Patent Description:
Ultrasound and other energy-delivery systems emit energy that is focused into or directed to a target region. These systems control the location that the energy is focused or directed by (a) physically adjusting the position of the energy-delivery elements so that the energy is focused or directed to the desired location, (b) adjusting the relative phase and amplitude of the energy emitted by each energy-delivery element to beam steer the energy to the desired location, or (c) a combination of (a) and (b). Since the relative phase and amplitude can be adjusted without physically moving the energy-delivery elements, beam steering can be performed more rapidly than physically moving the energy-delivery system. However, the ability to adjust the focus or direction of the energy is limited in beam steering. Therefore, the energy-delivery system needs to be physically moved when the target region lies outside of the limited adjustment range available in beam steering. Document <CIT> discloses an apparatus comprising:a plurality of energy delivery devices; a plurality of rods, each rod comprising first and second ends, the first end mechanically coupled to one of said energy delivery devices; a plurality of first rotatable joints, each first rotatable joint mechanically coupled to a corresponding rod; a plurality of second rotatable joints, each second rotatable joint is slidingly engaged on a portion of the corresponding rod.

It would be desirable to increase the range over which the direction and/or focus of the energy-delivery elements can be adjusted without physically moving the energy-delivery system.

<FIG> is a simplified diagram of an energy delivery system <NUM> according to the prior art. The energy delivery system <NUM> includes a plurality of energy-delivery devices <NUM> that emit energy into a respective region <NUM>. As illustrated, only a portion of the emitted energy passes through the desired target point <NUM>. Therefore, it takes longer to provide a given dose of energy to the target point <NUM> than it would if the energy-delivery devices <NUM> were geometrically focused on the target point <NUM>. However, geometrically focusing the energy on the target point <NUM> would decrease the angular area over which the energy-delivery devices <NUM> that emit can emit energy.

It would be desirable to arrange the energy-delivery devices so that they can geometrically focus the energy at the desired target point while maintaining the ability to emit the energy over a wide area.

Example embodiments described herein have innovative features, no single one of which is indispensable or solely responsible for their desirable attributes. The following description and drawings set forth certain illustrative implementations of the disclosure in detail, which are indicative of several exemplary ways in which the various principles of the disclosure may be carried out. The illustrative examples, however, are not exhaustive of the many possible embodiments of the disclosure. Without limiting the scope of the claims, some of the advantageous features will now be summarized. Other objects, advantages and novel features of the disclosure will be set forth in the following detailed description of the disclosure when considered in conjunction with the drawings, which are intended to illustrate, not limit, the invention.

An aspect of the invention is directed to an apparatus comprising a plurality of energy delivery devices; a plurality of rods, each rod comprising first and second ends, the first end mechanically coupled to one of said energy delivery devices; a plurality of first rotatable joints, each first rotatable joint mechanically coupled to a corresponding rod; a plurality of second rotatable joints, each second rotatable joint is slidingly engage a portion of the corresponding rod; a stationary plate comprising a plurality of stationary plate holes, each stationary plate hole configured to receive at least a portion of one of said first rotatable joints to form a plurality of first rotatable joint connections, each first rotatable joint rotatable with respect to the stationary plate; and a moveable plate comprising a plurality of moveable plate holes, each moveable plate hole configured to receive at least a portion of one of said second rotatable joints to form a plurality of second rotatable joint connections, each second rotatable joint rotatable with respect to the moveable plate.

In one or more embodiments, for each rod the first rotatable joint is disposed between the first end and the second rotatable joint. In one or more embodiments, for each rod the first rotatable joint is disposed between the second end and the second rotatable joint. In one or more embodiments, the stationary plate, the moveable plate, or both the stationary plate and the moveable plate is/are planar. In one or more embodiments, the stationary plate, the moveable plate, or both the stationary plate and the moveable plate is/are curved. In one or more embodiments, for each rod the first rotatable joint is integrally connected to the rod.

In one or more embodiments, the apparatus further comprises a positioning mechanism in mechanical communication with the moveable plate to change a position of the moveable plate with respect to the stationary plate. In one or more embodiments, the positioning mechanism is configured to change the position of the moveable plate along an axis to increase or decrease a distance between the moveable plate and the stationary plate. In one or more embodiments, each rod extends from the stationary plate to the moveable plate along a respective rod axis and the positioning mechanism is configured to change the position of the moveable plate within a plane that is orthogonal to at least one of the rod axes. In one or more embodiments, the positioning mechanism comprises an x-y-z positioner.

In one or more embodiments, each rod extends from the stationary plate to the moveable plate along a respective rod axis and each rod is oriented at an angle, the angle between the rod axis and a reference axis; and a change in the position of the moveable plate with respect to the stationary plate causes the angle to change. In one or more embodiments, each energy delivery device emits energy in a direction corresponding to the angle of the respective rod, and the change in the angle of the respective rod causes a corresponding change in the direction of the energy emitted by the energy delivery device. In one or more embodiments, the energy emitted by the energy delivery devices is focused in a focal zone, and the change in the direction of the energy emitted by each energy delivery device causes a location of the focal zone to change.

In one or more embodiments, each energy delivery device comprises one or more ultrasound transducer elements. In one or more embodiments, each first rotatable joint comprises a first ball and each second rotatable joint comprises a second ball, each first ball forming a first ball connection with the stationary plate, each second ball forming a second ball connection with the secondary plate. In one or more embodiments, a hole is defined in each second ball to slidingly engage the portion of the corresponding rod. In one or more embodiments, the first and second rotatable joints have two rotational degrees of freedom and the second rotatable joint has a translational degree of freedom with respect to the corresponding rod. In one or more embodiments, each first rotatable joint comprises a first gimbal and each second rotatable joint comprises a second gimbal.

