Haptic output for aspiration system

Abstract

In some examples, an aspiration system includes a haptic output device configured to generator a haptic output and processing circuitry. The processing circuitry is configured to receive information indicative of a flow rate of fluid through a catheter, determine a characteristic of the haptic output based on the information, wherein the characteristic changes as a function of the flow rate, and cause the haptic output device to output the haptic output having the characteristic. In some examples, the haptic output is a vibration and the processing circuitry controls an amount of vibration based on flow rate. For example, the processing circuitry can control the haptic output device such that the amount of vibration (e.g., an intensity and / or frequency of vibration) has an inverse relationship to the flow rate.

Description

HAPTIC OUTPUT FOR ASPIRATION SYSTEM

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 613,899, filed December 22, 2023, the entire content of which is incorporated herein by reference.TECHNICAL FIELD

[0002] This disclosure relates to medical aspiration.BACKGROUND

[0003] In some cases, medical aspiration can be used to remove material from a patient. For example, medical aspiration can be used to remove a thrombus, such as a clot or other occlusion, from a blood vessel of a patient.SUMMARY

[0004] The present disclosure describes devices, systems, and methods related to medical aspiration, which can be used to remove a thrombus (e.g., a clot or other occlusion) from a hollow anatomical structure (e.g., a blood vessel) of a patient. A change (e.g., a decrease) in the fluid flow rate through a catheter lumen of an aspiration catheter can produce a vibration that propagates along the catheter. A clinician may perceive the haptic feedback through physical contact with the catheter or tubing in fluid communication with the catheter and determine a status of the catheter (e.g., proximity to a thrombus, full or partial blockage of the catheter lumen by a thrombus, engagement of the catheter distal opening with a thrombus, or the like) and / or detect aspiration of the thrombus based on the perceived vibration, e.g., without visual confirmation of the fluid flow through the catheter or into a collection canister. In some cases, it may be difficult for a clinician to detect relatively low magnitude vibrations, distinguish the vibration attributable to the fluid flow through the catheter lumen from background noise and / or other sensations, and / or identify changes in the vibration.

[0005] In examples described herein, an aspiration system includes a haptic output device configured to generate a haptic output that is provided in addition to (e.g.,supplements) any naturally occurring vibration in the catheter or tubing during an aspiration procedure. The aspiration system further includes processing circuitry configured to control the haptic output based on information indicative of a flow rate of fluid through a body lumen (e.g., in a blood vessel). The example devices, systems, and methods described herein may vary one or more characteristics (e.g., magnitude, frequency, duration, pattern, type, or any combination thereof) of the haptic output in response to information indicative of the flow rate of fluid through the catheter lumen. A clinician may perceive the haptic output and identify changes in the flow rate of fluid through the catheter lumen based on the one or more characteristics of the haptic output.

[0006] The example aspiration devices, systems, and methods described herein may provide several advantages over other aspiration systems. The haptic output generated by a haptic output device of the example aspiration devices, systems, and method described in this disclosure may enhance the ability of a clinician to monitor aspiration through a catheter via sensed haptic signals. Additionally, by adjusting one or more characteristics of the haptic output in response to changes in flow rate of fluid through the catheter, the example devices, systems, and methods described herein may provide increased, more specific information regarding the aspiration process to the clinician through the haptic output than would be available from other aspiration systems.

[0007] In some examples, this disclosure describes an aspiration system comprising: a haptic output device configured to generator a haptic output; and processing circuitry configured to: receive information indicative of a flow rate of fluid through a catheter, determine a characteristic of the haptic output based on the information, wherein the characteristic changes as a function of the flow rate, and cause the haptic output device to output the haptic output having the characteristic.

[0008] In some examples, this disclosure describes a method comprising: receiving, by processing circuitry of an aspiration system and from a sensor of the aspiration system, the information, wherein the information comprises a signal indicative of the flow rate of fluid within the catheter; determining, by processing circuitry of an aspiration system and based on information indicative of a flow rate of a fluid within a catheter, a characteristic of a haptic output, wherein the characteristic changes as a function of the flow rate; and causing, by the processing circuitry, a haptic output device of the aspiration system to output the haptic output having the characteristic.

[0009] a computer-readable medium comprising instructions that, when executed, causes processing circuitry of an aspiration system to: receive, from a sensor of the aspiration system, the information, wherein the information comprises a signal indicative of the flow rate of fluid within a catheter of the aspiration system; determine, based on information indicative of a flow rate of a fluid within the catheter, a characteristic of a haptic output, wherein the characteristic changes as a function of the flow rate; and cause a haptic output device of the aspiration system to output the haptic output having the characteristic.

[0010] The details of one or more aspects of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the techniques described in this disclosure will be apparent from the description and drawings, and from the claims.BRIEF DESCRIPTION OF THE DRAWINGS

[0011] FIG. 1 is a schematic diagram illustrating an example aspiration system that includes a haptic output device.

[0012] FIG. 2A is conceptual block diagram illustrating an example path of transmission of information to the control device of the aspiration system of FIG. 1.

[0013] FIG. 2B is a conceptual block diagram illustrating another example path of transmission of information to the control device of the aspiration system of FIG. 1.

[0014] FIG. 3 is a schematic diagram illustrating an example manual valve of the aspiration system of FIG. 1.

[0015] FIG. 4A is a graph illustrating an example change in flow rate of fluid through the aspiration system of FIG. 1 over time.

[0016] FIG. 4B is a graph illustrating a change in an example characteristic of a haptic output generated by the aspiration system of FIG. 1 in response to the change in flow rate of fluid illustrated in FIG. 4A.

[0017] FIG. 4C is a graph illustrating a change in another example characteristic of a haptic output generated by the aspiration system of FIG. 1 in response to the change in flow rate of fluid illustrated in FIG. 4A.

[0018] FIG. 4D is a graph illustrating a change in another example characteristic of a haptic output generated by the aspiration system of FIG. 1 in response to the change in flow rate of fluid illustrated in FIG. 4A.

[0019] FIG. 5A is a flow diagram illustrating an example method of generating a haptic output via the aspiration system of FIG. 1.

[0020] FIG. 5B is a flow diagram illustrating another example method of generating a haptic output via the aspirations system of FIG. 1.

[0021] FIG. 6 is a flow diagram illustrating an example method of generating haptic output via the aspiration system of FIG. 1 and based on the flow rate of fluid through the aspiration system.

[0022] FIG. 7 is a flow diagram illustrating another example method of generating haptic output via the aspiration system of FIG. 1 and based on the flow rate of fluid through the aspiration system.DETAILED DESCRIPTION

[0023] This disclosure describes medical aspiration devices, medical aspiration systems (e.g., vascular aspiration systems), as well as methods related to medical aspiration devices and medical aspiration systems. In examples described herein, a control device including processing circuitry is configured to select a characteristic of a haptic output generated by a haptic output device based on information indicative of a flow rate of fluid through a lumen of an aspiration catheter. In the case of a haptic output including a vibration of a component of the aspiration system, for example, a magnitude, frequency, duration, or pattern, of the vibration can change based on the flow rate. In some examples, the magnitude, frequency, or duration of the vibration or other haptic output has an inverse relationship (e.g., inversely proportional) to the fluid flow rate through the catheter lumen.

[0024] The control device may adjust one or more characteristics of the haptic output based on information indicating a change in the flow rate over time. For example, the devices, systems, and methods may increase or alter a characteristic of the haptic output based on a decrease in the flow rate of fluid, or vice versa.

[0025] During a medical aspiration procedure, a distal opening of an aspiration catheter may be positioned in the hollow anatomical structure near a thrombus and an aspiration force can be applied to a catheter lumen of the aspiration catheter in order todraw the thrombus through the catheter lumen and out of the hollow anatomical structure. The flow rate of fluid through the catheter lumen may change (e.g., decrease) in response to the proximity of the catheter distal opening to the thrombus, the thrombus fully or partially engaging with the catheter distal opening, and / or the thrombus contacting an inner surface of the catheter as the thrombus is aspirated through the catheter lumen. A change (e.g., a decrease) in the fluid flow rate through the catheter lumen can cause a vibration that propagates along the catheter. The clinician may perceive the vibration through contact with the catheter, e.g., as the clinician holds the catheter or tubing fluidically connected to the catheter. The clinician can determine a status of the catheter (e.g., proximity to a thrombus in a blood vessel or other hollow anatomical structure, full or partial blockage of the catheter lumen by a thrombus, engagement of the catheter distal opening with a thrombus, or the like) and / or detect aspiration of the thrombus based on the perceived vibration without having to look at the catheter or collection canister to visually ascertain the fluid flow rate through the catheter lumen. This enables the clinician to determine the status of the catheter and / or detect aspiration of the thrombus while viewing a display or other user interface, e.g., without having to look away from the display or other user interface.

[0026] In some cases, it may be difficult for a clinician to distinguish this naturally occurring vibration attributable to the fluid flow rate through the catheter lumen from background noise and / or other sensations and / or to identify changes in the vibration, e.g., due to the relative low magnitude of the vibration. For example, the naturally occurring vibration of a catheter (or tubing fluidically coupled to the catheter) resulting from positioning the catheter distal opening proximate a thrombus partially occluding a blood vessel may be lesser in magnitude than the naturally occurring vibration resulting from positioning the catheter distal opening proximate a thrombus more fully occluding the blood vessel. Thus, when the clinician is relying on the naturally occurring vibration to help position a catheter proximate a thrombus, the clinician’s ability to monitor and identify when the catheter distal opening is properly positioned proximate a thrombus may be reduced in the event of a partial occlusion of the blood vessel.

