Tissue resecting systems and methods
View Patent ↗A tissue resecting system includes an assembly having first and second tubular members. An electrical motor drive and controller moves the second member to resect tissue received in a window of the first member. A tachometer sends motor drive rotational signals to the controller, and the controller modulates a motor voltage in response to the signals from the tachometer both to drive the second member at a predetermined speed and to calculate resistance to driving the second member at the predetermined speed.
1. A method of controlling a tissue resecting device including a tubular assembly of first and second members, a motor drive for moving the second member to resect tissue in a window of the first member, a tachometer for measuring rotational speed of a motor drive component, and a controller, comprising:
using a first controller algorithm responsive to tachometer signals (i) to modulate motor voltage for driving the second member at a selected speed and (ii) to calculate resistance to driving the second member at the selected speed;
using a second controller algorithm responsive to the calculated resistance to de-energize the motor at a predetermined point to permit momentum to move the second member to a selected stop position;
utilizing tachometer signals to measure the rotational speed of the drive component and indicate a reference position of the drive component; and
comparing the calculated resistance to a look-up table of known resistances correlated with a momentum parameter related to stopping movement of the second member.
2. The method of claim 1 wherein the momentum parameter is at least one of a time interval, an amount of rotational movement of the drive component, and an amount of axial movement of the drive component associated with momentum induced movement of the second member from the reference position to the selected stop position.
3. The method of claim 2 wherein the second algorithm de-energizes the motor following a user input signal.
4. The method of claim 3 wherein the predetermined point of de- energizing the motor is determined by selection of a momentum parameter in the look-up table.
5. The method of claim 1 wherein the selected stop position has the second member in a partly window-open position.
6. The method of claim 1 wherein the selected stop position has the second member in a fully window-open position.
7. The method of claim 1 wherein the selected stop position has the second member in a window-closed position.
8. The method of claim 1 including utilizing the tachometer to measure rotational speed of a component of the motor drive at least once per revolution.
9. The method of claim 1 wherein the first controller algorithm monitors tachometer signals at intervals of less than 50 milliseconds.
10. The method of claim 1 wherein the first controller algorithm is adapted to modulate motor voltage at intervals of less than 50 milliseconds.
11. The method of claim 1 wherein the first controller algorithm is adapted to modulate motor voltage up or down at a predetermined increment.
12. The method of claim 1 wherein the first controller algorithm modulates motor voltage up or down in at least first and second increments.
13. The method of claim 1 wherein the first controller algorithm is configured for user selection of a plurality of selected speeds of driving the second member relative to the first member.
14. The method of claim 1 wherein the first controller algorithm is configured for user selection of at least one of reciprocating the second member and rotating and reciprocating the second member.
15. The method of claim 1 wherein the tachometer signal is provided by at least one of a switch, an optical sensor and a Hall effect sensor.