Patent Publication Number: US-2009240146-A1

Title: Mechanical arm

Description:
CROSS-REFERENCES TO RELATED APPLICATIONS 
     This application claims the benefit of Provisional Application No. 60/983,005 (Attorney Docket No. 021356-002900US), filed on Oct. 26, 2007. This application is related to but does not claim priority from U.S. application Ser. No. 12/051,073 (Attorney Docket No. 021356-002810US) entitled “Interchangeable High Intensity Focused Ultrasound Transducer” filed on Mar. 19, 2008, and U.S. patent application Ser. No. 11/027912 entitled “Ultrasound Therapy Head with Movement Control” filed on Dec. 29, 2004 and U.S. patent application Ser. No. 11/027,919, entitled “Component Ultrasound Transducer,” filed on Dec. 29, 2004. All identified applications are herein incorporated by reference in their entirety. 
    
    
     BACKGROUND OF THE INVENTION 
     Field of the Invention 
     The present invention relates to a sealing adaptor for use with a interchangeable transducer for use within a wet environment transducer housing. 
     Some high intensity focused ultrasound (HIFU) transducers have limited life span because of the high power levels that may tax their physical construction. These transducers degrade and fail for a variety of reasons much faster than transducers used in other medical fields (like diagnostic ultrasound, or other low power applications). Transducers designed for therapeutic ultrasound applications delivering therapeutic power levels may suffer de-lamination of their metallization layers, pitting or physical destruction of the transducer caused by cavitation or thermal effects from exposure to very high temperatures. 
     To combat some of these side effects of HIFU operation, system designs may use HIFU transducers below the threshold where damage may occur to the transducer itself. Other systems use water baths with degassed circulating water, or design their therapy regimens with long intervals between therapy pulses. These extended pauses between pulses produce a low pulse repetition frequency (PRF) allowing the transducer to cool, and negative effects in tissue to dissipate. 
     Unfortunately, some therapy regimen require HIFU with a higher PRF, or continuous operation of the transducer for certain lengths of time that preclude low PRF operation. These higher PRF and/or continuous wave (CW) style regimen are desirable when the treatment is designed to maximize the amount of tissue destruction to be achieved in a certain period of time. In these types of operations, transducer degredation necessitates a frequent replacement of the HIFU transducer. Replacement is made difficult in that the transducers are generally expensive and delicate components, so handling the transducers is usually kept to a minimum. Further more, transducers in therapeutic medical systems are often imbedded into large bulk chambers filled with water, or attached in a manner that precludes easy removal and replacement of the transducer. The transducer environment may contain water, which should not be permitted to mix with the system electronics. The presence of water during a transducer exchange can make the replacing of a transducer messy and difficult. Once the transducer is replaced, water may linger between the electrical connectors between the system and the new transducer. System performance may be degraded due to electrode corrosion or signal cross-talk among the conduction paths caused by the presence of water or other fluids. 
     Thus it would be desirable to provide a transducer connector, or connecting means, that provides an easier method of removing and connecting transducers to a medical ultrasound device that is compatible with the demands of a wet environment, and capable of handling all system requirements without degradation in performance. 
     Thus it is an objective of the present invention to provide a connectorized transducer that can be connected to a therapy head or medical system with as few steps as practical, while preserving the environmental conditions of the connection. 
     Another objective is a connection that has a high reliability and ease of use, to promote a user friendly procedure for removing and/or installing transducers in the medical system. 
     Yet another objective is to provide a transducer that provides various features and operation parameters to expand or broaden the type of transducers a user may connect with the medical system. 
     Still another objective is a transducer that possesses the necessary driving electronics particular to their designed features, so as to reduce the required programming and electronics of the main system. 
     Still another objective is to provide a simple disposal path for used components. 
     Still another objective is a sealing device for electrical signal isolation or electrical connector isolation in a wet environment. 
     BRIEF SUMMARY OF THE INVENTION 
     These and other objectives are achieved through an interchangeable transducer adapted for use with a high intensity focused ultrasound (HIFU) medical system. The interchangeable transducer has a housing that is generally rigid and hollow. The housing has two open ends, one adapted for fitting a HIFU transducer, and the other end having an isolation layer and electrical connection for electrical signal and power communication with the HIFU medical system. The interchangeable transducer is adapted to fit into a socket style receptacle on the medical system. The transducer is ideally replaced by the user, so the portion of the transducer which fits into the socket is designed for easy insertion and extraction. Easy insertion is achieved through an orientation free, low engagement force connection between the transducer and the medical system which allows easy user access to the transducer. 
     A slip ring spacer is also described herein for use with a wet electrical connection having a pancake style slip ring. The slip ring spacer has a base formed from a non-conductive material. Multiple apertures extend through the base. The apertures are designed to sheath electrical connectors which extend through the base. There are one or more flanges extending from the base. The flanges are arranged so as to isolate the apertures into cells. 
     Additional embodiments and methods of making and using the interchangeable transducer are also herein described. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS  
         FIG. 1  shows an exterior view of an interchangeable transducer. 
         FIG. 2  is a cut away view of an interchangeable transducer. 
         FIG. 3  shows a system for use with an interchangeable transducer. 
         FIGS. 4A-E  illustrates a method of swapping a transducer. 
         FIG. 5A  shows an exploded view of one embodiment of the interchangeable transducer. 
         FIG. 5B  provides an alternative embodiment of a PCB for use inside the insert. 
         FIGS. 6A-6C  show the interchangeable transducer connection to the system socket. 
         FIGS. 6D-6E  show the transducer insert using an alternative PCB. 
         FIG. 6F-6I  illustrates a progression of possible adaptor shapes. 
         FIGS. 7 &amp; 8  show alternative PCB positions for the interchangeable transducer. 
         FIGS. 9A-9E  shows a slip ring seal and a slip ring. 
         FIGS. 10-15C  show alternative embodiments of the slip ring seal. 
         FIGS. 16-19  show the transducer cap removal pin and assembly. 
