EP4694977A1 - Sonication par ultrasons focalisée avec direction mécanique et électronique le long d'une trajectoire calculée - Google Patents

Sonication par ultrasons focalisée avec direction mécanique et électronique le long d'une trajectoire calculée

Info

Publication number
EP4694977A1
EP4694977A1 EP24712500.8A EP24712500A EP4694977A1 EP 4694977 A1 EP4694977 A1 EP 4694977A1 EP 24712500 A EP24712500 A EP 24712500A EP 4694977 A1 EP4694977 A1 EP 4694977A1
Authority
EP
European Patent Office
Prior art keywords
focal spot
trajectory
pattern
focused ultrasound
controlling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP24712500.8A
Other languages
German (de)
English (en)
Inventor
Adnan SAOOD
Jonathan Vappou
Florent Nageotte
Benoit LARRAT
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Centre National de la Recherche Scientifique CNRS
Universite de Strasbourg
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Centre National de la Recherche Scientifique CNRS
Commissariat a lEnergie Atomique CEA
Universite de Strasbourg
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Centre National de la Recherche Scientifique CNRS, Commissariat a lEnergie Atomique CEA, Universite de Strasbourg, Commissariat a lEnergie Atomique et aux Energies Alternatives CEA filed Critical Centre National de la Recherche Scientifique CNRS
Publication of EP4694977A1 publication Critical patent/EP4694977A1/fr
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N2007/0004—Applications of ultrasound therapy
    • A61N2007/0021—Neural system treatment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N2007/0039—Ultrasound therapy using microbubbles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N2007/0086—Beam steering
    • A61N2007/0091—Beam steering with moving parts, e.g. transducers, lenses, reflectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N2007/0086—Beam steering
    • A61N2007/0095—Beam steering by modifying an excitation signal