The disclosure also relates to a method, which is not claimed, of controlling a direction of energy emitted by energy delivery devices, the method comprising: emitting energy from each energy delivery device in an angular direction, each energy delivery device mechanically coupled to a first end of a rod that extends from a moveable plate to a stationary plate along a rod axis, the rod mechanically coupled to a first rotatable joint disposed at least in part in a corresponding hole in the stationary plate, wherein the angular direction is defined by an angle between the rod axis and a reference axis; with a positioning mechanism in mechanical communication with the moveable plate, changing a position of the moveable plate with respect to the stationary plate, the moveable plate in mechanical communication with each rod via a corresponding second rotatable joint, each second rotatable joint disposed at least in part in a corresponding hole in the moveable plate, wherein a portion of the rod is slidingly engaged with the second rotatable joint; rotating the first and second rotatable joints with respect to the stationary and moveable plates, respectively, so that each rod continues to extend from the moveable plate to the stationary plate along the rod axis when the position of the moveable plate is changed; and changing the angular direction of the energy emitted from each energy delivery device.

In one or more embodiments, which are not claimed, the method further comprises arranging the rods so that at least a portion of the energy from each energy delivery device passes through a focal zone. In one or more embodiments, changing the angular direction of the energy emitted from each energy delivery device changes a location of the focal zone. In one or more embodiments, changing the position of the moveable plate comprises moving the moveable plate parallel to a plane that is orthogonal to at least one of the rod axes. In one or more embodiments, changing the position of the moveable plate comprises moving the moveable plate closer to or away from the stationary plate.

In one or more embodiments, which are not claimed, each energy delivery device comprises one or more ultrasound transducer elements, and the energy emitted from each energy delivery device comprises ultrasound mechanical energy. In one or more embodiments, the method further comprises adjusting the angular direction of the energy according to a treatment plan. In one or more embodiments, the method further comprises receiving, at a computer, magnetic resonance data of a target region in a subject, the magnetic resonance data indicating a measured angular direction of the ultrasound transducer elements; comparing the measured angular direction of the ultrasound transducer elements with a target angular direction in the treatment plan; and adjusting the position of the moveable plate when the measured angular direction of the ultrasound transducer elements is different than the target angular direction in the treatment plan.

In one or more embodiments, which are not claimed, the method further comprises mechanically coupling a first ball to the first end of each rod, the first ball disposed at least in part in the corresponding hole in the stationary plate. In one or more embodiments, the method further comprises mechanically coupling a second ball to the portion of each rod, the second ball disposed at least in part in the corresponding hole in the moveable plate.

The invention is defined in the following claims. Other embodiments, methods, examples etc. are not a part of the invention.

For a fuller understanding of the nature and advantages of the present concepts, reference is made to the following detailed description of preferred embodiments and in connection with the accompanying drawings, in which:.

This disclosure is broadly applicable to apparatus, for controlling the direction of energy emitted by many types of energy delivery devices. Examples of such energy delivery devices include ultrasound elements, lasers, mirrors (e.g., for solar or other applications), electromagnetic signals (e.g., radiofrequency (RF) signals, light), and others (e.g., with positive interference). Without limiting the scope of the disclosure, several of the embodiments provided herein are described with respect to ultrasound energy delivery devices (e.g., ultrasound elements). It is to be understood, however, that those embodiments are also applicable to other types of energy delivery elements. Thus, ultrasound delivery devices are an exemplary embodiment of energy delivery devices, and references to ultrasound delivery devices (or to ultrasound elements) are provided as a non-limiting example of energy delivery devices.

Energy devices are mechanically coupled to respective rods that extend from a first plate to a second plate. Each rod is mechanically coupled to the first and second plates via first and second rotatable joint connections, respectively. A first rotatable joint is mechanically coupled (e.g., attached, integrally connected, etc.) to each rod. The first rotatable joint is at least partially disposed in a corresponding hole in the first plate to form the first rotatable joint connection. A second rotatable joint slidingly receives or engages a portion of the respective rod. The second rotatable joint is at least partially disposed in a corresponding hole in the second plate to form the second rotatable joint connection. In some examples, the first and/or second rotatable joints are balls, gimbals, pivot joints, swivel joints, bearings (e.g., slewing bearings), and/or other rotatable joints.

Each energy delivery device emits energy in a respective angular direction, which can be the same or different between energy delivery devices. The angular direction of each energy delivery device is measured according to the angle between the rod axis and a reference axis. Each rod extends from the first plate to the second plate along the rod axis.

One or both of the first and second plates is moveable with respect to the other plate. For example, the first plate can be moveable with respect to the second plate using a mechanical positioning mechanism. The first and second rotatable joint connections cause the rod to move when the first plate is moved with respect to the second plate. Since the second plate is stationary and the rod extends from the first plate to the second plate, the movement of the first plate causes the angle between the rod axis and a reference axis to change. The change in angle causes a corresponding change in the angular direction that the energy is emitted from the energy delivery device.

<FIG> is a diagram of one type of system <NUM> in which at least some of the apparatus, systems, and/or methods disclosed herein are employed, in accordance with at least some embodiments. The system <NUM>, which is a medical system, includes a patient support <NUM> (on which a patient <NUM> is shown), a magnetic resonance system <NUM> and an image guided energy delivery system <NUM>.

