Sensor for an endovascular robotic system

Abstract

A sensor for an endovascular robotic system, wherein the sensor comprises: a gripper (105) for gripping an elongated medical member to be sensed by the sensor; a first sensor (102), wherein a first portion of the first sensor (102) is coupled to the gripper (105), wherein the first sensor (102) is configured to detect a linear movement of the elongated medical member within the sensor from a first linear position to a second linear position along a first axis; and a second sensor (103), wherein a first portion of the second sensor (103) is coupled to the gripper (105), wherein the second sensor (103) is configured to detect a rotational movement of the elongated medical member within the sensor from a first rotational position to a second rotational position around the first axis.

Description

[0001] UAB Inovatyvi medicina - 1 - 30A-166 905

[0002] SENSOR FOR AN ENDOVASCULAR ROBOTIC SYSTEM

[0003] FIELD OF THE INVENTION

[0004] The present invention generally relates to a sensor for an endovascular robotic system comprising a gripper, a first sensor and a second sensor.

[0005] BACKGROUND TO THE INVENTION

[0006] Endovascular specialists (for example (endo-)vascular surgeons, (interventional) cardiologists, (interventional) radiologists etc.) train, practice and develop intuitive skills to handle surgical tools. The mental imagery of skills of physicians also evolves by correlating their actions and responses of surgical tools within the human anatomy. An endovascular surgeon is generally guided by two senses: visual feedback from the imaging devices and reaction force feedback via the tool. Perception-action-visualization abilities of surgeons are fine-tuned to a level where their surgical decisions are made even without observing their hand gestures.

[0007] Currently, existing robotic systems are focused exclusively on imaging feedback, but have ignored the other source of information: tactile feedback from surgical tools. Instrument controls using a joystick and a PC interface are closer to videogame controllers than control of surgical instruments and leave vascular surgeons with less feedback information which is available performing the procedure manually.

[0008] The inventors have realized that existing vascular robotic systems are controlled via a computer interface, in contrast to what vascular surgeons are trained to do with, for example, guide wires and catheters.

[0009] There is therefore a need for improvements of (endo-)vascular robotic systems.

[0010] SUMMARY OF THE INVENTION

[0011] The invention is set out in the independent claim. Preferred embodiments of the invention are set out in the dependent claims.

[0012] According to a first aspect, we describe a sensor for an endovascular robotic system, wherein the sensor comprises: a gripper for gripping an elongated medical member to be sensed by the sensor; a first sensor, wherein a first portion of the first sensor is UAB Inovatyvi medicina - 2 - 30A-166 905 coupled to the gripper, wherein the first sensor is configured to detect a linear movement of the elongated medical member within the sensor from a first linear position to a second linear position along a first axis; and a second sensor, wherein a first portion of the second sensor is coupled to the gripper, wherein the second sensor is configured to detect a rotational movement of the elongated medical member within the sensor from a first rotational position to a second rotational position around the first axis.

[0013] The gripper may be of any suitable design configured to grip the device. This may mean that a movement of the device in one or more axes is limited / prohibited by the gripper. In some examples, the gripper is configured to be alterable within the sensor in order to accommodate and contain a plurality of different types of elongated medical members. In some examples, the gripper comprises a hole through which the elongated medical member is threaded. Alternatively, there may be an opening for the elongated medical member to be placed in within the gripper. That is to say, there may not be a through hole, but an opening with at least one blocked end which prevents the elongated medical member from extending out of both sides of the gripper, and therefore the sensor. In some examples, the elongated medical member may be part of the gripper. This may allow for a more accurate sensing of the movement of the elongated medical member. This may allow also for a more accurate detection of the movement of the elongated medical member, as the elongated medical member is fixed in relation to the gripper within the sensor. The gripper may comprise elastic O-rings, silicon, metal, or any other material and / or method suitable to grip the elongated medical member.

[0014] The first and / or second sensors may be configured to detect movement of the device in their respective directions, i.e. linear and rotational directions. In some examples, the linear and / or rotational movement of the elongated medical member is translated to the sensors via the gripper. The sensors are preferably independent from one another. That is to say, a linear movement detected by the first sensor does not affect a measurement of the rotational movement by the second sensor, and vice versa. This may allow for a more accurate detection of the movement of the elongated medical member.

