Flexible circuit with position and force sensor coils

Abstract

To provide a flexible circuit.SOLUTION: A flexible circuit that is substantially planar may be assembled into an electrophysiologic catheter. The flexible circuit may include various location sensing portions and force sensing portions. The flexible circuit may be deformed in a manner that improves the catheter's functionality concerning force feedback and location feedback, and then further deformed to be assembled into a small volume of the catheter.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO CO-PENDING APPLICATIONS) This application is related to the prior U.S. patent application Ser. No. 15 / 452,843, filed Mar. 8, 2017, which is incorporated herein by reference in its entirety.

[0002] (Copyright Notice) A portion of the disclosure of this patent document contains material that is subject to copyright protection. The copyright owner has no objection to the facsimile reproduction by any person of the patent document or patent disclosure as disclosed in the Patent and Trademark Office patent application or records, but otherwise reserves all copyright rights whatsoever.

[0003] FIELD OF THE INVENTION The subject matter disclosed herein relates to diagnostic and surgical instruments that measure force, pressure, or mechanical tension or compression using catheters for intracardiac diagnostic and surgical procedures. [Background technology]

[0004] Cardiac arrhythmias, such as atrial fibrillation, occur when areas of cardiac tissue disrupt the normal cardiac cycle by abnormally conducting electrical signals to adjacent tissue, causing an asynchronous rhythm.

[0005] Treatments for arrhythmias include surgically destroying the source of the signals causing the arrhythmia and disrupting the conduction pathways of such signals. By selectively ablating cardiac tissue with the application of energy via a catheter, it is sometimes possible to prevent or redirect the propagation of unwanted electrical signals from one part of the heart to another. Ablation techniques disrupt unwanted electrical pathways by creating non-conducting lesions. Summary of the Invention [Means for solving the problem]

[0006] Improved patient outcomes for treatments involving ablation of tissue, particularly cardiac tissue, are sought. The subject matter disclosed herein relates to structures within electrophysiology catheters that can be used, for example, to provide feedback to a user of the catheter regarding the position of the catheter and the force applied to the catheter tip. Applicant has overcome various design constraints to provide, among other things, a catheter having a flexible circuit that can provide feedback in a safe and effective manner.

[0007] A flexible circuit is disclosed herein. The flexible circuit may include a substantially planar substrate including a first portion having a first shape (e.g., circular) and a second portion having a second shape (e.g., rectangular or substantially rectangular) different from the first shape. A first substantially planar force-sensing coil may be disposed on the first portion, and a first substantially planar position coil may be disposed on the second portion. Furthermore, the second portion may include a first segment connected to the second segment by a first connector segment such that the first substantially planar position coil may be disposed on the first segment. In such an embodiment, a second substantially planar position coil may also be disposed on the second segment, preferably such that the first segment and the first substantially planar position coil form a general mirror image of the second segment and the second substantially planar position coil. Thus, the first substantially planar position coil may have a clockwise orientation, and the second substantially planar position coil may have a counterclockwise orientation. Alternatively, the first substantially planar position coil may have a counterclockwise orientation and the second substantially planar position coil may have a clockwise orientation.

[0008] In a further embodiment, the substantially planar substrate may further include a third portion including a third segment connected to the fourth segment by a second connector segment. A third substantially planar position coil may be disposed on the third segment, and a fourth substantially planar position coil may be disposed on the front segment. Similar to the first and second segments, the third segment and the third substantially planar position coil mirror the fourth segment and the fourth substantially planar position coil.

[0009] In further embodiments, the substantially planar substrate may include a fourth portion connected to and disposed between the first portion, the second portion, and the third portion, e.g., by a third connector segment, a fourth connector segment, and a fifth connector segment, respectively.

[0010] Additional connector segments may also be provided. For example, the substantially planar substrate may also include a sixth connector segment connecting the first segment to the second segment and a seventh connector segment connecting the third segment to the fourth segment.

[0011] The various coils may be connected to solder joints disposed on the fourth portion. For example, a portion of the second substantially planar position coil may extend from the second segment of the second portion to the first solder joint on the fourth portion through the first connector segment and the first segment of the second portion. An extension of the force-sensing coil may also extend to the second solder joint on the fourth portion.

[0012] As described above, the first portion may have a circular shape, which may include a trefoil shape having a fifth segment in which the first substantially planar force sensing coil is disposed, a sixth segment in which the second substantially planar force sensing coil is disposed, and a seventh segment in which the third substantially planar force sensing coil is disposed.

[0013] In any embodiment, the substrate may be fabricated by a lithography process. The substantially planar substrate may include 2 to 10 layers, for example, 4 layers. Further, an additional material (e.g., polyimide) may be disposed in at least one of the second portion, the third portion, and the fourth portion.

[0014] In any embodiment, the flexible circuit is flexible, as its name suggests. Furthermore, deformation of the second connector and the third connector reduces the distance between the second and third portions, dimensioned to be approximately equal to the maximum width of the first portion. The deformation of the second connector and the deformation of the third connector may be circular. Furthermore, deformation of the fourth connector may cause the second segment to contact and overlap the first segment, and deformation of the fifth connector may cause the fourth segment to contact and generally overlap the third segment. Additionally, deformation of the third connector may align the second substantially planar position coil with the first substantially planar position coil, and deformation of the fourth connector may align the fourth substantially planar position coil with the third substantially planar position coil.

