US20210298954A1 - Coordinated control of a water jet flow and an aspiration flow - Google Patents

Abstract

A water jet system may be used for performing surgery. The water jet system includes a water jet device to provide a water jet flow to break apart tissue in an enclosed operative site. The water jet system includes an aspiration device to remove material from the enclosed operative site. The water jet system includes a control system with an aspiration pump coupled to the aspiration device and to draw material through the aspiration device. The control system includes an aspiration flow rate meter to measure an aspiration flow rate through the aspiration pump. The control system includes a controller to control operation of the aspiration pump based at least in part on feedback from the aspiration flow meter. The control system is configured to provide a targeted aspiration flow.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS
• This application is a continuation of U.S. patent application Ser. No. 16/257,980 filed Jan. 25, 2019, which is a continuation of U.S. patent application Ser. No. 14/158,548 filed Jan. 17, 2014, which claims the benefit of U.S. Provisional Application No. 61/754,426, filed Jan. 18, 2013, the entire contents of each of which is incorporated herein by reference for all purposes.
BACKGROUNDField
• The field of the present application pertains to medical devices. More particularly, the field of the invention pertains to an apparatus, system, and method for performing surgery.
Description of Related Art
• A cataract is a clouding of the lens in the eye that affects vision. Most cataracts are related to aging. Cataracts are very common in older people. By age 80, more than half of all Americans either have a cataract or have had cataract surgery.
• The lens lies behind the iris and the pupil. It works much like a camera lens. It focuses light onto the retina at the back of the eye, where an image is recorded. The lens also adjusts the eye's focus, letting us see things clearly both up close and far away. The lens is made of mostly water and protein. The protein is arranged in a precise way that keeps the lens clear and lets light pass through it. But as we age, some of the protein may clump together and start to cloud a small area of the lens. This is a cataract. Over time, the cataract may grow larger and cloud more of the lens, making it harder to see.
• Age-related cataracts can affect vision in two ways. First, clumps of protein reduce the sharpness of the image reaching the retina. The lens consists mostly of water and protein. When the protein clumps up, it clouds the lens and reduces the light that reaches the retina. The clouding may become severe enough to cause blurred vision. Most age-related cataracts develop from protein clumping. Second, the clear lens slowly changes to a yellowish/brownish color, adding a brownish tint to vision. As the clear lens slowly colors with age, it may gradually cause vision to have a brownish shade. At first, the amount of tinting may be small and may not cause a vision problem. Over time, increased tinting may make it more difficult to read and perform other routine activities.
• Surgery is the only real treatment for cataracts. Each year, cataract surgeons in the United States perform over three million cataract surgeries. One of the more conventional cataract surgery procedures is called extracapsular cataract extraction (ECCE). Extracapsular cataract extraction involves the removal of almost the entire natural lens while the elastic lens capsule (posterior capsule) is left intact to allow implantation of an intraocular lens. It involves manual expression of the lens through a large (usually 10-12 mm) incision made in the cornea or sclera. Although it requires a larger incision and the use of stitches, the conventional method may be indicated for patients with very hard cataracts or other situations in which phacoemulsification is problematic.
• Modern cataract surgery is usually performed using a microsurgical technique called phacoemulsification, whereby the cataract is emulsified with an ultrasonic handpiece and then suctioned out of the eye. Before phacoemulsification can be performed, one or more incisions are made in the eye to allow the introduction of surgical instruments. The surgeon then removes the anterior face of the capsule that contains the lens inside the eye. A phacoemulsification probe is an ultrasonic handpiece with a titanium or steel needle. The tip of the needle vibrates at ultrasonic frequency to sculpt and emulsify the cataract while a pump aspirates particles through the tip. In some techniques, a second fine steel instrument called a chopper is used from a side port to help with chopping the nucleus into smaller pieces. The cataract is usually broken into two or four pieces and each piece is emulsified and aspirated out with suction. The nucleus emulsification makes it easier to aspirate the particles. After removing all hard central lens nucleus with phacoemulsification, the softer outer lens cortex is removed with suction only. As with other cataract extraction procedures, an intraocular lens implant (IOL), is placed into the remaining lens capsule.