The magnetic resonance system <NUM> includes a magnet <NUM> disposed about an opening <NUM>, an imaging zone <NUM> in which the magnetic field is strong and uniform enough to perform magnetic resonance imaging, a set of magnetic field gradient coils <NUM> to change the magnetic field rapidly to enable the spatial coding of MRI signals, a magnetic field gradient coil power supply <NUM> that supplies current to the magnetic field gradient coils <NUM> and is controlled as a function of time, a transmit/receive coil <NUM> (also known as a "body" coil) to manipulate the orientations of magnetic spins within the imaging zone <NUM>, a radio frequency transceiver <NUM> connected to the transmit/receive coil <NUM>, and a computer <NUM>, which performs tasks (by executing instructions and/or otherwise) to facilitate operation of the MRI system <NUM> and is coupled to the radio frequency transceiver <NUM>, the magnetic field gradient coil power supply <NUM>, and the image guided energy delivery system <NUM>.

The image guided energy delivery system <NUM> performs image guided therapy (e.g., thermal therapy) and can implement one or more aspects and/or embodiments disclosed herein (or portion(s) thereof) to deliver energy (e.g., ultrasound energy) in multiple angular directions to treat a treatment region.

The MRI computer <NUM> can include more than one computer in some embodiments, which can be dedicated for the MRI system <NUM>. In at least some embodiments, the MRI computer <NUM> and/or one or more other computing devices (not shown) in and/or coupled to the system <NUM> may also perform one or more tasks (by executing instructions and/or otherwise) to implement one or more aspects and/or embodiments disclosed herein (or portion(s) thereof) to control the angular direction of the energy emitted by energy delivery devices in the image guided energy delivery system <NUM>. For example, the computer <NUM> and/or one or more other computing devices (not shown) in and/or coupled to the system <NUM> can adjust the angle of a rod that is mechanically coupled to each energy delivery device (e.g., by adjusting the position of a first plate in mechanical communication with the rod) as described herein. One or more of the computers, including computer <NUM>, can include a treatment plan for the patient <NUM> that includes the target treatment region and the desired or minimal energy (e.g., thermal) dose for the target treatment region. The computer(s) can use images from the magnetic resonance system <NUM> to image guide the angular direction of the energy emitted by the energy delivery devices. In some embodiments, one or more dedicated computers control the image guided energy delivery system <NUM>. Some or all of the foregoing computers can be in communication with one another (e.g., over a local area network, a wide area network, a cellular network, a WiFi network, or other network), for example through a software-controlled link.

<FIG> is a simplified view of an ultrasound apparatus <NUM> in a first state according to one or more embodiments. The apparatus <NUM> includes a plurality of transducer assemblies <NUM>, a first support plate <NUM>, and a second support plate <NUM>. Each transducer assembly <NUM> includes an ultrasound transducer element <NUM>, a rod <NUM>, and a first ball <NUM>. The transducer element <NUM> is disposed on a first end <NUM> of the rod <NUM>. Each rod <NUM> is in mechanical communication with the first and second support plates <NUM>, <NUM> via first and second ball connections <NUM>, <NUM>. The first ball connection <NUM> is disposed proximal to the first end <NUM> of the rod <NUM>. The second ball connection <NUM> is disposed proximal to a second end <NUM> of the rod <NUM>. The first and second ball connections <NUM>, <NUM> can include ball joints in some embodiments.

The first ball <NUM> is mechanically coupled (e.g., attached, adhered, secured, etc.) to the rod <NUM> in a fixed position such that the first ball <NUM> does not move relative to the rod <NUM>. In some embodiments, the rod <NUM> and first ball <NUM> are integrally connected as a single unit. In other embodiments, the rod <NUM> and first ball <NUM> are separate units that are fixedly attached to one another. The second ball connection <NUM> includes a second ball <NUM> that is moveable and/or slideable with respect to the rod <NUM>. For example, the second ball <NUM> can include a hole or aperture to receive and mechanically engage (e.g., slidingly engage, slidingly receive, and/or slidingly couple to) a portion of the rod <NUM>. The rod <NUM> can slide towards or away from the second ball <NUM>, along the axis <NUM> of each rod <NUM>, to adjust the relative axial position of the rod <NUM> with respect to the second ball <NUM>.

The first support plate <NUM> includes a plurality of holes <NUM> to receive a first portion of each first ball <NUM> to form the first ball connections <NUM>. A second portion of each first ball <NUM> rests on the first support plate <NUM> around the holes <NUM> to mechanically support first ball <NUM>. Since the first balls <NUM> are attached to the rods <NUM>, mechanically supporting the first balls <NUM> on the first support plate <NUM> also mechanically supports the rods <NUM> and the ultrasound transducer elements <NUM> attached thereto. The position of the first balls <NUM> with respect to the first support plate <NUM> is fixed. However, the first balls <NUM> can rotate to adjust the angle <NUM> of each rod <NUM>, in the x-z plane and/or the y-z plane, with respect to a corresponding reference axis <NUM>. Only one reference axis <NUM> is illustrated in <FIG> for clarity. Thus, the rods <NUM> have a single degree of freedom (rotation) in the first ball connections <NUM>.

The second support plate <NUM> includes a plurality of holes <NUM> to receive a first portion of each second ball <NUM> to form the second ball connections <NUM>. A second portion of each second ball <NUM> rests on the second support plate <NUM> around the holes <NUM> to mechanically support the second balls <NUM>. The position of the second balls <NUM> with respect to the second support plate <NUM> is fixed. However, the second balls <NUM> can rotate with the first balls <NUM> to adjust the angle <NUM> of each rod <NUM> with respect to the corresponding reference axis <NUM>. In addition, the axial position of each rod <NUM> with respect to the corresponding second ball <NUM> is adjustable, as discussed above. Thus, the rods <NUM> have two degrees of freedom (rotation and axial position) in the second ball connections <NUM>.