[0015] In some examples, the first sensor is coupled to the gripper via a bearing. This may allow for the gripper to "float" within the sensor, thereby allowing for a more accurate detection of movement by the sensors. The bearing may be any suitable type of UAB Inovatyvi medicina - 3 - 30A-166 905 bearing such as, for examplea ball bearing, a roller bearing, a plain bearing, a fluid bearing, a magnetic bearing, or any other suitable type of bearing.

[0016] In some examples, the bearing is configured to translate a force, generated by the linear movement of the elongated medical member, from the gripper (104) to the first sensor. The cross-section of the bearing may be substantially circular in order to allow this to happen. The force may be transferred via the bearing rolling in a direction parallel to the first axis, thereby allowing for the force to be transferred. This may allow for the gripper to "float" within the sensor, thereby allowing for a more accurate detection of movement by the sensors.

[0017] In some examples, a first end of the first sensor is coupled to the gripper and is moveable forth and back along the first axis, and wherein a second end of the first sensor is fixed to a non-moveable part of the sensor, wherein the second end is opposite the first end. This may allow for the first sensor to flex, thereby allowing for the movement of the elongated medical member in the linear direction to be sensed. The sensor may comprise a plurality of concentric circular elements, wherein the second end of the first sensor is fixed to a non-moveable outer element, "non-moveable" may mean that this part of the sensor does not flex and / or move in response to the movement of the elongated medical member.

[0018] In some examples, the first end of the first sensor is coupled to the gripper via the bearing. This may allow for the gripper to "float" within the sensor, thereby allowing for a more accurate detection of movement by the sensors.

[0019] In some examples, a first end of the second sensor is coupled to the gripper, and wherein a second end of the second sensor is a free end, wherein the second end is opposite first end. This may allow for the second sensor to flex, thereby allowing for the movement of the elongated medical member in the rotational direction to be sensed. The free end and / or movement of the second sensor may be limited, as described below.

[0020] In some examples, the free end of the second sensor is configured to allow the second sensor to move freely along the first axis and along a second axis perpendicular to the first axis. This may allow for the second sensor to be adaptable based on environmental conditions, resulting in a more accessible and versatile sensor. This may, additionally or alternatively, allow for independence of the sensor from environmental conditions. In some particularly preferred examples, strain of the second sensor is UAB Inovatyvi medicina - 4 - 30A-166 905 measured, which is affected during, for example, heating / cooling of the environment surrounding the second sensor. By having a free end as mentioned above, this may allow for this environmental factor to be cancelled out during measuring of the strain. Additionally or alternatively, the strain due to environmental factors may be measured when the second sensor is at a neutral position, i.e. no under rotational strain, and this measurement may be used to determine the strain acted upon the second sensor when the elongated medical member is rotated as a form of calibration. This may allow for calibration of the second sensor before usage, and allow for the measurements to be independent of temperature change, thereby leading to a more accurate measurement of strain and so, the degree of rotation of the elongated medical member.

[0021] In some examples, the first and / or second directional sensor comprises a strain gauge, wherein the strain gauge is configured to detect the linear and / or rotational movement of the elongated medical member from the first linear position to the second linear position and / or the first rotational position to the second rotational position. Strain gauges and their functions are known to the skilled person. The strain gauge is preferably coupled to the first and / or second directional sensors by glue and / or any other suitable fixing. An output of the strain gauge may, in some examples, be amplified via an amplifier and transmitted, in a wired and / or wireless manner, to a microcontroller comprising an Analog to Digital Converter, ADC. This information may then be further transmitted to a medium which allows a user of the sensor to see and / or view the readings of the strain gauge. In some examples, the first and / or second sensors may have a plurality of strain gauges. This may mean that there is a strain gauge on each side of the respective sensor. This may allow for a more precise and accurate reading of strain and avoid failures of the risks of the strain not being measured and / or identify if one strain gauge is not working properly. This may minimize the risk of failure and increases sensor stability. Although strain and strain gauges are mentioned above and herein, the first and / or second sensors may additionally or alternatively use optical means and / or magnetic field means and / or any other suitable means to detect the linear and / or rotational movement of the elongated medical member.

