IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0404834
(2012-02-24)
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등록번호 |
US-8532746
(2013-09-10)
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발명자
/ 주소 |
- Gelbart, Daniel
- Lichtenstein, Samuel Victor
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출원인 / 주소 |
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
8 인용 특허 :
158 |
초록
▼
An automatic atherectomy system uses a rotary burr at the tip of a catheter as a sensing device, in order to measure both electrical conductivity and permittivity of surrounding tissue at multiple frequencies. From these parameters it is determined which tissue lies in different directions around th
An automatic atherectomy system uses a rotary burr at the tip of a catheter as a sensing device, in order to measure both electrical conductivity and permittivity of surrounding tissue at multiple frequencies. From these parameters it is determined which tissue lies in different directions around the tip. A servo system steers the catheter tip in the direction of the tissue to be removed. In non-atherectomy applications the rotary burr can be replaced with any desired tool and the system can be used to automatically steer the catheter to the desired position. The steering may be done hydraulically, by pressurizing miniature bellows located near the catheter tip.
대표청구항
▼
1. A system for automated removal of plaque from blood vessels by the use of a rotating tool tip, the system comprising: a discrimination subsystem communicatively coupled to receive signals indicative of respective frequency-dependent electrical permittivity characteristics of tissues in response t
1. A system for automated removal of plaque from blood vessels by the use of a rotating tool tip, the system comprising: a discrimination subsystem communicatively coupled to receive signals indicative of respective frequency-dependent electrical permittivity characteristics of tissues in response to a plurality of applied electrical signals of different frequencies, the frequency-dependent electrical permittivity characteristics sensed at least proximate the tool tip, the discrimination subsystem configured to automatically discriminate between blood vessel walls, blood and plaque based at least in part on the respective frequency-dependent electrical permittivity characteristics of the tissues at least proximate to the tool tip; anda steering mechanism that automatically steers at least the tool tip in a direction of the one of the tissues relative to another one of the tissues responsive to the discrimination subsystem. 2. The system of claim 1 wherein at least the tool tip is sized to be delivered percutaneously to a bodily cavity when in an unexpanded configuration. 3. The system as in claim 1 wherein the discrimination subsystem is configured to discriminate between blood vessel walls, blood and plaque based on the frequency-dependent electrical permittivity characteristics at the plurality of different frequencies. 4. The system as in claim 1 wherein the frequency-dependent electrical permittivity characteristics include at least one of, permittivity, a permittivity ratio, and changes of permittivity and the discrimination subsystem discriminates between blood vessel walls, blood and plaque based at least in part on at least one of the permittivity, the permittivity ratio, and the changes of permittivity determined at the plurality of different frequencies. 5. The system as in claim 1 wherein the frequency-dependent electrical permittivity characteristics include permittivity, permittivity ratio, and changes of permittivity and the discrimination subsystem discriminates between blood vessel walls, blood and plaque based at least in part on the permittivity, the permittivity ratio, and the changes of permittivity determined at the plurality of different frequencies. 6. The system as in claim 1 wherein the steering mechanism is a hydraulic steering mechanism. 7. The system as in claim 1 wherein the steering mechanism is a magnetic field steering mechanism and automatically controls the direction of travel using a magnetic field applied externally from a body to which the tissue belongs. 8. The system as in claim 1 wherein the discrimination subsystem discriminates based on plaque having a lower electrical conductivity than blood or blood vessel wall, and the electrical permittivity of blood vessel walls falls faster with an increase in frequency than the electrical permittivity of blood. 9. The system as in claim 1, further comprising: at least one electrical sensor physically coupled to rotate with the tool tip to scan the frequency-dependent electrical permittivity characteristics of the different tissues surrounding the tool tip. 10. A system to automatically steer a catheter in a body lumen, the system, comprising: a discrimination subsystem communicatively coupled to receive signals indicative of at least one frequency-dependent electrical permittivity characteristic of tissue responsive to a current supplied at a plurality of different frequencies at least proximate a tip of the catheter, the discrimination subsystem configured to discriminate between at least two different types of tissue based on the at least one frequency-dependent electrical permittivity characteristic indicated by the received signals; anda steering mechanism that automatically controls a direction of travel of at least the tip of the catheter in response an automatic determination based at least in part on the discrimination between the at least two different types of tissue by the discrimination subsystem. 11. The system as in claim 10 wherein the discrimination subsystem is configured to discriminate between at least two different types of tissues based on the respective frequency-dependent electrical permittivity characteristic at the plurality of different frequencies. 12. The system as in claim 10 wherein the at least one frequency-dependent electrical permittivity characteristic includes at least one of permittivity, a permittivity ratio, and changes of permittivity and the discrimination subsystem discriminates between blood vessel walls, blood and plaque based at least in part on at least one of the permittivity, the permittivity ratio, and the changes of permittivity determined at the plurality of different frequencies. 13. The system as in claim 10 wherein the at least one frequency-dependent electrical permittivity characteristic includes at least one of permittivity and changes of permittivity and the discrimination subsystem discriminates between blood vessel walls, blood, and plaque based at least in part on at least the permittivity and the changes of permittivity determined at the plurality of different frequencies. 14. The system as in claim 10 wherein the steering mechanism is a hydraulic steering mechanism. 15. The system as in claim 10 wherein the steering mechanism is a magnetic field steering mechanism and automatically controls the direction of travel using a magnetic field applied externally from a body to which the tissue belongs. 16. The system as in claim 10 wherein the discrimination subsystem discriminates based on plaque having a lower electrical conductivity than blood or blood vessel walls, and the electrical permittivity of blood vessel walls falls faster with an increase in frequency than the electrical permittivity of blood. 17. The system as in claim 10, further comprising: at least one electrical sensor physically coupled to rotate with the tip of the catheter to scan the at least one frequency-dependent electrical permittivity characteristic of the different tissues surrounding the tip of the catheter. 18. A system to automatically steer a catheter in a body lumen, the catheter having a body portion and a catheter tip, the system comprising: at least one electrical sensor physically coupled to rotate with respect to the body portion of the catheter to scan frequency-dependent electrical impedance characteristics of different tissues at least proximate the catheter tip;a discrimination subsystem communicatively coupled to receive signals indicative of the frequency-dependent electrical impedance characteristics, the discrimination subsystem capable of discriminating between different types of tissue based on the frequency-dependent electrical impedance characteristics indicated by the received signals; anda steering mechanism that automatically controls a direction of travel of at least the catheter tip in response to the discrimination between the different types of tissue by the discrimination subsystem. 19. The system as in claim 18, further comprising: at least one electrical sensor physically coupled to the catheter to detect additional electrical properties of the tissue at least proximate to the catheter tip, wherein the discrimination subsystem further:computes at least one permittivity value from the received signals; anddiscriminates between different types of biological tissue based at least on the permittivity value. 20. A system for evaluating biological tissue, comprising: at least one sensor physically coupled to an elongate body, the sensor capable of detecting frequency-dependent electrical permittivity characteristics of different biological tissues adjacent to the elongate body; anda discrimination subsystem communicatively coupled to receive signals indicative of the one or more frequency-dependent electrical permittivity characteristics, the discrimination subsystem capable of discriminating between different types of tissue based on the one or more frequency-dependent electrical permittivity characteristics indicated by the received signals. 21. The system of claim 20 wherein the frequency-dependent electrical permittivity characteristics are determined by measuring a rate of change of an permittivity-related material parameter with frequency.
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