Inventors:
Alexander Tung - Mountain View CA, US
Günter Niemeyer - Mountain View CA, US
David Liang - Menlo Park CA, US
Byong-Ho Park - Cincinnati OH, US
Friedrich B. Prinz - Woodside CA, US
Bob S. Hu - Stanford CA, US
Assignee:
The Board of Trustees of the Leland Stanford Junior University - Palo Alto CA
International Classification:
G01L 1/22
Abstract:
This invention provides small position sensors for applications where localized sensing in a small volume of space is needed but where measurement of large relative displacement is also necessary. The invention enables a surgeon to accurately position the tip of a catheter during minimally invasive therapy. The current invention further improves the quality of tactile feedback to a physician during catheter-based surgeries with an axial force sensor at the tip of the catheter that allows for the transmission of force information to the physician. One embodiment of this invention is a position sensor for active interventional catheters, where the sensor may be laser-machined shape memory alloy (SMA), and the catheter actuators may be heated SMA or wire-pulleys. Providing position feedback from a catheter during minimally invasive therapy allows for closed-loop control of the catheter tip position under computer-aided guidance and enable force feedback to the physician.