Real time control of high intensity focused ultrasound using magnetic resonance imaging

• US 10,459,043 B2
• Filed: 08/27/2012
• Issued: 10/29/2019
• Est. Priority Date: 08/30/2011
• Status: Active Grant

• Current Assignee: Profound Medical Inc. (Profound Medical Corp.)
• Original Assignee: Profound Medical Inc. (Profound Medical Corp.)
• Inventors: Vahala, Erkki Tapani
• Primary Examiner(s): Hoffa, Angela M
• Application Number:
  US14/239,268
• Publication Number:
  US 20140194728A1
• Time in Patent Office: 2,619 Days
• CPC Class Codes: A61B 17/320016 Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes A61B10/0233, A61B17/29, A61B17/3207 take precedence
• CPC Class Codes: A61B 2017/320069 for ablating tissue
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 5/0036 including treatment, e.g., using an implantable medical device, ablating, ventilating
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 8/485 involving measuring strain or elastic properties
• CPC Class Codes: A61B 8/565 involving data transmission via a network
• CPC Class Codes: A61N 7/02 Localised ultrasound hyperthermia hyperthermia in general A61F7/00
• CPC Class Codes: G01R 33/285 Invasive instruments, e.g. catheters or biopsy needles, specially adapted for tracking, guiding or visualization by NMR
• CPC Class Codes: G01R 33/4814 MR combined with ultrasound
• CPC Class Codes: G01R 33/4818 MR characterised by data acquisition along a specific k-space trajectory or by the temporal order of k-space coverage, e.g. centric or segmented coverage of k-space

Abstract

A medical apparatus (300, 400, 500) comprises a high intensity focused ultrasound system (322) configured for sonicating a target volume (340) of a subject (318). The medical apparatus further comprises a magnetic resonance imaging system (302) for acquiring magnetic resonance data (356, 358, 360, 368, 374) from an imaging zone (308). The treatment volume is within the imaging zone. The medical apparatus further comprises a memory (352) containing machine executable, a control module (382, 402) for controlling the sonication of the target volume using the magnetic resonance data as a control parameter, and a processor (346). Execution of the instructions causes the processor to repeatedly acquire (102, 202) magnetic resonance data in real time using the magnetic resonance imaging system and control (104, 206) sonication of the target volume by the high intensity focused ultrasound system in real time using the sonication control module and the magnetic resonance data.

Claims

1. A medical apparatus comprising:

a high intensity focused ultrasound (HIFU) system configured to generate focused ultrasonic energy for sonicating a target volume of a subject;

a magnetic resonance imaging system configured to acquire magnetic resonance data from an imaging zone, wherein the target volume is within the imaging zone; and

a processor configured to control the medical apparatus using executable instructions stored in a non-transitory memory, wherein execution of the instructions causes the processor to repeatedly;

acquire the magnetic resonance data in real time using the magnetic resonance imaging system;

control the sonication of the target volume by controlling the HIFU system to generate focused ultrasonic energy for sonicating, in real time using the magnetic resonance data, the magnetic resonance data comprising subsampled magnetic resonance data and image magnetic resonance data, using at least the subsampled magnetic resonance data as a control parameter for controlling the sonication of the target volume, wherein the magnetic resonance imaging system acquires the subsampled magnetic resonance data and image magnetic resonance data in an interleaved fashion, and wherein the subsampled magnetic resonance data is subsampled in comparison to the image magnetic resonance data and acquired more rapidly than the image magnetic resonance data; and

control the reconstruction of the magnetic resonance image using the image magnetic resonance data.

2. The medical apparatus of claim 1, wherein the subsampled magnetic resonance data is subsampled by under sampling of k-space.

3. The medical apparatus of claim 2, wherein the under sampling of the k-space is non-uniformly distributed in the k-space.

4. The medical apparatus of claim 2, wherein the under sampling of the k-space is performed using a predetermined sampling pattern or a random sampling pattern.

5. The medical apparatus of claim 2, wherein the under sampling of the k-space is performed by sampling k-space elements determined by a Poisson-disk distribution.

6. The medical apparatus of claim 2, wherein the under sampling of the k-space is performed by sampling the k-space within a predetermined region of the k-space.

7. The medical apparatus of claim 2, wherein the under sampling of the k-space is performed by sampling fully a kernel of the k-space below a predetermined value of k and sparsely sampling above the predetermined value of k.

8. The medical apparatus of claim 1, wherein the subsampled magnetic resonance data comprises magnetic resonance navigator data.

9. The medical apparatus of claim 1, further comprising an elastrographic ultrasound system, wherein execution of the instructions further causes the processor to activate the elastrographic ultrasound system when acquiring at least a portion of the magnetic resonance data, and wherein execution of the instructions further causes the processor to use at least the portion of the magnetic resonance data acquired when the elastrographic ultrasound system was active for controlling the sonication of the target volume.

10. The medical apparatus of claim 1, wherein execution of the instructions further causes the processor to repeatedly calculate an energy deposition map using the magnetic resonance data, wherein the sonication control module is further configured to determine sonication trajectories and timing values in accordance with the energy deposition map.

11. The medical apparatus of claim 1, wherein execution of the instructions further causes the processor to broadcast the magnetic resonance data to the sonication control module.

12. The medical apparatus of claim 1, wherein execution of the instructions further causes the processor to control the high intensity focused ultrasound system without generating images from the magnetic resonance data.

13. The medical apparatus of claim 1, wherein the subsampled magnetic resonance data comprises undersampled magnetic resonance data.

14. The medical apparatus of claim 1, wherein the subsampled magnetic resonance data comprises magnetic resonance data without a high-frequency component of k-space.

15. A method of operating a medical apparatus, the medical apparatus comprising a high intensity focused ultrasound (HIFU) system configured for generating focused ultrasonic energy for sonicating a target volume of a subject, and a magnetic resonance imaging system for acquiring magnetic resonance data from an imaging zone, the target volume being within the imaging zone, the method comprising:

acquiring magnetic resonance data in real time using the magnetic resonance imaging system, the acquired magnetic resonance data including subsampled magnetic resonance data and image magnetic resonance data, acquired in an interleaved fashion;

controlling, by a processor, the sonication of the target volume by controlling the HIFU system configured for generating focused ultrasonic energy for sonicating, in real time using at least the subsampled magnetic resonance data as a control parameter, wherein the subsampled magnetic resonance data is subsampled in comparison to the image magnetic resonance data and acquired more rapidly than the image magnetic resonance data; and

repeatedly reconstructing by the processor a magnetic resonance image using the image magnetic resonance data.

16. A non-transitory computer program product comprising machine executable instructions for execution by a processor controlling a medical apparatus, the medical apparatus comprising a high intensity focused ultrasound (HIFU) system configured for generating focused ultrasonic energy for sonicating a target volume of a subject, and a magnetic resonance imaging system for acquiring magnetic resonance data from an imaging zone, the target volume being within the imaging zone, execution of the instructions causing the processor to repeatedly:

acquire magnetic resonance data in real time using the magnetic resonance imaging system, the magnetic resonance data including subsampled magnetic resonance data and image magnetic resonance data, acquired in an interleaved fashion;

control sonication of the target volume by controlling the HIFU system configured for generating focused ultrasonic energy for sonicating, in real time using the sonication control module and the subsampled magnetic resonance data as a control parameter, wherein the subsampled magnetic resonance data is subsampled in comparison to the image magnetic resonance data and acquired more rapidly than the image magnetic resonance data; and

reconstruct a magnetic resonance image using an image reconstruction module and the image magnetic resonance data.