US 11,813,484 B2
Histotripsy systems and methods
Jonathan M. Cannata, Ann Arbor, MI (US); Ryan Miller, Ann Arbor, MI (US); Alexander P. Duryea, Ann Arbor, MI (US); Dejan Teofilovic, Ann Arbor, MI (US); Zeljko Mladenovic, Ann Arbor, MI (US); Aleksandra Rakic, Ann Arbor, MI (US); and Joshua Stopek, Ann Arbor, MI (US)
Assigned to HistoSonics, Inc., Plymouth, MN (US)
Filed by HistoSonics, Inc., Ann Arbor, MI (US)
Filed on Nov. 27, 2019, as Appl. No. 16/698,587.
Claims priority of provisional application 62/772,473, filed on Nov. 28, 2018.
Prior Publication US 2020/0164231 A1, May 28, 2020
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)] 22 Claims
OG exemplary drawing
 
1. A method of treating tissue with a robotically controlled ultrasound therapy system, comprising:
generating, in the ultrasound therapy system, a plurality of treatment locations within a target tissue volume;
generating, in the ultrasound therapy system, a treatment pattern that defines a pathway through which a focus of a transducer array of the ultrasound therapy system will be moved to sequentially treat the plurality of treatment locations within the target tissue volume;
moving the focus of the transducer array to a plurality of test locations in the target tissue volume with a robotic positioning system;
transmitting ultrasound pulses into each of the plurality of test locations with the transducer array;
determining a testing cavitation threshold at each of the plurality of test locations;
interpolating a drive amplitude for each of the plurality of treatment locations in the target tissue volume based on the testing cavitation threshold determined at each of the plurality of test locations to ensure cavitation is achieved throughout the target tissue volume during a therapy procedure;
initiating ultrasound therapy to cause the ultrasound therapy system to:
sequentially move the focus of the transducer array through each of the plurality of treatment locations in the target tissue volume along the treatment pattern with the robotic positioning system; and
automatically deliver ultrasound pulses to each of the plurality of treatment locations at the interpolated drive amplitude for each treatment location to produce cavitation at each treatment location.