JP2010082438A - Fluid jetting device, fluid jetting method, and fluid jetting surgical apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a fluid jetting device, a fluid jetting method, and a fluid jetting surgical apparatus, by which fluid jetting can be more securely carried out with high precision upon jetting fluid against an object. <P>SOLUTION: The fluid jetting device 1 detects color of a fluid jetting object area to be an object of excision when fluid jetting is carried out against a fluid jetting port 212 by a color sensor 40. Which of a jetting allowed area or a jetting prohibited area corresponds to the fluid jetting object area is determined according to the color of the fluid jetting object area. When the determination result indicates the jetting-allowed area, fluid discharge by a pulsation generating part 100 is controlled so as to jet a pulsation flow with different characteristics according to the color of the fluid jetting object area. When the determination result indicates the jetting-prohibited area, fluid discharge by the pulsation generating part 100 is stopped. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a fluid ejecting apparatus that ejects pressurized fluid, a fluid ejecting method, and a fluid ejecting surgical instrument.

Conventionally, as this type of technology, for example, a pulsation generator having a flow path tube having a connection flow path communicating with a fluid ejection port, a fluid chamber communicating with the connection flow path, and a piezoelectric element that changes the volume of the fluid chamber And a fluid ejecting device that supplies fluid to the fluid chamber (see Patent Document 1).
In this fluid ejecting apparatus, the fluid supply means supplies fluid to the fluid chamber, and the piezoelectric element changes the volume of the fluid chamber, thereby ejecting pulsating fluid (hereinafter referred to as pulsating flow) from the fluid ejection port. It becomes possible.

  Further, as a fluid ejecting apparatus for incising or excising a living tissue by ejecting a fluid, the fluid ejecting apparatus includes a nozzle that ejects a fluid and a suction tube that sucks a tissue piece or the like destroyed by the fluid ejection. By making the arrangement relationship of these parallel or coaxial, there is a method in which thrombus pieces and tissue pieces crushed by jetting are collected without being scattered to improve the safety and effectiveness of treatment (see Patent Document 2). .

JP 2008-082202 A JP 2003-000713 A

However, in the fluid ejecting apparatus capable of cutting or excising the target site by ejecting fluid, including the techniques described in the above patent documents, the target site is cut or excised based on the judgment of the user or the like. Depending on the skill of the user or the like, there is a possibility that a portion 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.
Therefore, an object of the present invention is to provide a fluid ejecting apparatus, a fluid ejecting method, and a fluid ejecting surgical instrument that can perform fluid ejection with higher accuracy when ejecting fluid onto an object.

  In order to solve the above problems, a fluid ejecting apparatus according to a first aspect of the present invention includes a fluid chamber into which a fluid flows, volume changing means for changing the volume of the fluid chamber, an inlet channel communicating with the fluid chamber, A pulsation generator having an outlet channel, a fluid ejection port for ejecting fluid that has flowed out of the outlet channel, a fluid supply unit that supplies fluid to the inlet channel, and the fluid chamber by the volume changing unit Control means for controlling the change of the volume of the liquid, and color detection means for detecting the color of the fluid ejection target area facing the fluid ejection port, wherein the control means corresponds to the color detected by the color detection means. Then, the change of the volume of the fluid chamber by the volume changing means is controlled.

Thus, since the change of the volume of the fluid chamber by the volume changing means is controlled according to the color of the injection target region, it becomes possible to inject a pulsating flow having characteristics suitable for the properties of the fluid injection target, and high accuracy. Thus, it is possible to perform simple fluid ejection.
Here, for example, a fluid chamber 501 described later corresponds to the fluid chamber. For example, a piezoelectric element 401 described later corresponds to the volume changing unit. For example, an inlet channel 503 described later corresponds to the inlet channel. For example, an outlet channel 511 described later corresponds to the outlet channel. As the pulsation generation unit, for example, a pulsation generation unit 100 described later corresponds. For example, a fluid ejection opening 212 described later corresponds to the fluid ejection port. As the fluid supply means, for example, a pump 20 and a fluid container 10 described later are applicable. For example, the control means 30 described later corresponds to the control means. For example, a color sensor 40 described later corresponds to the color detection unit.

In a second aspect based on the first aspect, when the color detected by the color detection means is a color indicating an injection prohibited area in the injection target site, the control means The change of the volume of the fluid chamber by the volume changing means is controlled so as to stop the discharge.
As a result, when the injection target area is the injection prohibited area, the discharge of the fluid in the pulsation generating unit can be stopped, and the operator can be prevented from ejecting the fluid over the injection prohibited area. . Therefore, for example, when the fluid ejecting apparatus is applied to a surgical water pulse knife or the like, it is possible to prevent the operator from cutting or excising beyond the excision-inhibited region. Cutting or excision can be performed.

