MRI-guided therapeutic unit and methods

• US 6,128,522 A
• Filed: 05/22/1998
• Issued: 10/03/2000
• Est. Priority Date: 05/23/1997
• Status: Expired due to Term

• Current Assignee: ProRhythm, Inc.
• Original Assignee: Transurgical, Inc.
• Inventors: Acker, David E., Wagshul, Mark
• Primary Examiner(s): Lateef, Marvin M.
• Assistant Examiner(s): MANTIS MERCADER, ELENI M
• Application Number:
  US09/083,414
• Time in Patent Office: 865 Days
• Field of Search: 601/2, 601/3, 600/411, 600/412, 600/415, 600/421, 600/422, 335/298, 335/216, 324/318
• US Class Current: 600/411
• CPC Class Codes: A61B 2017/22087 photodynamic
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 2090/0472 against ultrasound energy
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 5/055 involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
• CPC Class Codes: A61B 90/10 for stereotaxic surgery, e.g. frame-based stereotaxis
• CPC Class Codes: A61F 7/00 Heating or cooling appliances for medical or therapeutic treatment of the human body heating or cooling means in connection with bedsteads or mattresses A47C21/00 ; massage, therapeutic baths A61H; hyperthermia using electric or magnetic fields or ultrasound A61N; electric heating elements H05B
• CPC Class Codes: A61N 2007/0065 Concave transducers
• CPC Class Codes: A61N 2007/0078 with multiple treatment transducers
• CPC Class Codes: A61N 2007/0091 with moving parts, e.g. transducers, lenses, reflectors
• CPC Class Codes: A61N 2007/0095 by modifying an excitation signal
• CPC Class Codes: A61N 7/02 Localised ultrasound hyperthermia hyperthermia in general A61F7/00

Abstract

Magnetic resonance information acquired by a movable magnetic resonance instrument is used to monitor hyperthermia treatments such as tissue ablation. The instrument may include both the magnetic resonance equipment and an energy applicator such as a high intensity focused ultrasound unit. The treatment can be conducted under automatic control after the operator marks a treatment volume on an image of the subject, such as a magnetic resonance image acquired using the movable magnetic resonance instrument. The automatic treatment can be based on interpolation of tissue response curves at plural test points near the treatment volume. The system can also provide automatic supervisory control during manual operation, to prevent application of heat to sensitive anatomical structures.

Claims

1. A method of treating a mammalian subject comprising the steps of:

(a) positioning a movable static field magnet adapted to apply a static magnetic field in a magnetic resonance volume relative to the subject so that the magnetic resonance volume at least partially encompasses a region of the subject to be treated;

(b) positioning a movable energy applicator adapted to apply energy within an energy application zone relative to the subject so that the energy application zone intersects said magnetic resonance volume within said region of the subject;

(c) while said static field magnet is applying said static field in said magnetic resonance volume, applying field gradients and radiofrequency signals so as to elicit magnetic resonance signals from tissues of the subject in said magnetic resonance volume, and receiving said magnetic resonance signals;

(d) deriving magnetic resonance information relative to the subject'"'"'s tissues in said magnetic resonance volume from said magnetic resonance signals;

(e) actuating said movable energy-applying device to apply energy to tissues of the patient in said energy application zone so as to treat such tissues; and

(f) controlling one or more parameters of said treatment by use of said magnetic resonance information,

said static field magnet and said energy applicator being mounted to a chassis, said positioning steps including the step of moving said chassis so as to position the chassis relative to the subject.

2. A method as claimed in claim 1 further comprising the step of moving said chassis after performing steps (c),(d), (e) and (f) so as to reposition said magnetic resonance volume and said energy application zone in a new region of the subject, and repeating steps (c), (d), (e) and (f) so as to treat tissues in said new region.

3. A method as claimed in claim 1 wherein said step of deriving magnetic resonance information includes the step of deriving said magnetic resonance information at one or more points within said magnetic resonance volume, said points having locations defined in a local magnetic resonance frame of reference.

4. A method as claimed in claim 3 wherein said one or more parameters of said treatment include location of the treated tissues, said monitoring step including the step of controlling the location of the treated tissues in a working frame of reference correlated to the local magnetic resonance frame of reference.

5. A method as claimed in claim 4 wherein said step of controlling the location of the treated tissues includes the step of aiming said energy applicator to apply said energy at one or more treatment locations at positions defined in said working frame of reference.

