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WO2018018725A1 - Méthode de destruction de tissus par ultrasons focalisés par impulsions de centaines de microsecondes à deux étages - Google Patents

Méthode de destruction de tissus par ultrasons focalisés par impulsions de centaines de microsecondes à deux étages Download PDF

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Publication number
WO2018018725A1
WO2018018725A1 PCT/CN2016/099266 CN2016099266W WO2018018725A1 WO 2018018725 A1 WO2018018725 A1 WO 2018018725A1 CN 2016099266 W CN2016099266 W CN 2016099266W WO 2018018725 A1 WO2018018725 A1 WO 2018018725A1
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pulse
tissue
stage
damage
hundred
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Chinese (zh)
Inventor
陆明珠
王睿
关宇波
李玉娇
黄伟骏
马风超
张灵璐
万明习
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Xian Jiaotong University
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Xian Jiaotong University
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N7/02—Localised ultrasound hyperthermia
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N2007/0073—Ultrasound therapy using multiple frequencies

Definitions

  • the invention belongs to the field of ultrasonic technology and relates to a two-stage one hundred microsecond pulse-focusing ultrasonic tissue destruction method.
  • Histotripsy is a non-invasive and controllable method of tissue ablation that controlled the destruction and homogenization of soft tissue by pulsed ultrasound focused from outside the body to the target without damaging adjacent tissue.
  • Infant heart disease, treatment of prostate lesions, tumor ablation, treatment of thrombosis, etc. have applications.
  • Tissue damage technology belongs to High Intensity Focused Ultrasound (HIFU), which mainly utilizes the mechanical effects of high-intensity focused pulsed ultrasound on tissues and cells, and has become an international research hotspot.
  • HIFU High Intensity Focused Ultrasound
  • thermal and acoustic cavitation dominate.
  • the thermal mechanism and the tissue damage mechanism mainly utilize the thermal effects and cavitation mechanical effects of HIFU, respectively.
  • the study of thermal mechanisms started earlier and more mature, and has been applied in the treatment of substantive tissues, but the method of tissue damage also has its own advantages: (a) the method of tissue damage is not affected by the thermal pool effect (heat-sink) The effects of the treatment can be used to treat the tissue surrounding the blood vessels, and the application range is wider; (b) the damage of the tissue damage method is the result of cavitation mechanical action, which can prevent thermal diffusion and affect healthy tissue; (c) the tissue damage method Cavitation clouds, boiling bubbles, etc.
  • tissue damage method to crush the target tissue, no thermal coagulation damage during treatment can form tissue Absorbable liquid, more suitable for clinical application;
  • tissue damage method for large lesions can be continuously treated around the tumor tissue, cutting the tumor tissue from healthy tissue, greatly improving the treatment efficiency.
  • shock wave scattering and intrinsic threshold excitation are the two main ways of cavitation cloud tissue damage: the shock wave scattering mechanism is that the shock wave reflects from a single or multiple microbubbles to form a high amplitude negative sound pressure, which forms more under the action of this negative sound pressure.
  • the microbubbles are aggregated to image a cloud-like microbubble group; the intrinsic threshold excitation is achieved by increasing the individual peak negative sound pressure so that the short pulse energy exceeds the inherent cavitation threshold.
  • the method makes the damage less than one wavelength, so that the damage is more precise and controllable, and the peak negative sound pressure required by the method in the tissue reaches 15-30 MPa, which causes the sound tissue around the target tissue to have a large sound pressure. Put some pressure on clinical applications.
  • the boiling bubble structure damage mainly utilizes the rapid heating boiling caused by a pulse of several milliseconds and the atomization phenomenon generated by the interface between the tissue and the boiling bubble.
  • a certain intensity of sound pressure is applied for a certain period of time, the tissue temperature in the focal zone rises above 100 ° C, and boiling bubbles are generated.
  • the name of the invention patent is Michael S. Canney of the University of Washington in the United States.
  • U.S. Patent No. 8,876,740 B2 to "Methods and systems for non-invasive treatment of tissue using high intensity focused ultrasound therapy” discloses the use of pulsed ultrasonic waves having a length of several milliseconds and a positive sound pressure peak of 10 to 100 MPa to generate boiling bubbles in the target tissue.
