KR-20260066167-A - System and method for cone-beam computed tomography histotrip

Abstract

A system and method for aligning the coordinate systems of a cone-beam computed tomography (CT) imaging device and a robot histotripsy system are provided. The method comprises the steps of: driving a phantom connected to a robot arm to an imaging position; obtaining a cone-beam CT image of the phantom captured by a cone-beam CT imaging device; displaying an image representing at least one marker from the obtained cone-beam CT image of the phantom; evaluating the number and direction of markers in the obtained cone-beam CT image by comparing them with a known number and direction of markers in the phantom; and aligning the coordinate system of the cone-beam CT imaging device with the coordinate system of the histotripsy system.

Inventors

• 쉘, 존 디.
• 스넬, 존
• 루츠, 매튜 에이.
• 라우쉬, 다니엘
• 스토펙, 조슈아

Assignees

• 히스토소닉스, 인크.

Dates

Publication Date

20260512

Application Date

20240919

Priority Date

20230919

Claims (20)

1. A method for aligning the coordinate systems of a cone-beam computed tomography (CT) imaging device and a robot histotrip system, Step of driving the robot to a video position by moving the phantom connected to the robot arm; A step of obtaining cone-beam CT images captured by the cone-beam CT imaging device of the above phantom; A step of displaying an image representing at least one marker within the phantom from the cone-beam CT images of the phantom; A step of evaluating the number and direction of the at least one marker in the imported cone-beam CT images by comparing with the known number and direction of the at least one marker in the phantom; and A method comprising the step of aligning the coordinate system of the cone-beam CT imaging device with the coordinate system of the histotrip system.
2. In paragraph 1, A method further comprising the step of driving the phantom as an isocenter of the cone-beam CT imaging device.
3. In paragraph 1, A method further comprising the step of driving the phantom to a non-iso-center position of the cone-beam CT imaging device.
4. In paragraph 1, A method further comprising the step of driving the phantom to a predetermined position of the cone-beam CT imaging device.
5. In paragraph 1, A method further comprising the step of aligning the optical alignment feature of the cone-beam CT imaging device with an isocenter alignment marker on the phantom.
6. In paragraph 1, A method further comprising the step of adjusting the position of the phantom to the center of the field of view of the cone-beam CT imaging device before capturing an image of the phantom.
7. In paragraph 6, A method in which the optical alignment function of the cone-beam CT imaging device is aligned with one or more crosshairs on the phantom.
8. In paragraph 1, A method further comprising the step of attaching the above phantom to the robot arm of the histotrip system.
9. In paragraph 1, A method further comprising the step of vertically positioning the cone-beam CT imaging device and the histotripsy system on a patient bed.
10. In Paragraph 9, A method further comprising the step of locking the wheels of the cone beam CT imaging device and the histotrip system.
11. In paragraph 1, A method further comprising the step of checking the clearance between the cone-beam CT imaging device and the robot arm of the histotrip system.
12. In paragraph 1, A method further comprising the step of checking the quality of the cone-beam CT image before obtaining the cone-beam CT image.
13. In a system for alignment, Robot arm operablely connected to the histotrip system; A phantom operably connected to the above robot arm; and A computing device operably connected to the above-mentioned histotrip system, comprising: The above computing device includes a processor and memory, and A system storing instructions that, when executed by the processor, cause the computing device to perform the steps of: driving the robot arm to an image position; retrieving cone-beam computed tomography (CT) images of the phantom; determining the number and direction of markers in at least one of the retrieved cone-beam CT images; and aligning the coordinate system of the histotrip system with the coordinate system of the cone-beam CT imaging device.
14. In Paragraph 13, A system that, when executed by the above processor, causes the above instructions to display a command to the computing device to drive the phantom to the isocenter of the cone-beam CT imaging device through a user interface.
15. In Paragraph 14, A system that, when executed by the above processor, causes the above instruction to display a command to the computing device to align the optical alignment function of the cone beam CT imaging device with the isocenter alignment function on the phantom through a user interface.
16. In Paragraph 13, A system that, when executed by the above processor, causes the above instructions to display a command to the computing device to adjust the position of the phantom to the center of the field of view of the cone-beam CT imaging device before capturing images of the phantom through a user interface.
17. In Paragraph 16, A system that, when executed by the above processor, causes the above instructions to display instructions to the computing device to align the optical alignment function of the cone beam CT imaging device with one or more crosshairs on the phantom through the user interface.
18. In Paragraph 13, A system in which, when executed by the above processor, the above instructions cause the computing device to display instructions to attach the phantom to the robot arm through a user interface.
19. In Paragraph 13, A system that, when executed by the above processor, causes the above instructions to display an instruction to the computing device to position the cone beam CT imaging device and the histotripsy system vertically on the patient bed through a user interface.
20. In Paragraph 18, A system in which, when executed by the above processor, the above instructions cause the computing device to display instructions to lock the wheels of the cone beam CT imaging device and the histotrip system through the user interface.