Rotating the first and second balls <NUM>, <NUM> causes the angle <NUM> to change, which changes the angular direction of the acoustic energy <NUM> emitted from each transducer element(s) <NUM>. In some embodiments, at least one of the first and second ball connections <NUM>, <NUM> prevents the rods <NUM> from rotating about the rod axis <NUM>, for example to prevent the twisting of any wires that may be connected to the ultrasound transducer elements <NUM>.

It is noted that <FIG> illustrate that each first ball <NUM> is disposed between the first end <NUM> of the rod <NUM> and the second ball <NUM>. However, in other embodiments, each first ball <NUM> can be disposed between the second end <NUM> of the rod <NUM> and the second ball <NUM>.

In <FIG>, the first and second support plates <NUM>, <NUM> are illustrated as inwardly curved, for example in a high-intensity focused ultrasound (HIFU) system. In addition, or in the alternative, one or both support plates <NUM>, <NUM> can be curved outwardly. In addition, or in the alternative, one or both support plates <NUM>, <NUM> can be planar.

The relative position of the support plates <NUM>, <NUM> with respect to one another is adjustable. For example, the second support plate <NUM> can be moved axially or radially with respect to the first support plate <NUM>. In another example, the second support plate <NUM> can be moved closer to or further away from the first plate <NUM>. In yet another example, the second support plate <NUM> can be moved both (a) axially (e.g., parallel to the "x" axis") or radially with respect to the first support plate <NUM> and (b) closer to or further away from the first plate <NUM> (e.g., parallel to the "z" axis). Though the adjustment of the relative positions of the support plates <NUM>, <NUM> has been described with respect to moving the second support plate <NUM> (i.e., the first support plate <NUM> can be stationary and the second support plate <NUM> can be moveable), it is noted that the same relative position adjustment can be made by moving the first support plate <NUM> (i.e., the first support plate <NUM> can be moveable and the second support plate <NUM> can be stationary). For example, moving the second support plate <NUM> axially to the left in <FIG> is equivalent to moving the first support plate <NUM> axially to the right in <FIG>. Likewise, moving the second support plate <NUM> upwards in <FIG> (closer to the first support plate <NUM>) is equivalent to moving the first support plate <NUM> downwards (closer to second support plate <NUM>) in <FIG>. Combinations of the foregoing are also possible. Finally, both support plates <NUM>, <NUM> can be moved (i.e., the first support plate <NUM> and the second support plate <NUM> can be moveable) in opposite directions (e.g., one to the left, the other to the right) to achieve the equivalent relative position adjustments discussed above.

The first and/or second support plates <NUM>, <NUM> can be moved with a positioning mechanism, such as an x-y positioner or an x-y-z positioner. The positioning mechanism can include one or more geared connections, rotatable by a motor or by hydraulics, to move one of the support plates <NUM>, <NUM> in a first, second, and/or third directions (e.g., in the "x," "y," and/or "z" directions). In addition, or in the alternative, the positioning mechanism can include an actuator or other device that can be electromechanically or pneumatically operated. The positioning mechanism can be controlled by a computer that also controls the ultrasound transducer elements <NUM>, a separate computer, or computer <NUM>. The computer that controls the positioning mechanism can receive feedback from images provided by the magnetic resonance system <NUM> to image guide the positioning mechanism and/or to electronically focus the ultrasound transducer elements <NUM>.

The ultrasound transducer elements <NUM> generate acoustic energy <NUM> that is geometrically focused and/or electronically focused through beamform steering (e.g., by adjusting the relative phase of the acoustic energy <NUM> generated by each transducer element <NUM>) towards a focal zone <NUM>. An example of a geometrically-focused ultrasound system is high-intensity focused ultrasound (HIFU). In some embodiments, the ultrasound apparatus <NUM> is part of a HIFU system. The location of the focal zone <NUM> can be adjusted geometrically by moving the first and/or second support plates <NUM>, <NUM>.

<FIG> illustrates the ultrasound apparatus <NUM> in a second state after the second support plate <NUM> has been moved in a first direction. In <FIG>, the second support plate <NUM> has been moved <NUM> to the left (e.g., parallel to the "x" axis), which causes the second balls <NUM> and the second end <NUM> of the rods <NUM> to move to the left. As a result, the angle <NUM> of each rod <NUM> changes (e.g., decreased with respect to reference axis <NUM>) to geometrically move <NUM> the focal zone <NUM> of the transducer elements <NUM> to the right (e.g., parallel to the "x" axis). In other words, moving the second support plate <NUM> in a first direction causes the location or position of focal zone <NUM> to move in a second direction, where the second direction is the opposite of the first direction. It is noted that the location of the focal zone <NUM> can be adjusted further (or fine-tuned) by beamform steering. The first and second balls <NUM>, <NUM> rotate according to the change in the angle <NUM>.

As discussed above, the same result can be accomplished by moving the first support plate <NUM> to the right. Moving the first support plate <NUM> to the right causes the first balls <NUM> and the first end <NUM> of the rods to move to the right, which results in the same angle <NUM> adjustment of each rod <NUM> as discussed above. Thus, moving the first support plate <NUM> in a first direction causes the focal zone <NUM> to move in a first direction.

Adjusting the relative position of the support plates <NUM>, <NUM> (e.g., moving the second support plate <NUM> to the left) can cause a change in the distance <NUM> between the support plates <NUM>, <NUM>. For example, moving the second support plate <NUM> to the left increases the distance <NUM> between the support plates <NUM>, <NUM>. The rod <NUM> can slide through a hole or aperture in the second ball <NUM> to change the length of rod <NUM> between the first and second balls <NUM>, <NUM> according to the change in distance <NUM>.