         FIGS. 20-22  show an alternative embodiment of a mechanical arm. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION  
     Described herein are various forms of replaceable transducers for use with high intensity focused ultrasound (HIFU) medical systems. The basic design of the interchangeable transducer incorporates a housing which is hollow and generally rigid. The housing holds within it a transducer, such as one compatible with HIFU medical systems, electrical pathways (electronics) for connecting the transducer to a medical system so the transducer can be properly controlled, and a connector that allows the interchangeable transducer to be removed and/or inserted into a receptacle on the medical system. The transducer housing has a shape and electrical connection assembly that allows the housing to be inserted in any radial orientation relative to the system receptacle axis. The axial symmetry may allow for two or more orientations, and desirably an unlimited number of orientations. For visualization purposes only, one may imagine the ease of inserting a mini-plug for headphones into a portable music player. The radial orientation of the plug to the receptacle does not matter, and during use if the plug is rotated within the socket, there is no interruption of the power and signal sent to the head phones. This concept is analogous to the type of adaptor and socket used in the interchangeable transducer connection described herein. 
     In the following paragraphs, various aspects and embodiments of the apparatus will be described. Specific details will be set forth in order to provide a thorough understanding of the described embodiments of the present invention. However, it will be apparent to those skilled in the art that the described embodiments may be practiced with only some or all of the described aspects, and with or without some of the specific details. In some instances, descriptions of well-known features may be omitted or simplified so as not to obscure the various aspects and embodiments of the present invention. 
     Parts of the description will be presented using terminology commonly employed by those skilled in the art to convey the substance of their work to others skilled in the art, including terms of operations performed by or components routinely used in ultrasound systems, medical ultrasound systems and HIFU systems. As well understood by those skilled in the art, the operations typically involve producing and controlling the wave form of the transducer through a transmitter signal which generally uses well understood electronics components and controllers. Signal control, depends primarily on the desired objective for using HIFU. Novel variations from prior art devices will be presented here in a straight forward and simple manner so as to highlight the elements necessary to practice the present invention, but not to be prolix in description for those details which are well understood in the art. The term system includes general purpose as well as special purpose arrangements of these components that are stand alone, adjunct or embedded. 
     Various operations may be described as multiple discrete steps performed in turn in a manner that is most helpful in understanding the present invention. However, the order of description should not be construed as to imply that these operations are necessarily performed in the order they are presented, or even order dependent. 
     Reference throughout this specification to “one embodiment” or “an embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, appearances of the phrases “in one embodiment” or “in an embodiment” in various places throughout this specification are not necessarily all referring to the same embodiment. 
     The present invention relates to an interchangeable transducer apparatus and methods of making the same, for use with medical ultrasound systems, particularly those considered HIFU medical systems. 
     The transducer described herein incorporates both novel physical components and design, combined with existing materials in a novel fashion to produce a transducer insert meeting one or more of the objectives of the invention. The combinations of various novel elements in one embodiment will meet some objectives, while a different combination of novel elements will meet different objectives. The collective whole of novel developments and arrangements of existing parts contributes to a design that satisfies the most objectives, though not necessarily all objectives in a single design. Different objective requirements will call for different combinations of the inventive concepts herein described. 
     The transducer insert may be suitable for any number of medical devices or medical systems desiring to use an easily replaceable transducer. In pending U.S. patent application Ser. No. 11/027,912 “Ultrasound Therapy Head with Movement Control,” filed 29 Dec. 2004 (commonly assigned and herein incorporated by reference), a therapeutic ultrasound system is described having a therapy head. The therapy head contains a first chamber, being wet, in which a transducer is positioned. There is a second chamber, which may be wet or dry, that contains a motor drive system. The motor drive system uses one of several possible means to move the transducer in the first chamber. Means described include use of actuators that extend from the motor side chamber to the transducer side chamber, a slide positioned on the motor chamber with a magnetically connected transducer in the transducer chamber, or various mechanical translation components for converting the work produced from the motors into the movement of the transducer through a barrier between the two chambers. 
     The interchangeable transducer, (also referred to herein as a connectorized transducer or transducer insert), of the present design is well suited for use in a therapy head of the previous description. The interchangeable transducer or transducer insert is formed from a housing having an adaptor end and an acoustic end. There is a communication port at the adaptor end. The adaptor end is designed to fit into a corresponding receptacle on or in the medical ultrasound system. In one embodiment the transducer adaptor end has a plurality of orientations for removably engaging a receptacle in the medical ultrasound system. There is a transducer at the acoustic end, and a means for electrical communication between the communication port and the transducer. 
     The adaptor end may be a male or female type part, while the receptacle would be the logical corresponding type part. While we describe primarily a male adaptor and a female receptacle, it should be understood that the adaptor end of the transducer insert can be the female component while the system side receptacle is the male component. The adaptor end and corresponding receptacle end are designed in a manner to provide a plurality of working orientations in which the transducer insert can be placed into the system. In one embodiment the plurality of orientations may simply be a slotted design for the adaptor and receptacle. The electronics of the adaptor and receptacle are arranged in a manner as to allow a “key-less” type of connection. Regardless of which orientation the insert is placed into the receptacle, the insert will connect with the system and operate properly. The connection between the adaptor and receptacle may be any design having symmetry about an axis, so the insert may be rotated about the axis so the insert can be fit into the receptacle in at least two directions (normal and flipped). If the connection is shaped like a triangle, three orientations would be possible. For a square four orientations would be possible. This dynamic continues to the logical and most desirable shape of having a circular shaped adaptor where absolute radial freedom is afforded. The insert may be placed into the system receptacle at any radial orientation and proper electrical connection is guaranteed. Regular shapes are not required to make the adaptor connection. Irregular shapes may also be used so long as they are symmetrical. The symmetry of the connection provides the advantage to the user of not having to worry about the orientation of the transducer insert relative to the system socket (receptacle). So long as the shape of the connector matches the receptacle the user knows the orientation will work. 
     Electrical communication is required from the ultrasound medical system and the transducer within the transducer insert. Electrical communication enters the transducer insert at the communication side. Electrical communication means providing any combination of power, signal or ground connections from the transducer to the ultrasound system through the communication port in the transducer insert. This communication can be achieved using wires, cables, connector pins, or other electron conveying instruments as known in the art. In one embodiment, the connection may be wires running directly from the communication port to the transducer in a “dumb” design, where no on board intelligence is provided in the insert. In another embodiment, intelligence may be incorporated into the insert by adding electrical components to an electrical circuit used to provide electrical communication from the communication port to the transducer. A variety of components may be used in an intelligent design. Electrical components may include a tuning transformer for optimizing the transducer, sensors for measuring various parameters about the environment within the transducer insert, sensors for monitoring the transducers performance and/or safety, components for recording measured or detected data, IC chips for running programmed applications or storing information within the insert, or any other operation desired. 
