The large pressure generated at the focus causes a cloud of acoustic cavitation bubbles to form above certain thresholds, which creates localized stress and strain in the tissue and mechanical breakdown without significant heat deposition. At pressure levels where cavitation is not generated, minimal effect is observed on the tissue at the focus. This cavitation effect is observed only at pressure levels significantly greater than those which define the inertial cavitation threshold in water for similar pulse durations, on the order of 10 to 30 MPa peak negative pressure.

Histotripsy may be performed in multiple ways and under different parameters. It may be performed totally non-invasively by acoustically coupling a focused ultrasound transducer over the skin of a patient and transmitting acoustic pulses transcutaneously through overlying (and intervening) tissue to the focal zone (treatment zone and site). The application of histotripsy is not limited to a transdermal approach but can be applied through any means that allows contact of the transducer with tissue including open surgical laparoscopic surgical, percutaneous and robotically mediated surgical procedures. It may be further targeted, planned, directed and observed under direct visualization, via ultrasound imaging, given the bubble clouds generated by histotripsy may be visible as highly dynamic, echogenic regions on, for example, B Mode ultrasound images, allowing continuous visualization through its use (and related procedures). Likewise, the treated and fractionated tissue shows a dynamic change in echogenicity (typically a reduction), which can be used to evaluate, plan, observe and monitor treatment.

Generally, in histotripsy treatments, ultrasound pulses with 1 or more acoustic cycles are applied, and the bubble cloud formation relies on the pressure release scattering of the positive shock fronts (sometimes exceeding 100 MPa, P+) from initially initiated, sparsely distributed bubbles (or a single bubble). This is referred to as the “shock scattering mechanism”.

This mechanism depends on one (or a few sparsely distributed) bubble(s) initiated with the initial negative half cycle(s) of the pulse at the focus of the transducer. A cloud of microbubbles then forms due to the pressure release backscattering of the high peak positive shock fronts from these sparsely initiated bubbles. These back-scattered high-amplitude rarefactional waves exceed the intrinsic threshold thus producing a localized dense bubble cloud. Each of the following acoustic cycles then induces further cavitation by the backscattering from the bubble cloud surface, which grows towards the transducer. As a result, an elongated dense bubble cloud growing along the acoustic axis opposite the ultrasound propagation direction is observed with the shock scattering mechanism. This shock scattering process makes the bubble cloud generation not only dependent on the peak negative pressure, but also the number of acoustic cycles and the amplitudes of the positive shocks. Without at least one intense shock front developed by nonlinear propagation, no dense bubble clouds are generated when the peak negative half-cycles are below the intrinsic threshold.

When ultrasound pulses less than 2 cycles are applied, shock scattering can be minimized, and the generation of a dense bubble cloud depends on the negative half cycle(s) of the applied ultrasound pulses exceeding an “intrinsic threshold” of the medium. This is referred to as the “intrinsic threshold mechanism”.

This threshold can be in the range of 26-30 MPa for soft tissues with high water content, such as tissues in the human body. In some embodiments, using this intrinsic threshold mechanism, the spatial extent of the lesion may be well-defined and more predictable. With peak negative pressures (P−) not significantly higher than this threshold, sub-wavelength reproducible lesions as small as half of the −6 dB beam width of a transducer may be generated.

With high-frequency Histotripsy pulses, the size of the smallest reproducible lesion becomes smaller, which is beneficial in applications that require precise lesion generation. However, high-frequency pulses are more susceptible to attenuation and aberration, rendering problematical treatments at a larger penetration depth (e.g., ablation deep in the body) or through a highly aberrative medium (e.g., transcranial procedures, or procedures in which the pulses are transmitted through bone(s)). Histotripsy may further also be applied as a low-frequency “pump” pulse (typically <2 cycles and having a frequency between 100 kHz and 1 MHz) can be applied together with a high-frequency “probe” pulse (typically <2 cycles and having a frequency greater than 2 MHz, or ranging between 2 MHz and 10 MHz) wherein the peak negative pressures of the low and high-frequency pulses constructively interfere to exceed the intrinsic threshold in the target tissue or medium. The low-frequency pulse, which is more resistant to attenuation and aberration, can raise the peak negative pressure P− level for a region of interest (ROI), while the high-frequency pulse, which provides more precision, can pin-point a targeted location within the ROI and raise the peak negative pressure P− above the intrinsic threshold. This approach may be referred to as “dual frequency”, “dual beam histotripsy” or “parametric histotripsy.”

Additional systems, methods and parameters to deliver optimized histotripsy, using shock scattering, intrinsic threshold, and various parameters enabling frequency compounding and bubble manipulation, are herein included as part of the system and methods disclosed herein, including additional means of controlling said histotripsy effect as pertains to steering and positioning the focus, and concurrently managing tissue effects (e.g., prefocal thermal collateral damage) at the treatment site or within intervening tissue. Further, it is disclosed that the various systems and methods, which may include a plurality of parameters, such as but not limited to, frequency, operating frequency, center frequency, pulse repetition frequency, pulses, bursts, number of pulses, cycles, length of pulses, amplitude of pulses, pulse period, delays, burst repetition frequency, sets of the former, loops of multiple sets, loops of multiple and/or different sets, sets of loops, and various combinations or permutations of, etc., are included as a part of this disclosure, including future envisioned embodiments of such.

Therapy Components

The Therapy sub-system may work with other sub-systems to create, optimize, deliver, visualize, monitor and control acoustic cavitation, also referred to herein and in following as “histotripsy”, and its derivatives of, including boiling histotripsy and other thermal high frequency ultrasound approaches. It is noted that the disclosed inventions may also further benefit other acoustic therapies that do not comprise a cavitation, mechanical or histotripsy component. The therapy sub-system can include, among other features, an ultrasound therapy transducer and a pulse generator system configured to deliver ultrasound pulses into tissue.

In order to create and deliver histotripsy and derivatives of histotripsy, the therapy sub-system may also comprise components, including but not limited to, one or more function generators, amplifiers, therapy transducers and power supplies.

The therapy transducer can comprise a single element or multiple elements configured to be excited with high amplitude electric pulses (>1000V or any other voltage that can cause harm to living organisms). The amplitude necessary to drive the therapy transducers for Histotripsy vary depending on the design of the transducer and the materials used (e.g., solid or polymer/piezoelectric composite including ceramic or single crystal) and the transducer center frequency which is directly proportional to the thickness of the piezo-electric material. Transducers therefore operating at a high frequency require lower voltage to produce a given surface pressure than is required by low frequency therapy transducers. In some embodiments, the transducer elements are formed using a piezoelectric-polymer composite material or a solid piezoelectric material. Further, the piezoelectric material can be of polycrystalline/ceramic or single crystalline formulation. In some embodiments the transducer elements can be formed using silicon using MEMs technology, including CMUT and PMUT designs.

In some embodiments, the function generator may comprise a field programmable gate array (FPGA) or other suitable function generator. The FPGA may be configured with parameters disclosed previously herein, including but not limited to frequency, pulse repetition frequency, bursts, burst numbers, where bursts may comprise pulses, numbers of pulses, length of pulses, pulse period, delays, burst repetition frequency or period, where sets of bursts may comprise a parameter set, where loop sets may comprise various parameter sets, with or without delays, or varied delays, where multiple loop sets may be repeated and/or new loop sets introduced, of varied time delay and independently controlled, and of various combinations and permutations of such, overall and throughout.

In some embodiments, the generator or amplifier may be configured to be a universal single-cycle or multi-cycle pulse generator, and to support driving via Class D or inductive driving, as well as across all envisioned clinical applications, use environments, also discussed in part later in this disclosure. In other embodiments, the class D or inductive current driver may be configured to comprise transformer and/or auto-transformer driving circuits to further provide step up/down components, and in some cases, to preferably allow a step up in the amplitude. They may also comprise specific protective features, to further support the system, and provide capability to protect other parts of the system (e.g., therapy transducer and/or amplifier circuit components) and/or the user, from various hazards, including but not limited to, electrical safety hazards, which may potentially lead to use environment, system and therapy system, and user harms, damage or issues.

Disclosed generators may allow and support the ability of the system to select, vary and control various parameters (through enabled software tools), including, but not limited to those previously disclosed, as well as the ability to start/stop therapy, set and read voltage level, pulse and/or burst repetition frequency, number of cycles, duty ratio, channel enabled and delay, etc., modulate pulse amplitude on a fast time-scale independent of a high voltage supply, and/or other service, diagnostic or treatment features.

In some embodiments, the Therapy sub-system and/or components of, such as the amplifier, may comprise further integrated computer processing capability and may be networked, connected, accessed, and/or be removable/portable, modular, and/or exchangeable between systems, and/or driven/commanded from/by other systems, or in various combinations. Other systems may include other acoustic cavitation/histotripsy, HIFU, HITU, radiation therapy, radiofrequency, microwave, and cryoablation systems, navigation and localization systems, open surgical, laparoscopic, single incision/single port, endoscopic and non-invasive surgical robots, laparoscopic or surgical towers comprising other energy-based or vision systems, surgical system racks or booms, imaging carts, etc.

In some embodiments, one or more amplifiers may comprise a Class D amplifier and related drive circuitry including matching network components. Depending on the transducer element electric impedance and choice of the matching network components (e.g., an LC circuit made of an inductor L1 in series and the capacitor C1 in parallel), the combined impedance can be aggressively set low in order to have high amplitude electric waveform necessary to drive the transducer element. The maximum amplitude that Class D amplifiers is dependent on the circuit components used, including the driving MOSFET/IGBT transistors, matching network components or inductor, and transformer or autotransformer, and of which may be typically in the low kV (e.g., 1-3 kV) range.

Therapy transducer element(s) are excited with an electrical waveform with an amplitude (voltage) to produce a pressure output sufficient for Histotripsy therapy. The excitation electric field can be defined as the necessary waveform voltage per thickness of the piezoelectric element. For example, because a piezoelectric element operating at 1 MHz transducer is half the thickness of an equivalent 500 kHz element, it will require half the voltage to achieve the same electric field and surface pressure.

The Therapy sub-system may also comprise therapy transducers of various designs and working parameters, supporting use in various procedures (and procedure settings). Systems may be configured with one or more therapy transducers, that may be further interchangeable, and work with various aspects of the system in similar or different ways (e.g., may interface to a robotic arm using a common interface and exchange feature, or conversely, may adapt to work differently with application specific imaging probes, where different imaging probes may interface and integrate with a therapy transducer in specifically different ways).

Therapy transducers may be configured of various parameters that may include size, shape (e.g., rectangular or round; anatomically curved housings, etc.), geometry, focal length, number of elements, size of elements, distribution of elements (e.g., number of rings, size of rings for annular patterned transducers), frequency, enabling electronic beam steering, etc. Transducers may be composed of various materials (e.g., piezoelectric, silicon, etc.), form factors and types (e.g., machined elements, chip-based, etc.) and/or by various methods of fabrication of.

