Automated image-guided tissue resection and treatment

Patent metadata

Field	Value
Publication number	US-2020330118-A1
Application number	US-202016894130-A
Country	US
Kind code	A1
Filing date	Jun 5, 2020
Priority date	Feb 29, 2012
Publication date	Oct 22, 2020
Grant date	—

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

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; 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; applying fluid from the water jet flush tube to create a cutting jet area to break apart tissue, the cutting jet area being controlled based at least in part on a flow rate meter; robotically controlling cutting motion by the water jet fluid flush tube to break apart the tissue; and using the aspiration tube to remove the broken apart 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 the aspiration tube.

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

7 . The medical method of claim 1 , wherein a portion of the water jet fluid flush tube and a portion of the aspiration tube are co-axially disposed relative to one another.

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

9 . The medical method of claim 1 , further comprising controlling, based on feedback, a flow characteristic of the water jet flush tube to treat the tissue to be broken apart.

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; 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; applying fluid from the water jet flush tube to create a cutting jet area to break apart tissue, the cutting jet area being controlled based at least in part on a flow rate meter; robotically controlling cutting motion by the water jet fluid flush tube to break apart the tissue; controlling, based on feedback, a flow characteristic of the water jet flush tube to treat the tissue to be broken apart; and using the aspiration tube to remove the broken apart tissue via aspiration.

11 . The medical method of claim 10 , further comprising attaching the water jet system to an arm.

12 . The medical method of claim 11 , wherein the arm is a robotic arm, and wherein the robotic arm is coupled to the water jet system via an instrument driver.

13 . The medical method of claim 10 , wherein the fluid comprises a saline solution.

14 . The medical method of claim 10 , wherein the water jet system comprises a central processing unit for controlling the aspiration tube.

15 . The medical method of claim 10 , wherein the applying fluid includes modulating the flow.

16 . The medical method of claim 10 , wherein a portion of the water jet fluid flush tube and a portion of the aspiration tube are co-axially disposed relative to one another.

17 . The medical method of claim 10 , wherein the cutting motion includes a predefined shape.

Assignees

• Procept Biorobotics Corp

Inventors

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

Classifications

• A61B1/307 Primary

  for the urinary organs, e.g. urethroscopes, cystoscopes · CPC title

• A61B2090/064

  for measuring force, pressure or mechanical tension · CPC title

• A61B2018/00446

  Brain · CPC title

• A61B2090/508

  with releasable brake mechanisms · CPC title

• A61B34/25

  User interfaces for surgical systems · CPC title