     In another embodiment of the present invention, the electrical communication between the communication port and the transducer may be provided by a two stage spring pin connection scheme. A first stage set of connection pins connects the communication port to an electrical circuit board. The circuit board may be a PCB/PCBA and may further be a pancake slip ring style PCB/PCBA. A second stage set of connection pins connects the electrical circuit to the transducer. Electrical communication enters the communication port from the ultrasound system. The Electrical communication then travels to the electronic circuit. The circuit board may provide the proper coordination and layout of the various electrical components, and assures proper handling of Electrical communication between the system and the transducer. From the electrical circuit, Electrical communication continues to the transducer. Any return Electrical communication from the transducer may follow a similar route back from the transducer to the circuit board, and then back to the system. 
     The insert may have various data recorders, sensors or programmable components within it. These elements may be on the circuit board. Various possible components that may be incorporated into the insert include a chip for tracking the number of times the transducer has been used, sensors which determine the proper coupling between the transducer and the patient, sensors to determine if the transducer is properly installed into the ultrasound system, or sensors to determine the safe operation of the transducer while providing therapy output. There may also be a tuner for a second transducer such as an “A” line transducer for providing simple imaging information to the user or to the system. 
     The transducer insert may also be constructed to operate with a component style ultrasound system such as those described in U.S. patent application Ser. No. 11/027,919 entitled “COMPONENT ULTRASOUND SYSTEM” and filed on Dec. 29, 2004 (commonly assigned and herein incorporated by reference). In this embodiment, the insert has an adaptor for fitting to an ultrasound system having two or more identical sockets for receiving more than one type of insert, where one of the inserts may be a transducer insert as described herein. In a component ultrasound transducer, there are two or more sockets in the therapy head. The sockets are identical and the inserts used within the sockets may be plugged into any one of the sockets, Each insert has a challenge and recognition component programmed in it, so when the insert is plugged in, the ultrasound medical system can identify each individual insert and know how to properly use it. The system can handle multiple kinds of inserts simultaneously. Each insert may have a different focal depth, performance parameter or use requirement, the system can determine and properly handle the proper operation of all inserts. Desirably the transducer inserts would be properly utilized by the system automatically (without specialized user contribution or instruction to the system other than that used for a single receptacle ultrasound system using a transducer insert). 
     Use of modern materials and electronics greatly reduces the costs of manufacturing transducers for the medical ultrasound systems disclosed herein. This cost reduction and ease of manufacturing allows replacement parts to be disposable when worn out or no longer desired. 
     In addition to the transducer insert described herein, a novel structure is now disclosed allowing an electrical connection to be made in a wet environment. The novel structure is a slip ring seal, designed for use with a pancake style slip ring PCB. The slip ring seal has a base, two or more apertures extending through the base, and flanges extending from the base to isolated the apertures into cells. The flanges may define cells discretely formed around each aperture, or around a select group of apertures, or a combination of the two. 
     The connection between the transducer insert and the system is generally a wet environment. Particularly during operation of the transducer the chamber in which the transducer is located is fluid filled. Various fluids are suitable for use in the transducer chamber where the transducer of the present description can be used, in general water is the most common fluid used due to ease of availability, cost and performance characteristics. Reference herein to fluids or water should be understood to incorporate which ever fluid is most suitable for the intended use and design of the transducer, since not all operations will prefer water when another compatible fluid may be superior for the particular application. 
     Now turning to the accompanying drawings, it should be understood the drawing figures are provided to enhance the description provided. Elements shown in the figures are not necessarily illustrated to scale with respect to other drawings, or other parts within the same drawing. The parts or figures should not be taken in any absolute sense of actual design elements other than as illustrations of embodiments for the purpose of understanding the disclosure herein. 
     A simplified exterior view of the interchangeable transducer  10  is shown in  FIG. 1 . The transducer  10  has a housing  16  represented as generally cylindrical. The housing  16  is desirably rigid and hollow. The housing  16  has a transducer end  20 , and an electrical connector and sealed end  14 . External electrical connectors  40  extend through the seal end  14  and are designed to connect to the appropriate electrical lines from the medical system. These may include a transmit/receiver line, ground and power. Additional lines may be provided depending on the need or application of the medical system. The interchangeable transducer need only have addition electrical connectors and support circuitry to enable those capabilities. An adaptor  32  is also provided to allow physical engagement of the transducer  10  to a HIFU medical system. 
     A simplified interior view of the interchangeable transducer  10  is now illustrated ( FIG. 2 ). Once again the seal end  14  has external electrical connectors  40  for electrical connection to a medical system. The external electrical connectors  40  may extend through the seal end  14  to connect to a component within the housing  16 , or there may be an intermediate connection through the seal end from the interior of the housing. Desirably the external connectors extend through the seal end to provide electrical contact between the socket of the medical system, and the interior of the interchangeable transducer. The transducer  22  is shown at the bottom or lower section of the housing  16 . The transducer  22  is electrically connected to the connectors  40  by wires  12 . Electrical signals from the ultrasound system to the transducer  22  (or visa-versa) may include power, ground, transmit, receive, data or other signals and information as desired. The housing may also contain one or more electrical components as part of the transducer&#39;s control circuit. 
     The interchangeable transducer  10  has a connector or other adapter allowing it to engage into a receptor on a medical device system ( FIG. 3 ). A medical system  300  that might use an interchangeable transducer as described herein, is shown having base  302 , an articulating/mechanical arm  304 , with a display screen/user interface (UI)  306  and a therapy head  308 . Within the therapy head  308 , there is an adaptor for receiving an interchangeable transducer. A computer or other electronic intelligence (CPU) is also provided to operate the system  300  and the transducer  10 . 