Further, according to a third aspect of the present invention, in the first or second aspect, when the color detected by the color detection unit is a color indicating an ejectable region in the ejection target site, the color detection unit The volume change means controls the change of the volume of the fluid chamber so as to eject a pulsating flow having different characteristics depending on the color detected by the.
Thereby, when the injection target area is an injectable area, the characteristics of the pulsating flow to be injected, such as the injection pressure and the injection cycle, can be changed according to the color of the injection target area. Therefore, it is possible to eject a pulsating flow having characteristics suitable for the above-described conditions, and it is possible to perform highly accurate fluid ejection.

  Moreover, 4th invention is the injection object acquired by the shape data acquisition means which acquires the data which show the shape of the injection target site | part of the fluid in any one of 1st-3rd invention, and the said shape data acquisition means Based on data indicating the shape of the part, area setting means for setting an injectable area and an injection prohibited area in the injection target part, and the fluid injection target area corresponds to either the injectable area or the injection prohibited area When the area determination means and the area determination means determine that the fluid ejection target area corresponds to the ejection prohibited area, the discharge suppression is performed to suppress the fluid ejection in the pulsation generation unit. And means.

As described above, when it is determined that the injection target region corresponds to the injection prohibited region based on the data indicating the shape of the injection target portion acquired by the shape data acquisition unit, the discharge of fluid in the pulsation generation unit is suppressed. It is possible to add a safe function.
Here, as the shape data acquisition unit, for example, a later-described three-dimensional image creation unit 801 corresponds. As the area setting means, for example, an area setting unit 802 described later corresponds. As the region determination means, for example, an ablation state comparison unit 807 described later corresponds. For example, a cut-off state comparison unit 807 described later corresponds to the discharge suppression unit.

Still further, a fifth invention according to any one of the first to fourth inventions, further comprises a notifying means for notifying by at least one of sound and light, wherein the notifying means has the fluid ejection target area as described above. The notification is performed when any of the injection prohibited area and the vicinity area that is the vicinity of the injection prohibited area corresponds.
Thereby, it is possible to notify the operator that the injection target region corresponds to the injection prohibited region or a nearby region, and more reliably prevent the worker from injecting fluid over the injection prohibited region. it can.
Here, as the notification means, for example, a blue LED 100a, a red LED 100b, and a speaker 100c, which will be described later, correspond.

Furthermore, the fluid ejecting method according to the sixth aspect of the present invention supplies fluid to the fluid chamber, changes the volume of the fluid chamber, ejects pressurized fluid from the fluid ejecting port, and supplies the fluid ejecting port to the fluid ejecting port. It is characterized in that the color of the opposed fluid ejection target area is detected, and the change in the volume of the fluid chamber is controlled according to the detected color.
Accordingly, it is possible to eject a pulsating flow having characteristics suitable for the properties of the fluid ejection object, and it is possible to perform highly accurate fluid ejection.

Further, the fluid ejection surgical instrument according to the seventh invention includes a fluid chamber into which a fluid flows, volume changing means for changing the volume of the fluid chamber, an inlet channel and an outlet channel communicating with the fluid chamber, A pulsation generator having fluid flow, a fluid ejection port for ejecting fluid flowing out from the outlet channel, a fluid supply unit for supplying fluid to the inlet channel, and a change in volume of the fluid chamber by the volume changing unit. Control means for controlling, and color detection means for detecting the color of the region to be operated facing the fluid ejection port, wherein the control means changes the volume changing means according to the color detected by the color detection means. The change of the volume of the fluid chamber by the control is controlled, and the volume changing means changes the volume of the fluid chamber so that the surgical target site is incised or excised by the fluid ejected from the fluid ejection port. .
Thereby, when the fluid is ejected to cut or excise the object, it is possible to realize a surgical apparatus that can perform cutting or excision with higher accuracy and higher accuracy.

