Patent Application
20150065921
The invention relates to a heating system for heating a target zone using a treatment plan and an energy density map calculation using a thermo acoustic model.
Ultrasound from a focused ultrasonic transducer can be used to selectively treat regions inside a subject. Ultrasonic waves are transmitted as high energy mechanical vibrations. These vibrations induce tissue heating as they are damped, and they can also lead to cavitation. Both tissue heating and cavitation can be used to destroy tissue in a clinical setting. However, heating tissue with ultrasound is easier to control than cavitation. Ultrasonic treatments can be used to ablate tissue and to destroy regions of cancer cells selectively. This technique has been applied to the treatment of uterine fibroids, and has reduced the need for hysterectomy procedures. At lower powers or in pulsed mode, ultrasound can be used to selectively deliver genetic material or medicine to a region.
To perform ultrasonic therapy, a focused ultrasonic transducer can be used to focus the ultrasound on a particular treatment volume. The transducer is typically mounted within a medium, such as degassed water, that is able to transmit ultrasound. Actuators are then used to adjust the position of the ultrasonic transducer and thereby adjust the tissue region that is being treated.
HIFU procedures in a clinical setting are typically image-guided to permit treatment planning and targeting before applying a therapeutic or ablative level of ultrasound energy. Usually MRI is used for image-guidance, but it is also possible to use ultrasonography.
United States patent application US 2011/0313329 defines a therapy system for depositing energy which has a feed forward control of the therapy module. Particularly, in this known therapy module the cooling down period is estimated on an a priori estimate on the induced heating.
The invention provides for a medical apparatus, a method, and a computer program product in the independent claims. Embodiments are given in the dependent claims.
The invention provides for a medical apparatus for using energy density data for safety, planning and treatment time optimization in high intensity focused ultrasound. The applied energy density in the treatment volume is saved for each sonication so that the cumulative energy density can be assessed and used for safety checking, i.e., limiting the maximum cumulative energy density at any location, planning the position of the next treatment and for visual assessment of local energy deposition.
A ‘processor’ as used herein encompasses an electronic component which is able to execute a program or machine executable instruction. The processor may for instance be a multi-core processor. A processor may also refer to a collection of processors within a single computer system or distributed amongst multiple computer systems. Many programs have their instructions performed by multiple processors that may be within the same computing device or which may even be distributed across multiple computing devices.
‘Computer memory’ or ‘memory’ is an example of a computer-readable storage medium. Computer memory is any memory which is directly accessible to a processor. Examples of computer memory include, but are not limited to: RAM memory, registers, and register files.
‘Computer storage’ or ‘storage’ is an example of a computer-readable storage medium. Computer storage is any non-volatile computer-readable storage medium. Examples of computer storage include, but are not limited to: a hard disk drive, a USB thumb drive, a floppy drive, a smart card, a DVD, a CD-ROM, and a solid state hard drive. In some embodiments computer storage may also be computer memory or vice versa.
A ‘user interface’ as used herein is an interface which allows a user or operator to interact with a computer or computer system. A ‘user interface’ may also be referred to as a ‘human interface device.’ A user interface may provide information or data to the operator and/or receive information or data from the operator. A user interface may enable input from an operator to be received by the computer and may provide output to the user from the computer. In other words, the user interface may allow an operator to control or manipulate a computer and the interface may allow the computer to indicate the effects of the operator's control or manipulation. The display of data or information on a display or a graphical user interface is an example of providing information to an operator. The receiving of data through a keyboard, mouse, trackball, touchpad, pointing stick, graphics tablet, joystick, gamepad, webcam, headset, gear sticks, steering wheel, pedals, wired glove, dance pad, remote control, and accelerometer are all examples of user interface components which enable the receiving of information or data from an operator.
A ‘hardware interface’ as used herein encompasses an interface which enables the processor of a computer system to interact with and/or control an external computing device and/or apparatus. A hardware interface may allow a processor to send control signals or instructions to an external computing device and/or apparatus. A hardware interface may also enable a processor to exchange data with an external computing device and/or apparatus. Examples of a hardware interface include, but are not limited to: a universal serial bus, IEEE 1394 port, parallel port, IEEE 1284 port, serial port, RS-232 port, IEEE-488 port, Bluetooth connection, Wireless local area network connection, TCP/IP connection, Ethernet connection, control voltage interface, MIDI interface, analog input interface, and digital input interface.
A ‘display’ or ‘display device’ as used herein encompasses an output device or a user interface adapted for displaying images or data. A display may output visual, audio, and or tactile data. Examples of a display include, but are not limited to: a computer monitor, a television screen, a touch screen, tactile electronic display, Braille screen.