Transducers may be designed and optimized for clinical applications (e.g., abdominal tumors, peripheral vascular disease, fat ablation, etc.) and desired outcomes (e.g., acoustic cavitation/histotripsy without thermal injury to intervening tissue), and affording a breadth of working ranges, including relatively shallow and superficial targets (e.g., thyroid or breast nodules), versus, deeper or harder to reach targets, such as central liver or brain tumors. They may be configured to enable acoustic cavitation/histotripsy under various parameters and sets of, as enabled by the aforementioned system components (e.g., function generator and amplifier, etc.), including but not limited to frequency, pulse repetition rate, pulses, number of pulses, pulse length, pulse period, delays, repetitions, sync delays, sync period, sync pulses, sync pulse delays, various loop sets, others, and permutations of. The transducer may also be designed to allow for the activation of a drug payload either deposited in tissue through various means including injection, placement or delivery in micelle or nanostructures.

Integrated Imaging

The disclosed system may comprise various imaging modalities to allow users to visualize, monitor and collect/use feedback of the patient's anatomy, related regions of interest and treatment/procedure sites, as well as surrounding and intervening tissues to assess, plan and conduct procedures, and adjust treatment parameters as needed. Imaging modalities may comprise various ultrasound, x-ray, CT, MRI, PET, fluoroscopy, optical, contrast or agent enhanced versions, and/or various combinations of. It is further disclosed that various image processing and characterization technologies may also be utilized to afford enhanced visualization and user decision making. These may be selected or commanded manually by the user or in an automated fashion by the system. The system may be configured to allow side by side, toggling, overlays, 3D reconstruction, segmentation, registration, multi-modal image fusion, image flow, and/or any methodology affording the user to identify, define and inform various aspects of using imaging during the procedure, as displayed in the various system user interfaces and displays. Examples may include locating, displaying and characterizing regions of interest, organ systems, potential treatment sites within, with on and/or surrounding organs or tissues, identifying critical structures such as ducts, vessels, nerves, ureters, fissures, capsules, tumors, tissue trauma/injury/disease, other organs, connective tissues, etc., and/or in context to one another, of one or more (e.g., tumor draining lymphatics or vasculature; or tumor proximity to organ capsule or underlying other organ), as unlimited examples.

Systems may be configured to include onboard integrated imaging hardware, software, sensors, probes and wetware, and/or may be configured to communicate and interface with external imaging and image processing systems. The aforementioned components may be also integrated into the system's Therapy sub-system components wherein probes, imaging arrays, or the like, and electrically, mechanically or electromechanically integrated into therapy transducers. This may afford, in part, the ability to have geometrically aligned imaging and therapy, with the therapy directly within the field of view, and in some cases in line, with imaging. In some embodiments, this integration may comprise a fixed orientation of the imaging capability (e.g., imaging probe) in context to the therapy transducer. In other embodiments, the imaging solution may be able to move or adjust its position, including modifying angle, extension (e.g., distance from therapy transducer or patient), rotation (e.g., imaging plane in example of an ultrasound probe) and/or other parameters, including moving/adjusting dynamically while actively imaging. The imaging component or probe may be encoded so its orientation and position relative to another aspect of the system, such as the therapy transducer, and/or robotically-enabled positioning component may be determined.

In one embodiment, the system may comprise onboard ultrasound, further configured to allow users to visualize, monitor and receive feedback for procedure sites through the system displays and software, including allowing ultrasound imaging and characterization (and various forms of), ultrasound guided planning and ultrasound guided treatment, all in real-time. The system may be configured to allow users to manually, semi-automated or in fully automated means image the patient (e.g., by hand or using a robotically-enabled imager).

In some embodiments, imaging feedback and monitoring can include monitoring changes in: backscatter from bubble clouds; speckle reduction in backscatter; backscatter speckle statistics; mechanical properties of tissue (i.e., elastography); tissue perfusion (i.e., ultrasound contrast); shear wave propagation; acoustic emissions, electrical impedance tomography, and/or various combinations of, including as displayed or integrated with other forms of imaging (e.g., CT or MRI).

In some embodiments, imaging including feedback and monitoring from backscatter from bubble clouds, may be used as a method to determine immediately if the histotripsy process has been initiated, is being properly maintained, or even if it has been extinguished. For example, this method enables continuously monitored in real time drug delivery, tissue erosion, and the like. The method also can provide feedback permitting the histotripsy process to be initiated at a higher intensity and maintained at a much lower intensity. For example, backscatter feedback can be monitored by any transducer or ultrasonic imager. By measuring feedback for the therapy transducer, an accessory transducer can send out interrogation pulses or be configured to passively detect cavitation. Moreover, the nature of the feedback received can be used to adjust acoustic parameters (and associated system parameters) to optimize the drug delivery and/or tissue erosion process.

In some embodiments, imaging including feedback and monitoring from backscatter, and speckle reduction, may be configured in the system.

For systems comprising feedback and monitoring via backscattering, and as means of background, as tissue is progressively mechanically subdivided, in other words homogenized, disrupted, or eroded tissue, this process results in changes in the size and distribution of acoustic scatter. At some point in the process, the scattering particle size and density is reduced to levels where little ultrasound is scattered, or the amount scattered is reduced significantly. This results in a significant reduction in speckle, which is the coherent constructive and destructive interference patterns of light and dark spots seen on images when coherent sources of illumination are used; in this case, ultrasound. After some treatment time, the speckle reduction results in a dark area in the therapy volume. Since the amount of speckle reduction is related to the amount of tissue subdivision, it can be related to the size of the remaining tissue fragments. When this size is reduced to sub-cellular levels, no cells are assumed to have survived. So, treatment can proceed until a desired speckle reduction level has been reached. Speckle is easily seen and evaluated on standard ultrasound imaging systems. Specialized transducers and systems, including those disclosed herein, may also be used to evaluate the backscatter changes.

Further, systems comprising feedback and monitoring via speckle, and as means of background, an image may persist from frame to frame and change very little as long as the scatter distribution does not change and there is no movement of the imaged object. However, long before the scatters are reduced enough in size to cause speckle reduction, they may be changed sufficiently to be detected by signal processing and other means. This family of techniques can operate as detectors of speckle statistics changes. For example, the size and position of one or more speckles in an image will begin to decorrelate before observable speckle reduction occurs. Speckle decorrelation, after appropriate motion compensation, can be a sensitive measure of the mechanical disruption of the tissues, and thus a measure of therapeutic efficacy. This feedback and monitoring technique may permit early observation of changes resulting from the acoustic cavitation/histotripsy process and can identify changes in tissue before substantial or complete tissue effect (e.g., erosion occurs). In one embodiment, this method may be used to monitor the acoustic cavitation/histotripsy process for enhanced drug delivery where treatment sites/tissue is temporally disrupted, and tissue damage/erosion is not desired. In other embodiments, this may comprise speckle decorrelation by movement of scatters in an increasingly fluidized therapy volume. For example, in the case where partial or complete tissue erosion is desired.

For systems comprising feedback and monitoring via elastography, and as means of background, as treatment sites/tissue are further subdivided per an acoustic cavitation/histotripsy effect (homogenized, disrupted, or eroded), its mechanical properties change from a soft but interconnected solid to a viscous fluid or paste with few long-range interactions. These changes in mechanical properties can be measured by various imaging modalities including MRI and ultrasound imaging systems. For example, an ultrasound pulse can be used to produce a force (i.e., a radiation force) on a localized volume of tissue. The tissue response (displacements, strains, and velocities) can change significantly during histotripsy treatment allowing the state of tissue disruption to be determined by imaging or other quantitative means.

Systems may also comprise feedback and monitoring via shear wave propagation changes. As means of background, the subdivision of tissues makes the tissue more fluid and less solid and fluid systems generally do not propagate shear waves. Thus, the extent of tissue fluidization provides opportunities for feedback and monitoring of the histotripsy process. For example, ultrasound and MRI imaging systems can be used to observe the propagation of shear waves. The extinction of such waves in a treated volume is used as a measure of tissue destruction or disruption. In one system embodiment, the system and supporting sub-systems may be used to generate and measure the interacting shear waves. For example, two adjacent ultrasound foci might perturb tissue by pushing it in certain ways. If adjacent foci are in a fluid, no shear waves propagate to interact with each other. If the tissue is not fluidized, the interaction would be detected with external means, for example, by a difference frequency only detected when two shear waves interact nonlinearly, with their disappearance correlated to tissue damage. As such, the system may be configured to use this modality to enhance feedback and monitoring of the acoustic cavitation/histotripsy procedure.

For systems comprising feedback and monitoring via acoustic emission, and as means of background, as a tissue volume is subdivided, its effect on acoustic cavitation/histotripsy (e.g., the bubble cloud here) is changed. For example, bubbles may grow larger and have a different lifetime and collapse changing characteristics in intact versus fluidized tissue. Bubbles may also move and interact after tissue is subdivided producing larger bubbles or cooperative interaction among bubbles, all of which can result in changes in acoustic emission. These emissions can be heard during treatment and they change during treatment. Analysis of these changes, and their correlation to therapeutic efficacy, enables monitoring of the progress of therapy, and may be configured as a feature of the system.

For systems comprising feedback and monitoring via electrical impedance tomography, and as means of background, an impedance map of a therapy site can be produced based upon the spatial electrical characteristics throughout the therapy site. Imaging of the conductivity or permittivity of the therapy site of a patient can be inferred from taking skin surface electrical measurements. Conducting electrodes are attached to a patient's skin and small alternating currents are applied to some or all of the electrodes. One or more known currents are injected into the surface and the voltage is measured at a number of points using the electrodes. The process can be repeated for different configurations of applied current. The resolution of the resultant image can be adjusted by changing the number of electrodes employed. A measure of the electrical properties of the therapy site within the skin surface can be obtained from the impedance map, and changes in and location of the acoustic cavitation/histotripsy (e.g., bubble cloud, specifically) and histotripsy process can be monitored using this as configured in the system and supporting sub-systems.

The user may be allowed to further select, annotate, mark, highlight, and/or contour, various regions of interest or treatment sites, and defined treatment targets (on the image(s)), of which may be used to command and direct the system where to image, test and/or treat, through the system software and user interfaces and displays. In some arrangements, the user may use a manual ultrasound probe (e.g., diagnostic hand-held probe) to conduct the procedure. In another arrangement, the system may use a robot and/or electromechanical positioning system to conduct the procedure, as directed and/or automated by the system, or conversely, the system can enable combinations of manual and automated uses.

The system may further include the ability to conduct image registration, including imaging and image data set registration to allow navigation and localization of the system to the patient, including the treatment site (e.g., tumor, critical structure, bony anatomy, anatomy and identifying features of, etc.). In one embodiment, the system allows the user to image and identify a region of interest, for example the liver, using integrated ultrasound, and to select and mark a tumor (or surrogate marker of) comprised within the liver through/displayed in the system software, and wherein said system registers the image data to a coordinate system defined by the system, that further allows the system's Therapy and Robotics sub-systems to deliver synchronized acoustic cavitation/histotripsy to said marked tumor. The system may comprise the ability to register various image sets, including those previously disclosed, to one another, as well as to afford navigation and localization (e.g., of a therapy transducer to a CT or MRI/ultrasound fusion image with the therapy transducer and Robotics sub-system tracking to said image).