• One possible improvement to phacoemulsification is a cataract surgery performed with lasers. Femtosecond laser cataract surgery is rapidly emerging as a potential technology that may allow for improved precision of incision formation and emulsification of the cataract.
• Although phacoemulsification and laser-based cataract surgery work well for many patients, these technologies have several shortcomings. For example, phacoemulsification ultrasound probes must propagate ultrasound energy along the length of the probe, from a proximal transducer to a distal tip. This propagation may lead to transmission of ultrasound energy along the probe to tissues in and around the eye that do not benefit from the transmission. Ultrasound probes also tend to generate more heat than would be desirable for a procedure in the eye. Finally, it may be quite difficult to steer an ultrasound probe around corners or bends, due to the mechanical requirements of propagating the ultrasound wave along the entire instrument. In other words, the probe may have to be rigid or at least more rigid than would be desirable.
• Probe based lasers have similar drawbacks. They may generate unwanted heat in the eye and are often difficult to control, thus risking damage to important nearby tissues. They also are easily damaged when attempting to navigate tight corners, as fibers in a laser probe may easily break. Femtosecond laser systems are costly to own and operate and have the additional drawback of extending operative time.
• Therefore, it would be advantageous to have a method and device for treating cataracts, and potentially other eye ailments, that included many of the advantages of phacoemulsification and laser procedures without at least some of the drawbacks. Ideally, such a method and device would be relatively simple to manufacture and implement and would work well for performing cataract surgery without harming surrounding eye tissue. Also ideally, the method and/or device would be applicable to one or more other eye conditions.
• Many people worldwide are afflicted by chronic or acute intermittent sinusitis, and it can often be a debilitating disease that affects one's ability to exercise, breathe, fly on airplanes, and the like. Chronic or acute intermittent sinusitis sufferers often experience symptoms such as drainage of a thick, yellow or greenish discharge from the nose or down the back of the throat, nasal obstruction or congestion, causing difficulty breathing through your nose, pain, tenderness and swelling around the eyes, cheeks, nose or forehead, reduced sense of smell and taste, ear pain, aching in the upper jaw and teeth, cough, which may be worse at night, sore throat, bad breath (halitosis), fatigue or irritability and nausea. Several types of surgical procedures have been developed to treat chronic sinusitis, such as functional endoscopic sinus surgery (“FESS”) and balloon sinuplasty. FESS is very invasive, however, and requires a long and painful recovery process. Balloon sinuplasty is less invasive but is not effective in all patients.
• Some existing solutions are discussed in several issued patents and publications. For example, U.S. Pat. No. 7,967,799 teaches a liquefaction handpiece tip. However, the tip requires a standoff or spacer to keep the distal end from directly contacting delicate tissue. In another existing solution, United States publication 2004/0030349 creates pulses of fluid. However, the fluid needs to be heated.
• Therefore, it would be beneficial to have a new method, apparatus, and system for performing surgery for various applications including eye, micro-surgery, and/or other emulsification applications.
SUMMARY OF THE INVENTION
• Embodiments described herein are directed to a method, apparatus, and system for performing surgery for various applications including eye, micro-surgery, and/or other emulsification applications. Specifically, in one embodiment, a water jet apparatus may be used for manually performing eye surgery such as, cataract, or perform micro-surgery (remove cartilage), endoscopic orthopedic surgery, surgery of the ear, or any other procedure requiring removal of tissue in a small, confined space. In other embodiments, a system with robotic control of the water jet apparatus may be used. In these embodiments, the water jet apparatus is coupled to a robotic arm via an instrument drive mechanism.
