WO2016210167A1 - Tissue-removing catheter with adjustable cross-sectional dimension - Google Patents
Tissue-removing catheter with adjustable cross-sectional dimension Download PDFInfo
- Publication number
- WO2016210167A1 WO2016210167A1 PCT/US2016/039072 US2016039072W WO2016210167A1 WO 2016210167 A1 WO2016210167 A1 WO 2016210167A1 US 2016039072 W US2016039072 W US 2016039072W WO 2016210167 A1 WO2016210167 A1 WO 2016210167A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tissue
- sectional dimension
- head
- removing head
- set forth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/32—Surgical cutting instruments
- A61B17/3205—Excision instruments
- A61B17/3207—Atherectomy devices working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions
- A61B17/320725—Atherectomy devices working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions with radially expandable cutting or abrading elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/32—Surgical cutting instruments
- A61B17/3205—Excision instruments
- A61B17/3207—Atherectomy devices working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions
- A61B17/320758—Atherectomy devices working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions with a rotating cutting instrument, e.g. motor driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/22—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for
- A61B2017/22038—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for with a guide wire
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/22—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for
- A61B2017/22051—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for with an inflatable part, e.g. balloon, for positioning, blocking, or immobilisation
- A61B2017/22061—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for with an inflatable part, e.g. balloon, for positioning, blocking, or immobilisation for spreading elements apart
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/32—Surgical cutting instruments
- A61B2017/320004—Surgical cutting instruments abrasive
Definitions
- the present disclosure generally relates to a tissue-removing catheter with a rotatable tissue-removing head having an adjustable cross-sectional dimension.
- the patency of a body lumen may be affected by the build-up of tissue or other material in the body lumen.
- tissue-removing catheters may be used to restore the patency of a body lumen. These catheters are intended to cut or excise material from the body lumen and may employ a rotatable tissue- removing element which can be advanced into or past the occlusive material in order to cut and separate such material from the body lumen.
- a tissue-removing catheter includes a tissue-removing head that is selectively adjustable from an initial cross-sectional dimension to an expanded cross-sectional dimension larger than the initial cross-sectional dimension.
- FIG. 1 is an enlarged, partial perspective of an embodiment of a tissue-removing catheter, a tissue-removing head of the device being in an initial confi guration;
- FIG. 2 is similar to FIG. I, illustrating the tissue-removing head in an expanded configuration;
- FIG. 3 is schematic of the tissue-removing catheter with the tissue-removing head in the initial configuration, illustrating an abrasive exterior surface of the tissue-removing catheter;
- FIG, 4 is similar to FIG, 3, but with the tissue-removing head in the expanded
- FIG. 5 is a schematic of one embodiment of an expanding mechanism, illustrating a balloon inflated to expand the tissue-removing head
- FIG , 6 is a schematic of another embodiment of an expanding mechanism, illustrating a wire, ball, and elastomer used to expand the tissue-removing head;
- FIG. 7 is a schematic of another embodiment of an expanding mechanism, illustrating a tube fixed at one end for use in expanding the tissue-removing head.
- tissue-removing catheter 10 for removing tissue from a body lumen is generally indicated at reference numeral 10.
- the illustrated tissue- removing catheter 10 is particularly suitable for removing an atheroma (e.g., plaque) from a blood vessel, although the catheter may be used to remove other occlusions from other body lumens.
- atheroma e.g., plaque
- the tissue-removing catheter 10 comprises a drive shaft 12, a tissue-removing head, generally indicated at 14, disposed at a distal end of the drive shaft, and a distal cap 16 disposed at a distal end of the tissue-removing head.
- the drive shaft 12 is operable to rotate the tissue- removing head 14 and the distal cap 16 about an axis A to remove tissue from a lesion or obstruction in a body lumen.
- the drive shaft 12, head 14, and cap 16 define a guide wire lumen 19 to receive a guide wire 18.
- the cap 16 includes a distal opening 20 through which the guide wire 18 extends.
- the tissue-removing catheter 10 is configured for use as an over-wire device (i .e., over the guide wire 18).
- the illustrated cap 16 has a generally conical or dome-shape that tapers distally and is suitable for boring through tissue (e.g., plaque) occluding a body lumen.
- tissue e.g., plaque
- a specialty wire may be used in conjunction with the tissue- removing catheter 10 to facilitate coring through total or near total occlusions.
