Tissue resecting systems and methods
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, comprising:
moving an inner sleeve of the tissue resecting device across a tissue-receiving window of an outer sleeve of the tissue resecting device to resect tissue extending into the tissue-receiving window;
extracting the resected tissue proximally through an extraction lumen of the inner sleeve;
using a controller to evaluate a calculated resistance of moving the inner sleeve relative to the outer sleeve to de-energize a motor of the tissue resecting device at a selected position to permit momentum to move the inner sleeve to a partly window-open position;
thereafter, stopping the inner sleeve relative to the outer sleeve in the partly window-open position with the distal edge of the inner sleeve positioned across the tissue-receiving window; and
aspirating fluid through the extraction lumen with the inner sleeve stopped in the partly window-open position.
2. The method of claim 1 , wherein the controller compares the calculated resistance to known resistances correlated with a momentum parameter to determine the selected position to de-energize the motor.
3. The method of claim 2 , wherein the controller de-energizes the motor following a user input signal.
4. The method of claim 3 , wherein the user input signal is provided to the controller at a rotational position of the motor prior to reaching the selected position to de-energize the motor.
5. The method of claim 1 , wherein the controller evaluates a tachometer signal indicative of a rotational speed of the motor at least once per revolution of the motor.
6. The method of claim 5 , wherein the controller modulates motor voltage based on the tachometer signal to maintain the rotational speed of the motor at a selected rpm.
7. The method of claim 6 , wherein the tissue resecting device includes a rotation-to-linear motion conversion mechanism for converting rotational motion of the motor to reciprocation motion of the inner sleeve relative to the outer sleeve.
8. The method of claim 7 , wherein the rotation-to-linear motion conversion mechanism includes a rotatable drive collar attached to the motor and a pin attached to the inner sleeve, wherein the pin is positioned in an arcuate slot of the drive collar.
9. The method of claim 7 , wherein the selected rpm of the motor reciprocates the inner sleeve at a reciprocation rate of 3 Hz to 5 Hz.
10. The method of claim 7 , further comprising a microswitch configured to engage an indent of the rotation-to-linear motion conversion mechanism once per revolution of the rotation-to-linear motion conversion mechanism in order to send an electrical signal to the controller.
11. The method of claim 10 , wherein the microswitch engages the indent at a reference point, wherein the reference point is at a known rotational position from the partly window-open position.
12. A method of controlling a tissue resecting device, comprising:
moving a first polarity electrode at a distal end of an inner sleeve of the tissue resecting device across a tissue-receiving window of an outer sleeve of the tissue resecting device while an electrical current passes between the first polarity electrode and a second polarity electrode on the outer sleeve to resect tissue extending into the tissue-receiving window;
extracting the resected tissue proximally through an extraction lumen of the inner sleeve;
thereafter, stopping the inner sleeve relative to the outer sleeve in a partly window-open position with the first polarity electrode positioned across the tissue-receiving window; and
coagulating tissue by applying an electrical current between the first polarity electrode and the second polarity electrode with the inner sleeve stopped in the partly window-open position.
13. The method of claim 12 , further comprising:
aspirating fluid through the extraction lumen with the inner sleeve stopped in the partly window-open position.
14. The method of claim 12 , further comprising:
using a controller to evaluate a calculated resistance of moving the inner sleeve relative to the outer sleeve to de-energize a motor of the tissue resecting device at a selected position to permit momentum to move the inner sleeve to the partly window-open position.
15. The method of claim 14 , wherein the controller compares the calculated resistance to known resistances correlated with a momentum parameter to determine the selected position to de-energize the motor.
16. The method of claim 12 , using a controller to evaluate a tachometer signal indicative of a rotational speed of the motor at least once per revolution of the motor.
17. The method of claim 16 , wherein the controller modulates motor voltage based on the tachometer signal to maintain the rotational speed of the motor at a selected rpm.
18. The method of claim 17 , further comprising a rotation-to-linear motion conversion mechanism attached to the motor and a microswitch configured to engage an indent of the rotation-to-linear motion conversion mechanism once per revolution of the rotation-to-linear motion conversion mechanism in order to send an electrical signal to the controller to determine the tachometer signal.
19. The method of claim 18 , wherein the microswitch engages the indent at a reference point, wherein the reference point is at a known rotational position from the partly window-open position.