Medical water jet equipment and medical water jet systems

Abstract

The present disclosure provides a medical waterjet device (100) and a medical waterjet system. The medical waterjet system includes a medical waterjet device (100). The medical waterjet device (100) includes an outer tube (110), a jet tube (120), a nozzle (130), and a driver (140). The jet tube (120) extends through the outer tube (110) and is configured to inject medical liquid. There is a gap between an outer wall of the jet tube (120) and an inner wall of the outer tube (110). The nozzle (130) is provided at a distal end of the jet tube (120) and is configured to eject medical liquid. The driver (140) is connected to at least a portion of the jet tube (120) and is configured to drive the distal end of the jet tube (120) to oscillate back and forth or to rotate about a central axis of the outer tube (110). The medical water jet instrument (100) of the present disclosure automatically drives the movement of the injection tube (120) restricted within the outer tube (110) via a driving device (140), so that the nozzle (130) of the water jet instrument (100) generates a rapid scanning motion, instead of the rapid swinging motion required when a doctor manually operates the medical water jet instrument (100), greatly reducing the difficulty of operation and improving the efficiency of selective separation surgery using a water jet, thereby improving the selective tissue separation effect and surgical precision.

Description

[Technical field]

[0001] For all purposes, this application claims priority to Chinese patent application no. 202210188029.1, filed on February 28, 2022, the entire contents of which are incorporated herein by reference.

[0002] The present disclosure relates to medical waterjet instruments and medical waterjet systems. [Background technology]

[0003] At present, cancer is one of the major diseases that modern medicine has yet to conquer. According to some cancer statistics, among various types of cancer, liver cancer ranks fifth in morbidity and second in mortality. The high morbidity and mortality of liver cancer reflect the current lack of effective and targeted treatment methods.

[0004] Treatment methods for liver cancer include surgery, local ablation, hepatic arterial chemoembolization, radiation therapy and systemic therapy, with surgery remaining the first-line treatment for liver cancer.

[0005] The key steps of surgical treatment include separating the ligaments to free the liver, blocking the inflow of blood vessels and bile ducts (first hepatic portal), cutting the liver, blocking the outflow of blood vessels and bile ducts (second and third hepatic portals), and closing the abdomen after complete hemostasis. Surgical procedures can cause complications such as infection, bleeding, bile leakage, and liver failure, which have a significant impact on the 5-year postoperative survival rate and liver cancer mortality rate. Judging from the difficulty of the major steps, the time required, and the impact on complications, the most notable step is cutting the liver.

[0006] Currently, the means for liver resection in surgical treatment are mainly divided into three categories and there are more than 10 specific methods. For example, commonly used methods include: (1) separating the liver parenchyma and preserving blood vessels; (2) separating the liver parenchyma and closing and resecting the blood vessels and bile ducts; and (3) coagulating the resection surface of the liver parenchyma and removing it with a scalpel. Summary of the Invention

[0007] At least one embodiment of the present disclosure provides a medical waterjet device including an outer tube, a jet tube, a nozzle, and a drive device. The jet tube extends through the outer tube and is configured to inject medical liquid, and there is a gap between an outer wall of the jet tube and an inner wall of the outer tube. The nozzle is provided at a distal end of the jet tube and configured to eject the medical liquid. The drive device is connected to at least a portion of the jet tube and configured to drive the distal end of the jet tube to oscillate back and forth or revolve around a central axis of the outer tube.

[0008] For example, in a medical waterjet device provided by at least one embodiment of the present disclosure, the proximal end of the jet tube includes a connection portion fixedly connected to at least a portion of the drive device, and the distal end of the jet tube is not coaxial with the connection portion of the jet tube, such that the drive device drives the proximal end of the jet tube to rotate about a central axis of the jet tube and drives the distal end of the jet tube to revolve about a central axis of the outer tube.

[0009] For example, in the medical waterjet device provided by at least one embodiment of the present disclosure, the entire jet tube is curved such that the distal end of the jet tube is not coaxial with the jet tube connection.

[0010] For example, in a medical waterjet device provided by at least one embodiment of the present disclosure, the distal end of the jet tube is configured as a bend, such that the distal end of the jet tube has at least two portions that are not coaxial with each other and the distal end of the jet tube is not coaxial with the jet tube connection.

[0011] For example, in a medical water jet device provided by at least one embodiment of the present disclosure, when the distal end of the ejection tube abuts against an inner wall of a first radial side of the outer tube, the proximal end of the ejection tube abuts against an inner wall of the other radial side of the outer tube relative to the first side.

[0012] For example, in a medical water jet device provided by at least one embodiment of the present disclosure, when the distal end of the ejection tube abuts against an inner wall on a first radial side of the outer tube, the proximal end of the ejection tube is positioned away from the inner wall on the other radial side relative to the first radial side of the outer tube.

[0013] For example, in a medical water jet device provided by at least one embodiment of the present disclosure, the proximal end of the ejection tube is configured to be fixed relative to the outer tube, and the drive device is configured to oscillate the distal end of the ejection tube back and forth in one dimension along the radial direction of the ejection tube relative to the outer tube, or oscillate the distal end of the ejection tube in a circular manner in two dimensions around the central axis of the outer tube.

[0014] For example, the medical waterjet instrument provided by at least one embodiment of the present disclosure further includes a carrier fitted over and fixedly connected to the proximal end of the outer tube.

[0015] For example, in a medical waterjet device provided by at least one embodiment of the present disclosure, the carrier includes a handle fixedly connected to a drive device, and is configured to be driven by an external drive source to move along the central axial direction of the outer tube such that the distal end of the ejection tube moves along the central axial direction of the outer tube.

[0016] For example, in the medical waterjet device provided by at least one embodiment of the present disclosure, the drive device includes a drive motor connected to a connection portion of the jet tube for driving the proximal end of the jet tube to rotate.

[0017] For example, in a medical waterjet device provided by at least one embodiment of the present disclosure, the handle includes a housing, the drive motor includes a first motor, the first motor is disposed within the housing of the handle, the drive device further includes a driver connection cable, the first motor is configured to obtain electrical energy and control signals via the driver connection cable, and the first motor is fitted outside the connection portion of the jet tube and fixed coaxially with the jet tube, thereby driving the proximal end of the jet tube to rotate.

[0018] For example, in the medical water jet device provided by at least one embodiment of the present disclosure, the handle includes a housing, the drive motor includes a second motor, the drive device further includes a first connecting member, and the second motor and the first connecting member are provided in the housing of the handle. The first connecting member includes a first gear and a second gear, the first gear and the second gear mesh with each other, the first gear is fixedly connected to the connecting portion of the nozzle, and the second gear is connected to the second motor, and the second motor is configured to rotate the second gear to rotate the first gear and rotate the proximal end of the jet tube.

[0019] For example, in a medical waterjet device provided by at least one embodiment of the present disclosure, the first connecting member includes at least one of a gear, a pulley, and a link.

[0020] For example, the medical waterjet device provided by at least one embodiment of the present disclosure further includes a liquid supply connection tube, one end of which is connected to the proximal end of the jet tube and the other end of which is connected to the output end of the pressure pump, configured to inject medical liquid.

[0021] For example, in a medical waterjet device provided by at least one embodiment of the present disclosure, the handle includes a housing, and a drive motor is provided outside the handle housing, the drive motor is fixedly connected to a liquid supply connection tube and configured to rotationally drive the liquid supply connection tube to rotate the proximal end of the jet tube.

[0022] For example, the medical waterjet device provided by at least one embodiment of the present disclosure further includes a carrier, the carrier includes a handle, the handle includes a housing, the handle housing is fitted to the outside of the proximal end of the outer tube and fixedly connected to the proximal end of the outer tube, the drive device includes an electromagnetic ring and a magnetic pole, the electromagnetic ring is provided in the housing of the handle, the magnetic pole is fixedly disposed at the connection part of the jet tube, there is a gap between the magnetic pole and the electromagnetic ring, the electromagnetic ring is configured to generate magnetism in sequence along the circumferential direction when energized, attract the magnetic pole to make it circularly move, and two-dimensionally circularly oscillate the distal end of the jet tube.

