WO2023066148A1 - Fluid ablation tool array device for tissue excision - Google Patents

Abstract

A fluid ablation tool array device for tissue excision, comprising: more than two fluid ablation tool modules (100, 200); and a control unit for controlling the more than two fluid ablation tool modules (100, 200), each of the more than two fluid ablation tool modules (100, 200) comprising: a tool rotation driving motor controlled by the control unit, a tool advancing and retreating driving motor, a tool driving rod, and longitudinal fluid ablation tools (110, 210). Fluid nozzles (120, 220) are provided at the front ends of the fluid ablation tools (110, 210) and are used for emitting fluid to cut a target lesion tissue, and the fluid ablation tools (110, 210) are provided substantially in parallel. The fluid ablation tool array device is further provided with a sheath (102), and the sheath (102) is provided with an opening matching each fluid nozzle (120, 220). The ablation tool array device has the advantages of being high in cutting efficiency and high in cutting precision, simple in structure, easy and convenient in operation, thorough in excision of a lesion, and high in safety, and is suitable for excision of prostatic hyperplasia or tumor tissues.

Description

A fluid ablation tool array device for tissue resection

This application is based on the Chinese patent application CN202111207075.3 (application date: October 18, 2021), and enjoys its priority. This application incorporates this application in its entirety by reference.

technical field

The invention relates to the field of medical equipment, in particular to an ablation tool array device for tissue resection.

Background technique

For the treatment of hyperplastic or cancerous tissues, such as benign prostatic hyperplasia (BPH), prostate cancer, etc., in addition to drug therapy, traditional surgical resection or partial resection has been commonly used for a long time, which generally relies on open incisions , has the disadvantages of strong invasiveness, large trauma, and long recovery period. Post-minimally invasive resection therapy is widely used in this field, such as using energy such as laser, water jet, and optical fiber as fluid flow to resect and/or cauterize lesions or hyperplastic tissues on tissues such as the prostate, which generally enters through the urethra without The open incision has the advantage of less trauma.

The prior art prostatectomy device includes a probe and an orifice arranged on the end face of the probe, which is used to provide jet energy for cutting prostate tissue. The jet can be a columnar fluid flow or a divergent fluid flow. This type of fluid tissue removal device , including a shaft with multiple axial lumens, the energy source, balloon inflation source, perfusion/flushing source, injection source, etc. are delivered through the axial lumen of the shaft, and a fluid supply is provided at the front end of the shaft The nozzle of the flow energy jet can ablate/remove/cut the hyperplastic tissue by using a certain intensity of energy passing through the nozzle. However, the above-mentioned prior art is a single ablation tool system. Since the shape of hyperplasia and tumor tissue is usually irregular, after the above-mentioned resection equipment enters the human body, its cutting range is limited. Constantly adjusting the working parameters such as the angle of the nozzle/orifice, cutting depth, energy intensity, etc. during work, makes the cutting efficiency lower, the operation time is prolonged, and the patient experience is poor. At the same time, the fractional cutting also has the problem of tissue collapse after partial tissue resection, which has an adverse effect on the resection of other tissues to be cut, and may lead to incomplete resection. As an improved existing technology, there are also multi-nozzle structural designs. Although this type of technical solution can improve cutting efficiency to a certain extent, it still has the following defects: the operator cannot individually control the cutting parameters of one of the nozzles, and cannot Controlling the position and movement of a single nozzle separately, when aiming at the removal of irregular tissues such as hyperplastic tissue or tumor tissue, not only the cutting accuracy is poor, but also the safety is problematic. More seriously, when it is used for BPH resection surgery, it is very easy to touch sensitive parts such as the seminal caruncle, and the wrong removal of this part will cause serious damage to the health of the patient.

Contents of the invention

The purpose of the present invention is to provide an ablation tool array device for tissue resection with high cutting efficiency and high cutting precision, simple structure, easy operation, thorough lesion resection, and high safety, especially suitable for prostatic hyperplasia or tumor tissue resection.

In order to achieve the above-mentioned purpose of the invention, the present invention adopts the following technical solutions:

A fluid ablation tool array device for tissue resection, comprising:

two or more fluid ablation tool modules; and

a control unit for controlling the two or more fluid ablation tool modules,

The fluid ablation tool array device for tissue resection is characterized in that,

Each of the two or more fluid ablation tool modules includes: a tool rotation drive motor controlled by the control unit, a tool advance and retreat drive motor, a tool drive rod and a longitudinally long fluid ablation tool,

In each of the two or more fluid ablation tool modules, the tool rotation drive motor controls the rotation of the fluid ablation tool around its axis via the tool drive rod, and the tool advances and retreats The drive motor controls the axial movement of the fluid ablation tool along its axis via the tool drive rod; a fluid nozzle is provided at the front end of the fluid ablation tool for ejecting fluid to cut target lesion tissue,

Each fluid ablation tool is arranged substantially in parallel, and when viewed from the length direction of the fluid ablation tool array device, each fluid cut is arranged in the circumferential direction of the fluid ablation tool array device,

The fluid ablation tool array device is further provided with a sheath for accommodating each fluid ablation tool in the two or more fluid ablation tool modules, and allowing the fluid ablation tool to rotate in the fluid ablation tool array device and axial movement, and the sheath is provided with openings matched with each fluid nozzle.

Therefore, an ablation tool array device for tissue resection to be protected by the present invention includes a plurality of ablation tool modules respectively controlled by a control unit, and each ablation tool module includes a driving motor and a tool driving component controlled by the control unit 1. An ablation tool, the front end of the ablation tool is provided with an energy output port. The driving motor controls the movement of the ablation tool through the tool driving part, and the ablation tools of multiple ablation tool modules can move independently of each other and work simultaneously. Thus, the operator can separately set the cutting parameters of multiple ablation tool modules, and each ablation tool module can work with different parameters such as cutting depth, energy intensity, and cutting angle for different cutting areas, and multiple ablation tool modules can also It can work at the same time and complete the cutting of different areas at the same time. The cutting precision and cutting efficiency are effectively improved, and while the lesion tissue is removed more thoroughly, it is effectively guaranteed that non-lesion tissue will not be resected.