Cathode ray tube (CRT), Storage tube, Bistable display, Electronic paper, Vector display, Flat panel display, Vacuum fluorescent display (VF), Light-emitting diode (LED) displays, Electroluminescent display (ELD), Plasma display panels (PDP), Liquid crystal display (LCD), Organic light-emitting diode displays (OLED), a projector, and Head-mounted display.
In one aspect the invention provides for a medical apparatus comprising a heating system for heating a target zone of a subject and a processor for controlling the heating system. The medical apparatus further comprises a memory containing machine executable instructions, wherein execution of the instructions causes the processor to receive a treatment plan, wherein execution of the instructions further causes the processor to repeatedly: heat the target zone during alternating heating periods and cooling periods by controlling the heating system using the treatment plan, calculate a present energy density map in a predefined volume using the treatment plan and a thermo acoustic model, wherein the present energy density is repeatedly updated during the heating of the target zone and update the treatment plan using the present energy density map.
A heating system as used herein encompasses a system for locally heating a portion of the subject. A treatment plan as used herein may encompass a plan or machine controls developed by a physician or other medical professional which are descriptive of the controls that can be used to generate such controls to control the heating system to heat a target zone within the subject. A thermo acoustic model as used herein combines acoustic and thermal parameters to obtain a possibly more accurate model of the heating as well as cool down.
The estimation for the induced heating, off focus and/or in the target zone, and/or the cool-down periods are made on the basis of a thermal model. The thermal model represents the thermal perfusion and diffusion, i. e. the transport of heat through the tissue. The thermal model used for simulation requires the intensity distribution as input in addition to other thermal parameters. The in vivo intensity distribution may in turn be calculated based on a multilayer tissue model. The multilayered tissue model may in turn be acquired based on the treatment plan. The acoustic and thermal parameters may be determined for each layer either based on knowledge and/or refined based on the heating thereby improving the accuracy of the estimate even further. The simulations may also be beneficial to estimate the focal region heating before initiating the heat deposition. According to the invention the cool-down period is chosen so that the tissue is expected to have cooled down to a predefined temperature before starting the next heating.
In one embodiment the execution of the instructions further causes the processor to calculate a cumulative energy density map by using weighted averaging to calculate the cumulative energy density maps taking into account estimated rate of tissue cooling and to display the cumulative energy density map on a display. The cumulative energy density map can also be calculated by summing the repeatedly calculated present energy density maps taking into account estimated rate of tissue cooling. A plain summation would also constitute a sort of weighted averaging.
A cumulative energy density map as used herein encompasses the assessment of cumulative thermal effects and this map can be shown to the user to indicate the best location of the next sonication.
This embodiment is particularly advantageous because it may allow for optimization of the entire treatment time, since the next treatment is always chosen in such a way that the required cool-down time is minimized.
In another embodiment the execution of the instructions further causes the processor to modify the treatment plan in accordance with the cumulative energy density map taking into account a next heating event.
This embodiment is particularly advantageous because it may allow finding the position for the target zone that is the safest and with the shortest cool-down time, wherein the system could automatically indicate the most suitable or most dangerous locations to the user. And this embodiment may allow for optimization of the treatment time and protection of the healthy tissue. The most dangerous locations as used herein are locations outside the target volume with a high temperature, i.e, the cool-down period was too short. On the other hand the most suitable locations are a location in which the cool-down was sufficient or no formerly heating takes place.
In another embodiment the execution of the instructions causes the processor to determine a safe power level map using the cumulative energy density map and to display the safe power level map on a display.
This embodiment may be advantageous because it protects the tissue by avoiding skin burn because only locations that are “safe” were heated again. Also subcutaneous fat sclerosis can be minimized with this embodiment. It should be noted that the “safe power level” depends heavily on the expected duration of the sonication to be performed. The reason is that the near field heating depends largely on the energy, i.e., the product of the power and sonication duration.
In another embodiment the execution of the instructions further causes the processor to halt the heating of the target zone if at least a portion of the cumulative energy density map is above a predetermined heating threshold.
This embodiment may be advantageous because it further protects the healthy tissue.
In another embodiment the medical apparatus further comprises a magnetic resonance imaging system comprising a magnet with an imaging zone, wherein the magnetic resonance imaging system is operable for acquiring thermal magnetic resonance data from a target zone within the imaging zone, wherein execution of the instructions further cause the processor to repeatedly acquire the thermal magnetic resonance data using the magnetic resonance imaging system and to determine a thermal map of the predefined volume using the thermal magnetic resonance data.
This embodiment may be advantageous because using the temperature rise in such locations that are monitored may help to calibrate the energy density map.
In another embodiment the execution of the instructions further causes the processor to halt the heating of the target zone if at least a portion of the thermal map is above a predetermined temperature.