[0023] For example, a medical waterjet device provided by at least one embodiment of the present disclosure further includes a carrier, and a driving device includes a third motor, an eccentric structure, and a second connecting member. The carrier includes two fulcrum members arranged on both sides of the second connecting member, and the third motor includes an output shaft along the central axis of the outer tube, the eccentric structure is fitted to the output shaft of the third motor, one end of the second connecting member is connected to the eccentric structure, and the other end of the second connecting member is fitted to the outside of the connection part of the jet tube and is loosely fitted. The third motor is configured to rotate the eccentric structure around the central axis of the outer tube by rotating the output shaft, thereby moving the second connecting member, and the second connecting member sequentially contacts one of the two fulcrum members to regulate the circular motion of the connection part by the second connecting member, thereby realizing the distal end of the jet tube to two-dimensionally circularly swing around the central axis of the outer tube.

[0024] At least one embodiment of the present disclosure further provides a medical waterjet system including a liquid supply unit, a pressure pump, and any one of the above medical waterjet devices. The liquid supply unit is configured to supply a medical liquid. The pressure pump is configured to apply pressure to the medical liquid to inject the medical liquid into the injection tube.

[0025] Compared with the prior art, the beneficial effects of at least one embodiment of the present disclosure include at least the following: The medical waterjet device or medical waterjet system of the present disclosure automatically drives the movement of the jet tube limited within the outer tube via a driving device, so that the nozzle of the waterjet device generates a rapid scanning motion instead of the rapid swinging motion when a doctor manually operates the medical waterjet device, greatly reducing the difficulty of operation, improving the efficiency of the selective separation surgery by waterjet, and improving the selective separation effect of tissue and the precision of the surgery. [Brief description of the drawings]

[0026] In order to more clearly describe the technical solutions in the embodiments of the present disclosure or the prior art, the drawings that need to be used in the description of the embodiments or the prior art are briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and those skilled in the art can obtain other drawings based on these drawings without creative efforts.

[0027] [Figure 1] FIG. 1 is a cross-sectional view of a medical waterjet instrument provided in accordance with some embodiments of the present disclosure. [Diagram 2] FIG. 2 is a partially enlarged schematic view of the medical water jet device shown in FIG. [Figure 3A] FIG. 3A is an exploded view of a nozzle travel path of a medical waterjet device according to some embodiments of the present disclosure. [Figure 3B] FIG. 3B is an exploded view of a nozzle travel path of a medical waterjet device according to some other embodiments of the present disclosure. [Figure 4A] FIG. 4A is a diagram illustrating the principle of one-dimensional reciprocating oscillation of a nozzle of a medical waterjet device provided by some embodiments of the present disclosure. [Figure 4B] FIG. 4B is a diagram illustrating the principle of two-dimensional circular oscillation of the nozzle of a medical waterjet device provided by some embodiments of the present disclosure. [Figure 4C] FIG. 4C is a diagram illustrating the principle of rotation of the nozzle of a medical waterjet device provided by some embodiments of the present disclosure. [Figure 5A] FIG. 5A is a schematic diagram of an injection tube oscillating within an outer tube provided according to some embodiments of the present disclosure, FIG. 5A being a top view taken along the direction of arrow B in FIG. 4A or FIG. 4B. [Figure 5B] FIG. 5B is a schematic diagram of an injection tube that oscillates within an outer tube provided by some embodiments of the present disclosure. [Figure 5C] FIG. 5C is a schematic diagram of an injection tube oscillating within an outer tube provided according to some embodiments of the present disclosure, FIG. 5C being a top view along the direction of arrow B in FIG. 4A or FIG. 4B. [Figure 6A] FIG. 6A is a schematic diagram of an injection tube rotating within an outer tube provided according to some embodiments of the present disclosure, taken in a top view along the direction of arrow B in FIG. 4C. [Figure 6B] FIG. 6B is a schematic diagram of an injection tube rotating within an outer tube provided according to some embodiments of the present disclosure, taken in a top view along the direction of arrow B in FIG. 4C. [Figure 7] FIG. 7 is a schematic diagram of a drive unit for rotationally driving an injection tube, and a cross-sectional view of an internal drive unit including a hollow shaft motor, respectively, provided by some embodiments of the present disclosure. [Figure 8] FIG. 8 is a schematic diagram of a drive unit for rotationally driving an injection tube and a cross-sectional view of an internal drive unit including a micromotor, respectively, provided according to some embodiments of the present disclosure. [Figure 9]FIG. 9 is a schematic diagram of a drive device for rotationally driving an injection tube, and a front view of an external drive device including a drive motor, respectively, provided according to some embodiments of the present disclosure. [Figure 10] FIG. 10 is a cross-sectional view of a drive device for oscillatingly driving an injection tube provided according to some embodiments of the present disclosure. [Figure 11A] FIG. 11A is a schematic diagram of a drive device for rotating or oscillating an injection tube provided by some embodiments of the present disclosure. [Figure 11B] FIG. 11B is a schematic diagram of a driving device for rotating or oscillating the injection tube provided by some embodiments of the present disclosure. [Figure 12] FIG. 12 is a schematic diagram of a medical waterjet system configuration provided by some embodiments of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] The technical solutions in the embodiments of the present disclosure are described below clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, but not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative efforts are included in the scope of protection of the present disclosure.

[0029] Unless otherwise defined, all terms (including technical and scientific terms) used in the embodiments of the present disclosure have the same meaning as commonly understood by those skilled in the art to which the present disclosure belongs. It should also be understood that terms defined in ordinary dictionaries should be interpreted to have a meaning consistent with the meaning in the context of the relevant technology, and should not be interpreted in an idealized or highly formalized sense unless expressly described in the embodiments of the present disclosure.

[0030] The words "first", "second" and similar words used in the embodiments of the present disclosure do not denote any order, quantity, or importance, but are used only to distinguish different components. Similar words such as "one", "an", or "the" do not denote a quantitative limitation, but denote at least one. Similarly, similar words such as "comprise" or "contain" mean that the element or thing appearing before the word includes the elements or things listed after the word and their equivalents, without excluding other elements or things. Words such as "connected" or "coupled" are not limited to physical or mechanical connections, but can include direct or indirect electrical or communication connections. In the embodiments of the present disclosure, a flow chart is used to illustrate steps of a method according to the embodiments of the present disclosure. It should be understood that the steps before and after do not necessarily have to be performed in order. Rather, various steps can be processed in reverse order or simultaneously, unless expressly limited by the embodiments of the present disclosure. At the same time, other operations can be added to these processes, or one or more steps can be deleted from these processes.

[0031] As the field of medical surgery develops in the direction of minimally invasive and delicate, none of the many methods of liver resection can fully meet the surgical needs of liver resection, effectively control postoperative complications, and improve the 5-year postoperative survival rate. Therefore, it is essential to innovate existing medical technologies.

[0032] The liver is an organ with a very complex structure and rich blood supply, mainly composed of two different types of tissue, one is the soft liver parenchyma and the other is the tough luminal tissue, and the mechanical strength of these two tissues is very different, so that the impact of the jet of the medical water jet instrument will destroy, crush and remove the liver parenchyma, but the luminal tissue will be preserved intact, and thus the medical water jet instrument will achieve the selective separation function. The ideal liver cutting method should include the following characteristics: rapid, no thermal damage, can protect the lumen, can perform fine separation, minimize blood loss, easy to operate with an endoscope, unlikely to cause bile leakage or fluid accumulation, and can be applied to liver cirrhosis, etc.

[0033] When the medical water jet device is operated, the cutting or removal of liver parenchyma and the preservation and exposure of luminal tissue can be completed simultaneously in a cutting zone having a certain width and length. In the cutting zone, a part of the liver parenchyma is removed, for example, to a depth of about 3 mm by the downward impact of the jet of the medical water jet device, and the luminal tissue originally buried therein is directly exposed to the doctor's field of vision, making the doctor's subsequent operation easier. This method does not cause thermal damage to the luminal tissue and parenchymal tissue. Performing the closure and transection operation with the luminal tissue clearly visible can also protect the luminal tissue and reduce the risk of surgery. During this operation, bleeding is minimal, and bile leakage and accumulation of body fluids are unlikely to occur. Compared with other liver cutting methods, it can be seen that medical water jet technology has extremely great potential. However, the disadvantages of the slow speed of the medical water jet device and the difficulty of operating with an endoscope are unacceptable problems for most doctors and need to be solved as soon as possible.