It is a schematic block diagram which shows the water pulse knife which concerns on the 1st Embodiment of this invention. It is sectional drawing which shows the pulsation generation | occurrence | production part of the water pulse knife shown in FIG. It is a perspective view which shows the outline of the state which decomposed | disassembled the pulsation generation | occurrence | production part shown in FIG. It is a top view which shows the inlet flow path of the pulsation generation | occurrence | production part shown in FIG. 2, and represents the state which visually recognized the upper case from the joint surface side with a lower case. It is a block diagram which shows schematic structure of a control means. It is a flowchart which shows the control processing which the control means in 1st Embodiment performs. It is a schematic block diagram which shows the water pulse knife which concerns on the 2nd Embodiment of this invention. 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 control processing which the control means in 2nd Embodiment performs.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
The fluid ejecting apparatus according to the present invention can be applied to drawing using ink or the like, washing of fine objects and structures, cutting or excision of objects, a scalpel for surgery, and the like.
In the present embodiment, a case will be described in which the fluid ejection device according to the present invention is applied to a water pulse knife suitable for incising or excising a living tissue at a site to be operated. Therefore, the fluid used in the present embodiment is water, physiological saline, a chemical solution, or the like.

(First embodiment)
(Constitution)
FIG. 1 is a schematic configuration diagram showing a water pulse knife according to the first embodiment of the present invention.
A water pulse knife (fluid ejecting apparatus, fluid ejecting surgical instrument) 1 shown in FIG. 1 pulsates a fluid container 10 that contains fluid, a pump 20 that supplies fluid at a constant pressure, and fluid supplied from the pump 20. A pulsation generating unit 100 that flows, a control unit 30 that controls the pulsation generating unit 100 and the pump 20, and a color sensor 40 are provided.
The fluid container 10 contains a fluid such as water, physiological saline, or a chemical solution.
The pump 20 sucks the fluid stored in the fluid container 10 through the connection tube 15. The pump 20 supplies the sucked fluid to the pulsation generator 100 through the connection tube 25 at a constant pressure. The discharge pressure of the pump 20 is generally set to 3 atm (0.3 MPa) or less.

Note that when performing an operation using the water pulse knife 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.
The pulsation generator 100 includes a fluid chamber 501 (see FIG. 2) and a volume changing unit for the fluid chamber 501. In the present embodiment, the piezoelectric element 401 is used as the volume changing means of the fluid chamber 501.
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.

Next, the pulsation generator 100 will be described in more detail with reference to the drawings.
FIG. 2 is a cross-sectional view showing a pulsation generating portion of the water pulse knife shown in FIG. 2 is a cross-sectional view taken along line AA ′ shown in FIG. FIG. 3 is a perspective view schematically showing a state in which the pulsation generator shown in FIG. 2 is disassembled.
As shown in FIGS. 2 and 3, the pulsation generator 100 includes an upper case 500 and a lower case 301. Then, the upper case 500 and the lower case 301 are joined on the surfaces facing each other, and are screwed together 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. The other end of the piezoelectric element 401 is fixed to the upper surface 312 of the bottom plate 311.
Diaphragm 400 is formed of a disk-shaped metal thin plate, and a peripheral edge thereof is closely fixed to a bottom surface of recess 303 in recess 303 of lower case 301. By inputting a drive signal to the piezoelectric element 401 as volume changing means, the volume of the fluid chamber 501 is changed via the diaphragm 400 as the piezoelectric element 401 expands and contracts. Thus, by adopting a structure that employs the piezoelectric element 401 and the diaphragm 400 as the volume changing means, the structure can be simplified and the size can be reduced accordingly. Moreover, the maximum frequency of the 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.

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 has a recess at the center of the surface facing the lower case 301. A fluid chamber 501 is a rotating body formed of the recess 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 concave portion 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 protruding from one end surface 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.

In addition, although the shape of the fluid chamber 501 is a substantially cylindrical shape with both ends sealed in this embodiment (see FIG. 2), it may be conical, trapezoidal, hemispherical, or the like when viewed from the side. 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 formed in the connection channel pipe 200. The diameter of the connection channel 201 is formed 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. A fluid ejection port 212 is formed in the nozzle 211. The diameter of the fluid ejection port 212 is smaller than the diameter of the connection channel 201.

