CN108882857A - 具有滞后修正的oct成像导管 - Google Patents

具有滞后修正的oct成像导管 Download PDF

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CN108882857A
CN108882857A CN201780019352.3A CN201780019352A CN108882857A CN 108882857 A CN108882857 A CN 108882857A CN 201780019352 A CN201780019352 A CN 201780019352A CN 108882857 A CN108882857 A CN 108882857A
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B·B·克里斯滕森
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Avinger Inc
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Abstract

一种导管系统，包括导管主体、成像传感器、驱动电机、电流传感器、显示器和控制器。导管主体包括驱动轴。成像传感器相对于驱动轴的远端固定，并且配置成与驱动轴一起旋转。驱动电机配置成旋转驱动轴。电流传感器配置成当驱动轴旋转时测量由驱动电机消耗的电流量。显示器配置成当成像传感器旋转时显示通过成像传感器获得的一个或多个图像。控制器配置成基于测量的电流而调节由显示器显示的一个或多个图像的旋转方向。

Description

具有滞后修正的OCT成像导管
相关申请的交叉引用
本申请要求2016年1月25日申请的、申请号为62/286,918、发明名称为“OCTIMAGING CATHETER WITH LAG CORRECTION”的美国临时专利申请的优先权，其以整体内容通过引用并入本文。
本申请可能涉及2015年2月5日申请的、申请号为PCT/US2015/014613、发明名称为“ATHERECTOMY CATHETERS AND OCCLUSION CROSSING DEVICES”、公开号为WO2015/120146A1的PCT专利申请，其以整体内容通过引用并入本文。
援引加入
本说明书中提到的所有出版物和专利申请都通过引用整体并入本文，如同每个单独的出版物或专利申请都被明确地和单独地指出通过引用并入一样。
技术领域
本文中描述的是成像修正系统，其可以联接至成像导管。更具体地说，描述了成像修正系统以及修正由成像导管造成的旋转失真的相关方法。
背景技术
粥样斑块切除术为微创血管内手术技术，其清除动脉粥样硬化(血管中聚集的斑块)。通过清除大部分斑块肿块(斑块消蚀)，粥样斑块切除术产生更大的内腔，并显著增加动脉壁的顺应性。因此，极大增强了支架部署。
另外，粥样斑块切除术提供了与动脉愈合反应相关的几个优点。当将周向径向力作用于脉管系统时，如在血管成形术或支架置入术情况中，移除斑块肿块，迫使血管壁急剧拉伸。这种拉伸损伤是已知的导致术后再狭窄的细胞生长的刺激。通过使用粥样斑块切除术，以最小的作用于血管的力去除疾病，伴随血管壁损伤的减少和弹性反冲的受限，可以产生内腔尺寸的大幅增加。已显示这些作用产生更好的急性结果和更低的术后再狭窄率。
粥样斑块切除术装置可伴有图像引导，例如光学相干断层扫描(OCT)。具有成像的能力可提供更安全和更有针对性的治疗。图像引导对于向操作者显示斑块肿块所在的位置，并且在可视化斑块的位置聚焦斑块消蚀特别有用，极大地降低了与粥样斑块切除术相关联的风险。具有伴随的可视化系统的另一个好处是导管操作者不必将病灶或斑块视为本质上全部是同心的，而事实上，发现的大多数病灶和斑块是偏心的。这种去除病灶和斑块的圆周近似法可能无法完全去除一个区域的斑块，并可能切割或拉伸健康的血管。因此，可视化血管中的斑块或病灶的能力将允许操作者仅在所需的区域中消蚀斑块，同时保持健康组织不受影响。
