Apparatus for treatment with acoustic waves

• US 5,944,663 A
• Filed: 10/09/1997
• Issued: 08/31/1999
• Est. Priority Date: 04/28/1995
• Status: Expired due to Fees

• Current Assignee: Siemens AG
• Original Assignee: Siemens AG
• Inventors: Schneider, Siegfried, Kuth, Rainer, Schatzle, Ulrich
• Primary Examiner(s): Smith, Ruth S.
• Application Number:
  US08/930,174
• Time in Patent Office: 691 Days
• Field of Search: 600/427, 600/407, 600/410, 600/411, 600/412, 600/426, 600/439, 600/414, 606/130, 601/2, 601/3, 601/4
• US Class Current: 600/411
• CPC Class Codes: A61B 17/2255 Means for positioning patient, shock wave apparatus or locating means, e.g. mechanical aspects, patient beds, support arms, aiming means positioning of patients for radiation diagnosis A61B6/04; positioning of locating means inside shock wave apparatus A61B17/2256
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery

Abstract

In an apparatus for treatment of a subject with acoustic waves, a spatial allocation, required for the treatment of the patient and a source of acoustic waves relative to each other is effected by a surgical work station using a three-dimensional navigation system on the basis of a number of images of a region to be treated, which are obtained independently of the treatment apparatus, in different coordinate systems, and are displayed on a display screen of the work station.

Claims

1. A therapy apparatus for treatment with acoustic waves, comprising:

a source of acoustic waves and means for focusing said acoustic waves on a therapeutic effective region;

displacement means for displacing the therapeutic effective region and a subject relative to one another;

means for producing, at an arbitrary time and place, a first dataset identifying a spatial position of the therapeutic effective region and an orientation of the source relative to a first spatial coordinate system;

means for producing, at an arbitrary time and place, a second dataset identifying a spatial position and an orientation of the subject relative to a second spatial coordinate system;

display means for displaying, at an arbitrary time and place, an image of a portion of said subject, said portion containing a body region to be treated with the focused acoustic waves, and means for obtaining, on the basis of said image, a third dataset identifying a spatial position and orientation of said body region relative to a third spatial coordinate system;

means for storing spatial position data identifying respective spatial positions of said first, second and third coordinate systems relative to each other; and

means, supplied with said first, second and third datasets and with said spatial position data, for mixing a mark into said image, dependent on said first, second and third datasets and said spatial position data, indicating the position of said therapeutic effective region.

2. A therapy apparatus as claimed in claim 1 wherein said displacement means comprise a handheld, freely displaceable housing for said source.

3. A therapy apparatus as claimed in claim 1 wherein said displacement means comprise motorized adjustment means for positioning said source.

4. A therapy apparatus as claimed in claim 3 wherein said motorized adjustment means comprises a plurality of manually actuatable operating elements for selectively positioning said source.

5. A therapy apparatus as claimed in claim 1 further comprising:

means for marking said body region with a marking identifying said body region,

said marking being mixed into said image.

6. A therapy apparatus as claimed in claim 5 further comprising means for enabling said source for producing said acoustic waves only when said therapeutic effective region in said image is disposed within said body region identified in said image by said marking.

7. A therapy apparatus as claimed in claim 1 wherein said display means comprises means for displaying a tomogram of said subject.

8. A therapy apparatus as claimed in claim 1 wherein said display means comprises means for displaying a perspective image.

9. A therapy apparatus as claimed in claim 8 wherein said display means comprises means for displaying a perspective image partly in section.

10. A therapy apparatus as claimed in claim 1 wherein said display means comprises means for displaying a plurality of images simultaneously.

11. A therapy apparatus as claimed in claim 10 wherein said mixing means comprise means for mixing said mark indicating the position of said therapeutic effective region into more than one image in said plurality of images.

12. A therapy apparatus as claimed in claim 10 further comprising means for marking said body region with a marking identifying said body region, and wherein said mixing means comprises means for mixing said marking into more than one image in said plurality of images.

13. A therapy apparatus as claimed in claim 12 wherein said mixing means comprises means for mixing said mark indicating the position of the therapeutic effective region into more than one of said images in said plurality of images.

