JP2010057531A - Fluid jetting apparatus, method of controlling the same and surgical apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To surely and highly accurately cut or excise an object when cutting or excising it by jetting fluid. <P>SOLUTION: The fluid jetting apparatus 1 detects the position of a nozzle 211 on the basis of the magnetism of a magnet 213 installed near the nozzle 211, by using magnetic sensors 600a-600d. Also, the fluid jetting apparatus 1 determines an excised or incised area by photographing the image of a lesion by cameras 700a-700d. Then, which of an excisable area, an inhibition area and a vicinity area in an MRI image photographed prior to a surgery the position of the nozzle 211 and the excised area are pertinent to is determined. In the case of the excision inhibition area, the discharge of fluid in a pulsation generation part 100 is stopped, and it is reported to an operator that the state of excision and incision is inappropriate, by sound and a red LED 100b. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a fluid ejecting apparatus capable of cutting or excising a target site by ejecting fluid, a control method for the fluid ejecting apparatus, and a surgical apparatus.

2. Description of the Related Art Conventionally, a fluid ejecting apparatus that ejects fluid and incises or excises living tissue is known.
For example, a surgical knife described in Patent Document 1 includes a nozzle that ejects a fluid and a suction tube that sucks a tissue piece or the like destroyed by the fluid ejection. And by parallel or coaxial arrangement relationship between the nozzle and the suction tube, the thrombus pieces and tissue pieces that have been crushed by the jet can be collected without scattering to the other, to improve the safety and effectiveness of the treatment Yes.
JP 2003-000713 A

However, in the fluid ejecting apparatus capable of cutting or excising the target site by ejecting fluid, including the technique described in Patent Document 1, the target site is cut or excised based on the judgment of the operator or the like. Depending on the skill of the person or the like, there is a possibility that a part not to be cut or excised may be excised.
That is, it has been difficult to reliably perform cutting or excision with high precision when a fluid is ejected to cut or excise an object.
An object of the present invention is to perform highly accurate cutting or excision more reliably when a fluid is ejected to cut or excise an object.

In order to solve the above problems, the first invention is
A pulsation generating unit (for example, pulsation generating unit 100 in FIG. 1) that generates pulsation and discharges fluid, and a control unit (for example, control unit 30 in FIG. 1) that controls discharge of fluid in the pulsation generating unit; Shape data acquisition means (for example, the three-dimensional image creation unit 801 in FIG. 1) for acquiring data indicating the shape of the fluid injection target portion, and data indicating the shape of the injection target portion acquired by the shape data acquisition means. Based on the region setting means (for example, the region setting unit 802 in FIG. 1) that sets the sprayable region (for example, the excisable region in FIG. 4) and the injection prohibited region (for example, the excision prohibited region in FIG. 4) at the injection target site ) And region determination means for determining which of the injection possible region and the injection prohibited region is the injection target region by the pulsation generating unit (for example, the excision state comparison unit 807 in FIG. 1) When the region determining unit determines that the injection prohibited region is an injection target region by the pulsation generating unit, the discharge suppressing unit (for example, FIG. 1) suppresses the discharge of fluid in the pulsation generating unit. The cut-off state comparison unit 807).
With such a configuration, when the region to be ejected in the pulsation generation unit is the injection prohibition region, the discharge of fluid in the pulsation generation unit is suppressed. It is possible to prevent the fluid from being ejected.
Therefore, when the fluid is ejected and the object is cut or excised, it is possible to perform cutting or excision with high accuracy more reliably.

In addition, the second invention,
Magnets installed in the pulsation generator (for example, the magnet 213 in FIG. 1), and magnetic detection means (for example, magnetic sensors 600a to 600d in FIG. 1) for detecting the magnetism of the magnets installed in the pulsation generator. The region determination means detects the position of the pulsation generating part based on the magnetism detected by the magnetic detection means, and based on the detected position of the pulsation part, the jettable area and the injection prohibited area It is characterized in that it is determined which is the injection target region by the pulsation generator.
With such a configuration, an accurate position can be easily detected by installing a magnet in the pulsation generating portion.

In addition, the third invention,
An imaging unit (e.g., the cameras 700a to 700d in FIG. 1) that images the ejection target region is provided, and the region determination unit is configured to perform the ejection possible region and ejection based on the image of the ejection target region captured by the imaging unit. It is characterized by determining which one of the prohibited areas is the injection target area by the pulsation generator.
With such a configuration, it is possible to easily determine the area to be ejected by the pulsation generator by using a commonly used camera such as a digital camera.

In addition, the fourth invention is
Shape detection means (for example, the shape detection apparatus 900 in FIG. 6) that detects the shape of an object by irradiating a laser is provided, and the region determination means is based on the shape of the injection target part imaged by the shape detection means. It is characterized in that it is determined which of the jettable region and the jet-prohibited region is the jetting target region by the pulsation generator.
With such a configuration, the shape of the object can be detected easily and accurately, and the injection target region by the pulsation generating unit can be determined.

In addition, the fifth invention,
A gyro sensor (for example, the gyro sensor 100d in FIG. 6) that is installed in the pulsation generation unit and detects the position and orientation of the pulsation generation unit is provided, and the region determination unit is configured to generate the pulsation detected by the gyro sensor. Based on the position and orientation of the part, it is determined which of the jettable region and the jet-prohibited region is the jetting target region by the pulsation generating unit.
With such a configuration, the pulsation generating unit itself can be provided with a function of detecting the position and orientation, so that the device configuration can be simplified.

In addition, the sixth invention,
Informing means (for example, the blue and red LEDs 100a and 100b in FIG. 1) for notifying by at least one of sound and light, the area setting means selects an area in the vicinity of the injection prohibited area among the injectable areas. The notification unit is set to a nearby region, and when the region determination unit determines that the nearby region is an injection target region by the pulsation generating unit, the notification unit notifies the user by sound or light. It is characterized by doing.
With such a configuration, it is possible to notify the surgeon that the fluid is being ejected in the vicinity of the ejection prohibited area, so that it is possible to more reliably prevent the fluid from being discharged to the ejection prohibited area.

