Intravascular imaging catheter system with force error detection and automatic remediation via pullback and rotation
An intravascular imaging system includes a catheter with an elongate outer sheath and a torque cable axially translatable and rotatable in the elongate outer sheath, a pullback and rotation unit for axially translating and rotating the torque cable, a sensor configured to provide an output indicative of an axial force exerted by the torque cable on a rotor in the pullback and rotation unit, and a controller configured to cause the pullback and rotation unit to operate in a remedial mode if the output exceeds a predetermined threshold.
1. An intravascular imaging catheter system comprising:
a pullback and rotation unit comprising:
a housing with a longitudinal axis;
a rotor disposed in the housing and mounted to rotate and linearly translate relative to the longitudinal axis of the housing, the rotor further being configured to be coupled with a proximal end of the torque cable;
at least one sensor provided on the rotor and configured to provide an output indicative of an axial force exerted by the torque cable on the rotor;
wherein the rotor includes a main body and a coupling mounted on the main body of the rotor, wherein the coupling is configured to couple with the proximal end of the torque cable, and wherein the at least one sensor is mounted between the coupling and the main body of the rotor;
wherein the coupling is mounted to be movable longitudinally relative to the main body of the rotor; and
a controller configured to, when the output exceeds a predetermined threshold, cause the rotor to automatically perform a remedial action to relieve at least a portion of the axial force, wherein the controller is configured to cause the rotor, when performing the remedial action, to retract proximally a predetermined distance; and
an imaging catheter including an elongate outer sheath having a proximal end coupled with the housing, the torque cable being disposed in the outer sheath and having a proximal end coupled with the rotor, and an imaging tip located at a distal end of the torque cable and including at least one imaging component selected from the group consisting of an optical element and an ultrasonic transducer.
2. A method of imaging a vessel using an intravascular imaging catheter system comprising:
a pullback and rotation unit comprising:
a housing with a longitudinal axis;
a rotor disposed in the housing and mounted to rotate and linearly translate relative to the longitudinal axis of the housing, the rotor further being configured to be coupled with a proximal end of the torque cable;
at least one sensor provided on the rotor and configured to provide an output indicative of an axial force exerted by the torque cable on the rotor;
wherein the rotor includes a main body and a coupling mounted on the main body of the rotor, wherein the coupling is configured to couple with the proximal end of the torque cable, and wherein the at least one sensor is mounted between the coupling and the main body of the rotor;
wherein the coupling is mounted to be movable longitudinally relative to the main body of the rotor; and
a controller configured to, after the output exceeds a predetermined threshold, cause the rotor to automatically perform a remedial action to relieve at least a portion of the axial force, wherein the controller is configured to cause the rotor, when performing the remedial action, to retract proximally a predetermined distance; and
an imaging catheter including an elongate outer sheath having a proximal end coupled with the housing, the torque cable being disposed in the outer sheath and having a proximal end coupled with the rotor, and an imaging tip located at a distal end of the torque cable and including at least one imaging component selected from the group consisting of an optical element and an ultrasonic transducer;
the method further comprising:
coupling the proximal end of the elongate outer sheath with the housing of the pullback and rotation unit;
coupling the proximal end of the torque cable with the rotor disposed within the housing of the pullback and rotation unit;
inserting the catheter into the vessel;
linearly translating the imaging tip distally relative to the outer sheath by linearly translating the rotor distally in the housing of the pullback and rotation unit;
receiving the output from the at least one sensor indicative of an axial force applied to the rotor by the torque cable, wherein the output exceeds the predetermined threshold; and
based on the output from the at least one sensor exceeding the predetermined threshold, causing the rotor to automatically perform a remedial action to relieve at least a portion of the axial force wherein causing the rotor, when performing the remedial action, to retract proximally
a predetermined distance.