• In other embodiments, methods and workflows for cataract extraction are discussed to facilitate the use of the previous apparatus and system embodiments. For example, the workflows depicted are efficient and replace typical steps in a common modern cataract extraction flow. For example, the traditional hydro dissection, nuclear fracture, and emulsification steps are replaced with a single water jet emulsification step.
• In another aspect of the present invention, a method of utilizing the water jet apparatus treating a cataract in an eye may involve controlling a cutting jet area of the water jet based at least in part on a flow rate meter utilizing a feedback loop to a pump.
• In another aspect of the present invention, the water jet apparatus utilizes a nozzle that has a jet cutting area and a dispersive area. In one embodiment, the water jet apparatus could be coupled to a system that incorporates a flow rate meter or pressure gauge, pressure vessel or reservoir, and pump. A feedback loop from the flow meter to the pump is controlled by a computer, central processing unit, microcontroller, or any custom application specific integrated circuit (ASIC). In another embodiment, a feedback loop exists at the aspiration pump that is controlled by a computer, central processing unit, microcontroller, or any custom application specific integrated circuit (ASIC). In yet another embodiment, a throttle valve helps to control the flow rate meter based on a feedback loop. All the previous embodiments are discussed in different versions ofFIGS. 3A, B, C, D.
• These and other aspects and embodiments will be described in greater detail below, in reference to the attached drawing figures.
BRIEF DESCRIPTION OF THE DRAWINGS
• FIG. 1 is a perspective view of a water jet apparatus, according to one embodiment of the present invention;
• FIG. 2 is a side-view of a portion of a nozzle of the water jet apparatus depicted inFIG. 1;
• FIGS. 3A, 3B, 3C, 3D, 3E, 3F, and 3G are block diagrams of a water jet system, according to multiple embodiments of the present invention;
• FIG. 4 is a cross section side view of an output of the nozzle with a cutting jet area and dispersive area depicted, according to another embodiment of the present invention;
• FIG. 5 is an instrument drive mechanism to couple the water jet to a robotic system, according to another embodiment of the present invention;
• FIG. 6 is a robotic system to control the water jet apparatus or water jet system, according to another embodiment of the present invention;
• FIGS. 7A, 7B, 7C, 7D, 7E, 7F, and 7G are side, cross-sectional views of a portion of an eye, illustrating a method for using the water jet apparatus to perform cataract surgery, according to one embodiment of the present invention;
• FIG. 8 is a common modern cataract extraction workflow; and
• FIGS. 9, 10, and 11 depict a method for a workflow based at least in part on utilizing the previous examples of a water jet apparatus or water jet system in manual or robotic system control, according to one embodiment of the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
• Although certain preferred embodiments and examples are disclosed below, inventive subject matter extends beyond the specifically disclosed embodiments to other alternative embodiments and/or uses, and to modifications and equivalents thereof. Thus, the scope of the claims appended hereto is not limited by any of the particular embodiments described below. For example, in any method or process disclosed herein, the acts or operations of the method or process may be performed in any suitable sequence and are not necessarily limited to any particular disclosed sequence. Various operations may be described as multiple discrete operations in turn, in a manner that may be helpful in understanding certain embodiments; however, the order of description should not be construed to imply that these operations are order dependent. Additionally, the structures, systems, and/or devices described herein may be embodied as integrated components or as separate components.
• For purposes of comparing various embodiments, certain aspects and advantages of these embodiments are described. Not necessarily all such aspects or advantages are achieved by any particular embodiment. Thus, for example, various embodiments may be carried out in a manner that achieves or optimizes one advantage or group of advantages as taught herein without necessarily achieving other aspects or advantages as may also be taught or suggested herein.
