Here is a very very simple explanation. Blood plasma (the fluid part of blood) with it's load of oxygen, nutrients & etc. for the tissue cells leaks out of the walls of the tiniest blood vessels bathing every cell in the body. Once in the tissues blood plasma is renamed tissue fluid (aka interstitial fluid). This process is a continuous flow into the tissues thus an equal amount of tissue fluid has to be returned to the blood to maintain stable blood volume and prevent swelling. Part of the return flow of tissue fluid is carbon dioxide, salts, fat, proteins, cellular waste & infectious agents. Not all of this can or should get back through the blood vessel walls.
Returning tissue fluid containing large & toxic elements then enters lymphatic vessels. This tissue fluid is now lymph. Mostly superficial and ultra small, the lymphatic vessels pump the lymph through numerous lymph nodes with the help of skeletal muscle contraction. Lymph nodes detoxify the lymph making it safe to be returned to the blood. After detoxification the lymph is routed through larger vessels called lymphatic ducts that ultimately dump the lymph into the blood through the subclavian veins (under your collarbones) completing the circuit.
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