  • Vera KHOKHLOVA et al., in the patent application "Boiling histotrips methods and systems for uniform volumetric ablation of an object by high-intensity focused ultrasound waves with shocks", WO 2,015,148,966 A1, discloses the use of sequentially guided ultrasound at the target. A method and apparatus for tissue damage using boiling bubbles at different points in the tissue.
  • cavitation cloud tissue damage and boiling bubble tissue damage are the two main directions of tissue damage technology, and they all adopt pulsed ultrasonic emission mode.
  • Cavitation cloud tissue damage method pulse ultrasonic duration is only about 10 ⁇ s, peak negative sound pressure is 15 ⁇ 25MPa, peak positive sound pressure needs to be greater than 80MPa, transducer operating frequency is 0.75 ⁇ 1MHz; and boiling bubble tissue damage method
  • the pulse duration is several milliseconds, the peak negative sound pressure is 10-15 MPa, the peak positive sound pressure needs to be greater than 40 MPa, and the transducer operating frequency is 1-3 MHz.
  • the existing methods of tissue damage still need to be improved as follows: 1.
  • the required peak sound pressure is large. As a non-invasive treatment technique, too high peak sound pressure will cause a large sound pressure in the surrounding tissue. Put some pressure on clinical safety.
  • Cavitation cloud tissue damage method The pulse duration is only about 10 ⁇ s, and the duty cycle is less than 1%, which makes the ultrasonic excitation time shorter, the required damage formation time is longer, and the treatment efficiency is lower. 3. Boiling bubble structure damage technology Because the sound radiation force is not used, the damage often occurs in the head.
  • the object of the present invention is to provide a two-stage one hundred microsecond pulse-focusing ultrasonic tissue damage method, which can improve the safety, efficiency and effectiveness by a two-stage tissue damage method with a length of one hundred microseconds.
  • a two-stage, one-hundred microsecond pulse-focused ultrasound tissue destruction method includes the following steps:
  • the monitoring and guiding system in step 1) is a digital ultrasound imaging device.
  • a damaged edge is used for the determined target tissue, a tissue cutting scheme, or a direct damage scheme.
  • step 1) specifically includes the following steps: image guiding through a B-ultrasound probe located at the center of the HIFU transducer (5), by aligning the radial position of the target tissue to the center of the HIFU transducer; The position of the target tissue is adjusted and the image is guided with a digital ultrasound imaging device such that the target tissue is at the focus of the HIFU transducer.
  • the duty cycle DC range of the pulse focused ultrasound in step 2) is: 3% ⁇ DC ⁇ 10%; the length of one hundred microseconds refers to a single pulse duration greater than 200 ⁇ s, and less than 950 ⁇ s; the operation of the pulse focused ultrasound
  • the frequency range is from 1MHz to 5MHz.
  • the duty ratio of the pulsed focused ultrasound is ⁇ 1%, and the length of one hundred microseconds refers to a single pulse duration of more than 200 ⁇ s and less than 950 ⁇ s; the pulse focused ultrasound has an operating frequency range of 1 MHz to 5 MHz.
  • the absolute value of the negative sound pressure used in the two-stage damage is less than 12 MPa, and the positive sound pressure is generated to generate the shock wave, and the positive sound pressure generates the shock wave.
  • sample is a phantom or an ex vivo tissue.
  • the HIFU transducer is a spherical crown single-element circular array transducer, and its working center frequency ranges from 1 MHz to 5 MHz.
  • the HIFU transducer is provided with a hole in the middle to facilitate the placement of monitoring and guiding equipment such as a B-ultrasound probe.
  • the present invention has the following beneficial effects:
  • the present invention proposes a two-stage one hundred microsecond pulse-focusing ultrasonic tissue destruction method; the present invention fully utilizes a relatively high duty cycle pulse to take both thermal and mechanical effects into account, and low duty It has the characteristics of good mechanical effect than pulse. Efficient damage to the tissue is achieved by controlling the relatively high duty cycle of a single pulse with a single pulse duration of one hundred microseconds and a low-intensity pulsed high-intensity ultrasound sequence acting on the target tissue.
  • the present invention adopts a two-stage destruction strategy combining a relatively high duty cycle and a low duty cycle: firstly, a relatively high duty cycle pulse sequence is used to form a loose structure, and a preliminary homogenization of the tissue is realized; A low duty cycle pulse sequence completely homogenizes the tissue.