• The embodiments described herein are directed to method, apparatus, and system for performing surgery for various applications including eye, micro-surgery, and/or other emulsification applications. Specifically, in one embodiment, a water jet apparatus may be used for manually performing eye surgery such as, cataract, or perform micro-surgery (remove cartilage), or any emulsification technique. In the case of a cataract in an eye, a water jet apparatus or system may be used to break apart a cataract into multiple, smaller pieces, which may then be suctioned from the eye using the probe or other suction means. Although the method and device are typically described below in the context of treating cataracts, in various alternative embodiments, other eye conditions may be treated.
• In other embodiments, a system with robotic control of the water jet apparatus may be used. In these embodiments, the water jet apparatus is coupled to a robotic arm via an instrument drive mechanism, depicted in connection withFIG. 5. It may be advantageous to incorporate any of the water jet apparatus or water jet system described herein into a robotic surgery/delivery system, such as, the system depicted inFIG. 6. For example, any of the water jet apparatus or water jet systems may be incorporated into the da Vinci® Surgical System, provided by Intuitive Surgical, Inc., or the Magellan™ Robotic System, provided by Hansen Medical, Inc. the RiO, provided by Mako Surgical or Carnegie Mellon's Micron, or John Hopkins University's Steady Hand. Robotic surgical systems such as (but not limited to) these examples may register the water jet apparatus to the target anatomy. Such capability enables both precise and safe movement of the water jet apparatus such that, when enabled, the fluid is focused in the desired jet cutting area and rapidly dispersed outside of that in order to treat the target tissue and spares injury to surrounding tissue. A number of robotic surgery systems are presently known, and others may be developed specifically for use with the water jet probes and methods described herein.
• In other embodiments, methods and workflows for cataract extraction are discussed to facilitate the use of the previous apparatus and system embodiments. For example, the workflows depicted are efficient and replace typical steps in a common modern cataract extraction flow. For example, the common hydro dissection, nuclear fracture, and emulsification steps are replaced with a single water jet emulsification step. The improved workflows are depicted in connection withFIGS. 9-11.
• In another aspect of the present invention, a method of utilizing the water jet apparatus treating a cataract in an eye may involve controlling a cutting jet area of the water jet based at least in part on a flow rate meter utilizing a feedback loop to a pump, as depicted in connection withFIG. 3.
• In another aspect of the present invention, the water jet apparatus utilizes a nozzle that generates a jet cutting area and a dispersive area when pressurized water is passed through it into a fluid filled environment, a preferred embodiment uses saline. In one embodiment, the water jet apparatus could be coupled to a system that incorporates a flow rate meter, pressure vessel, and pump. A feedback loop from the flow meter to the pump is controlled by a computer or central processing unit, as depicted in connection withFIG. 3A.
• Referring toFIGS. 1 and 2, one embodiment of awater jet apparatus102 includes a tip with anozzle106 at a distal end and an instrumentdrive coupling mechanism103 at a proximal end. Thenozzle106 is depicted in further detail inFIG. 2. In one embodiment, the instrumentdrive coupling mechanism103 facilitates coupling to an instrument drive mechanism as depicted in connection withFIG. 5. For this embodiment, the apparatus may be controlled by a robotic system as depicted in connection withFIG. 6 or the previous embodiments depicted in connection with da Vinci® Surgical System, provided by Intuitive Surgical, Inc., or the Magellan™ Robotic System, provided by Hansen Medical, Inc., or Carnegie Mellon's Micron, or John Hopkins University's Steady Hand.
• However, in another embodiment, thewater jet apparatus102 would not have an instrumentdrive coupling mechanism103 and would be used in a manual and may have a different configuration at the proximal end.
• In one embodiment, the water jet apparatus would consist of theprobe102. In another embodiment, the water jet apparatus could be configured to include or support the other block diagrams depicted in connection withFIGS. 3A, B, C, and D.
• Referring toFIG. 2, a side-view a portion of anozzle106 of the water jet apparatus is depicted. In one embodiment, thenozzle106 is a sapphire orifice manufactured by Swiss Jewel Company. In this embodiment, thenozzle106 may have a plurality of different diameter measurements, thickness, angle, and Vee depth as depicted in the table in connection withFIG. 2. However, the claimed subject matter is not limited to neither the different measurements depicted nor configurations implied by the illustration. For instance, one skilled in the art appreciates utilizing different measurements or configurations as needed for the particular application or other factors, such as, jet cutting area, dispersive area, pressure levels, exiting location or nozzle orientation.