[0034] In response to this, at least one embodiment of the present disclosure provides a medical waterjet device including an outer tube, a jet tube, a nozzle, and a driving device. The jet tube extends through the outer tube and is configured to inject medical liquid. There is a gap between an outer wall of the jet tube and an inner wall of the outer tube. The nozzle is provided at a distal end of the jet tube and configured to eject medical liquid. The driving device is connected to at least a portion of the jet tube and configured to drive the distal end of the jet tube to oscillate back and forth or rotate around a central axis of the outer tube.

[0035] At least one embodiment of the present disclosure further provides a medical waterjet system including the medical waterjet device described above.

[0036] The medical water jet instrument according to the above-mentioned embodiment of the present disclosure automatically drives the movement of the injection tube, such as swinging or rotating, which is limited within the outer tube via a driving device, so that the nozzle of the medical water jet instrument generates a rapid scanning movement, such as a rapid lateral scanning movement, instead of the rapid shaking movement that occurs when a doctor manually operates the medical water jet instrument, thereby realizing automatic scanning of the medical water jet instrument, greatly reducing the difficulty of operation, improving the efficiency of selective separation surgery using a water jet, and improving the selective tissue separation effect and surgical precision.

[0037] Hereinafter, embodiments and examples of the present disclosure will be described in detail with reference to the accompanying drawings.

[0038] For convenience of explanation, the proximal end of the outer tube 110 of the medical waterjet device 100 in FIG. 1 of the embodiment of the present disclosure is the side close to the operator, and the distal end of the outer tube 110 is the side away from the operator. In at least one embodiment of the present disclosure, the side close to the operator is the proximal end or or the proximal end side, and the side away from the operator is the distal end or or the distal end side. Note that the distal end and the proximal end of the embodiment of the present disclosure are both relative positions, for example, they represent opposite sides of some members themselves, or represent opposite sides in a particular direction, i.e., the proximal end of the embodiment of the present disclosure represents one side, and the distal end refers to the side opposite to the proximal end.

[0039] For the sake of clarity and conciseness of this specification, the following description mainly takes liver parenchymal tissue as an example of soft tissue and luminal tissue as an example of elastic tissue, but the embodiments of the present disclosure do not limit the types of applicable soft tissue and elastic tissue, i.e., the present disclosure can also be applied to other biological tissues with similar needs and characteristics, such as parenchymal tissues and luminal tissues (e.g., blood vessels, bile ducts, ureters, bronchi, etc.) corresponding to other human organs (e.g., lungs, kidneys, spleen, etc.), which can be determined according to actual circumstances, and the embodiments of the present disclosure are not limited thereto.

[0040] 1 is a cross-sectional view of a medical waterjet device provided according to some embodiments of the present disclosure, and FIG 2 is an enlarged schematic view of a portion of the medical waterjet device shown in FIG 1 at A.

[0041] For example, as shown in FIG. 1 and FIG. 2, a medical waterjet device 100 provided by at least one embodiment of the present disclosure includes an outer tube 110, a jet tube 120, a nozzle 130, and a driving device 140. The jet tube 120 extends through the outer tube 110 and is configured to inject pressurized medical liquid and circulate the medical liquid, and there is a gap between the outer wall of the jet tube 120 and the inner wall of the outer tube 110. The jet tube 120 may be called an inner tube. The driving device 140 is connected to at least a part of the jet tube 120 and drives the jet tube 120 to reciprocate or rotate around the central axis of the outer tube 110. The nozzle 130 is provided at the distal end of the jet tube 120 and ejects the medical liquid, for example, one or more holes in the nozzle 130 generate a high-pressure jet of the medical liquid, and the jet achieves selective separation of blood vessels and bile ducts in the body, such as the liver parenchyma.

[0042] In some examples, the inner diameter of the outer tube 110 is larger than the outer diameter of the nozzle 120. For example, the inner diameter of the injection tube 120 is about 1.5 mm to 5 mm, the outer diameter of the injection tube 120 is about 2 mm to 6 mm, and the diameter of the hole of the nozzle 130 is about 0.05 mm to 0.15 mm. For example, the flow velocity of the jet of medical liquid injected from the nozzle 130 is 50 m / s to 100 m / s.

[0043] In some instances, to complete the selective separation of the soft and elastic tissues within the entire cutting zone, the high pressure jet emitted by the medical waterjet device 100 needs to sequentially scan the entire area of ​​the cutting zone, for example, in a Z-shaped path, to facilitate the physician's next step of precisely coagulating the blood vessels. For example, the width of the cutting zone is 3mm to 5mm, and the length of the cutting zone is determined by the size of the biological tissue to be selectively separated at that location.

[0044] In some examples, the driver 140 drives the movement of the injection tube 120, thereby driving the movement of the nozzle 130 fixedly disposed at the distal end of the injection tube 120, and the movement of the nozzle 130 coincides with the movement of the distal end of the injection tube 120. For example, the driving of the driver 140 causes the proximal end of the injection tube 120 to oscillate or rotate, and the oscillation or rotation is transmitted to the distal end of the injection tube 120 and the nozzle 130 fixed to the distal end, and the nozzle 130 oscillates or rotates in response, thereby enabling automatic scanning of the high-pressure jet ejected from the hole by the oscillating or rotating nozzle 130.

[0045] The drive unit 140 of the medical waterjet device 100 of FIG. 1 according to an embodiment of the present disclosure may be a hollow shaft motor as shown in FIG. 7, but the embodiment of the present disclosure is not limited thereto and is also intended to represent, for example, specific examples of the drive unit shown in the following FIGS. 8 to 10, i.e., the examples of FIGS. 8 to 10 can also be described in conjunction with the medical waterjet device 100 of FIG. 1.

[0046] In some examples, the nozzle 130 of the medical waterjet device 100 can rapidly scan laterally and slowly move vertically to form a Z-shaped path to completely cover the cutting zone, thereby completely exposing blood vessels in the cutting zone, cutting or removing the liver parenchyma where the high-pressure jet passes, and retaining luminal tissues such as blood vessels and bile ducts associated with the liver parenchyma, effectively completing the selective separation. Therefore, during this process, the path of the high-pressure jet can be decomposed into two different movements, such as a fast reciprocating horizontal scan and a slow linear vertical movement.

[0047] As described above, the medical water jet device 100 in the embodiment of the present disclosure automatically drives the jet tube 120 in the outer tube 110 to oscillate or rotate (e.g., rotate and revolve) via the driving device 140, so that the nozzle 130 in the jet tube 120 can generate high-speed horizontal scanning motion, etc., instead of the high-frequency vibration motion that occurs when the doctor manually operates the medical water jet device 100, so that the doctor only needs to manually complete, for example, a slow vertical linear motion, greatly simplifying the operation and improving the surgical efficiency of selective separation by the medical water jet device 100. Since the linear speed and frequency of the automatic horizontal scanning are controllable, the optimal selective separation effect can be obtained through experimental design during design, and the automatic horizontal scanning also provides good scanning width consistency and smoother side resection margins that are flatter, minimizing damage to the luminal tissue that needs to be reserved, greatly improving the surgical effect and accuracy. The automatic scanning can also avoid damage to luminal tissue caused by the jet of the nozzle 130 of the medical waterjet device 100 staying at a certain position for too long, which can further reduce the amount of bleeding and the probability of related accidents during surgery using the medical waterjet device. Furthermore, since there is no need for manual lateral rocking when using the medical waterjet device, the outer tube 110 does not move laterally relative to the liver within the slit of the resection margin, thereby eliminating the risk of the outer tube 110 colliding with the side wall of the resection margin of the tissue, causing blood vessels to be stretched and damaged. Thus, the embodiment of the present disclosure solves the problem that the conventional endoscopic medical waterjet device is difficult to utilize its advantages to selectively separate tissues, and meets the growing and important clinical needs of the endoscopic medical waterjet device.

[0048] In some embodiments, the proximal end of the injection tube 120 includes a connection portion 122 that is fixedly connected to at least a portion of the drive device 140, and the distal end of the injection tube 120 is not coaxial with the connection portion 122 of the injection tube 120, such that the drive device 140 drives the proximal end of the injection tube 120 to rotate about the central axis of the injection tube 120 and drives the distal end of the injection tube 120 to revolve about the central axis of the outer tube 110.