[0027] The devices, systems, and methods described herein may provide one or more advantages over other aspiration devices / systems that do not include processing circuitry configured to control a haptic output device based on information indicative of a flow rateof fluid through a catheter. The generated haptic output may supplemental or enhance (e.g., in magnitude, in frequency, or the like) the feedback provided to the clinician by the natural vibration of the catheter or catheter tubing during an aspiration procedure. Thus, the clinician may be able to better and more quickly detect changes in fluid flow rate through the catheter lumen during the aspiration procedure based on the generated haptic output compared to systems that require reliance on only the naturally occurring vibration, e.g., due to a greater change in magnitude of a characteristic of the haptic output compared to a changed in the same characteristic of the natural vibration. The example devices, systems, and methods may alter characteristic(s) of the haptic output based on changes in the flow rate of fluid through the catheter, which may provide more robust information to the clinician compared to other aspiration systems, which may only provide outputs in response to satisfaction of a specific threshold condition. For example, the example devices, systems, and methods may provide more robust information to the clinician and improve reaction by the clinician in response to a partial thrombus within the blood vessel.

[0028] In some examples, the processing circuitry is configured such that changes to characteristic(s) of the haptic output have an inverse relationship with the flow rate of fluid through the catheter, as opposed to a direct relationship between characteristic(s) of a naturally occurring vibration and the flow rate of fluid through the catheter. For example, characteristic(s)of the haptic output (e.g., magnitude, frequency) may increase as the example system receives information indicative of a decrease in flow rate, and vice versa. By comparison, characteristic(s) of the naturally occurring vibration (e.g., magnitude) may decrease as the flow rate decreases, and vice versa. The inverse relationship between characteristic values of the haptic output and the flow rate, as generated by the example devices, systems, and methods described herein, may help highlight for the clinician particularly useful information, e.g., indicating engagement of the aspiration catheter with a thrombus or a relatively close proximity of the aspiration catheter to the thrombus. In this way, the inverse relationship may provide the clinician with robust information that can help improve clinician reaction time compared to systems in which the clinician relies on supplemented natural vibration of the catheter to detect changes in flow rate through the catheter lumen.

[0029] FIG. 1 is a schematic diagram illustrating an example aspiration system 100 (also referred to as “system 100”) that includes a haptic output device 110. Medicalaspiration system 100 may be used to treat a variety of conditions, including thrombosis. Thrombosis occurs when a thrombus (e.g., a blood clot or other material such as plaques or foreign bodies) forms and obstructs vasculature of a patient. For example, medical aspiration system 100 may be used to treat a pulmonary embolism or deep vein thrombosis, which may occur when a thrombus forms in a deep vein of a patient, such as in a leg of the patient.

[0030] In the example shown in FIG. 1, system 100 further includes a catheter 102, a fluid flow switch 104 coupled to catheter 102 through aspiration tubing 112, and a suction source 108 coupled to the fluid flow switch 104 and catheter 102 through aspiration tubing 112. System 100 may include one or more sensors 106 configured to generate a signal indicative of a fluid flow rate through a lumen of catheter 102, fluid flow switch 104, and / or aspiration tubing 112. Haptic output device 110 is positioned to provide a clinician with haptic output indicative of a fluid flow rate through a lumen of catheter 102. In some examples, haptic output device 110 is coupled to one or more elements of system 100, e.g., to fluid flow switch 104, to catheter 102, to one or more sections of aspiration tubing 112, or to one or more other elements of system 100. System 100 further includes a control device 130 coupled to fluid flow switch 104, sensor(s) 106, suction source 108, and / or haptic output device 110.

[0031] Unless otherwise indicated, FIG. 1 will be described with respect to fluid flow in a first flow direction from catheter 102 to suction source 108, as indicated by the “downstream” arrow. However, as will be described below, fluid flow may flow in a second flow direction opposite the first flow direction in some examples.

[0032] Catheter 102 includes an elongated body and a hub. The elongated body of catheter 102 may be configured to be advanced through vasculature or a body lumen of a patient, e.g., via a pushing forced applied to a proximal portion of the elongated body. Catheter 102 (e.g., the elongated body) defines an inner lumen extending from distal opening 120 of catheter 102 along a longitudinal length of catheter 102. The inner lumen maybe in fluid communication with an opening of aspiration tubing 112, e.g., at a location upstream from fluid flow stich 104. Catheter 102 and aspiration tube 112 may be coupled via the hub of catheter 102.

[0033] Medical aspiration system 100 is configured to remove a thrombus from a patient via catheter 102, e.g., to draw the thrombus from the patient using a suction forceapplied to catheter 102. Material passing through catheter 102 is deposited into discharge reservoir 126, via a suction force applied by suction source 108 to catheter 102 (e.g., to an inner lumen of catheter 108). Catheter 102 includes an elongated body defining a catheter lumen (not shown in FIG. 1) and terminating in a distal opening 120. To treat a patient with thrombosis, a clinician may position distal opening 120 of catheter 102 in a blood vessel of the patient near the thrombus or other occlusion and apply a suction force (also referred to herein as suction, vacuum force, negative pressure, or aspiration force) to the catheter 102 (e.g., to one or more lumens of the catheter) to engage the thrombus with suction force at distal opening 120 of catheter 102. For example, suction source 108 can be configured to create a negative pressure within the inner lumen of catheter 102 to draw a material from the inside the blood vessel into the catheter lumen via distal opening 120 of catheter 102. The negative pressure within the inner lumen can create a pressure differential between the inner lumen and the environment external to at least a distal portion of catheter 102 that causes the material, e.g., a thrombus, fluid (e.g., blood, saline introduced into the patient as part of the aspiration procedure, or the like), and / or other material, to be introduced from the blood vessel into the catheter lumen via catheter distal opening 120. For example, the fluid may flow from patient vasculature, into the catheter lumen via distal opening 120, and subsequently through aspiration tubing 112 discharge reservoir 126.

[0034] Once distal opening 120 of aspiration catheter 102 has engaged a thrombus that is within a blood vessel, the clinician may remove aspiration catheter 102 with the thrombus held within opening 120 or attached to the distal tip of the elongated body, or suction off pieces of the thrombus (or the thrombus as a whole) until the thrombus is removed from the blood vessel of the patient through a lumen of aspiration catheter 102 itself and / or through the lumen of an outer catheter in which aspiration catheter 102 is at least partially positioned. The outer catheter can be, for example, a guide catheter configured to provide additional structural support to the aspiration catheter. In some cases, aspiration of thrombus can be performed concurrently with use of a thrombectomy device, such as a thrombus removal basket, to facilitate removal of thrombus via mechanical thrombectomy as well as via aspiration.

[0035] As used herein, “suction force” is intended to include, within its scope, related concepts such as suction pressure, vacuum force, vacuum pressure, negative pressure, andthe like. A suction force can be generated by a vacuum, e.g., by creating a partial vacuum within a sealed volume fluidically connected to catheter 102, or by direct displacement of liquid in catheter 102 and / or aspiration tubing 112 via (e.g.) a peristaltic pump, or otherwise. Accordingly, suction forces or suction as specified herein can be measured, estimated, computed, etc. without need for direct sensing or measurement of force. A “higher,” “greater,” or “larger” (or “lower,” “lesser,” or “smaller”) suction force described herein may refer to the absolute value of the negative pressure generated by the suction source on a catheter or another component, such as a discharge reservoir 126.

[0036] In some examples, suction source 108 can include one or more of a positive displacement pump (e.g., a peristaltic pump, a rotary pump, a reciprocating pump, or a linear pump), a direct-displacement pump (e.g., a peristaltic pump, or a lobe, vane, gear, or piston pump, or other suitable pumps of this type), a direct-acting pump (which acts directly on a liquid to be displaced or a tube containing the liquid), an indirect-acting pump (which acts indirectly on the liquid to be displaced), a centrifugal pump, and the like. An indirect-acting pump can comprise a vacuum pump, which displaces a compressible fluid (e.g., a gas such as air) from the evacuation volume (e.g., discharge reservoir 126, which can comprise a canister), generating suction force on the liquid. Accordingly, the evacuation volume (when present) can be considered part of the suction source. In some examples, suction source 108 includes a motor-driven pump, while in other examples, suction source 108 can include a syringe, and mechanical elements such as linear actuators, stepper motors, etc. As further examples, suction source 108 could comprise a water aspiration venturi or ejector jet. Suction source 108 may be referred to as fluid pump 108 in some examples.

[0037] Fluid flow switch 104 may be downstream of catheter 102 and upstream of suction source 108. Fluid flow switch 104 may be fluidically connected to catheter 102 and suction source 108 via aspiration tubing 112. In some examples, fluid flow switch 104 is external to and not fluidically connected to aspiration tubing 112. Fluid flow switch 104 may control fluid flow through aspiration tubing 112 between catheter 102 and suction source 108. Fluid flow switch 104 may have an “open” position corresponding to flow of fluid through fluid flow switch 104 and / or aspiration tubing 112 and a “closed” position corresponding to no flow of fluid through fluid flow switch 104 and / or aspiration tubing 112. In some examples, fluid flow switch may have a “partially open” or “partially closed”position corresponding to reduced flow of fluid through fluid flow switch 104 and / or aspiration tubing 112. The reduced flow of fluid may define a fluid flow rate less than the flow rate of the fluid when fluid flow switch 104 is in the “open” position.

