Method, apparatus and system for a water jet
A water jet instrument may be used for manually performing surgery. The water jet instrument may be manually controlled or controlled by a system with a robotic control. The water jet apparatus defines a jet cutting area that is based at least in part on a flow rate meter and a feedback loop.
1. A medical method comprising:
providing a water jet system, wherein the water jet system comprises a water jet fluid flush tube and an aspiration tube, wherein the water jet fluid flush tube and the aspiration tube are adjacently disposed relative to one another;
endoscopically inserting the water jet system into a patient;
utilizing an ultrasound system to provide an image of the water jet system relative to the patient, the ultrasound system being separate from the water jet system;
applying fluid from the water jet flush tube to create a cutting jet area to break apart tissue;
robotically controlling at least one of a shape and a pattern of cuts by the water jet fluid flush tube to break apart the tissue;
controlling, via a feedback loop, a flow rate of the fluid from the water jet flush tube to treat a target tissue to be broken apart and spare injury to surrounding tissue;
and using the aspiration tube to remove the broken apart tissue via aspiration;
wherein the cutting jet area is controlled based at least in part on a flow rate meter.
2. The medical method of claim 1 , wherein during aspiration, a distal tip of the aspiration tube is adjacently disposed relative to a distal tip of the water jet fluid tube.
3. The medical method of claim 1 , further comprising attaching the water jet system to an arm.
4. The medical method of claim 3 , wherein the arm is a robotic arm, and wherein the robotic arm is coupled to the water jet system via an instrument driver.
5. The medical method of claim 1 , wherein the flow rate meter utilizes the feedback loop to control a pump, wherein the feedback loop is controlled by a central processing unit.
6. The medical method of claim 1 , wherein the fluid comprises a saline solution.
7. The medical method of claim 1 , wherein the water jet system comprises a central processing unit for controlling the aspiration tube.
8. The medical method of claim 1 , further comprising moderating a flow of the fluid from the water jet flush tube based on a measured aspiration flow from the aspiration tube.
9. The medical method of claim 8 , wherein moderating the flow is based on a throttle valve or pump control.
10. A medical method comprising:
providing a water jet system, wherein the water jet system comprises a water jet fluid flush tube and an aspiration tube, wherein the water jet fluid flush tube and the aspiration tube are adjacently disposed relative to one another;
endoscopically inserting the water jet system into a patient;
utilizing ultrasound to provide an image of the water jet system relative to the patient;
applying fluid from the water jet flush tube to create a cutting jet area to break apart tissue;
robotically controlling at least one of a shape and a pattern of cuts by the water jet fluid flush tube to break apart the tissue;
controlling, via a feedback loop, a flow rate of the fluid from the water jet flush tube to treat a target tissue to be broken apart and spare injury to surrounding tissue; and
using the adjacently disposed aspiration tube to remove the broken apart tissue via aspiration;
wherein the cutting jet area is controlled at least in part on a flow rate meter.
11. The medical method of claim 10 , further comprising attaching the water jet system to a robotic arm.
12. The medical method of claim 11 , wherein the robotic arm is coupled to the water jet system via an instrument driver.
13. The medical method of claim 10 , wherein the flow rate meter utilizes the feedback loop to a pump, wherein the feedback loop is controlled by a central processing unit.
14. The medical method of claim 10 , further comprising moderating the flow rate of the fluid from the water jet flush tube based on a measured aspiration flow from the aspiration tube, wherein moderating the flow rate is based on a throttle valve or pump control.