Definitions

  • the present invention relates generally to computer-implemented methods for controlling devices generating focused ultrasound.
  • the invention is of particular interest for applications such as blood-brain barrier opening.
  • Background In the field of therapy for central nervous system diseases techniques have been developed to temporarily disrupt the blood-brain barrier with focused ultrasound coupled with circulation of intravenously injected microbubbles. While these techniques make it possible to open the blood-brain barrier in a reversible and non-invasive manner, they do generally not allow opening an extended volume of the blood-brain barrier, e.g. the volume of a tumor. More generally, the known techniques are not suitable for some clinical applications.
  • the invention provides a computer- implemented method for controlling a device, said device being configured to generate a focused ultrasound beam producing a focal spot and to allow electronic and/or mechanical steering of said focal spot, the method comprising the following steps: ⁇ defining a trajectory of said focal spot based on one or more parameters selected from a list including a trajectory pattern, a travel speed of the focal spot and an acceleration of the focal spot, ⁇ controlling the device to generate said focused ultrasound beam and to move the focal spot along said trajectory so as to cover a predetermined target volume. According to the invention, it is thus proposed to calculate a trajectory of the focal spot based on a predetermined target volume.
  • said device is a medical device intended to be used for opening a blood-brain barrier.
  • Said predetermined target volume can typically correspond to a volume inside which the blood-brain barrier needs to be open, defined by a physician.
  • the inventors found that the proposed method makes it possible to increase the blood-brain barrier opening volume, as compared to conventional manual techniques.
  • the claimed method may not include any step surgical/therapeutical step.
  • the step of controlling the device comprises interlacing mechanical steering and electronic steering of the focal spot.
  • Interlacing mechanical and electronic steering makes it possible to cover an extended volume in a reduced duration, in particular a duration that would be the same as, or close to, the one required to cover a surface forming a slice, or layer, of said volume.
  • the step of controlling the device comprises generating the focused ultrasound beam with a series of ultrasound pulses.
  • the step of controlling the device may comprise generating a continuous focused ultrasound beam.
  • the step of controlling the device comprises moving the focal spot between said ultrasound pulses.
  • One of the advantages of this particular type of interlacing is the reducing trajectory duration for a given target volume.
  • other types of interlacing mechanical and electronic steering can be implemented, for instance moving the focal spot during some of the ultrasound pulses, or more generally during ultrasound beam generation.
  • said predetermined target volume is defined as a series of layers.
  • the layers can have a planar and/or curved geometry.
  • the layers can form continuous and/or discrete surfaces.
  • said layers are spaced from each other along a reference direction.
  • the step of controlling the device may comprise generating the focused ultrasound beam along said reference direction.
  • the step of defining the trajectory comprises calculating the trajectory of said focal spot for each of said layers.
  • the step of moving the focal spot may comprise electronic steering in said reference direction, also called first direction, and/or in a second direction and/or in a third direction, said first, second and third direction being perpendicular to each other, and/or in any corresponding rotation.
  • the step of moving the focal spot may comprise mechanical steering in the first direction and/or the second direction and/or the third direction, and/or in any corresponding rotation.
  • the step of moving the focal spot comprises electronic steering in both first, second and third directions.
  • the step of moving the focal spot comprises mechanical steering in both first, second and third directions.
  • the step of moving the focal spot comprises electronic steering in said first direction and mechanical steering in said second and third directions.
  • the step of moving the focal spot comprises electronic steering in said first and third directions and mechanical steering in said second direction.
  • the step of moving the focal spot comprises electronic steering in said first direction and mechanical steering in said first, second and third directions.
  • said trajectory pattern parameter includes a pattern-type parameter.
  • the pattern-type parameter may be a spiral pattern or a pattern comprising multiple line sections parallel to each other.
  • Said trajectory pattern parameter includes a pattern-type parameter may optionally include a corresponding shape factor parameter.
  • the shape factor parameter may be a distance between predetermined points of the pattern.
  • the list from which said one or more parameters are selected includes a temporal evolution of a variable representative of a microbubble concentration and an acoustic pressure field.
  • said travel speed and/or acceleration of the focal spot is calculated as a function of said temporal evolution of a variable representative of a microbubble concentration and/or of said acoustic pressure field.
  • the step of defining the trajectory comprises simulating several trajectories and selecting one of these simulated trajectories. Selecting one of the simulated trajectories is preferably made on the basis of one or more criteria such as a duration to complete the trajectory and/or a percentage of coverage of the target volume and/or a factor of homogeneity of exposure of the target volume.
  • the invention provides a device having: ⁇ a transducer configured to generate a focused ultrasound beam producing a focal spot, ⁇ electronic and/or mechanical steering means configured to move said focal spot, and ⁇ means adapted to execute the steps of a method as defined above.
  • the device comprises a robotic arm bearing said transducer and forming said mechanical steering means.
  • the invention provides a computer program comprising instructions to cause a device as defined above to execute the steps of a method as defined above.
  • the invention provides a computer-readable storage medium having stored thereon a computer program as defined above.
  • ⁇ Figure 1 is a schematic representation of a device according to the invention
  • ⁇ Figure 2 is a schematic representation of a method according to the invention
  • ⁇ Figure 3 is a schematic representation of a target volume defined by multiple layers