[0015] The flexible circuit may be incorporated into a catheter according to the following methods and variations. First, the first portion may be oriented parallel to the face of the spring, which is oriented transversely to the longitudinal axis of the spring. The first portion may then be affixed to the face of the spring. Second, the second and third portions may be oriented parallel to the two outer portions of the connecting sleeve, respectively. The second and third portions may then be connected to the two outer surface portions, respectively. Third, the connecting sleeve may be coupled to the outer sleeve. Fourth, the spring may be coupled to the catheter tip. In some variations, the face of the spring may be oriented at an angle greater than about 60 degrees and less than 90 degrees relative to the longitudinal axis of the spring. Typically, the spring may be manufactured with such attributes prior to assembly. For example, the angle may be about 80 degrees.

[0016] Fifth, a gap between the outer sleeve and at least one of the second portion, the third portion, and the fourth portion may be filled. The step of filling the gap includes providing an additional material (e.g., polyimide) to at least one of the second portion, the third portion, and the fourth portion. The additional material may be provided to at least one of the second portion, the third portion, and the fourth portion either before or after the connecting sleeve is connected to the outer sleeve.

[0017] As used herein, the terms "substantially flat" and "generally planar" should be understood to refer to a planar configuration of an object, or a nearly planar configuration of the object that would be acceptable to one skilled in the art for the object's intended use. [Brief explanation of the drawings]

[0018] While this specification concludes with claims particularly pointing out and distinctly claiming the present technology, the present technology will be better understood from the following description of specific embodiments read in conjunction with the accompanying drawings, in which like reference numerals identify the same elements. [Figure 1] 1 is a pictorial representation of a system for assessing electrical activity within the heart of a living subject and administering therapy thereto using a catheter. [Figure 2] 2 illustrates a flexible circuit component of the catheter of FIG. 1. [Figure 3] 3 shows the flexible circuit component of FIG. 2 in a modified configuration. [Figure 4] 1. FIG. 3 illustrates another flexible circuit component of the catheter of FIG. [Figure 5] 2 illustrates a spring component of the catheter of FIG. 1. [Figure 6] 2 shows the distal portion of the catheter of FIG. 1 in a partially assembled configuration. [Figure 7] 10 shows the distal portion of the catheter of FIG. 1 in a further partially assembled configuration. [Figure 8] 7 shows a cross-sectional view taken along line AA in FIG. 6. DETAILED DESCRIPTION OF THE INVENTION

[0019] The following should be read with reference to the drawings, in which like elements in different drawings are numbered the same. The drawings, which are not necessarily to scale, depict certain embodiments and are not intended to limit the scope of the invention. The detailed description illustrates, by way of example, and not by way of limitation, the principles of the invention. This description will clearly enable any person skilled in the art to make and use the invention and will describe several embodiments, applications, variations, alternatives, and uses of the invention, including what is presently contemplated to be the best mode of carrying out the invention.

[0020] The terms "about" or "approximately," as used herein in connection with any numerical value or range of values, are intended to indicate an appropriate tolerance of size that enables a portion of a component or a collection of components to function for its intended purpose as described herein. More specifically, "about" or "approximately" may refer to a range of values ​​of ±10% of the recited value; for example, "about 90%" may refer to a range of values ​​of 81% to 99%. Furthermore, as used herein, the terms "patient," "host," "user," and "subject" refer to any human or animal subject, and are not intended to limit the systems or methods to use in humans, although use of the invention in human patients represents a preferred embodiment.

[0021] The subject matter disclosed herein relates to structures within a catheter that can be used to provide feedback to a user (e.g., an electrophysiologist) of an ablation catheter, regarding the position of the catheter and the force applied to the tip of the catheter and any electrodes disposed thereon. These structures must overcome various design constraints to fit within the small inner diameter of the catheter (e.g., often about 0.1 inches or less) and still reliably provide feedback. For example, metal coils can be used to detect position within a magnetic field. Generally, larger, thicker coils with more turns are easier to detect than smaller, thinner coils with fewer turns, but because space within the catheter is small, the coils must be small and thin to fit within it. Furthermore, when such coils are fabricated as traces on a circuit board or flexible circuit via a lithographic process, this process limits the trace pitch. While the option of increasing the circuit thickness with additional layers via lithography is available, this option has two drawbacks. First, it is expensive because manufacturing costs are proportional to the number of layers. That is, all else being equal, flexible circuits with more layers are more expensive to manufacture than flexible circuits with fewer layers. Second, yield nonlinearity is also proportional to the number of layers. That is, yield nonlinearity increases with the number of traces, thereby compromising yield from the coil. These design challenges are compounded by the inclusion of additional structures in close proximity to the location traces, including irrigation structures and force measurement assemblies that must be able to reliably provide sub-gram force measurements. Furthermore, consideration must be given to crosstalk interference that can result from packing structures into a tight space. The need for ease of assembly and wiring must also be considered for a safe product and positive patient outcomes.