14. A therapy apparatus as claimed in claim 1 wherein said means for producing said first dataset include a three-dimensional navigation system.

15. A therapy apparatus as claimed in claim 1 wherein said means for producing said second dataset include a three-dimensional navigation system.

16. A therapy apparatus as claimed in claim 1 wherein said means for producing said first dataset includes a first three-dimensional navigation system and wherein said means for producing said second dataset includes a second three-dimensional navigation system.

17. A therapy apparatus as claimed in claim 1 wherein said display means include a surgical work station.

18. A therapy apparatus as claimed in claim 1 wherein said first and second coordinate systems are identical.

19. A therapy apparatus as claimed in claim 1 wherein said source comprises means for emitting focused ultrasound waves as said acoustic waves.

20. A therapy apparatus as claimed in claim 19 wherein said source comprises means for emitting said focused ultrasound waves with a first energy content for therapy and with a second energy content significantly less than said first energy content;

and said therapy apparatus further comprising;

means for activating said source to emit said focused ultrasound waves with said second energy content for slightly elevating a temperature of tissue in said subject affected by said focused ultrasound waves with said second energy content; and

image-producing means for producing an image of said subject wherein temperature differences are visible in said image, after activation of said source for emitting said focused ultrasound waves with said second energy content, and for operating said displacement means for adjusting said therapeutic effective region relative to said subject if a region of elevated temperature in said image produced by said image-producing means does not coincide with said therapeutic effective region.

21. A therapy apparatus as claimed in claim 20 wherein said image-producing means comprises means for producing a first image with no activation of said source, and for producing a second image after activation of said source for emitting said focused ultrasound waves with said second energy content, and wherein said image-producing means comprises means for producing said image wherein temperature differences are visible by comparison of said first and second images.

22. A therapy apparatus as claimed in claim 21 wherein said image-producing means comprises means for producing said image wherein said temperature differences are visible by subtraction of said first and second images.

23. A therapy apparatus as claimed in claim 20 wherein said image-producing means comprises an ultrasound diagnostic apparatus.

24. A therapy apparatus as claimed in claim 20 wherein said image-producing means comprises an MR diagnostic apparatus operated with temperature-sensitive measurement sequences.

25. A therapy apparatus as claimed in claim 1 wherein said display means comprises means for producing a first image during treatment and a second image after completion of at least a portion of treatment, and including means for comparing said first and second images for determining an extent of tissue modification in said subject caused by said acoustic waves.

26. A therapy apparatus as claimed in claim 25 wherein said means for comparing comprises means for subtracting said first and second images.

27. A therapy apparatus as claimed in claim 1 wherein said source of acoustic waves is physically separate from said means for producing a second data set.

28. A therapy apparatus for treatment with acoustic waves, comprising:

a source of acoustic waves and means for focusing said acoustic waves on a therapeutic effective region;

means for displacing said therapeutic effective region and a subject relative to one another;

means for producing, at an arbitrary time and place, a first dataset identifying a spatial position of the therapeutic effective region and an orientation of said source relative to a first spatial coordinate system;

means for producing, at an arbitrary time and place, a second dataset identifying a spatial position and an orientation of said subject relative to a second spatial coordinate system;

display means for displaying, at an arbitrary time and place, an image of a portion of said subject, said portion containing a body region to be treated with said focused acoustic waves and means for obtaining, on the basis of said image, a third dataset identifying a spatial position and orientation of said region to be treated relative to a third spatial coordinate system;

means for marking a body region to be treated on said subject and for mixing a marking identifying said body region into said image;

means for storing spatial position data identifying respective positions of said first, second and third coordinate systems relative to each other; and

control means, supplied with said first, second and third datasets, with said spatial position data, and with data identifying a position of said marking in said image, for controlling operation of said displacement means, dependent on said first, second and third datasets, said spatial position data and said data identifying the position of said marking in said image, for causing said therapeutic effective region to lie in said body region to be treated and for identifying said therapeutic effective region with said marking.

