Automatic atherectomy system
An automatic atherectomy system uses a rotary burr at the tip of a catheter as a sensing device, in order to measure both electrical conductivity and permittivity of surrounding tissue at multiple frequencies. From these parameters it is determined which tissue lies in different directions around the tip. A servo system steers the catheter tip in the direction of the tissue to be removed. In non-atherectomy applications the rotary burr can be replaced with any desired tool and the system can be used to automatically steer the catheter to the desired position. The steering may be done hydraulically, by pressurizing miniature bellows located near the catheter tip.
1. A tissue removal system, comprising:
a cutting tool coupleable to a catheter to be percutaneously positioned within a body cavity, the cutting tool rotatable with respect to the catheter and operable to remove an undesired tissue from a desired tissue in the body cavity, the cutting tool responsive to at least one physical characteristic of at least two different types of tissue;
a rotary drive subsystem drivingly coupleable to the cutting tool to selectively cause the cutting tool to rotate within the body cavity;
a discrimination subsystem communicatively coupled to the cutting tool to receive signals therefrom indicative of a plurality of electrical characteristics of tissue to which the cutting tool is at least proximate, determined at a plurality of frequencies, the discrimination subsystem configured to discriminate between at least the two different types of tissue based on the plurality of electrical characteristics determined at the plurality of frequencies indicated by the signals received from the cutting tool;
a computer communicatively coupled to the discrimination subsystem to receive signals therefrom indicative of one or more tissue types and configured to determine a direction of travel for the rotary cutting tool based at least in part on the signals indicative of the one or more tissue types; and
a steering mechanism communicatively coupled to the computer and physically coupleable to the catheter, and configured to control a direction of travel of the rotary cutting tool in response to the direction of travel determined by the computer.
2. The tissue removal system of claim 1 wherein the cutting tool is a burr.
3. The tissue removal system of claim 1 wherein the cutting tool comprises an electrically insulative body and at least one electrically conductive strip extending along an outer surface of the electrically insulative body.
4. The tissue removal system of claim 3 wherein the discrimination subsystem includes a sense line having a tip positioned sufficiently proximate the cutting tool to detect a passage of the electrically conductive strip once each revolution of the cutting tool.
5. The tissue removal system of claim 3 wherein the discrimination subsystem further includes a discrimination circuit that discriminates between plaque, blood vessel walls and blood based on the signals received from the cutting tool.
6. A tissue removal system, comprising:
a cutting tool coupleable to a catheter to be percutaneously positioned within a body cavity, the cutting tool rotatable with respect to the catheter and operable to remove an undesired tissue from a desired tissue in the body cavity, the cutting tool responsive to at least one physical characteristic of at least two different types of tissue;
a rotary drive subsystem drivingly coupleable to the cutting tool to selectively cause the cutting tool to rotate within the body cavity;
a discrimination subsystem communicatively coupled to the cutting tool to receive signals therefrom indicative of at least one electrical characteristic of tissue to which the cutting tool is at least proximate, determined at a plurality of frequencies, the discrimination subsystem configured to discriminate between at least the two different types of tissue based on the at least one electrical characteristic determined at the plurality of frequencies indicated by the signals received from the cutting tool;
a steering mechanism physically coupleable to the catheter and configured to control a direction of travel of the rotary cutting tool, wherein the steering mechanism comprises a bellows shaped coupler that has a central channel and a plurality of longitudinally extending hollow sections spaced radially about the central channel.
7. The tissue removal system of claim 6 wherein the steering mechanism further comprises a source of fluid under pressure fluidly coupleable to the bellows shaped coupler to selectively pressurize selected ones of the hollow sections thereof.
8. The tissue removal system of claim 7 wherein the steering mechanism further comprises a computer configured to control a pressure applied to each of the hollow sections of the bellows shaped coupler.
9. The tissue removal system of claim 8 wherein the computer is configured to automatically control the pressure applied to each of the hollow sections of the bellows shaped coupler based at least in part on the signals received by the discrimination subsystem from the cutting tool.