Path preparation system for preparing a path for a device
A path preparation system for preparing a path for a device. The path preparation system includes an ultrasound transmitter and a tracking system. The tracking system is configured to determine a current position of the device on the path. The ultrasound transmitter is configured to focus an ultrasound wave onto a focus position that lies in front of the device in the direction of the path, in spatial relation to the current position of the device.
1 . A path preparation system for preparing a path for a device, the system comprising:
a tracking system configured to determine a current position of the device on the path that runs in a material; and
an ultrasound transmitter configured to focus an ultrasound wave onto a focus position that lies in front of the device in a direction of the path in spatial relation to the current position of the device, wherein the focused ultrasound wave produces at the focus position a lesion including a reduced material strength of the material, wherein the path is prepared according to the current position of the device by a plurality of lesions produced at a plurality of focus positions along the path.
2 . The path preparation system of claim 1 , further comprising a histotripsy system that includes the ultrasound transmitter.
3 . The path preparation system of claim 1 , wherein the tracking system comprises an imaging unit, wherein the imaging unit is one of the following units: a C-arm unit, an angiography unit, or an ultrasound imaging unit.
4 . The path preparation system of claim 1 , wherein the tracking system comprises an ultrasound imaging unit, wherein the ultrasound imaging unit and the ultrasound transmitter are registered to each other.
5 . The path preparation system of claim 1 , wherein the tracking system is configured to determine a direction, a speed, or the direction and speed of movement of the device.
6 . The path preparation system of claim 5 , wherein the spatial relation of the focus position to the current position of the device depends on the speed, the direction, or the speed and the direction of movement of the device.
7 . The path preparation system of claim 1 , wherein the spatial relation, the focus position, or the spatial relation and the focus position are defined manually.
8 . The path preparation system of claim 1 , wherein the ultrasound wave is emitted onto the focus position only if none of the following events occurs:
the current position of the device corresponds to a target position of the path;
a segment of the path on which the current position lies is marked as critical in path planning; or
a user input prevents the emission of the ultrasound wave.
9 . The path preparation system of claim 1 , wherein the device comprises a biopsy needle.
10 . The path preparation system of claim 1 , wherein the system further comprises:
an ablation system configured to stabilize a wall of the path at least in parts.
11 . The path preparation system of claim 10 , wherein the ablation system is then arranged at a tip of the device, wherein the ablation system is based on one of the following techniques: heat ablation by microwaves or radio waves or electrical resistance, laser ablation, or rotablation.
12 . The path preparation system of claim 1 , wherein the path preparation system is configured to prepare a plurality of paths for a plurality of devices simultaneously or iteratively, wherein the tracking system is configured to determine the current position for each device of the plurality of devices on the corresponding path, wherein the ultrasound transmitter is configured to focus one or more ultrasound waves onto at least one focus position that lies in front of one of the plurality of devices in the direction of the corresponding path, in spatial relation to the current position of the respective device, wherein the ultrasound transmitter simultaneously or iteratively prepares all the paths (of the plurality of devices according to the plurality of current positions.
13 . The path preparation system of claim 1 , further comprising a robotic system for controlling a movement of the device, wherein the robotic system is configured to adjust a deformation of the device to suit the spatial relation.
14 . The path preparation system of claim 13 , wherein the robotic system is configured to pull back the device before the emission of the ultrasound wave.
15 . A method for preparing a path of a device using a path preparation system, the method comprising:
determining a current position of the device on the path by a tracking system; and
determining a focus position that lies in front of the device in a direction of the path in spatial relation to the current position of the device; and
focusing an ultrasound wave onto the focus position,
wherein the focused ultrasound wave produces at the focus position a lesion including a reduced material strength, wherein the path is prepared for the device by repeatedly determining, determining, and focusing at current positions ahead of the device as the device moves along the path.
16 . The path preparation system of claim 1 , wherein the focused ultrasound wave is used to perforate the path by the plurality of lesions.
17 . The path preparation system of claim 1 , wherein the focus position is arranged on the path at a distance of 2 cm or less from the current position of the device.
18 . The path preparation system of claim 1 , wherein the focus position is arranged such that the device reaches the focus position in a defined time.