A robotic catheter manipulator includes a guide catheter including proximal and distal ends and lumen extending there through. A flexible bellows is secured at one end to the proximal end of the guide catheter and at the other end to a seal configured to receive a working catheter. In a loaded state,...http://www.google.fr/patents/US8092397?utm_source=gb-gplus-shareBrevet US8092397 - Apparatus for measuring distal forces on a working instrument
Apparatus for measuring distal forces on a working instrument