A color sensor 40 is installed in the vicinity of the nozzle 211. As the color sensor 40, for example, a combination of a photodiode and a color filter (RGB) is used, and the light receiving unit is arranged in the fluid ejection direction. Thereby, the color of the excision target region (fluid ejection target region) in the surgical target region (ejection target region) can be detected. Here, the excision target region refers to a region to be excised when the fluid is ejected in the surgical target portion so as to face the fluid ejection port 212.
On the side surface of the upper case 500, an inlet channel tube 502 into which the connection tube 25 that supplies fluid from the pump 20 is inserted is projected. A connection channel 504 on the inlet channel side is formed in the inlet channel tube 502. 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 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. A ring-shaped packing 450 is mounted in a space formed by the packing box 304 and the packing box 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. 4 is a plan view showing the inlet flow path of the pulsation generating section shown in FIG. 2, and shows a state in which the upper case is viewed from the joint surface side with the lower case.
As shown in FIG. 4, 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. By providing the fluid reservoir 507 at the connection portion between the inlet channel 503 and the connection channel 504, the influence of the inertance of the connection channel 504 on the inlet channel 503 can be suppressed. 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 FIG. 4) 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. For this reason, it is more preferable that the outlet channel 511 is provided in the vicinity of the center of the swirling flow, that is, in the axial center portion of the rotating body. In FIG. 4, 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. If the reinforcing plate 410 and the diaphragm 400 are laminated and fixed together, the assembling property of the pulsation generating unit 100 can be improved, and the outer peripheral edge of the diaphragm 400 can be reinforced. 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.

FIG. 5 is a block diagram showing a schematic configuration of the color sensor 40 and the control means 30.
As shown in FIG. 5, the control unit 30 includes a pump control unit 31 that controls the pump 20, a voltage control unit 32 that controls the piezoelectric element 401 of the pulsation generation unit 100, and a look-up table that the voltage control unit 32 refers to. And a table storage unit 33 for storing. Further, a detection signal of the color sensor 40 is input to the voltage control unit 32.
The pump control unit 31 controls the pressure of the fluid that the pump 20 supplies to the pulsation generating unit 100.

The voltage control unit 32 controls the change of the volume of the fluid chamber 501 by the piezoelectric element 401. Specifically, the piezoelectric control unit 32 refers to a lookup table stored in the table storage unit 33 based on the detection signal of the color sensor 40 and controls the voltage applied to the piezoelectric element 401. Thereby, the voltage control part 32 can change the characteristic of the pulsating flow to inject according to the color of a cutting object area | region. Here, the pulsating flow having different characteristics means a pulsating flow in which at least one of the injection pressure and the injection cycle is different.
In the present embodiment, an area where a tumor or the like is present in the affected area (a resectable area) is colored in advance and distinguished from an area other than the resectable area (an excisable area), so that the injection is performed according to the state and type of the affected area. Change the characteristics of the pulsating flow.

As a technique for coloring the resectable region, nanometer-sized nanocapsules (nanorobots) having a function (lesion selection function) capable of sensing characteristics of lesions and pathological surfaces are used. This nanocapsule can deliver any drug, gene, protein, etc. encapsulated to any cell or tissue in the living body. In this embodiment, the nanocapsule mixed with a dye is intravenously injected. Thus, only the resectable region is colored.
At this time, the color that is different from the excision prohibited region is set so that the excisable region is visually clear. It is also possible to set a different color depending on the type of excisable region.
The table storage unit 33 stores a lookup table referred to by the voltage control unit 32. The look-up table stores the voltage pulse waveform of the drive signal. Specifically, a voltage value corresponding to one voltage pulse waveform is stored as a digital value in the lookup table corresponding to each color of the region to be cut.

Here, a design method of the lookup table will be described.
When designing the look-up table, based on the surgical method examples, experimental examples, etc., so that the characteristics of the pulsating flow injected for the predetermined properties (state, type) of the surgical target site are appropriate, A voltage signal stored in the lookup table is set. Specifically, an approximate value calculation between the characteristic of the pulsating flow considered to be appropriate and the characteristic of the pulsating flow assumed in advance, which is obtained from the surgical method example and is actually injected to the surgical target site having a predetermined property, is calculated. And update the pre-assumed pulsating flow characteristics based on an arbitrary update criterion. If the difference between the pulsating flow characteristics obtained as a result of the update and the pulsating flow characteristics obtained from the surgical procedure example is within a predetermined range, the pulsating flow characteristics obtained as a result of the update are It is set as a characteristic of pulsating flow appropriate for a predetermined property of the part.
Then, the voltage signal related to the set characteristic of the pulsating flow is stored in the lookup table in association with the color according to the property of the surgical target site, and this lookup table is stored in the table storage unit 33.

Next, processing executed by the control unit 30 will be described.
FIG. 6 is a flowchart showing a control process executed by the control means 30.
Here, the control means 30 repeatedly performs the process shown in FIG. 6 when the switch (not shown) for starting the injection of the fluid is operated by the surgeon.
When the switch for starting the ejection of fluid is turned on by the surgeon, as shown in FIG. 6, first, in step S1, the pump control unit 31 of the control means 30 drives the pump 20 to pulsate. A fluid is supplied to the generator 100 at a constant pressure.
Next, in step S2, the voltage control unit 32 of the control unit 30 reads the detection signal of the color sensor 40, and proceeds to step S3.