6. A method as claimed in claim 5 wherein said energy applicator is adapted to apply said energy at a focal point and said step of aiming said energy applicator includes the step of moving said focal point relative to the static field magnet.

7. A method as claimed in claim 6 wherein said energy applicator is a phased array including a plurality of ultrasonic emitters and wherein said step of moving said focal point includes the step of varying the phases of ultrasonic emissions from said emitters while maintaining said static field magnet in a fixed location.

8. A method as claimed in claim 6 wherein said step of moving said focal point includes the step of moving said energy applicator while maintaining said static field magnet in a fixed location.

9. A method as claimed in claim 5 further comprising the step of displaying an image of the subject'"'"'s tissues in said working frame of reference, said aiming step being performed at least in part by inspection of said image.

10. A method as claimed in claim 9 further comprising the step of displaying a representation of the aim of the energy applying device superposed on said image.

11. A method as claimed in claim 9 wherein said magnetic resonance information includes information defining an image in said local magnetic resonance frame of reference, said displayed image in said working frame of reference being derived at least in part from said magnetic resonance information.

12. A method as claimed in claim 11 wherein said displayed image is derived entirely from said magnetic resonance information.

13. A method as claimed in claim 12 wherein said working frame of reference is said local magnetic resonance frame of reference.

14. A method as claimed in claim 11 further comprising the step of moving said static field magnet so as to shift said imaging volume through a plurality of positions so that the magnetic resonance volume encompasses a plurality of adjacent regions of the subject and so as to provide a plurality of local magnetic frames of resonance offset from one another by one or more known transformations, said steps of eliciting and receiving magnetic resonance signals being performed while said static field magnet is in each position so that said magnetic resonance information includes information in said plurality of local magnetic frames of resonance, the method further comprising the step of transforming at least some of said magnetic resonance information so as to provide all of said magnetic resonance information in said working frame of reference, said displayed image encompassing said plurality of adjacent regions of the subject.

15. A method as claimed in claim 5 further comprising the step of actuating said applicator to apply energy at at least one aim check point at a location in an applicator frame of reference associated with said applicator, determining the location of each said aim check point in said working frame of reference, and establishing a transform between said applicator frame of reference and said working frame of reference, said aiming step including the step of adjusting the aim of said applicator based upon said transform.

16. A method as claimed in claim 5 further comprising the steps of providing prior image information defining a previously-acquired image of the subject'"'"'s tissues encompassing said region of said subject in a prior-image frame of reference and transforming one or both of said magnetic resonance information and said prior image information so as to provide both said magnetic resonance information and said prior image information in a working frame of reference.

17. A method as claimed in claim 16 wherein said magnetic resonance information includes information defining a local image depicting the patient'"'"'s tissues within said magnetic resonance volume, the method further comprising the step of detecting features in said local image which are also included in said prior image information and deriving a transformation between said local magnetic resonance frame of reference and said prior-image frame of reference based upon the disposition of said features in said local image and said previously-acquired image.

18. A method as claimed in claim 16 further comprising the step of determining the disposition of said static field magnet relative to the subject and deriving a transformation between said local magnetic resonance frame of reference and said prior-image frame of reference based upon the disposition of said static field magnet relative to the subject.

19. A method as claimed in claim 5 wherein said aiming step includes the step of selecting a treatment volume having boundaries defined in said working frame of reference and aiming said energy applicator to apply said energy at a plurality of treatment locations within said treatment volume.

20. A method as claimed in claim 19 further comprising the step of displaying an image of the subject encompassing the region of the subject to be treated and displaying a visual representation of said boundaries superposed on said image.

21. A method as claimed in claim 20 wherein said step of selecting a treatment volume is performed by applying manual inputs to a control clement to adjust said boundaries while said visual representation is displayed.

22. A method as claimed in claim 19 further comprising the steps of actuating the applicator to apply energy at a plurality of test points adjacent the boundaries of the treatment zone, determining a degree of heating of the tissue at each said test point from said magnetic resonance information, and deriving a relationship between energy supplied by said applicator and degree of heating for treatment locations from the degrees of heating of said test points and the energy applied by said applicator to said test points.

23. A method as claimed in claim 19 wherein said energy applied at said test points is at a level less than a threshold level required to cause permanent change in tissues at said test points.