[0022] FIG. 1 is a pictorial diagram of a system 10 for assessing electrical activity and performing an ablation procedure on a living subject's heart 12. The system includes a catheter 14 that is percutaneously inserted by an operator 16 through the patient's vascular system into a chamber or vasculature of the heart 12. The operator 16, typically a physician, brings the catheter's distal tip 18 into contact with the heart wall, e.g., an ablation target site. Electrical activity maps may be generated according to methods disclosed in U.S. Pat. Nos. 6,226,542 and 6,301,496, and commonly assigned U.S. Pat. No. 6,892,091, the disclosures of which are incorporated herein by reference in their entireties. One commercially available product embodying elements of system 10 is available as the CARTO® 3 system, available from Biosense Webster, Inc., 33 Technology Drive, Irvine, CA 92618.

[0023] Regions identified as abnormal, for example, by evaluation of electrical activity maps, can be ablated by application of thermal energy, e.g., by passing radiofrequency current through wires within the catheter to one or more electrodes at the distal tip 18, which apply radiofrequency energy to the target tissue. This energy is absorbed within the tissue, heating it to a temperature (typically above 50°C) at which the tissue permanently loses its electrical excitability. This procedure creates non-conducting lesions in the cardiac tissue, which interrupt the abnormal electrical pathways that cause the arrhythmia. Such principles can be applied to different cardiac chambers to diagnose and treat many different types of cardiac arrhythmias.

[0024] The catheter 14 typically includes a handle 20 with suitable controls thereon to enable the operator 16 to steer, position, and orient the distal end of the catheter as desired to perform ablation. To assist the operator 16, a distal portion 18 of the catheter 14, or portions thereof adjacent thereto, includes position sensors, such as traces or coils (described below), that provide signals to a processor 22 located in a console 24.

[0025] Ablation energy and electrical signals can be transmitted to and from heart 12 through one or more ablation electrodes 32 located at or near distal tip 18 via cables 38 to console 24. Pacing and other control signals can be transmitted from console 24 to heart 12 via cables 38 and electrodes 32.

[0026] Wire connections 35 link console 24 with body surface electrodes 30 and other components of a positioning subsystem for measuring position and orientation coordinates of catheter 14. Processor 22 or another processor may be an element of the positioning subsystem. Electrodes 32 and body surface electrodes 30 may be used to measure tissue impedance at the ablation site, as taught in U.S. Pat. No. 7,536,218 to Govari et al., which is incorporated herein by reference in its entirety. A temperature sensor (not shown), typically a thermocouple or thermistor, may be mounted on or near each of electrodes 32.

[0027] Console 24 typically houses one or more ablation generators 25. Catheter 14 may be adapted to deliver ablation energy to the heart using any known ablation technique, such as radiofrequency energy, ultrasound energy, cryo-thermal energy, and laser-generated light energy. Such methods are disclosed in commonly assigned U.S. Patent Nos. 6,814,733, 6,997,924, and 7,156,816, which are incorporated herein by reference in their entireties.

[0028] The positioning subsystem may also include a magnetic position tracking arrangement that uses coils or traces disposed within the catheter, typically near the tip, to generate magnetic fields within a defined working volume and sense these fields at the catheter to determine the position and orientation of the catheter 14. Positioning subsystems are described in U.S. Patent No. 7,756,576, which is incorporated herein by reference in its entirety, and U.S. Patent No. 7,536,218, cited above.

[0029] Operator 16 can observe and adjust the functions of catheter 14 via console 24. Console 24 includes a processor, preferably a computer with appropriate signal processing circuitry. The processor is coupled to drive monitor 29. The signal processing circuitry typically receives, amplifies, filters, and digitizes signals from catheter 14, including signals generated by sensors, such as electrical sensors, temperature sensors, and contact force sensors, located distally within catheter 14, as well as by multiple position-sensing coils or traces. The digitized signals are received by console 24 and a positioning system and used to calculate the position and orientation of catheter 14 and to analyze the electrical signals from the electrodes and contact force sensors.

[0030] The subject matter disclosed herein relates to structures within a catheter that can be used to provide feedback to an operator 16. Specifically, this feedback relates to the position of the catheter and its tip, as well as the force applied to the tip of the catheter and any electrodes disposed thereon. These structures must overcome various design constraints associated with fitting within the small internal diameter of the catheter (e.g., often about 0.1 inches or less) and still reliably provide feedback. For example, metal coils can be used to detect position within a magnetic field. Generally, larger, thicker coils are easier to detect than smaller, thinner coils, but because of the small space within the catheter, the coils must be small and thin to fit within it. Furthermore, when such coils are fabricated as traces on a circuit board or flexible circuit via a lithographic process, this process limits the trace pitch. While the option of increasing the thickness of the traces with additional layers via lithography is available, this option has two drawbacks. First, it is expensive because more layers cost more than fewer layers. Second, the yield from the coil is compromised to the extent that the nonlinearity of the yield increases with the number of traces. These design challenges are compounded by the inclusion of additional structures in close proximity to the location traces that must be able to reliably provide sub-gram force measurements and free of crosstalk interference that can result from packing structures into a tight space, as well as the need for ease of assembly and wiring for a safe product and positive patient outcomes.

[0031] 2 illustrates a flexible circuit 110 that may be used in a catheter, such as catheter 14, to provide position and force signals to a processor in console 24. Flexible circuit 110 includes a substantially planar substrate 112 having a first portion 114 of a first shape (e.g., circular or trilobal as shown) and a second portion 116 of a second shape (e.g., substantially rectangular or polygonal as shown). As described below, first portion 114 and second portion 116 typically differ in shape because first portion 114 is assembled parallel to the longitudinal axis of the catheter and should therefore be elongated, while second portion 114 is assembled transverse to the longitudinal axis of the catheter and should therefore match the inner diameter of the catheter (i.e., have a maximum width or diameter that is less than or approximately equal to the inner diameter of the catheter). Nevertheless, the shapes of first portion 114 and second portion 116 may be similar. The substrate may be formed from any suitable material that is non-conductive and can withstand high temperatures, such as, for example, polyimide, polyamide, or liquid crystal polymer (LCP).

