Tissue-removing catheter with adaptive torque control
A tissue-removing catheter includes a torque sensor that senses torque from a motor acting on a component of the catheter. A linear force sensor senses a linear force from the advancer acting on a component of the catheter. A controller is in operative communication with the motor, the torque sensor, and the linear force sensor. The controller controls a speed of the motor based on the sensed torque and the sensed linear force during operation of the tissue-removing catheter. The linear force sensor may sense linear force imparted on a liner of the catheter.
1 . A tissue-removing catheter for removing tissue in a body lumen, the tissue-removing catheter comprising:
an elongate body having an axis and proximal and distal end portions spaced apart from one another along the axis, the elongate body being sized and shaped to be received in the body lumen;
a motor operatively coupled to the elongate body for imparting torque to the elongate body to drive rotation of the elongate body;
a tissue-removing element mounted on the distal end portion of the elongate body and configured to rotate with the elongate body, the tissue-removing element being configured to remove the tissue as the tissue-removing element is rotated by the elongate body within the body lumen;
an advancer operatively coupled to the motor to selectively apply a linear force to the motor together with the elongate body and the tissue-removing element to linearly advance and retract the motor, the elongate body and the tissue-removing element;
a torque sensor configured to sense torque from the motor acting on a component of the catheter;
a linear force sensor configured to sense a linear force from the advancer acting on a component of the catheter;
a controller in operative communication with the motor, the torque sensor, and the linear force sensor, wherein the controller is configured to control a speed of the motor based on the sensed torque and the sensed linear force during operation of the tissue-removing catheter, and wherein the controller is further configured to select and run a torque response routine from a plurality of torque response routines of different speed control curves tuned to specific conditions.
2 . The tissue-removing catheter of claim 1 , wherein the torque sensor is configured to sense current being drawn by the motor to determine output torque of the motor.
3 . The tissue-removing catheter of claim 2 , wherein the controller is configured to control a voltage applied to the motor to control the speed of the motor based on the sensed torque and the sensed linear force during operation of the tissue-removing catheter.
4 . The tissue-removing catheter of claim 3 , wherein the voltage is a pulse-width modulated voltage.
5 . The tissue-removing catheter of claim 4 , wherein selection of the torque response routine by the controller is based on the sensed torque, the sensed linear force, and a pulse-width modulated voltage value inputted to the motor during operation of the tissue-removing catheter.
6 . The tissue-removing catheter of claim 5 , further comprising computer-readable memory in communication with the controller, wherein a lookup table is stored in the computer-readable memory, the look-up table including the plurality of torque response routines.
7 . The tissue-removing catheter of claim 6 , wherein the look-up table includes a plurality of look-up tables, each look-up table is a 2-factor look-up table associated with a range of linear force values, each 2-factor look-up table including a plurality of pulse-width modulated voltage value/motor current pairs corresponding to a desired pulse-width modulated voltage value, the controller referencing the 2-factor lookup table to select and apply a determined pulse-width modulated voltage value to the motor.
8 . The tissue-removing catheter of claim 2 , wherein the controller is configured to control the speed of the motor based further on voltage inputted to the motor.
9 . The tissue-removing catheter of claim 1 , wherein selection of the torque response routine by the controller is based in part on the linear force sensed by the linear force sensor.
10 . The tissue-removing catheter of claim 9 , wherein the controller is configured to determine a range, from a plurality of ranges of linear force values, within which the sensed linear force falls, the controller configured to select and run a torque response routine to control speed of the motor based on the determined range of linear force values in which the sensed linear force falls.
11 . The tissue-removing catheter of claim 1 , wherein the elongate body comprises a drive shaft, the tissue-removing catheter further comprising a liner extend along the axis of the drive shaft and configured to receive a guidewire therein, the linear force sensor being operatively coupled to the liner to sense a linear force from the advancer acting on the liner.
12 . A method of using the tissue-removing catheter of claim 1 , the method comprising:
sensing torque by the torque sensor by monitoring torque drawn by the motor;
sensing linear force from the advancer acting on the component of the catheter;
selecting the torque response routine based on the sensed linear force and the sensed torque; and
applying the selected torque response routine to control the speed of the motor.
13 . A tissue-removing catheter for removing tissue in a body lumen, the tissue-removing catheter comprising:
a drive shaft having an axis and proximal and distal end portions spaced apart from one another along the axis, the drive shaft being sized and shaped to be received in the body lumen;
a liner received in the elongate drive shaft, the liner configured to receive a guidewire therein;
a motor operatively coupled to the drive shaft for imparting torque to the drive shaft to drive rotation of the drive shaft;
a tissue-removing element mounted on the distal end portion of the drive shaft and configured to rotate with the drive shaft, the tissue-removing element being configured to remove the tissue as the tissue-removing element is rotated by the drive shaft within the body lumen;
an advancer operatively coupled to the motor to selectively apply a linear force to the motor together with the drive shaft and the liner to linearly advance and retract the drive shaft, the liner, and the tissue-removing element; and
a linear force sensor configured to sense a linear force indicative of linear force that is imparted by the advancer, wherein the linear force sensed by the linear force sensor is a linear force imparted on the liner.
14 . The tissue-removing catheter of claim 13 , wherein the linear force sensor is operatively coupled to the liner to sense the linear force from the advancer acting on the liner.
15 . The tissue-removing catheter of claim 14 , wherein the linear force sensor measures change in resistance between the liner and another portion of the elongate body.
16 . The tissue-removing catheter of claim 13 , further comprising a controller in operative communication with the motor and the linear force sensor, wherein the controller is configured to control a speed of the motor based on the sensed linear force during operation of the tissue-removing catheter.
17 . The tissue-removing catheter of claim 16 , further comprising a torque sensor configured to sense torque from the motor acting on a component of the catheter, wherein the controller is in operative communication with the torque sensor, wherein the controller is configured to control the speed of the motor based on the sensed torque and the sensed linear force during operation of the tissue-removing catheter.
18 . A tissue-removing catheter for removing tissue in a body lumen, the tissue-removing catheter comprising:
an elongate body having an axis and proximal and distal end portions spaced apart from one another along the axis, the elongate body being sized and shaped to be received in the body lumen;
a motor operatively coupled to the elongate body for imparting torque to the elongate body to drive rotation of the elongate body;
a tissue-removing element mounted on the distal end portion of the elongate body and configured to rotate with the elongate body, the tissue-removing element being configured to remove the tissue as the tissue-removing element is rotated by the elongate body within the body lumen;
an advancer operatively coupled to the motor to selectively apply a linear force to the motor together with the elongate body and the tissue-removing element to linearly advance and retract the motor, the elongate body and the tissue-removing element;
a torque sensor configured to sense torque from the motor acting on a component of the catheter;
a linear force sensor configured to sense a linear force from the advancer acting on a component of the catheter;
a controller in operative communication with the motor, the torque sensor, and the linear force sensor, wherein the controller is configured to control a speed of the motor based on the sensed torque and the sensed linear force during operation of the tissue-removing catheter;
wherein the controller is configured to calculate and run a torque response routine to control the speed of the motor, wherein the calculated torque response routine is a function of the sensed torque and at least one parameter, wherein the at least one parameter is a function of the sensed linear force, and wherein the torque response routine comprises a logistic curve.