虽然具有联接至粥样斑块切除术导管的成像系统允许比没有成像系统拥有更安全的程序，但机载成像可能具有误差。例如，成像传感器的设置可能会影响准确性。也就是说，位于粥样斑块切除术导管的远端处或靠近该远端处的成像元件可以比在近端处经受更大的弯曲或扭矩。此外，如果成像元件位于切割元件上或靠近切割元件，则当切割部分经受血管中积聚的斑块的阻力或经受血管本身曲率的阻力时，图像中可能出现偏差。相似地，通过体腔或内腔运动的导管还经受取决于体腔和体腔内环境的扭矩，其可以导致图像失真。
另外，由于切割器比近端处电机旋转更慢，因而导致发生旋转失真，当遇到不同特性的组织时，切割器振动，或切割器跳跃。图像中的这些各种偏差可以由所谓“旋转滞后”引起，所谓“旋转滞后”即用户可能有意地或可能没有有意地作用于导管的旋转与导管远端处的成像传感器的实际和可能无意的旋转之间的滞后。在一些导管中可以增强这种旋转滞后，因为可以根据相对于导管电机的索引位置而不是导管的远端将显示的图像的旋转位置固定在一些导管中。因此，需要一种考虑或调节旋转滞后的成像粥样斑块切除术导管。
在先公开的用于调节由旋转滞后扭曲的图像的一种方法是手动旋转导管以补偿用户在近端施加的旋转与导管远端的实际旋转之间的滞后。然而，该方法不能提供补偿所经历的旋转滞后的一致方法，因为导管的手动调节可能因使用者而异，并且响应于在不同体腔中经受的独特不同的阻力。在先公开的用于处理旋转滞后的另一种方法是同时将图像分成深度与时间图像，称为瀑布图像，以及包含角度旋转信息的方位角图像。虽然该方法允许用户查看两种类型的图像(同时显示方位角、时间与深度信息)，但其不是观察血管内部的直观方式。
因此，具有能够瞬时地和动态地调节旋转滞后的成像的粥样斑块切除术导管系统将是有利的。而且，实现用于修正旋转滞后的系统也是更具成本效益和准确性的，该系统利用现有条件的简单测量确定是否需要修正。在拍摄图像之前进行与旋转滞后相关的简单测量将消除使用应用和程序以计算和调节输出端处的图像的需要。
发明内容
一般而言，在一个实施例中，导管系统包括导管主体、成像传感器、驱动电机、电流传感器、显示器和控制器。导管主体包括驱动轴。成像传感器相对于驱动轴的远端固定，并且配置成与驱动轴一起旋转。驱动电机配置成旋转驱动轴。电流传感器配置成当驱动轴旋转时测量由驱动电机消耗的电流量。显示器配置成当成像传感器旋转时显示通过成像传感器获得的一个或多个图像。控制器配置成基于测量的电流而调节由显示器显示的一个或多个图像的旋转方向。
本实施例及其他实施例可包括一个或多个以下特征。成像传感器可以是光学相干断层扫描(OCT)成像传感器。导管主体可进一步包括配置成与驱动轴一起旋转的切割器。成像传感器可以附接至切割器。导管系统可进一步包括附接至导管主体的远端并且配置成相对于其枢转的前锥体。传感器可以是电流检测电阻。一个或多个图像可以在显示器上显示为分区视图。控制器可以配置成通过基于测量的电流延迟显示器上的一个或多个图像的投影而调节一个或多个图像的旋转方向。控制器可以进一步配置成基于预定的参考电流值与增益值而调节一个或多个图像的旋转方向。控制器、驱动电机和传感器可以为配置成驱动导管的驱动组件的一部分。
一般而言，在一个实施例中，导管驱动组件包括驱动电机、传感器和控制器。驱动电机配置成以第一索引脉冲旋转导管的驱动轴与成像传感器。传感器配置成当驱动轴以第一索引脉冲旋转时测量由驱动电机消耗的电流量。控制器配置成基于测量的电流与第一索引脉冲确定第二索引脉冲，并将第二索引脉冲发送至显示器，以允许显示通过成像传感器收集的针对旋转滞后进行调节的图像。第二索引脉冲相对于第一索引脉冲延迟。
本实施例及其他实施例可包括一个或多个以下特征。传感器可以是电流检测电阻。控制器可以配置成进一步基于预定的参考电流值与增益值而确定第二索引脉冲。成像传感器可以为光学相干断层扫描(OCT)成像传感器。
一般而言，在一个实施例中，一种修正旋转滞后的方法包括：当导管的驱动轴上不存在扭矩时，获得成像导管的参考电流值；测量在过程中输送至驱动电机以使驱动轴旋转的电流量；通过确定测量的电流量比参考电流值高出确定的量而确定存在驱动轴的旋转滞后；并且基于确定的量修正旋转滞后的显示图像。