[0032] Substrate 112 may also include additional portions, such as third portion 130 and fourth portion 142. Each of these portions may further include various segments. As described above, first portion 114 may be trefoil-shaped and may therefore have three segments, i.e., segments 160, 162, and 164. Second portion 116 may include segments 122 and 124 and at least one connector segment, such as 126 or 150, connecting segment 122 to segment 124. Third portion 130 may have a similar structure to second portion 116 and may include segments 132 and 134 and at least one connector segment, such as 136 or 152, connecting segment 132 to segment 134. Fourth portion 142 may include at least three connector segments 144, 146, and 148 connecting fourth portion 142 to first, second, and third portions 114, 116, and 130.

[0033] Electrical components may be incorporated into the substrate 112 and its various portions and segments. For example, a substantially planar coil or trace used to measure force-related signals (i.e., a force-sensing coil or trace) may be incorporated into the first portion 114. Specifically, coil 118 may be incorporated with segment 160, coil 170 may be incorporated with segment 162, and coil 172 may be incorporated with segment 164. Coils 118, 170, and 172 may be separate from one another as shown, or each may be connected to one or both of the others. A portion of each coil or its extension may extend from the coil to solder joint 168 located on and soldered to fourth portion 142. If the three coils are separate from one another, each should include a respective extension (i.e., 166, 174, and 176). However, if the three coils are connected, only one or two extensions may be necessary. When the coils are separated from one another, the signal generated in each of the coils can be used to provide further detail of the force, such as an indication of the off-center force or the off-axis direction of the force. As shown, each coil on the first portion 114 includes approximately five turns. However, because signal strength is correlated with the number of turns, the number of turns may be maximized based on the size of each segment and the pitch that the lithography process can achieve.

[0034] Planar coils or traces used to measure signals related to position (i.e., position coils or traces) may also be incorporated into the second and third portions 116, 130. Coil 120 may be incorporated with segment 122, coil 128 may be incorporated with segment 124, coil 138 may be incorporated with segment 132, and coil 140 may be incorporated with segment 134. Each of these coils may extend to a solder joint 168 on the fourth portion 142. For example, coil 120 may include an extension 154 that connects to solder joint 168 via connector segment 146, and coil 128 may include connector segment 126, segment 122, and extension 156 that connects to solder joint 168 via connector segment 146. As shown, each coil on the first and second portions 116, 130 includes approximately five turns. However, because signal strength is correlated with the number of turns, the number of turns may be maximized based on the size of segments 122, 124, 132, and 134 and the pitch that the lithographic process can achieve.

[0035] Various symmetries are illustrated in FIG. 2 . For example, the entire substrate is symmetrical about a centerline passing through the center of first portion 114, such that second portion 116 is disposed laterally on one side of first portion 114 and fourth portion 142, and third portion 130 is disposed laterally on the other side of first portion 114 and fourth portion 142. Thus, fourth portion 142 is disposed between first portion 114, second portion 116, and third portion 130. Furthermore, segments 122 and 124 mirror each other, and, except for extension 156, coil 120 mirrors coil 128. Similarly for segments 132 and 134, and coils 138 and 140. Thus, as shown, the turns of coils 120 and 132 may be clockwise (i.e., have a clockwise orientation), and the turns of coils 128 and 134 may be counterclockwise (i.e., have a counterclockwise orientation). Alternatively, coils 120 and 132 may have counterclockwise turns and coils 128 and 134 may have clockwise turns.

[0036] Substrate 112 may be a single layer or may include two to ten layers, e.g., four layers. In this manner, the coil may be thickened by adding layers. However, as discussed above, increasing thickness with each layer results in increased nonlinearity in signal yield. The flexibility of flexible circuit 110 allows for a solution to this trade-off. Specifically, with reference to FIG. 3 , by deforming or bending connectors 126 and 150, segment 124 may be folded over and contacted with and overlapped by segment 122 so that coil 128 aligns with coil 120. Similarly, by deforming or bending connectors 136 and 152, segment 134 may be folded over and contacted with and overlapped by segment 132 so that coil 140 aligns with coil 138. Connectors 150 and 152 are optional, but may assist in aligning the coils by reducing relative rotation between the segments. If substrate 112 has four layers, for example, after segment 124 is folded onto segment 122, coils 120 and 128 form a composite coil having eight layers. Because of the increased area, panel density can be increased, but the yield of the composite coil does not suffer from increased nonlinearity as an eight-layer coil fabricated in an eight-layer substrate.

[0037] The advantage of a thinner substrate (e.g., four layers) over a thicker substrate (e.g., eight layers) is that it is easier to deform or bend, which, as described below, helps assemble the flexible circuit 110 to other catheter components and ultimately helps it fit within the inner diameter envelope of the catheter. Thus, the flexible circuit 110 allows for thicker coils without increasing signal nonlinearity or substrate stiffness.