[0038] Fluid flow switch 104 may include one or more switching mechanisms including, but are not limited to, valves, slides, and the like. Fluid flow switch 104 may be directed and manually operated by the clinician or may be controlled by control device 130. Fluid flow switch 104 may include, but is not limited to, a manual valve or a control valve. The clinician may manually operate manual value to control fluid flow through aspiration tubing 112, e.g., by causing the manual valve to restrict or increase fluid flow though aspiration tubing 112 and across the manual valve. For example, the clinician may manipulate the manual valve to compress aspiration tubing 112 and restrict the cross- sectional area of aspiration tubing 112 to reduce fluid flow through aspiration tubing 112, or vice versa.

[0039] Control device 130 may transmit signals to the control valve to cause the control valve to restrict or increase fluid flow through aspiration tubing 112. For example, control device 130 may be in communication with an actuator coupled to the control valve. Control device 130 may transmit the signal to the actuator to cause the actuator to transition the control valve between the different positions, e.g., to control fluid flow through aspiration tubing 112 and across the control valve.

[0040] Sensor(s) 106 may include one or more sensors configured to generate a signal indicative of a flow rate of fluid through catheter 102 and / or aspiration tubing 112. Sensor(s) 106 may include, but are not limited to, fluid flow sensors, optical sensors, pressure sensors, ultrasonic non-contact flow sensors, or the like. Sensor(s) 106 may be fluidically coupled to an inner lumen of catheter 102 and / or aspiration tubing 112, may be disposed along an outer surface of at least a portion of aspiration tubing 112 and / or may be coupled to fluid flow switch 104 (e.g., to control valve of fluid flow switch 104 and / or one or more elements).

[0041] In some examples, sensor(s) 106 are configured to measure fluid flow passing through aspiration tubing 112. Control device 130 may receive the measured fluid flow from sensor(s) 106 and regulate the flow of fluid within aspiration tubing 112, e.g., via adjustment of a power generated by suction source 108, via adjustment of the control valve between different positions. In some examples, sensor(s) 106 include ultrasonic flowsensors configured to provide non-contact measurement of fluid flow within aspiration tubing 112. Each ultrasonic flow sensor may include a measurement channel configured to retain at least a portion of aspiration tubing 112. Each ultrasonic flow sensor may measure fluid flow across the portion of aspiration tubing 112 retained with the respective measurement channel of the ultrasonic flow sensor without contacting the fluid flowing through tubing 112.

[0042] In some examples, suction source 108 is configured for bi-directional operation. For example, suction source 108 may be configured to create a negative pressure that draws fluid from catheter 102 in a first flow direction and create a positive pressure that pumps fluid to catheter 102, e.g., from aspiration fluid reservoir 124, and through an inner lumen of catheter 102 in a second, opposite flow direction.

[0043] Haptic output device 110 is configured to generate a haptic output. The haptic output may include, but is not limited, one or more haptic signals that can be felt by the clinician. The haptic output may include, but is not limited to, a vibration. The haptic output may be defined by one or more characteristics including, but is not limited to, a magnitude of the haptic output, a frequency of the haptic output (e.g., a frequency of pulses of the haptic output), a pattern of the haptic output (e.g., a pattern of pulses of the haptic output), a duration of the haptic output, a type of haptic output, or any combination thereof. Control device 130 is configured to control haptic output device 110 to control the haptic output having one or more characteristics determined based on information indicative of a fluid flow rate through the lumen of catheter 102.

[0044] Haptic output device 110 may include any suitable structure configured to generate a haptic output. For example, haptic output device 110 can include one or more of, but are not limited to, a vibration motor (e.g., an eccentric rotating mass (ERM) vibration motor) or a piezoelectric element. At least a portion of haptic output device 110 may be coupled to fluid flow switch 104 and / or at least a portion of aspiration tubing 112. The clinician may grasp catheter 102 in a first hand and grasp the portion of haptic output device 110 and one or more of fluid flow switch 104 or aspiration tubing 112 in a second hand. In such examples, the clinician may perceive natural haptic feedback (e.g., generated by aspiration of fluid through catheter 102) through the first hand and the haptic output generated by haptic output device 110 through the second hand.

[0045] Control device 130 may include one or more computing devices, systems, and / or cloud computing environments communicatively coupled to one or more components of system 100 (e.g., to one or more of fluid flow switch 104, sensor(s) 106, suction source 108, or haptic output device 110). Control device 130 may be connected to the one or more components via a wired or wireless connection. Control device 130 may include, but is not limited to, a desktop computer, a laptop computer, a smartphone, a tablet, or the like. Control device 130 may include one or more computing elements including, but are not limited to, sensing circuitry 132, processing circuitry 134, and memory 136.

[0046] Sensing circuitry 132 may be coupled to sensor(s) 106. Sensing circuitry 132 may be coupled to sensor(s)106 via a wired and / or wireless connection. Sensing circuitry 132 is configured to receive information indicating of fluid flow rate through catheter 102 and transmit the information to processing circuitry 134. The information may include, but is not limited to, a flow rate outputted by one or more of sensor(s) 106 (e.g., by a fluid flow sensor of sensor(s) 106) or information sensed by sensor(s) 106 (e.g., optical signals sensed by sensor(s) 106, pressure exerted on a control valve of fluid flow switch 104 sensed by sensor(s) 106). In some examples, control device 130 does not include sensing circuitry 132 or sensing circuitry 132 is part of processing circuitry 134.

[0047] Processing circuitry 134 is configured to receive information from sensing circuitry 132 and control fluid flow switch 104, suction source 108, and / or haptic output device 110, e.g., based at least part on the received information. In some examples, processing circuitry 134 is configured to receive information from the clinician via a user interface of control device 130 (not pictured in FIG. 1). Processing circuitry 134 may transmit signals to fluid flow switch 104 to transition fluid flow switch 104 between different positions, e.g., to allow, block, and / or restrict fluid flow between catheter 102 and suction source 108. In some examples, processing circuitry 134 is configured to transmit control signals to suction source 108 to begin / terminate the generation and application of a negative pressure on catheter 102.

[0048] Processing circuitry 134 is configured to control haptic output device 110, e.g., via transmitting or more control signals to haptic output device 110, to cause haptic output device 110 to generate a haptic output having one or more characteristics. In some examples, processing circuitry 134 is configured to determine the one or morecharacteristics, e.g., values for the one or more characteristics, based on the fluid flow rate and / or information indicative of the fluid flow rate from sensor(s) 106 and / or sensing circuitry 132. In some examples, processing circuitry 134 is configured to adjust the characteristic(s) such that a first haptic output corresponding to a first fluid flow rate is different from a second haptic output corresponding to a second fluid flow rate, the second fluid flow rate being faster than the first fluid flow rate.

[0049] In some examples, processing circuitry 134 is configured to increase the characteristic(s) in response to receiving information that indicates a reduction in fluid flow rate through catheter 102, aspiration tubing 112, or another part of system 100, or vice versa. For example, processing circuitry 134 can control haptic output device 110 to increase the magnitude and / or the frequency of the pulses of the haptic output in response to receiving the information indicating a reduction or a decrease in fluid flow rate, e.g., compared to a previously determined fluid flow rate in response to detecting a fluid flow rate less than or equal to a particular threshold value. In some examples, processing circuitry 134 is configured to decrease the characteristic(s) in response to an indication of a reduction of a reduction in fluid flow rate. In some examples, processing circuitry 134 is configured to control haptic output device 110 to adjust a pattern of the haptic output in response to an indication of a reduction of a reduction in fluid flow rate. The pattern of the haptic output may include, for example, a specific pattern of variation between different characteristic values (e.g., different magnitudes and / or different frequencies of the pulses) of the haptic output. Processing circuitry 134 may alter the pattern of the haptic output (e.g., increase a frequency at which haptic output device 110 alters between the different characteristic values) in response to a reduction in fluid flow rate, or vice versa.

[0050] In some examples, processing circuitry 134 is configured to adjust determined characteristics of the haptic output in response to changes in flow rate and / or changes in the function of system 100 between different modes. In some examples, system 100 is configured to allow a greater suction force (e.g., unrestricted fluid flow through catheter 102 and aspiration tubing 112) when distal opening 120 of catheter 102 encounters a thrombus and to reduce the suction force when distal opening 120 is within the blood vessel (e.g., in a substantially unblocked blood vessel) of the patient, e.g., to reduce aspiration of fluid from within a substantially unlocked blood vessel. In some examples, processing circuitry 134 is configured to actuate fluid flow switch 104 (e.g., a controlvalve of fluid flow switch 104), to regulate fluid flow within system 100. In such examples, processing circuitry 134 is configured to actuate fluid flow switch 104 based on received signals from sensor(s) 106. In some examples, processing circuitry 134 is configured to cause fluid flow switch 104 (e.g., the control valve of fluid flow switch 104) to fully open, fully close, partially open or close, or cycle between a fully open, fully closed, and / or partially closed position, e.g., according to cycling parameters, a predetermined cycling schedule, or the like.