本实施例及其他实施例可包括一个或多个以下特征。可以在粥样斑块切除术过程中使用导管的过程中执行测量、确定和修正步骤。基于确定的量修正旋转滞后的显示的图像可以包括将索引脉冲延迟至显示的图像，以便延迟图像的投影。成像导管可以为光学相干断层扫描(OCT)成像导管，并且显示的图像可以为OCT图像。
一般而言，在一个实施例中，一种修正旋转滞后的方法包括：获得图像中旋转失真量与成像导管的驱动电机消耗的电流量之间的相关性；测量输送至驱动电机，以使驱动电机旋转成像导管的驱动轴的电流量；当测量的电流高于预定值时，使用相关性确定旋转调节值；并且基于旋转调节值调节图像的方向。
本实施例及其他实施例可包括一个或多个以下特征。可以在粥样斑块切除术过程中使用导管的过程中执行测量、使用和调节步骤。调整图像的方向可以包括将索引脉冲延迟发送至显示器，以便延迟图像在显示器上的投影。成像导管可以为光学相干断层扫描(OCT)成像导管，并且图像可以为OCT图像。
附图说明
在权利要求中具体阐述了本发明的新颖特征。通过参考示出了利用了本发明的原理的说明性实施例的如下具体实施方式可以更好地理解本发明的特征和优点，附图中：
图1A-1D为示出了示例性的粥样斑块切除术导管的示意图。图1A为粥样斑块切除术导管的侧视图。图1B示出了暴露切割器的导管。图1C为粥样斑块切除术导管的第二示例。图1D示出了导管的横截面。
图2为示出补偿旋转滞后的动态调节的示意图。
图3为概述标定导管步骤的流程图。
图4为概述使用粥样斑块切除术导管时修正旋转滞后步骤的流程图。
图5A为当切割元件开始打开时来自粥样斑块切除术导管的图像。
图5B为来自完全打开的粥样斑块切除术导管的图像，其中没有动态图像修正。
图5C为来自以修正完全打开的粥样斑块切除术导管的图像。
具体实施方式
本文中描述的是以简单、划算且动态的方式解决成像导管(例如，粥样斑块切除术导管)的旋转滞后的方法和组件。本文中描述的方法和组件配置成确定存在成像元件处的旋转滞后，并且在记录和显示图像之前动态补偿所述滞后。
本文中描述的导管可包括细长的柔性导管主体和切割元件。在一些实施例中，切割元件可以是环形可旋转切割器，其配置成旋转以将组织从血管壁剪切掉。在其他实施例中，切割元件可包括远端尖端，其具有面向近端的切割边缘，该切割边缘配置成将组织从血管壁刮掉。本文中描述的导管可进一步包括机载成像，例如光学相干断层扫描(OCT)成像。用于OCT成像的光纤可以例如基本上沿导管主体的纵轴延伸。在一些实施例中，光纤可以附接至可旋转的切割器，并配置成与切割器一起旋转。在其他实施例中，光纤可以附接至单独的成像轴。
图1A-1C示出了示例性的粥样斑块切除术导管。参照图1A，粥样斑块切除术导管100可包括导管主体101、在导管主体101的远端处附接至驱动轴113的切割器103、以及在导管主体101的远端处的前锥体105。前锥体105可进一步包括切割窗口，切割器103的切割边缘112可穿过该切割窗口而暴露。前锥体105可配置成以一定角度偏离导管主体的纵轴。在使用中，该偏转可以穿过切割窗口而暴露切割器103和/或径向地将切割器103推入其中插入粥样斑块切除术导管的血管壁中。如图1D中所示，导管100可进一步包括机载成像系统，例如光学相干断层扫描(OCT)。用于OCT成像元件的光纤111可以穿过驱动轴113的中心延伸。进一步，光纤111可以附接至切割器103，并且配置成与切割器103一起旋转。
进一步，导管100可包括手柄115和/或驱动系统，该驱动系统包括用于调节成像系统的位移、旋转和/或成像能力的控制装置。导管100可以配置成附接至控制系统和/或成像控制台，用于显示由机载成像系统收集的图像。
进一步，导管100可以配置成与控制系统一起工作，该控制系统配置成修正图像失真，例如修正旋转滞后。因为导管不是理想的扭矩传递实体，因而将存在一些相位延迟(θ)，为此，当导管的近端旋转时，导管的远端不旋转。当扭转导管和/或改变旋转方向时，这种相位延迟可能导致不正确的图像方向，称为旋转滞后。许多原因可能导致潜在的旋转滞后。这些原因包括由于脉管系统的弯曲度或操作者施加的力导致的导管扭转、切割器位置、被切除斑块的类型、和/或可能在导管上施加扭转载荷的任何其他因素。