It is noted that the second support plate <NUM> (and/or the first support plate <NUM>) can be moved <NUM> in the "y" direction to geometrically move <NUM> the focal zone <NUM> of the transducer elements <NUM> with respect to the "y" direction, as illustrated in <FIG>. Moving <NUM> the second support plate <NUM> (and/or the first support plate <NUM>) in the "y" direction results in an equivalent change in state of the system <NUM> as described above with respect to <FIG>, which illustrates a change in state of system <NUM> with respect to the "x" direction. For example, moving <NUM> the second support plate <NUM> in the "y" direction causes the first and second balls <NUM>, <NUM> to rotate to adjust the angle <NUM> of each rod <NUM>, in the y-z plane, with respect to a corresponding reference axis <NUM>.

It is also noted that the second support plate <NUM> (and/or the first support plate <NUM>) can be moved (e.g., moved <NUM>, <NUM>) in the "x" and "y" directions (i.e., within the x-y plane) to move (e.g., move <NUM>, <NUM>) the focal zone <NUM> of the transducer elements <NUM> with respect to the "x" and "y" directions.

<FIG> illustrates the ultrasound apparatus <NUM> in a third state after the second support plate <NUM> has been moved in a third direction. In <FIG>, the second support plate <NUM> has been moved <NUM> closer to the first support plate <NUM> (e.g., parallel to the "z" axis), which causes the focal zone <NUM> to geometrically move <NUM> closer to the first support plate <NUM> such that the ultrasound transducers <NUM> have a reduced focal length compared to when the ultrasound apparatus <NUM> is in the first state, as illustrated in <FIG>.

In the third state, the second end <NUM> of the outer rods <NUM> (also labeled as <NUM>, <NUM>) move away from each other, and away from the middle rod <NUM> (also labeled as <NUM>). Conversely, the first end <NUM> of the outer rods <NUM> move inwardly, which causes the focal zone <NUM> to geometrically move <NUM> closer to the first support plate <NUM>. For example, in the third state, the angle <NUM> of the right-hand rod <NUM> (also labeled as rod <NUM>) increases. In addition, the angle <NUM> of the left-hand rod <NUM> (also labeled as rod <NUM>), with respect to reference axis <NUM>, increases. However, the axis <NUM> (and corresponding angle) of the middle rod <NUM> (also labeled as rod <NUM>) continues to be in parallel with reference axis <NUM>.

<FIG> illustrates the ultrasound apparatus <NUM> in a fourth state after the second support plate <NUM> has been moved in a fourth direction. In <FIG>, the second support plate <NUM> has been moved <NUM> away from the first support plate <NUM> (e.g., parallel to the "z" axis), which causes the focal zone <NUM> to geometrically move <NUM> away from the first support plate <NUM> such that the ultrasound transducers <NUM> have an increased focal length compared to when the ultrasound apparatus <NUM> is in the first state, as illustrated in <FIG>.

In the fourth state, the second end <NUM> of the outer rods <NUM> (also labeled as <NUM>, <NUM>) move closer from each other, and away from the middle rod <NUM> (also labeled as <NUM>). Conversely, the first end <NUM> of the outer rods <NUM> move inwardly, which causes the focal zone <NUM> to geometrically move <NUM> away from the first support plate <NUM>. For example, in the third state, the angle <NUM> of the right-hand rod <NUM> (also labeled as rod <NUM>) decreases. In addition, the angle <NUM> of the left-hand rod <NUM> (also labeled as rod <NUM>), with respect to reference axis <NUM>, decreases. However, the axis <NUM> (and corresponding angle) of the middle rod <NUM> (also labeled as rod <NUM>) continues to be in parallel with reference axis <NUM>.

Though <FIG> illustrate the second plate <NUM> moving, with respect to the first plate <NUM>, in only in the "x" direction, the "y" direction, or the "z" direction, it is noted that combinations of any of the foregoing are possible. For example, the second plate <NUM> can move in both the "x" and "y" directions (i.e., in the x-y plane), in both the "x" and "z" directions (i.e., in the x-z plane), in both the "y" and "z" directions (i.e., in the y-z plane), or in the "x," "y," and "z" directions. As described above, the first plate <NUM> can also move with respect to the second plate <NUM>, and thus can move in any or all of the "x," "y," and "z" directions. In some embodiments, both plates <NUM>, <NUM> can move in any or all of the "x," "y," and "z" directions with respect to one another.

<FIG> is a simplified view of an ultrasound apparatus <NUM> in a first state according to one or more embodiments. The apparatus <NUM> is the same as apparatus <NUM> except that the first and second support plates <NUM>, <NUM> are planar.

In some embodiments, a first face <NUM> of the first support plate <NUM> (e.g., facing away from the second support plate <NUM>) is planar and a second face <NUM> of the first support plate <NUM> (e.g., facing the second support plate <NUM>) is not planar (e.g., is curved). In some embodiments, the first face <NUM> of the first support plate <NUM> is not planar (e.g., is curved). and the second face <NUM> of the first support plate <NUM> is planar. In some embodiments, a first face <NUM> of the second support plate <NUM> (e.g., facing away from the first support plate <NUM>) is planar and a second face <NUM> of the second support plate <NUM> (e.g., facing the first support plate <NUM>) is not planar (e.g., is curved). In some embodiments, the first face <NUM> of the second support plate <NUM> is not planar (e.g., is curved). and the second face <NUM> of the second support plate <NUM> is planar.