In addition, the seventh invention,
A method for controlling a fluid ejection device, comprising: a pulsation generator that generates pulsation and discharges fluid; and a control unit that controls discharge of fluid in the pulsation generator. And a region setting step for setting an injectable region and an injection prohibited region in the injection target region based on the data indicating the shape of the injection target region acquired in the shape data acquisition step, An area determination step for determining which of the injection enabled area and the injection prohibited area is an injection target area by the pulsation generating unit; and in the area determination step, the injection prohibited area is an injection target area by the pulsation generating unit; A discharge suppression step for suppressing discharge of fluid in the pulsation generator when it is determined that It is characterized in Mukoto.
As a result, when the region targeted for injection in the pulsation generation unit is an injection prohibited region, the discharge of fluid in the pulsation generation unit is suppressed, so the surgeon injects fluid over the excision prohibited region. Can be prevented.
Therefore, when the fluid is ejected and the object is cut or excised, it is possible to perform cutting or excision with high accuracy more reliably.

Further, the eighth invention is
A pulsation generating unit that generates pulsation and discharges fluid; a control unit that controls discharge of fluid in the pulsation generating unit; a shape data acquisition unit that acquires data indicating the shape of a fluid ejection target portion; and the shape Based on the data indicating the shape of the injection target portion acquired by the data acquisition means, region setting means for setting the injectable region and the injection prohibition region in the injection target portion, and any of the injectable region and the injection prohibition region is the When it is determined by the region determination unit that determines whether the injection target region is a pulsation generation unit and the region determination unit, the injection prohibition region is the injection target region of the pulsation generation unit, Discharge suppression means for suppressing the discharge of fluid in the pulsation generator is provided.

As a result, when the region targeted for injection in the pulsation generation unit is an injection prohibited region, the discharge of fluid in the pulsation generation unit is suppressed, so the surgeon injects fluid over the excision prohibited region. Can be prevented.
Therefore, it is possible to realize a surgical apparatus capable of performing cutting or excision with higher accuracy when ejecting a fluid to cut or excise an object.
As described above, according to the present invention, when a target is cut or excised by ejecting a fluid, it is possible to perform cutting or excision with high accuracy more reliably.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
Since the embodiments described below are preferred specific examples of the present invention, various technically preferable limitations are given. However, the scope of the present invention is particularly limited in the following description. Unless otherwise stated, the present invention is not limited to these forms. The drawings referred to in the following description are schematic views in which the vertical and horizontal scales of members or parts are different from actual ones for convenience of illustration.
In addition, the fluid ejecting apparatus according to the present invention can be used in various ways such as drawing with ink, washing fine objects and structures, cutting and excision of objects, and a water pulse knife for surgery. In the embodiment, a fluid ejecting apparatus as a surgical apparatus suitable for incising or excising a living tissue will be described as an example. Therefore, the fluid used in the embodiment is water, physiological saline, chemical solution, or the like.

(First embodiment)
FIG. 1 is an explanatory diagram showing a schematic configuration of a fluid ejection device 1 according to the first embodiment of the present invention. In FIG. 1, a fluid ejecting apparatus 1 includes a fluid container 10 that stores fluid as a basic configuration, a pump 20 that generates a constant pressure and supplies fluid to a pulsation generating unit 100, and a control unit that controls fluid ejection. 30, a pulsation generator 100 that pulsates the fluid supplied from the pump 20, magnetic sensors 600 a to 600 d, cameras 700 a to 700 d, and a work support device 800. In the present embodiment, the control unit 30 and the pump 20 are configured as an integrated unit, and the control unit 30 and the pulsation generating unit 100, the work support device 800 and the magnetic sensors 600a to 600d, the cameras 700a to 700d, and the control unit 30. Are connected by signal lines for inputting and outputting various signals.

(Configuration of fluid path)
First, the configuration of the fluid path of the fluid ejecting apparatus 1 will be described.
In the present embodiment, the pulsation generator 100 constitutes a fluid ejecting unit that ejects fluid by pressure generated by a piezoelectric element. Note that the fluid ejecting unit corresponds to a handpiece that is grasped and used by an operator in an operation or the like when the liquid ejecting apparatus 1 is configured as a water pulse knife.
The pulsation generator 100 is connected to a thin pipe-shaped connecting flow channel pipe 200, and a nozzle 211 with a reduced flow channel is inserted into the tip of the connecting flow channel pipe 200.
A magnet 213 used to detect the position of the nozzle 211 is installed near the nozzle 211 of the connection flow path pipe 200.
In addition, the pulsation generating unit 100 incorporates blue and red LEDs (Light Emitting Diodes) 100a and 100b for notifying whether or not the excision or incision is appropriate, and a speaker 100c for outputting sound.

  The flow of fluid in the fluid ejecting apparatus 1 will be briefly described. The fluid accommodated in the fluid container 10 is sucked by the pump 20 through the connection tube 15 and supplied to the pulsation generator 100 through the connection tube 25 at a constant pressure. The pulsation generating unit 100 includes a fluid chamber 501 (see FIG. 2) and a volume changing unit for the fluid chamber 501. The pulsation generating unit 100 drives the volume changing unit to generate pulsation. The fluid is ejected through the nozzle 211 at high speed. A detailed description of the pulsation generator 100 will be described later with reference to FIGS.

The pressure generating unit is not limited to the pump 20, and the infusion bag may be held at a position higher than the pulsation generating unit 100 by a stand or the like. Therefore, the pump 20 is unnecessary, and the configuration can be simplified, and there are advantages that sterilization and the like are facilitated.
The discharge pressure of the pump 20 is generally set to 3 atm (0.3 MPa) or less. Moreover, when using an infusion bag, the altitude difference between the pulsation generator 100 and the top surface of the infusion bag is the pressure. When using an infusion bag, it is desirable to set the altitude difference so as to be about 0.1 to 0.15 atm (0.01 to 0.15 MPa).

In addition, when performing an operation using the fluid ejecting apparatus 1, the part grasped by the operator is the pulsation generator 100. Therefore, it is preferable that the connection tube 25 up to the pulsation generator 100 be as flexible as possible. For this purpose, it is preferable that the pressure is reduced within a range in which fluid can be sent to the pulsation generator 100 with a flexible and thin tube.
In particular, when there is a possibility that a failure of the device may cause a serious accident as in the case of brain surgery, it is necessary to avoid a high-pressure fluid from being ejected when the connection tube 25 is disconnected. Therefore, it is required to keep the pressure low.

