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WO1995001125A1 - Appareil de poursuite par granulatioin coherente dans un tissu - Google Patents

Appareil de poursuite par granulatioin coherente dans un tissu Download PDF

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Publication number
WO1995001125A1
WO1995001125A1 PCT/GB1994/001403 GB9401403W WO9501125A1 WO 1995001125 A1 WO1995001125 A1 WO 1995001125A1 GB 9401403 W GB9401403 W GB 9401403W WO 9501125 A1 WO9501125 A1 WO 9501125A1
Authority
WO
WIPO (PCT)
Prior art keywords
movement
region
target region
imaging apparatus
reference region
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/GB1994/001403
Other languages
English (en)
Inventor
Christopher Rowland HILL
Jeffrey Colin Bamber
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Institute of Cancer Research Royal Cancer Hospital
Original Assignee
Institute of Cancer Research Royal Cancer Hospital
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Institute of Cancer Research Royal Cancer Hospital filed Critical Institute of Cancer Research Royal Cancer Hospital
Publication of WO1995001125A1 publication Critical patent/WO1995001125A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body

Definitions

  • the present invention relates to imaging apparatus for tracking movement of one area or region of tissue in an organ of a patient during remotely controlled surgical procedures, in order to monitor the position of that or another connected area of the organ.
  • the need for such apparatus results from the fact that even when a patient is anaesthetised or unconscious, his internal organs are still moving as a result of normal functions such as heartbeat, or breathing.
  • the invention makes use of a feature of imaging techniques using coherent radiation called "speckle" and enables a radiation beam, for example, to remain in correct alignment and range relative to a target area of tissue as it moves.
  • “Speckle” in an ultrasonic or other coherent radiation image is an interference pattern that results from interaction between a target tissue and the coherent interrogating radiation.
  • the two sets of data are partially correlated.
  • the changes between the two sets of data are, in principle, indicative of the direction and speed of the movement and the local extent and direction vector of such correlation may be calculated, if necessary for every point in the image plane.
  • a subsequent movement history may be built up for a specific element of a tissue or other object, provided the recording of the echoes is continuous, or at least they are frequently sampled. This method is equally useful for three-dimensional as it is for two-dimensional scanning.
  • speckle and speckle tracking is known in the determination of the velocity of blood-flow. It has also been used to determine the consistency of a tissue.
  • imaging apparatus for determining changes in the position of a target region of tissue in a body, said apparatus comprising:
  • emitting means for emitting radiation for irradiating at least one reference region of said body with coherent radiation
  • receiving means for receiving radiation echoes from said at least one reference region
  • the irradiating and receiving means comprise a pulse-echo transducer, and more particularly, an ultrasonic imager scan head.
  • the invention may also relate to surgical apparatus using the above imaging apparatus to guide other instruments such as a lesioning device for ablating target areas.
  • a method of determining changes in the position of a target region of tissue in a body comprising the steps of:
  • the drawing shows, schematically, apparatus for guiding a spatially selective treatment device, such as a beam of focused ultrasound, within an organ such as the liver.
  • a spatially selective treatment device such as a beam of focused ultrasound
  • a source 2 of high-intensity sound, or ultrasound produces a therapy or treatment beam from a therapy transducer 8a in an array 8, the beam being focused at a target point 4.
  • the same transducer array 8 contains a pulse-echo ultrasound imaging transducer 8b which is used to obtain echographic data of a reference volume 6 which is within the same organ and is therefore linked to the focal position 4. Echographic data from the imaging transducer 8b are transferred to a pulse-echo imaging device 10 where they are processed into 3- dimensional image data. These image data are then passed to a 3-dimensional image memory 12 and the contents of that memory 12 are used by a tracking processor 14 to determine the position of the reference volume 6, and thereby the movement and position of the target point 4.
  • the processor then sends control signals to both an image position control and motor 16 and a focus position control and motor 18 which, respectively, control the position of the focus of the pulse-echo transducer through the imaging device 10, and the position of the focus of the therapy beam transducer 8a in the array 8.
  • the imaging transducer 8b emits a series of pulses at regular intervals and receives, in response, a series of samples of 3-dimensional sets of echo data from the selected reference volume 6, which are sent to the imaging device 10.
  • the reference volume 6 consists of a region of tissue in one of a patient's organs.
  • the therapy transducer 8a is used to ablate target regions 4 of tissue in the same organ.
  • the pulse-echo imaging device 10 controls the pulse-echo transducers to emit the radiation pulses and uses the received echo data to create 3-D images which are sent to the 3-D image memory 12. Successive images held in the 3-D image memory 12 are used by the tracking processor 14 which analyses the echographic data obtained at successive points in time to determine the movement of the reference volume 6 and thus the movement of the target region 4 which is to be treated. It does this using the speckle tracking process described in the introduction.
  • the processor 14 uses this data to produce the control signals which are sent to the focus position control and motor 18 which guide the focus of the therapy beam to continue to follow the target point 4. Conventional methods and servos can be used to maintain the focus on the target point 4. Control signals are also sent by the tracking processor 14 to the image position control and motor 16 which similarly guide the imaging device so to follow the position of the reference volume 6 as it moves and to remain focused on it. The whole imaging device thereby follows tissue motion.
  • speckle tracking processing can be used to calculate the spatial position, at any point in time, of a region of tissue that was initially at a selected spatial coordinate focused upon by the pulse-echo transducer but has since moved, with the transducer not moving its focus from that coordinate, using information from the new regions of tissue which pass through that space. The information about the new spatial position of the tracked region is then used, as before, to readjust the aim of the therapy beam.
  • the transducers comprise a signal source and receiver, usually in pairs, which may be integral or each set at different positions. Pulse-echo transducers may be at totally different points from therapy transducers.
  • the focus of the therapy transducer can move around the organ in order to ablate regions as those regions move as well as being able to move from one region to the next.
  • the focus of the imaging transducers can similarly move, as mentioned above, though that is not always necessary.
  • the local extent and direction vector of movement of tissue from the correlation between successive data from the echo receiver part of the pulse-echo transducer can readily be calculated in the tracking processor.
  • speckle tracking relies on statistical calculations and that without corrections the eventually computed positions of a reference volume will become subject to cumulatively increasing errors.
  • the invention uses the fact that the actual movement patterns which in practice are going to be tracked will be cyclical, as a respiratory or cardiac function is cyclical, about an essentially fixed origin.
  • the calculation algorithm used in the statistical processing can allow for this, modifying any calculated position by weighting it towards return to the appropriate chosen starting position.
  • the original reference volume may be that area of tissue and only one pulse-echo transducer will be necessary.
  • the treatment is required for a substantially larger volume and this may be approached in various ways.
  • a valid assumption may be that tissue adjacent to that of interest will move parallel to and synchronously with the landmark volume, and again only one imaging transducer may be necessary.
  • use may be made of two or more reference volumes, each of which is speckle tracked, and the instantaneous positions of intermediate tissue points can be interpolated through those of the reference volumes. The treatment beam may then follow the position of the intermediate tissue.
  • the invention has been described using a therapy beam to ablate target tissue it can be used to track tissue for other purposes such as, for example, for more precise imaging by using the apparatus to direct and move an imager to track tissue being observed.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Veterinary Medicine (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Surgical Instruments (AREA)