     In one embodiment, there is a two segmented mechanical arm having a vertical approach to the patient ( FIG. 3 ). In a second embodiment, there is a multi sectioned arm having a more horizontal approach to the patient ( FIG. 21 ). A horizontal approaching arm has several advantages. The mechanical arm of the second embodiment provides seven degrees of freedom (DOF). Seven DOF allows arm to dock safely, and traverse a range of body contours for treatment purposes. In addition the arm is hollow, allowing all cables, tubes and connectors from system box to therapy head to run internally inside the arm. Cable management allows cables to flex through seven DOF without crimping, tangling or severing function. Third, the arm combines counter balancing components (therapy head) with load balancing mechanisms (joint “sticktion” or gas cylinders) and a motor to provide lifting of the entire arm. The motor is controlled through the UI and can be changed by the user during a medical procedure. Fourth, the arm is robust—it carries substantial weight (therapy head) and it is designed for prolonged use in small incremental movements. Fifth, the arm has UI within easy reach of therapy head, allowing for one hand of user to maneuver therapy head and one hand to control therapy unit. Sixth, the arm has an interlocking component allowing the wrist section to be secured to lower arm above the post. Lastly, the arm is aesthetically pleasing so as to put patients at ease during a medical procedure. 
     Once again there is a medical system  300  having a base  302 , a mechanical arm  304  with a user interface  306  ( FIG. 20 ). The therapy head  308  is mounted on the distal end of the arm  304 . In this embodiment, the mechanical arm  304  for moving a therapy head  308  over the skin surface of a patient has a base  302  having an enclosure for housing a motor and a control system CPU ( FIGS. 21-22 ). A post section  332  is movably positioned relative to the base  302 , the post  332  having an upper section and a lower section. The lower section is engaged to the motor and capable of axial movement. The upper section extends outside the enclosure of the base. A lower arm section  334  has a proximal end rotationally engaged to the post  332 , and a distal end attached to an elbow joint section  336 . The elbow  336  has a proximal end rotationally engaged to the distal end of the lower arm. The elbow  336  has a distal section in movable connection to the upper arm  338 . The upper arm section  338  has a proximal end movably engaged to the elbow  336  and a distal end. A wrist section  340  has a proximal end axially mounted to the distal end of the upper arm and defining a wrist joint, the wrist section  340  rotates about the axis of the wrist joint. The wrist section  340  also has a distal section having a joint for mounting the therapy head  308 . The joint between the wrist distal end and the therapy head may be a spindle extending from the wrist, and received through an aperture and bearing mount within the therapy head. 
     The connections between individual sections define a series ofjoints, and these joints have sufficient friction to maintain the relative position between components upon manual positioning of the individual or collective sections. Furthermore, one or more cables extend from the base to the therapy head through the mechanical arm sections such that the cables are concealed with in the mechanical arm sections. 
     In addition to joint friction (“sticktion”) the joints may be supported by one or more passive load bearing components  346  to assist the manual placement of any two adjacent sections. Such components may be springs, gas/hydraulic cylinders, locking pins or other load bearing components as are known in the art. The individual sections are desirably balanced so as to stay in the positions they are moved to by a user. 
     The mechanical arm may have a docking mount  342  to secure the wrist section  340  to the lower arm section  334 . A latch  344  for other locking mechanism may be provided to secure the wrist to the lower arm. 
     Desirably, the mechanical arm has a user interface device mounted on the upper arm section. The UI is desirably mounted within easy reach of the therapy head so a user may operate and position the therapy head during a treatment session with one hand, and reach up to touch the UI with the other hand. The UI is preferably a touch screen or other touch sensitive device. 
     The horizontal approach to the patient provides an advantage over the vertical approach to the patient in the horizontal approach allows for a lower center of gravity and smaller counter weight needed in the base to keep the arm balanced and stable while the arm is at its maximum extension. The joints created between each section of the arm described herein, combined with rotational motion allowed in the therapy head, allow the user seven degrees of freedom when trying to properly position the therapy head on to the skin surface of a patient. 
     The internal components of the therapy head  308  are generally described along with the method of changing out transducers ( FIGS. 4A-E ). 
     Any water or other fluids in the therapy head  308  are desirably drained from the therapy head so that water does not splash out of the therapy head when opened. Having water or other fluids in the therapy head is not an impediment to the removal and installation of transducers described herein, so it is not necessary to completely drain the therapy head. In one embodiment the therapy head  308  is inverted, so the main transducer chamber  310  is positioned on the bottom. The therapy head  308  has a removable cap  312  section, with a transmission window  316  ( FIG. 4A ). 
     The cap  312  is removed ( FIG. 4B ) exposing the interior of the therapy head transducer chamber  310 . The interchangeable transducer  10  is connected to a receptor socket  38 . A pair of water lines  320  are used to circulate water inside the transducer chamber when the cap  312  is sealed to the transducer housing  310 . There are mating flanges  322  on the treatment cap  312  and bulkhead  324  that contain an  0  ring seal on the transducer housing  310  that when assembled create the water tight seal of the chamber. Desirably a safety switch  323  or similar operative step is involved in order to remove the cap from the therapy head  308  ( FIGS. 16-19 ). The treatment cap  312  may be attached to the therapy head  308  using a removable fastener or lock to prevent the accidental removal of the cap during a therapy procedure. In one embodiment, a mechanical switch (cap detect switch pin)  323  is provided at the interface of the removable treatment cap  312  and the therapy head  308 . When the switch  323  is actuated, the removable treatment cap is no longer immobilized. While the switch  323  is actuated, the removable treatment cap  312  can be rotated so the mating flanges  322  are aligned with the opening of the therapy head. The connection is similar to a bayonet type connector with the switch  323  serving in a similar capacity to a male pin mount for a bayonet connector. In this manner the removal of the removable cap is a two stage process requiring both hands of the user. Accidental removal of the removable cap is assured. The mechanical switch  323  may also be linked to a sensor that alerts the user to the actuation of the switch. 