In step S3, the voltage control unit 32 of the control means 30 determines the color of the excision target region to which the fluid is ejected based on the detection signal read in step S2.
In step S4, the control means 30 sets a color determination flag based on the color determined in step S3. Specifically, when the color determined in step S3 is a color designated by the operator in advance, it is determined that the excision target region corresponds to an excisable region in the surgical target region, and an excision permission flag is set as a color determination flag. Set. On the other hand, if the color determined in step S3 is other than the specified color, it is determined that the excision target region corresponds to the excision prohibition region in the surgical target region, and the excision prohibition flag is set as the color determination flag.
Next, in step S5, the control means 30 determines whether or not an excision permission flag and an excision prohibition flag are set. If the excision permission flag is set, the control unit 30 proceeds to step S6 and emits the blue LED 100a. .

Next, in step S7, the control means 30 refers to the look-up table stored in the table storage unit 33 based on the color determined in step S3, and applies a voltage signal (drive signal) to be applied to the piezoelectric element 401. Is input to the piezoelectric element 401, and the process proceeds to step S10 described later.
As a result, when the excision target region corresponds to the excisable region, a voltage pulse waveform is input to the piezoelectric element 401 so that the ejection pressure and the ejection cycle correspond to the color of the excision target region. As described above, when the drive signal is input from the voltage control unit 32 to the piezoelectric element 401, a pulsed fluid discharge, that is, a pulsating flow is generated in the connection channel 201.
If it is determined in step S5 that the excision prohibition flag is set, the control unit 30 proceeds to step S8 and outputs a sound alarm indicating that excision is prohibited by the speaker 100c and red. LED 100b emits light.

Next, in step S9, the control means 30 stops the input of the voltage pulse waveform to the piezoelectric element 401, and proceeds to step S10.
In step S10, the voltage control unit 32 of the control means 30 determines whether or not the switch for starting the fluid injection continues in the ON state, and when it is determined that the ON state is continued, the step is performed. When the process proceeds to S2 and it is determined that the ON state is changed to the OFF state, the process proceeds to Step S11.
In step S <b> 11, the pump control unit 31 of the control unit 30 stops driving the pump 20, and the voltage control unit 32 of the control unit 30 stops input of a voltage signal to the piezoelectric element 401 of the pulsation generation unit 100. Then, a series of processing ends.

Next, the operation of the water pulse knife 1 according to this embodiment will be described.
The fluid discharge of the pulsation generating unit 100 of the water pulse knife 1 according to the present embodiment may be called an inertance L1 on the inlet channel side (sometimes referred to as a synthetic inertance L1) and an inertance L2 on the outlet channel side (called a synthetic inertance L2). Is done by the difference of
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 performed by synthesizing the inertance of individual flow paths in the same manner 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.
When the operator operates the switch to the ON state and the control unit 30 starts driving the pump 20, 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 the control unit 30 inputs 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.
That is, if a drive signal is input to the piezoelectric element 401 and the piezoelectric element 401 is suddenly expanded, the pressures in the fluid chamber 501 are sufficiently large in the inertances L1 and L2 on the inlet channel side and the outlet channel side. If it does, 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, there is no need for a check valve provided on the inlet channel side, such as the water pulse knife according to Patent Document 1 described above.
Here, the inertance L1 of the inlet channel 503 is larger than the inertance L2 of the outlet channel 511. Therefore, since the increase amount of the fluid discharged from the outlet channel is larger than the decrease amount of the flow rate of the fluid flowing into the fluid chamber 501 from the inlet channel 503, the pulsed fluid discharge to the connection channel 201, that is, A pulsating flow is generated. The pressure fluctuation at the time of discharge propagates through the connection flow path pipe 200, and the fluid is ejected from the fluid ejection port 212 of the nozzle 211 at the tip.

That is, the pulsation generation unit 100 drives the piezoelectric element 401 to generate pulsation, thereby ejecting the fluid supplied from the pump 20 through the connection flow channel pipe 200 and the nozzle 211 at high speed.
Here, since the diameter of the fluid ejection port 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 (pulsating flow).
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.
Further, 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 swirling flow generating unit, and the outlet channel 511 has a substantially rotating body shape. Therefore, 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.
Here, the water pulse knife 1 detects the color of the excision target region, and sets a voltage signal to be applied to the piezoelectric element 401 of the pulsation generating unit 100 according to the detected color of the excision target region.