Wherein, the total energy source can be used to deliver cutting energy to multiple ablation tool modules, each ablation tool module is provided with an energy distribution unit, and the control unit controls the energy provided by the total energy source to the ablation tools of each ablation tool module through the energy distribution unit strength. Therefore, the ablation tool array device is well applicable to the excision of irregular tissues, and the cutting depth can be adjusted by controlling the intensity of cutting energy for different cutting regions.

Alternatively, an independent energy source may also be provided for each ablation tool module, and the energy intensity provided by each independent energy source to the corresponding ablation tool is controlled by the control unit according to the shape of the cutting area. Also, it is well suited for ablation of irregular tissue.

In many embodiments, the present invention is used for the ablation tool array device for tissue resection. The drive motor includes a tool rotation drive motor and a tool advance and retreat drive motor. Axial movement of tool-driven components. The tool driving part controls the rotation of the ablation tool through the driving of the tool rotation driving motor, thereby adjusting the orientation position of the energy exit port. The tool driving part controls the forward/backward movement of the ablation tool through the drive of the tool advance and retreat drive motor until reaching the target cutting position.

In a preferred manner, the fluid ablation tool array device has a low reaction force mode, and the low reaction force mode refers to that at least two fluid ablation tool modules among the more than two fluid ablation tool modules work simultaneously When , the vector sum of the reaction forces of each fluid ablation tool when the fluid is ejected is zero.

Thus, when multiple ablation tool modules work together, the vector sum of the reaction forces of each ablation tool module on a plane perpendicular to the length direction of the fluid ablation tool array device can be zero. In this way, the vibration of the fluid ablation tool array and the influence of the force on the lesion or tissue can be avoided.

In a preferred way,

Each of the two or more fluid ablation tool modules further includes a servo hydraulic valve, through which the control unit adjusts the fluid strength of the fluid ablation tool during operation.

In a preferred way,

The control unit controls the two or more fluid ablation tool modules in such a manner that the cutting range of the fluid ablation tool of each of the two or more fluid ablation tool modules does not overlap with each other.

Therefore, since the control unit can control the positions of the energy output ports of the ablation tools of multiple ablation tool modules by controlling the tool rotation drive motor and the tool advance and retreat drive motor, the energy intensity of each ablation tool can be adjusted by controlling the energy distribution unit. Cutting radius, so that the cutting areas formed by the energy output ports of the ablation tools of multiple ablation tool modules do not intersect each other, effectively avoiding the mutual influence between different energy sources, and ensuring the stability of cutting effects in different tissue areas.

In a preferred way,

Individual fluid nozzles are evenly distributed over the sheath.

Therefore, by setting the sheath, multiple ablation tools can be positioned and arranged while avoiding damage to human tissue during the process of the ablation tool array device entering the human body, and enhancing the convenience of operation. Also, the low reaction force mode can be realized in a simple manner. That is, the energy output ports of the ablation tools of the ablation tool module are evenly distributed on the sheath, especially when the energy source is a water jet, the uniform arrangement can offset the reaction force when the energy is emitted, reduce vibration, and improve Cutting accuracy.

In a preferred way,

A tool holder is also provided in the sheath, and the tool holder is provided with a groove matching the fluid ablation tool, so that the fluid ablation tool can rotate and/or move axially in the groove.

Therefore, the positioning and stabilization of the ablation tool can be further realized by setting the tool bracket, and unnecessary displacement of the ablation tool during operation can be effectively reduced, thereby avoiding the problem that the displacement of the ablation tool leads to a reduction in cutting accuracy.

In a preferred way,

The number of the fluid ablation tool modules is 2-5.

In a preferred way,

The working mode of the fluid ablation tool array device also includes a deep ablation mode, and the deep ablation mode refers to adjusting the fluid ablation of each of the fluid ablation tool modules respectively through the control unit according to the parameter information of the target lesion tissue. Tool position, cutting depth and cutting angle to achieve precise and comprehensive resection of target lesion tissue.

In a preferred way,

The working mode of the fluid cutting tool array device also includes a high-efficiency cutting mode, and the high-efficiency cutting mode refers to simultaneously starting multiple fluid cutting tool modules to rapidly cut target lesion tissue.

In a preferred way,

The control unit of the fluid cutting tool array device updates the basic information of the target lesion tissue in real time, updates the working mode according to the updated basic information of the target lesion tissue, and determines updated cutting parameters based on the updated working mode.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the ablation tool array device and its control system according to Embodiment 1 of the present invention;

FIG. 2A is a schematic diagram of the overall structure of an array device with two ablation tools according to Embodiment 2 of the present invention;

Fig. 2B is a schematic diagram of the internal structure of the two ablation tool array device according to Embodiment 2 of the present invention;

Fig. 2C is a cross-sectional view of the array device with two ablation tools according to Embodiment 2 of the present invention;

Figure 2D is a schematic diagram of the shape of the target lesion tissue in Example 2 of the present invention;

FIG. 2E is a schematic diagram of the cutting range of the two ablation tool array devices in Embodiment 2 of the present invention before adjustment;

FIG. 2F is a schematic diagram of the adjusted cutting range of the two ablation tool array devices according to Embodiment 2 of the present invention;

Fig. 3A is a schematic diagram of the target lesion tissue shape in Example 3 of the present invention;

Fig. 3B is a partial cross-sectional view of the three ablation tool array device according to Embodiment 3 of the present invention;

FIG. 3C is a schematic diagram of the cutting range of the three ablation tool array device according to Embodiment 3 of the present invention;

FIG. 3D is a schematic diagram of the cutting range of the prior art single ablation tool of the present invention;

4A is a schematic diagram of the overall structure of a four-ablation tool array device according to Embodiment 4 of the present invention;

FIG. 4B is a schematic diagram of the internal structure of the four-ablation tool array device according to Embodiment 4 of the present invention;

Fig. 4C is a cross-sectional view of the four ablation tool array device according to Embodiment 4 of the present invention;

FIG. 4D is a schematic diagram of the tissue shape of the target lesion in Example 4 of the present invention.