The system may also comprise the ability to work in a variety of interventional, endoscopic and surgical environments, including alone and with other systems (surgical/laparoscopic towers, vision systems, endoscope systems and towers, ultrasound enabled endoscopic ultrasound (flexible and rigid), percutaneous/endoscopic/laparoscopic and minimally invasive navigation systems (e.g., optical, electromagnetic, shape-sensing, ultrasound-enabled, etc.), of also which may work with, or comprise various optical imaging capabilities (e.g., fiber and or digital). The disclosed system may be configured to work with these systems, in some embodiments working alongside them in concert, or in other embodiments where all or some of the system may be integrated into the above systems/platforms (e.g., acoustic cavitation/histotripsy-enabled endoscope system or laparoscopic surgical robot). In many of these environments, a therapy transducer may be utilized at or around the time of use, for example, of an optically guided endoscope/bronchoscope, or as another example, at the time a laparoscopic robot (e.g., Intuitive Da Vinci* Xi system) is viewing/manipulating a tissue/treatment site. Further, these embodiments and examples may include where said other systems/platforms are used to deliver (locally) fluid to enable the creation of a man-made acoustic window, where on under normal circumstances may not exist (e.g., fluidizing a segment or lobe of the lung in preparation for acoustic cavitation/histotripsy via non-invasive transthoracic treatment (e.g., transducer externally placed on/around patient). Systems disclosed herein may also comprise all or some of their sub-system hardware packaged within the other system cart/console/systems described here (e.g., acoustic cavitation/histotripsy system and/or sub-systems integrated and operated from said navigation or laparoscopic system).

The system may also be configured, through various aforementioned parameters and other parameters, to display real-time visualization of a bubble cloud in a spatial-temporal manner, including the resulting tissue effect peri/post-treatment from tissue/bubble cloud interaction, wherein the system can dynamically image and visualize, and display, the bubble cloud, and any changes to it (e.g., decreasing or increasing echogenicity), which may include intensity, shape, size, location, morphology, persistence, etc. These features may allow users to continuously track and follow the treatment in real-time in one integrated procedure and interface/system, and confirm treatment safety and efficacy on the fly (versus other interventional or surgical modalities, which either require multiple procedures to achieve the same, or where the treatment effect is not visible in real-time (e.g., radiation therapy), or where it is not possible to achieve such (e.g., real-time visualization of local tissue during thermal ablation), and/or where the other procedure further require invasive approaches (e.g., incisions or punctures) and iterative imaging in a scanner between procedure steps (e.g., CT or MRI scanning). The above disclosed systems, sub-systems, components, modalities, features and work-flows/methods of use may be implemented in an unlimited fashion through enabling hardware, software, user interfaces and use environments, and future improvements, enhancements and inventions in this area are considered as included in the scope of this disclosure, as well as any of the resulting data and means of using said data for analytics, artificial intelligence or digital health applications and systems.

Robotics

They system may comprise various Robotic sub-systems and components, including but not limited to, one or more robotic arms and controllers, which may further work with other sub-systems or components of the system to deliver and monitor acoustic cavitation/histotripsy. As previously discussed herein, robotic arms and control systems may be integrated into one or more Cart configurations.

For example, one system embodiment may comprise a Cart with an integrated robotic arm and control system, and Therapy, Integrated Imaging and Software, where the robotic arm and other listed sub-systems are controlled by the user through the form factor of a single bedside Cart.

In other embodiments, the Robotic sub-system may be configured in one or more separate Carts, that may be a driven in a master/slave configuration from a separate master or Cart, wherein the robotically-enabled Cart is positioned bed/patient-side, and the Master is at a distance from said Cart.

Disclosed robotic arms may be comprised of a plurality of joints, segments, and degrees of freedom and may also include various integrated sensor types and encoders, implemented for various use and safety features. Sensing technologies and data may comprise, as an example, vision, potentiometers, position/localization, kinematics, force, torque, speed, acceleration, dynamic loading, and/or others. In some cases, sensors may be used for users to direct robot commands (e.g., hand gesture the robot into a preferred set up position, or to dock home). Additional details on robotic arms can be found in US Patent Pub. No. 2013/0255426 to Kassow et al. which is disclosed herein by reference in its entirety.

The robotic arm receives control signals and commands from the robotic control system, which may be housed in a Cart. The system may be configured to provide various functionalities, including but not limited to, position, tracking, patterns, triggering, and events/actions.

Position may be configured to comprise fixed positions, pallet positions, time-controlled positions, distance-controlled positions, variable-time controlled positions, variable-distance controlled positions.

Tracking may be configured to comprise time-controlled tracking and/or distance-controlled tracking.

The patterns of movement may be configured to comprise intermediate positions or waypoints, as well as sequence of positions, through a defined path in space.

Triggers may be configured to comprise distance measuring means, time, and/or various sensor means including those disclosed herein, and not limited to, visual/imaging-based, force, torque, localization, energy/power feedback and/or others.

Events/actions may be configured to comprise various examples, including proximity-based (approaching/departing a target object), activation or de-activation of various end-effectors (e.g., therapy transducers), starting/stopping/pausing sequences of said events, triggering or switching between triggers of events/actions, initiating patterns of movement and changing/toggling between patterns of movement, and/or time-based and temporal over the defined work and time-space.

In one embodiment, the system comprises a three degree of freedom robotic positioning system, enabled to allow the user (through the software of the system and related user interfaces), to micro-position a therapy transducer through X, Y, and Z coordinate system, and where gross macro-positioning of the transducer (e.g., aligning the transducer on the patient's body) is completed manually. In some embodiments, the robot may comprise 6 degrees of freedom including X, Y, Z, and pitch, roll and yaw. In other embodiments, the Robotic sub-system may comprise further degrees of freedom, that allow the robot arm supporting base to be positioned along a linear axis running parallel to the general direction of the patient surface, and/or the supporting base height to be adjusted up or down, allowing the position of the robotic arm to be modified relative to the patient, patient surface, Cart, Coupling sub-system, additional robots/robotic arms and/or additional surgical systems, including but not limited to, surgical towers, imaging systems, endoscopic/laparoscopic systems, and/or other.

One or more robotic arms may also comprise various features to assist in maneuvering and modifying the arm position, manually or semi-manually, and of which said features may interface on or between the therapy transducer and the most distal joint of the robotic arm. In some embodiments, the feature is configured to comprise a handle allowing maneuvering and manual control with one or more hands. The handle may also be configured to include user input and electronic control features of the robotic arm, to command various drive capabilities or modes, to actuate the robot to assist in gross or fine positioning of the arm (e.g., activating or deactivating free drive mode). The work-flow for the initial positioning of the robotic arm and therapy head can be configured to allow either first positioning the therapy transducer/head in the coupling solution, with the therapy transducer directly interfaced to the arm, or in a different work-flow, allowing the user to set up the coupling solution first, and enabling the robot arm to be interfaced to the therapy transducer/coupling solution as a later/terminal set up step.

In some embodiments, the robotic arm may comprise a robotic arm on a laparoscopic, single port, endoscopic, hybrid or combination of, and/or other robot, wherein said robot of the system may be a slave to a master that controls said arm, as well as potentially a plurality of other arms, equipped to concurrently execute other tasks (vision, imaging, grasping, cutting, ligating, sealing, closing, stapling, ablating, suturing, marking, etc.), including actuating one or more laparoscopic arms (and instruments) and various histotripsy system components. For example, a laparoscopic robot may be utilized to prepare the surgical site, including manipulating organ position to provide more ideal acoustic access and further stabilizing said organ in some cases to minimize respiratory motion. In conjunction and parallel to this, a second robotic arm may be used to deliver non-invasive acoustic cavitation through a body cavity, as observed under real-time imaging from the therapy transducer (e.g., ultrasound) and with concurrent visualization via a laparoscopic camera. In other related aspects, a similar approach may be utilized with a combination of an endoscopic and non-invasive approach, and further, with a combination of an endoscopic, laparoscopic and non-invasive approach.

Software

The system may comprise various software applications, features and components which allow the user to interact, control and use the system for a plethora of clinical applications. The Software may communicate and work with one or more of the sub-systems, including but not limited to Therapy, Integrated Imaging, Robotics and Other Components, Ancillaries and Accessories of the system.

Overall, in no specific order of importance, the software may provide features and support to initialize and set up the system, service the system, communicate and import/export/store data, modify/manipulate/configure/control/command various settings and parameters by the user, mitigate safety and use-related risks, plan procedures, provide support to various configurations of transducers, robotic arms and drive systems, function generators and amplifier circuits/slaves, test and treatment ultrasound sequences, transducer steering and positioning (electromechanical and electronic beam steering, etc.), treatment patterns, support for imaging and imaging probes, manual and electromechanical/robotically-enabling movement of, imaging support for measuring/characterizing various dimensions within or around procedure and treatment sites (e.g., depth from one anatomical location to another, etc., pre-treatment assessments and protocols for measuring/characterizing in situ treatment site properties and conditions (e.g., acoustic cavitation/histotripsy thresholds and heterogeneity of), targeting and target alignment, calibration, marking/annotating, localizing/navigating, registering, guiding, providing and guiding through work-flows, procedure steps, executing treatment plans and protocols autonomously, autonomously and while under direct observation and viewing with real-time imaging as displayed through the software, including various views and viewports for viewing, communication tools (video, audio, sharing, etc.), troubleshooting, providing directions, warnings, alerts, and/or allowing communication through various networking devices and protocols. It is further envisioned that the software user interfaces and supporting displays may comprise various buttons, commands, icons, graphics, text, etc., that allow the user to interact with the system in a user-friendly and effective manner, and these may be presented in an unlimited number of permutations, layouts and designs, and displayed in similar or different manners or feature sets for systems that may comprise more than one display (e.g., touch screen monitor and touch pad), and/or may network to one or more external displays or systems (e.g., another robot, navigation system, system tower, console, monitor, touch display, mobile device, tablet, etc.).

The software, as a part of a representative system, including one or more computer processors, may support the various aforementioned function generators (e.g., FPGA), amplifiers, power supplies and therapy transducers. The software may be configured to allow users to select, determine and monitor various parameters and settings for acoustic cavitation/histotripsy, and upon observing/receiving feedback on performance and conditions, may allow the user to stop/start/modify said parameters and settings.

The software may be configured to allow users to select from a list or menu of multiple transducers and support the auto-detection of said transducers upon connection to the system (and verification of the appropriate sequence and parameter settings based on selected application). In other embodiments, the software may update the targeting and amplifier settings (e.g., channels) based on the specific transducer selection. The software may also provide transducer recommendations based on pre-treatment and planning inputs. Conversely, the software may provide error messages or warnings to the user if said therapy transducer, amplifier and/or function generator selections or parameters are erroneous, yield a fault or failure. This may further comprise reporting the details and location of such.