  • ⁇ Figure 4 is a schematic representation of a layer of said target volume, and of a trajectory of a focal spot associated with this layer
  • ⁇ Figure 5 is a schematic representation of a sonication scheme according to the invention.
  • FIG. 1 illustrates schematically a device 1 according to a non-limiting embodiment of the invention.
  • the device 1 is intended to be used for opening a blood-brain barrier.
  • the device 1 of figure 1 comprises a robotic arm 2, a holder 3, a transducer 4, and computer control means 5.
  • the arm 2 comprises parts 6-9 connected to each other by pivotal links defining six degrees of freedom. More specifically, part 6, which forms a base of the arm 2, is connected to part 7 by two pivotal links. Parts 7 and 8 are connected to each other by one pivotal link. Part 8, which forms a terminal element of the arm 2, is connected to element 9 by three pivotal links.
  • the transducer 4 is connected to the terminal element 8 of the arm 2 through the holder 3.
  • Figure 1 provides a first orthogonal spatial system formed by directions D1, D2 and D3, and a second orthogonal spatial system formed by directions D4, D5 and D6.
  • the first system is associated with said base 6 of the arm 2 and the second system is associated with the transducer 4.
  • the transducer 4 is a conventional medical transducer configured to generate ultrasound pulses by means of an array of piezoelectric elements, whose phase can be modified individually, and which together define a concave active surface 11.
  • a transducer 4 allows to generate a focused ultrasound beam 12 so as to produce a focal spot 13, which typically has an ellipsoid shape of a few mm 3 .
  • the position of the focal spot with respect to the active surface 11 can be modified by controlling the phase of the piezoelectric elements.
  • said piezoelectric elements are concentrically distributed about an axis A1 of the transducer 4, parallel to D4, allowing a modification of the focal spot position only in terms of focal distance, namely the distance between the active surface 11 and the focal spot 13 according to the transducer axis A1.
  • the arm 2 can be controlled to move the transducer 4 in any of the directions D1, D2 and D3, or in any combination of these directions and corresponding rotations, thanks to its degrees of freedom.
  • the arm 2 therefore constitutes a mechanical steering means, in the sense that a mechanical displacement of its parts 7, 8 and 9 relative to part 6 allows to modify the position of the focal spot 13 according to D1 and/or D2 and/or D3.
  • the transducer 4 constitutes an electronic steering means, in the sense that a phase control of its piezoelectric elements allows to modify the position of the focal spot 13, in this example along the transducer axis A1 and then direction D4.
  • said computer control means 5 is configured to control both the arm 2 and the transducer 4 in order to move the focal spot 13 mechanically and/or electronically.
  • the means 5 includes a computer-readable storage medium having stored thereon a computer program to control the arm 2 and the transducer 4 as described below or according to any other implemented method of the invention.
  • the invention relates to a computer-implemented method 20 for controlling the device 1 of figure 1, or any other device suitable for implementing such a method.
  • the method 20 includes a step 21 of determining a target volume, a step 22 of defining a trajectory of the focal spot 13, and a step 23 of controlling the device 1, the latter being decomposed into a step 24 of generating said focused ultrasound beam 12 with the transducer 4 and a step 25 of moving the focal spot 13 along the trajectory defined in step 22, in order to cover said target volume determined in step 21.
  • the target volume can be beforehand defined by medical practitioners, typically using medical imaging.
  • the target volume 30 could have a relatively complex geometry, which can be approximated by an irregular polyhedral structure.
  • the computer program of the invention is an algorithm that defines the target volume 30 as a series of layers 31.
  • the target volume 30 is here defined using five planar layers 31 spaced from each other along a reference direction, which corresponds in that case to the direction D4. Each of said layers 31 thus extends parallel to directions D5 and D6.
  • the algorithm determines how many layers 31 are needed to cover the target volume 30. This can be done using a predetermined distance between each pair of adjacent layers 31.
  • trajectory solutions of the focal spot 13 are calculated for each of the layers 31.
  • Figure 4 illustrates an example of trajectory 32 for one of the layer 31.
  • Trajectory solutions can be described in terms of trajectory pattern and of travel speed and/or acceleration of the focal spot 13.
  • One or multiple values for these parameters are typically stored and selected by the algorithm.
  • Concerning for example the parameter of speed or acceleration of the focal spot 13, the travel speed can be constant over time, corresponding to a zero acceleration of the focal spot 13, or can decrease according to a temporal function, for example in a constant or exponential way over time.
  • travel speed and acceleration of the focal spot 13 is preferably calculated as a function of a temporal evolution of a variable representative of a microbubble concentration.
  • the concentration of microbubbles decreases exponentially over time after their injection.
  • the speed of the focal spot 13 can thus be correspondingly decreased over time to allow for longer sonication periods over tissue with lower microbubble concentration, ensuring compensation for said decreasing microbubble concentration.
  • the travel speed of the focal spot 13 is then decreased over time from the starting point 33 to the end point 34 of the trajectory 32.
  • travel speed and acceleration of the focal spot 13 can also be calculated as a function of an acoustic pressure field that can be estimated using known techniques.
  • Concerning the trajectory pattern parameter it is in this example described in terms of a pattern-type and a corresponding shape factor.
  • the pattern-type of the trajectory 32 is a spiral shape, i.e. a curve winding around a point – e.g. through which the transducer axis A1 passes – of which it is progressively getting closer, thus forming loops extending radially to each other.
  • the distance between said loops in other words between predetermined parts or points I1, I2, I3... that can be formed by intersections of the trajectory 32 with a straight line L1 parallel to directions D5 and D6 and extending radially, may define a shape factor of the trajectory pattern.
  • the distance between two adjacent points I1, I2, I3... globally decreases from outside to inside the pattern, i.e.