[0038] 4 shows another component of the catheter 14, the flexible circuit 180, which includes a substrate 182 and a coil (or coils) 184. The structure of the flexible circuit 180 is similar to the structure of the first portion 114 of the flexible circuit 110. However, in various embodiments, the number or pitch of the coils may vary, and the various coils on the three segments may be separate from one another or may be integral with one another.

[0039] 5 shows another component of the catheter 14, a helical spring 190, including a top surface 192, a bottom surface 194, and various arms 196 that can be used to assemble the spring 190 to other components of the catheter 14. The spring 190 has a known or predetermined spring constant that relates distance to force according to Hooke's Law. The flexible circuit 180, the first portion 114 of the flexible circuit 110, and the helical spring 190 together comprise a subassembly that can receive electrical signals from and provide electrical signals to the console 24, which can be processed to determine the force, e.g., subgram force, applied to the tip 18 of the catheter 14. Specifically, a first cable or cables (in cable bundle 198 in FIGS. 6 and 7 ) that connect to console 24 at one end may be connected at an opposite end to solder joint 168 on fourth portion 142 of flexible circuit 110, which is connected via coil extensions 166, 174, and 176 to coils 118, 170, and 172 on segments 160, 162, and 164 of first portion 114, respectively. A second cable or cables (also in cable bundle 198) that connect to console 24 at one end may also be connected at an opposite end to coil or coils 184 on flexible circuit 180. An electrical signal from console 24, e.g., an electrical signal having a radio frequency, may be used to power either the coils on the first portion of flexible circuit 110 or the coils on flexible circuit 180. Whichever set of coils receives power from console 24 may be considered a transmitter because it emits an electromagnetic field that varies with the frequency of the signal received from console 24. A set of coils that are not powered by the console 24 may be considered a receiver insofar as it acts like an antenna in response to the electromagnetic field from the transmitter. The receiver therefore generates an electrical signal that can be transmitted to the console 24 for analysis. The electrical signal generated by the receiver depends on the distance between the receiver and the transmitter, and therefore the electrical signal generated by the receiver may be correlated to the distance between the receiver and the transmitter.

[0040] By adhering the receiver (here, the coil on the first portion 114 of the flexible circuit 110) to the top surface 192 of the spring 190 and the transmitter (here, the coil on the flexible circuit 180) to the bottom surface of the spring 180 and wiring them as described above, the electrical signal generated by the receiver can be correlated to the compressive displacement in the spring (e.g., on the order of 100 nanometers) and, in turn, to the force on the tip 18 of the catheter 14 that causes the spring 180 to compress. During use, the console 24 can process these signals and use them to adjust the amount of ablation energy delivered to the electrode. For example, if the signal indicates that the spring is in a relaxed state (i.e., no compression), this can be perceived as an indicator that the tip 18 of the catheter 14 is not in contact with tissue and therefore no ablation energy should be delivered to the electrode. An indicator of the information (e.g., units of force, such as Newtons) may further be provided to the operator 16 on the monitor 29. This information may be useful to provide directly to the operator 16, insofar as it may help the operator 16 avoid damaging tissue by pressing too hard on the tip 18.

[0041] The top surface 192 and bottom surface 194 of the spring 190 may be parallel to one another or oriented transversely relative to the longitudinal axis of the spring (e.g., greater than about 60 degrees and less than 90 degrees, e.g., about 80 degrees). Accordingly, the receiver and transmitter affixed thereto are similarly angled. The inventors have determined that a non-perpendicular angle increases receiver sensitivity because the distance between the transmitter and receiver is minimized compared to when they are oriented perpendicular to the longitudinal axis of the spring, and ultimately the longitudinal axis of the catheter.

[0042] Figures 6 and 7 show the catheter 14 at two different stages in its assembly. Figure 8 is a cross-section of the catheter 14 taken along line AA of Figure 6, with various components removed or simplified for clarity regarding further discussion of the flexible circuit 110. Figure 6 shows the flexible circuit 110 assembled to the spring 190 and connection sleeve 200. Although not shown, the first portion 114 of the flexible circuit 110 is adhered to the top surface 192 of the spring 190, and the flexible circuit 180 is adhered to the bottom surface 194 of the spring 190. In Figure 7, the tip 18, which may itself include the ablation electrode(s) 32 and includes various irrigation openings 214, is attached to the spring 190. Also shown in Figures 6 and 7 is a cable bundle 198. Cable bundle 198, although not visible, includes a set of cables connected to solder joints 168 on fourth portion 142 of flexible circuit 110 and, in turn, to various coils or traces on flexible circuit 110 and to coils or traces 184 on flexible circuit 180. As can be seen in FIGS. 6-8 , flexible circuit 110 is no longer flat. Rather, it has been deformed to have a shape with a cross-section that is partially circular and partially triangular. Segment 124 of second portion 116 is the most easily visible segment of flexible circuit 110 in FIGS. 6 and 7 . Various sides of segments 122, 132, and 134, as well as connectors 126, 136, 146, 150, and 152, are also visible in these views. As can be seen, these connectors have been deformed into a bent or curved configuration for attachment to connection sleeve 200. Specifically, segment 122 is adhered to substantially planar surface 202 of sleeve 200, and segment 132 is adhered to substantially planar surface 204 of sleeve 204. So assembled, these portions of flexible circuit 110 may be viewed as having a triangular cross-section. Furthermore, connector 146 is adhered to circular (or arcuate) surface 206 of sleeve 200, and connector 148 is adhered to circular (or arcuate) surface 208 of sleeve 200.When so assembled, these portions of flexible circuit 110 may be viewed as having a circular (or arcuate) cross-section. Fourth portion 142 may also be adhered to substantially planar surface 210 of sleeve 200.

