Tissue resection and treatment
AssigneePROCEPT BioRobotics Corporation
InventorsNikolai ALJURI, Surag MANTRI, Luis BAEZ, George SURJAN, Michael W. SASNETT, Jonathan FOOTE
Life of this patent
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Abstract
A fluid stream is directed toward tissue to generate a plurality of shedding clouds. The fluid stream can be scanned such that the plurality of shedding clouds arrive a different overlapping locations. Each of the plurality of shedding clouds can remove a portion of the tissue. In many embodiments, an apparatus to ablate tissue comprises a source of pressurized fluid, and a nozzle coupled to the source of pressurized fluid to release a fluid stream, in which the fluid stream generates a plurality of shedding clouds.
Claims16
(canceled)
An automatic water jet cutter system, comprising:
- an imaging module, configured to generate a navigation image;
- an image planning module, configured to fit a boundary position trajectory pre-planned on the navigation image to generate a motion control position trajectory, and convert the motion control position trajectory into a water jet cutter coordinate system, then perform calculation and send motion position trajectory parameters for each axis corresponding to water jet cutter jet action points;
- a motion control module, configured to receive the motion position trajectory parameters for each axis, generate and send motion position trajectory parameters in a linear motion axis and a rotary motion axis to a water jet cutter head, and send motion position control parameters in a jet flow axis, and further configured to acquire the motion position trajectory parameters for each axis of the water jet cutter head for closed-loop control of the motion trajectory;
- a pipeline and hydraulic power module, configured to transfer liquid to the water jet cutter head according to the motion position control parameters in the jet flow axis sent by the motion control module and perform a suction motion;
- and
- a water jet cutter head, configured to perform respective motions according to the motion position control parameters in the linear motion axis and the rotary motion axis sent by the motion control module, and the motion position control parameters in the jet flow axis.
An automatic water jet cutter system, comprising:
- an imaging module configured to image a treatment site;
- and
- one or more processors configured to:
- provide on a display an image of the treatment site and receive a treatment profile determined by a user based on the image;
- determine an image reference frame that aligns with the treatment profile;
- map the image reference frame to a treatment coordinate reference frame to generate treatment reference location parameters corresponding to reference points of a nozzle configured to provide treatment;
- generate path parameters for longitudinal axis and angular rotation from the treatment reference location parameters and provide path parameters to the nozzle;
- and
- generate control parameters for aspiration and control parameters for liquid flow from the treatment reference location parameters;
- and
- a suction pump configured to aspirate according to the control parameters for aspiration,
- wherein the nozzle is configured to transfer liquid according to the control parameters for liquid flow and perform movements according to the path parameters for the longitudinal axis and angular rotation.
Dependencies are inferred from the claim text.