图2示出了配置成修正旋转滞后的粥样斑块切除系统200的图表。该系统包括驱动组件222，其可以是例如在2014年11月10日申请的、申请号为14/400,151、专利号为9,345,398、发明名称为“ATHERECTOMY CATHETER DRIVE ASSEMBLIES”的美国专利，以及2016年7月6日申请的、申请号为PCT/US2016/041193、公开号为WO2017/007853、发明名称为“SELF-ALIGNMENT MECHANISM FOR IMAGING CATHETER AND DRIVE ASSEMBLY”的PCT专利申请中描述的那些驱动组件，其以整体内容通过引用并入本文。驱动组件222包括配置成使导管的驱动轴213(和其远端处的成像传感器216)旋转的驱动轴电机114。当驱动轴电机114旋转时，其提供索引脉冲，该索引脉冲可由控制器224在(例如，在151处)电机驱动轴每次经过设定的参考点(例如，上死点中心位置)时读取。驱动组件进一步包括为驱动轴电机提供电力的驱动电压源111。
在使用中，电机114可以旋转驱动轴213和成像传感器216，以从周围区域232(例如，在体腔内，例如血管)收集图像数据。可以通过控制器224发送回图像数据。同时，控制器224可以确定电机114的索引脉冲151。随后可以利用基于索引的设定的时间标记将成像数据发送至显示器，例如，以使得显示的OCT图像的顶部对应于驱动轴上的上死点中心位置。然而，当将扭矩作用于驱动轴213时，如果没有将延迟添加到索引脉冲，则相对于传感器216的实际位置旋转地对偏(或延迟)显示的图像。
这样，电流传感器112可以设置于驱动电压源111和驱动轴电机114之间，用于连续监控由驱动轴电机114消耗的电流。在一些变型中，电流传感器可以与电机114集成。在其他变型中，电流传感器112可以是与驱动轴电机114串联设置的电流传感器电阻。电机114的瞬时电流将将随扭转载荷的变化而变化，意味着所消耗的电流将随着导管经受的扭转应变的变化而变化。通过测量电机114的瞬时电流，可以估算电机114上的扭转载荷。
在115处，控制器224可以配置为将在导管的远端处(即，在成像传感器116处)经受的扭矩负载量与从驱动电机114消耗的电流的变化相关联(即，计算旋转滞后)。基于旋转滞后，控制器224可以实现索引脉冲中的延迟117。延迟117可以导致新的处理的索引118。该处理的索引118指示显示器将OCT图像中数据的呈现延迟设定时间，以使图像与原始参考方向旋转对齐(例如，将图像放回上死点中心位置)。
在一些实施例中，修正旋转滞后的方法可包括两个单独的步骤：(1)标定系统以确定相对于扭转载荷消耗的额外电机电流；以及(2)随后在使用期间确定系统的瞬时电机电流，并在得到的图像中进行修正。
在一些实施例中，第一步可以主要根据经验完成，即，可以反复测试一个或多个不同的导管模型，以获得电流变化与特定导管模型所经历的旋转失真量之间的相关性。在一些实施例中，可以为任何给定的导管模型计算两个重要参数，补偿值和增益值，随后使用这两个重要参数确定电流与旋转失真量之间的正确相关性。补偿值对应于驱动电机在不存在滞后时消耗的电流量。因此，补偿值等于当导管处于松弛位置且切割器闭合时驱动电机消耗的电流。增益值为允许基于测量的电流和补偿值之间的差异修正旋转图像的数值。
在一些实施例中，第二步可以由控制器动态完成。也就是说，一旦在第一步中已经为作为旋转失真函数的扭转阻力标定了特定导管模型(即，一旦确定了模型的补偿值和增益值)，则可能估算该特定导管/导管模型的瞬时旋转失真，并对得到的图像应用合适的修正量。返回参照图2，这样做可以包括利用传感器112测量瞬时电流。可以在使用导管的过程中动态完成对旋转滞后的调节，即，没有来自使用者的方向或输入。因此，用户可以有利地观察图像，其真实地对应于光纤在导管远端处或在切割区域处探测到的图像，而没有图像的不期望的旋转失真。
标定导管的步骤