According to the above mentioned advantages this embodiment further protects the healthy tissue.
In another embodiment the execution of the instructions further causes the processor to validate the thermo acoustic model using the thermal data.
In another embodiment the execution of the instructions further causes the processor to combine thermal data from within the imaging zone with cumulative energy density data to get an assessment of actual temperature in target zones both within and outside the imaging zone.
This embodiment is particularly advantageous because it may be used to calculate the temperature to assist in planning the next treatment to find the locations that have the least previous thermal build-up.
In another embodiment the predefined volume is at least partially outside of the target zone.
In another embodiment the heating system is any one of the following: high intensity focused ultrasound, radio-frequency heating system, a microwave ablation system, a hyperthermia therapy system, a laser ablation system, and an infrared ablation system.
In another aspect the invention provides for a computer implemented method of operating a medical apparatus, wherein the medical apparatus comprises a heating system for heating a target zone of a subject, wherein the method comprises receiving a treatment plan by the heating system and repeatedly heating the target zone during alternating heating periods and cooling periods by controlling the heating system using the treatment plan, calculating a present energy density map in a predefined volume using the treatment plan and a thermo acoustic model, wherein the present energy density is repeatedly updated during the heating of the target zone and updating the treatment plan using the present energy density map.
In another aspect the invention provides for a computer program product comprising machine executable instructions for execution by a processor controlling a medical apparatus, wherein the medical apparatus comprises a heating system for heating a target zone of a subject, wherein execution of the instructions causes the processor to receive a treatment plan, wherein execution of the instructions further causes the processor to repeatedly heat the target zone during alternating heating periods and cooling periods by controlling the heating system using the treatment plan, calculate a present energy density map in a predefined volume using the treatment plan and a thermo acoustic model, wherein the present energy density is repeatedly updated during the heating of the target zone and update the treatment plan using the present energy density map.
In the following preferred embodiments of the invention will be described, by way of example only, and with reference to the drawings in which:
Like numbered elements in these figures are either equivalent elements or perform the same function. Elements which have been discussed previously will not necessarily be discussed in later figures if the function is equivalent.
Also within the bore of the magnet is a magnetic field gradient coil 310 which is used for acquisition of magnetic resonance data to spatially encode magnetic spins within an imaging zone 318 of the magnet 306. The magnetic field gradient coil 310 is connected to a magnetic field gradient coil power supply 312. The magnetic field gradient coil 310 is representative. Typically magnetic field gradient coils 310 contain three separate sets of coils for spatially encoding in three orthogonal spatial directions. A magnetic field gradient power supply 312 supplies current to the magnetic field gradient coils 310. The current supplied to the magnetic field coils is controlled as a function of time and may be ramped and/or pulsed.
Adjacent the imaging zone 318 is a radio-frequency coil 314. The radio-frequency coil 314 is connected to a radio-frequency transceiver 316. Also within the bore of the magnet 306 is a subject 320 that is reposing on a subject support 322 and is partially within the imaging zone 318.
Adjacent to the imaging zone 318 is a radio-frequency coil 314 for manipulating the orientations of magnetic spins within the imaging zone 318 and for receiving radio transmissions from spins also within the imaging zone 318. The radio-frequency coil 314 may contain multiple coil elements. The radio-frequency coil 314 may also be referred to as a channel or an antenna. The radio-frequency coil 314 is connected to a radio frequency transceiver 316. The radio-frequency coil 314 and the radio frequency transceiver 316 may be replaced by separate transmit and receive coils and a separate transmitter and receiver. It is understood that the radio-frequency coil 314 and the radio-frequency transceiver 316 are representative. The radio-frequency coil 314 is intended to also represent a dedicated transmit antenna and a dedicated receive antenna. Likewise the transceiver 316 may also represent a separate transmitter and a separate receiver.
The magnetic field gradient coil power supply 312 and the radio-frequency transceiver 316 are connected to a hardware interface 328 of a computer system 326. The computer system 326 further comprises a processor 330. The processor 330 is connected to the hardware interface 328. The hardware interface 328 enables the processor 330 to send and receive data and commands to the magnetic resonance imaging system 302. The computer system 326 further comprises a user interface 332, computer storage 334 and computer memory 336.
In this case a heating system 304 has been incorporated into the medical apparatus 300. The heating system 304 was connected to the hardware interface 328 of the computer system 326 and is operable for being controlled by the processor 330. The heating system 304 in this embodiment is intended to be generic and may represent any system used for heating a portion of a subject. The heating system 304 may for instance be a high-intensity focused ultrasound system, a radio-frequency heating system, a microwave ablation system, a hyperthermia therapy system, a laser ablation system, and an infrared ablation system.