[0022] In some examples, if the second sensor comprises a respective strain gauge, said strain gauge is arranged on an arm of the second sensor extending generally in a direction perpendicular to the first axis. This may allow for the arm on which the strain gauge is placed on / coupled to flex when the elongated medical member is rotated, UAB Inovatyvi medicina - 5 - 30A-166 905 thereby placing strain upon the arm and allowing for the strain gauge to de- tect / measure the rotational movement of the elongated medical member.

[0023] In some examples, if the second sensor comprises the respective strain gauge, said strain gauge is arranged on the arm of the second sensor extending generally in a direction parallel to the second axis. This may allow for the flexing of the arm on which the strain gauge is placed on / coupled to when the elongated medical member is rotated, thereby placing strain upon the arm and allowing for the strain gauge to de- tect / measure the rotational movement of the elongated medical member.

[0024] In some examples, if the first sensor comprises a respective strain gauge, said strain gauge is arranged on an arm of the first sensor extending generally in a direction perpendicular to the first axis. This may allow for the arm on which the strain gauge is placed on / coupled to flex when the elongated medical member is moved in a linear direction, thereby placing strain upon the arm and allowing for the strain gauge to detect / measure the linear movement of the elongated medical member.

[0025] In some examples, if the first sensor comprises the respective strain gauge, said strain gauge is arranged on the arm of the first sensor, wherein the arm is coupled to a moveable element of the sensor, and wherein the moveable element comprises an opening through which the gripper extends. This may allow for the arm on which the strain gauge is placed on / coupled to flex when the elongated medical member is moved in a linear direction, thereby placing strain upon the arm and allowing for the strain gauge to detect / measure the linear movement of the elongated medical member. This feature may be particularly advantageous when coupled with the feature of the gripper being moveable back and forth along the first axis, as this combination may allow for a particular accurate detection of movement of the elongated medical member in the linear direction.

[0026] In some examples, if the first sensor comprises the respective strain gauge, said strain gauge is arranged on the arm of the first sensor, wherein the arm is arranged between concentric circular parts of the sensor, and wherein the gripper extends through inner circular part. This may allow for the strain gauge to be arranged substantially parallel with the direction of the strain force placed upon the sensor, thereby improving the strain force measurements.

[0027] In some examples, the first and / or second directional sensor comprises an elastic element, and wherein the detection of the linear and / or rotational movement is UAB Inovatyvi medicina - 6 - 30A-166 905 dependent on a flexure of the elastic element. This may allow for the respective portions of the sensors to be flexible, thereby allowing for the sensors to more accurately determine and detect the movement of the elongated medical member. The elastic element may comprise metal, plastic, or any other suitable flexible material.

[0028] In some examples, the strain gauge is configured to measure the flexure of the elastic element to detect the linear and / or rotational movement of the elongated medical member. This may allow for a detection of the amount of movement of the elongated medical member.

[0029] In some examples, the elongated medical member is configured to be biased towards the first linear position and / or the first rotational position. This may reduce the likelihood of damage to the sensor due to overrotation and / or overmovement of the elongated medical member. The sensor may be of any suitable design to allow for the biasing. The first position may be defined as a neutral position, wherein there is no force being exerted on the elongated medical member and / or at least one of the sensors and / or there is no strain being measured by the strain gauge(s). In some examples, the elongated medical member is biased towards the second position.

[0030] In some examples, the first and second directional sensors are independent from one another. This may allow for a more accurate detection of the movement of the elongated medical member as the, for example, rotational and longitudinal elements of the movement of the elongated medical member can be separated from each other. In some examples, the sensor can detect movement of the device in both the linear and rotational directions simultaneously despite the sensors being independent from one another.