Next, the structure of the pulsation generator 100 according to the present embodiment will be described.
2A and 2B are diagrams showing the structure of the pulsation generator 100 according to the present embodiment, where FIG. 2A is a cross-sectional view and FIG. 2B is an exploded view. 2A is a cross-sectional view taken along line AA ′ in FIG. 3 to be described later.
In FIG. 2, a pulsation generating unit 100 is connected to a connection flow channel pipe 200 that includes a pulsation generation unit that generates a pulsation of fluid and has a connection flow channel 201 as a flow channel for discharging fluid.
The pulsation generator 100 is joined to the upper case 500 and the lower case 301 on the opposing surfaces, and is screwed by four fixing screws (not shown). The lower case 301 is a cylindrical member having a flange, and one end is sealed with a bottom plate 311. A piezoelectric element 401 is disposed in the internal space of the lower case 301.

The piezoelectric element 401 is a laminated piezoelectric element and constitutes an actuator. One end of the piezoelectric element 401 is fixed to the diaphragm 400 via the upper plate 411, and the other end is fixed to the upper surface 312 of the bottom plate 311.
Diaphragm 400 is formed of a disk-shaped thin metal plate, and a peripheral edge thereof is closely fixed to the bottom surface of recess 303 in recess 303 of lower case 301. By inputting a drive signal to the piezoelectric element 401, the volume of the fluid chamber 501 is changed via the diaphragm 400 as the piezoelectric element 401 expands and contracts.
On the upper surface of the diaphragm 400, a reinforcing plate 410 made of a disk-shaped thin metal plate having an opening at the center is laminated.

The upper case 500 is formed with a concave portion at the center of the surface facing the lower case 301, and the fluid chamber 501 is formed of the concave portion and the diaphragm 400 and filled with fluid. That is, the fluid chamber 501 is a space surrounded by the sealing surface 505 of the recess of the upper case 500, the inner peripheral side wall 501 a, and the diaphragm 400. An outlet channel 511 is formed in a substantially central portion of the fluid chamber 501.
The outlet channel 511 is penetrated from the fluid chamber 501 to the end of the outlet channel pipe 510 projecting from one end face of the upper case 500. A connection portion between the outlet channel 511 and the sealing surface 505 of the fluid chamber 501 is smoothly rounded to reduce fluid resistance.
The shape of the fluid chamber 501 described above is a substantially cylindrical shape with both ends sealed in the present embodiment (see FIG. 2), but it may be conical, trapezoidal, hemispherical, or the like when viewed from the side. It is not limited well. For example, if the connecting portion between the outlet channel 511 and the sealing surface 505 is shaped like a funnel, bubbles in the fluid chamber 501 described later can be easily discharged.

A connection channel pipe 200 is connected to the outlet channel pipe 510. A connection channel 201 is perforated in the connection channel pipe 200, and the diameter of the connection channel 201 is larger than the diameter of the outlet channel 511. Further, the thickness of the pipe portion of the connection flow path pipe 200 is formed in a range having rigidity that does not absorb the pressure pulsation of the fluid.
A nozzle 211 is inserted into the distal end portion of the connection flow channel pipe 200. The nozzle 211 is formed with a fluid ejection opening 212. The diameter of the fluid ejection opening 212 is smaller than the diameter of the connection channel 201.

As described above, the magnet 213 is installed in the vicinity of the nozzle 211 of the connection channel pipe 200.
On the side surface of the upper case 500, an inlet channel tube 502 for inserting the connection tube 25 for supplying fluid from the pump 20 is projected, and the inlet channel tube 502 is provided with a connection channel 504 on the inlet channel side. I'm leaning. The connection channel 504 communicates with the inlet channel 503. The inlet channel 503 is formed in a groove shape on the peripheral edge of the sealing surface 505 of the fluid chamber 501 and communicates with the fluid chamber 501.

A packing box 304 is formed on the lower case 301 side, and a packing box 506 is formed on the upper case 500 side at positions separated from each other in the outer peripheral direction of the diaphragm 400 on the joint surface between the upper case 500 and the lower case 301. A ring-shaped packing 450 is mounted in a space formed by 304 and 506.
Here, when the upper case 500 and the lower case 301 are assembled, the peripheral portion of the diaphragm 400 and the peripheral portion of the reinforcing plate 410 are the peripheral portion of the sealing surface 505 of the upper case 500 and the concave portion 303 of the lower case 301. It is closely attached by the bottom. At this time, the packing 450 is pressed by the upper case 500 and the lower case 301 to prevent fluid leakage from the fluid chamber 501.

The fluid chamber 501 is in a high pressure state of 30 atm (3 MPa) or more when fluid is discharged, and the fluid may slightly leak at the joints of the diaphragm 400, the reinforcing plate 410, the upper case 500, and the lower case 301. However, the packing 450 prevents leakage.
When the packing 450 is disposed as shown in FIG. 2, the packing 450 is compressed by the pressure of the fluid leaking from the fluid chamber 501 at a high pressure, and is further pressed against the walls in the packing boxes 304 and 506. Leakage can be more reliably prevented. From this, a high pressure rise in the fluid chamber 501 can be maintained during driving.

Next, the inlet channel 503 formed in the upper case 500 will be described in more detail with reference to the drawings.
FIG. 3 is a plan view showing the form of the inlet channel 503, and shows a state in which the upper case 500 is viewed from the joint surface side with the lower case 301.
In FIG. 3, the inlet channel 503 is formed in a peripheral groove shape of the sealing surface 505 of the upper case 500.

The inlet channel 503 has one end communicating with the fluid chamber 501 and the other end communicating with the connection channel 504. A fluid reservoir 507 is formed at a connection portion between the inlet channel 503 and the connection channel 504. The connection between the fluid reservoir 507 and the inlet channel 503 is smoothly rounded to reduce the fluid resistance.
In addition, the inlet channel 503 communicates with the inner peripheral side wall 501a of the fluid chamber 501 in a substantially tangential direction. The fluid supplied at a constant pressure from the pump 20 (see FIG. 1) flows along the inner peripheral wall 501a (in the direction indicated by the arrow in the figure) to generate a swirling flow in the fluid chamber 501. The swirling flow is pressed against the inner peripheral side wall 501a by the centrifugal force caused by swirling, and the bubbles contained in the fluid chamber 501 are concentrated at the center of the swirling flow.

  Then, the bubbles collected at the center are excluded from the outlet channel 511. From this, it is more preferable that the outlet channel 511 is provided in the vicinity of the center of the swirl flow, that is, in the axial center portion of the rotating shape body. Therefore, in the present embodiment, the inlet flow path 503 is a swirl flow generator. In FIG. 3, the planar shape of the inlet channel 503 is curved. The inlet channel 503 may be communicated with the fluid chamber 501 in a straight line, but is curved from the necessity of increasing the channel length of the inlet channel 503 in order to obtain a desired inertance in a narrow space. .

