Lacan managed to combine the circular reasoning of Freudian psychoanalysis with the non-sequiturs of French post-structuralism to create, well, I’m not really sure. I doubt many other people are either.
In the video he mentions love, Freud, sex and psychosis, and that’s probably the nearest you’re going to get to understanding what he’s talking about.
But who cares? Just look at the man in action! He’s a legend!
Link to a video of Jacques Lacan in full effect.