In addition to above, the software may be configured to allow users to select treatment sequences and protocols from a list or menu, and to store selected and/or previous selected sequences and protocols as associated with specific clinical uses or patient profiles. Related profiles may comprise any associated patient, procedure, clinical and/or engineering data, and maybe used to inform, modify and/or guide current or future treatments or procedures/interventions, whether as decision support or an active part of a procedure itself (e.g., using serial data sets to build and guide new treatments).

As a part of planning or during the treatment, the software (and in working with other components of the system) may allow the user to evaluate and test acoustic cavitation/histotripsy thresholds at various locations in a user-selected region of interest or defined treatment area/volume, to determine the minimum cavitation thresholds throughout said region or area/volume, to ensure treatment parameters are optimized to achieve, maintain and dynamically control acoustic cavitation/histotripsy. In one embodiment, the system allows a user to manually evaluate and test threshold parameters at various points. Said points may include those at defined boundary, interior to the boundary and center locations/positions, of the selected region of interest and treatment area/volume, and where resulting threshold measurements may be reported/displayed to the user, as well as utilized to update therapy parameters before treatment. In another embodiment, the system may be configured to allow automated threshold measurements and updates, as enabled by the aforementioned Robotics sub-system, wherein the user may direct the robot, or the robot may be commanded to execute the measurements autonomously.

Software may also be configured, by working with computer processors and one or more function generators, amplifiers and therapy transducers, to allow various permutations of delivering and positioning optimized acoustic cavitation/histotripsy in and through a selected area/volume. This may include, but not limited to, systems configured with a fixed/natural focus arrangement using purely electromechanical positioning configuration(s), electronic beam steering (with or without electromechanical positioning), electronic beam steering to a new selected fixed focus with further electromechanical positioning, axial (Z axis) electronic beam steering with lateral (X and Y) electromechanical positioning, high speed axial electronic beam steering with lateral electromechanical positioning, high speed beam steering in 3D space, various combinations of including with dynamically varying one or more acoustic cavitation/histotripsy parameters based on the aforementioned ability to update treatment parameters based on threshold measurements (e.g., dynamically adjusting amplitude across the treatment area/volume).

Other Components, Ancillaries and Accessories

The system may comprise various other components, ancillaries and accessories, including but not limited to computers, computer processors, power supplies including high voltage power supplies, controllers, cables, connectors, networking devices, software applications for security, communication, integration into information systems including hospital information systems, cellular communication devices and modems, handheld wired or wireless controllers, goggles or glasses for advanced visualization, augmented or virtual reality applications, cameras, sensors, tablets, smart devices, phones, internet of things enabling capabilities, specialized use “apps” or user training materials and applications (software or paper based), virtual proctors or trainers and/or other enabling features, devices, systems or applications, and/or methods of using the above.

System Variations and Methods/Applications

In addition to performing a breadth of procedures, the system may allow additional benefits, such as enhanced planning, imaging and guidance to assist the user. In one embodiment, the system may allow a user to create a patient, target and application specific treatment plan, wherein the system may be configured to optimize treatment parameters based on feedback to the system during planning, and where planning may further comprise the ability to run various test protocols to gather specific inputs to the system and plan.

Feedback may include various energy, power, location, position, tissue and/or other parameters.

The system, and the above feedback, may also be further configured and used to autonomously (and robotically) execute the delivery of the optimized treatment plan and protocol, as visualized under real-time imaging during the procedure, allowing the user to directly observe the local treatment tissue effect, as it progresses through treatment, and start/stop/modify treatment at their discretion. Both test and treatment protocols may be updated over the course of the procedure at the direction of the user, or in some embodiments, based on logic embedded within the system.

It is also recognized that many of these benefits may further improve other forms of acoustic therapy, including thermal ablation with high intensity focused ultrasound (HIFU), high intensity therapeutic ultrasound (HITU) including boiling histotripsy (thermal cavitation), and are considered as part of this disclosure. The disclosure also considers the application of histotripsy as a means to activate previously delivered in active drug payloads whose activity is inert due to protection in a micelle, nanostructure or similar protective structure or through molecular arrangement that allows activation only when struck with acoustic energy.

In another aspect, the Therapy sub-system, comprising in part, one or more amplifiers, transducers and power supplies, may be configured to allow multiple acoustic cavitation and histotripsy driving capabilities, affording specific benefits based on application, method and/or patient specific use. These benefits may include, but are not limited to, the ability to better optimize and control treatment parameters, which may allow delivery of more energy, with more desirable thermal profiles, increased treatment speed and reduced procedure times, enable electronic beam steering and/or other features.

This disclosure also includes novel systems and concepts as related to systems and sub-systems comprising new and “universal” amplifiers, which may allow multiple driving approaches (e.g., single and multi-cycle pulsing). In some embodiments, this may include various novel features to further protect the system and user, in terms of electrical safety or other hazards (e.g., damage to transducer and/or amplifier circuitry).

In another aspect, the system, and Therapy sub-system, may include a plethora of therapy transducers, where said therapy transducers are configured for specific applications and uses and may accommodate treating over a wide range of working parameters (target size, depth, location, etc.) and may comprise a wide range of working specifications (detailed below). Transducers may further adapt, interface and connect to a robotically-enabled system, as well as the Coupling sub-system, allowing the transducer to be positioned within, or along with, an acoustic coupling device allowing, in many embodiments, concurrent imaging and histotripsy treatments through an acceptable acoustic window. The therapy transducer may also comprise an integrated imaging probe or localization sensors, capable of displaying and determining transducer position within the treatment site and affording a direct field of view (or representation of) the treatment site, and as the acoustic cavitation/histotripsy tissue effect and bubble cloud may or may not change in appearance and intensity, throughout the treatment, and as a function of its location within said treatment (e.g., tumor, healthy tissue surrounding, critical structures, adipose tissue, etc.).

The systems, methods and use of the system disclosed herein, may be beneficial to overcoming significant unmet needs in the areas of soft tissue ablation, oncology, immuno-oncology, advanced image guided procedures, surgical procedures including but not limited to open, laparoscopic, single incision, natural orifice, endoscopic, non-invasive, various combination of, various interventional spaces for catheter-based procedures of the vascular, cardiovascular pulmonary and/or neurocranial-related spaces, cosmetics/aesthetics, metabolic (e.g., type 2 diabetes), plastic and reconstructive, ocular and ophthalmology, orthopedic, gynecology and men's health, and other systems, devices and methods of treating diseased, injured, undesired, or healthy tissues, organs or cells.

Systems and methods are also provided for improving treatment patterns within tissue that can reduce treatment time, improve efficacy, and reduce the amount of energy and prefocal tissue heating delivered to patients.

Use Environments

The disclosed system, methods of use, and use of the system, may be conducted in a plethora of environments and settings, with or without various support systems such as anesthesia, including but not limited to, procedure suites, operating rooms, hybrid rooms, in and out-patient settings, ambulatory settings, imaging centers, radiology, radiation therapy, oncology, surgical and/or any medical center, as well as physician offices, mobile healthcare centers or systems, automobiles and related vehicles (e.g., van), aero and marine transportation vehicles such as planes and ships, and/or any structure capable of providing temporary procedure support (e.g., tent). In some cases, systems and/or sub-systems disclosed herein may also be provided as integrated features into other environments, for example, the direct integration of the histotripsy Therapy sub-system into a MRI scanner or patient surface/bed, wherein at a minimum the therapy generator and transducer are integral to such, and in other cases wherein the histotripsy configuration further includes a robotic positioning system, which also may be integral to a scanner or bed centered design.

Coupling

Systems may comprise a variety of Coupling sub-system embodiments, of which are enabled and configured to allow acoustic coupling to the patient to afford effective acoustic access for ultrasound visualization and acoustic cavitation/histotripsy (e.g., provide acoustic window and medium between the transducer(s) and patient, and support of). These may include different form factors of such, including open and enclosed device solutions, and some arrangements which may be configured to allow dynamic control over the acoustic medium (e.g., temperature, dissolved gas content, level of particulate filtration, sterility, volume, composition, etc.). Such dynamic control components may be directly integrated to the system (within the Cart), or may be in temporary/intermittent or continuous communication with the system, but externally situated in a separate device and/or cart.

The Coupling sub-system typically comprises, at a minimum, coupling medium (e.g., degassed water or water solutions), a reservoir/container to contain said coupling medium, and a support structure (including interfaces to other surfaces or devices). In most embodiments, the coupling medium is water, and wherein the water may be conditioned before or during the procedure (e.g., chilled, degassed, filtered, etc.). Various conditioning parameters may be employed based on the configuration of the system and its intended use/application.

The reservoir or medium container may be formed and shaped to various sizes and shapes, and to adapt/conform to the patient, allow the therapy transducer to engage/access and work within the acoustic medium, per defined and required working space (minimum volume of medium to allow the therapy transducer to be positioned and/or move through one or more treatment positions or patterns, and at various standoffs or depths from the patient, etc.), and wherein said reservoir or medium container may also mechanically support the load, and distribution of the load, through the use of a mechanical and/or electromechanical support structure. As a representative example, this may include a support frame. The container may be of various shapes, sizes, curvatures, and dimensions, and may be comprised of a variety of materials compositions (single, multiple, composites, etc.), of which may vary throughout. In some embodiments, it may comprise features such as films, drapes, membranes, bellows, etc. that may be insertable and removable, and/or fabricated within, of which may be used to conform to the patient and assist in confining/containing the medium within the container. It may further contain various sensors (e.g., volume/fill level), drains (e.g., inlet/outlet), lighting (e.g., LEDs), markings (e.g., fill lines, set up orientations, etc.), text (e.g., labeling), etc.

In one embodiment, the reservoir or medium container contains a sealable frame, of which a membrane and/or film may be positioned within, to afford a conformable means of contacting the reservoir (later comprising the treatment head/therapy transducer) as an interface to the patient, that further provides a barrier to the medium (e.g., water) between the patient and therapy transducer). In other embodiments, the membrane and/or film may comprise an opening, the patient contacting edge of which affords a fluid/mechanical seal to the patient, but in contrast allows medium communication directly with the patient (e.g., direct degassed water interface with patient). The superstructure of the reservoir or medium container in both these examples may further afford the proximal portion of the structure (e.g., top) to be open or enclosed (e.g., to prevent spillage or afford additional features).

Disclosed membranes may be comprised of various elastomers, viscoelastic polymers, thermoplastics, thermoplastic elastomers, thermoset polymers, silicones, urethanes, rigid/flexible co-polymers, block co-polymers, random block co-polymers, etc. Materials may be hydrophilic, hydrophobic, surface modified, coated, extracted, etc., and may also contain various additives to enhance performance, appearance or stability. In some embodiments, the thermoplastic elastomer may be styrene-ethylene-butylene-styrene (SEBS), or other like strong and flexible elastomers. The membrane form factor can be flat or pre-shaped prior to use. In other embodiments, the membrane could be inelastic (i.e., a convex shape) and pressed against the patient's skin to acoustically couple the transducer to the tissue. Systems and methods are further disclosed to control the level of contaminants (e.g., particulates, etc.) on the membrane to maintain the proper level of ultrasound coupling. Too many particulates or contaminants can cause scattering of the ultrasound waves. This can be achieved with removable films or coatings on the outer surfaces of the membrane to protect against contamination.