[0049] For example, at least a portion of the drive unit 140 is fixedly connected to the proximal end of the injection tube 120, and the entire injection tube 120 is curved (see Figures 6A and 6B below for details), whereby the drive unit 400 drives the proximal end of the injection tube 120 to rotate about the central axis of the injection tube 120 and drives the distal end of the injection tube 120 to revolve about the central axis of the outer tube 130.

[0050] As another example, at least a portion of the drive unit 140 is fixedly connected to the proximal end of the injection tube 120, and the distal end of the injection tube 120 is a bent portion such that the distal end has at least two portions that are not coaxial with each other (e.g., the local bend shown in FIG. 2), whereby the drive unit 140 drives the proximal end of the injection tube 120 to rotate about the central axis of the injection tube 120 and drives the distal end of the injection tube 120 to revolve about the central axis of the outer tube 130.

[0051] For example, as shown in FIG. 2, the injection tube 120 moves relatively in the outer tube 110, and the distal end of the injection tube 120 abuts against one side of the inner wall of the outer tube 110, so that when the injection tube 120 is driven to swing or rotate by the driving device 140, the scanning width by the high pressure jet of the nozzle 130 becomes wider, and the demand for the width of the cutting zone in clinical applications can be met. For example, in the example of FIG. 2, the distal end of the injection tube 120 is curved, or in the example of FIG. 6A to FIG. 6B, the entire injection tube 120 is curved, and the nozzle 130 of the injection tube 120 abuts against the inner wall of the outer tube 110. This is merely an example and does not limit the present disclosure.

[0052] 3A and 3B are exploded views of a nozzle travel path of a medical waterjet device according to some embodiments of the present disclosure;

[0053] For example, as shown in FIG. 3A, when the medical waterjet device 100 is in operation, the nozzle 130 is configured to have a Z-shaped 0 Selective isolation of tissues can be achieved by this route. 0 The path is reciprocating motion a 1 or / and linear motion a 2 It may be decomposed into

[0054] In some examples, the reciprocating motion a 1 is a horizontal reciprocating linear motion, and a 1 may be realized by driving the driving device 140. 2 is a vertical linear motion that may be performed manually by a physician. Thus, the inventors have discovered that some current medical waterjet devices have a 0 Compared with the path being completely realized manually by the doctor, the medical water jet device 100 of the embodiment of the present disclosure can automatically realize the reciprocating motion a1, so that the embodiment of the present disclosure can greatly reduce the difficulty of operation, improve the efficiency of operation, and improve the ease of use of the medical water jet device 100, thereby avoiding the problems of poor reproducibility and tedious operation caused by the doctor manually performing rapid swinging and reciprocating motion in the lateral direction, and also avoiding the problem that the medical water jet device cannot achieve accurate and high-speed lateral scanning motion in the endoscope, which has a serious impact on the realization of the selective separation function of the endoscopic water jet.

[0055] For example, as shown in FIG. 3B, when the medical waterjet device 100 is in operation, the nozzle 130 is configured to have a Z-shaped b 0 Selective isolation of tissues can be achieved by the pathway, b 0 The path is reciprocating motion b 1and linear motion b 2 It may be decomposed into

[0056] In some examples, the reciprocating motion b 1 is a lateral circular motion, which may be realized by driving the driving device 140. 2 is a vertical linear motion that may be performed manually by a physician. Thus, the inventors have discovered that some current medical waterjet devices use a b 0 Compared to a path that is completely achieved manually by a doctor, the medical waterjet device 100 of the embodiment of the present disclosure has a reciprocating motion b 1 Since the above can be automatically achieved, the embodiments of the present disclosure greatly reduce the difficulty of operation, improve the efficiency of operation, and improve the ease of use of the medical water jet device 100, thereby avoiding the problems of poor reproducibility and tedious operation caused by the doctor's manual rapid swinging and reciprocating lateral motion, and also avoiding the problem that the medical water jet device cannot achieve accurate and high-speed lateral scanning motion in an endoscope, which seriously affects the realization of the selective separation function of the endoscopic water jet.

[0057] In some cases, the longitudinal linear motion can proceed along the resection margin while keeping a safe distance from the tissue to be selectively separated, which may be planned and controlled manually by the physician. The transverse reciprocating motion may also be called a transverse scanning motion, the purpose of which is to make the resection margin zone wide enough to facilitate subsequent treatment of the blood vessel, and the width of the cutting zone is generated by the transverse scanning motion of the high pressure jet of the nozzle of the medical water jet device, that is, the width of the cutting zone is equal to the transverse distance of the scanning motion. For example, the above transverse and longitudinal directions are relative positions indicating two mutually perpendicular directions, and the details are determined by the position of the tissue to be selectively separated, and will not be repeated here.

[0058] In some examples, the speed of the vertical linear motion is about 1 mm / s, the speed of the horizontal reciprocating motion is about 40 mm / s, and the speed of the horizontal reciprocating motion is about 40 mm / s, which can replace the doctor's high-frequency wrist shake operation, for example, when the doctor's manual shake frequency is about 5 Hz.

[0059] Figure 4A is a diagram illustrating the principle of one-dimensional reciprocating oscillation of the nozzle of the medical waterjet device provided by some embodiments of the present disclosure, Figure 4B is a diagram illustrating the principle of two-dimensional circular oscillation of the nozzle of the medical waterjet device provided by some embodiments of the present disclosure, and Figure 4C is a diagram illustrating the principle of rotation of the nozzle of the medical waterjet device provided by some embodiments of the present disclosure.

[0060] For example, in Figures 4A, 4B and 4C, the outer solid circle is the end face of the outer tube 110, the small solid circle on the left inside the solid circle is the nozzle 130 at the distal end of the injection tube 120, the dashed lines and arrows represent the scanning path and movement direction of the nozzle 130, the small dotted circle on the right inside the solid circle represents the possible positions of the nozzle 130 after movement, and "A" is used to indicate the direction of the nozzle 130 itself, and the inverted "A" indicates that the nozzle 130 has rotated 180° at the corresponding position.

[0061] In some embodiments, the proximal end of the injection tube 120 is configured to be fixed relative to the outer tube 110, and the driver 140 is configured to oscillate the distal end of the injection tube 120 one-dimensionally back and forth along the radial direction of the injection tube 120 relative to the outer tube 110, or oscillate two-dimensionally in a circular manner around the central axis of the outer tube 110. For example, the driver 140 drives the proximal end of the injection tube 120 to oscillate one-dimensionally back and forth or oscillate two-dimensionally in a circular manner, and drives the distal end of the injection tube 120 to oscillate one-dimensionally back and forth or oscillate two-dimensionally in a circular manner. In this manner, the required scanning width of the nozzle 130 is achieved by driving the nozzle 120, which is limited within the outer tube 110, to oscillate.

[0062] In some examples, the nozzle 130 fixed to the injection pipe 120 is one-dimensionally reciprocated along the radial direction of the injection pipe 120 to generate a reciprocating motion a 1 For example, the oscillation of the nozzle 130 along the radial direction of the injection pipe 120 is recorded as one-dimensional oscillation along the lateral direction, and for example, the nozzle 130 performs a reciprocating linear motion along the direction of the dashed line and arrow in FIG. 4A, and the direction of the nozzle 130 itself is not biased.

[0063] In some examples, the nozzle 130 in the injection pipe 120 performs a reciprocating motion b by two-dimensionally oscillating in a circular motion around the central axis of the outer pipe 110 along the radial direction of the injection pipe 120. 1 For example, the nozzle 130 moves in the circumferential direction around the central axis of the outer tube 110 along the direction of the dashed lines and arrows in Fig. 4B, and the direction of the nozzle 130 itself is not biased.

[0064] 4A and 4B, it can be seen that no matter what path the distal end of the injection tube 120 swings, the direction of the nozzle 130 itself does not deviate, that is, the nozzle 130 does not rotate on its axis.

[0065] In some examples, as shown in FIG. 4C, when the injection tube 120 rotates around the central axis of the injection tube 120 (i.e., the injection tube rotates on its own axis), the direction of the nozzle 130 itself is deflected and the distal end of the injection tube 120 revolves around the central axis of the outer tube 110, thereby causing a reciprocating motion b 1 To achieve this.

[0066] According to FIG. 4C, it can be seen that the proximal end of the injection tube 120 rotates around the central axis of the injection tube 120, and the distal end of the nozzle 120 also rotates around the central axis of the outer tube 110 (i.e., the distal end of the injection tube 120 revolves around the central axis of the outer tube 110), the revolution period is the same as the rotation period, and when the injection tube 120 is driven to rotate and revolve, the nozzle 130 moves in conjunction with the movement of the distal end of the injection tube 120.