[0031] In some examples, the bearing is configured to keep the first and second directional sensors independent from one another. This may allow for, particularly in the case of a rotational bearing, the rotation of the elongated medical member described herein to take place. Resultantly, the separation between the measurement axes is ensured via the (rotational) bearing. Alternatively, a linear bearing and a freely rotating mechanism can be used to achieve the same effect. Alternatively, any construction that allows for low friction motion in one or both of the axes may be used.

[0032] In some examples, the sensor further comprises a base, wherein the first portion of the first sensor is configured to be coupled to the base. The base may be of any suitable design that allows for the sensor described herein to undertake its functioning. UAB Inovatyvi medicina - 7 - 30A-166 905

[0033] In some examples, a second portion of the first directional sensor is configured to be coupled to the movable element, wherein the first and second portions of the first directional sensor are different portions. This may allow for a smooth movement of the elongated medical member in the, for example, linear direction within the sensor.

[0034] This may improve the detection and determination of the movement of the elongated medical member.

[0035] In some examples, the moveable element is moveable with respect to the base. This may allow for a smooth movement of the elongated medical member in the, for example, linear direction within the sensor. In some examples, the moveable element may comprise a buffer that prevents the moveable element from striking the base, thereby elongating the lifetime of the sensor.

[0036] In some examples, the sensor further comprises a first limiting element and a second limiting element, wherein the first limiting element is configured to limit the linear movement of the first sensor in a first axial direction and the second limiting element is configured to limit the linear movement of the first sensor in a second axial direction, wherein the first and second axial directions are opposite directions. This may reduce the likelihood of the first sensor being moved beyond its operational limits, thereby improving the lifetime of the sensor.

[0037] In some examples, the separation element is placed between the first and second limiting elements. The separation element (bearing) is preferably placed between the two limiting elements, so in, for example, the linear direction of motion, the separation element is fixed with the linear sensor to sense the linear force once the force is generated, while at the same time providing a force to the rotational direction of motion. If there would be no limiting element, parts of the sensor may not be steadily fixed and may be moved even without the separation element. Therefore, this feature leads to a more mechanically stable sensor that has a longer lifetime and can provide more accurate strain force measurements.

[0038] In some examples, the sensor further comprises a third limiting element and a fourth limiting element, wherein the third limiting element is configured to limit the rotational movement of the second portion of the second directional sensor in a first rotational direction and the fourth limiting element is configured to limit the rotational movement of the second portion of the second directional sensor in a second rotational direction, wherein the first and second rotational directions are opposite UAB Inovatyvi medicina - 8 - 30A-166 905 directions, and wherein the first and second portions are different portions. This may reduce the likelihood of the second sensor being moved beyond its operational limits, thereby improving the lifetime of the sensor.

[0039] In some examples, the second portion of the second directional sensor is a free end of the second directional sensor. This may allow for the second portion of the second directional sensor to flex between the third and fourth limiting elements, thereby allowing for a greater range of detection of motion of the device. Furthermore, as the second portion is not coupled to a fixed point, the overall tension applied onto the second directional sensor may be reduced, thereby extending the lifetime of the sensor.

[0040] In some examples, the sensor is configured to be placed inside of a cassette within the endovascular robotic system. This may allow for easy insertion and removal of the sensor from the system. A cassette may be defined as a (non-)sterile component of a medical apparatus that can be easily replaced by removing the whole cassette from the medical apparatus. The skilled person in the field of medical robotic system is aware of a cassette and how such a cassette functions.

[0041] In some examples, the first sensor and / or the second sensor are generally rectangular in shape. This may allow for a reduced construction cost of the sensor, as well as easy repairing of the sensor in case of a malfunction.

[0042] In some examples, a first longitudinal axis of the first sensor and a second longitudinal axis of the second sensor are generally parallel to one another. This may allow for the sensor to be more compact, thereby allowing it to be used in a larger number of devices and / or systems.

[0043] In some examples, a first lateral axis of the first sensor and a second lateral axis of the second sensor are generally perpendicular to one another. This may allow for the sensor to be integrated and / or placed into a cassette of a medical (endovascular) robotic system due to the circular nature of the sensor.