Said materials may be formed into useful membranes through molding, casting, spraying, ultrasonic spraying, extruding, and/or any other processing methodology that produces useful embodiments. They may be single use or reposable/reusable. They may be provided non-sterile, aseptically cleaned or sterile, where sterilization may comprise any known method, including but not limited to ethylene oxide, gamma, e-beam, autoclaving, steam, peroxide, plasma, chemical, etc. Membranes can be further configured with an outer molded or over molded frame to provide mechanical stability to the membrane during handling including assembly, set up and take down of the coupling sub-system. Various parameters of the membrane can be optimized for this method of use, including thickness, thickness profile, density, formulation (e.g., polymer molecular weight and copolymer ratios, additives, plasticizers, etc.), including optimizing specifically to maximize acoustic transmission properties, including minimizing impact to cavitation initiation threshold values, and/or ultrasound imaging artifacts, including but not limited to membrane reflections, as representative examples.

Open reservoirs or medium containers may comprise various methods of filling, including using pre-prepared medium or water, that may be delivered into the containers, in some cases to a defined specification of water (level of temperature, gas saturation, etc.), or they may comprise additional features integral to the design that allow filling and draining (e.g., ports, valves, hoses, tubing, fittings, bags, pumps, etc.). These features may be further configured into or to interface to other devices, including for example, a fluidics system. In some cases, the fluidics system may be an in-house medium preparation system in a hospital or care setting room, or conversely, a mobile cart-based system which can prepare and transport medium to and from the cart to the medium container, etc.

Enclosed iterations of the reservoir or medium container may comprise various features for sealing, in some embodiments sealing to a proximal/top portion or structure of a reservoir/container, or in other cases where sealing may comprise embodiments that seal to the transducer, or a feature on the transducer housings. Further, some embodiments may comprise the dynamic ability to control the volume of fluid within these designs, to minimize the potential for air bubbles or turbulence in said fluid and to allow for changes in the focal length to the target area without moving the transducer. As such, integrated features allowing fluid communication, and control of, may be provided (ability to provide/remove fluid on demand), including the ability to monitor and control various fluid parameters, some disclosed above. In order to provide this functionality, the overall system, and as part, the Coupling sub-system, may comprise a fluid conditioning system, which may contain various electromechanical devices, systems, power, sensing, computing, pumping, filtering and control systems, etc. The reservoir may also be configured to receive signals that cause it to deform or change shape in a specific and controlled manner to allow the target point to be adjusted without moving the transducer.

Coupling support systems may include various mechanical support devices to interface the reservoir/container and medium to the patient, and the workspace (e.g., bed, floor, etc.). In some embodiments, the support system comprises a mechanical arm with 3 or more degrees of freedom. Said arm may have a proximal interface with one or more locations (and features) of the bed, including but not limited to, the frame, rails, customized rails or inserts, as well as one or more distal locations of the reservoir or container. The arm may also be a feature implemented on one or more Carts, wherein Carts may be configured in various unlimited permutations, in some cases where a Cart only comprises the role of supporting and providing the disclosed support structure.

In some embodiments, the support structure and arm may be a robotically-enabled arm, implemented as a stand-alone Cart, or integrated into a Cart further comprising two or more system sub-systems, or where in the robotically-enabled arm is an arm of another robot, of interventional, surgical or other type, and may further comprise various user input features to actuate/control the robotic arm (e.g., positioning into/within coupling medium) and/or Coupling solution features (e.g., filling, draining, etc.). In some examples, the support structure robotic arm positional encoders may be used to coordinate the manipulation of the second arm (e.g. comprising the therapy transducer/treatment head), such as to position the therapy transducer to a desired/known location and pose within the coupling support structure.

Overall, significant unmet needs exist in interventional and surgical medical procedures today, including those procedures utilizing minimally invasive devices and approaches to treat disease and/or injury, and across various types of procedures where the unmet needs may be solved with entirely new medical procedures. Today's medical system capabilities are often limited by access, wherein a less or non-invasive approach would be preferred, or wherein today's tools aren't capable to deliver preferred/required tissue effects (e.g., operate around/through critical structures without serious injury), or where the physical set up of the systems makes certain procedure approaches less desirable or not possible, and where a combination of approaches, along with enhanced tissue effecting treatments, may enable entirely new procedures and approaches, not possible today.

In addition, specific needs exist for enabling histotripsy delivery, including robotic histotripsy delivery, wherein one or more histotripsy therapy transducers may be configured to acoustically couple to a patient, using a completely sealed approach (e.g., no acoustic medium communication with the patient's skin) and allowing the one or more histotripsy transducers to be moved within the coupling solution without impeding the motion/movement of the robotic arm or interfering/disturbing the coupling interface, which could affect the intended treatment and/or target location.

Disclosed herein are histotripsy acoustic and patient coupling systems and methods, to enable histotripsy therapy/treatment, as envisioned in any setting, from interventional suite, operating room, hybrid suites, imaging centers, medical centers, office settings, mobile treatment centers, and/or others, as non-limiting examples. The following disclosure further describes novel systems used to create, control, maintain, modify/enhance, monitor and setup/takedown acoustic and patient coupling systems, in a variety of approaches, methods, environments, architectures and work-flows. In general, the disclosed novel systems may allow for a coupling medium, in some examples degassed water, to be interfaced between a histotripsy therapy transducer and a patient, wherein the acoustic medium provides sufficient acoustic coupling to said patient, allowing the delivery of histotripsy pulses through a user desired treatment location (and volume), where the delivery may require physically moving the histotripsy therapy transducer within a defined work-space comprising the coupling medium, and also where the coupling system is configured to allow said movement of the therapy transducer (and positioning system, e.g., robot) freely and unencumbered from by the coupling support system (e.g., a frame or manifold holding the coupling medium).

Coupling System and Sub-Systems/Components

The disclosed histotripsy acoustic and patient coupling systems, in general, may comprise one or more of the following sub-systems and components, as depicted in FIGS. 2-5, including but not limited to 1) a novel membrane/barrier film to provide an enclosed, sealed and conformal patient coupling and histotripsy system interface, 2) a frame and assembly to retain the membrane and provide sufficient work and head space for a histotripsy therapy transducers required range of motion (x, y and z, pitch, roll and yaw), 3) a sufficient volume of ultrasound medium to afford acoustic coupling and interfaces to a histotripsy therapy transducer and robotic arm, 4) one or more mechanical support arms to allow placement, positioning and load support of the frame, assembly and medium and 5) a fluidics system to prepare, provide and remove ultrasound medium(s) from the frame and assembly.

In some embodiments, the coupling system may be fully sealed, and in other embodiments and configurations, it may be partially open to afford immediate access (physical and/or visual).

The acoustic and patient coupling systems and sub-systems may further comprise various features and functionality, and associated work-flows, and may also be configured in a variety of ways to enable histotripsy procedures as detailed below.

FIG. 2 illustrates one embodiment of a histotripsy therapy and imaging system 200, including a coupling assembly 212. As described above, a histotripsy therapy and imaging system can include a therapy transducer 202, an imaging system 204, a robotic positioning arm 208, and a cart 210.

The therapy and/or imaging transducers can be housed in a coupling assembly 212 which can further include a coupling membrane 214 and a membrane constraint 216 configured to prevent the membrane from expanding too far from the transducer. The coupling membrane can be filled with an acoustic coupling medium such as a fluid or a gel. The membrane constraint can be, for example, a semi-rigid or rigid material configured to restrict expansion/movement of the membrane. In some embodiments, the membrane constraint is not used, and the elasticity and tensile strength of the membrane prevent over expansion. The coupling membrane can be a mineral-oil infused SEBS membrane to prevent direct fluid contact with the patient's skin. In the illustrated embodiment, the coupling assembly 212 is supported by a mechanical support arm 218 which can be load bearing in the x-y plane but allow for manual or automated z-axis adjustment. The mechanical support arm can be attached to the floor, the patient table, or the cart 210. The mechanical support is designed and configured to conform and hold the coupling membrane 214 in place against the patient's skin while still allowing movement of the therapy/imaging transducer relative to the patient and also relative to the coupling membrane 214 with the robotic positioning arm 208.

The system can further include a fluidics system 220 that can include a fluid source, a cooling and degassing system, and a programmable control system. The fluidics system is configured for external loading of the coupling membrane with automated control of fluidic sequences. Further details on the fluidics system 220 are provided below.

FIG. 3A is a detailed view of a coupling assembly or UMC 312 configured to couple the therapy and imaging system to a patient P. Also shown in FIG. 3A, the coupling assembly 312 can include a mechanical support arm 318, a robotic arm 308, a coupling membrane 314, an ultrasound therapy transducer 302, a fluid 322 disposed within the membrane, an ultrasound imaging transducer 304, a flexible boot 324, a frame clamp 326, a fluidic inlet/outlet 328, a boot clamp 330, a boot ring 332, a probe rotation handle 334, an air vent/fluidic tube 336, a probe cable 338, a membrane constraint 316, a bubble swipe 340, an upper UMC frame 342 and a lower UMC frame 344, a transducer assembly 346, and an ultrasound coupling medium 348, such as a gel or oil. It can be seen from FIG. 3A how the robotic arm and transducer assembly are able to move freely with respect to the coupling assembly and membrane.

The robotic arm and transducer assembly are able to move with respect to the membrane and mechanical support because of the flexible boot 324, which allows for movement of the transducer assembly (e.g., treatment head) while still containing fluid within the coupling assembly and membrane. In this embodiment, the flexible boot acts as a splash guard to contain the fluid within the UMC and prevent it from leaving, splashing, or spraying out of the UMC during therapy or movement of the transducer. In this embodiment, the flexible boot is connected to the upper frame 342 and the transducer assembly 302. However, in other embodiments, it should be understood that the flexible boot can connect to or protect other components of the system from splashing or fluid contact (e.g., it can connect to the upper portion of the treatment head or the distal end of the robotic arm, or extend upwards to protect the robotic arm (and surrounding work-space and devices). In other embodiments, as described below, the UMC does not include a flexible boot, and instead, the UMC is completely open on the top side to receive the transducer/robotic arm and allow unencumbered manipulation of the transducer/robotic arm within the defined work-space.

