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CN1897907A - 带有移动控制的超声治疗头 - Google Patents

带有移动控制的超声治疗头 Download PDF

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CN1897907A
CN1897907A CNA2004800390469A CN200480039046A CN1897907A CN 1897907 A CN1897907 A CN 1897907A CN A2004800390469 A CNA2004800390469 A CN A2004800390469A CN 200480039046 A CN200480039046 A CN 200480039046A CN 1897907 A CN1897907 A CN 1897907A
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CN1897907B (zh
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J·U·奎斯特盖德
T·艾特切尔司
G·P·达林顿
C·S·戴斯蕾茨
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Solta Medical Inc
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A—HUMAN NECESSITIES
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    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
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    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N2007/0082—Scanning transducers

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Abstract

公开一种用于HIFU治疗的治疗头。该治疗头具有带一窗的壳体，一能量施放器，用于在壳体里移动能量施放器的装置。该治疗头使用马达和致动器以在壳体里移动能量施放器、通常的超声换能器。在内部或外部提供一控制器，以允许治疗头识别和区别治疗头应该辐射能量至病人的位置。该控制器使用马达和致动器，以便将能量施放器移动至理想的位置。

Description

带有移动控制的超声治疗头
相关申请的交叉参考
本申请要求2003年12月30日提交的临时专利申请第60/534,036号(代理人案卷号021356-001100US)的权益，该申请的全部内容结合在此以供参考。
本申请的主题涉及下列申请：题目为“医疗卫生器材联机脱气机”的第10/750,370号(代理人案卷号02356-00500US)；题目为“医疗过程的关节式臂杆”的第10/751,344号(代理人案卷号02356-00600US)；题目为“一次性的传感器密封”的第10/750,369号(代理人案卷号02356-00700US)；题目为“位置跟踪装置”的第60/533,528号(代理人案卷号021356-00900US)；题目为“用于规划和执行超声治疗的方法”的第60/533,988号(代理人案卷号021356-001000US)；题目为“用于破坏脂肪组织的系统和方法”的第60/533,958号(代理人案卷号021356-001200US)；题目为“成分超声换能器(componentultrasound transducer)”的第60/534,034号(代理人案卷号021356-001300US)；这些申请的全部内容结合在此以供参考。
技术领域
本发明涉及一种手持医疗装置，用来在精确的位置上输送能量进入人体。该装置主要地用于非入侵治疗。
背景技术
在用于治疗目的的高强度聚焦的超声(HIFU)应用中的一个一般问题是，它常常需要将治疗装置在被处理的组织上方保持稳定至足够长的时间。此外，它可能必须以低的稳定的速率扫描治疗波束通过被处理的组织。这些需求对手持治疗装置是一个障碍，因为它对于稳定地手持装置或以可接受的慢速和稳定速率扫描以获得理想的治疗效果常常是困难的。
HIFU治疗可要求超声波束以稳定的速率(例如，5mm/sec+/-1mm/sec)扫描在处理体积上，以获得理想的治疗效果。此外，处理体积必须被扫描，使相邻的处理焦线之间决不超过2mm间隔。在过去已有方案结合一刚性地安装在相对于病人是稳定的某物(例如，地板、墙或床)上的计算机控制的运动装置。这种装置是绝对稳定的，或可以精确的速率和精确的图形而没有任何人为干涉地进行扫描。这种布置具有整个装置的尺寸体积、复杂性和可靠性方面的缺陷。
这样，在用于HIFU施放器的技术领域中有一种需求，即可由使用者容易地操纵，同时仍然提供可靠的和相同的处理。
还有对于HIFU传感器的需求，即能够保持被处理的组织体积的跟踪，从而防止这些同样的体积被重新处理。
还有对于治疗装置的需求，即能够帮助操作者识别准备处理的组织的区域。
发明内容
本发明的一个目的是提供一种可用于HIFU治疗的治疗头，它能够容易地操纵和提供可靠的和相同的处理。
本发明的另一个目的是在准备处理的组织的库内或图形内跟踪组织。
本发明的还有一个目的是提供一种向医生报警与使用本发明的HIFU发生器进行的治疗有关的任何问题或困难。