24. A method as claimed in claim 19 wherein said step of deriving a relationship for treatment locations includes the steps of deriving a relationship between energy supplied by said applicator and degree of heating for each of said test points and interpolating between such relationships over distance between said test points.

25. A method as claimed in claim 19 wherein the boundaries of the treatment zone include one or more polyhedral primitives and wherein said test points are disposed adjacent vertices of said polyhedral primitives.

26. A method of treating a mammalian subject comprising the steps of:

(a) positioning a movable static field magnet adapted to apply a static magnetic field in a magnetic resonance volume relative to the subject so that the magnetic resonance volume at least partially encompasses a region of the subject to be treated;

(b) positioning a movable energy applicator adapted to apply energy within an energy application zone relative to the subject so that the energy application zone intersects said magnetic resonance volume within said region of the subject;

(c) while said static field magnet is applying said static field in said magnetic resonance volume, applying field gradients and radiofrequency signals so as to elicit magnetic resonance signals from tissues of the subject in said magnetic resonance volume, and receiving said magnetic resonance signals;

(d) deriving magnetic resonance information relative to the subject'"'"'s tissues in said magnetic resonance volume from said magnetic resonance signals;

(e) actuating said movable energy-applying device to apply energy to tissues of the patient in said energy application zone so as to treat such tissues; and

(f) controlling one or more parameters of said treatment by use of said magnetic resonance information,

said static field magnet being mounted on a common chassis with gradient coils for imposing magnetic field gradients within said magnetic resonance volume, so that said gradient coils are positioned relative to the subject in said step of positioning said static field magnet relative to the subject.

27. A method as claimed in claim 26 wherein said static field magnet is a single-sided static field magnet so that said magnetic resonance volume is disposed outside of said static field magnet.

28. Therapeutic apparatus comprising:

(a) a static field magnet adapted to apply a static magnetic field in a magnetic resonance volume at a predetermined disposition relative to the static field magnet;

(b) an energy applicator adapted to apply energy within an energy application zone at a predetermined disposition relative to the applicator;

(c) positioning means for moving said static field magnet and said energy applicator to position the magnet and applicator so that the magnetic resonance volume at least partially encompasses a region of the subject to be treated and the energy application zone intersects said magnetic resonance volume within said region of the subject,

the apparatus further comprising a chassis, said static field magnet and said energy applicator being mounted to said chassis, said positioning means including the means for moving said chassis so as to position the chassis relative to the subject.

29. Apparatus as claimed in claim 28 further comprising gradient coils mounted to said chassis, said gradient coils being operable to apply a magnetic field gradient within said magnetic resonance volume.

30. Apparatus as claimed in claim 29 further comprising means for actuating said gradient coils to apply said field gradients and RF transmit/receive means for applying radiofrequency signals so as to elicit magnetic resonance signals from tissues of the subject in said magnetic resonance volume, and receiving said magnetic resonance signals.

31. Apparatus as claimed in claim 30 further comprising means for deriving information defining an image of tissues of the subject within said magnetic resonance volume in a local magnetic resonance frame of reference from said magnetic resonance signals.

32. Apparatus as claimed in claim 30 further comprising means for deriving temperatures of tissues of the subject at one or more locations in a local magnetic resonance frame of reference within said magnetic resonance volume from said magnetic resonance signals.

33. Apparatus as claimed in claim 31 or claim 32 further comprising means for deriving a transform between said local magnetic resonance frame of reference and a prior image frame of reference of a previously-acquired image of the subject.

34. Apparatus as claimed in claim 33 further comprising disposition-detecting means for determining the disposition of the static field magnet in a fixed frame of reference, said transform-deriving means being operative to derive said transform at least in part from the detected disposition of the static field magnet.

35. Apparatus as claimed in claim 29 wherein said static field magnet is a single-sided static field magnet so that said magnetic resonance volume is disposed outside of said static field magnet and spaced from said static field magnet in a forward direction.

36. Apparatus as claimed in claim 35 further comprising a visual display and a display driver operable to display an image of a subject on said display, said display being mounted to said chassis rearwardly of said static field magnet.

37. Apparatus as claimed in claim 28 wherein said energy applicator includes a an array of ultrasound emitting transducers and a flexible fluid container mounted in front of said ultrasound transducer array so that said flexible fluid container can be engaged between said array of transducers and a surface of the subject'"'"'s body.