     The therapy head as a unit with the switch  323  is now discussed in additional detail ( FIG. 20 ). The therapy head for use with a high intensity focused ultrasound medical system, the therapy head comprising a sleeve having a first aperture, a second aperture and a mounting aperture, the mounting aperture having a bearing for rotationally connecting to a mechanical arm. A bulkhead is rotatably mounted within the first aperture of the sleeve, the bulkhead sealing the first aperture of the sleeve, the bulkhead having wet side and a dry side. There is at least one HIFU transducer movably mounted on the wet side, and one or more electric motors mounted to the dry side. There are one ore more drive shafts extending from said dry side through the bulkhead and extending into the wet side. A sealing device that is sonolucent, forms a water tight seal when attached to the wet side of the bulkhead. The HIFU transducer being oriented to transmit ultrasound energy through the sealing device. There is a switch for locking the sealing device into a fixed orientation relative to the bulkhead. A cap is attached to the second aperture of the sleeve, the cap acting as a counter weight to provide balanced weight for the therapy head. The mounting aperture has sufficient inner diameter to receive one or more cables for connection to the motors and the transducer. 
     Handles on the therapy head allow for the enclosure to be rotated relative to the sleeve through a rotating bearing between the bulkhead and the sleeve. Thus the therapy head may be pivoted about the joint connecting the therapy head to the mechanical arm, and then the enclosure may be rotated within the therapy head itself. The housing of the therapy head remains stationary while the enclosure rotates within the housing. 
     Under the receptor  38 , the transducer chamber may have motors or motor cams  326  or drive shafts connected to a mechanical drive system for moving the receptor  38 . 
     Once the cap  312  is removed, the interchangeable transducer  10  can be removed ( FIG. 4C ). Desirably the transducer can be lifted straight out of the receptor  38 , or detached from the receptor with a minimal amount of force (like twisting or rocking). The empty receptor  38  has a PCB slip ring which may get wet during this step, and the presence of water on the PCB is of no concern. 
     A new transducer  10 ′ is now seated onto the receptor  38  in place of the old transducer  10  ( FIG. 4D ). Again the insertion force for placing the new transducer  10 ′ is desirably fairly low, allowing any user to insert the new transducer  10 ′ easily and quickly. The round shape of the transducer plug and the receptor  38  allow for any radial orientation when the new transducer  10 ′ is seated into the receptor  38 .The cap  312  is then repositioned over the transducer chamber  310  to re-form the therapy head  308  ( FIG. 4E ). 
     Once the new transducer is in place, it may be desirable to refill the water chamber, activate the medical system  300 , and allow the system to communicate with the new transducer  10 ′ to ensure the transducer is properly seated in the receptor  38 , and that the transducer is responding normally. The system may use a ‘challenge and answer’ protocol to determine the nature of the transducer, and establish the appropriate therapy regimen to use with the particular transducer. The transducer  10  may have an integrated circuit (IC)  30  on board that can provide detailed information to the medical system once it is properly connected. Alternatively the IC may be used for other purposes (see below). 
     A connector or adaptor  32  is shown on the outside of the housing  16  ( FIG. 1 ). The connector  32  allows the transducer housing  16  to mate with a socket or receptacle  38  of a medical system  300 . The connector  32  desirably allows the housing  16  to be inserted into the socket or receptacle with a low insertion force to provide easy insertion or removal. The electrical connectors  40  are designed to operate in conjunction with the mechanism used to mate the transducer  10  to the receptor  38 , so the electrical connectors  40  can establish and maintain contact with the appropriate system side electronic channels regardless of the radial orientation of the transducer when mated to the receptor. The connector  32  similarly can engage the socket  38  in any radial orientation. The receptor or socket  38  has a receiving element  36  for the connector  32 . The connector  32  for engaging the socket may be mechanical, magnetic or electromagnetic in nature. As long as the connector can hold the transducer housing in its proper place in the socket and allow for any radial orientation for insertion and removal, the connector will be sufficient for the intended use. 
     The interchangeable transducer assembly is now described ( FIG. 5A ). In this embodiment, the housing  16  is made from two sections, a lower portion  16 B for receiving the transducer  22 , and an upper portion  16 A adapted for connection with the medical system socket  38 . The transducer  22  is shown having a set of pin receptors  24   r  where the electrical pins  24  attach to the transducer. The electrical pins  24  extend from the interface  28  to the transducer and pass through the concentric liner  26 . Desirably the liner has apertures for lining up the connection points on the interface and the transducer. An optional transformer  42  can be connected to the interface  28 , and would sit within the aperture defined by the concentric liner  26 . 
     The lower portion  16 B may be assembled by first inserting the transducer  22  into the lower portion  16 B. The transducer  22  may be secured using epoxy or resin along the transducer rim to seal the transducer to the aperture defined by the housing opening  20 . The electrical connector pins  24  are inserted into the concentric liner  26 , and then the connector pins  24  are oriented to match the transducer receiver placements  24   r.  The concentric liner  26  is then placed into the lower portion and secured. Electrical components such as the transformer  42 , or the data IC (not shown) may be attached to the PCB  28 , and then the PCB  28  is lined up to match the desired connector pin  24  layout. The PCB  28  has predefined lands on both its upper and lower surface. These lands correspond to the pin orientation for the electrical connector pins  24  of the lower portion, and for the electrical pins of the upper portion  40 . 
     The upper portion  16 A is similarly assembled. The upper portion is sealed across the top, and the electrical pins  40  that extend through the top of the upper portion  16 A are sealed against fluid flow from the outside of the housing to the inside. The electrical pins  40  may be soldered in place, or fixed with an epoxy or other agent to provide the fluid seal between the upper portion  16 A and the apertures needed for the pins. The upper connector pins  40  are inserted through the isolation layer  34  in a predefined arrangement matching the upper lands of the PCB  28 . The connector pins may be any type of electrical pins suitable for use in an interchangeable design. Spring pins, pogo-pins, spring clips and other tensioned electrical connectors are desirable in one embodiment due to their expansive nature. Spring loaded connectors allow a greater margin of safety in physical distance between the transducer and PCB. Once the connection pins  40  are in place, the isolation layer  34  is lowered into the upper housing  16 A. The isolation layer  34  is desirably attached to the upper portion so that the upper housing  16 A and isolation layer  34  can be moved as a single unit. The isolation layer  34  may be attached using an adhesive compound between the isolation layer and the top of the upper housing. Alternatively the isolation layer  34  may be constructed so there is an interference fit between the isolation layer and the upper section of the housing. Desirably the adhesive or interference fit would prevent water from pooling underneath the isolation layer and the housing. The upper housing is then lowered onto the lower housing assembly so the connector pins  40  match the PCB land layout ( FIG. 5A ). The entire transducer housing may be filled with an inert gas to promote stability and operational life span of the internal components. 