  • This two-stage method can significantly reduce the peak sound pressure required for tissue damage methods, reduce the impact on surrounding tissue outside the focus, and improve the safety of treatment.
  • the first stage of the present invention employs a relatively high duty cycle pulse sequence with a single pulse duration of one hundred microseconds, so that the effective action time is higher than the conventional tissue damage method; meanwhile, the relatively high duty cycle
  • the pulse sequence takes into account the heat accumulation and mechanical effects, and produces a boiling bubble.
  • the shock wave at the focus interacts with the boiling bubble to accelerate the destruction of the structure of the focal region.
  • the focal region is operated under a relatively high duty cycle pulse sequence. A large number of cavitation nucleuses are generated, which accelerates the cavitation effect of the second stage low duty cycle pulse sequence. Based on the above three points, the present invention can improve the treatment efficiency of tissue damage.
  • FIG. 1 is a block diagram of an implementation system of the present invention; in FIG. 1, 1 is a synchronous signal control system, and 2 is an arbitrary waveform generator. 3 is the RF signal power amplifier, 4 is the impedance matching network, 5 is the single-array ring array HIFU transducer, 6 is the digital ultrasound imaging system, 7 is the high speed camera, 8 is the plexiglass container, 9 is the sample, 10 is the constant temperature The device, 11 is deaerated water.
  • FIG. 2 is a schematic diagram of a spherical crown ring array HIFU transducer and a sound field distribution simulation diagram of the present invention
  • FIG. 2 (a) is a schematic diagram of a spherical crown ring array transducer, and (b) is a sound field. Distribution diagram.
  • Figure 3 is a schematic diagram of a typical pulse sequence in the method of the present invention.
  • Figure 4 is a sound pressure waveform measured at a focus of a typical excitation waveform employed in the method of the present invention.
  • Figure 5 is a main flow diagram of the method of the present invention for cutting large tissue boundaries.
  • Figure 6 is a schematic illustration of the method of the present invention for cutting large tissue boundaries.
  • Figure 7 is a typical result of monitoring by high-speed imaging in the implementation of the method of the present invention in bovine serum albumin acrylamide imitation; in Figure 7, (a) to (e) are the first phase of relatively high duty cycle pulses. A typical result plot, (f) ⁇ (j) is a typical result plot for the second stage low duty cycle pulse.
  • Figure 8 is a graph showing the histological results of the method of the present invention in isolated pig liver;
  • Figure 8 (a) is the damage boundary after the end of treatment, and (b) is the image of the damage boundary in (a) image.
  • Magnification (c) is the damage boundary after the end of the relatively high duty cycle treatment in the first stage, and (d) is the amplification of the image around the damage boundary in the (c) image.
  • Figure 9 is a view of the method of the present invention when a cutting boundary is used when the target tissue is large; in Figure 9: (a) is the axial shape of the damage in the phantom; (b) is the transverse shape of the damage in the phantom; (c), (d) are (a), (b) the form after removal of the transparent phantom.
  • the present invention proposes a two-stage one hundred microsecond pulse-focusing ultrasonic tissue damage method to safely and efficiently perform tissue damage.
  • the biological effects in biological tissues vary significantly with the duty cycle of the ultrasound.
  • the longer the duration of the ultrasonic action ie the higher the duty cycle, the more the heat accumulation effect Large, the thermal effect is more obvious; and correspondingly, the shorter the duration of the ultrasonic action, that is, the lower the duty cycle, the main effect is the mechanical effect; the control duty ratio within a certain range can take into account the heat accumulation and mechanical effects.
  • HIFU mainly acts in the field of ultrasound therapy, but the present invention does not directly relate to the treatment of human diseased tissue, but uses the phantom as a medium to determine its control method, such as pig liver, kidney and other medium with high incidence of isolated tissues and organs.
  • the research object explores the effect of two-stage one hundred microsecond pulse-focusing ultrasound tissue destruction method on improving treatment efficiency and improving safety.
  • the implementation system of the two-stage hundred microsecond pulse-focusing ultrasonic tissue destruction method in the present invention comprises: an ultrasonic excitation system, a monitoring and guiding system, a synchronization signal control system 1 and a reaction container.