[0044] Any advantages and features described in relation to the any of the above aspects and examples may be realized in any of the other aspects and examples described above. UAB Inovatyvi medicina - 9 - 30A-166 905

[0045] It is clear to a person skilled in the art that certain features of the sensor and / or the system set forth herein may be implemented under use of hardware circuits, software means, or a combination thereof. The software means can be related to programmed microprocessors or a general computer, an ASIC (Application Specific Integrated Circuit) and / or DSPs (Digital Signal Processors). For example, the processing unit may be implemented at least partially as a computer, a logical circuit, an FPGA (Field Programmable Gate Array), a processor (for example, a microprocessor, microcontroller (pC) or an array processor) / a core / a CPU (Central Processing Unit), an FPU (Floating Point Unit), NPU (Numeric Processing Unit), an ALU (Arithmetic Logical Unit), a Coprocessor (further microprocessor for supporting a main processor (CPU)), a GPGPU (General Purpose Computation on Graphics Processing Unit), a multi-core processor (for parallel computing, such as simultaneously performing arithmetic operations on multiple main processor(s) and / or graphical processor(s)) or a DSP.

[0046] Even if some of the aspects described above have been described in reference to the sensor, these aspects may also apply to a method for sensing a movement of a device in an endovascular robotic system.

[0047] BRIEF DESCRIPTION OF THE DRAWINGS

[0048] These and other aspects of the invention will now be further described, by way of example only, with reference to the accompanying figures, wherein like reference numerals refer to like parts, and in which:

[0049] Figure 1 shows a perspective view of a schematic illustration of the sensor according to example implementations as described herein;

[0050] Figure 2 shows a cut-away view of a schematic illustration of parts of the sensor according to example implementations as described herein;

[0051] Figures 3 and 4 show schematic illustrations of the sensor according to example implementations as described herein; and

[0052] Figure 5 to 7 show schematic illustrations of the directional sensors according to example implementations as described herein. UAB Inovatyvi medicina - 10 - 30A-166 905

[0053] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0054] Figure 1 shows a perspective view of a schematic illustration of the sensor according to example implementations as described herein.

[0055] In figure 1, the sensor is shown comprising a base 101, a first sensor 102, a second sensor 103, a gripper 105, two strain gauges 106, 107, two limiting elements 111, 112 and a restriction element 113.

[0056] The base 101 of the sensor may comprise any suitable material, and may be of any suitable diameter. In particular, the base 101 may be of such a diameter that is can be placed within a cassette, which is then placed within the endovascular robotic system. This may allow for easy insertion and removal of the sensor from the system.

[0057] The first and second sensors 102, 103 are, in this example, placed on perpendicular planes, but may be placed in any suitable plane. These sensors 102, 103 may be configured to detect motion of the elongated medical member mentioned herein in the longitudinal and rotational axes of the elongated medical member. The sensors 102, 103 are preferably flexible in order to allow for the strain gauges 106, 107 coupled to the directional sensors 102, 103 to detect how much flexure is being applied to the directional sensors 102, 103. One strain gauge 106, 107 per directional sensor 102, 103 is shown here, but the skilled person understands that either of the directional sensors 102, 103 may have a plurality of strain gauges 106, 107. Furthermore, the first and / or second sensors 102, 103 may be of such a construction to bias the elongated medical member towards a certain position such as, for example, a neutral position. This may allow for the device to spend less time under strain and tension, thereby extending the lifetime of the device.

[0058] The gripper 105 allows for the elongated medical member, of which movement is to be sensed, to be guided and / or placed within the sensor. In some examples, the gripper 105 is configured to grip the device, thereby leading to improved measurements of the movement of the elongated medical member. The elongated medical member may be a guide wire, stent, balloon, catheter, or any other suitable endovascular instrument.

[0059] The limiting elements 111, 112 may limit the rotation of the second sensor 103 which, in this example, is configured to measure a movement of the elongated UAB Inovatyvi medicina - 11 - 30A-166 905 medical member in its rotational direction. This may reduce the likelihood of overbending of the second sensor 103, thereby extending the lifetime of the sensor. Additionally, although the limiting elements 111, 112 are shown to be close to the center of the sensor, the skilled person understands that they may be placed in any suitable position within the sensor which still allows for the movement of the second directional sensor 103 to be limited. In some examples, only one of these limiting elements 111, 112 is within the sensor. The limiting elements 111, 112 may be of any suitable design that arrests the movement of the second directional sensor 103.