     In an alternative embodiment, the transducer insert  10  replaces the standard PCB  28  with a slip ring PCB  29  ( FIG. 5B ). In this embodiment there are discrete lands LD or traces for direct attachment to particular components (transformer, IC chips, etc. . . . ) as well as traces made into slip rings  102   a - i  for connection to various connectors. In this embodiment the transducer insert realizes an advantage in assembly by having electrical communication with portions of the transducer insert not directly attached to the PCB  29  in that those non attached components are free from discrete orientation relative to the PCB  29 . Parts desirably directly connected to the PCB  29  would connect to discrete lands sites LD, while pin connections  24 ,  40  could connect to the land rings. The transducer  22  may also have a land ring instead of discrete connection points  24   r.  By utilizing land rings in the various components within the transducer, freedom from particular orientations are achieved, and thus provide advantages in manufacturing/assembly of the parts and sub components. 
     Although the medical system socket  38  is illustrated ( FIG. 5A ), this component is not a part of the interchangeable transducer  10 , and is merely illustrated here to show the alignment of all the parts described. Desirably the socket utilizes a pancake style slip ring to improve contact regardless or radial orientation. 
     The transducer used in the interchangeable transducer design may have a single fixed zone, or be designed having two or more focal zones. The transducer may have an imperfect focal zone achieved through a mechanical distortion formed in the transducer, such as those described in U.S. patent application Ser. No. 10/816197 entitled “VORTEX TRANSDUCER” and filed on Mar. 31, 2004, and U.S. patent application Ser. No. 11/439706 entitled “Medical Ultrasound Transducer Having Non-Ideal Focal Region” filed May 23, 2006. (both applications commonly assigned and herein incorporated by reference). The vortex transducer and the non-ideal focal region transducers allow for a focal region in a circular or donut shaped pattern wherein the pattern is produced by a mechanical offset in the bowl of the transducer. The isolation layer  34  is primarily used to prevent electrical cross talk and contact corrosion among and between the electrical contacts  40 . The shape and size of the focal region can be mathematically calculated and an appropriate mechanical shape to a transducer can be manufactured. This allows the transducer to focus ultrasound waves in particular desired shapes and patterns without requiring the complexity and cost of an electronically steered transducer. The transducer may also be an electronically focused device, such as a 2D array or a phased array transducer. 
     Internal details of the transducer-socket connection are now described ( FIG. 6A ). In one embodiment, there is a housing  16  having a substantially cylindrical shape. The housing  16  has a neck down region located near the isolation layer  34 , and a larger diameter near the transducer  22 . The transducer side  20  is open, or has a window so ultrasound energy may be broadcast out of the housing  16  unimpeded. The transducer  22  is secured near the open end  20 , and connects to an interface  28  via a set of connection pins  24 . The connection pins  24  are held in place with a concentric liner  26  inside the housing  16 . The interface  28  may be a set of connecting wires as previously described, or may include a circuit, PCB, PC(B)A or other hardware component. The interface may also have additional electronics, such as a transformer  42  for tuning the transducer  22 , a data chip or integrated circuit (IC)  30  to help identify the interchangeable transducer  10  to the medical system  300 . Additional components are described below. 
     Opposite the transducer  22 , there is a seal  14  for preventing water or atmosphere from entering the internal compartment of the transducer  10 . Working in conjunction with the seal  14  is an isolation layer  34  for reducing pin corrosion and/or cross talk between the external electrical connectors  40 . Note the transducer side  20  is also sealed against the outside environment. While the transducer side  20  may be sealed with the transducer  22  itself and various compounds which can be used to prevent leakage, the seal  14  has one or more apertures  50  for the protrusion of the external electrical connectors  40 . The apertures  50  are desirably large enough to allow the passage of the electrical connectors  40 . The apertures may rely on an interference fit to prevent seepage of fluid between the apertures and the pins, or the use of a sealing agent, or both. The apertures  50  may be sealed once the external electrical connectors  40  are placed using solder, epoxy, resin, adhesive or other suitable sealing agents. A connector  32  is located on the housing and designed for engagement of a corresponding connection on the medical system socket  38 . The receiving element  36  and connector  32  form a transducer-system connection. This connection is desirably one having high endurance. Repetitive reliability is desirable, but not required for the transducer connector  32 , as it is not envisioned that any one particular transducer will be removed and inserted a large number of times. 
     The design of the transducer connector  32  and the system side connection (receptor)  36  allow for individual transducers to be interchanged with the medical system  300  on demand. This allows a single medical system to have a great deal of variety in its operational scope. Each new transducer can provide added capability as well as replacement for worn or out dated parts. Desirably the mating of the transducer  10  to the system  300  can be accomplished with a low insertion force connector  32  and receptor  36  combination. Though the insertion force is low, the connection is robust so the transducer  10  will be stable while mounted in socket  38 . The socket  38  is desirably connected to a motor assembly through a set of cams  326 . Electrical communication between the system  300  and the transducer  10  is maintained regardless of how the socket  38  might be moved. 
     The electrical pin  40  layout as they extend through the seal  34  are designed to make contact with additional lands built into the socket  38  ( FIG. 6B ). The socket lands  102   a - c  form concentric structures within the socket. There are isolation rings  104  between the electrical connection lands. The electrical pins  40 , now identified individually  40   a,    40   b,    40   c  ( FIG. 6B ) each carry a separate electrical signal from the medical system  100  to the interchangeable transducer  10 . The individual connectors may carry power, transmit/receiver signal information, IC chip detection, ground or other signals as desired. The corresponding lands in the socket PCB form concentric rings for connection with each pin separately. This is achieved by arranging the electrical pins  40   a - d  at a discrete radius from the center of the transducer connector end. Then the transducer housing engages the socket, the pins of the transducer housing match up to the appropriate concentric lands of the slip ring. In this fashion, even if the transducer is rotated within the socket, the proper electrical pin  40   a - c  always remains in contact with the corresponding land ring forming corresponding pin-land connections  102   a - 40   a,    102   b - 40   b,    102   c - 40   c.  There is no limit to the lands  102   x  and connector pins  40   x  and as many pairings as are desired may be incorporated into the design. When the transducer is mated with the system, the electrical pins and PCB lands match up, and provide a secure electrical connection ( FIG. 6C ). The pressure used to hold the removable transducer  10  in place with the system side socket  38  desirably provides sufficient force exerted on the isolation layer  34  to prevent fluid from seeping into the region between the isolation layer  34  and the recess of the housing  16 A where the isolation layer is placed. The isolation layer may also be manufactured with flanges on the bottom (not shown) so that isolation layer forms discrete channels or chambers for each electrical connector, or groups of connectors, as the flange or ridge configuration on the top side of the isolation layer. 
