Patent ID: 11931063
Assignee: MEDTRONIC VASCULAR, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 5:
6. 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 tissue-removing element mounted on the distal end portion of 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;
a motor operatively engaging the elongate body for driving rotation of the elongate body and tissue-removing element mounted on the elongate body;
a controller operatively connected to the motor and configured to perform a torque response routine to control a speed of the motor based on a set PWM value of the motor and a detected current applied to the motor during rotation of the elongate body and tissue-removing element; and
a motor drivetrain output operatively connected to the motor, wherein the controller is configured to estimate a torque at the motor drivetrain output based on the set PWM value and the detected current applied to the motor during a first mode of operation of the motor, and configured to estimate a torque at the motor drivetrain output based on a single factor of a detected current applied to the motor during a second mode of operation of the motor.