[0043] The diameter or width of the circular portion of the cross section of the flexible circuit 110 assembled to the sleeve 200 is equal to or approximately equal to the diameter or maximum width of the first portion 114, and is also equal to or approximately equal to the maximum width (or base) of the triangular portion of the cross section of the flexible circuit 110 assembled to the sleeve 100. Thus, when assembled, the flexible circuit 110 can be easily inserted into the outer tube or sleeve 216 (FIG. 1), which provides the outer surface of the catheter 14 and defines the inner diameter into which the components of the catheter 14 (e.g., the flexible circuit 110, the spring 180, the sleeve 200) must fit. To help prevent soft spots under the sleeve 216 resulting from gaps between the substantially flat outer surfaces of the segments 124 and 134 and the portion 142 on the one hand and the curvature of the sleeve 216 on the other hand, these gaps may be filled by including additional materials on the segments 124 and 134 (of the second and third portions 116 and 130, respectively) and portion 142, such as adhesive 218 and polyimide layer 220. The polyimide layer 220 may be fabricated separately from and adhered to the flexible circuit 110, or may be an integral part of the flexible circuit 110, formed during the same lithography process as the rest of the flexible circuit 110. The polyimide layer 220 may interpolate the curve of the sleeve 216 with a series of substantially planar steps or layers.

[0044] The flexible circuit 110 may be incorporated into the catheter 14 as follows. First, the flexible circuit 110 may be provided. The segment 124 of the second portion 116 may be folded onto, overlapping, and contacting the segment 122 of the second portion 116 by deforming the connector 126 and, if included, the connector 150. The segment 134 of the third portion 130 may be folded onto, overlapping, and contacting the segment 132 of the third portion 130 by deforming the connector 136 and, if included, the connector 152. The first portion 114 of the flexible circuit 110 may be oriented so as to be parallel to the top surface 192 of the spring 190 and oriented transversely (e.g., less than 30 degrees from perpendicular) with respect to the longitudinal axis of the spring 190. The first portion 114 may then be adhered to the top surface 192 of the spring 190. A connecting sleeve 200 having a substantially planar surface portion may be provided and oriented so that its longitudinal axis is aligned with the longitudinal axis of the spring. The second portion 116 and the third portion 130 may be oriented so that they are parallel to the respective substantially planar surface portions of the sleeve 200. The second portion 116 and the third portion 130 may then be bonded to the respective substantially planar surface portions of the sleeve 200. The sleeve 200, bonded to the flexible circuit 110, may then be bonded or inserted into the outer sleeve 216. Finally, the tip 18 may be affixed to the spring 190. The flexible circuit 180 may be bonded to the bottom surface 194 of the spring 190 at almost all steps of the process, as long as the tip 18 is not attached to the spring 190.

[0045] Any of the examples or embodiments described herein may include various other features in addition to or instead of those described above. The teachings, expressions, embodiments, examples, etc. described herein should not be considered in isolation from one another. In light of the teachings herein, various suitable ways in which the teachings herein can be combined should become apparent to those skilled in the art.

[0046] While illustrative embodiments of the subject matter encompassed by this invention have been shown and described, further applications of the methods and systems described herein may be achieved by appropriate modification without departing from the scope of the claims. Furthermore, while the methods and steps described above indicate particular events occurring in a particular order, it is intended that the particular steps need not be performed in the order described, and that the steps may be performed in any order that enables the embodiment to function for its intended purpose. Accordingly, to the extent that there are variations of the invention that are within the spirit of the disclosure or the scope of the equivalents of the invention found in the claims, it is intended that this patent cover such variations. Such variations will be apparent to those skilled in the art. For example, the examples, embodiments, geometries, materials, dimensions, proportions, steps, etc., described above are exemplary. Therefore, the claims should not be limited to the details of structure and operation set forth in the specification and drawings.

[0047] [Embodiment] (1) A flexible circuit, a substantially planar substrate including a first portion having a first shape and a second portion having a second shape different from the first shape; a first substantially planar force-sensing coil disposed on the first portion; a first substantially planar position coil disposed on the second portion. (2) The flexible circuit of embodiment 1, wherein the second portion includes a first segment connected to a second segment by a first connector segment, the first substantially planar position coil disposed on the first segment, and the second substantially planar position coil disposed on the second segment. (3) The flexible circuit of embodiment 2, wherein the first segment and first substantially planar position coil form an approximate mirror image of the second segment and second substantially planar position coil. (4) The flexible circuit of embodiment 3, wherein the first substantially planar position coil has a clockwise orientation and the second substantially planar position coil has a counterclockwise orientation. (5) the substantially planar substrate further includes a third portion including a third segment connected to a fourth segment by a second connector segment, a third substantially planar position coil disposed on the third segment, and a fourth substantially planar position coil disposed on the fourth segment; A flexible circuit as described in embodiment 3, wherein the third segment and the third substantially planar position coil mirror the fourth segment and the fourth substantially planar position coil.

