High power atherectomy with multiple safety limits
An atherectomy system includes an electric drive mechanism that is adapted to rotatably actuate an atherectomy burr and a controller that is adapted to regulate operation of the electric drive mechanism. The controller regulates operation of the electric drive mechanism in accordance with a power input limit value that limits how much power can be put into an atherectomy burr and an energy input limit value that limits how much energy can be put into the atherectomy burr. The controller may also regulate operation of the electric drive mechanism in accordance with a dynamic torque limit.
1. An atherectomy system, comprising:
an electric drive mechanism adapted to rotatably actuate an atherectomy burr, the electric drive mechanism including:
a drive cable adapted to be coupled with the atherectomy burr; and
an electric drive motor that is adapted to rotate the drive cable; and
a controller adapted to regulate operation of the electric drive mechanism, the controller regulating operation of the electric drive mechanism in accordance with a dynamic torque limit value that varies in accordance with an operating speed of the electric drive mechanism;
wherein the controller is further adapted to regulate operation of the electric drive mechanism in accordance with a power input limit value that limits how much power can be put into the atherectomy burr and an energy input limit value that limits how much energy can be put into the atherectomy burr.
2. The atherectomy system of claim 1 , wherein the controller comprises:
a speed reference block that includes the power input limit value and the energy input limit value and is configured to output a reference signal;
a control block that is adapted to receive the reference signal from the speed reference block and generate a control effort signal; and
a drive motor circuit block that is adapted to receive the control effort signal from the control block and regulate operation of the electric drive mechanism accordingly.
3. The atherectomy system of claim 2 , wherein the drive motor circuit block includes the dynamic torque limit value and regulates operation of the electric drive mechanism accordingly.
4. The atherectomy system of claim 3 , wherein the dynamic torque limit values comprises a current limit value.
5. The atherectomy system of claim 2 , wherein the control block comprises a Proportional Integral Derivative (PID) controller.
6. The atherectomy system of claim 1 , wherein the controller is further adapted to provide feedback to an operator of the atherectomy system when either the power input limit value and/or the energy input limit value are exceed during operation of the atherectomy system.
7. The atherectomy system of claim 6 , wherein the feedback comprises a temporary reduction in an operating speed of the electric drive mechanism.
8. An atherectomy system, comprising:
an electric drive motor operably coupled to a drive cable;
an atherectomy burr operably coupled to the drive cable; and
a controller adapted to regulate operation of the electric drive motor, the controller regulating operation of the electric drive motor in accordance with a dynamic torque limit value;
wherein the controller is further adapted to regulate operation of the electric drive motor in accordance with a power input limit value that limits how much power can be put into the atherectomy burr and an energy input limit value that limits how much energy can be put into the atherectomy burr.
9. The atherectomy system of claim 8 , wherein the dynamic torque limit value varies in accordance with an operating speed of the electric drive motor.
10. The atherectomy system of claim 9 , wherein the controller comprises:
a speed reference block that includes the power input limit value and the energy input limit value and is configured to output a reference signal;
a control block that is adapted to receive the reference signal from the speed reference block and generate a control effort signal; and
a drive motor circuit block that is adapted to receive the control effort signal from the control block and regulate operation of the electric drive motor accordingly.
11. The atherectomy system of claim 10 , wherein the drive motor circuit block includes the dynamic torque limit value and regulates operation of the electric drive motor accordingly.
12. The atherectomy system of claim 11 , wherein the dynamic torque limit values comprises a current limit value.
13. The atherectomy system of claim 10 , wherein the control block further comprises a state estimation block that receives a position signal from the electric drive motor and outputs a motor speed signal that is summed with the reference signal from the speed reference block.
14. The atherectomy system of claim 8 , wherein the electric drive motor comprises a brushless DC electric motor.
15. The atherectomy system of claim 8 , wherein the control block comprises a Proportional Integral Derivative (PID) controller.
16. An atherectomy system, comprising:
an electric drive motor; and
a control system operably coupled to the drive motor, the control system including:
a speed reference block that includes a power input limit value and an energy input limit value and is configured to output a reference signal that is limited by at least one of the power input limit value and the energy input limit value;
a control block that is adapted to receive the reference signal from the speed reference block and generate a control effort signal; and
a drive motor circuit block that is adapted to receive the control effort signal from the control block and includes a dynamic torque limit and regulates operation of the electric drive motor in accordance with the control effort signal and the dynamic torque limit.
17. The atherectomy system of claim 16 , wherein the control system is further adapted to provide feedback to an operator of the atherectomy system when any of the power input limit value, the energy input limit value or the dynamic torque limit are approached or exceeded during operation of the atherectomy system.