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US 12,727,907 B2Granted
Tissue-removing catheter with adaptive torque control
AssigneeMedtronic Vascular, Inc.
InventorsLuke Hughes, Aram Jamous
Life of this patent
Estimating the term…
Abstract
A tissue-removing catheter includes a torque sensor that senses torque from a motor acting on a component of the catheter. A linear force sensor senses a linear force from the advancer acting on a component of the catheter. A controller is in operative communication with the motor, the torque sensor, and the linear force sensor. The controller controls a speed of the motor based on the sensed torque and the sensed linear force during operation of the tissue-removing catheter. The linear force sensor may sense linear force imparted on a liner of the catheter.
Claims18
A tissue-removing catheter for removing tissue in a body lumen, the tissue-removing catheter comprising:
- an elongate body having an axis and proximal and distal end portions spaced apart from one another along the axis, the elongate body being sized and shaped to be received in the body lumen;
- a motor operatively coupled to the elongate body for imparting torque to the elongate body to drive rotation of the elongate body;
- a tissue-removing element mounted on the distal end portion of the elongate body and configured to rotate with the elongate body, the tissue-removing element being configured to remove the tissue as the tissue-removing element is rotated by the elongate body within the body lumen;
- an advancer operatively coupled to the motor to selectively apply a linear force to the motor together with the elongate body and the tissue-removing element to linearly advance and retract the motor, the elongate body and the tissue-removing element;
- a torque sensor configured to sense torque from the motor acting on a component of the catheter;
- a linear force sensor configured to sense a linear force from the advancer acting on a component of the catheter;
- a controller in operative communication with the motor, the torque sensor, and the linear force sensor, wherein the controller is configured to control a speed of the motor based on the sensed torque and the sensed linear force during operation of the tissue-removing catheter, and wherein the controller is further configured to select and run a torque response routine from a plurality of torque response routines of different speed control curves tuned to specific conditions.
4 more elements
A tissue-removing catheter for removing tissue in a body lumen, the tissue-removing catheter comprising:
- a drive shaft having an axis and proximal and distal end portions spaced apart from one another along the axis, the drive shaft being sized and shaped to be received in the body lumen;
- a liner received in the elongate drive shaft, the liner configured to receive a guidewire therein;
- a motor operatively coupled to the drive shaft for imparting torque to the drive shaft to drive rotation of the drive shaft;
- a tissue-removing element mounted on the distal end portion of the drive shaft and configured to rotate with the drive shaft, the tissue-removing element being configured to remove the tissue as the tissue-removing element is rotated by the drive shaft within the body lumen;
- an advancer operatively coupled to the motor to selectively apply a linear force to the motor together with the drive shaft and the liner to linearly advance and retract the drive shaft, the liner, and the tissue-removing element;
- and
- a linear force sensor configured to sense a linear force indicative of linear force that is imparted by the advancer, wherein the linear force sensed by the linear force sensor is a linear force imparted on the liner.
4 more elements
A tissue-removing catheter for removing tissue in a body lumen, the tissue-removing catheter comprising:
- an elongate body having an axis and proximal and distal end portions spaced apart from one another along the axis, the elongate body being sized and shaped to be received in the body lumen;
- a motor operatively coupled to the elongate body for imparting torque to the elongate body to drive rotation of the elongate body;
- a tissue-removing element mounted on the distal end portion of the elongate body and configured to rotate with the elongate body, the tissue-removing element being configured to remove the tissue as the tissue-removing element is rotated by the elongate body within the body lumen;
- an advancer operatively coupled to the motor to selectively apply a linear force to the motor together with the elongate body and the tissue-removing element to linearly advance and retract the motor, the elongate body and the tissue-removing element;
- a torque sensor configured to sense torque from the motor acting on a component of the catheter;
- a linear force sensor configured to sense a linear force from the advancer acting on a component of the catheter;
- a controller in operative communication with the motor, the torque sensor, and the linear force sensor, wherein the controller is configured to control a speed of the motor based on the sensed torque and the sensed linear force during operation of the tissue-removing catheter;
- wherein the controller is configured to calculate and run a torque response routine to control the speed of the motor, wherein the calculated torque response routine is a function of the sensed torque and at least one parameter, wherein the at least one parameter is a function of the sensed linear force, and wherein the torque response routine comprises a logistic curve.
5 more elements
Dependencies are inferred from the claim text.