[0048] (6) The flexible circuit of embodiment 5, wherein the substantially planar substrate further comprises a fourth portion connected to and disposed between the first portion, the second portion, and the third portion. (7) The flexible circuit of embodiment 6, wherein the fourth portion is connected to the first portion, the second portion, and the third portion by a third connector segment, a fourth connector segment, and a fifth connector segment, respectively. (8) The flexible circuit of embodiment 7, wherein the substantially planar substrate further includes a sixth connector segment connecting the first segment to the second segment and a seventh connector segment connecting the third segment to the fourth segment. (9) The flexible circuit of embodiment 6, wherein a portion of the second substantially planar position coil extends from the second segment of the second portion, through the first connector segment and the first segment of the second portion, to a first solder joint on the fourth portion. (10) The flexible circuit of embodiment 9, wherein the extension of the force sensing coil extends to a second solder joint on the fourth portion.

[0049] (11) The flexible circuit of claim 10, wherein the force sensing coil is configured to receive an electromagnetic signal from a transmitter coil. (12) The flexible circuit of embodiment 6, wherein the first shape comprises a circular profile and the second shape comprises a substantially rectangular profile. (13) The flexible circuit of embodiment 12, wherein the circular shape comprises a trefoil shape having a fifth segment in which the first substantially planar force sensing coil is disposed, a sixth segment in which the second substantially planar force sensing coil is disposed, and a seventh segment in which the third substantially planar force sensing coil is disposed. (14) The flexible circuit of embodiment 6, wherein the substantially planar substrate comprises between 2 and 10 layers. (15) The flexible circuit of embodiment 6, wherein additional material is disposed in at least one of the second portion, the third portion, and the fourth portion.

[0050] (16) The flexible circuit of claim 15, wherein the additional material comprises polyimide. (17) The flexible circuit of claim 16, wherein the additional material further comprises an adhesive. (18) A flexible circuit, a substantially planar substrate, a first portion having a first substantially planar force sensing coil disposed thereon; a second portion having a first substantially planar position coil disposed thereon; a third portion having a second substantially planar position coil disposed thereon; and a fourth portion disposed between the first portion, the second portion, and the third portion and connected to the first portion, the second portion, and the third portion by a first connector, a second connector, and a third connector, respectively, such that deformation of the second connector and the third connector reduces the distance between the second portion and the third portion to approximately equal the maximum width of the first portion. (19) The flexible circuit of embodiment 18, wherein the deformation of the second connector and the deformation of the third connector include a circular deformation. (20) The flexible circuit of embodiment 18, wherein the second portion includes a first segment connected to a second segment by a fourth connector, and the third portion includes a third segment connected to a fourth segment by a fifth connector, such that deformation of the fourth connector causes the second segment to contact and overlap the first segment, and deformation of the fifth connector causes the fourth segment to contact and generally overlap the third segment.

[0051] (21) The flexible circuit of embodiment 20, wherein the first segment includes the first substantially planar position coil, the second segment includes the second substantially planar position coil, the third segment includes the third substantially planar position coil, and the fourth segment includes the fourth substantially planar position coil, such that deformation of the third connector aligns the second substantially planar position coil with the first substantially planar position coil and deformation of the fourth connector aligns the fourth substantially planar position coil with the third substantially planar position coil. (22) The flexible circuit of embodiment 18, wherein additional material is disposed in at least one of the second portion, the third portion, and the fourth portion. 23. The flexible circuit of claim 22, wherein the additional material comprises polyimide. (24) A method of assembling a catheter including a substantially planar flexible circuit, comprising: 1. A flexible circuit, comprising: a first portion having a first substantially planar force sensing coil disposed thereon; a second portion having a first substantially planar position coil disposed thereon; a third portion having a second substantially planar position coil disposed thereon; and orienting the first portion parallel to a plane of the spring oriented transversely to a longitudinal axis of the spring; securing the first portion to the surface of the spring; orienting the second portion and the third portion so as to be parallel to two outer surface portions of a connecting sleeve, respectively; and adhering the second portion and the third portion to the two outer surface portions. 25. The method of claim 24, further comprising connecting the connecting sleeve to an outer sleeve.

[0052] (26) The method of embodiment 25, further comprising coupling the spring to a catheter tip. 27. The method of claim 26, wherein the face of the spring is oriented at an angle greater than 60 degrees and less than 90 degrees relative to the longitudinal axis of the spring. (28) The method of embodiment 27, wherein the angle is approximately 80 degrees. 29. The method of claim 26, further comprising filling a gap between the outer sleeve and at least one of the second portion, the third portion, and the fourth portion. 30. The method of claim 29, wherein filling the gap includes providing additional material to the at least one of the second portion, the third portion, and the fourth portion.

[0053] 31. The method of claim 30, wherein the additional material comprises a polyimide.