图3为详述用于标定特定导管模型，例如导管100，以确定由电机消耗的额外电机电流与扭转载荷之间的相关性的示例性的步骤的流程图。被认为是不同模型的导管可以是，例如驱动轴具有不同特征(例如，尺寸、弹簧等)的导管，以使得扭转和电流消耗之间产生的关系将是不同的。在步骤121，确定参考电流值(称之为补偿值)。补偿值是在导管位于体腔外并且切割器闭合的情况下、当导管处于松弛且空闲状态时所获得的电流读数。在步骤123，当导管处于松弛且空闲状态时，可以利用成像传感器获得图像。该空闲图像可以具有特定的设定方向或旋转位置(例如，其可以基于图像中的标记被确定)。
在步骤125，可以在驱动轴上施加一定量的扭矩，例如通过打开前锥体以露出切割器。由于增加的扭矩，电机消耗的电流将超过补偿量一定量。可以测量和记录电流随补偿值的变化。随后可以基于以下方程式1确定增益值：
R＝C(M-O)G (方程式1)
其中R为以度为单位的径向调整值(即，将得到的图像放回到正确的旋转方向所需的调节量)，C为常数(以度/安培为单位)，O为以安培为单位的补偿值，M为以安培为单位的测量的电流，以及G为增益值。也就是说，在该步骤，可以确定导管模型的合适的增益值，以便将图像旋转回其原始的空闲位置。如表1中所示(其示出了用实验方法收集的补偿值、增益值与R值)，无论R的值如何，对于特定的导管模型，增益值应该相同。例如，可以根据经验完成该步骤。
表1：单个导管模型的实验结果
导管数量 补偿值 增益值 计时度(R)
1 400 25 90
2 400 25 95
27 400 25 170
20 400 25 120
35 400 25 30
13 400 25 100
21 400 25 160
10 400 25 120
7 400 25 90
4 400 25 135
11 400 25 100
26 400 25 170
19 400 25 100
23 400 25 90
16 400 25 80
12 400 25 85
28 400 25 90
5 400 25 170
24 400 25 100
17 400 25 80
在一些实施例中，对于大于或等于O的M，可以认为方程式1有效。如果M小于O，则R(或径向调节)可以被认为是零。
因此，在标定步骤，确定补偿值和增益值，以便将图像旋转回其原始位置(即，使用已知的或观察的R)。随后，在步骤129，可以确定特定导管的相关性(即，可以将C，G和O填入方程式1中，允许下一步根据测量的电流(M)确定旋转调节)。
使用用于旋转滞后标定的导管
图4为示出使用标定导管动态修正旋转滞后步骤的流程图。在步骤131，操作者选择特定导管。在步骤133，操作者启动动态并瞬时地修正旋转滞后的程序。该程序可以基于来自图3的步骤129的导管模型的确定的相关性。同样地，可以在步骤135选择合适的相关性(例如，通过在控制器中输入特定导管模型识别号)。在步骤137，用户可以操作导管(例如，作为粥样斑块切除术的一部分)，同时，程序监控提供至驱动电机的电流相对于补偿电流值。在步骤139，如果测量的电流超过补偿值，则可以获得值R(基于方程式1和测量的电流)。基于值R，可以将调节量或旋转量作用于图像，以确保图像保持正确方向。一旦调节，则图像被捕获并显示给用户(步骤140)。
存在许多方法可以使用确定的径向调节值(R)补偿/调节旋转滞后。在一个示例中，可以延迟显示的图像。这是基于当导管操作时，对成像系统(例如，OCT)提供连续的成像数据流的观察。当成像元件与驱动电机一起扫过时，径向清除图像。显示的图像是为该图像获得的数据，并且与参考点(例如，上死点中心)相关。当存在旋转滞后并扭转光学元件时，在上死点中心与图像之间存在未对准，其中，上死点中心由驱动组件限定，图像在成像元件的端部处拍摄。因为在成像元件的端部处探测到真实图像时存在延迟，所以通过将与图像数据一起发送的上死点中心脉冲故意延迟一设定的时间(基于方程式1)，显示的图像可以与探测的图像相对齐。在这种实施例中，根据方程式2，时间延迟可以等于径向调节值(R)：
T＝(R×60)/(RPM×360) (方程式2)