Fig. 5 is a diagram for explaining the low reaction force mode of the multi-ablation tool array device of the present invention.

Detailed ways

The implementation of the present invention will be illustrated by specific specific examples below, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached to this specification are only used to match the content disclosed in the specification, for those who are familiar with this technology to understand and read, and are not used to limit the implementation of the present invention. Limiting conditions, so there is no technical substantive meaning, any modification of structure, change of proportional relationship or adjustment of size, without affecting the effect and purpose of the present invention, should still fall within the scope of the present invention. The disclosed technical content must be within the scope covered. At the same time, terms such as "front", "rear", "upper", "lower", "left", "right", and "middle" quoted in this specification are only for clarity of description, not It is used to limit the practicable scope of the present invention, and the change or adjustment of its relative relationship shall also be regarded as the practicable scope of the present invention without substantive changes in the technical content.

Wherein, the term meaning used in the present invention is as follows:

"Ablation tool" refers to a tool that uses energy (such as water jets, lasers, electricity, etc.) to cut and cauterize tissues, so that the tissue to be cut or the target lesion tissue is ablated (that is, the volume is reduced);

"Cutting angle" refers to the angle swept by the energy of the ablation tool used to ablate tissue when the ablation tool array device is emitted and rotated through the energy output port.

Example 1

As shown in Figure 1, the present invention provides an ablation tool array device and its control system, including N ablation tool modules, N is a natural number greater than or equal to 1, preferably, the value of N is any one of 2-5 Natural numbers, this preferred solution is based on the consideration of cutting efficiency, control accuracy, manufacturing difficulty and cost on the one hand, and on the other hand is based on the selection of different cutting modes. In the following embodiments, different settings will be introduced in detail respectively.

In the ablation tool array device provided by the present invention, the control system includes a host computer and an energy distribution unit, through which the host computer can respectively control the movement of each of the N ablation tool modules, and then control its start-stop position, and can also control its For the cutting range during operation, the intensity of energy delivered by the total energy source to each of the N ablation tool modules can also be controlled by controlling the energy distribution unit.

The ablation tool array device includes N ablation tool modules, wherein the first ablation tool module 100 includes the first tool rotation drive motor, the first tool advance and retreat drive motor, the first tool rotation drive motor and the first tool drive motor respectively controlled by the host computer. Both the forward and backward drive motors are connected to the rear end of the first tool drive rod 130, and the front end of the first tool drive rod 130 is connected to the rear end of the first ablation tool 110, and the first tool rotation drive motor is controlled by the first tool drive rod 130. For the radial rotational movement of the first ablation tool 110 , the drive motor for advancing and retreating the first tool controls the axial movement of the first ablation tool 110 through the first tool driving rod 130 . The host computer controls the energy intensity delivered by the energy source to the first ablation tool 110 through the first energy distribution unit. The second ablation tool module 210 includes a second tool rotation drive motor and a second tool advance and retreat drive motor respectively controlled by the host computer, both of the second tool rotation drive motor and the second tool advance and retreat drive motor are connected The front end of the second tool driving rod 230 is connected with the rear end of the second ablation tool 210, and the second tool rotation driving motor controls the radial rotation of the second ablation tool 210 through the second tool driving rod 230. The tool advance and retreat driving motor controls the axial movement of the second ablation tool 210 through the second tool driving rod 230 . The host computer controls the energy intensity delivered by the energy source to the second ablation tool through the second energy distribution unit. Based on a similar configuration, the Nth ablation tool module includes the Nth tool rotation drive motor and the Nth tool advance and retreat drive motor respectively controlled by the host computer, and the Nth tool rotation drive motor and the Nth tool The rear ends of the rods are connected, the front end of the Nth tool driving rod is connected to the rear end of the Nth ablation tool, and the Nth tool rotation drive motor controls the radial rotation of the Nth ablation tool through the Nth tool driving rod, and the Nth tool The forward and backward driving motor controls the axial movement of the Nth ablation tool through the Nth tool driving rod. The host computer controls the energy intensity delivered by the energy source to the Nth ablation tool through the Nth energy distribution unit. That is, each ablation tool module has an independent rotation drive motor, forward and backward drive motor, and tool drive rod. Moreover, each ablation tool module distributes energy from the energy source under the control of the host computer. Therefore, each ablation tool module can work independently or cooperatively.

During tissue ablation, since the target lesion tissue is usually asymmetrical or even completely irregular, it is necessary to set different cutting parameters for different directions or regions. Therefore, for each of the N ablation tool modules included in the ablation tool array device, different cutting parameters including cutting angle, cutting depth, and cutting position can be set. These cutting parameters can be set by inputting parameters through the host computer, or by manually inputting parameters manually by the operator, or by selecting different modes to call the pre-stored preset parameters in the corresponding mode, or by generating or obtaining them in any other way. Each ablation tool can complete the cutting independently or simultaneously according to its corresponding cutting parameters (cutting angle, cutting depth, cutting position, etc.), so as to realize the ablation of the target lesion tissue.