  • the ultrasonic excitation system is mainly composed of an arbitrary waveform generator 2, an RF power amplifier 3, an impedance matching network 4 and a HIFU transducer 5 which are sequentially connected;
  • the monitoring and guiding system is mainly composed of a digital ultrasonic imaging device 6 (B-mode) and a high speed.
  • the camera 7 is composed;
  • the synchronizing signal control system is composed of a multi-channel arbitrary waveform generator 2, and the main function is a synchronous ultrasonic excitation system and a monitoring and guiding system;
  • the reaction container is a rectangular plexiglass container 8 as a reaction place, and contains a constant temperature. Deaerated water 11 and sample 9 of device 10.
  • the synchronizing signal control system 1 generates a synchronizing signal to operate the ultrasonic excitation system and the monitoring and guiding system in synchronization.
  • the ultrasonic excitation system first emits a relatively high duty cycle (>3%, and ⁇ 10%) pulse sequence to loosen the local tissue structure. And a cavitation nucleus is generated; then the ultrasonic excitation system emits a lower duty cycle ( ⁇ 1%) pulse sequence to further mechanically pulverize and homogenize the tissue of the damaged region.
  • the monitoring and guidance system performs real-time monitoring, including cavitation effects, boiling bubbles and eventually formed damage.
  • the synchronous operation of the ultrasonic excitation system and the monitoring and guiding system is realized by a synchronous signal control system, and the specific implementation thereof is that a multi-channel arbitrary waveform generator generates multiple synchronous signals, one of which is used to control the ultrasonic excitation system, and at the same time Another signal of the synchronous signal control system controls the high-speed camera to acquire images synchronously to monitor the damage during the entire process.
  • the ultrasound imaging device can also be used to monitor in real time throughout the process, providing B-mode images at any time in the target tissue region.
  • the two-stage hundred microsecond pulse-focusing ultrasonic tissue destruction method of the present invention comprises the following steps:
  • a monitoring guidance system such as a digital ultrasound imaging device
  • a monitoring guidance system such as a digital ultrasound imaging device
  • Step 1) specifically includes the steps of: image guiding through a B-ultrasound probe located at the center of the HIFU transducer 5, by aligning the radial position of the target tissue to the center of the HIFU transducer; by adjusting the position of the target tissue Image guidance using a digital ultrasound imaging device with the target tissue at the focus of the HIFU transducer.
  • step 1) the B-ultrasound image of the desired damaged target tissue is collected.
  • the cutting method is adopted, that is, the HIFU transducer is moved multiple times to focus on the tissue. Boundary, multiple tissue damage, and finally the purpose of cutting the target tissue from the surrounding healthy tissue; when the target tissue is small, the direct damage method is adopted, even if the HIFU transducer is focused on the target tissue, One or more tissue damages, directly destroying the target tissue.
  • Step 2) includes the steps of: the arbitrary waveform generator emits a relatively high duty cycle pulse sequence of a single pulse duration of one hundred microseconds, and after driving the HIFU transducer through the impedance matching network after the RF power amplifier, in the monitoring and guiding system The first stage of destruction of the target tissue is monitored.
  • the relatively high duty cycle (Duty Cycle, DC) DC range is 3% ⁇ DC ⁇ 10%, a hundred microsecond length, refers to a single pulse duration of 200 ⁇ s ⁇ DC ⁇ 950 ⁇ s, pulse focused ultrasound, its operating frequency range It is 1MHz to 5MHz.
  • the first stage of the damage first utilizes a relatively high duty cycle (> 3%, and ⁇ 10%) pulsed ultrasound while utilizing heat accumulation and mechanical effects to reduce the mechanical strength of the target tissue and achieve partial homogenization.
  • the pulsed focused ultrasound in the first stage produces boiling bubbles and shock waves, etc., forming a loose local structure, and inertia.
  • Various mechanical actions, such as cavitation and shock waves further homogenize the interior of the damage and form a large number of cavitation nuclei.
  • the boiling bubbles in the first stage are achieved in the form of heat accumulation, and there is an upper limit on the duty ratio for the heat accumulation in the focal area without forming a large amount of heat diffusion to be avoided for the surrounding tissue.
  • the sub-verification was set to 10% in the present invention.
