connection to a control member. In an embodiment, each control element may be configured to engage or interface with a respective control member, and the controller may be configured to measure a force exerted on at least one control member by a respective control element and further configured to linearly translate the control element to substantially maintain a force within a predetermined range.