Through the above settings, in the ablation tool array device provided by the present invention, each of the multiple ablation tool modules can move independently, be independently controlled, and simultaneously perform tissue ablation, so that the ablation tool array device provided by the present invention Compared with previous ablation tools, it can complete tissue ablation of larger volume in a shorter time, and has higher ablation efficiency. Not only that, the ablation tool array device provided by the present invention can provide more accurate planning and cutting control because each of the multiple ablation tool modules can be independently controlled and set different cutting parameters. The target lesion tissue can perform more effective and complete tissue resection, thus having higher cutting precision and more thorough lesion resection.

As a preferred solution, the ablation tool may be selected as a fluid ablation tool, and correspondingly, the energy distribution unit may be a servo hydraulic valve or the like. Those skilled in the art can understand that the fluid may be pure water, physiological saline, or fluid containing other medicines.

As another preferred solution, the ablation tool may be selected as a laser ablation tool, and correspondingly, the energy distribution unit may be a laser intensity adjustment device or the like.

Alternatively, an independent energy source may also be provided in each ablation tool module instead of the total energy source and the energy distribution unit. At this time, if the ablation tool is a fluid ablation tool, an independent hydraulic pump head is set in each of the N ablation tool modules; if the ablation tool is a laser ablation tool, an independent hydraulic pump head is set in each of the N ablation tool modules Independent laser emitting device.

Embodiment 2 Array device with two ablation tools

2A-2F are examples of an ablation tool array device with two ablation tools according to Embodiment 2 of the present invention. As shown in FIG. 2A, the ablation tool array device includes a first ablation tool module 100, a second Two ablation tool modules 200 and a control system, wherein the first ablation tool module 100 includes a first ablation tool 110, a first tool rotation drive motor not shown, a first tool advance and retreat drive motor not shown, a first energy distribution unit (not shown). The second ablation tool module 200 includes a second ablation tool 210 , a second tool rotation driving motor not shown, a second tool advancing and retreating driving motor not shown, and a second energy distribution unit (not shown in the figure). The control system includes a host computer, which controls the start/stop of the first and second tool rotation drive motors and the first and second tool advance and retreat drive motors.

Preferably, the upper computer of the control system controls the energy intensity delivered by the total energy source to the first and second ablation tool modules respectively through an energy distribution unit (not shown in the figure). It should be noted that the setting method of the energy source is not limited to the above-mentioned method, as an alternative, the energy source is set in each ablation tool module, and each energy source is controlled separately by the host computer, thereby replacing The setting of total energy source and energy distribution unit.

2B-2C further show the structural composition of the ablation tool array device. The first ablation tool 110 and the second ablation tool 210 are arranged side by side. The ablation tool 110 and the second ablation tool 210 can be inserted into a body cavity of a patient during a tissue resection operation to cut or resect the target lesion tissue in the body cavity. Two grooves are provided along the axial direction of the tool holder 101, and the two grooves extend in the axial direction, respectively cooperate with the first ablation tool 110 and the second ablation tool 210, and provide the first ablation tool 110 and the second ablation tool 210. The accommodating and moving space of the tool 210, the first ablation tool 110 and the second ablation tool 210 are installed axially in the corresponding recesses of the tool holder 101, and the first ablation tool 110 rotates the drive motor of the first tool and the second ablation tool Driven by a tool advance and retreat drive motor, the second ablation tool 210 can rotate along the defined space of the groove on the tool holder 101 and/or Move back and forth.

In FIGS. 2A-2F , for the sake of simplicity, only two groups of ablation tool modules are illustrated. However, as mentioned above, the number of ablation tool modules is not limited, and may be more than 3 groups. When there are three or more sets of ablation tool modules, when viewed from the longitudinal direction of the ablation tool array device, the three or more sets of ablation tool modules are arranged in the circumferential direction of the ablation tool module array device. The arrangement of the ablation tool modules in the circumferential direction of the ablation tool module array device may be uniform or non-uniform. As shown in FIG. 2C , the tool holder 101 , the first ablation tool 110 and the second ablation tool 210 are all integrated in a sheath 102 . A tool holder 101 is sheathed in the sheath 102 , and the outer surface of the tool holder 101 is at least partially attached to the inner surface of the sheath 102 to ensure a tight fit between the two. The tool holder 101 fits the first ablation tool 110 through the first groove, and fits the second ablation tool 210 through the second groove. At least partially fit together, so that the tool holder 101 and the sheath 102 cover the outer surfaces of the two ablation tools, so as to ensure a relatively tight engagement with the ablation tools. Preferably, the tool holder 101 also provides an endoscope channel 103 to facilitate the insertion of the endoscope during the operation. The front end of the first ablation tool 110 is provided with a first energy outlet port 120 to provide an outlet for the energy used for tissue ablation; similarly, the front end of the second ablation tool 210 is provided with a second energy outlet port 220 to provide a The exit port of the energy for tissue ablation.

The sheath 102 is provided with an opening matching the energy output port in the circumferential direction, so as to ensure smooth output of energy for tissue ablation.

As a preferred solution, the first ablation tool 110 and the second ablation tool 210 are fluid ablation tools, correspondingly, the first energy outlet port 120 and the second energy outlet port 220 are fluid nozzles; and, as a preferred solution, the first ablation tool The tool 110 and the second ablation tool 210 are laser ablation tools, and correspondingly, the first energy output port 120 and the second energy output port 220 are laser emitting heads.

The rear end of the first ablation tool 110 is respectively connected to the first tool driving rod 130, and the rear end of the second ablation tool 210 is respectively connected to the second tool driving rod 230. As shown in FIG. 2B, the first ablation tool 110 and the second ablation tool 210 The rear ends of the tool are also provided with positioning posts, which are respectively matched with the positioning grooves of the first tool driving rod 130 and the second tool driving rod 230 so as to realize the connection between the ablation tool and the tool driving rod. In this way, the cooperative connection between the tool drive rod and the ablation tool is ensured, and the tool drive rod drives the ablation tool to move forward and backward in the groove provided by the tool holder and/or driven by the tool rotation drive motor and the tool advance and retreat drive motor. rotate. It should be noted that there is no limitation on the connection method between the ablation tool and the tool driving rod, as long as the two are firmly connected. The tool drive rod can be directly or indirectly connected with the drive shaft of the tool rotation drive motor and the tool advance and retreat motor through other similar mechanical transmission mechanisms.