其中，T为以秒为单位的时间，R为径向调节值，并且RPM为以每分钟转数为单位的驱动电机的速度。因此，可以延迟索引脉冲并以延迟脉冲从驱动组件发送至显示器，以便保持图像的方向(即，上死点中心位置)。在一些实施例中，使用驱动组件中的控制器，驱动轴的每一圈(即每个输入脉冲一次)可以调节一次图像。
用于动态修正旋转滞后的方法和系统还可以包括相关的软件程序，以及能够关联来自驱动电机或其他电气性能的电流变化量与旋转滞后的量的应用。
图5A-C示出了动态旋转失真修正。图5A示出了当暴露导管切割器时血管的OCT图像。切割器显示位于12点钟位置(倒置的马蹄形亮线对应于围绕切割器的外壳，同时，开口对应于切割器与成像的血管区域)。图5B和5C示出了当完全打开切割器时，通过具有修正(图5C)和不具有修正(图5B)的成像元件拍摄的图像。不具有修正的情况，如图5B中所示，图像逆时针旋转约130度，以使得暴露的切割器位于8点钟位置。考虑到血管内切割器的实际方向没有改变，这种旋转的方向(由旋转滞后引起)可能会令用户感到困惑。相反，具有修正的情况，如图5C中所示，切割器没有相对于其在图5A中的位置旋转，并且仍然大约位于12点钟位置。最终，能够以真实方向观察体腔图像将为用户提供直观且更有效的成像或消融过程。
尽管本文中将配置成修正旋转失真的控制器描述为位于驱动组件中，但应该知道的是，其可以位于其他地方。例如，在一个实施例中，显示器上的控制器可以连续监控电流并相应地更新分区视图。也就是说，不是假设每次旋转均以等速旋转发生，而是控制器可以为每次旋转绘制电流消耗图，并根据电流消耗而调节脉冲间隙。
本文中描述的方法和系统提供了用于修正粥样斑块切除术导管或包括成像系统的任何导管中的旋转滞后的简单方式。本文中提供的旋转滞后修正有利地在显示图像之前修正了信号。此阶段的修正需要更少的步骤和简化的软件程序修正图像。而且，本文中描述的系统和方法提供对所经历的旋转滞后的连续监控和修正，以使得所看到的图像总是对应于不需要操作者干预的情况下看到的成像光纤。
在一些示例中，可使用模数转换器处理接收的信息，并将信号信息传输至处理器或微处理器。进一步，信号处理还可以根据需要包括必需的低通滤波器。索引和处理电流变化，以确定电流变化与所经历的旋转失真量之间的关系。最后，虽然本系统利用电流变化与经历的旋转滞后量相关联，但也可以考虑使用系统的其他电气性能，例如电压、电阻、阻抗等的变化，用于实现相似的测量。
用于修正旋转滞后的方法和组件可以与各种导管和/或电机组件一起使用。例如，该方法和组件可与2016年3月16日申请的、申请号为15/072,272、公开号为US-2016-0192962-A1、发明名称为“ATHERECTOMY CATHETERS DEVICES HAVING MULTI-CHANNELBUSHINGS”的美国专利以及2016年3月31日申请的、申请号为15/076,568、专利号为9,498,247、发明名称为“ATHERECTOMY CATHETERS AND OCCLUSION CROSSING DEVICES”的美国专利中描述的粥样斑块切除术导管一起使用，其以整体内容通过引用并入本文。
虽然本文中描述为与OCT系统一起使用，但应该理解的是，修正旋转滞后的系统和方法可以与其他类型的旋转成像，例如血管内超声(IVUS)一起使用。
在所描述的系统和方法中，存在能够基于感测到的电流连续地、动态地、并且瞬时地修正旋转滞后的程序。在某些实施例中，程序是显示组件和/或驱动组件的一部分。在其他实施例中，可以通过例如膝上型轻便电脑、台式机、移动设备、平板电脑等各种电信设备控制程序。
在本文中的特征结构或元件被描述为位于另一特征结构或元件“上”时，其可以直接位于另一特征结构或元件上，或者也可存在中介特征结构和/或元件。相比之下，在特征结构或元件被描述为“直接”位于另一特征结构或元件“上”时，则不存在中介特征结构或元件。也将理解的是，在特征结构或元件被描述为“连接”、“附接”或“联接”到另一特征结构或元件时，其可以直接连接、附接或联接至另一特征结构或元件，或者可以存在中介特征结构或元件。相比之下，在特征结构或元件被描述为“直接连接”、“直接附接”或“直接联接”到另一特征结构或元件时，则不存在中介特征结构或元件。虽然相对于一种实施方式描述或表示，如此描述或表示的特征结构和元件可适用于其他实施方式。本领域普通技术人员也将理解的是，被描述为“相邻于”另一特征结构布置的结构或特征结构可具有与相邻特征结构重叠或位于其下侧的部分。