[0060] It can further be seen that a free end of the second sensor 103 is sandwiched between two elements, the restriction element 113 mentioned above, thereby allowing for the second sensor 103 to flex. These elements may be integral, or coupled to, the gripper 105 and / or the element base 108 as described herein. This may allow for the free end to be restricted, thereby allowing the flexure of the second sensor 103. The restriction element 113 may allow for the free end of the second sensor 103 to move freely along a first axis, i.e. the axis of linear motion of the elongated medical member, and along a second axis perpendicular to the first axis.

[0061] Figure 2 shows a cut-away view of a schematic illustration of parts of the sensor according to example implementations as described herein.

[0062] In figure 2, a bearing 104 is shown along with the base 101, a moveable element 108, also known as an element base, and two further limiting elements 109, 110.

[0063] The bearing 104 allows for the movement of the first and second sensors 102, 103 to be independent from one another, thereby meaning a movement, and measurement, associated with the first sensor 102 does not affect the second sensor 103, and vice versa. This may improve the measurements undertaken by the strain gauges 106, 107 of the respective sensors 102, 103.

[0064] The gripper 105 is, in this example, coupled to the base 101 via one end of the first directional sensor 102. A second end of the first directional sensor 102 is coupled to the element base 108, which can be moved in a longitudinal direction of the device with respect to the base 101. This may allow for a particularly smooth movement of the device within the sensor. This may also allow for the gripper 105 to "float" within the sensor, thereby allowing for a more accurate detection of movement by the first and / or second sensors 102, 103. UAB Inovatyvi medicina - 12 - 30A-166 905

[0065] The two further limiting elements 109, 110 may limit the movement of the first sensor 102 which, in this example, is configured to measure a movement of the elongated medical member in the linear direction. This may reduce the likelihood of overbending of the first sensor 102, thereby extending the lifetime of the sensor. Additionally, although the limiting elements 111, 112 are shown to be in two separate parts of the sensor, the skilled person understands that they may be placed in any suitable position within the sensor which still allows for the movement of the first sensor 102 to be limited. In some examples, only one of these limiting elements 109, 110 is within the sensor. The limiting elements 109, 110 may be of any suitable design that arrests the movement of the first sensor 102. Additionally or alternately, a movement of the element base 108, to which the first sensor 102 is coupled to, may be limited by the limiting elements 109, 110.

[0066] Figures 3 and 4 show schematic illustrations of the sensor according to example implementations as described herein.

[0067] Figure 3 shows that when the elongated medical member is moved in the linear direction 122, the first sensor 102 flexes in the direction of the arrow 123 shown, thereby leading to the strain gauge 106 being able to measure the degree of flexure of the first sensor 102 and so, the amount the device has been moved in the linear direction.

[0068] Figure 4 shows that when the elongated medical member is moved in the rotational direction 120, the second directional sensor 103 flexes in the direction of the arrow 121 shown, thereby leading to the strain gauge 107 being able to measure the degree of flexure of the second sensor 103 and so, the amount the elongated medical member has been moved in the rotational direction.

[0069] Figure 5 to 7 show schematic illustrations of the directional sensors according to example implementations as described herein.

[0070] Figures 5 and 6 show designs for the first sensor 102. Although only a single strain gauge 106 is shown on each of these designs, the skilled person understands that there may be a plurality of strain gauges 106.

[0071] The design of figure 5 allows for a strain gauge 106 to be placed on both sides of the first sensor 102, i.e. the side on which a strain gauge 106 can be seen in figure 5, as well as the opposite side which can't be seen, although there may only be one strain UAB Inovatyvi medicina - 13 - 30A-166 905 gauge 106 in some examples. This may allow for a more precise and accurate reading of strain and avoid failures of the risks of the strain not being measured and / or identify if one strain gauge 106 is not working properly. This may minimize the risk of failure and increases sensor stability. The design of figure 5 may also be easy to manufacture, thereby reducing the complexity of the sensor, and increasing the ease of repairability.