As an example, when using the ablation tool array device provided in this embodiment to perform prostate hyperplasia tissue resection, the following steps are taken to control the ablation tool array device:

Step 1: obtain the information of target prostatic hyperplasia tissue, this information can be the image data of target lesion tissue and surrounding tissue, the first target lesion tissue 150 prostatic hyperplasia tissue, shape as shown in Figure 2D, is the prostatic hyperplasia tissue that needs to be removed, The sensitive area 105 is a site that needs to be carefully handled during the operation to avoid being accidentally cut (such as sensitive areas such as the spermary caruncles and ejaculatory ducts);

Step 2: According to the information of the target lesion tissue obtained and determined in step 1, the number of ablation tool modules is selected to be 2, and the resection mode is selected to be the deep resection mode;

Step 3: Determine the cutting parameters based on the working mode determined in step 2. As an optional step, the operator can also input the operating parameters to the host computer, or adjust the range of the cutting parameters. The cutting parameters include: cutting angle, or cutting depth, or cutting position, etc.

Step 4: The upper computer in the control system activates each ablation tool to perform tissue ablation according to the cutting parameters determined in step 3.

Wherein, each of the array of ablation tools is controlled to reach the cutting initial position, the cutting initial position includes the initial radial position and the initial axial position, wherein the first ablation tool 110 and the second ablation tool 210 are respectively controlled by the tool advance and retreat drive motor When the initial axial position is reached, the first energy output port 120 of the first ablation tool 110 and the second energy output port 220 of the second ablation tool 210 are respectively controlled by the tool rotation drive motor to reach the initial radial position. The energy output intensity of the first ablation tool 110 and the second ablation tool 210 is respectively controlled by the energy distribution unit, and the energy output intensity determines the cutting depth. During the cutting process, the cutting angles of the first ablation tool 110 and the second ablation tool 210 can also be controlled respectively by the tool rotation driving motor.

Step 5: If it is detected that the target lesion tissue to be resected has not been completely removed, return to step 1, update the basic information of the target lesion tissue, and update the working mode according to the updated basic information of the target lesion tissue, and determine the update based on the updated working mode The cutting parameter step is performed, and the cutting operation is performed according to the updated cutting parameter, and the above steps are repeated until the ablation of the target lesion tissue is completed.

According to the control method of the ablation tool array provided by the present invention, the appropriate resection mode can be selected according to the basic information of the target lesion tissue, such as the shape, size, and tissue characteristics, and the cutting parameters can be adjusted to optimize the cutting effect. , to give full play to the advantages of the ablation tool array device of the present invention.

More specifically, the cutting diagram before the adjustment of the cutting ranges of the two ablation tools is shown in FIG. The cutting depth is represented by the radius length r1 of the first fan-shaped area 140 (r1 depends on the strength of the energy source. For fluid ablation tools, the flow velocity of the jet can change the fan-shaped radius, and for laser ablation tools, the radius can be changed by changing the intensity of the laser. ), the first cutting angle is embodied as the fan angle α1 of the first fan-shaped area 140 . Similarly, the cutting range of the second ablation tool 210 is represented by the second fan-shaped region 240, wherein the second cutting depth is represented by the radius length r2 of the second fan-shaped region 240, and the second cutting angle is represented by the fan angle of the second fan-shaped region 240 α2.

The first fan-shaped area 140 of the first ablation tool 110 may overlap with the second fan-shaped area 240 of the second ablation tool 210, such as the overlapping area 104 shown in FIG. 2E , in the overlapping area 104, the first ablation tool 110 and The second ablation tools 210 may cut the tissue in this region. In this case, the intensity of energy emitted through the first energy output port 120 of the first ablation tool 110 and the second energy output port 220 of the second ablation tool 210 will interfere with each other, making the ablation effect unstable, affecting the ablation efficiency and precision.

In order to avoid such a situation, preferably, the control method of the ablation tool array device provided by the present invention further includes a step of controlling so that the cutting ranges of each ablation tool do not overlap. As an example, for the situation where two ablation tools are set, the control methods that can be adopted include: driving the first ablation tool 110 and the second ablation tool 210 to rotate through the tool rotation drive motor, and the rotation direction of the two ablation tools is to make the first ablation tool The energy outlet port 120 and the second energy outlet port 220 are far away from each other, so that the two fan-shaped areas are far away from each other until the first fan-shaped area 140 and the second fan-shaped area 240 of the two ablation tools do not overlap. The control method that can be adopted can also be to change the cutting angle parameter of at least one of the two ablation tools, such as reducing the first cutting angle so that the fan angle α1 is reduced to α1′, and/or reducing the second cutting angle, The fan angle α2 is reduced to α2' until the fan-shaped areas of the two ablation tools do not overlap. The control method that can be adopted can also be to change the cutting depth parameter of at least one of the two ablation tools, for example, reduce the energy intensity emitted by the first energy output port 120 and/or the second energy output port 220, so that the two fan-shaped The radius length r1 and/or r2 of the region is reduced until the fan-shaped regions of the two ablation tools do not overlap.

It can be understood that one or more of the above available control methods can be selected according to the specific situation until the first fan-shaped area 160 after the adjustment of the first ablation tool 110 and the second fan-shaped area 260 after the adjustment of the second ablation tool 210 are ensured. There is no overlap between them to ensure that the two ablation tools do not overlap or interfere when working.