The computer memory 336 is shown as containing a thermal model modeling module 338. The thermal model modeling module 338 contains computer executable code which enables the heating system 304 to model the energy density in a predefined volume using a thermal model. The computer storage 334 further contains a heating system controlling module 340 which enables the processor 330 to control the heating system 304. Furthermore, the computer storage 334 contains a treatment plan receiving module 342. The treatment plan receiving module 342 contains computer executable code which enables the processor 330 to receive 100, 200 a treatment plan. The target zone heating module 344 contains computer executable code which enables the processor 330 to heat 102, 202 the target zone 324 during alternating heating periods and cooling periods by controlling the heating system 304 using the heating system controlling module 340. And the computer memory 336 contains a density map calculating module 346 and a density map updating module 348. The density map calculating module 346 calculates a present energy density map in a predefined volume using the treatment plan and a thermo acoustic model, wherein the present energy density is repeatedly updated during the heating of the target zone 324 using the density map updating module 348.
The computer storage 334 is shown as containing a cumulative energy density map 350. The cumulative energy density map 350 is determined using the received 100, 200 treatment plan using the treatment plan receiving module 342 and the calculated 104, 204 present energy density map using the density map calculating module 346. The present energy density map is repeatedly updated during the heating 102, 202 of the target zone 324 with the result of a cumulative energy density map 350.
The computer memory 336 is shown as additionally containing a density map displaying module 402. The density map displaying module 402 contains computer executable code which enables to display 206 the cumulative energy density map 350 on a display. Further the treatment plan optimizing module 404 contains computer executable code which enables the processor 330 to optimize 208 the treatment plan in accordance with the cumulative energy density map 350 taking into account both the history and the next heating event to find the position of the target zone 324 that is the safest and with the shortest cool-down-time, wherein the system could automatically indicate the most suitable or most dangerous locations to the user. The safe power level map 418 can be determined and displayed using the safe power level map determining module 406 and the safe power level map displaying module 408. The safe power level map determining module 406 contains computer executable code which enables the processor 330 to determine 210 a safe power level map 418 using the cumulative energy density map 350. And the safe power level map displaying module 408 contains computer executable code which enables the processor 330 to display 212 the safe power level map 418 on a display. Furthermore, the computer memory 336 contains a halting module 410. The halting module 410 contains computer executable code which enables the processor 330 to halt the heating of the target zone 324 if at least a portion of the cumulative energy density map 350 is above a predetermined heating threshold or if at least a portion of the thermal map 424 is above a predetermined temperature. Furthermore the computer memory 336 contains a thermal map determining module 412 which contains computer executable code which enables the processor 330 to determine a thermal map 424 of the predefined volume using the thermal magnetic resonance data 420. To validate the thermo acoustic model the computer memory 336 contains a thermo acoustic model validating module 414. The computer memory 336 further contains a data combining module 416 which contains computer executable code which enables the processor 330 to combine thermal data from within the imaging zone 318 with cumulative energy density data 350 to get an assessment of actual temperature in target zones 324 both within and outside the imaging zone 318.
The ultrasound transducer 506 is connected to a mechanism 508 which allows the ultrasound transducer 506 to be repositioned mechanically. The mechanism 508 is connected to a mechanical actuator 510 which is adapted for actuating the mechanism 508. The mechanical actuator 510 also represents a power supply for supplying electrical power to the ultrasound transducer 506. In some embodiments the power supply may control the phase and/or amplitude of electrical power to individual ultrasound transducer elements. In some embodiments the mechanical actuator/power supply 510 is located outside of the bore 308 of the magnet 306.
The ultrasound transducer 506 generates ultrasound which is shown as following the path 512. The ultrasound 512 goes through the fluid-filled chamber 504 and through an ultrasound window 514. In this embodiment the ultrasound then passes through a gel pad 516. The gel pad is not necessarily present in all embodiments but in this embodiment there is a recess in the subject support 322 for receiving a gel pad 516. The gel pad 516 helps couple ultrasonic power between the transducer 506 and the subject 320. After passing through the gel pad 516 the ultrasound 512 passes through the subject 320 and is focused to a sonication point 518. The sonication point 518 is being focused within a target zone 324. The sonication point 518 may be moved through a combination of mechanically positioning the ultrasonic transducer 506 and electronically steering the position of the sonication point 518 to treat the entire target zone 324.
The high-intensity focused ultrasound system 502 is shown as being also connected to the hardware interference 328 of the computer system 326. The computer system 326 and the contents of its storage 334 and memory 336 are equivalent to that as shown in
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/IB2013/052270 | 3/22/2013 | WO | 00 |
| Number | Date | Country | |
|---|---|---|---|
| 61619581 | Apr 2012 | US |