29. A therapy apparatus as claimed in claim 28 further comprising means, supplied with said first, second and third datasets, said spatial position data and said data identifying the position of said marking in said image, for mixing a further mark into said image indicating a position of said therapeutic effective region in said image, dependent on said first, second and third datasets, said spatial position data, and said data identifying the position of said marking.

30. A therapy apparatus as claimed in claim 28 wherein said displacement means comprises motorized adjustment means, controlled by said control means, for positioning said source.

31. A therapy apparatus as claimed in claim 28 further comprising means for enabling said source for producing said acoustic waves only when said therapeutic effective region in said image is disposed within said body region identified in said image by said marking.

32. A therapy apparatus as claimed in claim 28 wherein said display means comprises means for displaying a tomogram of said subject.

33. A therapy apparatus as claimed in claim 28 wherein said display means comprises means for displaying a perspective image.

34. A therapy apparatus as claimed in claim 33 wherein said display means comprises means for displaying a perspective image partly in section.

35. A therapy apparatus as claimed in claim 28 wherein said display means comprises means for displaying a plurality of images simultaneously.

36. A therapy apparatus as claimed in claim 35 further comprising mixing means for mixing a mark indicating the position of said therapeutic effective region into more than one image in said plurality of images.

37. A therapy apparatus as claimed in claim 35 wherein said means for marking said body region with a marking identifying said body region, comprises means for mixing said marking into more than one image in said plurality of images.

38. A therapy apparatus as claimed in claim 37 further comprising mixing means for mixing a mark indicating the position of the therapeutic effective region into more than one of said images in said plurality of images.

39. A therapy apparatus as claimed in claim 28 wherein said means for producing said first dataset include a three-dimensional navigation system.

40. A therapy apparatus as claimed in claim 28 wherein said means for producing said second dataset include a three-dimensional navigation system.

41. A therapy apparatus as claimed in claim 28 wherein said means for producing said first dataset includes a first three-dimensional navigation system and wherein said means for producing said second dataset includes a second three-dimensional navigation system.

42. A therapy apparatus as claimed in claim 28 wherein said display means include a surgical work station.

43. A therapy apparatus as claimed in claim 28 wherein said first and second coordinate systems are identical.

44. A therapy apparatus as claimed in claim 28 wherein said source comprises means for emitting focused ultrasound waves as said acoustic waves.

45. A therapy apparatus as claimed in claim 44 wherein said source comprises means for emitting said focused ultrasound waves with a first energy content for therapy and with a second energy content significantly less than said first energy content;

and said therapy apparatus further comprising;

means for activating said source to emit said focused ultrasound waves with said second energy content for slightly elevating a temperature of tissue in said subject affected by said focused ultrasound waves with said second energy content; and

image-producing means for producing an image of said subject wherein temperature differences are visible in said image, after activation of said source for emitting said focused ultrasound waves with said second energy content, and for operating said displacement means for adjusting said therapeutic effective region relative to said subject if a region of elevated temperature in said image produced by said image-producing means does not coincide with said therapeutic effective region.

46. A therapy apparatus as claimed in claim 45 wherein said image-producing means comprises means for producing a first image with no activation of said source, and for producing a second image after activation of said source for emitting said focused ultrasound waves with said second energy content, and wherein said image-producing means comprises means for producing said image wherein temperature differences are visible by comparison of said first and second images.

47. A therapy apparatus as claimed in claim 46 wherein said image-producing means comprises means for producing said image wherein said temperature differences are visible by subtraction of said first and second images.

48. A therapy apparatus as claimed in claim 45 wherein said image-producing means comprises an ultrasound diagnostic apparatus.

49. A therapy apparatus as claimed in claim 45 wherein said image-producing means comprises an MR diagnostic apparatus operated with temperature-sensitive measurement sequences.

50. A therapy apparatus as claimed in claim 45 wherein said display means comprises means for producing a first image during treatment and a second image after completion of at least a portion of treatment, and including means for comparing said first and second images for determining an extent of tissue modification in said subject caused by said acoustic waves.

51. A therapy apparatus as claimed in claim 50 wherein said means for comparing comprises means for subtracting said first and second images.

52. A therapy apparatus as claimed in claim 28 wherein said source of acoustic waves is physically separate from said means for producing a second data set.