• However, the claimed subject matter is not limited to a sapphire orifice nozzle. One skilled in the art appreciates utilizing not only different nozzle configurations, but also different nozzle material, such as, but not limited to, diamond or stainless steel.
• Referring toFIG. 3A, a block diagram of awater jet system300 is depicted. As discussed earlier, thewater jet apparatus102 ofFIG. 1 may incorporate or be coupled to block diagrams depicted in connection withFIGS. 3A, B, C, and D, such as, a pump, pressure vessel, throttle valve, aspiration pump, and flow rate meter.
• In one embodiment for a robotic control system, thewater jet apparatus102 is controlled by a robotic system, because the water jet apparatus is coupled to an instrument drive mechanism. For this embodiment, the other blocks depicted, such as, flow rate meter, computer, feedback loop, pump, and pressure vessel, are coupled to the robotic arm while residing near the robotic arm.
• In another embodiment, thewater jet apparatus102 includes a pressure vessel, and is controlled by a robotic system, because the water jet apparatus is coupled to an instrument drive mechanism. For this embodiment, the other blocks depicted, such as, flow rate meter, personal computer, feedback loop, and pump are coupled to the robotic arm while residing near the robotic arm.
• In yet another embodiment, thewater jet apparatus102 is manually controlled and may be coupled to the other block diagrams via an interface.
• In thiswater jet system300, the fluid enters apump302 and is forwarded to apressure vessel304 via a tube. An output of the pressure vessel is forwarded to theflow rate meter306. In one embodiment, an output of the flow rate meter is controlled by a feedback loop through a computer and a pump. The feedback loop facilitates the output of the flow rate meter based on a desired jet cutting area of an output of thenozzle106 from the water jet apparatus.
• In alternative embodiments,FIG. 3B depicts a throttle valve to help facilitate the flow rate based on a feedback loop. In this embodiment, the throttle valve receives the control signal from either a computer, central processing unit, microcontroller, ASIC, or other control circuitry. In yet another embodiment,FIG. 3C depicts a fluid reservoir coupled to the pump, wherein the feedback loop between the flow rate meter and pump is controlled by a computer, central processing unit, microcontroller, ASIC, or other control circuitry.
• In yet another embodiment,FIG. 3D depicts an aspiration pump that controls removal of material from the operative site. It also has a feedback loop with a flow rate meter that is controlled by a computer, central processing unit, microcontroller, ASIC, or other control circuitry. The aspiration pump may be controlled by the aspiration flow rate meter feedback signal and/or the water jet flow rate meter feedback signal to maintain a desired absolute aspiration flow, or to track the water jet flow in order to maintain the material volume in an enclosed operative space like the interior of the eye. Similarly, in this configuration the water jet flow may be moderated or interrupted automatically, using the throttle valve or pump control, based on the measured aspiration flow. This may be done in the event that the aspiration path is unable to match the desired flow rate due to blockage, pinched tube, or other mechanical failure.
• Referring toFIGS. 3E-3G, multiple embodiments of water jet system configurations are depicted. The configuration ofFIG. 3E depicts a coaxially disposed configuration of a water jet fluid flush with an aspiration on either side. The configuration ofFIG. 3F depicts an adjacently disposed water jet fluid flush and aspiration in a separate tube. In the embodiment ofFIG. 3G, the water jet fluid flush and aspiration are separately disposed.
• Referring toFIG. 4, a fluid output of thenozzle106 is depicted as first a focused cutting jet area and eventually a dispersive area. In one embodiment, the cutting jet area and dispersive area are in afluid medium402, such as, a saline solution. As mentioned in connection withFIGS. 3A, B, C, and D, the feedback loops control the flow of fluid to thewater jet apparatus102. For example, if the jet cutting area needs to be increased, the flow rate meter could request an increase in pressure from the pump. Alternatively, if the jet cutting area needs to be decreased, the flow rate meter could request a decrease in pressure from the pump.