Description

System and method for cone-beam computed tomography histotrip Claim of priority This patent application claims priority to U.S. Provisional Application No. 63/583,686, filed September 19, 2023, titled “System and method of histotripsy using joint registration between CT image and robotic system” and U.S. Provisional Application No. 63/662,235, filed June 20, 2024, titled “System and method of cone-beam computed tomography histotripsy”, the entirety of which is incorporated by reference into the text. Includes references All publications and patent applications mentioned in this specification are incorporated by reference into this specification to the same extent that each individual publication or patent application is specifically and individually specified to be included by reference. field The present disclosure relates to a high intensity therapeutic ultrasound (HITU) system configured to generate acoustic cavitation, and to methods, apparatus, and procedures for the minimally invasive and non-invasive treatment of healthy tissue, diseased tissue, and/or damaged tissue. The acoustic cavitation system and method described herein are also referred to as histotripsy and may include a transducer, driving electronics, positioning robotics, an imaging system, and integrated treatment planning and control software to provide comprehensive treatment and therapy for a patient's soft tissue. Histotripsy, or pulsed ultrasound cavitation therapy, is a technique that induces controlled cavitation (microbubble formation) within a focal volume through very short, intense bursts of acoustic energy. The vigorous expansion and collapse of these microbubbles mechanically homogenizes cellular and tissue structures within the focal region. This results in an end outcome very different from coagulative necrosis, which is characteristic of thermal ablation. To operate within the non-thermal histotripsy region, it is necessary to deliver acoustic energy in the form of high-amplitude acoustic pulses with a low duty cycle. Compared to conventional focused ultrasound technology, Histotripsy has the following important advantages: 1) The destruction process at the focal point is mechanical rather than thermal; 2) Cavitation appears bright in ultrasound images, thereby confirming the precise targeting and localization of the treatment; 3) Generally (though not always), treated tissue appears darker (more hypoechoic) in ultrasound images, allowing the operator to identify what has been treated; and 4) Histotripsy creates lesions in a controlled and precise manner. It is important to emphasize that, unlike thermal ablation techniques such as microwave, radiofrequency, high-intensity focused ultrasound (HIFU), cryoablation, or radiation, Histotripsy relies on the mechanical action of cavitation rather than heat, cold, or ionizing energy for tissue destruction. The features of the present disclosure are specifically described in the following claims. A better understanding of the features and advantages of the present disclosure can be obtained by referring to the following detailed description describing exemplary embodiments in which the principles of the present disclosure are utilized, and the accompanying drawings: FIG. 1a is a perspective view of a histotripsy system according to the present disclosure. FIG. 1b illustrates a therapeutic transducer and an imaging transducer according to the present disclosure. FIG. 2 illustrates a histotripsy system configured to treat a patient according to the present disclosure. FIG. 3 is a graph illustrating a pressure wave while an ultrasonic pulse is applied during a histotrip according to the present disclosure. FIGS. 4a to 4d illustrate a phantom for the alignment of a histotripsy system and a cone-beam CT imaging device according to the present disclosure. FIGS. 4e to 4g illustrate a method for aligning an image system coordinate system with a robot positioning system coordinate system. FIG. 5 is a user interface of an application adopted to align a histotrips system with a cone-beam CT imaging device according to the present disclosure. FIG. 6 is a flowchart illustrating a method of aligning a cone-beam CT imaging device according to the present disclosure with a histotrip system. FIG. 7 is a user interface of an application adopted to align a histotrips system with a cone-beam CT imaging device according to the present disclosure. FIG. 8 is a user interface of an application adopted to align a histotrips system with a cone-beam CT imaging device according to the present disclosure. FIG. 9 is a user interface of an application adopted to align a histotrips system with a cone-beam CT imaging device according to the present disclosure. FIG. 10 is a user interface of an application adopted to align a histotrips system with a cone-beam CT imaging device according to the present disclosure. FIG. 11 is a user interface of an application adopted to align a histotrip system with a cone-beam CT