- the tissue-removing head 14 includes a generally tubular body 22 having
- the head 14 is made of Nitinol, spring steel, or any other suitable material , A proximal end of the head 14 is fixedly attached to the drive shaft 12 such that the drive shaft imparts rotation of the head.
- the drive shaft 12 may be formed separately from the head 14, or may be integrally formed therewith.
- a proximal end of the cap 16 is fixedly attached to a distal end of the head 14 opposite the drive shaft 12. The cap 16 is attached to the head 14 such that the cap moves (e.g., rotates) with the head.
- the cap 16 may be formed separately from the head 14, or may be integrally formed therewith. At least a portion of the cap 16 and/or at least a portion of the head 14 has an abrasive exterior surface for abrading a lesion in a body lumen. For example, an abrasive material or grit 28 may be applied to at least a portion of the exterior surface of the cap 16 or the head 14, or the exterior surface may otherwise be formed to be abrasive. In one embodiment, a portion of the cap 16 and/or a portion of the head 14 is coated with an abrasive coating or grit 28.
- the exterior surfaces of both the cap 16 and the head 14 are coated with grit 28,
- the grit 28 abrades and removes tissue from a body lumen as the catheter rotates about the axis A.
- the grit can be diamond grit or other suitable material for use on a rotary head for removing tissue.
- the tissue-removing head 14 has an initial or minimum cross-sectional dimension Dl (see FIG. 1) and a first longitudinal length LI .
- the head 14 is expandable circumferentiaily to increase the cross-sectional dimension to an expanded or maximum cross-sectional dimension D2 (FIGS. 2 and 4), which is larger than the initial cross-sectional dimension Dl .
- the initial cross-sectional dimension Dl is about the same as a cross-sectional dimension of the drive shaft 12 and the expanded cross-sectional dimension D2 is larger than the cross-sectional dimension of the drive shaft, although other configurations are within the scope of the present invention.
- the fingers 26 of the head 14 flex or bend outward to increase the cross-sectional dimension of the head, which, in turn, shortens the tissue-removing head to a second longitudinal length L2,
- the longitudinal length of the head decreases.
- the head 14 can be expanded and contracted to have any cross-sectional dimension in the range between the initial cross-sectional dimension Dl and a maximum expanded cross-sectional dimension D2.
- the illustrated tissue-removing catheter 10 includes an expansion mechanism for use in circumferentiaily expanding the head 14.
- the device 10 includes a balloon 30 positioned in the interior of the head 14.
- the balloon 30 is infl ated and deflated to control the cross-sectional dimension of the head 14.
- the balloon 30 rotates with the drive shaft 12, the head 14, and the cap 16.
- the balloon 30 is disposed on a balloon shaft having a lumen for use in inflating the balloon ,
- the balloon 30 is inflated or deflated by a rotating pressure port (not shown) on a proximal end of the tissue-removing catheter.
- a rotating pressure port not shown
- the head 14 returns to its initial cross-sectional dimension.
- the head 14 is adjustable to different cross-sectional dimensions based on the amount the balloon 30 is inflated.
- an elastomer 40 is positioned in the interior of the head 14.
- a movable cone or ball 44 (broadly, an actuator) is attached to a distal end of a wire 42 which extends proximally through the drive shaft 12.
- a user pushes or pulls the wire 42 to move the ball 44 against the elastomer 40, thereby causing the elastomer to compress and bulge radially outward.
- the elastomer 40 bulges radially outward, it pushes the fingers 26 of the head 14 radially outward to expand the circumference of the head.
- a threaded rod or other device used to impart movement of the ball relative to the elastomer can be used in place of the wire 42,
- an inner tube 50 is fixedly attached at one end to the head 14 at attachment points 52.
- the inner tube 50 is movable relative to the drive shaft 12. As the inner tube 50 is moved, the distal end of the head 14 moves with the inner tube because of the attachment of the inner tube to the head. Longitudinal movement in the direction of arrows B of the inner tube 50 causes the fingers 26 of the head 14 to bow outward or inward to reduce or increase the length of the head, thereby increasing or decreasing the cross-sectional dimension of the head.
- Other suitable mechanisms for expanding and contracting the cross- sectional dimension of the head 14 are within the scope of the present invention.