  In addition, as shown in FIG. 2, the reinforcement board 410 is arrange | positioned between the diaphragm 400 and the peripheral part of the sealing surface 505 in which the inlet flow path 503 is formed. The meaning of providing the reinforcing plate 410 is to improve the durability of the diaphragm 400. Since the notch-like connection opening 509 is formed in the connection portion of the inlet channel 503 with the fluid chamber 501, stress concentration occurs in the vicinity of the connection opening 509 when the diaphragm 400 is driven at a high frequency. May cause fatigue failure. Therefore, by providing the reinforcing plate 410 having a continuous opening without a notch, stress concentration does not occur in the diaphragm 400.

Further, four screw holes 500a are formed at the outer peripheral corner of the upper case 500, and the upper case 500 and the lower case 301 are screwed and joined at the screw hole positions.
Although illustration is omitted, the reinforcing plate 410 and the diaphragm 400 can be joined and integrally laminated and fixed. As an adhering means, solid layer diffusion bonding, welding, or the like can be adopted even when sticking using an adhesive, but the reinforcing plate 410 and the diaphragm 400 are more closely attached to each other at the joining surface. preferable.

(Functional configuration of control system)
Next, the functional configuration of the control system of the fluid ejection device 1 will be described.
In FIG. 1, magnetic sensors 600 a to 600 d are magnetic sensors that measure a three-dimensional position by magnetic detection, detect the magnetism of a magnet 213 installed in the vicinity of the nozzle 211 of the pulsation generator 100, and detect the detected magnetism. Information (hereinafter referred to as “magnetic detection value”) is output to the work support apparatus 800.
The magnetic sensors 600a to 600d are installed at different positions so as to surround the patient when surgery is performed. Prior to the operation, the detection reference axes of the installed magnetic sensors 600a to 600d are set, the coordinates of the three-dimensional position measurement and the actual position of the affected area are correlated, and the detection value is calibrated using the magnet 213. Is done.

The cameras 700a to 700d are digital cameras capable of capturing color images, and output captured image data to the work support apparatus 800.
The cameras 700a to 700d are installed at different positions where the affected area can be imaged when surgery is performed.
The work support apparatus 800 is configured by a PC (Personal Computer) including a CPU (Central Processing Unit), a memory, a hard disk, and the like, and a work support process (supporting work when a surgery or the like is performed using the fluid ejecting apparatus 1). (Described later) is executed in cooperation with the control unit 30.
Specifically, the work support apparatus 800 includes a three-dimensional image creation unit 801, a region setting unit 802, a region data storage unit 803, an A / D (Analog to Digital) conversion unit 804, and a nozzle position detection unit 805. And an excision region detection unit 806 and an excision state comparison unit 807.

A three-dimensional image creation unit 801 creates a three-dimensional image of a surgical target region based on image data representing the shape of a surgical target region (for example, a brain or the like) taken by an MRI (Magnetic Resonance Imaging system) prior to surgery. To do. Then, the 3D image creation unit 801 outputs the created 3D image data to the region setting unit 802.
The region setting unit 802 is a region to be excised in the operation (hereinafter referred to as “resectable region”) for the 3D image data input from the 3D image creating unit 801 and a region other than the resectable region. (Hereinafter, referred to as “exclusion-prohibited region”) and an area within the excisable region that is within a threshold range set from the extension of the excisable region (hereinafter, referred to as “neighboring region”) are set. To do.

FIG. 4 is a schematic diagram showing a state where a resectable region, a resection prohibited region, and a nearby region are set in an affected area.
As shown in FIG. 4, an area where a tumor or the like is present in the affected area is set as an excisable area, and an area other than the excisable area is set as an excision-prohibited area in which excision is inappropriate. In the excisable region, a certain region in contact with the boundary with the excision prohibited region is set as a neighborhood region.
When setting these areas, the data of the three-dimensional image is displayed on the display, and the work support apparatus 800 automatically determines the areas based on the doctor specifying each area by manual input or the color and shape of the affected area. And the doctor can approve the area setting.
Then, the region setting unit 802 outputs the data of the three-dimensional image in which the excisable region, the prohibited region, and the neighborhood region are set to the region data storage unit 803.

The region data storage unit 803 stores data of a three-dimensional image in which the excisable region, the prohibited region, and the neighborhood region set from the region setting unit 802 are set.
The A / D conversion unit 804 converts the magnetic detection value input from the magnetic sensors 600 a to 600 d into a digital value, and outputs the converted digital value to the nozzle position detection unit 805.
The nozzle position detection unit 805 detects the position of the nozzle 211 by performing a calculation for calculating the three-dimensional position of the magnet 213 based on the digital values indicating the magnetic detection values of the magnetic sensors 600a to 600d.

Then, the nozzle position detection unit 805 outputs a signal indicating the detected position of the nozzle 211 (hereinafter referred to as “nozzle position signal”) to the ablation state comparison unit 807.
The excision area detection unit 806 detects an area excised or incised by surgery (hereinafter referred to as “ablation area”) based on the image data input from the cameras 700a to 700d.
For example, the ablation region detection unit 806 extracts edges in the images of the cameras 700a to 700d photographed before surgery, detects a change in edges in the images photographed during surgery, or is surrounded by edges. By detecting a change in the color of the selected area, it is possible to detect the excised or incised area.
Then, the excision area detection unit 806 outputs data indicating the detected excision or incised area (hereinafter referred to as “ablation area data”) to the excision state comparison unit 807.

The excision state comparison unit 807 determines the excision or incision state in the operation based on the excision region data input from the excision region detection unit 806 and the three-dimensional image data stored in the region data storage unit 803. .
Specifically, the excision state comparison unit 807 determines whether the excision region indicated by the excision region data is any of the excisable region, the excision prohibition region, or the nearby region in the data of the three-dimensional image stored in the region data storage unit 803. Determine if it applies.
When the excision region corresponds to the excisable region, the excision state comparison unit 807 sets an excision state appropriate flag indicating that the excision / incision state is appropriate, and the excision region corresponds to the excision prohibition region Then, a resection state inappropriate flag indicating that the resection / incision state is unsuitable is set. When the excision region corresponds to a neighboring region, an excision state attention flag indicating that the excision / incision state is a state to be noted is set.