[0051] For example, processing circuitry 134 may be configured to determine catheter 102 is in patient blood flow (e.g., unblocked by a thrombus) and control fluid flow switch 104 to be in a “search mode” comprising periodically opening unrestricting fluid flow through system 100 for a first amount time (state 1) and at least partially restricting the fluid flow for a second amount of time (state 2), e.g., that is greater than the first amount of time. In such examples, processing circuitry 134 is configured to determine different characteristics for the haptic output for states 1 and 2 and cause haptic output device 110 to generate the haptic output according to the different characteristics during the respective states.

[0052] In some examples, processing circuitry 134 is configured to determine that the aspiration system is “blocked,” e.g., by a thrombus, and control fluid flow switch 104 to be in an “aspiration mode,” e.g., allow full flow of fluid through system 100. In some examples, processing circuitry 134 is configured to determine characteristic(s) for the haptic output corresponding to the aspiration mode and cause haptic output device 110 to generate the haptic output with characteristic(s) corresponding to the aspiration mode. The determined characteristic(s) corresponding to the aspiration mode may be different from determined characteristic(s) corresponding to the search mode (e.g., determined characteristic(s) corresponding to either of states 1 and 2 of the search mode). For the aspiration mode, the determined characteristic(s) corresponding to a partial thrombus within the blood vessel may be different from a full thrombus within the blood vessel, e.g., to provide the clinician with the capability to differentiate a partial thrombus from a full thrombus based on the perceived haptic output from system 100.

[0053] In some examples, processing circuitry 134 is configured to regulate fluid flow based on a determined flow rate and a flow rate reference value. For example, processing circuitry 134 is configured to dynamically and / or in real-time determine when to open andclose a control valve of fluid flow switch 104, partially or fully, in order to control the flow rate of fluid within system 100 to be the flow rate reference value, e.g., to reduce and / or minimize the difference between the flow rate of the fluid and the flow rate reference value. In some examples, processing circuitry 134 is configured to control the valve to open or close, fully or partially, according to a proportional-integral-derivative (PID) control loop, an adaptive algorithm such as fuzzy logic, a machine learning algorithm and / or method, or the like.

[0054] For example, processing circuitry 134 may be configured to determine that catheter 102 is in patient blood flow (e.g., unblocked by a thrombus) and control a control valve of fluid flow switch 104 to be in a “search mode” comprising periodically opening the valve for a first amount time (state 1) and closing the valve for a second amount of time (state 2) that is greater than the first amount of time. Additionally, processing circuitry 134 may be configured to determine that distal opening 120 of catheter 102 is “blocked,” e.g., by a thrombus and control the valve to be in an “aspiration mode,” comprising controlling the valve to remain open while the determined flow rate is less the first flow rate threshold. Additionally, processing circuitry 134 may be configured to determine that distal opening 120 of catheter 102 is partially blocked, e.g., by a thrombus and control the valve to be in an “pulse mode” comprising periodically opening the valve for a third amount time (state 3) and closing the valve for a fourth amount of time (state 4) to clear the partial blockage while reducing blood loss in order to do so. In such examples, processing circuitry 134 is configured to determined different characteristics for the haptic output for each of states 1-4 and cause haptic output device 110 to generate haptic output with the different characteristics during each respective state of states 1-4. Generating haptic output with different characteristics during different states of aspiration mode or the pulse mode may provide the clinician with the capability of identifying which state system 100 is currently operating in based on the perceived haptic signal.

[0055] The clinician may perceive the haptic output through physical contact with a component of system 100 and may determine the status of aspiration by catheter 102 (e.g., flow rate of fluid through catheter 102) based on the haptic output (e.g., based on the characteristic(s) of the haptic output). For example, the clinician may determine changes in the flow rate of fluid through catheter 102 based on perceived changes in the magnitude, frequency of pulses, and / or pattern of pulses of the haptic output.

[0056] Processing circuitry 134, as well as other processors, processing circuitry, controllers, control circuitry, and the like, described herein, may include any combination of integrated circuitry, discrete logic circuitry, analog circuitry, such as one or more microcontrollers, microprocessors, digital signal processors (DSPs), application specific integrated circuits (ASICs), or field-programmable gate arrays (FPGAs). In some examples, processing circuitry 134 may include multiple components, such as any combination of one or more microprocessors, one or more microcontrollers, one or more DSPs, one or more ASICs, or one or more FPGAs, as well as other discrete or integrated logic circuitry, and / or analog circuitry.

[0057] Memory 136 may store program instructions, such as software, which may include one or more program modules, which are executable by processing circuitry 134. When executed by processing circuitry 134, such program instructions may cause processing circuitry 134 to provide the functionality ascribed to processing circuitry 134 herein. The program instructions may be embodied in software and / or firmware. Memory 136, as well as other memories described herein, may include any volatile, non-volatile, magnetic, optical, or electrical media, such as a random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), electrically-erasable programmable ROM (EEPROM), flash memory, or any other digital media.

[0058] FIG. 2A is conceptual block diagram illustrating an example path of transmission of information to haptic output device 110 of system 100. FIG. 2B is a conceptual block diagram illustrating another example path of transmission of information to haptic output device 110 of system 100. While FIGS. 2A and 2B illustrate the sensing of information by sensor(s) 106 and transmission of the information to haptic output device 110 while suction source 108 is applying a negative pressure on catheter 102, information may be transmitted along the same paths illustrated in FIGS. 2A and 2B while suction source 108 is apply a positive pressure on catheter 102.

[0059] In some examples, as illustrated in FIG. 2A, one or more of sensor(s) 106 are configured to generate a signal that changes as a function of fluid flow 204 through aspiration tubing 112. Suction source 108 may apply a negative pressure on catheter 102 to draw fluid from catheter 102 towards suction source 108 within an inner lumen of aspiration tubing 112 and along fluid flow 204. Sensor(s) 106 may be disposed within the inner lumen of aspiration tubing 112, along an inner surface of aspiration tubing 112defining the inner lumen, and / or external to the inner lumen of aspiration tubing 112 at one or more locations along the length of aspiration tubing 112.

[0060] In some examples, sensor(s) 106 may include one or more pressure sensors disposed within the inner lumen of aspiration tubing 112 and configured to sense a pressure applied on sensor(s) 106 by fluid flow 204. In such examples, information 206 may include signals and / or information indicative of pressure applied by fluid flow 204 on sensor(s) 106. In some examples, sensor(s) 106 may include one or more optical and / or ultrasonic sensors positioned external to aspiration tubing 112 (e.g., at one or more locations along the external surface of aspiration tubing 112). In such examples, the one or more optical sensors and / or ultrasonic sensors are configured to monitor fluid flow 204 while remaining fluidically isolated from fluid flow 204. In such examples, aspiration tubing 112 may be partially transparent or translucent at one or more locations along the length of aspiration tubing 112, e.g., to facilitate monitoring of fluid flow 204 by sensor(s) 106. At least portions of aspiration tubing 112 may be retained within measurement channels of the one or more optical and / or ultrasonic sensors.

[0061] In some examples, as illustrated in FIG. 2A, one or more sensors 106 are coupled to control valve 202 of fluid flow switch 104 of system 100. In such examples, the one or more sensors 106 may be integral to control valve 202 or may be electrically connected to control valve 202 (e.g., via a wired or wireless connection). In such examples, the one or more sensors 106 may be configured to sense a force applied on control valve 202, e.g., by an actuator configured to transition control valve 202 between different positions, each position corresponding to a different amount of fluid flow through tubing 112. An example of control valve 202 is described in U.S. Patent No. 17 / 937,245, filed on September 30, 2022 and entitled “LOW FLOW SWITCH FOR MEDICAL ASPIRATION,” the entire contents of which is incorporated herein by reference. In some cases, the force applied on control valve 202 corresponds to a flow rate of fluid flow 204 through aspiration tubing 112 and across control valve 202. For examples, a force of a greater magnitude on control valve 202 may correspond to a reduced flow rate of fluid flow 204 across control valve 202, and vice versa. In such examples, information 206 includes signals and / or information indicative of a magnitude of the force sensed by the one or more sensors 106.

[0062] Sensor(s) 106 are configured to transmit information 206 to control device 130 (e.g., to processing circuitry 134 of control device 130). Processing circuitry 134 of control device 130 is configured to receive information 206 and determine characteristics, e.g., values for characteristics, of the haptic output based on the information.Characteristics of the haptic output may include, but are not limited to, a magnitude of the haptic output (e.g., a magnitude of one or more pulses of the haptic output), a frequency of pulses of the haptic output, (e.g., a revolutions per minute (RPM) of a vibration motor of haptic output device 110 configured to generate the pulses), a pattern of pulses of the haptic output, a type of the haptic output, or a duration of the haptic output.

[0063] In some examples, processing circuitry 134 is configured to determine the flow rate of fluid flow 204 and determines the characteristic values based on the determined flow rate. For example, processing circuitry 134 is configured to compare the determined flow rate against a plurality of flow rates stored in memory 136 and retrieve characteristics values stored in memory 136 that correspond to a stored flow rate and / or flow rate range that matches the determined flow rate. In some examples, processing circuitry 134 is configured to compare the received values within information 206 (e.g., optical signals, force magnitudes) against stored values in memory 136 (e.g., stored optical signals, stored force magnitudes) and select characteristic values stored in memory 136 corresponding stored values that match, overlap, or are within a threshold range of the received values (e.g., within 10% of the received values).