[0067] In some embodiments of the present disclosure, "rotation" and "revolution" each refer to rotation around an axis (e.g., the revolution axis is the central axis of the outer tube, and the rotation axis is the central axis of the injection tube). "Revolution" is a concept of rotation in contrast to "rotation". For example, the rotation axes of "revolution" and "rotation" may be different (e.g., the central axis of the injection tube 120 and the central axis of the outer tube 110 are not coaxial), and the radial dimensions and orbits formed by revolution and rotation around an axis are different.

[0068] In some embodiments of the present disclosure, the two-dimensional circular oscillation itself is a movement mode in which the entire member moves in a circular motion around an axis, and each point of the member itself is translated rather than rotated, and the two-dimensional circular oscillation is also a term defined to distinguish it from the revolution in the above-mentioned means involving rotation. Note that the meanings and functions of elements or objects in the embodiments of the present disclosure are not limited to their names, and cannot be interpreted in an idealized or highly formalized sense. The specific meanings of revolution, rotation, and two-dimensional circular oscillation in the present disclosure must be understood by a person skilled in the art based on the contents of the entire disclosure, and do not limit the scope of protection of the present disclosure.

[0069] 5A-5C are schematic diagrams of an injection tube oscillating within an outer tube provided by some embodiments of the present disclosure, with FIGS. 5A and 5C being top views along the direction of arrow B in FIG. 4A or FIG. 4B, respectively.

[0070] In some examples, the central axis of the injection tube 120 and the central axis of the outer tube 110 may be coaxial, parallel, or disposed at an angle.

[0071] For example, as shown in FIG. 5A , before the injection tube 120 is driven, the central axis of the injection tube 120 is not parallel to the central axis of the outer tube 110 but is arranged at an angle to the central axis of the outer tube 110, the distal end of the nozzle 120 is configured to abut against an inner wall on one radial side of the outer tube 110, and the proximal end of the injection tube 120 is arranged spaced apart from both radial sides of the outer tube 110.

[0072] For example, in the example of Fig. 5A, the jet tube 120 has a one-dimensional or two-dimensional swing space in the outer tube 110. The solid line in the outer tube 110 in Fig. 5A represents the initial position of the jet tube 120, and the dotted line inside the outer tube 110 in Fig. 5A indicates the possible positions of the jet tube 120 after swinging. In this way, the high-pressure jet of the nozzle 130 fixed at the distal end of the jet tube 120 can realize a wider scanning width and meet the demand of the width of the cutting zone in clinical applications.

[0073] For example, as shown in FIG. 5B, before the nozzle 120 is driven, the central axis of the injection tube 120 is coaxial with the central axis of the outer tube 110, and both the distal end and the proximal end of the injection tube 120 are positioned with a gap from both radial sides of the outer tube 110.

[0074] For example, in the example of FIG. 5B, the jet tube 120 has a one-dimensional or two-dimensional swing space in the outer tube 110. The solid line in the outer tube 110 in FIG. 5B represents the initial position of the jet tube 120, and the dotted line inside the outer tube 110 in FIG. 5B indicates the possible position of the jet tube 120 after swinging. Thus, in the example of FIG. 5B, the scanning width by the high-pressure jet of the nozzle 130 fixed to the distal end of the jet tube 120 is smaller than the scanning width by the high-pressure jet of the nozzle 130 fixed to the distal end of the jet tube 120 in the example of FIG. 5A. Therefore, the example of FIG. 5B can meet the demand of the cutting zone in some clinical applications.

[0075] For example, as shown in FIG. 5C, before the nozzle 120 is actuated, the central axis of the injection tube 120 is parallel to the central axis of the outer tube 110 but is not coaxial with it, and both the distal end and the proximal end of the injection tube 120 abut against the inner wall of the outer tube 110 on the same radial side.

[0076] For example, in the example of Fig. 5C, the jet tube 120 has a one-dimensional or two-dimensional swing space in the outer tube 110. The solid line in the outer tube 110 in Fig. 5C represents the initial position of the jet tube 120, and the dotted line inside the outer tube 110 in Fig. 5C indicates the possible positions of the jet tube 120 after swinging. In this way, the high-pressure jet of the nozzle 130 fixed at the distal end of the jet tube 120 can realize a wider scanning width and meet the demand of the width of the cutting zone in clinical applications.

[0077] Based on the above, at least a portion of the injection tube 120 in an embodiment of the present disclosure can be positioned radially away from one side of the outer tube 110 to provide at least a portion of the space for the injection tube 120 to swing within the outer tube 110, and the size of the gap between the injection tube 120 and the outer tube 110 determines the scanning width achieved by the high-pressure jet of the nozzle 130 fixed to the distal end of the injection tube 120.

[0078] 5A, 5B, and 5C, the driving device 140 may be provided at the proximal end of the injection tube 120, and drives the oscillation of the proximal end of the injection tube 120 to drive the oscillation of the distal end of the injection tube 120, thereby driving the nozzle 130 to oscillate. This is merely an example and does not limit the present disclosure. For example, the oscillation of the distal end of the injection tube 120 can be directly achieved by applying a driving force directly to the distal end of the injection tube 120, and the description thereof will not be repeated here.

[0079] 6A-6B are schematic diagrams of an injection tube that rotates (e.g., revolves and rotates) within an outer tube provided by some embodiments of the present disclosure, with FIGS. 6A-6B each being a top view along the direction of arrow B in FIG. 4C.

[0080] For example, as shown in FIG. 6A and FIG. 6B, the proximal end of the injection tube 120 (for example, the connection part of the injection tube 120 is the proximal end of the injection tube 120 close to the driving device 140) is fixedly connected to at least a part of the driving device 140, and the driving device 140 drives the proximal end of the injection tube 120 to rotate around the central axis of the injection tube 120. The entire injection tube 120 is curved, and a nozzle 130 is provided at the distal end of the injection tube, and the injection tube 120 is realized so that the proximal end of the injection tube 120 rotates around the central axis of the injection tube 120 via the driving device 140, and the distal end of the injection tube 120 revolves around the central axis of the outer tube 110. Therefore, the embodiment of the present disclosure realizes a scanning width by a high-pressure jet of the nozzle 130 by rotating the injection tube 120, and has a wide range of applications and high practical value.

[0081] For example, as shown in Fig. 6A, when the entire injection tube 120 is curved and the distal end 121a of the injection tube 120 abuts against the inner wall of the outer tube 110 on the first side in the radial direction, the proximal end 121b of the injection tube 120 abuts against the inner wall of the outer tube 110 on the other side relative to the first side in the radial direction. Therefore, the injection tube 120 does not have the degree of freedom to swing within the outer tube 110, and is constrained within the outer tube 110 and cannot swing. As shown in Fig. 6A1, the solid line inside the outer tube 110 in Fig. 6A1 represents the initial position of the injection tube 120, and the injection tube 120 cannot realize the lateral scanning motion of the nozzle 130 by swinging.

[0082] For example, as shown in FIG. 6A, the injection tube 120 still has a degree of freedom to rotate within the outer tube 110, and the proximal end of the injection tube 120 is rotated by the driving device 140 to rotate the injection tube 120 on its axis. The injection tube 120 has a curved portion 121, and when the proximal end of the injection tube 120 rotates on its axis, the curved portion 121 of the injection tube 120 is oscillated to form a ring-shaped movement locus around the central axis of the outer tube 110. Therefore, the distal end 121a of the injection tube 120 can revolve around the central axis of the outer tube 110. For example, as shown in FIG. 6A, the dotted line in the outer tube 110 indicates a position where the injection tube 120 can appear after rotation.

[0083] For example, as shown in FIG. 6B, the distal end 121a of the injection tube 120 abuts against the inner wall of a first radial side of the outer tube 110, and there is a gap between the proximal end 121a of the curved portion 121 and the inner wall of the other side relative to the first radial side of the outer tube 110.