• Referring toFIG. 5, an instrument drive mechanism to couple the water jet to a robotic system is depicted. In one embodiment, the instrumentdrive coupling mechanism103 ofFIG. 1 is used to facilitate coupling to the instrument drive mechanism depicted inFIG. 5. For this embodiment, the apparatus may be controlled by a robotic system as depicted in connection withFIG. 6 or the previous embodiments depicted in connection with da Vinci® Surgical System, provided by Intuitive Surgical, Inc., or the Magellan™ Robotic System, provided by Hansen Medical, Inc., or Carnegie Mellon's Micron, or John Hopkins University's Steady Hand.
• However, the instrument drive mechanism is not limited to this embodiment. One skilled in the art appreciates modifications to facilitate coupling to different robotic arm configurations.
• FIG. 6 is a robotic system to control the water jet apparatus or water jet system. As discussed earlier, the instrument drive mechanism described inFIG. 5 may be used to couple the water jet apparatus or system to facilitate control by this robotic system configuration.
• In this embodiment for a robotic control system, two instrument drivers each of which contains an instrument interface that drives a medical instrument is depicted. However, the claimed subject matter is not limited to this particular robotic system and could support any robotic control system with one or more interfaces and one or more instrument drivers. As previously mentioned, various robotic systems facilitate control of the water jet apparatus within the eye. For example, the robotic systems could utilize known localization techniques, such as, 3D imaging, MRI, CT, Ultrasound, Intra operative (OCT), and the like.
• Turning now toFIGS. 7A-7G, one embodiment of a method for treating a cataract is illustrated. For convenience, only a distal portion of theprobe102 is illustrated in these figures. Also, in various alternative embodiments of the method, thewater jet102 may be either manual or coupled with a robotic surgery system. Thus, the present description may be applied to any delivery method, whether robotic or not. Any suitable imaging system may be incorporated as well, sometimes as part of the robotic system. Three-dimensional imaging is but one example.
• InFIG. 7A, a portion of an eye is shown in cross-section, including a cornea, lens and cataract, with an incision formed in the cornea. The water jet102 (as described above or some alternative embodiment) may be inserted through the incision, as shown inFIG. 7B. Once the cataract is fully broken up or emulsified, as shown inFIG. 7C, the pieces of cataract may be aspirated. Alternatively, a separate aspiration device may be used. Once the cataract is removed, an intraocular lens (IOL) implant may be implanted, typically through the same incision.
• Different instrument configurations for the water jet are depicted inFIG. 7D (bent tube108 with a nozzle106),FIG. 7E depicts a pattern of cuts for a circle configuration, as required for a capsulotomy, with a yaw rotation movement of the water jet. The depiction of a circle is for illustrative purposes only, one schooled in the art will realize that other shapes or patterns can be generated manually or under robotic control as required by the surgical procedure.FIG. 7F depicts an isometric view and a top view of a plurality of shaped tubes, axially translatable to vary articulation angle, and configured to reduce proximal motion of the instrument, while enabling complex distal tip motion.FIG. 7G depicts multiple potentially retractable tip configurations for the water jet apparatus.
• In alternative embodiments, any other suitable type of articulation mechanism may be used to articulate the water jet apparatus. Examples include, but are not limited to, concentric shaped tubes, flexures, pivot joints, cam mechanisms, pull wire enabled bending, slotted tubes and the like.
• FIGS. 9-11 depict a method for a workflow based at least in part on utilizing the previous examples of a water jet apparatus or water jet system in manual or robotic system control, according to one embodiment of the present invention. The figures include descriptive text to facilitate understanding of the different workflow as compared toFIG. 8.
• Elements or components shown with any embodiment herein are exemplary for the specific embodiment and may be used on or in combination with other embodiments disclosed herein. While the invention is susceptible to various modifications and alternative forms, specific examples thereof have been shown in the drawings and are herein described in detail. The invention is not limited, however, to the particular forms or methods disclosed, but to the contrary, covers all modifications, equivalents and alternatives thereof.