<FIG> is a simplified view of the ultrasound apparatus <NUM> in a second state according to one or more embodiments. In <FIG>, the second support plate <NUM> is moved <NUM> to the left (e.g., a first direction parallel to the "x" axis), which causes the focal zone <NUM> to move <NUM> to the right (e.g., a second direction parallel to the "x" axis, the second direction being the opposite of the first direction). The angle <NUM> changes as a result of the movement <NUM> of the second support plate <NUM>. The vertex of angle <NUM> is not illustrated in <FIG> since it would be located off the page. Movement <NUM> is similar to the relative movement of the second support plate <NUM> in apparatus <NUM> in the embodiment described above with respect to <FIG>.

The first and/or second support plates <NUM>, <NUM> in apparatus <NUM> can be moved in any direction with respect to one another, similar to the first and/or second support plates <NUM>, <NUM> in apparatus <NUM> described above. For simplicity and brevity, the various permutations of moving the first and/or second support plates <NUM>, <NUM> in apparatus <NUM> in each direction in the x-y-z coordinate system are not illustrated though they would be similar to the relative movement of the first and second support plates <NUM>, <NUM> in apparatus <NUM> (e.g., in <FIG>).

<FIG> is a simplified view of an ultrasound apparatus 1000A in a first state according to one or more embodiments. The apparatus <NUM> is the same as apparatus <NUM> and <NUM> except that the first support plate <NUM> is planar and the second support plate <NUM> is curved inwardly. Thus, ultrasound apparatus 1000A is a hybrid of apparatus <NUM> and <NUM>. In other embodiments, the first support plate <NUM> can be curved and the second support plate <NUM> can be planar. The first and/or second support plates <NUM>, <NUM> can be curved inwardly or outwardly in some embodiments.

<FIG> is a simplified view of an ultrasound apparatus 1000B according to one or more embodiments. The apparatus 1000B is the same as apparatus <NUM>, <NUM>, and 1000A except that the first support plate <NUM> is curved outwardly and the second support plate <NUM> is planar.

<FIG> is a simplified view of the ultrasound apparatus 1000A illustrated in <FIG> in a second state according to one or more embodiments. In <FIG>, the second support plate <NUM> is moved <NUM> to the left (e.g., a first direction parallel to the "x" axis), which causes the focal zone <NUM> to move <NUM> to the right (e.g., a second direction parallel to the "x" axis, the second direction being the opposite of the first direction). The angle <NUM> changes as a result of the movement <NUM> of the second support plate <NUM>. The vertex of angle <NUM> is not illustrated in <FIG> since it would be located off the page. Movement <NUM> is similar to the relative movement of the second support plate <NUM> in apparatus <NUM>, <NUM> in the embodiment described above with respect to <FIG> and <FIG>, respectively.

The first and/or second support plates <NUM>, <NUM> in apparatus 1000A can be moved in any direction with respect to one another, similar to the first and/or second support plates <NUM>, <NUM> in apparatus <NUM>, <NUM> described above. For simplicity and brevity, the various permutations of moving the first and/or second support plates <NUM>, <NUM> in apparatus 1000A in each direction in the x-y-z coordinate system are not illustrated though they would be similar to the relative movement of the first and second support plates <NUM>, <NUM> in apparatus <NUM>, <NUM> (e.g., in <FIG>).

<FIG> is a perspective view of a transducer assembly <NUM> according to one or more embodiments. The assembly <NUM> includes at least one transducer element <NUM>, a rod <NUM>, and a ball <NUM>. The transducer element(s) <NUM> are mechanically coupled (e.g., attached, adhered, secured, etc.) to a first end <NUM> of the rod <NUM>. The ball <NUM> is disposed on the rod <NUM> proximal to its first end <NUM>. In some embodiments, the rod <NUM> includes the ball <NUM>, in which case the rod <NUM> and the ball <NUM> are integrally connected as a single unit. In other embodiments, the ball <NUM> is mechanically coupled (e.g., attached, adhered, secured, etc.) to the rod <NUM>. The transducer element(s) <NUM> can be powered and controlled by electrical signals received from one or more wires <NUM> that pass through an electrical conduit <NUM> defined in the rod <NUM> and ball <NUM> and through the second end <NUM> of the rod <NUM>. Alternatively, the transducer element(s) <NUM> can be powered and controlled by electrical signals received from one or more wires that extend from a lower surface <NUM> of the transducer element(s) <NUM> across an upper surface of the first plate (e.g., first plate <NUM>).

The transducer assembly <NUM> can be the same as or similar to transducer assemblies <NUM> discussed above. For example, rod <NUM>, transducer element(s) <NUM>, and/or ball <NUM> can be the same as or similar to rod <NUM>, transducer element(s) <NUM>, and/or first ball <NUM>. Thus, the ultrasound apparatus <NUM>, <NUM> can include or more transducer assemblies <NUM>.

<FIG> is a perspective view of a transducer assembly <NUM> according to one or more embodiments. The assembly <NUM> the same as assembly <NUM> except that the transducer element(s) <NUM> is/are disposed on the second end <NUM> of the rod <NUM> and the wire(s) <NUM> pass through the electrical conduit <NUM> via the first end <NUM> of the rod <NUM>. Since the transducer element(s) <NUM> is/are disposed on the second end <NUM> of the rod <NUM>, the ball <NUM> is disposed further away from the transducer element(s) <NUM> in assembly <NUM> than in assembly <NUM>.