[0064] In some examples, processing circuitry 134 is configured to continuously or periodically receive information 206 from sensor(s) 106. In some examples, processing circuitry 134 is configured to determine, based on changes in information 206 over time, that flow rate of fluid flow 204 has changed. In some examples, processing circuitry 134 is configured to separately determine the flow rate of fluid flow 204 at each instance, e.g., based on current received information 206. In response to a determination of a change in the flow rate and / or a flow rate based on the current received information 206, processing circuitry 134 may adjust at least one characteristic based on the flow rate corresponding to current received information 206.

[0065] In some examples, the determined characteristic(s) may correspond to one or more other functions of system 100 instead of or in addition to any relationships between the determined characteristics and the flow rate of fluid through catheter 102. Forexample, the determined characteristic(s) may correspond to one or more warnings and / or notifications separate from the fluid flow 204 and / or a status of one or more components of fluid flow switch (e.g., of control valve 202). The determined characteristic(s) for each of one or more different warnings and / or notifications may be different from each other and / or from determined characteristic(s) corresponding to the flow rate of fluid flow 204.

[0066] In some examples, the determined characteristic(s) correspond to a capacity of one or more of aspiration fluid reservoir 124 or discharge reservoir 126. For example, processing circuitry 134 is configured to monitor a current capacity of discharge reservoir 126 and compare the current capacity against a threshold condition stored in memory 136. The threshold condition may include a threshold volume of fluid in discharge reservoir 126 and / or a threshold percentage of a maximum volume capacity of discharge reservoir 126 (e.g., 50% of the maximum volume capacity, 75% of the maximum capacity, 90% of the maximum capacity). In such examples, processing circuitry 134 is configured to, in response to satisfaction of the threshold condition, control haptic output device 110 to generate and / or output the haptic output in accordance with characteristic(s) corresponding to the threshold condition. Processing circuitry 134 may determine that the threshold condition is satisfied based on a determination that a volume of discharge fluid in discharge reservoir 126 is greater than or equal to the threshold volume or occupy at least the threshold percentage of the maximum volume capacity of discharge reservoir 126.

[0067] Processing circuitry 134 may similarly monitor the volume of aspiration fluid reservoir 124, e.g., as described above with respect to discharge reservoir 126. In such examples, processing circuitry 134 may determine that a volume of fluid within aspiration fluid reservoir 124 satisfies one or more threshold conditions based on a determination that the volume is less than or equal to a threshold volume and / or that the fluid occupy less than or equal to the threshold percentage of the maximum volume capacity of aspiration fluid reservoir 124 (e.g., less than 25% of the maximum capacity, less than 10% of the maximum capacity).

[0068] Processing circuitry 134 is configured to control haptic output device 110, such as by transmitting instructions to haptic output device 110, to generate and / or output the haptic output in accordance with the determined characteristic(s). Haptic output device 110 may continue to generate and / or output the haptic output until haptic output device110 receives instructions from processing circuitry 130 to terminate or adjust characteristic(s) of the haptic output.

[0069] FIG. 3 is a schematic diagram illustrating an example manual valve 302 of system 100. Manual valve 302 is configured to be manipulated by a clinician to restrict or facilitate flow of fluid through aspiration tubing 112 between catheter 102 and suction source 108. At least a portion of haptic output device 110 may be coupled to manual valve 302, e.g., to facilitate transmission of haptic output generated by haptic output device 110 to the clinician.

[0070] Manual valve 302 may be include a plurality of sections including, but are not limited to, section 304A, section 304B, and section 306. Each section may be connected to at least one other section of the plurality of sections. Sections 304A and 304B may be collectively referred to herein as sections 304. The clinician may control the flow of fluid through aspiration tubing 112 via manipulation of sections 304. Sections 304 may be disposed around opposing portions of the external surface of aspiration tubing 112. Sections 304A and 304B may define protrusions 308 and 310, respectively. Protrusions 308 and 310 may each extend from a respective section of sections 304 and contact the external surface of aspiration tubing 112.

[0071] The clinician may apply a compressive force on sections 304 (e.g., via squeezing sections 304) to cause sections 304 to pivot towards each other about a pivot point disposed between sections 304 (e.g., at or around a centerline of aspiration tubing 112). As sections 304 are compressed, sections 304 cause protrusions 308 and 310 to advance towards the centerline of aspiration tubing 112, thereby compressing aspiration tubing 112. Compression of aspiration tubing 112 may block or restrict fluid flow through aspiration tubing 112 by reducing a cross-sectional area of an inner lumen of aspiration tubing 112. In some examples, where the clinician already compresses sections 304, the clinician can release sections 304, thereby causing sections 304 to pivot away from each other about the pivot point. In such examples, pivot of sections 304 away from each other may increase fluid flow through aspiration tubing 112 by increase the cross-sectional area of the inner lumen of aspiration tubing 112.

[0072] Sections 304 may define a first channel 312A extending through at least one of sections 304. First channel 312A may be sized to retain aspiration tubing 112 and may define an inner diameter greater than or equal to an outer diameter of aspiration tubing112. Section 306 may be connected to section 304B and may define a second channel 312B extending through section 306. Second channel 312B may be radially aligned with first channel 312A and may similarly be configured to retain aspiration tubing 112. When manual valve 302 is disposed around aspiration tubing 112, aspiration tubing 112 may extending through both first channel 312A and second channel 312B. Section 306 may facilitate retention of manual valve 302 around aspiration tubing 112 and inhibit unintended movement of manual valve 302 relative to aspiration tubing 112. One or more of sections 304A, 304B, or 306 may define one or more indentations or protrusions. The indentations or protrusions may be configured to provide texturing along a gripping surface of each section and facilitate retention of manual valve 302 within a hand of the clinician.

[0073] In some examples, haptic output device 110 is at least partially connected to manual valve 302. For example, as illustrated in FIG. 3, haptic output device 110 may be connected to one or more of sections 304 or to section 306. Haptic output device 110 may be electrically coupled to control device 130 via cable 316 (alternatively referred to herein as “wire 316”). Control device 130 may transmit instructions to and / or receive information from haptic output device 110 via cable 316. In other examples, haptic output device 110 is wirelessly connected to control device 130, in which case cable 316 may not be used. While FIG. 3 illustrates haptic output device 110 as having a vibration motor 314, other example haptic output devices coupled to manual valve 302 may include any other vibration elements described herein (e.g., a piezoelectric element).

[0074] Vibration motor 314 is configured to be controlled by control device 130, e.g., via cable 316, and is configured to generate a haptic output (e.g., a vibration) in response to instructions or signals received from control device 130. Vibration motor 314 may include, but is not limited to, an ERM vibration motor. In such examples, vibration motor 314 may revolve an eccentric mass about a central axis thereby producing the haptic output. The parameters for rotation of the eccentric mass (e.g., a rotational speed of the eccentric mass, an RPM for vibration motor 314) may be variable and may be based on characteristic values determined by control device 130. In some examples, the rotational speed for vibration motor is up to 700 RPM (e.g., up to 300 RPM, up to 500 RPM). In some examples, the rotational speed is up to 7500 RPM. Vibration motor 314 may adjust parameter values in response to instructions from control device 130.

[0075] FIG. 4A is a graph 400A illustrating an example change in fluid flow rate 406 through the example aspiration system of FIG. 1 over time 404. As illustrated in graph 400A, fluid flow rate 406 of fluid flow 204 through system 100 (e.g., through a lumen of catheter 102 and / or aspiration tubing 112) decreases over time. An X-axis of graph 400A represents time 404 (e.g., in seconds (s)) and a Y-axis of graph 400B represents flow rate 402 (e.g., in liters per minute (L / min)). Over time, fluid flow rate 406 may change, e.g., due to the presence, or lack thereof, of an obstruction (e.g., a thrombus, a partial thrombus) within a blood vessel of the patient and / or at distal opening 120 of catheter 102. Graph 400A illustrates an example change in fluid flow rate 406 over time. In other examples, the fluid flow rate 406 may increase over time, as well as increase and decrease over time.

[0076] FIG. 4B is a graph 400B illustrating a change in an example characteristic of a haptic output generated by system 100 in response to the example change in fluid flow rate 406 as illustrated in FIG. 4A. Graph 400B illustrates an example change in magnitude 410 of the haptic output (e.g., a vibration) generated by haptic output device 110 over time in response to the example change in fluid flow rate 406 illustrated in graph 400A. The X- axis of graph 400B represents time 404 and the Y-axis of graph 400B represents force 408 (e.g., in Newtons (N)). Haptic output magnitude 410 may be represented in terms of the magnitude of force 408 of the generated haptic output.

[0077] FIG. 4C is a graph 400C illustrating a change in another example characteristic of a haptic output generated by system 100 in response to the example change in flow rate 402 of fluid illustrated in FIG. 4A. Graph 400C illustrates an example change in frequency 414 of haptic output (e.g., frequency of pulses of the haptic output) over time in response to the example change in fluid flow rate 406 illustrated in graph 400A. The X-axis of graph 400C represents time 404 and the Y-axis of graph 400B represents the frequency of pulses in terms of a rotation speed of vibration motor 314 (e.g., in RPM). In some examples, the frequency of pulses is represented in terms of a number of pulses per a unit of time (e.g., a number of pulses per second).