Hereinafter, the flag indicating the state of excision or incision determined based on the excision region data is referred to as an image determination flag.
The excision state comparison unit 807 also uses the nozzle position signal input from the nozzle position detection unit 805 and the three-dimensional image data stored in the region data storage unit 803 to determine the region where the nozzle position can be excised. It is determined whether it corresponds to a prohibited area or a neighboring area.
Then, when the nozzle position corresponds to the excisable region, the cutting state comparison unit 807 sets a nozzle position appropriate flag indicating that the nozzle position is appropriate, and when the nozzle position corresponds to the cutting prohibition region, the nozzle position A nozzle position improper flag indicating that is improper is set. Further, when the nozzle position corresponds to the vicinity region, a nozzle position caution flag indicating that the nozzle position is in a state to be cautioned is set.

Hereinafter, the flag determined based on the nozzle position is referred to as a nozzle position determination flag.
Further, the excision state comparison unit 807 determines the appropriateness of the operation based on the image determination flag and the nozzle position determination flag, and outputs a signal indicating the determination result to the control unit 30.
Specifically, the cutting state comparison unit 807 refers to the image determination flag and the nozzle position determination flag. First, when either the cutting state inappropriate flag or the nozzle position inappropriate flag is set, the control unit 30 A signal indicating that the state of excision / incision is inappropriate (hereinafter referred to as “ablation prohibition signal”) is output.

Further, the cutting state comparison unit 807 performs control when neither the cutting state improper flag nor the nozzle position improper flag is set, and when either the cutting state attention flag or the nozzle position attention flag is set. A signal indicating that the state of excision / incision is a state in which attention should be raised is output to the unit 30 (hereinafter referred to as an “excision attention signal”).
Further, the cutting state comparison unit 807, when neither the cutting state inappropriate flag and the nozzle position inappropriate flag are set, and when both the cutting state attention flag and the nozzle position attention flag are not set, When either the ablation state appropriate flag or the nozzle position appropriate flag is set, a signal indicating that the ablation / incision state is appropriate for the control unit 30 (hereinafter referred to as “ablation permission signal”). Is output.

Thus, the excision state comparison unit 807 determines which region is the injection target region of the pulsation generation unit 100 and outputs a signal corresponding to the determination result to the control unit 30.
The control unit 30 controls operations of the pulsation generating unit 100 and the pump 20 in the fluid ejecting apparatus 1.
Specifically, when a discharge start signal instructing the start of fluid discharge is input from a foot switch (not shown) or the like, the control unit 30 drives the pump 20 to supply the fluid to the pulsation generating unit 100, and the piezoelectric unit 30 A voltage pulse waveform is applied to the element 401 to discharge a pulsed fluid from the nozzle 211.

The discharge start signal is a signal that is input by an operator operating a switch in order to start fluid ejection from the fluid ejection device 1 when performing incision or the like of a target site.
In addition, when discharging the fluid, the control unit 30 executes a work support process in cooperation with the work support device 800, and a signal indicating the appropriateness of the operation input from the excision state comparison unit 807 of the work support device 800 Corresponding to the (removal prohibition signal, resection attention signal or resection permission signal), the application of the voltage pulse waveform to the piezoelectric element 401, the sound for notifying the operator of the state of the operation, and the output of the blue / red LEDs 100a, 100b Control.

  That is, when the excision prohibition signal is input from the excision state comparison unit 807 of the work support device 800, the control unit 30 stops the application of the voltage pulse waveform to the piezoelectric element 401, and generates a voice alarm and the red LED 100b. Make it emit light. In addition, when the excision attention signal is input from the excision state comparison unit 807, the control unit 30 applies a voltage pulse waveform to the piezoelectric element 401, and an audio alarm and flashing light emission of the blue LED 100a and the red LED 100b. I do. Further, when an excision permission signal is input from the excision state comparison unit 807, the control unit 30 applies a voltage pulse waveform to the piezoelectric element 401 and emits the blue LED 100a.

(Operation)
Next, the operation in this embodiment will be described.
(Control operation of fluid ejecting apparatus 1)
FIG. 5 is a flowchart showing a work support process executed by the work support apparatus 800 and the control unit 30 in cooperation with each other.
The work support process is started when an operator inputs an instruction to start the work support process in a surgery or the like.
Prior to the start of the work support process, an MRI image of the affected part is taken, and the region setting unit 802 sets the resectable region, the resection prohibited region, and the nearby region in the three-dimensional image data by manual input by a doctor or the like. Yes.

In FIG. 5, when the work support process is started, the work support apparatus 800 reads the three-dimensional image data stored in the area data storage unit 803 (step S1).
Next, the work support apparatus 800 detects the position of the nozzle 211 by the nozzle position detection unit 805 (step S2), and further detects the excision region by the excision region detection unit 806 (step S3).
Then, the work support device 800 determines, by the excision state comparison unit 807, whether the excision basin and the position of the nozzle 211 correspond to an excisable region, an excision prohibited region, or a nearby region, and a flag corresponding to the determination result (Image determination flag and nozzle position flag) are set (step S4).

Next, the work support apparatus 800 refers to the image determination flag and the nozzle position determination flag by the excision state comparison unit 807 and outputs a signal indicating the appropriateness of the operation to the control unit 30 (step S5).
At this time, the cutting state comparison unit 807 first determines whether either the cutting state inappropriate flag or the nozzle position inappropriate flag is set, and if any of these is set, control is performed. An excision prohibition signal is output to the unit 30.
Next, if neither the cutting state inappropriate flag or the nozzle position inappropriate flag is set, the cutting state comparison unit 807 determines whether either the cutting state attention flag or the nozzle position attention flag is set. If any of these is set, an excision attention signal is output to the control unit 30.

Further, the cutting state comparison unit 807 does not set the cutting state inappropriate flag and the nozzle position inappropriate flag, and if both the cutting state attention flag and the nozzle position attention flag are not set, the cutting state comparison unit 807 It is determined whether either the state appropriate flag or the nozzle position appropriate flag is set. If any of these is set, a cutting permission signal is output to the control unit 30.
That is, the cutting state comparison unit 807 determines whether or not the cutting state inappropriate flag and the nozzle position inappropriate flag are set with the highest priority, and then gives priority to setting the cutting state attention flag and the nozzle position attention flag. Next, it is determined whether or not a cutting state appropriate flag or a nozzle position appropriate flag is set.