The transducer assembly <NUM> can be the same as or similar to transducer assemblies <NUM> discussed above. For example, rod <NUM>, transducer element(s) <NUM>, and/or ball <NUM> can be the same as or similar to rod <NUM>, transducer element(s) <NUM>, and/or second ball <NUM>. Thus, the ultrasound apparatus <NUM>, <NUM> can include or more transducer assemblies <NUM>.

<FIG> is a perspective view of a system <NUM> according to one or more embodiments. The system <NUM> includes a first plate <NUM>, a second plate <NUM>, a plurality of transducer assemblies <NUM>, and a positioning apparatus <NUM>. The first and second plates <NUM>, <NUM> can be the same as or similar to the first and second plates <NUM>, <NUM>. A stand or support <NUM> is mechanically coupled to or integrally connected to the first plate <NUM> to maintain the position of the first plate <NUM>. The positioning apparatus <NUM> is in mechanical communication with the second plate <NUM> to move (e.g., change the position of) the second plate <NUM> relative to the first plate <NUM>. Thus, the first plate <NUM> is stationary and the second plate <NUM> is moveable. In other embodiments, the second plate <NUM> can be stationary and the first plate <NUM> can be moveable, or both the first and second plates <NUM>, <NUM> can be moveable.

Each transducer assembly <NUM> can be the same as or similar to transducer assembly <NUM>, transducer assembly <NUM>, and/or transducer assembly <NUM>. For example, one or more transducer assemblies <NUM> can be the same as or similar to the transducer assembly <NUM> and one or more transducer assemblies <NUM> can be the same as or similar to transducer assembly <NUM>. In another example, one or more transducer assemblies <NUM> can be the same as or similar to transducer assembly <NUM> and one or more transducer assemblies <NUM> can be the same as or similar to transducer assembly <NUM>. In another example, one or more transducer assemblies <NUM> can be the same as or similar to transducer assembly <NUM> and one or more transducer assemblies <NUM> can be the same as or similar to transducer assembly <NUM>. In yet another example, one or more transducer assemblies <NUM> can be the same as or similar to transducer assembly <NUM>, one or more transducer assemblies <NUM> can be the same as or similar to transducer assembly <NUM>, and/or one or more transducer assemblies <NUM> can be the same as or similar to transducer assembly <NUM>.

The positioning apparatus <NUM> includes a first mechanism <NUM> to move the second plate <NUM> in the "y" direction (e.g., along a first axis), a second mechanism <NUM> to move the second plate <NUM> in the "x" direction (e.g., along a second axis that is orthogonal to the first axis), a third mechanism <NUM> to move the second plate <NUM> in the "x" direction (e.g., along a third axis that is orthogonal to the first and second axes), and a platform <NUM>. As such, the positioning apparatus <NUM> can move the second plate <NUM> in any direction in three-dimensional space (e.g., in the "x," "y," and/or "z" directions). In some embodiments, the positioning apparatus <NUM> is an x-y-z positioner.

The first mechanism <NUM> includes gears <NUM> (on the left and right side of shaft <NUM>) and a toothed rail or rod <NUM> that engage one another (e.g., as a rack and pinion connection). The gears <NUM> can be driven (e.g., rotated) manually or by a motor, which can be in communication with computer <NUM>. The rotation of the gears <NUM> is translated to the toothed rail or rod <NUM>, which is mechanically attached to platform <NUM> and extends in parallel with the "y" axis, to cause the second plate <NUM> to move linearly and in parallel with the "y" axis. The second plate <NUM> can move in any direction with respect to platform <NUM>.

The second mechanism <NUM> includes a screw <NUM> that moves block <NUM> (illustrated in <FIG>) parallel to the "x" axis. In turn, block <NUM> moves horizontal rod <NUM> (illustrated in <FIG>) parallel to the "x" axis, which causes the platform <NUM> to move parallel to the "x" axis. Thus, rotating the screw <NUM> causes the platform <NUM> and second plate <NUM> to move parallel to the "x" axis. It is noted that the horizontal rod <NUM> extends through a hole defined in the block <NUM> to allow them to slidingly engage each other parallel to the "y" axis. Screw <NUM> can be rotated manually or by a motor, which can be in communication with computer <NUM>.

The third mechanism <NUM> includes a gear <NUM> and a toothed rail or rod <NUM> that engage one another (e.g., as a rack and pinion connection). The toothed rail or rod <NUM> can move or slide with respect to platform <NUM>. Rotating gear <NUM> (e.g., manually or by a motor) causes the toothed rail or rod <NUM> to slide relative to platform <NUM> to turn pinions <NUM> that engage a vertical toothed rail or rod (extending parallel to the "z" axis; not illustrated) that is attached to second plate <NUM>, thereby moving the second plate <NUM> parallel to the "z" axis to increase or decrease the distance between first and second plates <NUM>, <NUM>. Gear <NUM> can be rotated manually or by a motor, which can be in communication with computer <NUM>.

In other embodiments, the first, second, and/or third mechanisms <NUM>, <NUM>, <NUM> can include the same mechanisms (e.g., they can each include a gear and a toothed bar (e.g., gear <NUM> and toothed bar <NUM>), a screw, a linear actuator, or other mechanism) that can translate the platform second plate <NUM> parallel to the "y," "x," and "z" axes, respectively.

The positioning mechanism <NUM> can be controlled by a computer <NUM>. The computer <NUM> can be the same as the computer or controller that also controls the ultrasound transducer elements <NUM>, the same as the computer <NUM> associated with MRI system <NUM>, or it can be a separate computer. The computer <NUM> can receive feedback from images provided by the magnetic resonance system <NUM> to image guide the positioning mechanism <NUM> and/or to electronically focus the ultrasound transducer elements.