Based on a similar control method, the fan-shaped area to be cut by the two ablation tools can be controlled. However, when the single ablation tool system in the prior art resects the lateral lobes of the prostate, it is necessary to separate the lateral lobes of the left and right sides at least twice. Partial resection may cause tissue collapse in the side lobe of the prostate after resection, which will have an adverse effect on the resection of the other side, which may lead to incomplete resection on the other side and lower cutting efficiency, resulting in long operation time and high patient risk. Poor experience. The present invention not only solves the above problems, but also avoids sensitive parts by selecting the cutting range, and takes safety into account while improving cutting efficiency and precision.

Example 3 Three ablation tool array device

For the resection of the second target lesion tissue 250 as shown in FIG. 3A , an ablation tool array device with three ablation tools is selected. The structure of the ablation tool array device provided in Embodiment 3 is the same as that provided in Embodiment 2 with two The structure of the ablation tool device is similar. The array device shown in Embodiment 3 includes a control system and three ablation tool modules. The control system includes a host computer that controls the start/stop of the tool rotation drive motor and the tool advance and retreat drive motor (not shown in the figure).

Preferably, the upper computer of the control system controls the energy intensity delivered by the total energy source to the first ablation tool module and the second ablation tool module respectively through an energy distribution unit (not shown in the figure). It should be noted that the setting method of the energy source is not limited to the above-mentioned method, as an alternative, the energy source is set in each ablation tool module, and each energy source is controlled separately by the host computer, thereby replacing The setting of total energy source and energy distribution unit.

As shown in Figure 3B, similar to Embodiment 2, this embodiment preferably includes a first ablation tool 110, a second ablation tool 210, and a third ablation tool 310, and the tool holder is provided with three ablation tools respectively matched with the above three ablation tools. The grooves, the front parts of the first ablation tool 110 , the second ablation tool 210 and the third ablation tool 310 are fitted in the grooves of the tool holder, and can rotate and/or move back and forth along the defined space of the grooves. The tool holder and the first ablation tool 110 , the second ablation tool 210 and the third ablation tool 310 are all integrated in one sheath. The front ends of the first ablation tool 110 , the second ablation tool 210 and the third ablation tool 310 are all provided with energy outlet ports. The first tool rotation drive motor and the first tool advance and retreat motor control the rotation/front and back axial movement of the first ablation tool 110 through the first tool drive rod. Similarly, the second and third tool rotation drive motors and the second and third The tool advance and retreat drive motor controls the rotation/backward and forward axial movement of the second ablation tool 210 and the third ablation tool 310 respectively through the second and third tool drive rods. The specific connection and control methods of the components involved in Embodiment 3 may be similar to those in Embodiment 2, or may be different, as long as the purpose of the present invention is achieved.

When resecting the second target lesion tissue 250, the ablation tool array of this embodiment can be used, and the deep resection mode can be selected, and the specific steps are similar to the control operation of Embodiment 2, and the same parts will not be repeated here. Compared with Embodiment 2, the main difference between this embodiment 3 and embodiment 2 lies in the way of adjusting the cutting ranges of the three ablation tools. The energy exit port and the energy exit port of the third ablation tool 310 are located in the same ablation treatment plane, and the second ablation tool 210 is controlled to be located at a certain distance x from the rear end of the first and third ablation tools, that is, the second ablation tool 210 and The first ablation tool 110 and the third ablation tool 310 have a certain displacement x (the value of x can be set according to actual needs). In this embodiment, the value of x can be 2 mm, as shown in FIG. 3B . Thus, the first ablation tool 110 and the third ablation tool 310 can ablate the second target lesion tissue 250 first, and the remaining unresected area is subsequently ablated by the second ablation tool 210 .

The method for making the first ablation tool 110 , the third ablation tool 310 and the second ablation tool 210 work in different ablation treatment planes is not the only one, as long as the purpose can be achieved. As an alternative, the initial positions of the energy exit ports of the three ablation tools can also be set in the same vertical plane, and the host computer controls the first ablation tool 110 and the third ablation tool 310 through the first and third tool advance and retreat motors to The same speed advances/reverses, and the speed of advancing/retreating is greater than the speed of advancing/retreating the second ablation tool 210, and the speed difference can be set according to actual needs.

Through the above settings, and by adjusting and setting the preset angles and scanning angles of the energy exit ports of the three ablation tools, the embodiment 3 finally adopts the following fan-shaped cutting area to achieve more thorough ablation. The cutting range is shown in FIG. 3C. The first fan-shaped area 140 is the cutting range of the first ablation tool 110, which is defined by the cutting angle and the cutting depth. The first cutting depth is represented by the radius length r1(r1 of the first fan-shaped area 140 Depending on the strength of the energy source, for the fluid ablation tool, the radius of the sector can be changed by the flow velocity of the jet, and for the laser ablation tool, the radius can be changed by changing the intensity of the laser), the first cutting angle is represented by the fan of the first sector 140 Angle α1. Similarly, the cutting range of the second ablation tool 210 is represented by the second fan-shaped region 240, wherein the second cutting depth is represented by the radius length r2 of the second fan-shaped region 240, and the second cutting angle is represented by the fan angle of the second fan-shaped region 240 α2. The cutting range of the third ablation tool 310 is represented by the third fan-shaped region 340 , wherein the second cutting depth is represented by the radius length r3 of the third fan-shaped region 340 , and the second cutting angle is represented by the fan angle α3 of the third fan-shaped region 340 .