Then, the control unit 30 determines whether the signal indicating the appropriateness of the operation input from the resection state comparison unit 807 is a resection prohibition signal, a resection attention signal, or a resection permission signal. (Step S6).
If it is determined in step S6 that the input signal is an excision permission signal, the control unit 30 emits the blue LED 100a (step S7). At this time, the control unit 30 continues to input the voltage pulse waveform to the piezoelectric element 401 when the ejection start signal is input.

If it is determined in step S6 that the input signal is an excision caution signal, the control unit 30 performs a warning alarm for warning and flashing light emission of the blue LED 100a and the red LED 100b (step S8). At this time, the control unit 30 continues to input the voltage pulse waveform to the piezoelectric element 401 when the ejection start signal is input.
Furthermore, when it is determined in step S6 that the input signal is an excision prohibition signal, the control unit 30 performs a sound alarm indicating that excision is prohibited and emits the red LED 100b (step S9). At this time, the control unit 30 stops the input of the voltage pulse waveform to the piezoelectric element 401 when the ejection start signal is input.

Then, the work support apparatus 800 determines whether or not an instruction to end the work support process has been input (step S10). If it is determined that no instruction has been input to end the work support process, the process of step S2 is performed. Transition.
On the other hand, if it is determined in step S10 that the instruction to end the work support process has been input, the work support apparatus 800 ends the work support process.

(Discharge operation of fluid in pulsation generator 100)
The fluid discharge of the pulsation generating unit 100 of the present embodiment is performed by the difference between the inertance L1 on the inlet channel side (sometimes referred to as the synthetic inertance L1) and the inertance L2 on the outlet channel side (sometimes referred to as the synthetic inertance L2). Is called.
First, inertance will be described.
The inertance L is expressed by L = ρ × h / S, where ρ is the density of the fluid, S is the cross-sectional area of the flow path, and h is the length of the flow path. When the pressure difference in the flow path is ΔP and the flow rate of the fluid flowing through the flow path is Q, the relationship of ΔP = L × dQ / dt is derived by modifying the equation of motion in the flow path using the inertance L. It is.

That is, the inertance L indicates the degree of influence on the time change of the flow rate. The larger the inertance L, the less the time change of the flow rate, and the smaller the inertance L, the greater the time change of the flow rate.
In addition, the combined inertance related to the parallel connection of a plurality of flow paths and the series connection of a plurality of flow paths having different shapes is obtained by combining the inertance of individual flow paths in the same way as the parallel connection or series connection of inductances in an electric circuit. Can be calculated.

The inertance L1 on the inlet flow path side is calculated in the range of the inlet flow path 503 because the connection flow path 504 is set to have a sufficiently large diameter with respect to the inlet flow path 503. At this time, since the connection tube connecting the pump 20 and the inlet channel has flexibility, it may be deleted from the calculation of the inertance L1.
Further, the inertance L2 on the outlet flow channel side has a much larger diameter of the connection flow channel 201 than the outlet flow channel, and the pipe portion (tube wall) of the connection flow channel pipe 200 has a small thickness. Minor. Therefore, the inertance L2 on the outlet channel side may be replaced with the inertance of the outlet channel 511.

Note that the thickness of the pipe wall of the connection flow path pipe 200 has sufficient rigidity for the pressure propagation of the fluid.
In this embodiment, the flow path length and cross-sectional area of the inlet flow path 503 and the flow path length and cross-sectional area of the outlet flow path 511 are such that the inertance L1 on the inlet flow path side is larger than the inertance L2 on the outlet flow path side. Set.

Next, the operation of the pulsation generator 100 will be described.
The fluid is always supplied to the inlet channel 503 by the pump 20 at a constant hydraulic pressure. As a result, when the piezoelectric element 401 does not operate, the fluid flows into the fluid chamber 501 due to the difference between the discharge force of the pump 20 and the fluid resistance value of the entire inlet channel side.
When these voltage pulse waveforms are input to the piezoelectric element 401 and the piezoelectric element 401 expands suddenly, the pressure in the fluid chamber 501 is such that the inertances L1 and L2 on the inlet channel side and the outlet channel side are sufficiently large. If it has, it will rise rapidly and reach several tens of atmospheres.

Since this pressure is much larger than the pressure by the pump 20 applied to the inlet channel 503, the inflow of fluid from the inlet channel side into the fluid chamber 501 is reduced by the pressure, and the outflow from the outlet channel 511. Will increase. Therefore, the check valve provided on the inlet channel side as in the fluid ejecting apparatus according to Patent Document 1 described above is not necessary.
However, since the inertance L1 of the inlet channel 503 is larger than the inertance L2 of the outlet channel 511, the inertance L1 is discharged from the outlet channel more than the reduction amount of the flow rate of fluid flowing from the inlet channel 503 into the fluid chamber 501. Since the increase amount of the fluid is larger, a pulsed fluid discharge, that is, a pulsating flow is generated in the connection channel 201. The pressure fluctuation at the time of discharge propagates through the connection flow channel pipe 200, and the fluid is ejected from the fluid ejection opening 212 of the nozzle 211 at the tip.

Here, since the diameter of the fluid ejection opening 212 of the nozzle 211 is smaller than the diameter of the outlet channel 511, the fluid is ejected as a high-pressure, high-speed pulsed droplet.
On the other hand, the inside of the fluid chamber 501 is in a vacuum state immediately after the pressure rises due to the interaction between the decrease in the fluid inflow amount from the inlet channel 503 and the increase in the fluid outflow from the outlet channel 511. As a result, after a predetermined time has elapsed due to both the pressure of the pump 20 and the vacuum state in the fluid chamber 501, the fluid in the inlet channel 503 flows toward the fluid chamber 501 at the same speed as before the operation of the piezoelectric element 401. Return.

After the fluid flow in the inlet channel 503 is restored, the pulsating flow from the nozzle 211 can be continuously ejected if the piezoelectric element 401 expands.
Next, the operation for removing bubbles in the fluid chamber 501 will be described.
In the operation of the pulsation generating unit 100 described above, the fluid chamber 501 has a substantially rotating body shape and includes an inlet channel 503 as a swirl flow generating unit, and the outlet channel 511 rotates in a substantially rotating body shape. Since it is established in the vicinity of the shaft, a swirling flow is generated in the fluid chamber 501, and the bubbles contained in the fluid are quickly discharged from the outlet channel 511 to the outside.

Therefore, even in a minute volume change of the fluid chamber 501 by the piezoelectric element 401, a sufficient pressure increase can be obtained without hindering the pressure fluctuation by the bubbles.
Therefore, according to the first embodiment described above, the fluid is supplied to the inlet flow path 503 by the pump 20 at a constant pressure, and therefore, the inlet flow path 503 and the fluid chamber 501 are placed in the state where the driving of the pulsation generator 100 is stopped. Since the fluid is supplied, the initial operation can be started without performing the priming operation.

