Methods and systems for aligning an imaging ultrasound probe with a therapeutic ultrasound probe
Devices and methods using high intensity focused ultrasounds (HIFU) guided by ultrasound imaging often require an imaging ultrasound probe to be embedded within a HIFU transducer, in order for both probes to have a substantially similar position during operation. This configuration has many drawbacks and often causes poor imaging conditions due to constraints on the size of the imaging probe. The new methods and systems described herein allow the use of an imaging ultrasound probe separate from the HIFU transducer. The imaging ultrasound probe can be easily positioned relative to the HIFU transducer during operation by using a position capture system and a specific housing for the imaging probe. The invention is also applicable to high intensity contact ultrasound probes (HICU).
1 . A method for positioning a therapeutic ultrasonic probe relative to an ultrasonic imaging probe, the method comprising, by an electronic control device:
acquiring a position of a first probe chosen among the ultrasonic imaging probe and the therapeutic ultrasonic probe, the position being acquired with a position capture system when the first probe is in a first position, the ultrasonic imaging probe being placed inside a housing, the housing comprising at least one position marker detectable by the position capture system, external dimensions of the housing being similar to external dimensions of the therapeutic ultrasonic probe,
detecting a position of a second probe chosen among the other of the ultrasonic imaging probe and the therapeutic ultrasonic probe, the position being detected using the position capture system, the therapeutic ultrasonic probe comprising at least one position marker detectable by the position capture system, wherein the at least one position marker of the therapeutic ultrasonic probe is placed at relative positions that are the same as relative positions of the at least one position marker of the housing,
indicating a target position of the second probe based on the acquired position of the first probe.
2 . The method of claim 1 , wherein the first probe is the ultrasonic imaging probe, wherein the second probe is the therapeutic ultrasonic probe, and wherein the first position is an imaging position.
3 . The method of claim 1 , wherein the first probe is the therapeutic ultrasonic probe, wherein the second probe is the ultrasonic imaging probe.
4 . The method of claim 1 , wherein each of the therapeutic ultrasonic probe and the ultrasonic imaging probe have an ultrasound emission axis, and wherein indicating the target position also comprises indicating a direction of the ultrasound emission axis.
5 . The method according to claim 1 , wherein the position capture system is configured to provide positioning data to an operator tasked with positioning the second probe.
6 . The method of claim 5 , wherein indicating the target position of the therapeutic ultrasonic probe comprises visually displaying a current position of the therapeutic ultrasonic probe and the target position of the therapeutic ultrasonic probe on a graphical user interface connected to the electronic control device.
7 . The method of claim 5 , wherein indicating the target position of the therapeutic ultrasonic probe comprises emitting an auditory feedback depending on a difference between the current position of the therapeutic ultrasonic probe and the target position of the therapeutic ultrasonic probe.
8 . The method according to claim 5 , wherein indicating the target position of the therapeutic ultrasonic probe comprises emitting a haptic feedback depending on a difference between the current position of the therapeutic ultrasonic probe and the target position of the therapeutic ultrasonic probe.
9 . The method according to claim 1 , wherein the therapeutic ultrasonic probe is held by a robot, and wherein indicating the target position of the therapeutic ultrasonic probe comprises sending position instructions to an electronic controller of the robot, the position instructions being configured to cause the robot to place the therapeutic ultrasonic probe at the target position.
10 . A system for positioning a therapeutic ultrasonic probe relative to an ultrasonic imaging probe, comprising a therapeutic ultrasonic probe, an ultrasonic imaging probe placed inside a housing, a position capture system and an electronic control device, wherein external dimensions of the housing being similar to external dimensions of the therapeutic ultrasonic probe, wherein the housing comprises at least one position marker detectable by the position capture system, wherein the therapeutic ultrasonic probe comprises at least one position marker detectable by the position capture system, and wherein the electronic control device is configured to:
acquire a position of a first probe chosen among the ultrasonic imaging probe and the therapeutic ultrasonic probe with the position capture system when the first probe is in a first position,
detect a position of a second probe chosen among the other of the ultrasonic imaging probe and the therapeutic ultrasonic probe, using the position capture system, indicate a target position of the second probe based on the acquired position of the first probe, wherein the at least one position marker of the therapeutic ultrasonic probe is placed at relative positions that are the same as relative positions of the at least one position marker of the housing.
11 . The system of claim 10 , wherein the ultrasonic imaging probe is received in a reception portion of the housing and wherein the housing comprises a mobile element configured to modify the size of the reception portion.
12 . The system according to claim 10 , wherein the housing comprises a secondary reception portion for receiving removable weights.
13 . The system according to claim 10 , wherein the housing is made of a biocompatible material.
14 . The system according to claim 10 , wherein the at least one position marker is at least one optical position marker, the position capture system comprising at least one image sensor.
15 . A system for positioning a therapeutic ultrasonic probe relative to an ultrasonic imaging probe, comprising a therapeutic ultrasonic probe, an ultrasonic imaging probe placed inside a housing, a position capture system and an electronic control device, wherein external dimensions of the housing being similar to external dimensions of the therapeutic ultrasonic probe, wherein the housing comprises at least one position marker detectable by the position capture system, wherein the therapeutic ultrasonic probe comprises at least one position marker detectable by the position capture system, and wherein the electronic control device is configured to:
acquire a position of a first probe chosen among the ultrasonic imaging probe and the therapeutic ultrasonic probe with the position capture system when the first probe is in a first position,
detect a position of a second probe chosen among the other of the ultrasonic imaging probe and the therapeutic ultrasonic probe, using the position capture system,
indicate a target position of the second probe based on the acquired position of the first probe, wherein the housing comprises a secondary reception portion for receiving removable weights.