TISSUE RESECTION AND TREATMENT
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.
1 . (canceled)
2 . 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.
3 . The automatic water jet cutter system according to claim 2 , wherein the motion control position trajectory comprises a jet effective length, a jet long-axis position and a cross-sectional angle.
4 . The automatic water jet cutter system according to claim 2 , wherein the imaging module further comprises:
a biplanar ultrasound probe;
the biplanar ultrasound probe is configured to obtain ultrasound images; and the biplanar ultrasound probe is configured to obtain biplanar ultrasound images.
5 . 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.
6 . The automatic water jet cutter system of claim 5 , wherein the treatment reference location parameters include angle of the nozzle, axial position of the nozzle, and length of the liquid flow.
7 . The automatic water jet cutter system of claim 5 , wherein the imaging module is configured to obtain axial and sagittal ultrasound images.
8 . The automatic water jet cutter system of claim 7 , wherein the imaging module is an ultrasound probe.
9 . The automatic water jet cutter system of claim 5 , wherein the treatment profile is a three-dimensional treatment profile.
10 . The automatic water jet cutter system of claim 5 , further comprising a linear actuator configured to position the nozzle in the treatment site at a desired longitudinal position.
11 . The automatic water jet cutter system of claim 5 , wherein the one or more processors are further configured to perform closed-loop automation to control movement of the nozzle along the treatment profile.
12 . The automatic water jet cutter system of claim 5 , wherein the nozzle comprises an array of nozzles.
13 . The automatic water jet cutter system of claim 5 , further comprising a user interface and a treatment probe supporting the nozzle.
14 . The automatic water jet cutter system of claim 13 , wherein the user interface is configured to allow a user to define a plurality of points of the treatment profile and interpolate among the plurality of points.
15 . The automatic water jet cutter system of claim 13 , wherein the user interface is configured to allow a user to provide an input to align the treatment probe with an ultrasound probe.
16 . The automatic water jet cutter system of claim 13 , wherein the user interface comprises a radial marker and a longitudinal marker, the longitudinal marker configured to move along a treatment axis to indicate a longitudinal position of the treatment probe as the radial marker moves rotationally.