本发明的至少一些目的是通过一种超声治疗头实现的，该超声治疗头包括一壳体，具有一窗；至少一个能量施放器，悬置在壳体里；以及一用来在壳体里操纵能量施放器的装置，这样，能量施放器辐射能量通过窗。
较佳的是，能量施放器是一超声换能器，然而，大量其它的能量施放器也可使用而与超声换能器结合。
用来操纵能量施放器的装置较佳的是包括用来确定能量施放器在壳体里的位置的装置。
附图说明
图1显示了一治疗头。
图2显示了在带有外部控制元件的关节式臂杆上的治疗头。
图3A-3B显示了在治疗头内的致动器和马达的内部视图。
图4提供了本发明元件的示意图。
具体实施方式
这里描述的是主要用于高强度超声疗法的装置。一治疗头被显示为具有带窗的壳体。该壳体包含一个或多个能量施放器，以及用来在壳体内移动能量施放器的装置。能量施放器这样定位，使辐射的能量穿过窗至病人。
壳体较佳的是足够小，以便用手操作。它可以单独地由医生携带治疗头的负载进行操作，或者也可由一关节式臂杆或其它机械装置支承。壳体可具有朝向病人的窗。该窗可用任何材料制造，只要它对于能量施放器必要地透明。该窗可以结合在壳体里，或它可以是可拆卸的装置。如果窗是可拆卸的装置，然后窗将覆盖进入端口，通过该进入端口可接近壳体的内部零件。该窗也可是一次性的装置、诸如一次性的传感器密封。
在壳体里有至少一个能量施放器。较佳的是，该能量施放器是一超声换能器。更佳的是，该超声换能器是高强度聚焦的超声换能器。然而，该换能器可是成分或组合换能器组件(component transducer assembly)，或结合多个能量施放器的装置，其中部分可以不是超声换能器。
在壳体里有用来操纵能量施放器的装置。用来操纵能量施放器的装置需要两部件。第一部件是一个或多个施放器。能量施放器附连在致动器。这种附连可是可滑动的接合、转动接合或通过一系列移动杆。致动器由一力生成装置、诸如电动机或其等价物驱动。电动机较佳的是它们的小尺寸和可靠性。一个或多个位置检测装置、诸如转动或光学编码器安装在马达组件或致动器里，由此可知能量施放器在壳体里的移动。此外，能量施放器还可包含一微型位置装置(例如，袖珍GPS系统)，这样，外部探测器可识别以确定能量施放器在壳体里的位置。
操纵装置的第二部件是驱动器或控制器。驱动器或控制器引导马达的移动，以及致动器的移动和能量施放器的操纵。控制器可是医疗器械、计算机或专门的医疗疗法控制器。控制器可定位在壳体里，或者它可以是壳体外的装置，以便提供信号给马达。
操作时，控制器具有数据库，用来调整能量施放器的移动和进入病人的辐射能量的剂量。通过控制能量施放器的移动同时辐射能量通过窗发射，精确的能量剂量可输送进入病人。控制器可是编程的，用所需的参数执行任务。参数可包括准备执行的治疗的类型，以及对于给定的组织的面积、体积或质量可施加于病人的最大的安全剂量。
一旦治疗头已完全准备好用于治疗，医生可将治疗头放置在病人身上。治疗头可在壳体里移动能量施放器，以按照编程在控制器里的治疗参数治疗病人。如果治疗区域较小，则控制器可移动并致动能量发射器而不需要来自使用者的任何额外输入。
如果处理区域超过壳体的窗或超过能量施放器在壳体内的运动的范围，治疗头必须移动以覆盖所需的更大区域。治疗头的移动可手工进行，或通过机械装置。来自编码器的数据传送给控制器，这样，控制器可识别在壳体界限内的能量施放器的位置。该位置信息可与位置跟踪装置(待批申请，未指定系列号)和关节式臂杆(待批申请，未指定系列号)。控制器可利用来自本发明的位置数据，并结合来自上述两个待批申请的数据，产生相对于壳体的能量施放器的精确的位置数据。在治疗期间，如果控制器读到来自编码器和其它探测器的位置或运动信息并确定能量施放器不在适当的位置，控制器可使用操纵该施放器的装置，以纠正能量施放器的位置。
同样的，控制器可识别以很高的精度输送至任何特定区域的能量的剂量。控制器可跟踪输入病人的通过穿越治疗区域的能量的数值，并能根据在治疗时已经施加在病人的特定地方的能量的数值使能量施放器辐射或不辐射。
现在转向附图，在图1中，是一个具有在壳体500中的能量施放器600的治疗头50。壳体具有一窗590，以允许辐射能量穿过壳体到达病人。治疗头50较佳的是小而轻，足以使医生用一只手舒适地移动它。如果医生能得到支承治疗头50的重量的关节式臂杆200的帮助，则可增加治疗头50的尺寸和重量。还有在治疗头50和外部计算机400或治疗控制器450之间延伸的数据传输器572。
治疗头50可安装在(图2)由底座100支承的关节式臂杆200。臂杆200也具有通过计算机400或治疗控制器450监控或控制的它的移动和功能。
壳体500包含用于在壳体里移动能量施放器600的马达驱动器508和510(图3A)。马达驱动器直接或通过一齿轮组件连接至一对移动杆520和528。移动杆然后移动一对开槽的致动器520’和528’。开槽的致动器在两个开槽的致动器的相互作用下携带着能量施放器移动沿着移动杆移动。当移动杆响应马达的运动而转动时，开槽的致动器携带着能量施放器遍及开槽的移动杆的运动范围。转动的编码器530定位在移动杆520和528上，这样，能量施放器的运动可被正确地测量。
此外，马达驱动器508和510可直接驱动转动致动器514和516，以便在壳体里移动能量施放器600(图3B)。在这个实施例里，不需要齿轮机构。当马达驱动器来回移动马达组件的轴线时，致动器514和516以与马达直接相关方式移动。能量施放器定位的灵敏度可通过马达驱动器、或用来响应能量施放器的致动器进行控制。也可使用三个马达(未画出)来驱动三个关节式臂杆。
图4显示了本发明的示意图。治疗头50用剖面图显示，它具有将上壳体与下壳体分开的分隔物504。分隔物是防水的，这样，在下壳体力的流体渗入上壳体。在上壳体里有一对马达驱动器单元508和510。马达驱动器单元将转动能量通过一系列机械致动器514、516和518传送给能量施放器600。这些致动器延伸通过防水分隔物504以及它们本身是防水的。一传音窗590设置在壳体的底部。