- a control handle or other control device operatively connects to the tissue-removing catheter 10.
- the control handle includes a housing and at least one actuator in the housing for driving rotation of the driveshaft.
- the control handle may include a rotary actuator for rotating the driveshaft about the axis A.
- the control handle can also include an actuator for adjusting the cross-sectional dimension of the head 14 (e.g., to adjust inflation of balloon 30, move wire 42, move tube 50, or other suitable mechanism for adjusting the cross-sectional dimension of the head).
- the tissue-removing catheter 10 is advanced in a body lumen over the guide wire 18 to a target site (e.g., a lesion in the body lumen).
- a target site e.g., a lesion in the body lumen.
- the tissue-removing catheter 10 can be activated using the control handle, such as by activating a control lever, button, or other device to activate the at least one actuator.
- the drive shaft 12 rotates about the axis A, causing rotation of the head 14 and the cap 16. The head 14 and/or the cap 16 abrades the lesion, thereby removing tissue.
- the cross-sectional dimension of the head 14 can be expanded (e.g., by using the control handle to inflate the balloon 30) to enlarge an existing lumen by abrading and removing additional tissue from the lesion.
- the tissue-removing catheter 10 may also be used without a guide wire.
- the cap 16 is used to bore through a near total or total occlusion.
- the tissue- removing catheter 10 may also be used without imparting rotation of the tissue-removing head.
- the tissue-removing head 14 is used to center the tissue-removing catheter 10 in the true lumen (i.e., in the space remaining between occlusions in the body lumen).
- the tissue- removing head 14 can be expanded circumferentially to contact the outer limits of the true lumen, thereby centering the tissue-removing catheter 10 in the true lumen. With the catheter 10 centered in the true lumen, a wire (e.g., guide wire 18) can be advanced beyond the cap 16 to bore through tissue occluding the body lumen.
- the tissue-removing head 14 can be advanced in the initial configuration to a target site, and then expanded circumferentially at the target site to engage the occlusion to cut or tear the occlusion without rotating the tissue-removing head.
- the tissue-removing head 14 can be advanced beyond a target site, then expanded circumferentially and pulled back over the target site to remove tissue.
- An aspiration catheter (not shown) can be positioned near that tissue-removing head to collect debris removed by the tissue-removing head.
- the tissue-removing catheter 10 facilitates creation of a larger lumen diameter.
- the head 14 can increase in cross-sectional dimension to continue to enlarge an existing lumen (e.g., by using multiple passes over the same lesion), treat multiple vessels in the same patient, or treat vessels that have slight to moderate aneurysmal pockets. Because the head 14 can decrease in cross-sectional dimension after it has been expanded, it may allow a practitioner to retrieve a stuck head or treat disease that is distal to a treatment barrier such as a stent.
- the variable cross- sectional dimension head 14 reduces the need for using different size heads to treat multiple diameters or vessels, resulting in decreased costs. It also does not rely on centrifugal force (and thus, require a high-speed, well controlled motor) to maintain contact between the head 14 and the lesion, but rather expands the head to contact the lesion which may result in further cost savings.