In addition, since the fluid is ejected from the fluid ejection opening 212 that is smaller than the diameter of the outlet channel 511, the fluid pressure is higher than that in the outlet channel 511, thereby enabling high-speed fluid ejection.
Furthermore, since the connecting flow channel pipe 200 has rigidity capable of transmitting the pulsation of the fluid flowing from the fluid chamber 501 to the fluid ejection opening 212, the pressure propagation of the fluid from the pulsation generating unit 100 is not hindered. The desired pulsating flow can be injected.

  Further, since the inertance of the inlet channel 503 is set to be larger than the inertance of the outlet channel 511, the increase in the outflow amount is larger than the decrease in the inflow amount of fluid from the inlet channel 503 to the fluid chamber 501. Occurring in the outlet channel 511, pulsed fluid can be discharged into the connection channel tube 200. Therefore, it is not necessary to provide a check valve on the inlet flow path 503 side as in Patent Document 1 described above, the structure of the pulsation generating unit 100 can be simplified, the inside can be easily cleaned, and the check valve There is an effect that durability anxiety caused by using can be eliminated.

If the volume of the fluid chamber 501 is rapidly reduced by setting the inertance of both the inlet channel 503 and the outlet channel 511 sufficiently large, the pressure in the fluid chamber 501 can be rapidly increased.
Further, by adopting a structure in which the piezoelectric element 401 and the diaphragm 400 are employed as the volume changing means, the structure can be simplified and the size can be reduced accordingly. Moreover, the maximum frequency of volume change of the fluid chamber 501 can be set to a high frequency of 1 KHz or more, which is optimal for high-speed pulsating flow injection.

  Further, by generating a swirling flow in the fluid in the fluid chamber 501 by the swirling flow generating portion, the fluid is pushed in the outer peripheral direction of the fluid chamber by centrifugal force, and the center portion of the swirling flow, that is, a shaft having a substantially rotating body shape. Bubbles contained in the fluid are concentrated in the vicinity, and the bubbles can be excluded from the outlet channel 511 provided in the vicinity of the shaft having a substantially rotating body shape. From this, it is possible to prevent the pressure amplitude from decreasing due to the bubbles remaining in the fluid chamber 501, and to continue the stable driving of the pulsation generator 100.

Furthermore, since the swirl flow generating part is formed by the inlet flow path 503, the swirl flow can be generated without using a dedicated swirl flow generating part.
In addition, since the groove-shaped inlet channel 503 is formed at the outer peripheral edge of the sealing surface 505 of the fluid chamber 501, the inlet channel 503 as a swirl flow generating unit can be formed without increasing the number of components. Can do.
In addition, since the diaphragm 400 is provided on the upper surface of the diaphragm 400, the diaphragm 400 is driven using the outer periphery of the opening of the reinforcement plate 410 as a fulcrum, so that stress concentration hardly occurs and the durability of the diaphragm 400 is improved. Can do.

If the corners of the joint surface of the reinforcing plate 410 with the diaphragm 400 are rounded, the stress concentration of the diaphragm 400 can be further reduced.
Further, if the reinforcing plate 410 and the diaphragm 400 are laminated and fixed together, the assemblability of the pulsation generating unit 100 can be improved and the outer peripheral edge of the diaphragm 400 can be reinforced.
In addition, since the fluid reservoir 507 for retaining fluid is provided at the connection portion between the inlet-side connection flow path 504 and the inlet flow path 503 for supplying fluid from the pump 20, the inertance of the connection flow path 504 causes the inlet flow to flow. The influence on the path 503 can be suppressed.

Furthermore, since the ring-shaped packing 450 is provided at a position spaced apart in the outer peripheral direction of the diaphragm 400 on the joint surface between the upper case 500 and the lower case 301, fluid leakage from the fluid chamber 501 is prevented, and the fluid chamber It is possible to prevent a pressure drop in the 501.
As described above, the fluid ejection device 1 according to the present embodiment detects the position of the nozzle 211 based on the magnetism of the magnet 213 installed in the vicinity of the nozzle 211 by the magnetic sensors 600a to 600d. In addition, the fluid ejecting apparatus 1 captures an image of the affected area using the cameras 700a to 700d, and determines a region that has been excised or cut out.

  Then, it is determined whether the position of the nozzle 211 and the excision region correspond to the excisable region, the prohibition region, or the nearby region in the MRI image taken prior to the operation. The discharge of the fluid in the generating unit 100 is stopped, and the operator is informed that the excision / incision state is inappropriate by the sound and the red LED 100b. In the case of the resection attention area, the voice and the red / blue LEDs 100a and 100b inform the operator that the resection / incision state should be noted.

Therefore, when performing surgery or the like, the fluid ejecting apparatus 1 can notify the operator of a region to be excised or incised at the target site.
Therefore, since the region to be excised or incised is not determined depending only on the operator, it is possible to perform excision or incision with higher accuracy more reliably.
That is, according to the fluid ejecting apparatus 1 according to the present invention, when the fluid is ejected and the living tissue is incised or excised, highly accurate excision or incision can be performed more reliably.

In the present embodiment, the magnetic sensors 600a to 600d and the cameras 700a to 700d are provided, and the position of the nozzle 211 is detected by detecting the magnetism of the magnet 213, and the cut region is detected by processing the image. As explained. However, any one of the magnetic sensors 600a to 600d or the cameras 700a to 700d may be provided to detect either the position of the nozzle 211 or the excision region and notify the operator of the excision / incision state.
In this case, the fluid ejecting apparatus 1 can have a simple configuration.

(Application 1)
In the present embodiment, it has been described that the discharge of the fluid is stopped when the excision region and the nozzle position correspond to the excision prohibition region. However, in addition to stopping the discharge of the fluid, the discharge pressure of the fluid is decreased, etc. In addition, it is possible to employ control that suppresses discharge of fluid.
(Application example 2)
In this embodiment, in order to determine the region where excision / incision is to be performed, when the image captured by the cameras 700a to 700d is processed to detect the position of the excision region, the captured image is processed to detect the position of the nozzle 211. It is also possible to detect the posture.
In this case, by determining whether the nozzle 211 is directed to the excisable region, the prohibited region, or the neighboring region, it is possible to perform excision or incision with higher accuracy.