Claims (20)

1. A system configured for medical operation, the system comprising:

a water jet apparatus configured to control a water jet flow to break apart tissue in an enclosed operative site; and

a control system comprising:

an aspiration pump configured to provide an aspiration flow to remove material from the enclosed operative site;

an aspiration flow rate meter configured to measure an aspiration flow rate through the aspiration pump; and

a controller configured to control operation of the aspiration pump based at least in part on the aspiration flow rate measured by the aspiration flow rate meter, the control system being configured to control the aspiration flow.

2. The system ofclaim 1, wherein the water jet apparatus includes an instrument drive mechanism that couples the water jet apparatus to a robotic arm.

3. The system ofclaim 2, wherein the control system controls the robotic arm to control a shape or pattern of cuts made by the water jet apparatus.

4. The system ofclaim 1, wherein the control system controls the water jet apparatus to focus fluid to form a jet cutting area and to rapidly disperse the fluid outside of the jet cutting area to form a dispersive area to treat targeted tissue and to spare injury to surrounding tissue.

5. The system ofclaim 1, wherein the control system is configured to follow a predetermined workflow.

6. The system ofclaim 5, wherein the predetermined workflow is for a cataract extraction.

7. The system ofclaim 6, wherein the predetermined workflow replaces a hydro dissection, a nuclear fracture step, and an emulsification step with a single water jet emulsification step.

8. The system ofclaim 1, wherein the water jet apparatus includes a nozzle that generates a jet cutting area and a dispersive area responsive to pressurized fluid being passed through the nozzle into a fluid-filled environment.

9. The system ofclaim 1, wherein the control system further comprises a pressure vessel coupled to the water jet apparatus and configured to provide fluid to form the water jet flow, a water jet pump configured to provide pressure to the pressure vessel to provide the fluid to the water jet apparatus, and a water jet flow rate meter configured to measure a water jet flow rate to the water jet apparatus.

10. The system ofclaim 9, wherein the controller controls the water jet pump based at least in part on a feedback loop from the water jet flow rate meter.

11. The system ofclaim 9, wherein the control system further comprises a throttle valve between the pressure vessel and the water jet apparatus and configured to moderate the water jet flow rate, the control system controlling the throttle valve based at least in part on a feedback loop from the water jet flow rate meter.

12. The system ofclaim 9, wherein the control system is further configured to maintain a targeted material volume in the enclosed operative space by controlling the aspiration flow and the water jet flow.

13. The system ofclaim 1, wherein the control system is further configured to moderate the water jet flow based at least in part on the aspiration flow rate through the aspiration pump.

14. The system ofclaim 13, wherein the control system moderates the water jet flow responsive to the measured aspiration flow rate failing to match a targeted aspiration flow rate.

15. The system ofclaim 1, wherein the water jet apparatus comprises a coaxially disposed configuration of a water jet fluid flush with aspiration on either side of the water jet fluid flush.

16. The system ofclaim 1, wherein the water jet apparatus comprises an adjacently disposed configuration of a water jet fluid flush with aspiration in a tube adjacent to the water jet fluid flush.

17. The system ofclaim 1, wherein the water jet apparatus comprises a separately disposed configuration of a water jet fluid flush with aspiration in a tube separately disposed from the water jet fluid flush.

18. The system ofclaim 1, wherein the water jet apparatus comprises a bent tube with a nozzle at a distal end of the bent tube.

19. A robotic surgery system configured for medical operation, the robotic system comprising:

a robotic arm having a water jet instrument drive mechanism;

a water jet apparatus configured to control a water jet flow to break apart tissue in an enclosed operative site, the water jet apparatus including a water jet instrument drive coupling mechanism coupled to the water jet instrument drive mechanism of the robotic arm;

a robotic control system comprising:

an aspiration pump configured to provide an aspiration flow to remove material from the enclosed operative site;

an aspiration flow rate meter configured to measure an aspiration flow rate through the aspiration pump; and

a controller configured to control operation of the aspiration pump based at least in part on the aspiration flow rate measured by the aspiration flow rate meter and to control the robotic arm to coordinate movement of the water jet apparatus to focus fluid in a desired jet cutting area and to remove material near the desired jet cutting area, the robotic control system being configured to control the aspiration flow.

20. An apparatus configured for medical operation, the apparatus comprising:

an aspiration pump configured to provide an aspiration flow to remove material from an enclosed operative site;

an aspiration flow rate meter configured to measure an aspiration flow rate through the aspiration pump; and

a controller configured to control operation of the aspiration pump based at least in part on the aspiration flow rate measured by the aspiration flow rate meter, the controller configured to control the aspiration flow via the aspiration pump.

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