  • both the travel speed / acceleration parameter and the trajectory pattern parameter can be calculated as a function of the microbubble concentration evolution, whose decrease over time requires longer sonication to achieve in this example blood-brain barrier opening. Therefore, the algorithm may first simulate trajectory solutions using several parameters, in this example travel speed / acceleration of the focal spot 13, trajectory pattern, temporal evolution of microbubble concentration and acoustic pressure field.
  • the algorithm may then compare these simulated trajectory solutions to identify the trajectory having for example the best balance between overlap and sonication speed.
  • the algorithm calculates trajectory solutions for each of the layers 31, based on the condition of displacement of the focal spot 13 from one to another layer 31 between ultrasound pulses, the sonication being in this example pulse-width modulated with a duty cycle ranging for example from 1% to 10%.
  • a sonication scheme illustrated in figure 5, increases efficiency and ensures focused ultrasound energy deposition for cavitation in multiple depths during the same pulse-width modulated period.
  • Figure 5 illustrates a sonication scheme in a chart defining time in abscissa XX and focused ultrasound power in ordinate YY.
  • the duration between time X1 and time X11 corresponds to a pulse-width modulated period.
  • the duration between X1 and X2, respectively between X3 and X4, X5 and X6, X7 and X8, and X9 and X10 corresponds to a period during which a first, respectively a second, a third, a fourth, and a fifth, of said layers 31 are sonicated.
  • the focal spot 13 is displaced from one to another layer 31 between ultrasound pulses, i.e. between X2 and X3, X4 and X5, X6 and X7, X8 and X9, and X10 and X11.
  • the resultant trajectory is therefore a convolution of displacement of the focal spot 13 in directions D5 and/or D6 during ultrasound pulses, and displacement of the focal spot 13 in direction D4 between ultrasound pulses.
  • Simulation and optimization The three-dimensional trajectory of the focal spot 13 can be written in a parametric form, in which elements of a vector ⁇ are formed by parameters such as the travel speed of the focal spot 13 in a given layer 31, the shape factor – e.g. spiral width decay – and the initial value of the shape factor, and the distance between layers 31.
  • a parametric form allows for designing an optimization scheme that iteratively modifies the parameters of the vector ⁇ .
  • a simulator is implemented to test each candidate trajectory.
  • the simulator is preferably encapsulated inside a loss function to feedback into an optimization loop.
  • ⁇ a sonication duration ⁇ a coverage proportion defined as a floating point number ⁇ [0,1] equal to the area where sonication is larger than a predefined threshold and divided by the target volume, ⁇ a homogeneity descriptor corresponding to a standard deviation of ⁇ ⁇ inside the target volume (see below), and where the functions ⁇ , ⁇ and h are designed to guide the optimizer toward a good point for the different targets of the optimization. In this example, these functions are simple linear functions with different weight values.
  • ⁇ can be ⁇ calculated as the integration ⁇ ⁇ ⁇ / ⁇ ( ⁇ ) , where ⁇ is the trajectory length.
  • ⁇ is a relational function that combines functions ⁇ , ⁇ , h to create the result L ⁇ .
  • ⁇ can result in an addition and/or multiplication relation between ⁇ , ⁇ , and h.
  • the following equation can be used to quantify the permeabilization of a point ⁇ at a time ⁇ after sonication for a duration under an acoustic pressure field ⁇ ( ⁇ , ⁇ ) with a microbubble concentration ⁇ ( ⁇ ):
  • M and ⁇ are additive and multiplicative terms that can be provided experimentally.
  • the term ⁇ can be formulated, ⁇ being ⁇ ⁇ without the additive term ⁇ and integrated temporally over the entire simulation session.
  • the term ⁇ ( ⁇ , ⁇ ) is zero.
  • the quantity ⁇ can be rewritten as a sum of exposure periods gathered only when ⁇ ( ⁇ , ⁇ ) > 0 over the entire sonication duration, i.e. when point X is inside the effective pressure field.
  • the quantity ⁇ can be written in vectorized discrete form.
  • the index ⁇ denotes the time samples that are combined for realizing a complete simulation iteration. Square and round brackets are for spatial vectorization and temporal discretization respectively.
  • the duration of sonication can be controlled by varying the velocity of the transducer 4.
  • trajectories can be calculated using a pattern-search algorithm, for instance the so- called Hooke-Jeeves pattern search algorithm.
  • the simulator output for a trajectory can be evaluated using appropriate metrics, e.g. operation duration, homogeneity of exposure, and coverage percentage. These metrics can be adjusted by the practitioner.
  • a rating of the trajectory can be calculated, allowing the optimizer to adjust for a better point ⁇ by modifying the trajectory parameters.
  • the optimization iterations can stop after convergence.
  • An appropriate trajectory to cover the target volume 30 can be defined using the above-described principles, which are not limitative.
  • the transducer 4 is controlled to generate the focused ultrasound beam 12 along the axis A1 with a series of ultrasound pulses, so as to produce the focal spot 13, and both the arm 2 and the transducer 4 are controlled to move the focal spot 13 along the trajectory defined in step 22 to cover the target volume 30.
  • displacement of the focal spot 13 within a given layer 31 is done by moving the arm 2 so as to displace the focal spot 13 in directions D5 and D6.
  • sonicating a given layer 31 is accomplished by mechanical steering of the transducer 4.
  • Displacement of the focal spot 13 from one to another layer 31 is done by electronic steering between ultrasound pulses.
  • the device 1 is thus controlled to interlace mechanical and electronic steering.
  • the transducer 4 can comprise piezoelectric elements distributed both circumferentially and radially in relation to said transducer axis A1, allowing a modification of the focal spot 13 in both directions D4, D5 and D6.
  • the focal spot 13 can be moved using any combination of mechanical and electronic steering, e.g. mechanical steering in only one of the directions D4, D5 and D6 and electronic steering in the two other direction.
  • the transducer 4 can be controlled to generate a continuous focused ultrasound beam 12, and/or the target volume can be defined using non-planar layers, e.g. curved layers, and/or the pattern-type parameter may comprise a pattern having multiple line sections parallel to each other.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Radiology & Medical Imaging (AREA)
  • Robotics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgical Instruments (AREA)