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Vascular Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017562254A JP6902479B2 (ja) | 2015-06-25 | 2016-06-23 | 調節可能な断面形状を有する組織除去カテーテル |
| CN201680034459.0A CN107735038B (zh) | 2015-06-25 | 2016-06-23 | 具有可调节横截面尺寸的组织去除导管 |
| EP16738926.1A EP3313304B1 (en) | 2015-06-25 | 2016-06-23 | Tissue-removing catheter with adjustable cross-sectional dimension |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201562184489P | 2015-06-25 | 2015-06-25 | |
| US62/184,489 | 2015-06-25 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2016210167A1 true WO2016210167A1 (en) | 2016-12-29 |
Family
ID=56411896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/US2016/039072 Ceased WO2016210167A1 (en) | 2015-06-25 | 2016-06-23 | Tissue-removing catheter with adjustable cross-sectional dimension |
Country Status (5)
| Country | Link |
|---|---|
| US (2) | US10478213B2 (enExample) |
| EP (1) | EP3313304B1 (enExample) |
| JP (1) | JP6902479B2 (enExample) |
| CN (1) | CN107735038B (enExample) |
| WO (1) | WO2016210167A1 (enExample) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3384860A1 (en) * | 2017-04-07 | 2018-10-10 | Pigott, John, P. | Intravascular catheter having an expandable incising portion and grating tool |
| US10463387B2 (en) | 2011-09-13 | 2019-11-05 | John P. Pigott | Intravascular catheter having an expandable incising portion for incising atherosclerotic material located in a blood vessel |
| US10485572B2 (en) | 2011-09-13 | 2019-11-26 | John P. Pigott | Intravascular catheter having an expandable incising portion |
| US10603069B2 (en) | 2015-01-13 | 2020-03-31 | John P. Pigott | Intravascular catheter balloon device having a tool for atherectomy or an incising portion for atheromatous plaque scoring |
| US10610255B2 (en) | 2011-09-13 | 2020-04-07 | John P. Pigott | Intravascular catheter having an expandable incising portion and medication delivery system |
| US10828471B2 (en) | 2013-07-15 | 2020-11-10 | John P. Pigott | Balloon catheter having a retractable sheath |
| US11033712B2 (en) | 2015-01-13 | 2021-06-15 | Venturemed Group, Inc. | Intravascular catheter having an expandable portion |
| US11154693B2 (en) | 2013-07-15 | 2021-10-26 | John P. Pigott | Balloon catheter having a retractable sheath |
| US11154694B2 (en) | 2013-07-15 | 2021-10-26 | John P. Pigott | Balloon catheter having a retractable sheath and locking mechanism with balloon recapture element |
| US11202892B2 (en) | 2013-07-15 | 2021-12-21 | John P. Pigott | Balloon catheter having a retractable sheath |
| US11357533B2 (en) | 2011-09-13 | 2022-06-14 | Venturemed Group, Inc. | Intravascular catheter having an expandable incising portion and abrasive surfaces |
| US11413062B2 (en) | 2011-09-13 | 2022-08-16 | Venturemed Group, Inc. | Methods for preparing a zone of attention within a vascular system for subsequent angioplasty with an intravascular catheter device having an expandable incising portion and an integrated embolic protection device |
| US11559325B2 (en) | 2011-09-13 | 2023-01-24 | Venturemed Group, Inc. | Intravascular catheter having an expandable incising portion and grating tool |
| US12096955B2 (en) | 2017-02-24 | 2024-09-24 | Venturemed Group, Inc. | Intravascular catheter having an expandable incising portion and abrasive surfaces |
| US12324603B2 (en) | 2011-09-13 | 2025-06-10 | Venturemed Group, Inc. | Intravascular catheter having an expandable incising portion |
| US12408932B2 (en) | 2022-03-23 | 2025-09-09 | Venturemed Group, Inc. | Intravascular device having feedback elements |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8109957B2 (en) * | 2006-06-30 | 2012-02-07 | Depuy Spine, Inc. | Disc nucleus removal devices and methods |
| US10182841B1 (en) * | 2015-06-16 | 2019-01-22 | C.R. Bard, Inc. | Medical balloon with enhanced focused force control |
| US11123098B2 (en) * | 2017-02-28 | 2021-09-21 | Angiosafe, Inc. | Device and method for centering and crossing a vascular occlusion |
| US20180263654A1 (en) * | 2017-03-20 | 2018-09-20 | Covidien Lp | Tissue-Removing Catheter With Abrasive Burr Having Portion Free From Abrasive Exterior Surface |
| US11051842B2 (en) | 2017-05-03 | 2021-07-06 | Medtronic Vascular, Inc. | Tissue-removing catheter with guidewire isolation liner |
| US11690645B2 (en) | 2017-05-03 | 2023-07-04 | Medtronic Vascular, Inc. | Tissue-removing catheter |