The coupling assembly 312 can include one or more sensors 349 disposed on, in, or within the assembly. The sensors can be configured to measure or sense various parameters relating to the UMC or the coupling medium during therapy. For example, the sensors can comprise pressure sensors configured to measure a pressure (of fluid) within the UMC, coupling medium or fluid level sensors configured to measure a fluid level within the UMC, temperature sensors configured to measure a temperature (of fluid) within the UMC, flow sensors configured to measure a flow rate of fluid entering and/or exiting the UMC, dissolved gas concentration, bubble or particulate sensors, cavitation detection sensors, or air detection sensors configured to detect air or bubbles within the coupling medium, or any other sensor that can be used to measure a parameter of the UMC or the coupling medium that would be useful prior to, during, or after therapy. In some embodiments, the sensors can be disposed on or within other components of the overall therapy system, or can be electrically coupled or in communication with other components of the system. For example, sensors, such as flow, fluid level, or pressure sensors, can be located in the fluidics system or can be configured to communicate with the fluidics system so as to assist with automatically filling or draining the UMC with coupling medium or fluid. In another embodiment, sensors located within the UMC can communicate with sensors located on or within the robotic positioning arm. For example, proximity sensors, NFC chips or sensors, optical sensors, etc. can be used to communicate with the robotic positioning arm to ensure that the robotic positioning arm is not moved beyond a boundary of the UMC. In some examples, these sensors can be used to geolocate or geofence a boundary or region within the UMC within which the robotic positioning arm (and therefore the therapy transducer(s)) can move.

The ultrasound coupling medium 348 can comprise layer of an ultrasound transmitting gel or oil may be applied to the patient skin to acoustically couple the UMC to the patient. While it is desirable to generate a bubble free and air gap free contact area between the membrane and the patient, in practice the application of the coupling medium can result in bubbles or other air gaps between the UMC and the patient. This medium can be manually applied by the user or applied in a more controlled manner such as a spray application. Suitable materials for the gel or oil may include water, oils, creams and gels. The layer of ultrasound coupling medium should be thin and a consistent thickness, in a material which has minimal absorption of ultrasound, is biocompatible, does not migrate from the application site and which does not contain bubbles. Examples materials of suitable media include combinations of propylene glycol, glycerine, phenoxyethanol, carbapol R940 polymer and water and oils such as refined mineral oil or castor oil.

The bubble swipe mechanism 340 can be configured to generate an air-gap and bubble-free interface between the coupling assembly 312 and the patient's skin P. In some embodiments, the bubble swipe can include a system and method for helping to generate a more uniform, bubble-free contact layer between the membrane and the patient after the membrane has been initially deployed onto the surface of the patient over a layer of ultrasound gel or oil. The action of using the bubble swipe removes excess oil or gel and generates a controlled and consistent wetting and conformance between the contact surfaces of the membrane and the patient. The bubble swipe process creates a more continuous and consistently thin layer of ultrasound compatible gel or oil which reduces the risk of ultrasound aberrations and reduces the presence of bubbles within the thin layer, which could reduce the transmission of ultrasound. The membrane can be further formulated to be transparent or translucent to allow direct visualization of residual bubbles as well.

FIGS. 3B-3D illustrate an example of the bubble swipe mechanism in use. Referring to FIG. 3A, the bubble swipe mechanism 340 can be positioned on a first side of the interface between the coupling membrane 314 and the patient P. As described above, the UMC can include a fluid 322 disposed within the membrane and a coupling medium 348 disposed between the membrane and the patient. The bubble swipe mechanism can comprise a rigid or flexible tube, cable, catheter, lumen or cable, which can comprise a range of materials (thermo-plastic, metal, thermoplastic elastomer, rubber, etc.) and in a range of cross-sections, sizes and lengths. In some embodiments, the bubble swipe can have a solid cross-section or it could be hollow (as shown in FIGS. 3B-3D). The cross-sectional shape is designed and configured to create a continuous air connection along its length and at the rear of the bubble swipe so that air can be vented and not be trapped between the membrane and the skin as the two surfaces “knit” or wet together.

Referring to FIG. 3B, it can be seen that when the membrane 314 of the UMC is initially placed against the patient P and coupled to the patient with a coupling medium 348, there can be one or more bubbles 350 disposed within the medium that can result in sub-optimal acoustic coupling between the UMC and the patient. In this example, the bubble swipe mechanism 340 can be positioned on a first side of the interface between the UMC and the patient (e.g., the left side of FIG. 3B). Next referring to FIG. 3C, the bubble swipe mechanism 340 can be advanced through the interface between the UMC and the patient. As the bubble swipe mechanism moves between the UMC and the patient, and through the medium 348, the bubble swipe mechanism can create a reduced thickness 352 of the medium by removing the bubbles 350 from the medium 348 by venting them via an air gap 354 created by the passing of the bubble swipe mechanism. Referring to FIG. 3D, after the bubble swipe mechanism has completely passed through the interface between the UMC and the patient, the entirety of the medium can have the reduced thickness 352. In some embodiments, excess medium 356 can be removed from the interface by the bubble swipe mechanism.

In one embodiment the bubble swipe comprises a length of hollow, circular section PVC tubing with a continuous outside diameter of 2 mm to 8 mm. The length can exceed the width of the membrane. The bubble swipe could have cross-holes or use porous materials to actively remove air from the membrane/skin interface via the application of vacuum through the center of a hollow tube. These same cross-holes or porosity could also be used to applied ultrasound compatible gel or oil. The bubble swipe component can be supplied separately from the rest of the membrane/UMC or it could be integrated into the membrane, UMC or other sub-assembly. The bubble swipe could be single-use or re-usable. The bubble swipe can be a straight section which is sufficiently stiff to resist bending during application, or it could be stiff and pre-shaped (e.g., curved). The bubble swipe could be flexible and drawn between the membrane and patient in a linear motion or with a fixed end point and a rotational sweep. In some embodiments, the bubble swipe may have a feature to scoop up and store any excess gel or oil during the process in order to minimize any manual removal of excess oil or gel. The bubble swipe may rotate on its long axis, or not, during the swiping process.

FIGS. 3E-3F illustrate embodiments for securing the membrane within the UMC. As depicted in FIGS. 2 and 3A, various mechanical fixture methods may be used to allow a membrane 314 to be fixed/sealed within a frame enclosure. In these examples, a membrane 314 and a flexible boot 324 may be fixed by positioning the membrane and flexible boot between an upper frame 342 and a lower frame 344, and using a rotary device feature 358 to compress the upper and lower frames to form a seal and hold the membrane and boot in place. In the illustrated embodiment, both the membrane and the boot can be keyed or shaped to fit into corresponding key/shapes in the upper and lower frames. Additionally, the boot and membrane may be keyed or shaped to fit together. In the illustrated example, the compression is derived from the two piece assembly frame (upper and lower).

Referring to FIG. 3E, a T-shaped rotary device feature 358 can cause a bayonet catch barrel 360 in the upper frame 342 to compress against the lower frame 344 with a bayonet catch pin 362 captured in the lower frame. In the embodiment of FIG. 3F, a D-shaped rotary device feature 358 can compress against the upper frame 342 to secure the flexible boot 324 and the membrane 314 against the lower frame 344. It can be seen in this embodiment that the flexible boot and the membrane are compressed into contact with each other and positioned in between the upper frame and the lower frame. In some embodiments, the flexible boot and the membrane can be keyed together or include other features to ensure that a fluid or water tight seal is formed at the connection point between the upper frame, the lower frame, the flexible boot, and the membrane. In other examples, a design using a lower assembly frame (frame interfacing to membrane and mechanical arm interface), and an upper boot frame (frame including the upper barrier that the robot/therapy transducer pass through), wherein the membrane is positioned between the two and a rotary compression screw is tightened to seal the membrane between the boot and assembly

FIG. 4A is another view of one example of a coupling assembly or UMC 412, including a flexible boot 424, frame clamp 457, fluidic inlet/outlet 428, boot clamp 458, boot ring 460, probe rotation handle 462, and mechanical lock 464. In this embodiment, the coupling membrane can be held in place between the upper frame 442 and the lower frame 444 with the frame clamp(s) 457. The flexible boot can be held in place between the boot ring 460 and the upper frame 442 with the boot clamp(s) 458. The probe rotation handle 462 is configured to rotate the imaging probe of the system relative to the therapy transducer(s). The mechanical lock 464 is configured to lock the transducer assembly (such as the therapy transducer(s)) to the UMC. As described above, fluid inlet/outlets 428 can couple the interior of the UMC (e.g., the volume between the membrane and the flexible boot) to a fluidics system that is configured to deliver and maintain a volume of acoustic coupling medium or fluid within the UMC.

FIG. 4B is an exploded view of another embodiment of a coupling assembly or UMC 412. The UMC can include a flexible boot 424, an upper frame 442, a lower frame 444, and a coupling membrane 414. It can be seen that the flexible boot attaches to the upper frame 442 with boot clamp(s) 458. Similarly, the membrane 414 attaches to the lower frame 444 with frame clamps 457. As described above, the flexible boot allows for movement and rotation of the transducer assembly/robotic arm relative to the frame of the UMC, and can also provide splash protection from fluid during therapy. However, it should be understood that in other embodiments, the flexible boot is not used or needed, and instead the top of the UMC is open to air and to the transducer assembly/robotic arm.

As shown in FIGS. 4C-4D, the mechanical lock 464 is configured to hold the transducer assembly in place relative to the UMC while the UMC is filled with fluid prior to therapy. The coupling assembly and/or transducer assembly can be mechanically coupled to the mechanical lock, such as with tabs, screws, clips, etc. After the UMC is filled with fluid, referring to FIG. 4D, the mechanical lock can be removed from the UMC to allow relative movement of the transducer assembly within the UMC.

Membranes/Barrier Films and Related Architectures

Membranes and barrier films may be composed of various biocompatible materials which allow conformal coupling to patient anatomy with minimal or no entrapped bubbles capable of interfering with ultrasound imaging and histotripsy therapy, and that are capable of providing a sealed barrier layer between said patient anatomy and the ultrasound medium, of which is contained within the work-space provided by the frame and assembly.

Membrane and barrier film materials may comprise flexible and elastomeric biocompatible materials/polymers, such as various thermoplastic and thermoset materials, as well as permanent or bioresorbable polymers. Additionally, the frame of the UMC can also comprise the same materials. In some examples, the membrane may be rigid or semi-rigid polymers which are pre-shaped or flat. Some non-limiting examples of materials from which the membrane and barrier film may be made include but are not limited to polyurethanes, polystyrene copolymers, poly(lactic acid), poly(glycolic acid), poly(hydroxybutyrate), poly(phosphazine), polyesters, polyethylene glycols, polyethylene oxides, polyacrylamides, polyhydroxyethylmethylacrylate, polyvinylpyrrolidone, polyvinyl alcohols, polyacrylic acid, polyacetate, polycaprolactone, polyethylene, polypropylene, polybutylene, aliphatic polyesters, glycerols, poly(amino acids), copoly(ether-esters), polyalkylene oxalates, polyamides, poly(iminocarbonates), polyalkylene oxalates, polyoxaesters, polyorthoesters, polyphosphazenes and copolymers, block copolymers, homopolymers, blends and combinations thereof. In some embodiments, the membrane is composed of polystyrene copolymers and block copolymers comprising ethylene, butadiene, butylene and/or additional styrene blocks, with examples including styrene-butadiene-styrene (SBS) and styrene-ethylene-butylene-styrene (SEBS). In other examples, they may be comprised of various silicone and silicone co-polymers, and/or formulations of various silicone compositions, including those with lower molecular weight silicones or silicone-based oils. They may further contain additives to enhance thermal or optical stability, mechanical properties, biological properties (e.g., anti-infectives, etc.), sterilization stability including steam, heat, chemical, radiation and/or e-beam stability, as well as various additives including oils or low molecule weight fluids to plasticize or soften materials, and/or improve adherence to other surfaces (e.g., backing materials, skin, etc.). In some embodiments, membranes/barrier films comprise 10-80% oil, in other embodiments, 40-60%, by weight %. In some cases the oil is a paraffin oil. In some embodiments, the additives also include blooming agents and/or other agents to enhance surface properties. Some membranes/barrier film compositions may also include adhesives, or one or more components, of an adhesive formulation to allow adherence of the membrane/film to the patients anatomy (e.g., skin), and restraint features, etc., aimed to prevent membrane “run away” from the body and/or frame/manifold.