In the water pulse knife 1, the voltage control unit 32 of the control unit 30 controls the piezoelectric element 401 of the pulsation generation unit 100 by a voltage signal set according to the detected color of the region to be excised. Thereby, the voltage applied to the piezoelectric element 401 of the pulsation generating unit 100 is controlled according to the color of the region to be excised.
Thus, in the water pulse knife 1, in order to control the change of the volume of the fluid chamber 501 by the piezoelectric element 401 according to the color of the region to be excised, a pulsating flow having characteristics suitable for the properties of the surgical target region is ejected. Is possible.

In this case, the voltage control unit 32 stops the voltage signal input to the piezoelectric element 401 so as to stop the fluid ejected from the fluid ejection opening 212 when the excision target region is an excision prohibited region. A highly accurate excision or incision can be reliably performed.
Furthermore, since a color sensor is employed as the color detection means, the color of the excision target region can be detected with a simple configuration.
In addition, a piezoelectric element is used as the volume changing means, and the voltage applied to the piezoelectric element is controlled according to the color of the region to be cut detected by the color sensor. The pressure can be adjusted.

Furthermore, since the voltage applied to the piezoelectric element is determined by referring to the look-up table based on the color of the region to be excised, it is possible to easily change the characteristics of the pulsating flow to be injected according to the color of the region to be operated It becomes.
In addition, since the patient is given nanocapsules that have cell selectivity for target lesions that contain an arbitrary pigment in advance, tumors such as cancer cells to be resected can be colored in an arbitrary color, By determining the color of the excision target region, it is possible to easily detect the property of the excision target region. Furthermore, the burden on the patient can be reduced as compared to the case of applying a general method using a catheter or direct injection as the method of dye marking.

(Second Embodiment)
In the second embodiment, a function for notifying the operator of the resection state according to the nozzle position detected by the magnetic sensor and the resection area detected by the image processing in the first embodiment described above is added. .

(Constitution)
FIG. 7 is a schematic configuration diagram showing a water pulse knife according to the second embodiment of the present invention.
The water pulse knife 1 shown in FIG. 7 is the same as the water pulse knife 1 shown in FIG. 1 except that magnetic sensors 600a to 600d, cameras 700a to 700d, a work support device 800, and a magnet 213 are added. 1 has the same configuration as that of the water pulse knife 1 shown in FIG. Therefore, here, the description will focus on the different parts.
As shown in FIG. 7, a magnet 213 used to detect the position of the nozzle 211 is installed in the vicinity of the nozzle 211 of the connection flow channel pipe 200.

The magnetic sensors 600a to 600d are magnetic sensors that perform three-dimensional position measurement by magnetic detection, and detect the magnetism of the magnet 213 installed in the vicinity of the nozzle 211 of the pulsation generating unit 100 and information indicating the detected magnetism (hereinafter referred to as “magnetic sensor”). , “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 device 800 is configured by a PC (Personal Computer) including a CPU (Central Processing Unit), a memory, a hard disk, and the like, and performs work support processing that supports work when surgery or the like is performed using the fluid ejection device 1. It executes in cooperation with the control means 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 has a region to be excised in surgery (removable region) and a region other than the resectable region (removal prohibited region) for the data of the three-dimensional image input from the three-dimensional image creation unit 801. A region (neighboring region) within a resectable region and within a threshold range set from the extension of the resectable region is set.

FIG. 8 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. 8, a region where a tumor or the like is present in the affected area is set as a resectable region, and outside the resectable region is set as a resection prohibition region inappropriate for resection. 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 device 800 automatically determines each area by manual input and the color and shape of the affected area. An area can be set and a 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 is a flag indicating 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. (Image determination flag) is set.
In addition, the cutting state comparison unit 807 is configured to provide a flag (a nozzle position state flag) based on the nozzle position signal input from the nozzle position detection unit 805 and the 3D image data stored in the region data storage unit 803. Nozzle position determination flag) is set.
Then, 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.

FIG. 9 is a flowchart showing a control process executed by the work support apparatus 800 and the control unit 30 in cooperation with each other.
Here, the control means 30 repeatedly executes the process shown in FIG. 9 when a switch (not shown) for starting ejection of fluid is operated by the surgeon.
In the control process shown in FIG. 9, steps that perform the same process as the control process of FIG. 6 in the first embodiment described above are denoted by the same step numbers and will be described focusing on the different parts of the process.
After the process of step S1, in step S21, the work support apparatus 800 reads the 3D image data stored in the area data storage unit 803, and proceeds to step S2.