Claims

1. A catheter having a tip end with a flexible circuit assembled to a helical spring, The flexible circuit comprises: a substantially planar substrate including a first portion having a first shape, a second portion having a second shape different from the first shape, and a third portion having a third shape different from the first shape; a first substantially planar force-sensing coil disposed on the first portion, the first substantially planar force-sensing coil comprising three coils in a trefoil shape; a first substantially planar position coil and a second substantially planar position coil disposed on the second portion; a third substantially planar position coil and a fourth substantially planar position coil disposed on the third portion; the first portion, the second portion, and the third portion are comprised of the same layer of the substantially planar substrate; the first and second substantially planar position coils are generally mirror images, folded and superimposed, and assembled to the catheter to provide a signal related to the position of the tip of the catheter; and the third and fourth substantially planar position coils are generally mirror images, folded and superimposed, and assembled to the catheter; the first substantially planar force-sensing coil is mounted on the top surface of the helical spring located on the proximal end side of the catheter, and receives the electrical signal transmitted from a second substantially planar force-sensing coil consisting of three other trefoil-shaped coils mounted on the bottom surface of the helical spring located on the distal end side of the catheter, to provide an electrical signal correlating with a compressive displacement of the helical spring due to a force applied to the distal end of the catheter.

2. 2. The catheter of claim 1, wherein the second portion of the flexible circuit includes a first segment connected to a second segment by a first connector segment, the first substantially planar position coil disposed on the first segment, and the second substantially planar position coil disposed on the second segment.

3. 3. The catheter of claim 2, wherein the first segment of the flexible circuit and the first substantially planar position coil form a general mirror image of the second segment and the second substantially planar position coil.

4. 4. The catheter of claim 3, wherein the first substantially planar position coil of the flexible circuit has a clockwise orientation and the second substantially planar position coil has a counterclockwise orientation.

5. The third portion includes a third segment connected to a fourth segment by a second connector segment, the third substantially planar position coil being disposed on the third segment, and the fourth substantially planar position coil being disposed on the fourth segment; The catheter of claim 3 , wherein the third segment and the third substantially planar position coil mirror the fourth segment and the fourth substantially planar position coil.

6. 6. The catheter of claim 5, wherein the substantially planar substrate of the flexible circuit further includes a fourth portion connected to and disposed between the first portion, the second portion, and the third portion.

7. 7. The catheter of claim 6, wherein the fourth portion of the flexible circuit is connected to the first portion, the second portion, and the third portion by a third connector segment, a fourth connector segment, and a fifth connector segment, respectively.

8. 8. The catheter of claim 7, wherein the substantially planar substrate of the flexible circuit further includes a sixth connector segment connecting the first segment to the second segment and a seventh connector segment connecting the third segment to the fourth segment.

9. 7. The catheter of claim 6, wherein the second substantially planar position coil of the flexible circuit has a portion extending from the second segment of the second portion, through the first connector segment and the first segment of the second portion, to a first solder joint on the fourth portion.

10. 10. The catheter of claim 9, wherein the force-sensing coil of the flexible circuit is connected to an extension that extends to a second solder joint on the fourth portion.

11. The catheter of claim 6 , wherein the second shape of the flexible circuit comprises a substantially rectangular profile.

12. The catheter of claim 6, wherein an additional material comprising polyimide of the flexible circuit is disposed in at least one of the second portion, the third portion, and the fourth portion.

13. The catheter of claim 12 , wherein the additional material of the flexible circuit further comprises an adhesive.

14. A catheter having a tip end with a flexible circuit assembled to a helical spring, The flexible circuit comprises: a substantially planar substrate, a first substantially planar force sensing coil disposed on a first portion of the substantially planar substrate and comprising three coils in a trefoil shape; a first substantially planar position coil and a second substantially planar position coil disposed on a second portion of the substantially planar substrate; a third substantially planar position coil disposed on a third portion of the substantially planar substrate, the third substantially planar position coil and a fourth substantially planar position coil; a fourth portion of the substantially planar substrate disposed between the first portion, the second portion, and the third portion and connected to the first portion, the second portion, and the third portion by a first connector, a second connector, and a third connector, respectively, such that deformation of the second connector and the third connector reduces a distance between the second portion and the third portion to approximately equal a maximum width of the first portion; the first portion, the second portion, and the third portion are comprised of the same layer of the substantially planar substrate; the first and second substantially planar position coils are generally mirror images, folded and superimposed, and assembled to the catheter to provide a signal related to the position of the tip of the catheter; and the third and fourth substantially planar position coils are generally mirror images, folded and superimposed, and assembled to the catheter; the first substantially planar force-sensing coil is mounted on the top surface of the helical spring located on the proximal end side of the catheter, and receives the electrical signal transmitted from a second substantially planar force-sensing coil consisting of three other trefoil-shaped coils mounted on the bottom surface of the helical spring located on the distal end side of the catheter, to provide an electrical signal correlating with a compressive displacement of the helical spring due to a force applied to the distal end of the catheter.

15. 15. The catheter of claim 14, wherein the second portion of the flexible circuit includes a first segment connected to a second segment by a fourth connector, and the third portion includes a third segment connected to a fourth segment by a fifth connector, such that deformation of the fourth connector causes the second segment to contact and overlap the first segment, and deformation of the fifth connector causes the fourth segment to contact and generally overlap the third segment.

16. 16. The catheter of claim 15, wherein the first segment of the flexible circuit includes the first substantially planar position coil, the second segment includes the second substantially planar position coil, the third segment includes the third substantially planar position coil, and the fourth segment includes the fourth substantially planar position coil, such that deformation of the fourth connector aligns the second substantially planar position coil with the first substantially planar position coil and deformation of the fifth connector aligns the fourth substantially planar position coil with the third substantially planar position coil.

17. 15. The catheter of claim 14, wherein an additional material comprising polyimide of the flexible circuit is disposed in at least one of the second portion, the third portion, and the fourth portion.

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