[0078] As noted above, in some examples, there is an inverse relationship between the example characteristic (e.g., haptic output magnitude 410) and the fluid flow rate 406, i.e., as fluid flow rate 406 decreases, the value for the characteristic increases, and vice versa. The value of the characteristic may change linearly, non-linearly, continuously, discretely, or exponentially in response to changes in fluid flow rate 406. For example, as illustratedin graph 400B, haptic output magnitude 410 may be inversely proportional to fluid flow rate 406. In another example, as illustrated in graph 400C, frequency 414 of the haptic output may change linearly in response to the change in fluid flow rate 406 illustrated in graph 400A. In some examples, the value of the characteristic may increase in as fluid flow rate 406 increases, and vice versa.

[0079] FIG. 4D is a graph 400D illustrating a change in another example characteristic of a haptic output generated by system 100 in response to the example change in flow rate 402 of fluid 406 illustrated in FIG. 4A. In some examples, haptic output 416 includes pulses delivered at a first characteristic value separated by groups of pulses delivered at a second characteristic value. For example, haptic output 416 may include a repeating pattern of a first group of pulses delivered at a first frequency and / or magnitude followed by a second group of pulses delivered at a second frequency and / or magnitude. While graph 400D illustrates different patterns of haptic output 416 in terms of rotation speed 412 over time 404, the different patterns may be represented in terms of other values (e.g., force 408, pulses per unit of time) along Y-axis of graph 400D.

[0080] As illustrated in graph 400D, haptic output 416 may change between patterns in response to changes in fluid flow rate 416. For example, haptic output 416 may change between patterns 418A, 418B, and 418N (collectively referred to as “patterns 418”). With pattern 418A, haptic output 416 may maintain a constant frequency of pulses. With pattern 418B, haptic output 416 may alter between a first group of pulses delivered at a first frequency (e.g., at 300 RPM) and a second group of pulses delivered at a second frequency higher than the first frequency (e.g., at 500 RPM, at 700 RPM). With subsequent patterns (e.g., pattern 418N), the second groups of pulses are separated by increasingly reduced periods of time compared to pattern 418B. A clinician receiving haptic output 416 may identify changes in fluid flow rate 406 based on the changes between patterns 418. In some cases, the changes in patterns 418 may be easier to identify (by the clinician) than changes in magnitude and / or frequency of the haptic output, e.g., due to a reduced reliance on the sensitivity and abilities of the clinician.

[0081] As illustrated in graph 400D, there may be an inverse (e.g., opposing) relationship between fluid flow rate 406 and patterns 418, wherein control device 130 adjusts the pattern 418 generated by haptic output device 110 to reduce the period of time between second groups of pulses as fluid flow rate 406 decreases, and vice versa. In someexamples, control device 130 may adjust pattern 418 to increase the period of time between the second groups of pulses as fluid flow rate 406 increases, and vice versa.

[0082] Graphs 400B-D illustrate non-limiting examples of the characteristics of the haptic output. In some examples, processing circuitry 134 is configured to determine and / or adjust one or more characteristics (e.g., values of characteristics), including the example characteristics illustrated in graphs 400B-D, separately or in conjunction. For example, processing circuitry 134 is configured to determine and / or adjust any of the example characteristics illustrated in graphs 400B-D and / or previously described herein, alone or in any combination.

[0083] FIG. 5A is a flow diagram illustrating an example method of generating a haptic output via the example aspiration system 100 of FIG. 1. While the example method illustrated in FIG. 5 A is described primarily with respect to processing circuitry 134 of system 100 illustrated in FIGS. 1-3, the example method may be performed by processing circuitry of another device alone or in combination with processing circuitry 134 of control device 130.

[0084] In accordance with the example technique of FIG. 5A, processing circuitry 134 of control device 130 of system 100 determines one or more characteristics of the haptic output based on information indicative of a flow rate of fluid within catheter 102 (502). In some examples, processing circuitry 134 is configured to receive information (e.g., information 206) indicative of flow rate of fluid within catheter 102 from sensor(s) 102 and / or one or more external sources (e.g., an external computing device / system). The information may include a flow rate of the fluid and / or information corresponding to the flow rate of fluid through catheter 102 (e.g., a raw or parameterized signal that changes as a function of the flow rate, an optical signal from an optical flow rate sensor corresponding to the flow rate of fluid through catheter 102, or the like). Sensor(s) 106 may include, but are not limited to, optical sensors (e.g., non-contact optical sensors), ultrasonic flow sensors (e.g., non-contact ultrasonic flow sensors), pressure sensors, and / or other fluid flow sensors.

[0085] The one or more characteristics of the haptic output distinguish the haptic output from other haptic outputs. Characteristics may include, but are not limited to, a magnitude of the haptic output, a frequency of pulses of the haptic output, a duration of each pulse of the haptic output, a pattern of pulses of the haptic output, a type of hapticoutput, or any combination thereof. Different characteristic values for each characteristic of the haptic output may generate haptic outputs with different sensations, which may be used by the clinician to determine a flow rate of fluid within catheter 102 and / or a status of catheter 102 (e.g., whether catheter 102 is aspirating a thrombus or whether distal opening 120 (FIG. 1) is in relatively close proximity to a thrombus) without using visual signals.

[0086] In some examples, processing circuitry 134 is configured to determine the flow rate of fluid based on the received information. For example, processing circuitry 134 is configured to determine the flow rate by at least comparing values within the received information against stored values in memory 136. In some examples, processing circuitry 134 is configured to determine the flow rate based on a match between the received value and a stored value corresponding to a specific flow rate. In such examples, processing circuitry 134 is configured to determine characteristics, e.g., by selecting stored characteristic values stored in memory 136 that correspond to the determined flow rate.

[0087] In some examples, processing circuitry 134 is configured to determine characteristic based on a comparison between the value in the received information against values stored in memory 136. In such examples, processing circuitry 134 is configured to select a stored value that matches the value in the received information and select stored characteristics (e.g., stored characteristic values) that correspond to the selected stored value.

[0088] In some examples, the determined characteristics have an inverse relationship (e.g., an opposing relationship, an inversely proportional relationship) with the flow rate of fluid through catheter 102. For example, the magnitude and / or frequency of pulses of the haptic output are higher when the flow rate of fluid through catheter 102 is lower, and vice versa.

[0089] Processing circuitry 134 is configured to cause haptic output device 110 to generate haptic output having the determined characteristic (504). The determined characteristic may include determined characteristic values for the characteristic. In some examples, processing circuitry 134 is configured to output signals and / or instructions to haptic output device 110 (e.g., via cable 316, via a wireless connection). The signals and / or instructions may include the determined characteristic(s). Haptic output device 110 is configured to generate the haptic output in response to receiving the signals and / or instructions. Haptic output device 110 is configured to generate the haptic output inaccordance with the determined characteristic(s). Haptic output device 110 may terminate the generation of the haptic output in response to an instruction from control device 130.

[0090] Haptic output device 110 may include, but is not limited to, a vibration motor (e.g., an ERM vibration motor) or a piezoelectric device. Thus, in some examples, processing circuitry 134 is configured to cause haptic output device 110 to generate the haptic output having the determined characteristic (504) by at least directly or indirectly controlling the motor to rotate at a speed corresponding to the determined characteristic or directly or indirectly controlling the energy provided to a piezoelectric vibration device to cause the piezoelectric vibration device to vibrate with the determined characteristic.

[0091] FIG. 5B is a flow diagram illustrating another example method of generating a haptic output via the example aspirations system 100 of FIG. 1. While the example method illustrated in FIG. 5B is described primarily with respect to system 100 illustrated in FIGS. 1-3, the example method may be performed by any example aspiration systems described herein.

[0092] In some examples, processing circuitry 134 is configured to receive information indicative of a magnitude of a force acting on control valve 202 (506). In some examples, processing circuitry 134 is configured to receive the information indicative of a magnitude of a force acting on control valve 202 from one or more sensors 106 coupled to control valve 202. An actuator of system 100 may apply the force on control valve 202, e.g., to restrict fluid flow through aspiration tubing 112 and across control valve 202. The force may correspond to the flow rate of fluid through catheter 102. For example, the force may be greater in magnitude when the flow rate of fluid is greater, and vice versa. Sensors 106 may sense a magnitude of the force applied by actuator on control valve 202 and transmit the sensed information to control device 130 (e.g., to processing circuitry 134 of control device 130).

[0093] In some examples, processing circuitry 134 is configured to determine characteristic(s) of haptic output based on the received information (508). In some examples, processing circuitry 134 is configured to determine the flow rate of fluid based on the received information indicative of the magnitude of the force. For example, processing circuitry 134 is configured to determine the flow rate by comparing the force magnitude within the received information against stored force magnitudes in memory 136. In some examples, processing circuitry 134 is configured to determine the flow ratebased on a match between the received force magnitude and a stored force magnitude corresponding to a specific flow rate. In such examples, processing circuitry 134 is configured to determine characteristics, e.g., by selecting stored values of characteristics stored in memory 136 that correspond to the determined flow rate.

[0094] In some examples, processing circuitry 134 is configured to determine characteristic(s) based on a comparison between the force magnitude in the received information against force magnitudes stored in memory 136. In such examples, processing circuitry 134 is configured to select a stored force magnitude that matches the force magnitude in the received information and select stored characteristics (e.g., stored characteristic values) that correspond to the selected stored force magnitude as the determined characteristic(s).