In addition, after the process of step S4, in step S22, the work support apparatus 800 detects the position of the nozzle 211 by the nozzle position detection unit 805, and then moves to step S23, where the work support apparatus 800 detects the excision region detection. The excision area is detected by the unit 806.
Next, in step S24, the work support apparatus 800 uses the excision state comparison unit 807 to determine whether the excision flow area and the position of the nozzle 211 correspond to an excisable area, an excision-inhibited area, or a nearby area. Flags (image determination flag and nozzle position flag) according to the result are set.
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.
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.
Next, in step S <b> 25, the work support apparatus 800 causes the excision state comparison unit 807 to refer to the image determination flag and the nozzle position determination flag and outputs a signal indicating the appropriateness of the operation 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 excision target region corresponding to the injection target region of the pulsation generation unit 100, and outputs a signal corresponding to the determination result to the control unit 30. To do.
Next, in step S26, the control means 30 determines the flag based on the color determination flag set in step S4 and the signal indicating the appropriateness of the operation input from the excision state comparison unit 807 in step S25. Make a decision.

Specifically, when the excision permission flag is set as the color determination flag and the signal indicating the appropriateness of the operation is the excision permission signal, the process proceeds to step S6. When the excision prohibition flag is set as the color determination flag and the signal indicating the appropriateness of the operation is the excision prohibition signal, the process proceeds to step S8. If the signal indicating the appropriateness of the operation is an excision attention signal, or if the color determination flag or the signal indicating the appropriateness of the operation is an excision prohibition flag or an excision prohibition signal, the process proceeds to step S27.
In step S27, the control means 30 performs a warning alarm for warning and flashing light emission of the blue LED 100a and the red LED 100b, and proceeds to step S7.
With such a configuration, even when the excision permission flag is set based on the color of the excision target region detected by the color sensor 40, the excision attention signal and the excision prohibition signal are output based on the image data analysis. In some cases, an audio warning or light emission is performed, so that the surgeon can be alerted.

Even if the color sensor 40 fails and the color of the region to be excised cannot be properly determined, an excision prohibition signal or an excision attention signal is output based on image data analysis. Since an alarm or light emission is performed, it is possible to notify the surgeon that there is a possibility that the excision target area may correspond to the excision prohibition area or its vicinity area.
As described above, in the water pulse knife 1 in the second embodiment, the magnetism (magnet 213) installed in the pulsation generator (nozzle 211) and the magnetism detection for detecting the magnetism of the magnet installed in the pulsation generator. Means (magnetic sensors 600a to 600d), detects the position of the pulsation generating portion based on the magnetism detected by the magnetic detection means, and based on the detected position of the pulsation generating portion, the jettable region and the jet prohibition region Which of these 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.
Moreover, it has an imaging means (cameras 700a to 700d) for imaging the injection target part, and based on the image of the injection target part imaged by the imaging means, either the injectable area or the injection prohibited area is the injection object by the pulsation generating unit. Determine whether it is an area.
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.
Therefore, it is possible to add a fail-safe function, and it is possible to perform cutting or excision with higher accuracy.

In the second embodiment, when either the color determination flag or the signal indicating the appropriateness of the operation indicates prohibition of removal, the process proceeds from step S26 to step S27 in FIG. In addition, although the case where the notification for alerting the operator with light is described has been described, the process may be shifted from step S26 of FIG. 9 to step S8.
In this case, if at least one of the color determination flag and the signal indicating the appropriateness of the operation indicates prohibition of resection, an audio alarm and light emission of the red LED 100b are performed in step S8, and to the piezoelectric element 401 in step S9. Since the input of the voltage pulse waveform is stopped, it is possible to more reliably prevent the fluid from being ejected to a region other than the ejectable region.

Moreover, the setting of the determination condition, the size of the alarm, and the like can be appropriately set according to the skill of the operator.
Furthermore, in the second embodiment, a shape detection unit that detects the shape of the object by irradiating a laser is provided, and the injectable region and the injection are determined based on the shape of the injection target portion imaged by the shape detection unit. It can also be determined which of the prohibited areas is the injection target area 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.
Further, the pulsation generating unit is provided with a gyro sensor for detecting the position and posture of the pulsation generating unit, and any one of the injectable region and the injection prohibited region is determined based on the position and posture of the pulsation generating unit detected by the gyro sensor. It can also be determined whether it is an injection target region by the pulsation generator. 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 each of the above embodiments, the case where the color sensor is applied as the color detection unit has been described. However, a camera capable of capturing a color image can also be applied as the color detection unit.
In each of the above embodiments, the case where it is determined whether the excision target area is an excisable area or an excision prohibition area according to the color of the excision target area detected by the color sensor has been described. In addition to the color detected by the sensor, the above determination can also be made using image data taken by the camera. Thereby, control more suitable for the property of the region to be excised is possible.