Membranes/barrier films may vary in thickness from 0.01 mm to 7 mm, and in some embodiments are preferred to be between 1 and 5 mm. In some embodiments the membrane has a thickness between 2 mm and 4 mm, and in additional embodiments the membrane has a thickness of between 2.5 mm and 3.5 mm. The membranes can have a tensile strength of >0.2 MPa. In some embodiments, the tensile strength can be between 0.4 MPa and 1 MPa. The membranes can be configured to stretch or elongate by up to 200%, and in some embodiments by up to 500% or up to 3000%. Thickness may be selected to balance physio-mechanical properties, impact to acoustic cavitation/histotripsy threshold, conformance to patient anatomy and the degree of membrane elongation and displacement (based on set up position and anticipated ultrasound medium volume and relative spatial distribution). They may be transparent or translucent, and/or may be colored or tinted, including being completely colored or tinted, or partially, and as markings or continuous/discrete regions. In some examples, membranes are preferably transparent/translucent to allow visibility of work-space and any potential air bubbles present in the ultrasound medium and the sealed system, as well as visualizing the ultrasound imaging probe comprised within the central bore of the therapy transducer. This may include, as an example, viewing the probe and its position/orientation (e.g., if translated out onto the skin and/or if retracted back off the skin).

Membranes/barrier films may further contain a structural component, such as a frame or fixture, that may further improve the handling and ease of use of the acoustic and patient coupling system, including but not limited to, procedure set up and take down, and without comprising acoustic window size. Frames may be comprised of biocompatible metals and/or polymers, including but not limited to, aluminum, aluminum alloys, acrylonitrile butadiene styrene (ABS), polyethylene, propylene, polyamides, and/or other impact resistant materials. The disclosed frame may be positioned along an edge contour of the membrane/barrier film, of which may be continuous or in segments/lengths. As a representative example, the frame is located along the outer edge contour of the membrane. The frame may be positioned (e.g., over molded membrane) within the membrane/barrier film, or conversely, may be comprised with on the membrane/barrier film, wherein the frame is molded around the membrane. As such, disclosed concepts may provide one or more means of interfacing to membrane/barrier films, wherein said interfaces include “hard”, “semi-hard”, and/or “soft” interfaces, or combinations of. For example, creating a seal along exposed/revealed soft membrane/barrier film surfaces and edge surfaces, versus sealing and interfacing along hard membrane frames to larger system “frames and assemblies” described below. Further, interfaces may comprise various features to enhance mechanical joining, mating, fit, interlocking and/or sealing, and may include, but not limited to, mechanical ridges, grooves, pins, key and interlocking structures, of which may be prepared in various heights, depths, grading/pitch, tapers, angles, stand-offs, shapes, spacings, frequency/amount, and/or cut-outs. In some examples, the membrane/barrier film may comprise a window for direct physical/acoustic access, wherein the edge region of the window (e.g., cut out) may be adhered to the patient and where said edge region acts as the “mechanical support interface and frame-like feature.”

The membrane/barrier film frame may be made of various shapes and dimensions/sizes to accommodate various work-spaces and work-space volumes as provided by the coupling system, and for/from smaller (<5 cm) to larger (>20 cm in long axis) transducers and related required travel space to accommodate location/pose, and set up and target anatomical locations (e.g., abdominal, neuro, etc.), where varied acoustic windows and conformal anatomical contouring of (conforming with abdomen, thorax/chest, head/neck, extremities, etc.), are desired. Frames may be constructed from various metals, alloys, polymers/plastics, ceramics and/or composites and combinations of, and using casting, molding, machining and/or any useful/known fabrication method. In some embodiments, they are preferably aluminum. In other embodiments they are an injection molded plastic derived from the list above.

Overall, the disclosed membrane physio-mechanical, chemical, dimensional and processing derived characteristics/properties afford the ability to control, and in some cases, minimize acoustic cavitation initiation (histotripsy) threshold requirements, as compared to other membranes. In some embodiments, membranes and barrier films may increase cavitation thresholds (and required drive amplitude) by 50% or more (over thresholds obtained directly through skin and coupled using degassed water). In other embodiments, 10-50%, as tested in similar fashion. In other embodiments, membranes/barrier films increase threshold requirements around 10%, and in preferred embodiments, they increase threshold requirements no more than 5-10%. In some embodiments, they also afford this capability without diminishing clinically relevant ultrasound imaging properties. In other embodiments, the window, as detailed previously, may afford no change in threshold given the direct acoustic access through skin. This may include B-mode or other forms of ultrasound imaging or post-acquisition image enhancements, some of which may be used to further enable multi-modal image reconstruction, segmentation, registration and fusion (with MRI, CT, cone beam CT, fluoroscopy, and forms of augmented fluoroscopy, etc.).

The therapy ultrasound systems described herein typically operate with a threshold voltage (to produce effective acoustic cavitation and histotripsy) which is as low as reasonable possible, and which is capable of effective operation at a maximum penetration depth.

The use of a membranes described herein has advantages such as improving ease of use, enabling better targeting of difficult tissue locations in the patient and improved patient comfort. However, a membrane has the disadvantage that it places additional material layers between the therapy transducer and the skin of the patient. These additional layers—specifically the membrane—have two potential effects: transmission loss and aberration.

Transmission loss refers to how much of the ultrasound energy is coupled through the membrane—which is a function of the thickness, speed of sound, acoustic impedance and how well we can get a bubble free interface in the membrane and in the gel or oil layer which is used between the membrane and the tissue. The membranes address the transmission effects by having an acoustic impedance close to that of water/tissue while keeping thin enough that losses in the membrane itself are minimal. The contact is achieved through a combination of having a very high compliance which lets the membrane conform to the body, the self-wetting nature of the oil infused material and the application technique (bubble swipe) that allows us to control the interface.

Managing the level of aberration can be achieved by having a similar speed of sound for the media and the membrane and by keeping the membrane as thin as possible. The level of aberration is likely to be dominated by the speed of sound differential between the coupling media (e.g., water) and the tissue.

The properties of the membrane which will affect the level of transmission loss and aberration are related to the raw material properties (composition and additives), the design of the membrane (e.g., membrane thickness, cross-section and surface roughness), the manufacturing process and the method for deploying the membrane onto the patient so that a sufficiently large and effective contact area is generated.

The membrane raw material can be selected to have an acoustic impedance as close as possible to that of the ultrasound media and should be biocompatible as well as being compatible with the ultrasound media and gels and oils used on the patient skin. The membrane materials can also provide sufficient temperature resistance (e.g., use of antioxidants to enable the material to survive high temperatures in the final manufacturing process) and environmental resistance during storage. The material should also not contain have additives which might reduce the ultrasound transmission (such as particulates, which could scatter the ultrasound). Other material properties which may provide application advantages are a high level of transparency (to enable visualization of bubbles through the membrane), good puncture resistance (safety), avoidance of absorbance of the ultrasound media (e.g., water) and a low bubble containment. Materials such as SEBS, which can leach/bloom mineral oil to the surface, may improve the quality of the contact between the membrane and any oils or gels used on the patient skin (i.e., this should reduce the risk of trapped bubbles). However, the level of any leached/bloomed material must be safe to handle and not contaminate the ultrasound media.

The mechanical properties and design of the membrane needs to be specified in order to create a sufficiently large area of effective ultrasound coupling between the ultrasound transducer and the patient skin. The area of contact should include no trapped air or air bubbles (which would cause transmission loss) and it should not apply loading to the patient which could cause discomfort or injury or unduly change the position of the internal organs. The cross-section of the membrane in the patient contact area should be constant to avoid variable transmission loss. The structural stiffness of the material should be low enough so that the material is in tension at all times during contact with the patient's skin in order to prevent creasing, folding or wrinkling of the skin which could trap air. The preferred embodiment is a flat membrane which stretches during filling to be convex and provides an initial, single contact point with the patient. As this membrane is lowered or further expanded/filled, the skin contact increases radially, largely preventing the formation of trapped air pockets. Alternatively, a pre-shaped, convex membrane could be used but a risk is that this embodiment may not have sufficient material tension at either the initial contact point or during the deployment phase.

The manufacturing process also has an impact on the presence of air bubbles in the material, particulates and contamination of the material, material composition variance, variability in membrane thickness and on surface roughness and surface defects. All of the above could potentially increase transmission losses.

Frames and Assemblies

Coupling solution frames and assemblies, in some cases referred to as an ultrasound medium container (UMC), coupling solution, and/or coupling device, are generally configured to retain, seal and support the membrane/barrier film as well as allow/provide interfaces to 1) an upper boot (e.g., upper enclosure/seal), 2) fluid inlets/outlets (e.g., receive/remove ultrasound medium), 3) mechanical arm(s), as well as 4) other features including/for, but not limited to, membrane supports/constraints, handles, locking mechanisms (for membrane frame, boots, frame/assembly pieces), venting and bubble management, imaging probe controls, etc. In some examples, the frame may incorporate pressure sensors configured to measure the pressure of the medium within the UMC, which can be used to detect leaks or over-pressure events. The UMC may further include pressure relief valves.

A diagram of examples of the frame and assembly is shown previously in FIGS. 2-4C, in part. In some embodiments, frames or UMCs may comprise multiple pieces, including a top/upper and bottom/lower frame piece, to allow external and internal access to the overall frame/assembly. This and similar embodiments may allow for membranes to be positioned/orientated within the frame/assembly more easily before sealing the UMC/coupling solution with the upper boot, and ahead of filling with ultrasound medium. The frame/assembly, including a lower frame piece, may comprise various seating, setting and/or interlocking mechanisms (e.g., pins) to align/interlock a lower frame, membrane assembly, an upper frame and/or an upper boot.

In some cases, the two piece frame/assembly may comprise a plurality of frame fixation and compression features (e.g., knobs, clamps, cams, dials, screws, pins, etc.), where the frame fixation features are configured to allow rapid locking/unlocking (and compression of the membrane), to provide efficient setup and sealing of the frame/assembly, and to allow rapid interfacing to one or more mechanical support arms, where one of the arms may include a robotic arm. It is envisioned here that a plethora of fixation and compression features/methods could be employed as a part of this invention, of which may interact/interface with the frames/assemblies, boot, membrane and/or membrane fixation structures/features, etc.