[0084] For example, as shown in Fig. 6B, the ejection tube 120 has a degree of freedom to rotate within the outer tube 110, and the proximal end of the ejection tube 120 is rotated by the driving device 140 to rotate the ejection tube 120 on its axis. The ejection tube 120 has a curved portion 121, and when the proximal end of the ejection tube 120 rotates on its axis, the curved portion 121 of the ejection tube 120 is oscillated so as to form a ring-shaped movement locus around the central axis of the outer tube 110. Therefore, the distal end 121a of the ejection tube 120 can revolve around the central axis of the outer tube 110. For example, the dotted line in the outer tube 110 in Fig. 6B indicates a position where the ejection tube 120 can appear after rotation.

[0085] For example, as shown in Figures 6A and 6B, the injection tube 120 shown in Figure 6A has a greater curvature than the injection tube 120 shown in Figure 6B.

[0086] Therefore, the embodiment of the present disclosure realizes the revolution of the distal end of the injection tube 120 by driving the proximal end of the injection tube 120 to rotate about its own axis, thereby achieving the required scanning width of the nozzle 130. The distal end of the injection tube 120 abuts against the inner wall on one side in the radial direction of the outer tube 110, and thus the high-pressure jet of the nozzle 130 fixed to the distal end of the injection tube 120 can realize a wider scanning width and meet the demand for the width of the cutting zone in clinical applications.

[0087] It should be noted that in the example of FIG. 6B, the injection tube 120 still has a certain swing space within the outer tube 110, therefore, when the width of the cutting zone is narrow, the required scanning width of the nozzle can be achieved by swinging in the example of FIG. 6B; however, when the width of the cutting zone is widened, the expected effect may not be achieved due to the limited swing range of the injection tube shown in the example of FIG. 6B, so it is better to use a rotating method to achieve the required scanning width.

[0088] In some examples, the distal end of the injection tube 120 is configured as a bend such that the distal end has at least two portions that are not coaxial with each other. For example, in the example of FIG. 2, the distal end of the injection tube 200 is bent such that at least its distal end (i.e., the left end of the distal end) and its proximal end (i.e., the right end of the distal end) are not coaxial with each other. For example, the bend in the example of FIG. 2 has three non-coaxial portions. This is merely an example and is not intended to limit the present disclosure.

[0089] In some examples, the distal end of the injection tube 130 refers to a portion of the injection tube 130 having a length on the side away from the operator, and the nozzle 130 being fixed to the distal end of the injection tube 120 means that the nozzle 130 is fixed to the distal side of the distal end of the injection tube 120, and the nozzle 130 is fixed to a distal end that is not coaxial with the connection part of the injection tube 120. This allows the nozzle 100 to rotate and revolve. For example, in the example of FIG. 2, the distal end of the injection tube 120 may abut against an inner wall on a first side in the radial direction of the outer tube 110, and the proximal end of the injection tube 120 may be disposed apart from an inner wall on the other side of the outer tube 110 relative to the first side in the radial direction.

[0090] It should be noted that in some examples, the bends or bends described above may be straight or curved bends, and may be smooth or uneven bends, as long as the axes of the different portions do not lie on a single straight line, which is not a limitation of the embodiments of the present disclosure and will not be repeated here.

[0091] In some examples, the reasons for the formation of the position and shape of the injection tube 120 in the outer tube 110 in the example of Fig. 6A are as follows: The ideal processing state of the outer tube 110 and the injection tube 120 is a straight tube and has good cylindricity, in which case, as mentioned above, the injection tube 120 can oscillate in the outer tube 110, which will not be described again here. In addition, in some specific cases, such as an endoscopic device, the length of the outer tube 110 and the injection tube 120 needs to be longer, for example, the length of the injection tube 120 needs to reach about 400 mm, and the outer tube 110 with a large diameter can basically maintain good cylindricity, but the injection tube 120 with a small diameter and thin wall is easy to bend to a certain extent when the length reaches 400 mm, similar to the state of Fig. 6A and Fig. 6B.

[0092] Therefore, in the embodiment of the present disclosure, compared with the method of achieving the scanning width required by the nozzle 130 by rotating the injection tube 120 and the method of achieving the scanning width required by the nozzle 130 by swinging the injection tube 120, the scanning width that can be achieved by the former is not affected by the bending of the injection tube 120 and allows the injection tube 120 to bend to a certain extent, the processing technical requirements for the injection tube 120 and the outer tube 110 are lowered, it has a wider range of applications, and has higher practical value.

[0093] In addition, as long as the distal side of the injection tube 120 has a bent portion, the embodiments of the present disclosure shown in Figures 5A, 5B, and 5C can rotate the injection tube 120 to achieve the required scanning width for the nozzle 130, and details can be found in the examples of Figures 6A and 6B, which will not be repeated here.

[0094] 7 to 9 are schematic diagrams of a drive device for rotating an injection tube provided by some embodiments of the present disclosure. Fig. 7 is a cross-sectional view of an internal drive device including a hollow shaft motor, Fig. 8 is a cross-sectional view of an internal drive device including a micromotor, and Fig. 9 is a front view of an external drive device including a drive motor. Fig. 10 is a cross-sectional view of a drive device for oscillating an injection tube provided by some embodiments of the present disclosure.

[0095] For example, as shown in Figures 1, 7, 8, 9 and 10, the medical waterjet device 100 further includes a carrier 150 (e.g., handle 150a below), which is fitted onto the outside of the proximal end of the outer tube 110 and fixedly connected to the proximal end of the outer tube 110. In this way, the medical waterjet device 100 can be conveniently operated, and the assembly of the medical waterjet device 100 is also easily installed.

[0096] In some examples, the carrier 150 includes a handle 150a, and the handle 150a is fixedly connected to the driving device 140, and the handle 150a is configured to be driven by an external driving source to move along the central axis of the outer tube 110, so that the distal end of the jet tube 120 moves along the central axis of the outer tube 110 and forms a Z-shaped scanning path. For example, the external driving source may be manually operated by a doctor to complete a vertical linear motion, which is merely an example and does not limit the present disclosure. For example, the handle 150a may also be driven by an automatic driver, which will not be described repeatedly here. In this way, the nozzle of the medical water jet device according to the embodiment of the present disclosure forms a Z-shaped path and completely covers the cutting zone, thereby completely exposing the blood vessels in the cutting zone, cutting or removing the liver parenchyma at the position where the high-pressure jet passes, and retaining luminal tissues such as blood vessels and bile ducts associated with the liver parenchyma, and effectively completing selective separation.

[0097] In some examples, the driver 140 may be realized by a motor type driver driven by electric energy or may be driven by other forms of power sources. The driver 140 may be disposed within the housing of the handle 150a or may be disposed outside the housing of the handle 150a. For example, the driver 140 may be disposed outside the housing of the handle 150a and disposed within a host system (see host system 600 described below).

[0098] In some examples, the drive unit 140 includes a drive motor, the handle 150a includes a housing, and the drive motor is disposed inside or outside the housing of the handle 150a. The drive motor is connected to the connection portion 122 of the jet tube 120 and drives the proximal end of the jet tube 120 to rotate. Thus, embodiments of the present disclosure use electrical energy to drive the movement of the jet tube, facilitating surgical procedures, and providing easy assembly and controllability of the medical waterjet device.

[0099] 7, the drive motor of the drive device 140 includes a first motor 141, the first motor 141 is disposed in a housing of the handle 150a, the drive device 140 further includes a driver connection cable 142, the first motor 141 obtains electric energy and a control signal via the driver connection cable 142, for example, the first motor 141 is connected to at least a part of a host system (see host system 600 described later) via the driver connection cable 142 to obtain electric energy and a control signal. The first motor 141 is fitted to the outside of the connection part 122 of the ejection tube 120, fixed coaxially with the ejection tube 120, and drives the proximal end 121b of the ejection tube 120 to rotate on its own axis.

[0100] 7, the first motor 141 is a hollow shaft motor, and the inner bore of the hollow shaft motor is tightly fitted with the outer diameter of the injection tube 120, thus the hollow shaft motor and the injection tube 120 are fixed coaxially, realizing a reliable structure with a simple layout. For example, when the first motor 141 receives a control signal and starts to rotate, it drives the proximal end of the injection tube 120 to rotate, so that the high-pressure jet of the nozzle 130 at the distal end of the injection tube 120 makes a reciprocating scanning motion.

