US 12,491,384 B2
Histotripsy systems and methods
Jonathan M. Cannata, Ann Arbor, MI (US); Ryan M. Miller, Saline, MI (US); Alexander P. Duryea, Ann Arbor, MI (US); Dejan Teofilovic, Ann Arbor, MI (US); Zeljko Mladenovic, Orefield, PA (US); Aleksandra Rakic, Ann Arbor, MI (US); and Joshua Stopek, Minneapolis, MN (US)
Assigned to HistoSonics, Inc., Plymouth, MN (US)
Filed by HistoSonics, Inc., Plymouth, MN (US)
Filed on Aug. 22, 2024, as Appl. No. 18/812,761.
Application 18/812,761 is a continuation of application No. 18/630,758, filed on Apr. 9, 2024.
Application 18/630,758 is a continuation of application No. 18/311,050, filed on May 2, 2023, granted, now 11,980,778, issued on May 14, 2024.
Application 18/311,050 is a continuation of application No. 16/930,181, filed on Jul. 15, 2020, granted, now 11,648,424, issued on May 16, 2023.
Application 16/930,181 is a continuation of application No. 16/698,587, filed on Nov. 27, 2019, granted, now 11,813,484, issued on Nov. 14, 2023.
Claims priority of provisional application 62/772,473, filed on Nov. 28, 2018.
Prior Publication US 2024/0408416 A1, Dec. 12, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61N 7/00 (2006.01); A61B 8/08 (2006.01); A61B 17/22 (2006.01)
CPC A61N 7/00 (2013.01) [A61B 8/085 (2013.01); A61B 2017/22008 (2013.01); A61N 2007/0039 (2013.01); A61N 2007/0052 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robotically controlled ultrasound therapy system, comprising;
a robotic positioning system;
an ultrasound therapy transducer array connected to the robotic positioning system;
a generator operatively coupled to the ultrasound therapy transducer array, the generator and ultrasound therapy transducer array being configured to deliver histotripsy pulses into a subject to generate cavitation in the subject;
at least one processor operatively coupled to the robotic positioning system and the generator, the at least one processor being configured to implement a digital treatment plan by:
receiving the digital treatment plan that includes a plurality of treatment locations within a target tissue volume, a planned drive amplitude for each of the plurality of treatment locations, the planned drive amplitudes varying through the digital treatment plan, and a treatment pattern that defines a pathway for sequentially treating the plurality of treatment locations at the planned drive amplitudes;
controlling the robotic positioning system to sequentially move the focus through each of the plurality of treatment locations in the target tissue volume along the treatment pattern; and
controlling the generator to automatically deliver ultrasound pulses to each of the plurality of treatment locations at the planned drive amplitude for each treatment location to produce cavitation at each treatment location.