Abstract

L'invention concerne un procédé mis en œuvre par ordinateur pour commander un dispositif (1) destiné à être utilisé pour ouvrir une barrière hémato-encéphalique, comprenant une étape de calcul d'une trajectoire et une étape de commande du dispositif (1) pour générer un faisceau ultrasonore focalisé (12) produisant un point focal (13) et pour déplacer le point focal (13) le long de ladite trajectoire de façon à recouvrir un volume cible prédéterminé.
EP24712500.8A 2023-04-12 2024-03-21 Sonication par ultrasons focalisée avec direction mécanique et électronique le long d'une trajectoire calculée Pending EP4694977A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP23305544.1A EP4445859A1 (fr) 2023-04-12 2023-04-12 Sonication à ultrasons focalisés avec orientation mécanique et électronique le long d'une trajectoire calculée
PCT/EP2024/057676 WO2024213377A1 (fr) 2023-04-12 2024-03-21 Sonication par ultrasons focalisée avec direction mécanique et électronique le long d'une trajectoire calculée

Publications (1)

Publication Number Publication Date
EP4694977A1 true EP4694977A1 (fr) 2026-02-18

Family

ID=86382902

Family Applications (2)

Application Number Title Priority Date Filing Date
EP23305544.1A Withdrawn EP4445859A1 (fr) 2023-04-12 2023-04-12 Sonication à ultrasons focalisés avec orientation mécanique et électronique le long d'une trajectoire calculée
EP24712500.8A Pending EP4694977A1 (fr) 2023-04-12 2024-03-21 Sonication par ultrasons focalisée avec direction mécanique et électronique le long d'une trajectoire calculée

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP23305544.1A Withdrawn EP4445859A1 (fr) 2023-04-12 2023-04-12 Sonication à ultrasons focalisés avec orientation mécanique et électronique le long d'une trajectoire calculée

Country Status (4)

Country Link
EP (2) EP4445859A1 (fr)
CN (1) CN121175093A (fr)
AU (1) AU2024255476A1 (fr)
WO (1) WO2024213377A1 (fr)

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101058005A (zh) * 2007-05-23 2007-10-24 华中科技大学 一种聚焦式调强适形放射治疗机
KR20130009138A (ko) * 2011-07-14 2013-01-23 삼성전자주식회사 집속 초음파 치료 장치 및 이의 초점 제어 방법
JP6403689B2 (ja) * 2013-01-29 2018-10-10 インサイテック・リミテッド シミュレーションベース集束超音波治療計画
CA2981219C (fr) * 2015-04-02 2024-01-23 Cardiawave Procede et appareil pour le traitement d'une valvulopathie
CN104815399B (zh) * 2015-04-03 2018-04-17 西安交通大学 基于六轴机械臂的高强度聚焦超声治疗引导和控制系统及方法
EP3236467A1 (fr) * 2016-04-22 2017-10-25 Cardiawave Dispositif de thérapie et d'imagerie par ultrasons
FR3072577B1 (fr) * 2017-10-23 2019-09-27 Cardiawave Sa Appareil de traitement de la thrombose vasculaire par ultrasons
AU2021206666A1 (en) * 2020-01-07 2022-07-21 The Regents Of The University Of Michigan Systems and methods for robotically-assisted histotripsy targeting based on MRI/CT scans taken prior to treatment
EP4277531A4 (fr) * 2021-03-10 2024-10-02 The University of Hong Kong Plateforme robotique permettant la navigation d'un système ultrasonore focalisé guidé par irm

Also Published As

Publication number Publication date
WO2024213377A1 (fr) 2024-10-17
EP4445859A1 (fr) 2024-10-16
CN121175093A (zh) 2025-12-19
AU2024255476A1 (en) 2025-10-16

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