[0101] 8, the drive motor of the drive device 140 includes a second motor 144, the drive device 140 further includes a first connecting member 143, and the second motor 144 and the first connecting member 143 are provided in a housing of the handle 150a. The first connecting member 143 is fixedly connected to the proximal end of the ejection tube 120, and the second motor 144 is connected to the first connecting member 133 and configured to drive the first connecting member 143 to rotate and drive the proximal end of the ejection tube 120 to rotate on its own axis.

[0102] For example, the second motor 144 is a micromotor, which refers to a motor with a diameter of less than 160 mm or a rated power of less than 750 mW. Thus, the embodiments of the present disclosure use a micromotor to rotate the jet tube 120, which has a smaller volume and weight, making it easier for users to control and less fatigue when using the medical waterjet device.

[0103] In some examples, the first connecting member 143 includes at least one of a gear, a pulley, and a link. In this manner, the first connecting member 143 is connected to the proximal end of the ejection tube 120, and the ejection tube 120 is rotated by the micromotor, causing the jet of the nozzle 130 at the distal end of the ejection tube 120 to perform a reciprocating scanning motion. This is merely an example, and as long as it can be closely fitted to the ejection tube 120 and connected to the micromotor, it does not limit the present disclosure, and therefore will not be described again here.

[0104] For example, as shown in FIG. 8 , the first connecting member 143 includes a first gear 143a and a second gear 143b, the first gear 143a meshes with the second gear 143b, the first gear 143a is fixedly connected to the connection portion 122 of the injection pipe, and the second gear 143b is connected to the second motor 144.

[0105] For example, as shown in Figures 1, 7, 8 and 9, the medical waterjet device 100 further includes a liquid supply connection tube 170, for example, the liquid supply connection tube 170 being a high pressure hose. One end of the liquid supply connection tube 170 is connected to the proximal end of the jet tube 120, and the other end of the liquid supply connection tube 170 is configured to be connected to an output end of a pressure pump (see pressure pump 300 shown in Figure 12 below). Thus, the pressure pump causes the medical liquid to flow from the liquid supply connection tube 170, pass through the jet tube 120, and be sprayed from the hole of the nozzle 130.

[0106] For example, as shown in FIG. 9, the driving motor 145 of the driving device 140 is disposed outside the housing of the handle 150a, that is, the driving motor 145 may be referred to as an external motor. The driving motor 145 is fixedly connected to the liquid supply connecting tube 170 and configured to rotate the liquid supply connecting tube 170 to rotate the proximal end of the jet tube 120. Thus, in the embodiment of the present disclosure, the external motor is used to rotate the jet tube 120, and the handle 150a of the medical water jet device 100 is small, lightweight, and easy to operate, and also reduces transmission and vibration within the handle 150a, the handle assembly is in a non-charged state, the external motor can be installed in a host system (see host system 600 below) for repeated use, and the cost of consumables can be reduced, for example, the connection wire from the host system (see host system 600 below) to the handle 150a can be omitted.

[0107] In some examples, the liquid supply connection tube 170 uses a metal braided tube, and the axial torsional rigidity of the liquid supply connection tube 170 can be used to transmit torque. In this manner, the liquid supply connection tube 170 is driven via the drive motor 145 to move the proximal end of the jet tube 120, thereby causing the jet of the nozzle 130 at the distal end of the jet tube 120 to perform a reciprocating scanning motion.

[0108] For example, as shown in FIGS. 1, 7, 8 and 9, the liquid supply connection tube 170 is connected to the proximal end of the injection tube 120 via a high pressure adapter 190.

[0109] 10, the driving device 140 includes an electromagnetic ring 146 and a magnetic pole 147, the electromagnetic ring 146 is provided in a housing of the handle 150a, the magnetic pole 147 is fixed to the proximal end of the injection tube 120, there is a gap between the magnetic pole 147 and the electromagnetic ring 146, when an alternating magnetic field is generated by passing a current through the electromagnetic ring 146, the electromagnetic ring 146 generates magnetism in sequence along the circumferential direction, the magnetic pole 147 is displaced from the center by the magnetic force, and moves circularly according to the magnetic field. The movement of the magnetic pole 147 drives the distal end of the injection tube 120 to oscillate in a circular motion, that is, the distal end of the injection tube 120 is oscillated two-dimensionally, moving the nozzle 130 fixed to the distal end of the injection tube 120, and finally the jet ejected from the nozzle 130 performs a reciprocating scanning motion. In this manner, in the example of FIG. 10, by using a drive device including an electromagnetic ring and magnetic poles, transmission between the drive motor and the injection tube is eliminated compared to a drive motor, and the assembly complexity of the drive device is reduced.

[0110] 11A-11B are schematic diagrams of a driving device for rotating or swinging an ejection tube provided by some embodiments of the present disclosure.

[0111] In some examples, as shown in Figures 11A and 11B, the drive device 140 includes a drive motor 101 having an output shaft aligned with the central axis of the outer tube 110, an eccentric structure 102 fitted to the output shaft of the third motor 101, and a second connecting member 103 having one end connected to the eccentric structure 102 and the other end fitted to the outside of the connection portion of the injection tube 120 and loosely fitted therein, so that the drive motor 101 drives the movement of the eccentric structure 120 by rotating the output shaft, for example, rotating it around the central axis of the outer tube 110.

[0112] For example, the second connecting member 103 is a link, the eccentric structure 102 is tightly fitted to the output shaft of the driving motor 101, and the link is tightly fitted to the eccentric structure 102. For example, the driving motor 101 is a micromotor, which refers to a motor with a diameter of less than 160 mm or a rated power of less than 750 mW. For example, the driving motor 101, the eccentric structure 102, and the second connecting member 103 are provided in a housing of a handle (carrier), and the handle is fitted to the outside of the connecting part of the outer tube 130 and fixedly connected to the connecting part of the outer tube 130.

[0113] For example, as shown in Fig. 11B, the medical water jet device 100 may include a liquid supply connection tube 170. For details, please refer to the above description, and the description will not be repeated here.

[0114] As shown in Fig. 11A and Fig. 11B, the handle further includes two fulcrum members 104 respectively provided on both sides of the second connecting member 103, and the two fulcrum members 104 are also provided in the corresponding housing of the handle. Thus, the driving motor 101 is configured to drive the eccentric structure 102 to move, and move the second connecting member 103, so that the second connecting member 103 is partially in contact with the fulcrum member 104, i.e., the fulcrum member 104 restricts the second connecting member 103, and thus restricts the circumferential motion of the proximal end of the jet tube caused by the rotation of the second connecting member 103. This drives the two-dimensional circular oscillation of the proximal end of the jet tube, and the two-dimensional circular oscillation of the distal end of the jet tube, i.e., each point of the distal end of the jet tube is translated without rotating. This reduces the sealing requirement between the jet tube 120 and the liquid supply connecting tube 170, and simplifies the structure.

[0115] Thus, the embodiments of the present disclosure use a micromotor to circularly oscillate the jet tube 120 in two dimensions, which has a smaller volume and weight, making it easier for the operator to control and less fatigued when using the medical waterjet device.

[0116] FIG. 12 is a schematic diagram of a medical waterjet system configuration provided by some embodiments of the present disclosure.

[0117] For example, as shown in Fig. 12, the medical waterjet system includes a medical waterjet device 100 and a host system 600, and the host system 600 includes a liquid supply unit 200 and a pressure pump 300. The liquid supply unit 200 is used to supply medical liquid. The medical waterjet device 100 of the medical waterjet system may be any one of the above examples of the medical waterjet device 100, and the technical effects of the medical waterjet system can be referred to the above description of the medical waterjet device 100, which will not be repeated here.

[0118] In some examples, a pressure pump 300 is used to apply pressure to the medical liquid, and the injection tube 120 has a space for the medical liquid to flow through, and under the pressure of the pressure pump 300, the medical liquid can be injected into the injection tube 120, and the medical liquid flows through the internal cavity of the injection tube 120 and is injected from the hole of the nozzle 130.

[0119] For example, the medical waterjet device 100 is a disposable surgical instrument operated by a physician with one hand, and the waterjet formed by the holes in the nozzle 130 of the medical waterjet device 100 can efficiently complete the selective separation of soft and elastic tissues.

[0120] In some examples, the liquid supply unit 200 includes a saline bag, and the medical liquid includes saline, which is merely an example and does not limit the present disclosure, and may be other suitable liquid supply units, such as a liquid tank, according to actual circumstances, which will not be described again here.