Moreover, in each said embodiment, although it is the structure provided with one pulsation generation | occurrence | production part 100 which injects a fluid, it is good also as a structure provided with two or more pulsation generation | occurrence | production parts 100. FIG.
Further, in each of the above embodiments, the case where the present invention is applied to the surgical water pulse knife has been described. However, as described above, the present invention is also applied to fine object and structure cleaning, object cutting and excision. Is applicable. For example, when the present invention is applied to a cleaning apparatus that cleans dirt and rust attached to an object, when a color other than the background color (original color of the object) is detected, water and water with different characteristics depending on the type of the dirt A detergent or the like can be sprayed, and work efficiency can be improved.

  DESCRIPTION OF SYMBOLS 1 Water pulse knife (fluid ejection apparatus, fluid ejection surgical instrument), 20 Pump (fluid supply means), 30 Control means, 31 Pump control part, 32 Voltage control part, 33 Table storage part, 40 color sensor, 100 Pulsation generation part , 200 connection channel pipe (channel tube), 201 connection channel, 212 fluid ejection opening (fluid ejection port), 401 piezoelectric element (volume changing means), 501 fluid chamber, 503 inlet channel, 511 outlet channel , 600a to 600d magnetic sensor, 700a to 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 excision region Detection unit, 807 Excision state comparison unit.

Claims (7)

A pulsation generator having a fluid chamber into which fluid flows, volume changing means for changing the volume of the fluid chamber, and an inlet channel and an outlet channel communicating with the fluid chamber;
A fluid ejection port for ejecting fluid that has flowed out of the outlet channel;
Fluid supply means for supplying fluid to the inlet channel;
Control means for controlling the change in volume of the fluid chamber by the volume changing means;
Color detecting means for detecting the color of the fluid ejection target region facing the fluid ejection port;
The fluid ejecting apparatus according to claim 1, wherein the control means controls the change of the volume of the fluid chamber by the volume changing means according to the color detected by the color detecting means.   When the color detected by the color detection means is a color indicating an ejection prohibited area in the ejection target region, the control means is configured to stop the fluid discharge in the pulsation generating unit so that the fluid is changed by the volume changing means. The fluid ejecting apparatus according to claim 1, wherein a change in volume of the chamber is controlled.   When the color detected by the color detection unit is a color indicating an ejectable region in the ejection target region, the control unit ejects a pulsating flow having different characteristics depending on the color detected by the color detection unit. The fluid ejecting apparatus according to claim 1, wherein a change in volume of the fluid chamber by the volume changing unit is controlled. 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;
A region determination means for determining whether the fluid ejection target region corresponds to either the ejectable region or the ejection prohibited region;
A discharge suppressing unit that suppresses the discharge of fluid in the pulsation generating unit when the region determining unit determines that the fluid ejection target region corresponds to the ejection prohibited region;
The fluid ejecting apparatus according to claim 1, further comprising: It further comprises notification means for performing notification by at least one of voice and light,
The notification means performs the notification when the fluid ejection target area corresponds to any one of the ejection prohibited area and a nearby area that is the vicinity of the ejection prohibited area. The fluid ejecting apparatus according to any one of the above. Supplying fluid to the fluid chamber,
By changing the volume of the fluid chamber, the pressurized fluid is ejected from the fluid ejection port;
Detecting the color of the fluid ejection target region facing the fluid ejection port;
A fluid ejecting method, wherein a change in volume of the fluid chamber is controlled in accordance with the detected color. A pulsation generator having a fluid chamber into which fluid flows, volume changing means for changing the volume of the fluid chamber, and an inlet channel and an outlet channel communicating with the fluid chamber;
A fluid ejection port for ejecting fluid that has flowed out of the outlet channel;
Fluid supply means for supplying fluid to the inlet channel;
Control means for controlling the change in volume of the fluid chamber by the volume changing means;
Color detecting means for detecting the color of the surgical target part facing the fluid ejection port,
The control means controls the change of the volume of the fluid chamber by the volume changing means according to the color detected by the color detecting means,
The fluid ejecting surgical instrument characterized in that the volume changing means changes the volume of the fluid chamber to incise or excise the surgical target site by the fluid ejected from the fluid ejection port.

Images