US 12,446,905 B2
Histotripsy systems and associated methods including user interfaces and workflows for treatment planning and therapy
Jonathan M. Cannata, Ann Arbor, MI (US); Alexander P. Duryea, Ann Arbor, MI (US); Ryan M. Miller, Saline, MI (US); Zeljko Mladenovic, Orefield, PA (US); Joshua Stopek, Minneapolis, MN (US); Erin-Anne Lemieux, Mont Vernon, NH (US); Carolyn M. Turner, Minneapolis, MN (US); and Carol L. Shaffer, Minnetrista, MN (US)
Assigned to HistoSonics, Inc., Plymouth, MN (US)
Filed by HistoSonics, Inc., Plymouth, MN (US)
Filed on Apr. 22, 2024, as Appl. No. 18/642,529.
Claims priority of provisional application 63/497,277, filed on Apr. 20, 2023.
Prior Publication US 2024/0350153 A1, Oct. 24, 2024
Int. Cl. A61B 17/22 (2006.01); A61B 8/00 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 34/10 (2016.01)
CPC A61B 17/22004 (2013.01) [A61B 8/4218 (2013.01); A61B 8/461 (2013.01); A61B 8/469 (2013.01); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 2017/00106 (2013.01); A61B 2017/22008 (2013.01); A61B 2034/107 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A histotripsy system comprising:
an ultrasound imaging system;
an ultrasound therapy transducer coupled to the ultrasound imaging system;
a robotic arm configured to position the ultrasound imaging system and the ultrasound therapy transducer with respect to a patient and a treatment location;
a display operably connected to the ultrasound imaging system;
a memory, storing thereon instructions that when executed by a processor operably connected to the memory:
receive real-time ultrasound images from the ultrasound imaging system,
present the live ultrasound images on a user interface in the display;
identify a target;
receive via the user interface an input to alter a shape of a target contour around a treatment volume in the live ultrasound images;
present a target contour line representative of the target contour on the ultrasound images in the user interface;
receive via the user interface an input of a size of a margin around the target area;
present a margin contour line representative of the margin contour on the ultrasound images in the user interface;
determine survey points at locations where X, Y, and Z axes bisect the margin line in an XZ plane and a YZ plane;
receive an input to drive the ultrasound therapy transducer to a location where a focal location of the ultrasound therapy transducer is at one of the survey points; and
determine whether resistance to movement of the ultrasound therapy transducer exceeds a threshold.