(Application 3)
In this embodiment, in order to determine the region where excision / incision is performed, when the three-dimensional position of the nozzle 211 is measured using the magnet 213 and the magnetic sensors 600a to 600d, and the images are taken by the cameras 700a to 700d. The case where the position of the ablation region is detected by processing the image has been described as an example, but other methods can be used.

FIG. 6 is a diagram illustrating another configuration example for detecting the position of the ablation region. FIG. 6A illustrates a case where the pulsation generating unit 100 includes the gyro sensor 100d, and FIG. The case where the shape detection apparatus 900 was provided is shown.
As shown in FIG. 6A, for example, a gyro sensor 100d is installed in the pulsation generating unit 100, the reference point and the reference posture are set in advance, and the position of the pulsation generating unit 100 during the operation and It is possible to detect the posture. Then, similarly to the first embodiment, based on the detected position and posture, the excision state comparison unit 807 determines whether or not the region where excision / incision is to be performed is appropriate. it can.

  Alternatively, as shown in FIG. 6B, a shape detection device 900 that detects the shape of an object by irradiating a laser is installed, and the shape of the affected part and the position and posture of the pulsation generating unit 100 are detected by the laser. Is also possible. Also in this case, similarly to the first embodiment, based on the detected position and posture, the excision state comparison unit 807 determines whether or not the region where the excision / incision is to be performed is appropriate. can do.

It is explanatory drawing which shows schematic structure of the fluid injection apparatus 1 which concerns on 1st Embodiment of this invention. It is a figure which shows the structure of the pulsation generation | occurrence | production part 100 which concerns on this embodiment. It is a top view which shows the form of the inlet channel 503. FIG. It is a schematic diagram which shows the state in which the excisable area | region, the excision prohibition area | region, and the vicinity area | region were set in the affected part. It is a flowchart which shows the work assistance process which the work assistance apparatus 800 and the control part 30 perform in cooperation. It is a figure which shows the other structural example which detects the position of an excision area | region.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Fluid injection apparatus, 10 Fluid container, 15, 25 Connection tube, 20 Pump, 30 Control part, 100 Pulsation generation | occurrence | production part, 100a Blue LED, 100b Red LED, 100c Speaker, 100d Gyro sensor, 200 Connection flow path pipe, 201 Connection Flow path, 211 nozzle, 212 fluid ejection opening, 213 magnet, 401 piezoelectric element, 501 fluid chamber, 503 inlet flow path, 511 outlet flow path, 600a-600d magnetic sensor, 700a-700d camera, 800 work support device, 801 3D image creation unit, 802 region setting unit, 803 region data storage unit, A / D conversion unit, 805 nozzle position detection unit, 806 ablation region detection unit, 807 ablation state comparison unit, 900 shape detection device

Claims (8)

A pulsation generating section for generating fluid and discharging fluid;
Control means for controlling the discharge of fluid in the pulsation generator;
Shape data acquisition means for acquiring data indicating the shape of the fluid injection target site;
Based on the data indicating the shape of the injection target part acquired by the shape data acquisition means, area setting means for setting an injectable area and an injection prohibited area in the injection target part;
An area determination means for determining which of the injection possible area and the injection prohibited area is an injection target area by the pulsation generating unit;
A discharge suppressing unit that suppresses the discharge of fluid in the pulsation generation unit when the region determination unit determines that the injection prohibited region is an injection target region by the pulsation generation unit;
A fluid ejecting apparatus comprising: A magnet installed in the pulsation generator;
Magnetic detection means for detecting the magnetism of the magnet installed in the pulsation generating unit,
The region determination means detects the position of the pulsation generating part based on the magnetism detected by the magnetic detection means, and based on the detected position of the pulsation part, which of the jettable area and the injection prohibited area is The fluid ejecting apparatus according to claim 1, wherein the fluid ejecting apparatus determines whether the region is an ejection target region by the pulsation generating unit. It has an imaging means for imaging the injection target part,
The region determination means determines which one of the jettable region and the injection prohibited region is an injection target region by the pulsation generation unit based on an image of the injection target region imaged by the imaging unit. The fluid ejecting apparatus according to claim 1, wherein: Equipped with a shape detection means for detecting the shape of an object by irradiating a laser;
The region determination means determines which of the jettable region and the injection prohibited region is an injection target region by the pulsation generating unit based on the shape of the injection target region imaged by the shape detection unit. The fluid ejecting apparatus according to claim 1. A gyro sensor that is installed in the pulsation generator and detects the position and orientation of the pulsation generator;
The region determination means determines which of the injectable region and the injection prohibited region is an injection target region by the pulsation generation unit based on the position and orientation of the pulsation generation unit detected by the gyro sensor. The fluid ejecting apparatus according to claim 1. Provided with a notification means for performing notification by at least one of sound and light,
The region setting means sets a region in the vicinity of the injection prohibited region among the jettable regions as a vicinity region,
The notification means performs notification by at least one of sound and light when the area determination means determines that the vicinity area is an injection target area by the pulsation generator. The fluid ejecting apparatus according to claim 1. A pulsation generating section for generating fluid and discharging fluid;
Control means for controlling the discharge of fluid in the pulsation generator;
A control method of a fluid ejection device comprising:
A shape data acquisition step for acquiring data indicating the shape of the fluid injection target site;
Based on the data indicating the shape of the injection target part acquired in the shape data acquisition step, an area setting step for setting an injection possible area and an injection prohibited area in the injection target part;
An area determination step for determining which of the injection possible area and the injection prohibited area is an injection target area by the pulsation generating unit;
In the region determination step, when it is determined that the injection prohibited region is an injection target region by the pulsation generation unit, a discharge suppression step of suppressing discharge of fluid in the pulsation generation unit;
A control method of a fluid ejecting apparatus comprising: A pulsation generating section for generating fluid and discharging fluid;
Control means for controlling the discharge of fluid in the pulsation generator;
Shape data acquisition means for acquiring data indicating the shape of the fluid injection target site;
Based on the data indicating the shape of the injection target part acquired by the shape data acquisition means, area setting means for setting an injectable area and an injection prohibited area in the injection target part;
An area determination means for determining which of the injection possible area and the injection prohibited area is an injection target area by the pulsation generating unit;
A discharge suppressing unit that suppresses the discharge of fluid in the pulsation generation unit when the region determination unit determines that the injection prohibited region is an injection target region by the pulsation generation unit;
A surgical apparatus comprising:

Images