[0072] The design of figure 6 allows for a strain gauge 106 to be placed on each arm of the first sensor 102. This may allow for a more precise and accurate reading of strain and avoid failures of the risks of the strain not being measured and / or identify if one strain gauge 106 is not working properly. This may minimize the risk of failure and increases sensor stability. Although a design with three arms can be seen in figure 6, the skilled person understands that there may be any number of arms, and that there may be a strain gauge 106 on each arm.

[0073] Figure 7 shows a design for the second sensor 103. Although only a single strain gauge 107 is shown, the skilled person understands that there may be a plurality of strain gauges 107.

[0074] The design of figure 7 may allow for a strain gauge 107 to be placed on both sides of the second sensor 103, i.e. the side on which a strain gauge 107 can be seen in figure 5, as well as the opposite side which can't be seen, although there may only be one strain gauge 107 in some examples. This may allow for a more precise and accurate reading of strain and avoid failures of the risks of the strain not being measured and / or identify if one strain gauge 107 is not working properly. This may minimize the risk of failure and increases sensor stability. The design of figure 7 may also be easy to manufacture, thereby reducing the complexity of the sensor, and increasing the ease of repairability.

[0075] The first sensor 102 and / or second sensor 103 is preferably manufactured from a metal which is flexible, but is able to withstand the strain forces placed upon the first sensor 102 and / or second sensor 103 as described herein without breaking.

[0076] No doubt many other effective alternatives will occur to the skilled person. It will be understood that the invention is not limited to the described embodiments and encompasses modifications apparent to those skilled in the art and lying within the scope of the claims appended hereto.

Claims

UAB Inovatyvi medicina - 14 - 30A-166 905CLAIMS1. A sensor for an endovascular robotic system, wherein the sensor comprises: a gripper (105) for gripping an elongated medical member to be sensed by the sensor; a first sensor (102), wherein a first portion of the first sensor (102) is coupled to the gripper (105), wherein the first sensor (102) is configured to detect a linear movement of the elongated medical member within the sensor from a first linear position to a second linear position along a first axis; and a second sensor (103), wherein a first portion of the second sensor (103) is coupled to the gripper (105), wherein the second sensor (103) is configured to detect a rotational movement of the elongated medical member within the sensor from a first rotational position to a second rotational position around the first axis.

2. The sensor according to claim 1, wherein the first sensor (102) is coupled to the gripper (105) via a bearing (104).

3. The sensor according to claim 2, wherein the bearing (104) is configured to translate a force, generated by the linear movement of the elongated medical member, from the gripper (104) to the first sensor (102).

4. The sensor according to any one of the preceding claims, wherein a first end of the first sensor (102) is coupled to the gripper (105) and is moveable forth and back along the first axis, and wherein a second end of the first sensor (102) is fixed to a non-moveable part of the sensor, wherein the second end is opposite the first end.

5. The sensor according to claim 4, when dependent on claim 2 or 3, wherein the first end of the first sensor (102) is coupled to the gripper (105) via the bearing (104).

6. The sensor according to any one of the preceding claims, wherein a first end of the second sensor (103) is attached to the gripper (105), and wherein a second end of the second sensor (103) is a free end, wherein the second end is opposite the first end.UAB Inovatyvi medicina - 15 - 30A-166 9057. The sensor according to claim 6, wherein the free end of the second sensor (103) is configured to allow the second sensor to move freely along the first axis and along a second axis perpendicular to the first axis.

8. The sensor according to any one of the preceding claims, wherein the first and / or second sensor (102, 103) comprises a strain gauge (106, 107), wherein the strain gauge (106, 107) is configured to detect the linear and / or rotational movement of the elongated medical member from the first linear position to the second linear position and / or the first rotational position to the second rotational position.

9. The sensor according to claim 8, wherein, if the second sensor (103) comprises a respective strain gauge (107), said strain gauge (107) is arranged on an arm of the second sensor (103) extending generally in a direction perpendicular to the first axis.