Control the cutting ranges of the first ablation tool 110, the second ablation tool 210, and the third ablation tool 310 to be the first fan-shaped area 140, the second fan-shaped area 240, and the third fan-shaped area 340, respectively, so as to improve the cutting efficiency and make the cutting more thorough . If the existing single ablation tool system is used, the cutting range area of the cutting fan-shaped region as shown in Figure 3D is C. In comparison, the cutting range area C of the lesion tissue that can be resected in the prior art is much smaller than the ablation tool array lesion in this embodiment Excision area. This embodiment not only cuts thoroughly, but also has simple operation and high cutting efficiency, and can effectively avoid problems such as low cutting precision and incomplete cutting caused by tissue collapse.

Furthermore, as an option, if a more thorough ablation of the tissue is required in a specific application scenario, a second ablation may be performed after the above ablation is completed. For example, the host computer controls the first ablation tool 110 to perform secondary ablation on the remaining unablated lesion tissue.

Embodiment 4 four ablation tool array device

As shown in Figures 4A-4D, this embodiment has a uniform array of ablation tools with four ablation tool modules, including a first ablation tool module 100, a second ablation tool module 200, a third ablation tool module 300, and a fourth ablation tool module 400 and control system. The first ablation tool module 100 includes a first ablation tool 110 , a first tool rotation drive motor, a first tool advance and retreat drive motor, and a first energy distribution unit (not shown in the figure). Similarly, the second ablation tool module 200 includes a second ablation tool 210, a second tool rotation drive motor, a second tool advance and retreat drive motor, and a second energy distribution unit (not shown in the figure); the third ablation tool module 300 includes The third ablation tool 310, the third tool rotation drive motor, the third tool advance and retreat drive motor, the third energy distribution unit (not shown in the figure); the fourth ablation tool module 400 includes the fourth ablation tool 410, the fourth tool rotation The driving motor, the fourth tool advances and retreats the driving motor, and the fourth energy distribution unit (not shown in the figure). The control system includes a host computer, which controls the work of the tool rotation drive motor and the tool advance and retreat motor (not shown in the figure). The tool holder is uniformly provided with four grooves with matched outer diameters of the ablation tools along the circumference, and the front parts of the four ablation tools are fitted in the concave grooves of the tool holder, and can be rotated and/or Move back and forth. The tool holder 101, the first ablation tool 110, the second ablation tool 210, the third ablation tool 310 and the fourth ablation tool 410 are all integrated in a sheath 102, the first energy output port 120 of the first ablation tool 110, the second The second energy output port 220 of the second ablation tool 210 , the third energy output port 320 of the third ablation tool 310 and the fourth energy output port 420 of the fourth ablation tool 410 are evenly distributed on the sheath. The tool rotation drive motor and the tool advance and retreat motor control the rotation/backward and forward axial movement of the first ablation tool 110 , the second ablation tool 210 , the third ablation tool 310 and the fourth ablation tool 410 respectively through the tool drive rod. Overall, the control method and structure of the ablation tool array in Embodiment 4 are basically the same as those in Embodiments 2 and 3, and will not be repeated here.

According to the force interaction relationship, when the ablation tool emits energy to the target lesion tissue, the emitted energy will inevitably produce a reaction force on the ablation tool, especially when a fluid ablation tool is used. The reaction force will cause the ablation tool to vibrate to a certain extent, or produce a certain force on the lesion or tissue, thereby affecting the cutting accuracy.

In this regard, the ablation tool array device of the present invention has a low reaction force mode. The low reaction force mode means that the reaction forces generated by all ablation tools can cancel each other out, reducing the vibration during the ablation process to ensure a smooth and precise ablation process.

Specifically, as shown in FIG. 5 , during the ablation process, the total force of the reaction forces generated by all tools in the X direction and the Y direction must be equal to 0. In Figure 5, the array of 5 tools is taken as an example:

Among them, P1, P2, P3, P4, and P5 are the jet intensities of the five ablation tools respectively

a, b, c, d, e are the angular positions of the five tools in the plane coordinate system, respectively. The plane coordinate system is a plane coordinate system perpendicular to the length direction (axial direction) of the ablation tool array device.

In motion control, the motors that drive the rotation of each tool need to drive each tool to execute motion according to the trajectory planning that meets the low reaction force mode. The motion control in the low reaction force mode needs to meet the sum of the reaction force components of each tool in the X direction The accumulated value is equal to zero; the accumulated value of the sum of the reaction force components in the Y direction is equal to zero. You can refer to the following formula:

P1*sin(a)+P2*sin(b)+P3*sin(c)+P4*sin(d)+P5*sin(e)＝0

P1*cos(a)+P2*cos(b)+P3*cos(c)+P4*cos(d)+P5*cos(e)＝0

Among them, the XY coordinate system in the above figure can be freely defined, as long as the vector sum of the jet intensities of the five ablation tools P1-P5 in the plane coordinate system perpendicular to the length direction (axial direction) of the ablation tool array device can be zero That's it.

As a typical example, for the third target lesion tissue 350 as shown in Figure 4D, the ablation tool array with four ablation tool modules in this embodiment can be used, and the four ablation tools in the tool array are arranged symmetrically, and the energy output The ports are evenly distributed on the outer periphery of the sheath. This arrangement can offset the reaction force to a greater extent, effectively reduce vibration, and further improve cutting accuracy.

The specific control method is as follows:

Step 1: Determine the basic information of the target lesion tissue, the specific structural shape is shown in Figure 4D, the shape is relatively regular, and the tissue to be cut is distributed around; Step 2: According to the target lesion tissue information obtained in step 1, select the ablation tool module The number is 4, the processing mode is low reaction force mode, the ablation tools of the 4 ablation tool modules are symmetrically set, and parameters such as the starting and ending cutting positions, cutting depth, and cutting angle are determined. Step 3: Input the above-mentioned operating parameters acquired in step 2 to the host computer, and the host computer controls the first ablation tool 110, the second ablation tool 210, the third ablation tool 310, and the fourth ablation tool 410 to reach the initial Cutting position, the first energy outlet port 120 of the first ablation tool 110, the second energy outlet port 220 of the second ablation tool 210, the third energy outlet port 320 and the third energy outlet port 320 of the third ablation tool 310 are respectively controlled by the tool rotation drive motor. The fourth energy output port 420 of the four ablation tools 410 reaches a symmetrical position (as shown in FIG. 4C ), and starts ablation of the target lesion tissue until the ablation is completed.