  • Step 3) includes the following steps: the arbitrary waveform generator emits a single pulse duration of a low duty cycle pulse duration of one hundred microseconds, and after passing through the RF power amplifier, drives the HIFU transducer through the impedance matching network under the monitoring of the monitoring and guiding system.
  • the low duty cycle DC range is DC ⁇ 1%, a hundred microsecond length, which refers to a single pulse duration of 200 ⁇ s ⁇ DC ⁇ 950 ⁇ s, pulse focused ultrasound, and its operating frequency range is 1 MHz ⁇ 5 MHz.
  • the second stage of the present invention utilizes a lower duty cycle ( ⁇ 1%) pulsed ultrasound sequence that further comminutes and homogenizes the tissue in the focal zone.
  • the absolute value of the negative sound pressure required for the two-stage tissue damage method can be reduced to less than 12 MPa.
  • the spherical crown ring array HIFU transducer 5 in the system of the present invention is a hole-in-the-hole, concave spherical ultrasonic transducer having a radius of curvature R s and an inner diameter of R 1 . outer diameter R 2.
  • ⁇ is the medium density
  • c is the speed of sound in the medium
  • k is the wave number
  • s is the area of the signal source
  • u is the vibration velocity of the medium perpendicular to the surface of the sound source
  • r is the surface of the observation point away from the element
  • the distance of dS, ⁇ is the sound attenuation coefficient.
  • FIG. 3 is a schematic diagram of a typical pulse sequence in a two-stage tissue destruction method employed in the present invention.
  • the peak sound pressure required for cavitation cloud tissue damage and boiling bubble tissue damage methods is significantly reduced, ensuring the safety of normal tissue outside the focus and improving treatment safety.
  • the two-stage tissue destruction method of the present invention performs tissue cutting by using the following process: the S1 digital ultrasound device performs image guidance, and the HIFU transducer is adjusted to focus on the area where tissue damage is required; S2 performs the first The relatively high duty cycle treatment results in loose local tissue structure and cavitation nucleus with image monitoring; S3 performs a second phase of low duty cycle treatment, further mechanical comminution and homogenization of the damaged area, and Accompanied by real-time image monitoring; S4 determines whether the cutting has been completed, and if it is completed, ends the treatment, if not, proceeds to step S5; S5 searches for a new cutting point along the boundary, and repeats steps S1, S2, S3, and S4.
  • FIG. 6 the schematic diagram of the tissue cutting of the two-stage tissue destruction method of the present invention is further visualized.
  • BSA bovine serum albumin
  • the second stage is a low duty cycle pulse sequence with a duty cycle of 1%.
  • the sound power was set to 240 W throughout the treatment.
  • Channel 1 of the arbitrary waveform generator in the synchronous signal control system is connected to the ultrasonic excitation system, and channel 2 is connected to the guidance monitoring system. Turn on each device and manually trigger the sync signal control system.
  • Channel 1 is connected to the external trigger of the arbitrary waveform generator in the ultrasonic excitation system, triggering the signal from the ultrasonic excitation system to pass through the RF power amplifier, impedance matching network and driving the HIFU transducer.
  • Channel 2 starts the high-speed camera equipment for real-time monitoring.
  • Bovine serum albumin polyacrylamide imitation is transparent and is similar to tissue characteristics and is often used for mechanism analysis.
  • the formation process of the damage can be clearly observed by high-speed imaging.
  • the high-speed image of the damage pattern changes with the treatment time in the phantom, and (a) to (e) are typical results of the first stage, (f ) ⁇ (j) is the typical result graph of the second stage.
  • Fig. 7(a) visible damage occurred in 1.8 seconds, as shown in Fig. 7(c), and 2 mm diameter appeared in 6.671s.
  • the boiling bubble, as shown in Figure 7 (d) shows increased fluidity of the damage.
  • the damage appears in multiple divisions.
  • the ultrasonic waves are reflected multiple times in the axial direction and are formed at multiple points.
  • this is another example of the high therapeutic efficiency of the present invention.
  • the damage finally appears as a column, and the size is about 8 mm ⁇ 2 mm (axial ⁇ lateral), and the damage is relatively regular.
  • the two-stage one hundred microsecond pulse tissue destruction method used in the present invention can achieve tissue damage with a lower sound pressure.
  • the pulse train consists of a stop time of 30ms after the pulse of 400 ⁇ s length is applied, and there is a stop time of 500ms between the two sets of pulses.
