Automated image-guided tissue resection and treatment

Patent metadata

Field	Value
Publication number	US-11464536-B2
Application number	US-202016894130-A
Country	US
Kind code	B2
Filing date	Jun 5, 2020
Priority date	Feb 29, 2012
Publication date	Oct 11, 2022
Grant date	Oct 11, 2022

Abstract

A system to treat a patient comprises a user interface that allows a physician to view an image of tissue to be treated in order to develop a treatment plan to resect tissue with a predefined removal profile. The image may comprise a plurality of images, and the planned treatment is shown on the images. The treatment probe may comprise an anchor, and the image shown on the screen may have a reference image marker shown on the screen corresponding to the anchor. The planned tissue removal profile can be displayed and scaled to the image of the target tissue of an organ such as the prostate, and the physician can adjust the treatment profile based on the scaled images to provide a treatment profile in three dimensions. The images shown on the display may comprise segmented images of the patient with treatment plan overlaid on the images.

First claim

What is claimed is:

1. A medical method, comprising:
providing a water jet system, wherein the water jet system comprises a water jet fluid flush tube and a removal port;
endoscopically inserting the water jet system into a patient;
utilizing a visualization element separate from the water jet system to visualize a treatment performed by the water jet system;
applying fluid from the water jet flush tube at a first flow rate to create a cutting jet area to resect tissue;
robotically controlling cutting motion by the water jet fluid flush tube to resect the tissue;
controlling, based on feedback, a flow rate of the fluid from the water jet flush tube by adjusting the flow rate from the first flow rate to a second flow rate to resect target tissue at the second flow rate while leaving non-target tissue substantially undamaged, the feedback including an ultrasound image showing an effect of the fluid from the water jet flush tube on the tissue; and
using the removal port to remove resected tissue via aspiration.

2. The medical method of claim 1 , further comprising attaching the water jet system to an arm.

3. The medical method of claim 2 , wherein the arm is a robotic arm, and wherein the robotic arm is coupled to the water jet system via an instrument driver.

4. The medical method of claim 1 , wherein the fluid comprises a saline solution.

5. The medical method of claim 1 , wherein the water jet system comprises a central processing unit for controlling aspiration via the removal port.

6. The medical method of claim 1 , wherein the applying fluid includes modulating a flow of the fluid.

7. The medical method of claim 1 , wherein the removal port is coupled to an aspiration source via a tube, a portion of the water jet fluid flush tube and a portion of the tube being co-axially disposed relative to each other.

8. The medical method of claim 1 , wherein the cutting motion includes a predefined shape.

9. The medical method of claim 1 , wherein the visualization element includes an ultrasound element.

10. The medical method of claim 1 , further comprising maintaining a pressure of fluid delivered from an insufflation port of the water jet system within a desired range based on feedback from a pressure sensor.

11. The medical method of claim 1 , wherein the robotically controlling cutting motion includes robotically controlling movement of the water jet fluid flush tube relative to the target tissue based on a shape of the target tissue.

Assignees

• Procept Biorobotics Corp

Inventors

• Aljuri Nikolai
• Mantri Surag
• Surjan George
• Sasnett Michael W
• Foote Jonathan

Classifications

• A61B2018/00285

  Balloons · CPC title

• A61B2034/254

  being adapted depending on the stage of the surgical procedure · CPC title

• A61B2034/107

  Visualisation of planned trajectories or target regions · CPC title

• A61B2018/046

  in liquid form · CPC title

• A61B2090/378

  using ultrasound · CPC title