Apparatus and method for ultrasound spinal cord stimulation
A method for ultrasound stimulation of spinal cord, the method comprising at least two stimulation cycles, each comprising the steps of: a) obtaining a first real-time spinal cord using a first set of ultrasound transducers; b) selecting a pre-determined stimulation area of the spinal cord from the first real-time spinal cord; c) calculating the position and orientation of the selected stimulation area relative to a second set of ultrasound transducers; and d) stimulating the selected stimulation area of the spinal cord at the calculated relative position and orientation using the second set of ultrasound transducers.
1. An apparatus for ultrasound image guided ultrasound stimulation of spinal cord in a real-time mode, the apparatus comprising:
an imaging module, wherein the imaging module comprises a first set of ultrasound transducers configured to obtain real-time spinal cord images;
an image recognition module, wherein the image recognition module is configured to select a pre-determined stimulation area of the spinal cord from a first real-time spinal cord image of the real-time spinal cord images, and to calculate a position and orientation of the selected stimulation area relative to the first set of ultrasound transducers represented by a first rigid transform matrix;
a stimulating module, wherein the stimulating module comprises atbe second set of ultrasound transducers configured to stimulate the selected stimulation area of the spinal cord at the calculated relative position and orientation subsequent to the selection of the pre-determined stimulation area of the spinal cord from the first real-time spinal cord image; and
a control module, wherein the control module is configured to coordinate the imaging module, the image recognition module and the stimulating module to operate in at least two stimulation cycles, and whereing in each of the at least two stimulation cycles, at the same time of or after ultrasound stimulation is applied to the se;ected stimulation area of the spinal cord by the stimulating module, the following actions are preformed;
the imaging module obtains a second real-time spinal cord image;
the image recognition module recognizes an actual stimulation area of the spinal cord from the second real-time spinal cord image; and
the control module adjusts the recignition module and/or the stimulating module based on the difference between the actua; stimu;ation area and the predetermined stimulation area;
wherein:
the control module further comprises a receiver configured to generate a magnetic field in space;
the imaging module further comprises a first spatial sensor configured to sense the magnetic field;
the stimulating module further comprises a second spatial sensor configured to sense the magnetic field;
the image recognition module is further configured to calculate a position and orientation of the first and second spatial sensors relative to the receiver according to a strength of the magnetic field and a change of magnitude of the magnetic field, to thereby calculate a position and orientation of the first set of ultrasound transducers relative to the second set of ultrasound transducers represented by a second rigid transform matrix; and
the image recognition module is further configured to calculate the position and orientation of the selected stimulation area relative to the second set of ultrasound transducers with the first and second rigid transform matrixes.
2. The apparatus of claim 1 , wherein the first and/or second sets of ultrasound transducers are arranged in one or two dimensions as a transducer array.
3. The apparatus of claim 2 , wherein the transducer array is flexible.
4. The apparatus of claim 1 , wherein the difference comprises a difference in location, contour and/or size between the actual stimulation area and the pre-determined stimulation area.
5. The apparatus of claim 1 , wherein the difference comprises an evoked response of a muscle at the actual stimulation area.
6. The apparatus of claim 1 , wherein adjusting the recognition module comprises at least one of (1) optimizing the image recognition algorithm of the recognition module for selecting the pre-determined stimulation area of the spinal cord from the first real-time spinal cord image; and (2) compensating the calculation of the position and orientation of the selected stimulation area relative to the second set of ultrasound transducers.
7. The apparatus of claim 1 , wherein adjusting the stimulating module comprises adjusting at least one of focus point, focus area, intensity and frequency of an ultrasound beam, and duty cycle, repetition rate and duration of the stimulation cycle.
8. The apparatus of claim 1 , further comprising a feedback module, the feedback module is configured to receive a signal representing muscle contraction from muscle innervated from the pre-determined stimulation area of the spinal cord, and the control module adjusts the recognition module and/or the stimulating module based on the signal.
9. The apparatus of claim 8 , wherein the signal comprises at least one of electromyography, sonomyography, mechanomyography, or electroneurography signal.
10. The apparatus of claim 8 , wherein adjusting the recognition module comprises at least one of (1) optimizing the image recognition algorithm of the recognition module for selecting the pre-determined stimulation area of the spinal cord from the first real-time spinal cord image; and (2) compensating the calculation of the position and orientation of the selected stimulation area relative to the second set of ultrasound transducers.
11. The apparatus of claim 8 , wherein adjusting the stimulating module comprises adjusting at least one of focus point, focus area, intensity and frequency of an ultrasound beam, and duty cycle, repetition rate and duration of the stimulation cycle.
12. The apparatus of claim 1 , further comprising a stem cell injection module, the stem cell injection module is configured to inject stem cells in the pre-determined stimulation area of the spinal cord so that ultrasound stimulation can be applied to the stem cells at the pre-determined stimulation area of the spinal cord.
13. The apparatus of claim 1 , further comprising a brain signal receiving module in communication with the control module, the brain signal receiving module receives a brain signal representing an intended motor action and sends it to the control module, the control module determines a stimulation area with reference to an established functional mapping of the spinal cord so that ultrasound stimulation can be applied to the determined stimulation area to induce the intended motor action.
14. The apparatus of claim 1 , wherein the apparatus is in a wearable form such that the first and second sets of ultrasound transducers are located on a skin surface of a patient in use.