<FIG> is a side view of the system <NUM> illustrated in <FIG> that provides a more detailed view of the positioning apparatus <NUM>.

<FIG> is a cross section of the system <NUM> illustrated in <FIG> through plane A-A. The cross section reveals the first and second ball connections <NUM>, <NUM>, which can be the same as or similar to first and second ball connections <NUM>, <NUM>, respectively. The cross section also illustrates the rods <NUM> of the transducer assemblies <NUM>. Rods <NUM> can be the same as or similar to rods <NUM>.

<FIG> is a detailed view <NUM> of a portion of the cross section of the system <NUM> illustrated in <FIG>. The detailed view <NUM> further illustrates the transducer assemblies <NUM> and the first and second ball connections <NUM>, <NUM>. As illustrated, each transducer assembly <NUM> includes a rod <NUM>, a ball <NUM>, and one or more transducer elements <NUM>. A portion of the ball <NUM> rests in a hole <NUM> in the first support plate <NUM> to mechanically support the transducer assembly <NUM> in the first ball connection <NUM>. As discussed above, the ball <NUM> and the rod <NUM> can be a single unit integrally connected together or separate units that are attached or affixed to one another. A portion of a second ball <NUM> rests in a hole <NUM> in the second support plate <NUM>. The rod <NUM> extends through a hole <NUM> in the second ball <NUM> to form the second ball connection <NUM>. A recessed region <NUM> is disposed proximal to each ball <NUM>, <NUM> to secure the ball <NUM>, <NUM> in the respective hole <NUM>, <NUM>.

As discussed above with respect to apparatus <NUM>, <NUM>, the balls <NUM>, <NUM> can rotate with respect to the support plates <NUM>, <NUM>, respectively, similar to the embodiments discussed above. In addition, the rod <NUM> can slide or move axially with respect to the hole <NUM> in the second ball <NUM>.

<FIG> is a flow chart <NUM> of a method for controlling the direction of energy emitted by energy delivery devices. The method in flow chart <NUM> can be performed with one or more of the apparatus and/or systems described herein. In step <NUM>, energy is emitted from each energy delivery device in an angular direction. Each energy delivery device is mechanically coupled to a first end of a rod that extends from a moveable plate to a stationary plate along a rod axis. In each energy delivery device, the rod is mechanically coupled to a first ball disposed at least in part in a corresponding hole in the stationary plate. The angular direction is defined by an angle (e.g., angle <NUM>) between the rod axis and a reference axis.

In some embodiments, each energy delivery device includes or consists of one or more ultrasound transducer elements, and the energy emitted from each energy delivery device comprises ultrasound mechanical energy.

In step <NUM>, the position of the moveable plate with respect to the stationary plate is changed using a positioning mechanism in mechanical communication with the moveable plate. The moveable plate is in mechanical communication with each rod via a corresponding second ball. Each second ball is disposed at least in part in a corresponding hole in the moveable plate. In each energy delivery device, a portion of the rod is disposed in a hole defined in the second ball.

In some embodiments, the moveable plate can be moved parallel to and/or orthogonal to a plane that is orthogonal to at least one of the rod axes. In some embodiments, the moveable plate can be moved closer to or away from the stationary plate.

In step <NUM>, the first and second balls are rotated with respect to the stationary and moveable plates, respectively, so that each rod continues to extend from the moveable plate to the stationary plate along the rod axis when the position of the moveable plate is changed in step <NUM>.

In step <NUM>, the angular direction of the energy emitted from each energy delivery device is changed.

In some embodiments, the rods can be arranged so that at least a portion of the energy from each energy delivery device passes through a focal zone (e.g., focal zone <NUM>). In some embodiments, changing the angular direction of the energy emitted from each energy delivery device changes a location of the focal zone. The angular direction of the energy emitted from each energy delivery and the location of the focal zone can be adjusted according to a treatment plan, for example to apply a minimum dose of energy to a treatment region (e.g., in a subject). In a specific embodiment, the treatment plan can be to heat a treatment region of a subject to a minimum temperature to cause necrosis of the tissue to treat a tumor or disease.

The exemplary, non-claimed method can include adjusting or fine-tuning the angular direction of the energy delivery devices based on feedback information. For example, the method can include receiving, at a computer, magnetic resonance data of a target region in a subject, the magnetic resonance data indicating a measured angular direction of the energy delivery devices (e.g., ultrasound transducer elements). The method can also include comparing the measured angular direction of the ultrasound transducer elements with a target angular direction in a treatment plan. The method can also include adjusting the position of the moveable plate when the measured angular direction of the ultrasound transducer elements is different than the target angular direction in the treatment plan.

Claim 1:
An apparatus comprising:
a plurality of energy delivery devices (<NUM>);
a plurality of rods, each rod (<NUM>) comprising first and second ends, the first end (<NUM>) mechanically coupled to one of said energy delivery devices;
a plurality of first rotatable joints (<NUM>), each first rotatable joint mechanically coupled to a corresponding rod;
a plurality of second rotatable joints (<NUM>), each second rotatable joint is slidingly engaged on a portion of the corresponding rod;
the apparatus being characterized by further comprising:
a stationary plate (<NUM>) comprising a plurality of stationary plate holes, each stationary plate hole configured to receive at least a portion of one of said first rotatable joints to form a plurality of first rotatable joint connections, each first rotatable joint rotatable with respect to the stationary plate; and
a moveable plate (<NUM>) comprising a plurality of moveable plate holes, each moveable plate hole configured to receive at least a portion of one of said second rotatable joints to form a plurality of second rotatable joint connections, each second rotatable joint rotatable with respect to the moveable plate.