In addition, for application scenarios that require high cutting efficiency, the high-efficiency cutting mode can be used to start multiple ablation tool modules at the same time to ablate the same target lesion tissue, which greatly improves the cutting efficiency.

The arrangement of the ablation tool array shown in the above embodiments is only an example. Each ablation tool can be arranged relatively, side by side, uniformly distributed or at a certain angle around the tool holder. The choice of the arrangement position mainly depends on The shape and volume distribution of the tissue to be cut, and the selection of the cutting mode.

The control modules such as the host computer shown in the above embodiments are only examples. According to certain implementation requirements, the control-related implementation methods provided herein can be implemented by hardware or software. The techniques described in this disclosure may be implemented at least in part in hardware, software, firmware, or any combination thereof. For example, various aspects of the described technology may be implemented within one or more processors including one or more microprocessors, DSPs, ASICs, or any other equivalent integrated or discrete logic circuits, and Any combination of such components. A control unit including hardware may also perform one or more of the techniques described in this disclosure. Such hardware, software and firmware may be implemented within the same device or within separate devices to support the various techniques described in this disclosure. Software may be stored on a non-transitory computer-readable medium such that the non-transitory computer-readable medium includes stored thereon program code or program algorithms that, when executed, cause the computer program to perform method steps.

The embodiments of the present invention have been described in detail above, but the content described is only a preferred embodiment of the present invention, and cannot be considered as limiting the implementation scope of the present invention. All equivalent changes and improvements made according to the scope of the present invention shall still belong to the scope covered by the patent of the present invention.

Claims (10)

1. A fluid ablation tool array device for tissue resection, comprising:

   two or more fluid ablation tool modules; and

   a control unit for controlling the two or more fluid ablation tool modules,

   The fluid ablation tool array device for tissue resection is characterized in that,

   Each of the two or more fluid ablation tool modules includes: a tool rotation drive motor controlled by the control unit, a tool advance and retreat drive motor, a tool drive rod and a longitudinally long fluid ablation tool,

   In each of the two or more fluid ablation tool modules, the tool rotation drive motor controls the rotation of the fluid ablation tool around its axis via the tool drive rod, and the tool advances and retreats The drive motor controls the axial movement of the fluid ablation tool along its axis via the tool drive rod; a fluid nozzle is provided at the front end of the fluid ablation tool for ejecting fluid to cut target lesion tissue,

   Each fluid ablation tool is arranged substantially in parallel, and when viewed from the length direction of the fluid ablation tool array device, each fluid cut is arranged in the circumferential direction of the fluid ablation tool array device,

   The fluid ablation tool array device is also equipped with a sheath, and the sheath has at least one function of protecting the body cavity, supporting the ablation tool, limiting the ablation tool, and providing guidance for the ablation tool, and is used to accommodate the two Each fluid ablation tool in the above fluid ablation tool module allows the fluid ablation tool to rotate and move axially in the fluid ablation tool array device, and the sheath is provided with an opening that matches each fluid nozzle .
2. The fluid ablation tool array device for tissue resection according to claim 1,

   The fluid ablation tool array device has a low reaction force mode, and the low reaction force mode refers to that when at least two fluid ablation tool modules among the two or more fluid ablation tool modules are working simultaneously, each fluid ablation tool module The vector sum of the reaction forces when the fluid is ejected is zero.
3. The fluid ablation tool array device for tissue resection according to claim 1, characterized in that,

   Each of the two or more fluid ablation tool modules further includes a servo hydraulic valve, through which the control unit adjusts the fluid strength of the fluid ablation tool during operation.
4. The fluid ablation tool array device for tissue resection according to claim 1, characterized in that,

   The control unit controls the two or more fluid ablation tool modules in such a manner that the cutting range of the fluid ablation tool of each of the two or more fluid ablation tool modules does not overlap with each other.
5. The fluid ablation tool array device for tissue resection according to any one of claims 1-3, characterized in that,

   Individual fluid nozzles are evenly distributed over the sheath.
6. The fluid ablation tool array device for tissue resection according to claim 5, characterized in that,

   A tool holder is also provided in the sheath, and the tool holder is provided with a groove matching the fluid ablation tool, so that the fluid ablation tool can rotate and/or move axially in the groove.
7. The fluid ablation tool array device for tissue resection according to any one of claims 1-3, characterized in that,

   The number of the fluid ablation tool modules is 2-5.
8. The fluid ablation tool array device for tissue resection according to claim 1, characterized in that,

   The working mode of the fluid ablation tool array device also includes a deep ablation mode, and the deep ablation mode refers to adjusting the fluid ablation of each of the fluid ablation tool modules respectively through the control unit according to the parameter information of the target lesion tissue. Tool position, cutting depth and cutting angle to achieve precise and comprehensive resection of target lesion tissue.
9. The fluid ablation tool array device for tissue resection according to claim 1, characterized in that,

   The working mode of the fluid ablation tool array device also includes a high-efficiency resection mode, and the high-efficiency resection mode refers to simultaneously starting multiple fluid ablation tool modules to rapidly resect the target lesion tissue.
10. The fluid ablation tool array device for tissue resection according to claim 1, characterized in that,

    The control unit of the fluid ablation tool array device updates the basic information of the target lesion tissue in real time, updates the working mode according to the updated basic information of the target lesion tissue, and determines updated cutting parameters based on the updated working mode.

Images