     The pin layout and slip ring described herein and shown in the figures represents one embodiment, however this embodiment is not meant to be limiting of the connector layout. The number of electrical pins in the “plug” end of the transducer may be as many as desired or needed to perform the necessary tasks of providing electrical connection, or even stabilizing plugs for structural integrity. The lands of the slip ring like wise may be as many as desired and it does not necessarily follow that each land will have a corresponding electrical connector. A land may be used as a cross-talk sensor by having no physical pin designed to make contact with it, yet still monitor electrical signal when the connection is made. The land itself can be used as an electrical sensor to monitor the safety and stability of the electrical connection and/or the isolation between lands. 
     An alternative embodiment using the pancake slip ring PCB  29  in the insert is now described The transducer insert resembles the assembly previously described. Individual components such as a transformer  42  are still directly connected to the modified PCB  29  ( FIG. 6D ). The electrical pins  24 ,  40  are no longer connected to discrete traces on the PCB  29 . The electrical pins  24 ,  40  are now pressed against the trace rings  102   a - c  on the PCB  29 .This allows the top section  16 A and bottom section  16 B to be press fit together without regard to the orientation of the parts relative to each other. No matter what orientation the top  16 A has to the bottom  16 B, the electrical pins  24 ,  40  will still match up with the traces to provide proper electrical communication from the communication port to the transducer. 
     In another embodiment using either the standard PCB  28  or the slip ring PCB  29 , the transducer  22  may have a trace ring  24 LR around the circumference of the transducer so the transducer may also be assembled to the bottom  16 B section without concern for orientation and placement of the electrical pins  24  to the transducer  22 . 
     A close up of the electrical pin connections  40  to the top of the slip ring PCB  29  is now shown ( FIG. 6E ). Here the discrete connections for the transformer  42  are shown in the form of a series of discrete lands LD or trace positions. 
     The adaptor for the transducer insert  10  need not be circular, though the circular design is desirable. Various other shapes allowing for multiple orientation of the transducer insert are shown in  FIG. 6G-I . To simplify the process of replacing the transducer insert  10  for a user, the transducer adaptor has a “keyless” orientation to the “socket” on the system side. So the adaptor may be oblong for two orientations, triangular for three orientations, progressing to a circular insert and socket ( FIG. 61 ). There is also no restriction on the shape of the adaptor as being a regular shape, so long as the adaptor shape is symmetrical about one axis so the adaptor can still mate with the ultrasound system when it is oriented in another symmetric alignment. Regardless of the physical shape of the insert connector and socket, the socket has electrical contacts in the form of slip rings (dotted lines in  FIGS. 6F-GI ), with electrical contact pins set at the desired radius to make physical contact with the corresponding land so the appropriate pins  40   a - x  communicates with the corresponding lands  102   a - x.    
     The orientation of the interface  28  as shown in  FIGS. 5 ,  6 A-C need not be perpendicular to the axis of the transducer housing. The interface  28 , along with any additional components may be at any orientation desired. In one embodiment, the interface  28  is a PCB or PCA aligned with the axis of the housing  16  ( FIG. 7 ) and has connection wires  12  from the external electronic connectors  40  to a PCB style interface  28  having a transformer  42  and a data IC  30  along with other electronics as may be desired. 
     In another embodiment, the interface may be a PCB with a data IC having additional embedded information. The data IC  30  may include data related to the number of uses the transducer is allowed to be activated, or it may record use data which can be used to help improve future interchangeable transducer designs (such as measuring attenuation, feedback, decoupling, thermal information or the like). While this collected data may be stored in the data IC, additional sensors  4021 - i  could be added to the interface  28  to record the desired data ( FIG. 8 ). 
     The isolation layer  34  used with the interchangeable transducer may be a washer or disk of electrical isolation material. While the isolation layer may be a solid or otherwise uniform component, an independently novel design for an electrical isolation layer is desirable. 
     An isolation layer well suited for providing isolation between individual contacts in a wet environment is realized in the form of a slip ring seal (spacer). The slip ring spacer is provided at the docking end of the connectorized transducer. The slip ring spacer may have any one of a variety of forms consistent with the general description and requirements described herein, or similar or equivalent to any of the enumerated embodiments described. The slip ring spacer provides a bumper between the connectorized transducer and the socket of the medical system. Furthermore, the seal provides apertures or other means of allowing electrical communication through the seal, between the connectorized transducer and the socket. In addition, the seal allows for simultaneous electrical communication between multiple isolated electrical connectors in a wet environment. The seal provides isolation of each separate electrical connector type, reducing cross talk between different kinds of signal and/or power connectors. The slip ring seal is desirably made from or has properties incorporated into it, that provide water and electrical resistance. If the material is slightly conductive, it is possible for a short to occur between the electrical pins even in the presence of a partial or complete fluid seal. 
     A slip ring spacer is now described as shown in  FIGS. 9A-E . The slip ring spacer  900  has a base  902  and one or more flanges or ridges  9041 - i  rising from the base. The ridges or flanges are adapted to press against a slip ring SR and form one or more concentric channels  9061 - i  so that each electrical connection ring of the slip ring SR is separated from the other electrical connection rings by the ridges  9041 - i . When the slip ring seal  900  is pressed against a slip ring SR, channels  9061 - i  are formed by the ridges or flanges of the slip ring. The ridges are pressed against the slip ring SR, forming a seal against fluid flow between the discrete channels  9061 - i . The slip ring forms one barrier to fluid movement while the slip ring seal forms the sides and bottom of the channels. In this way, electrically conductive fluid is restricted from flowing between the channels, and exposure to the electrical pins is reduced. This minimizes corrosion and cross-talk among and between the electrical pins. The base desirably has apertures for electrical pins or connectors for making contact with the electrical connection rings on the slip ring. In operation, the slip ring spacer  900  allows each connector to communicate with a corresponding slip ring pad without producing cross talk between other channels, even if the environment is wet. 
