Catheter force measurement apparatus and method

A robotic catheter system, comprising:

• a housing;
• a linear drive mechanism supported by the housing and configured to engage and to impart linear movement to a guide wire along a longitudinal axis of the guide wire;
• a track with a curved guide wall configured to guide a portion of the guide wire in an arcuate path and an open region allowing a portion of the guide wire to move into the open region in response to a force being applied to a free end of the guide wire;
• a sensor proximate the first guide wall in a first position, the sensor sensing movement of a portion of the guide wire moving from a first position proximate the curved guide wall to a second position distal the first guide wall in a direction perpendicular to the longitudinal axis of the guide wire.

A method for measuring the force applied to a guide wire comprising;

• providing a channel having a first linear section with a wall on each side of the guide wire in a direction perpendicular to the movement of the guide wire;
• providing a second curved convex section having a single wall and an open region in a direction perpendicular to the direction of travel;
• permitting a portion of the guide wire to move from the curved convex section toward the open region in response to a force applied to a free end of the guide wire;
• operatively connecting a sensor in the open region proximate the curved convex to measure movement of the guide wire away from the curved convex section toward the open region;
• and
• providing a signal to a control station of the related to the amount movement of the guide wire from the a curved convex section toward the open region.