  • the sound power was set to 240 W throughout the treatment.
  • Channel 1 of the arbitrary waveform generator in the synchronization signal control system Connects channel 1 of the arbitrary waveform generator in the synchronization signal control system to the ultrasonic excitation system, and channel 2 is connected to the guidance monitoring system. Turn on each device and manually trigger the sync signal control system.
  • Channel 1 is connected to the external trigger of the arbitrary waveform generator in the ultrasonic excitation system, triggering the signal from the ultrasonic excitation system to pass through the RF power amplifier, impedance matching network and driving the HIFU transducer.
  • Channel 2 starts the high-speed camera equipment for real-time monitoring.
  • FIG. 8 shows the histological results of pig kidney after H&E staining.
  • the damage boundary after the end of treatment the left side is the normal tissue, and the right side is the tissue after the injury.
  • the two have clear boundaries and the inside of the damage is completely uniform; as shown in Figure 8(b) It is the enlarged damage boundary that can further find that the cell structure in the normal area is relatively complete, and the damaged area after treatment is completely homogenized; as shown in Fig.
  • the damage boundary after the first stage treatment can be found.
  • the lesion area is partially homogenized, but some of the cell debris remains.
  • Figure 8(d) it is an enlarged view of the damage boundary area after the first stage of treatment, and it can be found that the damage area only appears preliminary. Homogenization, complete homogenization is not achieved. Therefore, the solution proposed by the present invention can damage the tissue with a lower sound pressure, ensure the safety brought by the surrounding tissue outside the focus, improve the safety of the treatment, and improve the treatment efficiency and the like.
  • Analytical results As shown in Fig. 9, the results of the large tissue cutting treatment of the new method of tissue damage proposed by the present invention, the morphological observation of the cut pig liver can reveal the appearance of white milky substance inside the treatment area. The damaged area has been completely cut. Therefore, the solution proposed by the present invention can cut the boundary of a large target tissue to achieve high-efficiency treatment.

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Abstract

La méthode de destruction de tissus par ultrasons focalisés par impulsion de centaines de microsecondes à deux étages comprend: 1) le positionnement du tissu cible d'un échantillon (9) à l'aide d'un système de guidage de surveillance, et l'ajustement de la position du tissu cible au point focal d'un transducteur HIFU (5); 2) la première étape de destruction consiste à former des structures tissulaires locales lâches au moyen d'une onde de choc excitée par une impulsion de centaines de microsecondes focalisée, ainsi que des bulles d'air d'ébullition et une cavitation inertielle; 3) la seconde étape de destruction consiste à broyer et à homogénéiser mécaniquement les tissus de la zone endommagée au moyen d'ultrasons focalisés par impulsions ayant une longueur de cent microsecondes, de manière à détruire les tissus. Le procédé exploite pleinement les caractéristiques suivantes : une impulsion ayant un cycle de travail relativement élevé a des effets thermiques et mécaniques, tandis qu'une impulsion ayant un cycle de travail bas a de bons effets mécaniques. En commandant une séquence d'ultrasons de haute intensité, dans laquelle deux étages sont générés consécutivement, une seule impulsion dure une centaines de microsecondes.Une destruction de tissu hautement efficace peut être obtenue avec une impulsion ayant un cycle de service relativement élevé et un faible rapport cyclique pour agir sur un tissu cible.
PCT/CN2016/099266 2016-07-25 2016-09-19 Méthode de destruction de tissus par ultrasons focalisés par impulsions de centaines de microsecondes à deux étages Ceased WO2018018725A1 (fr)

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CN113984184A (zh) * 2021-10-27 2022-01-28 陕西博纵电子科技有限公司 基于超声换能器阵列的声场检测方法及检测系统

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US11896853B2 (en) 2019-05-10 2024-02-13 University Of Washington Transrectal ultrasound probe for boiling histotripsy ablation of prostate, and associated systems and methods
CN113340689B (zh) * 2021-05-26 2023-06-16 西安交通大学 多频谐波叠加两阶段毫秒长脉冲超声组织毁损控制方法和系统
CN113349881B (zh) * 2021-05-28 2024-05-24 西安交通大学 上百阵元相控阵脉冲超声多焦点组织毁损控制方法和系统

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