[0095] The determined characteristic(s) may have an opposing relationship (e.g., an inverse relationship, an inversely proportional relationship) with the flow rate of fluid through catheter 102 and / or the magnitude of the force. For example, the magnitude and / or frequency of pulses of the haptic output are higher when the flow rate of fluid through catheter 102 and / or the magnitude of the force in the received information are lower, and vice versa.

[0096] In some examples, processing circuitry 134 is configured to cause haptic output device 110 to generate haptic output having the determined characteristic (504).Processing circuitry 134 is configured to cause haptic output device 110 to generate haptic output having the determined characteristic as described above with respect to FIG. 5A.

[0097] FIG. 6 is a flow diagram illustrating an example method of generating haptic output via the example aspiration system 100 of FIG. 1 and based on the flow rate of fluid through the example aspiration system 100.

[0098] In some examples, processing circuitry 134 is configured to receive information indicative of flow rate of fluid within catheter 102 via sensor(s) 106 (602). In some examples, processing circuitry 134 is configured to determine characteristic(s) of haptic output based on the information (502). In some examples, processing circuitry 134 is configured to cause haptic output device 110 to generate haptic output having the determined characteristic(s) (504). The processing circuitry 134 is configured to perform any of steps 602, 502, and 504 in accordance with the example method described above and illustrated in FIG. 5A.

[0099] In some examples, processing circuitry 134 is configured to receive information indicative of a change in the flow rate via sensor(s) 106 (604). Processing circuitry 134 may continuously or periodically (e.g., every second, every five seconds, or more or less frequently) receive information from sensor(s) 106. In some examples, processing circuitry 134 of control device 130 is configured to determine, based on the received information, a change in flow rate over time and / or a flow rate at a current time. In some examples, changes in values within the received information over time may be indicative of a change in flow rate over time.

[0100] In some examples, processing circuitry 134 is configured to adjust determined characteristic(s) (e.g., values of determined characteristic(s)) based on the received information indicative of the change in flow rate (606). In some examples, processing circuitry 134 is configured to adjust determined characteristic(s) via one or more algorithms stored in memory 136. In some examples, there is an inverse relationship (e.g., an inverse proportional relationship) between the adjustments to the characteristic values and the change in flow rate. In some examples, the adjustments to the characteristic values are linear, e.g., along a line extending from a first characteristic value corresponding to a first flow rate to a second characteristic value corresponding to a second flow rate (e.g., a current flow rate). In some examples, the adjustments to the characteristic values are discrete and responsive to a determination by processing circuitry 134 that the change in flow rate satisfies a threshold condition (e.g., greater than or equal to a threshold amount or threshold percentage of change from a first flow rate). In some examples, the adjustments to the characteristic values are determined based on an exponential, logarithmic, or other non-linear function.

[0101] Processing circuitry 134 is configured to cause haptic output device 110 to generate haptic output having the adjusted characteristic value (504), e.g., as previously described herein with respect to FIG. 5A. In some examples, processing circuitry 134 is configured to continue to perform steps 504, 604, and 606 until processing circuitry 134 receives an input from the clinician to terminate, pause, or hold the haptic output.

[0102] In some examples, processing circuitry 134 is configured to adjust characteristic values in response to an input from the clinician. The clinician input may be independent of a change in flow rate. In such examples, control device 130 may transmit instructions corresponding to the clinician input to haptic output device 130 to causehaptic output device 130 to adjust characteristic values and generate the haptic output in accordance with the adjusted characteristic values.

[0103] FIG. 7 is a flow diagram illustrating another example method of generating haptic output via aspiration system 100 of FIG. 1 and based on the flow rate of fluid through the example aspiration system 100. In some examples, processing circuitry 134 is configured to receive information indicative of a magnitude of a force acting on control valve 202 (506), determine characteristic of haptic output based on the information (508), and cause haptic output device 110 to generative haptic output having the determined characteristic (504). Processing circuitry 134 is configured to perform steps 702-706 in accordance with the example methods previously described herein and illustrated in FIGS. 5 A and 5B.

[0104] In some examples, processing circuitry 134 is configured to receive information indicative of a change in the magnitude of the force acting on control valve 202 (702). Processing circuitry 134 may be configured to continuously or periodically (e.g., every second, every five seconds) receive information from sensor(s) 106. In some examples, processing circuitry 134 is configured to determine, based on the received information indicative of a change in the magnitude of the force, a change in flow rate over time. In some examples, changes in values within the received information over time is indicative of a change in flow rate over time.

[0105] In some examples, processing circuitry 134 is configured to determine characteristic(s) based on the received information indicative of the change in magnitude of the force (704). In some examples, processing circuitry 134 is configured to adjust characteristic determined characteristic(s) (e.g., values of the determined characteristic(s)) via one or more algorithms stored in memory 136. In some examples, there is an inverse relationship (e.g., an inverse proportional relationship) between the adjustments to the determined characteristics and the change in the magnitude of the force and / or the change in flow rate. In some examples, the adjustments to the characteristic values are linear, e.g., along a line extending from a first characteristic value corresponding to a first flow rate to a second characteristic value corresponding to a second flow rate (e.g., a current flow rate). In some examples, the adjustments to the characteristic values are discrete and responsive to a determination by processing circuitry 134 that the change in flow rate satisfies a threshold condition (e.g., greater than or equal to a threshold amount orthreshold percentage of change from a first flow rate). In some examples, the adjustments to the characteristic values are determined based on an exponential, logarithmic, or other non-linear function.

[0106] In some examples, processing circuitry 134 is configured to cause haptic output device 110 to generate haptic output having the adjusted characteristic(s) (504), e.g., as previously described herein within respect to FIGS. 5 A and 5B. In some examples, processing circuitry 134 is configured to continue to perform steps 504, 702, and 704 until processing circuitry 134 receives an input from the clinician to terminate, pause, or hold the haptic output.

[0107] In some examples, processing circuitry 134 is configured to adjust characteristic values in response to an input from the clinician. The clinician input may be independent of a change in flow rate. In such examples, processing circuitry 134 is configured to transmit instructions corresponding to the clinician input to haptic output device 130 to cause haptic output device 130 to adjust determined characteristic(s) and generate the haptic output in accordance with the adjusted determined characteristic(s).

[0108] It should be understood that various aspects disclosed herein may be combined in different combinations than the combinations specifically presented in the description and accompanying drawings. It should also be understood that, depending on the example, certain acts or events of any of the processes or methods described herein may be performed in a different sequence, may be added, merged, or left out altogether (e.g., all described acts or events may not be necessary to carry out the techniques). In addition, while certain aspects of this disclosure are described as being performed by a single module, unit, or circuit for purposes of clarity, it should be understood that the techniques of this disclosure may be performed by a combination of units, modules, or circuitry associated with, for example, a medical device.

[0109] In one or more examples, the described techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or code on a computer-readable medium and executed by a hardware -based processing unit. Computer-readable media may include non-transitory computer-readable media, which corresponds to a tangible medium such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or anyother medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer).

[0110] Instructions may be executed by one or more processors including processing circuitry, such as one or more digital signal processors (DSPs), general purpose microprocessors, microcontrollers, application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term “processor” or “processing circuitry” as used herein may refer to any of the foregoing structure or any other physical structure suitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements.

[0111] In addition, it should be noted that system described herein may not be limited to treatment of a human patient. In alternative examples, the system may be implemented in non-human patient, e.g., primates, canines, equines, pigs, and felines. These other animals may undergo clinical or research therapies that may benefit from the subject matter of this disclosure.

[0112] The following examples are illustrative of the techniques described herein.

[0113] Example 1 : an aspiration system comprising: a haptic output device configured to generator a haptic output; and processing circuitry configured to: receive information indicative of a flow rate of fluid through a catheter, determine a characteristic of the haptic output based on the information, wherein the characteristic changes as a function of the flow rate, and cause the haptic output device to output the haptic output having the characteristic.

[0114] Example 2 : the aspiration system of example 1, further comprising: a sensor configured to sense the flow rate of fluid through the catheter, and wherein to receive the information indicative of the flow rate of fluid through the catheter, the processing circuitry is configured to receive the flow rate of fluid from the sensor.

[0115] Example 3: the aspiration system of any of examples 1 and 2, further comprising: a pressure sensor configured to sense the flow rate of fluid though the catheter, and wherein to receive the information indicative of the flow rate of fluid through the catheter, the processing circuitry is configured to receive the flow rate of fluid from the sensor.

[0116] Example 4 : the aspiration system of any of examples 1-3, further comprising: a control valve configured to control a flow of fluid through the catheter; an actuator coupled to the control valve; and a sensor coupled to the control valve, and wherein to receive information corresponding to the flow rate of fluid through the catheter, the processing circuitry is configured to receive, from the sensor, a signal indicative of a magnitude of a force applied by the actuator on the control valve, and wherein the information indicative of the flow rate of fluid through comprises the signal indicative of the magnitude of the force applied by the actuator on the control valve.

[0117] Example 5: the aspiration system of any of examples 1-4, wherein to determine the characteristic of the haptic output based on the information, the processing circuitry is configured to determine a characteristic value for the characteristic based on the information.

