Rotational medical device

A control unit for a medical device, the control unit comprising:

• a controller;
• a motor state estimator in communication with the controller;
• and
• a reference schedule component in communication with the controller and the motor state estimator, the reference schedule component is configured to provide an output to the controller based on an input from the motor state estimator;
• wherein the controller is configured to output a control signal for decelerating a motor based on the output received from the reference schedule component when the input to the reference schedule component from the motor state estimator reaches or goes beyond a threshold level.

A method of controlling a medical device, the method comprising:

• receiving signals indicative of a sensed position of a motor;
• determining a speed of the motor based on the signals indicative of a sensed position of the motor;
• identifying a reference motor state based on the determined speed of the motor and a predetermined reference schedule;
• and
• outputting a control signal to the motor to decelerate the motor, the outputted control signal is based on the reference motor state.