09744335 is referenced by 13 patents and cites 13 patents.

Methods and apparatuses for detecting tension on a tendon and/or mechanical deformation (e.g., breakage) of one or more steering tendon of a steerable and flexible articulating device. Theses apparatuses may have one or more tendons that are each electrically conductive and configured to steer the apparatus when tension is applied to the proximal end of the tendon. Tension and/or breakage (or other deformation) of one or more of these tendons may be detected by monitoring the electrical resistance of the tendons.

Title
Apparatuses and methods for monitoring tendons of steerable catheters
Application Number
15/84984
Publication Number
9744335 (B2)
Application Date
March 30, 2016
Publication Date
August 29, 2017
Inventor
Allen Jiang
Fremont
CA, US
Agent
Wilson Sonsini Goodrich & Rosati
Assignee
Auris Surgical Robotics
CA, US
IPC
A61B 90/00
A61B 18/00
A61B 34/30
A61M 36/12
A61N 7/02
A61B 18/14
A61B 5/0408
A61B 19/00
A61M 25/01
A61M 25/00
G01R 27/08
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