[0118] Example 6 : the aspiration system of example 5, wherein the flow rate comprises a first flow rate, wherein the characteristic value comprises a first characteristic value, and wherein the processing circuitry is configured to: receive information indicative of a change in the flow rate of fluid through the catheter from the first flow rate to a second flow rate; determine, based on the received information, a second characteristic value for the characteristic, wherein the second characteristic value is different from the first characteristic value; and cause the haptic output device to output the haptic output having the second characteristic value.

[0119] Example 7 : the aspiration system of example 6, wherein the second flow rate is less than the first flow rate, and wherein the second characteristic value is greater than the first characteristic value.

[0120] Example 8 : the aspiration system of example 7, wherein there is a linear relationship between a first change in flow rate and a second change in characteristic value.

[0121] Example 9 : the aspiration system of example 7, wherein there is an exponential relationship between a first change in flow rate and a second change in characteristic value.

[0122] Example 10: the aspiration system of any of examples 1-9, wherein the characteristic comprises one or more of: a magnitude of the haptic output, a frequency of pulses of the haptic output, or a pattern of the pulses of the haptic output.

[0123] Example 11: the aspiration system of example 10, wherein the characteristic comprises the frequency of pulses, wherein the frequency of pulses is based on a rate of revolution of a rotating element of the haptic output device, and wherein a maximum value of the rate of revolution is less than or equal to 700 revolutions per minute.

[0124] Example 12: the aspiration system of any of examples 10 and 11, wherein the processing circuitry is configured to: cause the haptic output device to output the haptic output with a pattern of pulses based on the information, wherein the pattern of pulses changes as a function of the flow rate.

[0125] Example 13: the aspiration system of any of examples 1-12, wherein the haptic output device comprises a piezoelectric element.

[0126] Example 14: the aspiration system of any of examples 1-13, wherein the haptic output device comprises a vibration motor.

[0127] Example 15: the aspiration system of any of examples 1-14, further comprising a manual valve coupled to the catheter, wherein the manual valve is configured to be actuated to reduce fluid flow through the catheter, and wherein at least a portion of the haptic output device is coupled to the manual valve.

[0128] Example 16: the aspiration system of any of examples 1-15, wherein the haptic output device is mechanically coupled to the catheter or to fluid tubing in fluid communication with the catheter.

[0129] Example 17: a method comprising: receiving, by processing circuitry of an aspiration system and from a sensor of the aspiration system, the information, wherein the information comprises a signal indicative of the flow rate of fluid within a catheter; determining, by processing circuitry of an aspiration system and based on information indicative of a flow rate of a fluid within the catheter, a characteristic of a haptic output, wherein the characteristic changes as a function of the flow rate; and causing, by the processing circuitry, a haptic output device of the aspiration system to output the haptic output having the characteristic.

[0130] Example 18: the method of example 17, further comprising, receiving, by the processing circuitry and from a sensor of the aspiration system, the information.

[0131] Example 19: the method of example 18, wherein the sensor comprises a sensor or a pressure sensor.

[0132] Example 20: the method of any of examples 18 and 19, wherein the sensor is coupled to a control valve of the aspiration system, the control valve being coupled to the catheter and configured to control a flow of fluid through the catheter, and wherein receiving the information comprises: generating, by the sensor, the information indicative of a magnitude of a force applied by an actuator of the aspiration system on the control valve; and receiving, by the processing circuitry, the information from the sensor.

[0133] Example 21: the method of any of examples 17-20, wherein determining the characteristic of the haptic output comprises determining, by the processing circuitry and based on the information, a characteristic value for the characteristic.

[0134] Example 22: the method of any of examples 17-21, wherein the flow rate comprises a first flow rate, wherein the characteristic value comprises a first characteristic value, and wherein the method further comprises: receiving, by the processing circuitry and from a sensor of the aspiration system, the information indicative of a change in the flow rate of fluid through the catheter from the first flow rate to a second flow rate; determining, by the processing circuitry and based on the information, a second characteristic value for the characteristic, wherein the second characteristic value is different from the first characteristic value; and causing, by the processing circuitry, the haptic output device to output the haptic output having the second characteristic value.

[0135] Example 23: the method of example 22, wherein the second flow rate is less than the first flow rate, and wherein the second characteristic value is greater than the first characteristic value.

[0136] Example 24: the method of any of examples 22 and 23, wherein there is a linear relationship between a first change in flow rate and a second change in characteristic value.

[0137] Example 25: the method of any of examples 22 and 23, wherein there is an exponential relationship between a first change in flow rate and a second change in characteristic value.

[0138] Example 26: the method of any of examples 17-25, wherein the characteristic comprises one or more of: a magnitude of the haptic output, a frequency of pulses of the haptic output, or a pattern of the pulses of the haptic output.

[0139] Example 27: the method of example 26, wherein the characteristic comprises the frequency of pulses of the haptic output, wherein the frequency of pulses is passed on arate of revolution of a rotating element of the haptic output device, and wherein a maximum rate of revolution is less than or equal to 700 revolutions per minute.

[0140] Example 28: the method of any of examples 26 and 27, further comprising: causing, by the processing circuitry, the haptic output device to output the haptic output with a pattern of pulses based on the signal, wherein the pattern of pulses changes as a function of the flow rate.

[0141] Example 29: the method of any of examples 17-28, wherein the haptic output device comprises a piezoelectric element.

[0142] Example 30: the method of any of examples 17-29, wherein the haptic output device comprises a vibration motor.

[0143] Example 31: the method of any of examples 17-30, wherein the aspiration system comprises a manual valve coupled to the catheter, wherein the manual value is configured to be actuated to reduce the fluid flow through the catheter, and wherein at least a portion of the haptic output device is mechanically coupled to the manual valve.

[0144] Example 32: the method of any of examples 17-31, wherein the haptic output device is mechanically coupled to the catheter.

[0145] Example 33: a computer-readable medium comprising instructions that, when executed, causes processing circuitry of an aspiration system to perform the method of any of examples 17-32.

[0146] Various aspects of the disclosure have been described. These and other aspects are within the scope of the following claims.

Claims

WHAT IS CLAIMED IS:

1. An aspiration system comprising: a haptic output device configured to generator a haptic output; and processing circuitry configured to: receive information indicative of a flow rate of fluid through a catheter, determine a characteristic of the haptic output based on the information, wherein the characteristic changes as a function of the flow rate, and cause the haptic output device to output the haptic output having the characteristic.

2. The aspiration system of claim 1, further comprising: a sensor configured to sense the flow rate of fluid through the catheter, and wherein to receive the information indicative of the flow rate of fluid through the catheter, the processing circuitry is configured to receive the flow rate of fluid from the sensor.

3. The aspiration system of any of claims 1 and 2, further comprising: a pressure sensor configured to sense the flow rate of fluid though the catheter, and wherein to receive the information indicative of the flow rate of fluid through the catheter, the processing circuitry is configured to receive the flow rate of fluid from the sensor.

4. The aspiration system of any of claims 1-3, further comprising: a control valve configured to control a flow of fluid through the catheter; an actuator coupled to the control valve; and a sensor coupled to the control valve, and wherein to receive information corresponding to the flow rate of fluid through the catheter, the processing circuitry is configured to receive, from the sensor, a signal indicative of a magnitude of a force applied by the actuator on the control valve, and wherein the information indicative of the flow rate of fluid through comprises the signal indicative of the magnitude of the force applied by the actuator on the control valve.

5. The aspiration system of any of claims 1-4, wherein to determine the characteristic of the haptic output based on the information, the processing circuitry is configured to determine a characteristic value for the characteristic based on the information.

6. The aspiration system of claim 5, wherein the flow rate comprises a first flow rate, wherein the characteristic value comprises a first characteristic value, and wherein the processing circuitry is configured to: receive information indicative of a change in the flow rate of fluid through the catheter from the first flow rate to a second flow rate; determine, based on the received information, a second characteristic value for the characteristic, wherein the second characteristic value is different from the first characteristic value; and cause the haptic output device to output the haptic output having the second characteristic value.

7. The aspiration system of claim 6, wherein the second flow rate is less than the first flow rate, and wherein the second characteristic value is greater than the first characteristic value.

8. The aspiration system of claim 7, wherein there is a linear relationship between a first change in flow rate and a second change in characteristic value.

9. The aspiration system of claim 7, wherein there is an exponential relationship between a first change in flow rate and a second change in characteristic value.

10. The aspiration system of any of claims 1-9, wherein the characteristic comprises one or more of: a magnitude of the haptic output, a frequency of pulses of the haptic output, or a pattern of the pulses of the haptic output.

11. The aspiration system of claim 10, wherein the characteristic comprises the frequency of pulses, wherein the frequency of pulses is based on a rate of revolution of a rotating element of the haptic output device, and wherein a maximum value of the rate of revolution is less than or equal to 700 revolutions per minute.

12. The aspiration system of any of claims 10 and 11, wherein the processing circuitry is configured to: cause the haptic output device to output the haptic output with a pattern of pulses based on the information, wherein the pattern of pulses changes as a function of the flow rate.

13. The aspiration system of any of claims 1-12, wherein the haptic output device comprises a vibration motor.

14. The aspiration system of any of claims 1-13, further comprising a manual valve coupled to the catheter, wherein the manual valve is configured to be actuated to reduce fluid flow through the catheter, and wherein at least a portion of the haptic output device is coupled to the manual valve.

15. The aspiration system of any of claims 1-14, wherein the haptic output device is mechanically coupled to the catheter or to fluid tubing in fluid communication with the catheter.

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