Mechanical Manipulator for Hifu Transducers

• US 20080312561A1
• Filed: 05/06/2005
• Published: 12/18/2008
• Est. Priority Date: 05/06/2004
• Status: Active Grant

• Current Assignee: Nanyang Technology University
• Original Assignee: Nanyang Technology University
• Inventors: Chauhan, Sunita
• Granted Patent: US 8,727,987 B2
• Time in Patent Office: Days
• US Class Current: 601/2
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 8/4209 by using holders, e.g. positioning frames
• CPC Class Codes: A61B 8/4218 characterised by articulated arms
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61N 2007/0078 with multiple treatment transducers
• CPC Class Codes: A61N 7/02 Localised ultrasound hyperthermia hyperthermia in general A61F7/00

Abstract

A mechanical manipulator (10) for controlling the movement of high intensity focused ultrasound (HIFU) transducers, especially for medical use, such as in the treatment of cancers. A base harness having two or three legs (12) is mounted on the treatment table. A central shaft mounted on the base harness carries a diagnostic probe as well as a plurality of treatment probes. The treatment probes may be moved through three degrees of freedom using computer controlled motors. The treatment probes may be moved linearly, in jaw motion and in a pitch motion.

Claims

1. A mechanical manipulator for moving HIFU transducers comprising:

a base harness;

a main shaft mounted on said base harness;

a diagnostic module mounted on said main shaft;

at least one treatment module mounted on said main shaft;

each of said treatment modules having a probe holder for receiving a HIFU transducer; and

each of said treatment modules having motors for moving said probe holder, each independently of any other, through three directions at least one of which is a pitch or yaw.

2. The manipulator according to claim 1, in which two of said three directions are pitch and yaw.

3. The manipulator according to claim 1, wherein each of said treatment modules are mounted on a vertical shaft which is connected to a horizontal arm mounted for rotation in a horizontal plane about said main shaft.

4. The manipulator according to claim 3, wherein said treatment modules are mechanically detachable from said main shaft.

5. The manipulator according to claim 1, wherein each treatment module contains three motors for moving the probe holder.

6. The manipulator according to claim 5, wherein one of said motors linearly moves said probe holder toward and away from said main shaft.

7. The manipulator according to claim 6, wherein a second and a third motor drive miter gears which interact with a central miter gear mounted on said vertical shaft to cause yaw and pitch movements of said probe holder.

8. The manipulator according to claim 6, wherein a second motor directly drives said probe holder for yaw movement and a third motor drives a connecting structure for pitch movement, said connecting structure carrying said second motor and said probe holder.

9. The manipulator according to claim 1, wherein said diagnostic module is moved horizontally using a motorized slide.

10. The manipulator according to claim 1, wherein said base harness includes three legs and a top rail connecting at least two of said legs, on which said main shaft is mounted.

11. The manipulator according to claim 10, wherein said base harness is mounted on a treatment table.

12. The manipulator according to claim 11, wherein the base harness is mounted on said treatment table using a slide arrangement.

13. The manipulator according to claim 1, wherein the base harness has two legs and a top rail extending therebetween, with said main shaft being mounted on said top rail.

14. The manipulator according to claim 13, wherein the base harness is mounted to a treatment table so as to allow for rotation of the base harness at an angle to the table surface.

15. The manipulator according to claim 1, wherein said diagnostic module and said treatment modules are controlled for movement by a computer.

16. The manipulator according to claim 15, wherein encoders on said diagnostic module and treatment modules send location information to said computer for determining locations of the various modules.

17. A module for moving HIFU transducers comprising:

a probe holder;

a connecting structure attached to said probe holder;

a base plate connected to said connecting structure;

a first motor for moving said probe holder and connecting structure longitudinally along said base plate; and

second and third motors for causing yaw and pitch motions of said module;

a frame holding said second and third motors on said base plate;

a vertical shaft connected to said frame for connecting said module to a structure.

18. The module according to claim 17, wherein said vertical shaft carries a central miter gear and said second and third motors drive miter gears on opposite sides of said fixed miter gear for yaw motions.

19. The module according to claim 17, wherein said second and third motors drive spur gears on opposite sides of said frame causing a pitch motion of said module.

20. The module according to claim 17, wherein said first motor and said connecting structure are mounted on a linear slide which is mounted on said base plate, said base plate having mounted thereon a rack for engagement with a pinion mounted on said first motor.

21. The module according to claim 17, wherein said second motor is mounted on said connecting structure for yaw movement of said probe holder.

22. The module according to claim 21, wherein said third motor is mounted on said base plate for moving said connecting structure, said first motor and said probe holder in a pitch motion.

23. A computer controlled manipulator for HIFU transducers comprising:

a base harness;

a diagnostic module mounted on said base harness;

at least one treatment module mounted on said base harness;

each of said diagnostic modules and treatment modules having at least one motor for movement;

a computer electrically connected to said diagnostic module and treatment modules for control of movements of said motors of said diagnostic and treatment modules;

each of said treatment modules having a probe holder for mounting a HIFU transducer;

whereby said computer controls movement of said probe holders to direct ultrasonic outputs from said HIFU transducers.

24. The manipulator according to claim 23, wherein each of said treatment modules contain three motors for moving said probe holder in three degrees of freedom, said motors being controlled by said computer.

25. The manipulator according to claim 23, wherein the ultrasonic outputs from said transducers are used to ablate tissues in a medical treatment and excitation parameters are controlled by said computer.

26. A manipulator according to claim 23, wherein the diagnostic module provides an image through said computer for a surgeon to locate an area for treatment and direct movements of said transducers to act on said area of treatment.

27. The manipulator according to claim 23, wherein each of said modules includes encoder for, determining positions of said modules and communicating the positions with the computer.

28. A method for directing ultrasonic outputs of HIFU transducers, comprising:

providing a diagnostic module and at least one treatment module mounted on a base harness;

selecting an area for treatment using an image from said diagnostic module;

directing a computer to control the aiming of said HIFU transducers;

moving said treatment modules by combined linear translation, and at least one of pitch and yaw movements, to direct said output of HIFU transducers to said area for treatment, by controlling motors on said modules through said computer.

29. The method according to claim 28, wherein said aiming is accomplished using a manipulator comprising:

a base harness;

a main shaft mounted on said base harness;

a diagnostic module mounted on said main shaft;

at least one treatment module mounted on said main shaft;

each of said treatment modules having a probe holder for receiving a HIFU transducer; and

each of said treatment modules having motors for moving said probe holder, each independently of any other, through three directions at least one of which is a pitch or yaw.

30. The method of claim 29, in which the probe holder may be moved in both pitch and yaw.

31. A mechanical manipulator for moving HIFU transducers, comprising:

a base harness;

a main shaft mounted on said base harness;

a diagnostic module mounted on said main shaft;

a treatment module mounted on said main shaft, said treatment module having a probe holder;

a jig fixedly holding a plurality of HIFU transducers, said jig being mounted on said probe holder;

said treatment module being movable in three directions so as to move said HIFU transducers.