本文中使用的术语只出于描述特定实施方式的目的，而不打算限制本发明。例如，如本文中使用的，单数形式“一”、“一个”和“该”也旨在包括复数形式，除非文中另外清楚指明。还将进一步理解的是，此说明书中使用的术语“包括”和/或“包含”表明所述特征结构、步骤、操作、元件和/或部件的存在，但是不排除一个或多个其他特征结构、步骤、操作、元件、部件和/或其组的存在或添加。如本文中使用的，术语“和/或”包括相关列举的项目中的一个或多个的任何和所有组合，并可以缩写为“/”。
诸如“下方”、“下面”、“之下”、“之上”、“上方”等空间相对术语可在本文中用于简便描述以描述一个元件或特征结构与附图所示的另一元件或特征结构的关系。将理解的是，空间相对术语旨在包括该装置在使用或操作中除了附图所示的定向之外的不同定向。例如，如果附图中的装置是倒置的，描述为位于另一元件或特征结构“下方”或“之下”的元件也可以定向在另一元件或特征结构的“上方”。因此，示例性的术语“下方”可包括上方和下方两种定向。该装置可通过其他方式定向(转动90度或位于其他定向上)，并且本文中使用的空间相对描述也相应地得到解释。类似地，术语“向上”、“向下”、“竖直”、“水平”等在本文中只用于说明目的，除非另外具体指明。
虽然术语“第一”和“第二”可以在本文中用来描述不同的特征结构/元件(包括步骤)，但这些特征结构/元件不应该被这些术语限制，除非文中另外指明。这些术语可用来将一个特征结构/元件与另一特征结构/元件加以区分。因此，以下所描述的第一特征结构/元件可以称为第二特征结构/元件，并且类似地，以下所描述的第二特征结构/元件可以称为第一特征结构/元件，而不偏离本发明的教导。
在整个说明书和所附的权利要求中，除非文中另有要求，否则词语“包括”以及诸如“包含”和“含有”的变体意味着各种部件可以共同地用于方法和物品中(例如包括装置和方法的组合物和装置)。例如，术语“含有”将理解为暗示包含任何所述的元素或步骤，但不排除任何其它元素或步骤。
如本文中在说明书和权利要求书中所使用的，包括如示例中所使用的和除非另有明确说明，所有数字可以读成如同前面加了“大约”或“近似”，即使该术语没有明确地出现。当描述幅度和/或位置以指示所描述的值和/或位置在合理预期范围内时，可以使用短语“约”或“近似”。例如，数值的值可以是记载的值(或值范围)的+/-0.1％、记载的值(或值范围)的+/-1％、或者记载的值(或值范围)的+/-2％、记载的值(或值范围)的+/-5％、记载的值(或值范围)的+/-10％等。本文引用的任何数值范围旨在包括其中包含的所有子范围。
尽管以上描述了各种说明性实施例，但是在不脱离如权利要求所述的本发明的范围的情况下，可以对各种实施例进行多种改变中的任何一种。例如，执行各种所述的方法步骤的顺序通常可以在替代实施例中改变，并且在其他替代实施例中，可以一起跳过一个或多个方法步骤。各种装置和系统实施例的可选特征可以包括在一些实施例中而不包括在其他实施例中。因此，前面的描述主要是为了示例性的目的而提供的，不应当被解释为限制权利要求中所述的本发明的范围。
本文包括的示例和说明通过说明而非限制的方式表示可以实践主题的具体实施例。如上所述，可以应用并从中导出其他实施例，使得可以在不脱离本公开的范围的情况下进行结构和逻辑上的替换和改变。如果实际上披露的多于一个实施例，在本文中可以单独地或共同地通过术语“发明”来指出本发明主题的这些实施例，则仅仅是为了方便，而非将本申请的范围自愿地限制到任何单个发明或发明构思。因此，尽管本文已经说明和描述了具体的实施例，但是为了实现相同的目的而计划的任何布置都可以代替所示的具体实施例。本公开旨在覆盖各种实施例的任何和所有修改或变化。上述实施例的组合以及本文中未具体描述的其他实施例对于阅读以上描述的本领域技术人员而言将是显而易见的。