10. The sensor according to claim 8 or 9, when dependent on claim 7, wherein, if the second sensor (103) comprises the respective strain gauge (107), said strain gauge (107) is arranged on the arm of the second sensor (103) extending generally in a direction parallel to the second axis.

11. The sensor according to any one of claims 8 to 10, wherein, if the first sensor (102) comprises a respective strain gauge (106), said strain gauge (106) is arranged on an arm of the first sensor (102) extending generally in a direction perpendicular to the first axis.

12. The sensor according to any one of claims 8 to 11, wherein, if the first sensor (102) comprises the respective strain gauge (106), said strain gauge (106) is arranged on the arm of the first sensor (102), wherein the arm is coupled to a moveable element (108) of the sensor, and wherein the moveable element (108) comprises an opening through which the gripper (105) extends.

13. The sensor according to any one of claims 8 to 12, if the first sensor (102) comprises the respective strain gauge (106), said strain gauge (106) is arranged on the arm of the first sensor (102), wherein the arm is arranged between concentric circular parts of the sensor, and wherein the gripper (105) extends through an inner circular part of the sensor.UAB Inovatyvi medicina - 16 - 30A-166 90514. The sensor according to any preceding claim, wherein the first and / or second sensor (102, 103) comprises an elastic element, and wherein the detection of the linear and / or rotational movement is dependent on a flexure of the elastic element.

15. The sensor according to claim 14, when dependent on any one of claims 8 to 13, wherein the strain gauge (106, 107) is configured to measure the flexure of the elastic element to detect the linear and / or rotational movement of the elongated medical member.

16. The sensor according to any preceding claim, wherein the elongated medical member is configured to be biased towards the first linear position and / or the first rotational position.

17. The sensor according to any one of the preceding claims, wherein the first and second sensors (102, 103) are independent from one another in that the detection of the linear movement of the elongated medical member via the first sensor is independent from the detection of the rotational movement of the elongated medical member via the second sensor.

18. The sensor according to claim 17, when dependent on claim 2, wherein the independence is provided via the bearing (104).

19. The sensor according to any one of the preceding claims, further comprising a base (101), wherein the first portion of the first sensor (102) is configured to be coupled to the base (101).

20. The sensor according to any one of the preceding claims, wherein a second portion of the first sensor (102) is configured to be coupled to the moveable element (108), wherein the first and second portions of the first sensor (102) are different portions.

21. The sensor according to claim 20, when dependent on claim 19, wherein the moveable element (108) is moveable with respect to the base (101).

22. The sensor according to any one of the preceding claims, further comprising a first limiting element (109) and a second limiting element (110), wherein the first limiting element (109) is configured to limit the linear movement of the first sensor (102) in a first axial direction and the second limiting element (110) is configured toUAB Inovatyvi medicina - 17 - 30A-166 905 limit the linear movement of the first directional sensor (102) in a second axial direction, wherein the first and second axial directions are opposite directions, wherein the first and second axial directions are parallel to the first axis.

23. The sensor according to claim 22, wherein the bearing (104) is arranged between the first and second limiting elements (109, 110).

24. The sensor according to any one of the preceding claims, further comprising a third limiting element (111) and a fourth limiting element (112), wherein the third limiting element (111) is configured to limit the rotational movement of the second portion of the second sensor (103) in a first rotational direction and the fourth limiting element (112) is configured to limit the rotational movement of the second portion of the second sensor (103) in a second rotational direction, wherein the first and second rotational directions are opposite directions, and wherein the first and second portions are different portions.

25. The sensor according to any one of the preceding claims, wherein the sensor is configured to be placed inside of a cassette within the endovascular robotic system.

26. The sensor according to any one of the preceding claims, wherein the first sensor (102) and / or the second sensor (103) are generally rectangular in shape.

27. The sensor according to claim 26, wherein a first longitudinal axis of the first sensor (102) and a second longitudinal axis of the second sensor (103) are generally parallel to one another.

28. The sensor according to claim 26 or 27, wherein a first lateral axis of the first sensor (102) and a second lateral axis of the second sensor (103) are generally perpendicular to one another.

Images