Coordinated control of a water jet flow and an aspiration flow

Abstract

A water jet system may be used for performing surgery. The water jet system includes a water jet device to provide a water jet flow to break apart tissue in an enclosed operative site. The water jet system includes an aspiration device to remove material from the enclosed operative site. The water jet system includes a control system with an aspiration pump coupled to the aspiration device and to draw material through the aspiration device. The control system includes an aspiration flow rate meter to measure an aspiration flow rate through the aspiration pump. The control system includes a controller to control operation of the aspiration pump based at least in part on feedback from the aspiration flow meter. The control system is configured to provide a targeted aspiration flow.

1 . A system configured for medical operation, the system comprising:
 a water jet apparatus configured to control a water jet flow to break apart tissue in an enclosed operative site; and   a control system comprising:
 an aspiration pump configured to provide an aspiration flow to remove material from the enclosed operative site; 
 an aspiration flow rate meter configured to measure an aspiration flow rate through the aspiration pump; and 
 a controller configured to control operation of the aspiration pump based at least in part on the aspiration flow rate measured by the aspiration flow rate meter, the control system being configured to control the aspiration flow. 
   
     
     
         2 . The system of  claim 1 , wherein the water jet apparatus includes an instrument drive mechanism that couples the water jet apparatus to a robotic arm. 
     
     
         3 . The system of  claim 2 , wherein the control system controls the robotic arm to control a shape or pattern of cuts made by the water jet apparatus. 
     
     
         4 . The system of  claim 1 , wherein the control system controls the water jet apparatus to focus fluid to form a jet cutting area and to rapidly disperse the fluid outside of the jet cutting area to form a dispersive area to treat targeted tissue and to spare injury to surrounding tissue. 
     
     
         5 . The system of  claim 1 , wherein the control system is configured to follow a predetermined workflow. 
     
     
         6 . The system of  claim 5 , wherein the predetermined workflow is for a cataract extraction. 
     
     
         7 . The system of  claim 6 , wherein the predetermined workflow replaces a hydro dissection, a nuclear fracture step, and an emulsification step with a single water jet emulsification step. 
     
     
         8 . The system of  claim 1 , wherein the water jet apparatus includes a nozzle that generates a jet cutting area and a dispersive area responsive to pressurized fluid being passed through the nozzle into a fluid-filled environment. 
     
     
         9 . The system of  claim 1 , wherein the control system further comprises a pressure vessel coupled to the water jet apparatus and configured to provide fluid to form the water jet flow, a water jet pump configured to provide pressure to the pressure vessel to provide the fluid to the water jet apparatus, and a water jet flow rate meter configured to measure a water jet flow rate to the water jet apparatus. 
     
     
         10 . The system of  claim 9 , wherein the controller controls the water jet pump based at least in part on a feedback loop from the water jet flow rate meter. 
     
     
         11 . The system of  claim 9 , wherein the control system further comprises a throttle valve between the pressure vessel and the water jet apparatus and configured to moderate the water jet flow rate, the control system controlling the throttle valve based at least in part on a feedback loop from the water jet flow rate meter. 
     
     
         12 . The system of  claim 9 , wherein the control system is further configured to maintain a targeted material volume in the enclosed operative space by controlling the aspiration flow and the water jet flow. 
     
     
         13 . The system of  claim 1 , wherein the control system is further configured to moderate the water jet flow based at least in part on the aspiration flow rate through the aspiration pump. 
     
     
         14 . The system of  claim 13 , wherein the control system moderates the water jet flow responsive to the measured aspiration flow rate failing to match a targeted aspiration flow rate. 
     
     
         15 . The system of  claim 1 , wherein the water jet apparatus comprises a coaxially disposed configuration of a water jet fluid flush with aspiration on either side of the water jet fluid flush. 
     
     
         16 . The system of  claim 1 , wherein the water jet apparatus comprises an adjacently disposed configuration of a water jet fluid flush with aspiration in a tube adjacent to the water jet fluid flush. 
     
     
         17 . The system of  claim 1 , wherein the water jet apparatus comprises a separately disposed configuration of a water jet fluid flush with aspiration in a tube separately disposed from the water jet fluid flush. 
     
     
         18 . The system of  claim 1 , wherein the water jet apparatus comprises a bent tube with a nozzle at a distal end of the bent tube. 
     
     
         19 . A robotic surgery system configured for medical operation, the robotic system comprising:
 a robotic arm having a water jet instrument drive mechanism;   a water jet apparatus configured to control a water jet flow to break apart tissue in an enclosed operative site, the water jet apparatus including a water jet instrument drive coupling mechanism coupled to the water jet instrument drive mechanism of the robotic arm;   a robotic control system comprising:
 an aspiration pump configured to provide an aspiration flow to remove material from the enclosed operative site; 
 an aspiration flow rate meter configured to measure an aspiration flow rate through the aspiration pump; and 
 a controller configured to control operation of the aspiration pump based at least in part on the aspiration flow rate measured by the aspiration flow rate meter and to control the robotic arm to coordinate movement of the water jet apparatus to focus fluid in a desired jet cutting area and to remove material near the desired jet cutting area, the robotic control system being configured to control the aspiration flow. 
   
     
     
         20 . An apparatus configured for medical operation, the apparatus comprising:
 an aspiration pump configured to provide an aspiration flow to remove material from an enclosed operative site;   an aspiration flow rate meter configured to measure an aspiration flow rate through the aspiration pump; and   a controller configured to control operation of the aspiration pump based at least in part on the aspiration flow rate measured by the aspiration flow rate meter, the controller configured to control the aspiration flow via the aspiration pump.