Abstract

L'invention concerne un dispositif d'imagerie qui utilise 'la granulation cohérente' dans des échos d'images d'interférence reçus, dans un transducteur (8b) de formation d'images, à la suite d'un balayage par ultrasons d'un organe, afin de suivre le déplacement des régions du tissu dans cet organe, et par conséquent de contrôler la position d'une région du tissu devant être traitée. Ces informations peuvent ensuite être utilisées pour guider un dispositif détecteur de lésion (8a) ou autre instrument utilisé en chirurgie.
PCT/GB1994/001403 1993-06-29 1994-06-29 Appareil de poursuite par granulatioin coherente dans un tissu Ceased WO1995001125A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB9313347A GB2279743A (en) 1993-06-29 1993-06-29 Apparatus for speckle tracking in tissue
GB9313347.8 1993-06-29

Publications (1)

Publication Number Publication Date
WO1995001125A1 true WO1995001125A1 (fr) 1995-01-12

Family

ID=10737952

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1994/001403 Ceased WO1995001125A1 (fr) 1993-06-29 1994-06-29 Appareil de poursuite par granulatioin coherente dans un tissu

Country Status (2)

Country Link
GB (1) GB2279743A (fr)
WO (1) WO1995001125A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1995029737A1 (fr) * 1994-05-03 1995-11-09 Board Of Regents, The University Of Texas System Appareil et procede a guidage doppler par ultrasons permettant la maitrise en temps reel selon une technique non invasive des lesions tissulaires induites par un traitement thermique
US9146289B2 (en) 2009-12-23 2015-09-29 General Electric Company Targeted thermal treatment of human tissue through respiratory cycles using ARMA modeling

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2329708B (en) * 1997-09-24 2002-05-08 Roke Manor Research Catheter localisation system
GB2329709B (en) * 1997-09-26 2001-12-19 Roke Manor Research Catheter localisation system
KR100483631B1 (ko) * 2002-07-05 2005-04-15 주식회사 메디슨 초음파 영상에서 스페클 패턴의 변화를 추정하여 매질의탄성특성을 측정하는 방법
JP2006519048A (ja) * 2003-02-28 2006-08-24 コーニンクレッカ　フィリップス　エレクトロニクス　エヌ　ヴィ Ｈｉｆｕ超音波治療のための動き追跡改善方法及び装置
EP1757244A4 (fr) * 2004-06-11 2010-02-24 Hitachi Medical Corp Dispositif de soins ultrasonique

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3736733A1 (de) * 1986-10-29 1988-05-11 Olympus Optical Co Ultraschall-therapievorrichtung
EP0321717A2 (fr) * 1987-11-30 1989-06-28 Aloka Co. Ltd. Procédé et dispositif de mesure de la vitesse du fluide au moyen d'ondes ultrasonores

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3736733A1 (de) * 1986-10-29 1988-05-11 Olympus Optical Co Ultraschall-therapievorrichtung
EP0321717A2 (fr) * 1987-11-30 1989-06-28 Aloka Co. Ltd. Procédé et dispositif de mesure de la vitesse du fluide au moyen d'ondes ultrasonores

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
M. BERTRAND: "Measurements of soft Tissue Deformation Using Echographic Speckle Tracking", COMPUTER ASSISTED RADIOLOGY, 1989, pages 230 - 234 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1995029737A1 (fr) * 1994-05-03 1995-11-09 Board Of Regents, The University Of Texas System Appareil et procede a guidage doppler par ultrasons permettant la maitrise en temps reel selon une technique non invasive des lesions tissulaires induites par un traitement thermique
US9146289B2 (en) 2009-12-23 2015-09-29 General Electric Company Targeted thermal treatment of human tissue through respiratory cycles using ARMA modeling

Also Published As

Publication number Publication date
GB2279743A (en) 1995-01-11
GB9313347D0 (en) 1993-08-11

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