[0121] For example, in the example of FIG. 12, the medical water jet system further includes a waste water tank 400 and a negative pressure suction machine 500. The gap space between the outer wall of the jet tube 120 and the inner wall of the outer tube 110 can be used as a suction passage, and the waste water tank 400 communicates with the outer tube 110, and the negative pressure suction machine 500 is connected to the waste water tank 400 to provide a negative pressure that can realize the suction function, thereby suctioning, discharging and collecting waste liquid and tissue debris without affecting the selective separation effect of the medical water jet device. In addition, since there is no need to vibrate the outer tube 110 laterally, the outer tube 110 can be positioned in the resection edge slit in the horizontal and depth directions to facilitate negative pressure suction, which improves the suction effect in the slit and is obviously helpful to improve the exposure depth and work efficiency of the selective separation of the medical water jet device.

[0122] In some examples, the medical waterjet device 100 further includes a suction connection tube 180. The suction connection tube 180 communicates with a proximal end of the outer tube 110, and the waste water tank 400 communicates with the outer tube 110 via the suction connection tube 180. For example, the medical waterjet device 100 may further include a suction adapter 160 that communicates between the suction connection tube 180 and the outer tube 110.

[0123] For example, the pressure pump 300 is a high-pressure pump with an operating pressure of 1 to 10 MPa, but this is merely an example and is not intended to limit the present disclosure.

[0124] In some examples, the host system 600 further includes a host section including a control unit and a power unit, which is connected to the pressure pump 200 and is used to control and drive the pressure pump 300, e.g., to adjust the rotation speed. In some other embodiments, the pressure pump 300 itself includes a power unit, or the control unit and power unit are integrated into the pressure pump 300.

[0125] The following describes the operation method of the above medical waterjet system provided by some embodiments of the present disclosure. The operation method includes the following steps: the liquid supply unit 200 supplies medical liquid to the pressure pump 300, and the pressure pump 300 pressurizes the medical liquid to a working pressure under the action of the control unit and the power unit, supplies the medical liquid to the handle 150a through the liquid supply connection tube 170, and the liquid passes through the jet tube 120 to the nozzle 130, and is ejected from the hole of the nozzle 110 as a high-speed jet, which is used to selectively separate soft tissues and elastic tissues in the body, for example, to selectively separate liver parenchyma and luminal tissue.

[0126] The following points need to be explained: (1) The drawings of the embodiments of the present disclosure only include structures related to the embodiments of the present disclosure, and common designs may be referenced for other structures. (2) The embodiments and features of the embodiments of the present disclosure may be combined with each other to obtain new embodiments, provided there is no contradiction.

[0127] The above are only specific embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto, and should be subject to the scope of protection of the claims.

Claims

1. An outer tube, an injection tube extending through the outer tube and configured to inject a medical fluid, the injection tube having a gap between its outer wall and an inner wall of the outer tube; a nozzle provided at a distal end of the injection tube and configured to eject the medical liquid; a drive device connected to at least a portion of the ejection tube and configured to drive the distal end of the ejection tube to oscillate back and forth or to revolve around a central axis of the outer tube.

2. 2. The medical water jet device of claim 1, wherein the proximal end of the jet tube includes a connection portion fixedly connected to at least a portion of the drive device, and the distal end of the jet tube is not coaxial with the connection portion of the jet tube, whereby the drive device drives the proximal end of the jet tube to rotate about a central axis of the jet tube and drives the distal end of the jet tube to revolve about a central axis of the outer tube.

3. 3. The medical waterjet instrument of claim 2, wherein the injection tube is generally curved such that the distal end and the connecting portion are not coaxial.

4. 3. The medical waterjet instrument of claim 2, wherein the distal end of the injection tube is configured as a bend, whereby the distal end has at least two portions that are not coaxial with each other and the distal end is not coaxial with the connection portion.

5. 5. The medical water jet device according to claim 3 or 4, wherein when the distal end of the ejection tube abuts against an inner wall of a first side in the radial direction of the outer tube, the proximal end of the ejection tube abuts against an inner wall of the other side of the outer tube relative to the first side in the radial direction.

6. 5. The medical water jet device according to claim 3 or 4, wherein when the distal end of the ejection tube abuts against an inner wall of a first side in the radial direction of the outer tube, the proximal end of the ejection tube is positioned away from an inner wall on the other side of the outer tube relative to the first side in the radial direction.

7. 2. The medical water jet device of claim 1, wherein the proximal end of the ejection tube is configured to be fixed relative to the outer tube, and the drive device is configured to oscillate the distal end of the ejection tube back and forth one-dimensionally along a radial direction of the ejection tube relative to the outer tube, or oscillate the distal end of the ejection tube two-dimensionally in a circular motion around a central axis of the outer tube.

8. 5. The medical waterjet instrument of claim 3 or 4, further comprising a carrier fitted over the outside of and fixedly connected to the proximal end of the outer tube.

9. 9. The medical waterjet instrument of claim 8, wherein the carrier includes a handle, the handle being fixedly connected to the drive device, and the handle being configured to be driven by an external drive source to move along a central axis of the outer tube such that the distal end of the ejection tube moves along a central axis of the outer tube.

10. 10. The medical waterjet instrument of claim 9, wherein the drive device includes a drive motor connected to the connection portion of the ejection tube for driving the proximal end of the ejection tube to rotate.

11. 11. The medical waterjet instrument of claim 10, wherein the handle includes a housing, the drive motor includes a first motor, the first motor is disposed within the housing, the drive device further includes a driver connection cable, the first motor is configured to receive electrical energy and control signals via the driver connection cable, and the first motor is fitted to the outside of a connection portion of the ejection tube and fixed coaxially with the ejection tube, thereby driving the proximal end of the ejection tube to rotate.

12. the handle includes a housing, the drive motor includes a second motor, the drive further includes a first connecting member, the second motor and the first connecting member are disposed within the housing; 11. The medical water jet device of claim 10, wherein the first connecting member includes a first gear and a second gear, the first gear and the second gear mesh with each other, the first gear is fixedly connected to the connection portion of the ejection tube, and the second gear is connected to the second motor, and the second motor is configured to rotate the second gear to rotate the first gear and rotate the proximal end of the ejection tube.

13. 11. The medical waterjet machine of claim 10, further comprising a liquid supply connection tube, one end of the liquid supply connection tube being connected to a proximal end of the jet tube and the other end of the liquid supply connection tube being connected to an output end of a pressure pump, configured to inject the medical liquid.

14. 14. The medical waterjet instrument of claim 13, wherein the handle includes a housing, the drive motor is external to the housing, the drive motor is fixedly connected to the liquid supply connection tube and configured to rotationally drive the liquid supply connection tube to rotate the proximal end of the jet tube.

15. a carrier, the carrier including a handle, the handle including a housing, the housing fitted over and fixedly connected to the proximal end of the outer tube; The medical water jet device of claim 7, wherein the driving device includes an electromagnetic ring and a magnetic pole, the electromagnetic ring is provided within the housing of the handle, the magnetic pole is fixedly positioned at the connection portion of the ejection tube, there is a gap between the magnetic pole and the electromagnetic ring, and the electromagnetic ring is configured to generate magnetism in sequence along a circumferential direction when current is passed through it, attracting the magnetic pole to cause it to move in a circular motion, and to two-dimensionally circularly oscillating the distal end of the ejection tube.

16. 2. The medical water jet device of claim 1, further comprising a carrier, the driving device including a third motor, an eccentric structure, and a second connecting member, the carrier including two fulcrum members respectively arranged on either side of the second connecting member, the third motor including an output shaft aligned along a central axis of the outer tube, the eccentric structure being fitted onto the output shaft of the third motor, one end of the second connecting member being connected to the eccentric structure, and the other end of the second connecting member being fitted onto the outside of the connecting portion of the jet tube and having a clearance fit, the third motor being configured to rotate the eccentric structure around the central axis of the outer tube by rotating the output shaft, thereby driving the movement of the second connecting member, the second connecting member being contacted with one of the two fulcrum members one by one in sequence to regulate the circular motion of the connecting portion by the second connecting member, thereby realizing the distal end of the jet tube to two-dimensionally circularly oscillate around the central axis of the outer tube.

17. A medical water jet device according to any one of claims 1 to 16, a liquid supply unit configured to supply the medical liquid; a pressure pump configured to apply pressure to the medical liquid to inject the medical liquid into the injection tube.

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