Claims (22)

1.一种导管系统，包括：
导管主体，其具有驱动轴；
成像传感器，其相对于所述驱动轴的远端固定，并且配置成与所述驱动轴一起旋转；
驱动电机，其配置成旋转所述驱动轴；
传感器，其配置成当所述驱动轴旋转时测量由所述驱动电机消耗的电流量；
显示器，其配置成在所述成像传感器旋转时显示通过所述成像传感器获得的一个或多个图像；以及
控制器，其配置成基于测量的电流而调节由所述显示器显示的所述一个或多个图像的旋转方向。
2.根据权利要求1所述的导管系统，其中，所述成像传感器为光学相干断层扫描(OCT)成像传感器。
3.根据权利要求1所述的导管系统，其中，所述导管主体进一步包括切割器，所述切割器配置成与所述驱动轴一起旋转。
4.根据权利要求3所述的导管系统，其中，所述成像传感器附接至所述切割器。
5.根据权利要求1所述的导管系统，进一步包括前锥体，其附接至所述导管主体的远端，并且配置成相对于所述导管主体枢转。
6.根据权利要求1所述的导管系统，其中，所述传感器为电流检测电阻。
7.根据权利要求1所述的导管系统，其中，所述一个或多个图像在所述显示器上显示为分区视图。
8.根据权利要求1所述的导管系统，其中，所述控制器配置成通过基于测量的电流延迟所述显示器上的所述一个或多个图像的投影而调节所述一个或多个图像的旋转方向。
9.根据权利要求1所述的导管系统，其中，所述控制器进一步配置为基于预定的参考电流值与增益值而调节所述一个或多个图像的旋转方向。
10.根据权利要求1所述的导管系统，其中，所述控制器、所述驱动电机和所述传感器为配置成驱动所述导管的驱动组件的一部分。
11.一种导管驱动组件，包括：
驱动电机，其配置成以第一索引脉冲旋转导管的驱动轴与成像传感器；
传感器，其配置成当所述驱动轴以所述第一索引脉冲旋转时测量由所述驱动电机消耗的电流量；以及
控制器，其配置成：
基于测量的电流与所述第一索引脉冲确定第二索引脉冲，所述第二索引脉冲相对于所述第一索引脉冲延迟；以及
将所述第二索引脉冲发送至显示器，以便允许显示由所述成像传感器收集的针对旋转滞后进行调节的图像。
12.根据权利要求11所述的导管驱动组件，其中，所述传感器为电流检测电阻。
13.根据权利要求11所述的导管驱动组件，其中，所述控制器配置成进一步基于预定的参考电流值与增益值而确定第二索引脉冲。
14.根据权利要求11所述的导管驱动组件，其中，所述成像传感器为光学相干断层扫描(OCT)成像传感器。
15.一种修正旋转滞后的方法，该方法包括：
当成像导管的驱动轴上不存在扭矩时，获得所述成像导管的参考电流值；
测量在过程中输送至驱动电机以使所述驱动轴旋转的电流量；
基于所述确定的量针对所述旋转滞后修正显示的图像。
16.根据权利要求15所述的方法，其中，在粥样斑块切除术中使用导管的过程中执行所述测量、确定和修正步骤。
17.根据权利要求15所述的方法，其中，基于所述确定的量针对所述旋转滞后修正显示的图像包括将索引脉冲延迟至所述显示的图像，以便延迟所述图像的投影。
18.根据权利要求15所述的方法，其中，所述成像导管为光学相干断层扫描(OCT)成像导管，并且其中所述显示的图像为OCT图像。
19.一种修正旋转滞后的方法，该方法包括：
获得图像中旋转失真量与由成像导管的驱动电机消耗的电流量之间的相关性；
测量输送至所述驱动电机以使所述驱动电机旋转所述成像导管的驱动轴的电流量；
当测量的电流高于预定值时，使用所述相关性确定旋转调节值；并且
基于所述旋转调节值调节图像的方向。
20.根据权利要求19所述的方法，其中，在粥样斑块切除术中使用导管的过程中执行所述测量、使用和调节步骤。
21.根据权利要求19所述的方法，其中，调节图像的方向包括将索引脉冲延迟至显示器，以便延迟所述图像在所述显示器上的投影。
22.根据权利要求19所述的方法，其中，所述成像导管为光学相干断层扫描(OCT)成像导管，并且其中所述图像为OCT图像。
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