| CN108498139B (zh) * | 2018-04-25 | 2020-02-21 | 广西中医药大学 | 一种氧化石墨烯血栓去除盾构针及其制备方法 |
| CN118697424A (zh) | 2018-11-16 | 2024-09-27 | 美敦力瓦斯科尔勒公司 | 组织去除导管 |
| US11819236B2 (en) | 2019-05-17 | 2023-11-21 | Medtronic Vascular, Inc. | Tissue-removing catheter |
| US12357331B2 (en) | 2019-11-22 | 2025-07-15 | Boston Scientific Scimed Inc. | Device for tissue removal |
| CN113331919B (zh) * | 2021-07-13 | 2022-09-06 | 迈得诺医疗科技集团有限公司 | 一种清除血管结块物装置及其系统 |
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2016
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- 2016-06-23 EP EP16738926.1A patent/EP3313304B1/en active Active
- 2016-06-23 CN CN201680034459.0A patent/CN107735038B/zh active Active
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- 2016-06-23 JP JP2017562254A patent/JP6902479B2/ja active Active
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2019
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US12185968B2 (en) | 2011-09-13 | 2025-01-07 | Venturemed Group, Inc. | Intravascular catheter having an expandable incising portion |
| US10463387B2 (en) | 2011-09-13 | 2019-11-05 | John P. Pigott | Intravascular catheter having an expandable incising portion for incising atherosclerotic material located in a blood vessel |
| US10485572B2 (en) | 2011-09-13 | 2019-11-26 | John P. Pigott | Intravascular catheter having an expandable incising portion |
| US10485570B2 (en) | 2011-09-13 | 2019-11-26 | John P. Pigott | Intravascular catheter having a cantilevered expandable incising portion |
| US12324603B2 (en) | 2011-09-13 | 2025-06-10 | Venturemed Group, Inc. | Intravascular catheter having an expandable incising portion |
| US10610255B2 (en) | 2011-09-13 | 2020-04-07 | John P. Pigott | Intravascular catheter having an expandable incising portion and medication delivery system |
| US11357533B2 (en) | 2011-09-13 | 2022-06-14 | Venturemed Group, Inc. | Intravascular catheter having an expandable incising portion and abrasive surfaces |
| US10939936B2 (en) | 2011-09-13 | 2021-03-09 | Venturemed Group, Inc. | Intravascular catheter with incising devices |
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| US11413062B2 (en) | 2011-09-13 | 2022-08-16 | Venturemed Group, Inc. | Methods for preparing a zone of attention within a vascular system for subsequent angioplasty with an intravascular catheter device having an expandable incising portion and an integrated embolic protection device |
| US11202892B2 (en) | 2013-07-15 | 2021-12-21 | John P. Pigott | Balloon catheter having a retractable sheath |
| US11154694B2 (en) | 2013-07-15 | 2021-10-26 | John P. Pigott | Balloon catheter having a retractable sheath and locking mechanism with balloon recapture element |
| US11154693B2 (en) | 2013-07-15 | 2021-10-26 | John P. Pigott | Balloon catheter having a retractable sheath |
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| US11033712B2 (en) | 2015-01-13 | 2021-06-15 | Venturemed Group, Inc. | Intravascular catheter having an expandable portion |
| US11850376B2 (en) | 2015-01-13 | 2023-12-26 | Venturemed Group, Inc. | Intravascular catheter having an expandable portion |
| US10603069B2 (en) | 2015-01-13 | 2020-03-31 | John P. Pigott | Intravascular catheter balloon device having a tool for atherectomy or an incising portion for atheromatous plaque scoring |
| US12408942B2 (en) | 2016-07-01 | 2025-09-09 | Venturemed Group, Inc. | Intravascular catheter having an expandable incising portion and embolic protection device |
| US12096955B2 (en) | 2017-02-24 | 2024-09-24 | Venturemed Group, Inc. | Intravascular catheter having an expandable incising portion and abrasive surfaces |
| EP3384860A1 (en) * | 2017-04-07 | 2018-10-10 | Pigott, John, P. | Intravascular catheter having an expandable incising portion and grating tool |
| US12433633B2 (en) | 2021-04-02 | 2025-10-07 | Venturemed Group, Inc. | Intravascular catheter having an expandable incising portion |
| US12408932B2 (en) | 2022-03-23 | 2025-09-09 | Venturemed Group, Inc. | Intravascular device having feedback elements |
Also Published As
| Publication number | Publication date |
|---|---|
| US10478213B2 (en) | 2019-11-19 |
| JP2018519035A (ja) | 2018-07-19 |
| EP3313304A1 (en) | 2018-05-02 |
| US20160374715A1 (en) | 2016-12-29 |
| EP3313304B1 (en) | 2019-12-04 |
| CN107735038A (zh) | 2018-02-23 |
| JP6902479B2 (ja) | 2021-07-14 |
| CN107735038B (zh) | 2020-07-17 |
| US20200060716A1 (en) | 2020-02-27 |
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