     The pin connectors may be organized into groups so that multiple pins may be intended to make contact with a slip ring land. In this case the pins may be organized into groups, similar to the two pins  40   b,    40   i  sharing a single circular channel ( FIG. 9A ). This illustration is an example of more than one pin designed to make contact with a single land, and there is no limit to the number of pins that can be grouped into a single channel or group, or the number of groups that can be used in the interconnection arrangement between the transducer and the socket. 
     Alternatively the slip ring spacer may have flanges or ridges on the underside of the base (not shown) in a pattern similar to the flange or ridge pattern on the top surface of the spacer. The presence of flanges or ridges on the bottom of the spacer can help isolate the electrical contact pins from one another in the event fluid seeps below the slip ring seal during operation. 
     The slip ring spacer  900  may utilize numerous alternative embodiments. The slip ring spacer  900  has individually isolated electrical pin zones ( FIG. 10 ). In this embodiment each aperture  40  of the slip ring spacer  900  has one or more rising ridges  904  surrounding each aperture. The outer rim of the base  902  is also encircled with a flange or ridge  904 R to minimize water or fluid flow from the outside of the connector to the inside components. The individual electrical pins that would protrude through the apertures are individually insulated to reduce the risk of electrode corrosion and/or cross talk. 
     A single spiral channel can be formed with a spiral shaped ridge ( FIG. 11 ) with periodic partitions placed in the spiral pattern. The spacer may use various arrangements of ridges or flanges extending from the base. The ridges may be tapered, block shaped, or arranged in a series of thin partitions operating as a group ( FIGS. 12A-12C ). Desirably the spacer is made from material that has high water and electrical resistance (like rubber, RTV (Room Temperature Vulcanization) silicone rubber, polymers, etc. . . . ). The material desirably has a durometer low enough to allow the flanges or ridges to deform when they are pressed against a slip ring so the flanges will deform slightly to seal against the slip ring. Designs that are more structurally robust desirably have a lower durometer material with a wider area of contact ( FIG. 12A ,  12 B) while configurations of the seal having a more rigid construction may use material that is a higher durometer material, but a reduced area of contact ( FIG. 12C ). 
     In another embodiment the spacer has a top portion that can compress directly on to the slip ring, and pressure pressure forces any fluid out of the surface area of the slip ring itself so the electrical connection can be made relatively free of any fluid. In another embodiment, temporary channels  1301  may join the apertures for the electrical pins, to the outer circumference of the slip ring seal so water may escape or be forced away from the electrical pin outs ( FIGS. 13A-B ). As the seal is pressed against the slip ring, the channels are compressed against the slip ring surface, and thus reducing the flow of fluid among the electrical connections to a level where cross talk between the slip ring lands is acceptable. 
     In yet another embodiment of the spacer, the spacer may comprise a water and electrically resistant material having a web like structure ( FIG. 14A-C ). Gap spaces between the webbing serve as apertures for the electrical pins to protrude from the transducer and the medical system socket. Optionally the webbing may have additional material between the web strands to further restrict water flow between the web strands when the slip ring seal is compressed into position between the interchangeable transducer and the system socket. As the spacer is pressed against the slip ring while the connectorized transducer is pushed into the socket of the medical system, the webbing with or without additional material in the webbing) collapses and presses fluid out of the cells and away from the electrical connectors. The collapsed webbing forms a barrier to fluid flow between the web strands. The webbing may be organized ( FIG. 14A-C ) or randomly distributed in the formation of the seal ( FIG. 15A-C ). 
     In operation, a transducer as described herein can be removed from a socket, and then a new one inserted without regard to the radial orientation of the transducer relative to the socket. If the environment containing the socket is wet, the seal on the transducer allows the transducer housing to make good connection on the electrical lands on the socket side, while ensuring solid connection with the transducer and internal workings of the interchangeable transducer. Seams or assembly joints may be sealed with resin or epoxy if needed. Seams and assembly joints may also be sealed with solder, ultrasound welding or similar techniques. 
     In addition to the embodiments described above, alternative interconnect schemes suitable for use with the present invention are now described. Alternative transducer signal connections include using direct electrical connection via pin and socket, direct electrical connection via soldered spring contact and PCB trace, direct electrical connection via PCB trace to floating spring contact (e.g. in carrier) to PCB trace, direct electrical contact via a post and socket with multiple connections (e.g. stereo headphone jack), as well as wireless types of interconnects, such as inductive coupling, and capacitive coupling. 
     The transducer can be secured within the housing by gluing it or mechanically affixing it to the housing. The transducer may be sandwiched between a preformed lip in the housing and the electrical connection pins  24 . In another embodiment the transducer may be attached using a soluble adhesive allowing for the transducer ceramic to be replaced when the interchangeable transducer fails. 
     Structurally the physical connector between the transducer housing and the socket may be combined with the electrical connectors. One may visualize a series of stacked electrical connector rings designed to match up to corresponding pin connectors within the socket. Alternatively the relationship of socket and insert may be reversed so the transducer has a socket for receiving a male end adaptor from the medical system. 
     In other embodiments, the physical connection between the transducer housing and the socket can be achieved through any low force insertion mechanism suitable for the medical system and medical procedures desired. These may include a bearing ring, a snap ring, or simply frictional engagement. Rotational capability of the transducer housing within the socket is not critical, so long as the transducer electronically connects to the medical system electronics through the unaligned electrical connections. 
     Additional alternative embodiments of the present invention will be readily apparent to those skilled in the art upon review of the present disclosure. The lack of description or the embodiments described herein should not be considered as the sole or only method and apparatus of providing for an interchangeable transducer. The scope of the present invention should not be taken as limited by the present disclosure except as defined in the appended claims.