Claims (16)

1.一超声治疗头，它包括：
一壳体，具有一窗；
至少一个定向能量施放器，悬置在所述壳体里；以及
一在所述壳体里的定位器，，用来操纵所述能量施放器，这样，所述能量施放器辐射能量通过所述窗。
2.如权利要求1所述的超声治疗头，其特征在于，所述窗对于所述能量施放器是可传送的窗。
3.如权利要求1所述的超声治疗头，其特征在于，所述能量施放器是一超声换能器。
4.如权利要求3所述的超声治疗头，其特征在于，所述超声换能器是一成像传感器。
5.如权利要求3所述的超声治疗头，其特征在于，所述超声换能器是一高强度聚焦的超声换能器。
6.如权利要求1所述的超声治疗头，其特征在于，能量施放器是一成分超声换能器。
7.如权利要求1所述的超声治疗头，其特征在于，用于操纵所述能量施放器的装置包括一个或多个位置探测器。
8.如权利要求1所述的超声治疗头，其特征在于，所述窗是一次性的传感器密封。
9.如权利要求1所述的超声治疗头，其特征在于，所述定位器包括多个由一个或多个马达驱动的致动器，其中，所述能量施放器可移动地附连在所述致动器上。
10.用于操纵如权利要求9所述的所述能量施放器的装置，还包括用来测量在所述壳体内的运动的多个编码器。
11.用于操纵如权利要求10所述的所述能量施放器的装置，其中，所述马达是电动机。
12.如权利要求1所述的超声治疗头，其特征在于，所述能量施放器可拆卸地和可互换地在壳体内。
13.如权利要求1所述的超声治疗头，其特征在于，所述定位器还包括多个编码器。
14.如权利要求1所述的超声治疗头，其特征在于，所述壳体还包括一限定一上壳体和一下壳体的水平防水分隔物，所述上壳体包含用于操纵的所述装置，而所述下壳体包含所述能量施放器，所述窗在所述下壳体里。
15.如权利要求14所述的超声治疗头，其特征在于，还包括流体循环系统，以便使偶联流体循环通过所述下壳体。
16.一种传送超声能量至身体表面的方法，所述方法包括：
将一壳体接合抵靠在体结构；
定位和致动在壳体内的超声换能器，由此使超声能量通过壳体里的一窗扫描在身体上，壳体相对于身体表面保持稳定。
CN2004800390469A 2003-12-30 2004-12-29 带有移动控制的超声治疗头 Expired - Fee Related CN1897907B (zh)

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US53403603P 2003-12-30 2003-12-30
US60/534,036 2003-12-30
PCT/US2004/044046 WO2005065409A2 (en) 2003-12-30 2004-12-29 Ultrasound therapy head with movement control

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CN1897907B CN1897907B (zh) 2012-06-20

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JP (1) JP2007516810A (zh)
KR (1) KR101188930B1 (zh)
CN (1) CN1897907B (zh)
AU (1) AU2004311459B2 (zh)
BR (1) BRPI0417907A (zh)
CA (1) CA2551348A1 (zh)
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Cited By (5)

* Cited by examiner, † Cited by third party
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CN101614596B (zh) * 2008-06-24 2011-11-09 北京奥麦特科技有限公司 一种hifu辐照治疗区域的温度测量装置
CN105050660A (zh) * 2013-03-26 2015-11-11 可乐喜思有限公司 超声波装置的手持件
CN105050660B (zh) * 2013-03-26 2018-03-09 可乐喜思有限公司 超声波装置的手持件
CN105530994B (zh) * 2013-09-12 2018-11-20 爱飞纽医疗机械贸易有限公司 具有改善的密封特性的高强度聚焦超声波治疗头
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CN107073290B (zh) * 2014-10-24 2019-04-02 科莱希思有限公司 超声波套筒及利用其的超声波治疗头

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CN1897907B (zh) 2012-06-20
CA2551348A1 (en) 2005-07-21
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US20110077559A1 (en) 2011-03-31
KR101188930B1 (ko) 2012-10-08
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WO2005065409A3 (en) 2006-04-20
AU2004311459B2 (en) 2011-07-14
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