Overall frames and assemblies may be designed and configured to be of various profiles, including low profile constructions that minimize the thickness of the upper or lower frame, in effort to reduce weight, space constraints, potential collisions with other systems (e.g., cone beam CT, etc.).

The design of the frame/assembly is also contemplated to afford various filling approaches, wherein filling approaches may also vary in filling orientation of the frame/assembly (and respective/related interfaced support arms, etc.). Orientations may include, but are not limited to, horizontal, vertical and/or angled/tilted approaches, as well as static or dynamic orientations (e.g., robotic arm stationary versus allowing controlled motion/angular displacement concurrent to filling/draining). Fluid inlets and outlets maybe located at various locations/positions. In some embodiments, they may be configured to be positioned distal to the patient surface/table/bed to maximize the distance from fluid communicating interfaces.

FIGS. 5A-5C illustrates another example of a UMC 512 configured to acoustically couple a therapy transducer 502 to a patient. Referring to FIGS. 5A-5B, the UMC can include a frame 543 configured to hold or support a coupling membrane 514. The frame may be flexible and malleable to allow positioning/adapting onto and around the patient, while also providing mechanical stability (e.g., may be a urethane composition). In this embodiment, the UMC has an open architecture which provides an open work space for the robotic arm 508 and therapy transducer 502 to move, unencumbered in the workspace (no restrictions to its required movement/pattern or approach (angle, trajectory, etc.). As shown, the frame itself can include a first opening 566 disposed on a patient contacting side of the frame and a second opening 568 disposed opposite of the first opening and configured to receive the therapy transducer and/or robotic positioning arm. The frame can further include an adhesive 570 or other fixation mechanism disposed on or around the first opening to cause the frame to adhere to the patient during therapy.

Referring to FIG. 5B, the membrane 514 can comprise a bag or other similarly shaped material configured and adapted to drape over the edges of the frame. In another embodiment, the membrane can comprise only a single sheet that is affixed to the bottom of the frame and covers only the opening 566. The membrane therefore is designed to cover and extend over the first opening 566, but allows the second opening 568 to remain open to air. As shown in FIG. 5A, the frame can further include a lid 572 that can trap or hold the membrane in place. The lid can be hinged to the frame, for example, or can be completely removable. The lid itself can also include an opening 574, thereby allowing the transducer 502 and/or robotic positioning arm 508 to pass through opening 574 and opening 568 into an acoustic coupling medium disposed in the frame and the membrane. The embodiment of FIGS. 5A-5B allows using robot controls (physical, e.g., space mouse or joy stick, etc.) to position the robot, and/or “free drive”, which allows the user to grab and place the robot and position it within the work space.

The membrane of FIGS. 5A-5B may be windowed to allow a direct acoustic interface with the skin, and the respective edges of the film/drape may comprise adhesive to allow the formation of a water tight seal around the window edge and to support an acoustic medium (degassed water) contained within the created workspace. This may be retained/mechanically fixed and supported by the frame with latches, clips, etc., and of which may further allow, in some examples, the film/drape to be enclosed over/around the distal end of the robot (and therapy transducer) to prevent splash/spillage. In some cases, such as this example, the latches/clips can be integral to a hinged frame that entraps the film/drape within the frame. The assembly/container can be configured to support the film/drape, as well as minimize runway or migration away from the patient.

In another embodiment, referring to FIG. 5C, the frame 543 can comprise a bellows assembly. As with the embodiment shown in FIGS. 5A-5B, the bellows frame can include first and second openings 566 and 568, and can be configured for use with a coupling membrane (not shown), that either seals/blocks only the first opening or is a bag or drape style membrane (as shown in FIG. 5B) that covers the first opening but allows the second opening to be open to receive a coupling medium and also receive the transducer and/or robotic arm.

In some embodiments, the frame includes an arm interface, allowing the frame (and entire subsystem) to be interfaced to other structures, including a table rail, cart, or other mechanical structure, via a mechanical support arm. The mechanical support arm may comprise various degrees of freedom to allow various set up configurations/orientations, in x, y and z, and pitch, roll and yaw.

An example work-flow for this approach, may include preparing the coupling medium to 15-25° C. and less than 40% dissolved oxygen, or between 5-60% dissolved oxygen (e.g., the coupling medium may be tap water that is conditioned to the above stated conditions via a degassing pump and chiller), documenting the temperature and oxygen content on a study specific case report, performing a system check, calibrating crosshairs of the system, prepping the patient's skin to remove any foreign material, identifying the treatment site(s) with ultrasound, marking the patient's skin with ink based on the location of the treatment site(s), applying a benzoin tincture (adhesion promoter) and the coupling medium container drape to the skin, assembling the UMC, attaching the UMC and placing the UMC over the coupling medium container drape. and filling the UMC with approximately 16 liters of coupling medium, and applying the ultrasound therapy. The treatment head of the therapy system can be submerged in the coupling medium and inspected for trapped air. Using ultrasound image guidance, freedrive controls, and the spacemouse, the treatment head can be placed relative to the target during therapy.

Ultrasound Medium

As previously described, the ultrasound medium may comprise any applicable medium capable of providing sufficient and useful acoustic coupling to allow histotripsy treatments and enable sufficient clinical imaging (e.g., ultrasound). Ultrasound mediums, as a part of this disclosure and system, may comprise, but are not limited to, various aqueous solutions/mediums, including mixtures with other co-soluble fluids, of which may have preferred or more preferred acoustic qualities, including ability to match speed of sound, etc. Example mediums may comprise degassed water and/or mixtures/co-solutions of degassed water and various alcohols, such as ethanol.

Mechanical Support Arms and Arm Architectures

In order to support the acoustic and patient coupling system, including providing efficient and ergonomic work-flows for users, various designs and configurations of mechanical support arms (and arm architectures) may be employed. Support arms may be configured with a range of degrees of freedom, including but not limited to allowing, x, y, z, pitch, roll and yaw, as well additional interfacing features that may allow additional height adjustment or translation.

Arms may comprise a varied number and type of joints and segments. Typically, arms may comprise a minimum of 2 segments. In some configurations, arms may comprise 3 to 5 segments.

Arms are also be configured to interface proximally to a main support base or base interface (e.g., robot, table, table/bed rail, cart, floor mount, etc.) and distally to the frame/assembly and overall “UMC” or “coupling solution”. This specific distal interface may further include features for controlling position/orientation of the frame/assembly, at the frame/assembly interface.

For example, in some embodiments, the arm/frame interface may comprise a ball joint wrist. In another example, the interface may include use of a gimbal wrist or an adjustable pitch and roll controlled wrist. These interfaces may be further employed with specific user interfaces and inputs, to assist with interacting with the various wrists, of which may include additional handles or knobs (as an unlimited example), to further enable positioning the UMC/coupling solution. For example, a gimbal wrist may benefit from allowing the frame/assembly to have 3 degrees of freedom (independent of the arm degrees of freedom), including pitch, roll and yaw adjustments.

Support arms, configured with arm wrists, further interfaced with frames/assemblies, may comprise features such as brakes, including cable or electronic actuated brakes, and quick releases, which may interact with one or more axis, individually, or in groupings. They may also include electronic lift systems and base supports. In some embodiments, these lift systems/base supports are co-located with robot arm bases, wherein said robot arm is equipped with the histotripsy therapy transducer configured to fit/work within the enclosed coupling solution. In other embodiments, the support arm is located on a separate cart. In some cases, the separate cart may comprise a fluidics system or user console. In other embodiments, it is interfaced to a bed/table, including but not limited to a rail, side surface, and/or bed/table base. In other examples/embodiments, it's interfaced to a floor-based structure/footing, capable of managing weight and tipping requirements.

Fluidics Systems, Control Systems and System Architectures

As a part of overall fluidics management, histotripsy systems including acoustic/patient coupling systems, may be configured to include an automated fluidics system, which primarily is responsible for providing a reservoir for preparation and use of coupling medium, where preparation may include the ability to degass, chill, monitor, adjust, dispense/fill, and retrieve/drain coupling medium to/from the frame/assembly. The fluidics system may include an emergency high flow rate system for rapid draining of the coupling medium from the UMC. In some embodiments, the fluidics system can be configured for a single use of the coupling medium, or alternatively, for re-use of the medium. In some embodiments, the fluidics system can implement positive air pressure or vacuum to carry out leak tests of the UMC and membrane prior to filling with a coupling medium. Vacuum assist can also be used for removal of air from the UMC during the filling process. The fluidics system can further include filters configured to prevent particulate contamination from reaching the UMC.

FIGS. 6A-6B illustrate one embodiment of a fluidics system. As shown, the fluidics system may include a fluidics cart 676 that is mobile to allow clinicians to prepare ultrasound medium, and transport it from a clinical water source (e.g., house tap water or other) and to the procedure room, and as a part of this, afford high speed degassing (e.g., 4-6 L/min) in effort to minimize water preparation time and procedure set up and turn over and carts may also be brought in/out during procedure (e.g., not required during treatment).

The fluidics cart(s) may further comprise one or more pumps 678 configured to allow new and wastewater to be pumped in and out of the coupling system (on patient), with dedicated input (clean) tank 680 and output (waste) tank 682. To enable degassing, the one or more pumps 678 can be configured to pump new water into a degas module 684, which includes a filter, degas contactor, and vacuum pump. The one or more pumps also provides filling and emptying of the coupling solution to/from the UMC. The one or more pumps can further allow for pump purging of the output/waste tanks.

The cart may be powered through standard electrical service/connectors, as well as via battery 686 to allow for portable or off-grid use. The battery may also provide emergency power. The cart may also comprise a nitrogen tank 688 and/or air compressor 690 for allowing blow down of the tubing/lines to enable ensuring they are maintained dry/clean (under a nitrogen blanket). In some examples, the cart may include various user interfaces to allow for tubing connections to the coupling solution as well as water sources (and waste receptacles), and also physical and software control systems or electronic controllers 692 configured for programming/monitoring/reporting water status and parameters. Parameters may include oxygen saturation, temperature, particulate debris, pH, mix ratio, flow rate, fill level, power level/battery level, etc., which can be detected in real-time by any number of sensors disposed within and around the system. The parameters may be read out on a UI screen on the fluidics cart, and/or may be displayed/controlled on the therapy system cart display (through software UI).

As described above, the fluidics system may implemented in the form of a mobile fluidics cart. The cart may comprise an input tank, drain tank, degassing module, fill pump, drain pump, inert gas tank, air compressor, tubing/connectors/lines, electronic and manual controls systems and input devices, power supplies and one or more batteries. The cart in some cases may also comprise a system check vessel/reservoir for evaluating histotripsy system performance and related system diagnostics (configured to accommodate a required water volume and work-space for a therapy transducer).

The input tank, in general may contain medium (e.g., water) of a volume up to around 80 L. In some cases, the volume may be around 40 L.

The degassing module may contain filters or degassing membranes configured to remove particulate/debris, a de-gas contactor and a vacuum or peristaltic pump to move fluid through the system. In some examples, filters may be 0.2 micron in pore size. The de-gas contactor may be able to pull down to parts per billion, with around 3 gallon per minute flow, and capable of removing dissolved O