WO2008104888A2 - Système intracavitaire - Google Patents

Système intracavitaire Download PDF

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Publication number
WO2008104888A2
WO2008104888A2 PCT/IB2008/000885 IB2008000885W WO2008104888A2 WO 2008104888 A2 WO2008104888 A2 WO 2008104888A2 IB 2008000885 W IB2008000885 W IB 2008000885W WO 2008104888 A2 WO2008104888 A2 WO 2008104888A2
Authority
WO
WIPO (PCT)
Prior art keywords
probe
intracavitary
transducer
anchoring
body cavity
Prior art date
Application number
PCT/IB2008/000885
Other languages
English (en)
Other versions
WO2008104888A3 (fr
Inventor
Amit Timor
Andrei Yosef
Eliyahu Stolero
Original Assignee
C-Wide Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by C-Wide Ltd. filed Critical C-Wide Ltd.
Publication of WO2008104888A2 publication Critical patent/WO2008104888A2/fr
Publication of WO2008104888A3 publication Critical patent/WO2008104888A3/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
    • A61B8/4461—Features of the scanning mechanism, e.g. for moving the transducer within the housing of the probe
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
    • A61B5/6879—Means for maintaining contact with the body
    • A61B5/6882—Anchoring means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
    • A61B8/445—Details of catheter construction
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/48—Diagnostic techniques
    • A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/58—Testing, adjusting or calibrating the diagnostic device
    • A61B8/582—Remote testing of the device

Definitions

  • the present invention relates to medical intracavitary devices and systems.
  • the present application can relate to, but is not limited to, ultrasonography for scanning and imaging of organs of the body, including gynecologic and obstetric ultrasonic systems aimed at transvaginally imaging female pelvic organs and imaging of the fetus during pregnancy.
  • Ultrasonography is an ultrasound-based diagnostic imaging technique. As ultrasound is effective for imaging soft tissues of the body, ultrasonography is commonly used in medicine.
  • Medical sonographers typically use a hand-held probe, sometimes referred to as a "transducer” that is placed directly on and moved over the patient's body.
  • a water- based gel is used to couple the ultrasonic waves between the probe and patient.
  • the scan may be performed externally, or internally, by using intracavitary transducers.
  • a pelvic ultrasound organs of the pelvic region are imaged and during pregnancy the fetus is imaged.
  • Gynecologic ultrasonography refers to the imaging of the female pelvic organs, specifically the uterus, the ovaries, the Fallopian tubes, as well as the bladder, the Pouch of Douglas and any other body part which it is desired to image pertaining to the female reproductive system.
  • the internal pelvic ultrasound is performed either transvaginally (in a woman) or transrectally (in a man or a woman).
  • An external pelvic ultrasound may be performed abdominally.
  • intracavitary scan may be difficult to perform as it requires penetrating the patient's body and as it allows a limited access since it is restricted by the formation of the cavity and of the body.
  • an internal scan is usually an invasive act, which violates the patient's privacy. Therefore an internal scan is usually an uncomfortable and unpleasant experience for both the patient and the sonographer who performs the scan.
  • an ultrasound scan and particularly, an intracavitary scan is operator-dependent.
  • a high level of skill and experience is needed to acquire good- quality images of restricted areas of the body and to ease the level of discomfort of the patient.
  • the level of discomfort caused to a female patient during a gynecological ultrasonic scan may grow even more in case the sonographer or the specialist performing the scan is of the opposite sex. For some women it may make the scan unacceptable from religious reasons.
  • US 5,634,466 discloses an ultrasonic transesophageal probe with detachable transducer tip, which is a multiplane TEE probe for the imaging and diagnosis of multiple scan planes from within a cavity of the body, and especially for the imaging of the heart by positioning the probe in the patient's esophagus or stomach.
  • the probe includes an articulation section formed of a plurality of interconnected links. The articulation section is controlled from the handle of the probe. The articulation section may be locked in a given bent position.
  • US 6,471,653 discloses a transesophageal ultrasound probe with motor in the tip for scan-plane rotation, which comprises an endoscope with a probe head connected to the distal end of the endoscope. A transducer is secured to the probe head. A transfer mechanism is connected to the transducer. A motor at the distal end of the endoscope is connected to the transfer mechanism. Finally, an electrical wire is connected to the motor.
  • the transesophageal ultrasound probe uses a motor in the tip of the transesophageal ultrasound probe for scan plane rotation.
  • US 4,967,752 (Blumenthal et al.) discloses a multi-planar scanning mechanism for endocavital ultrasonic imaging systems including an ultrasonic transducer coupled by a linkage to a selectively rotated motor tube extending from the face of a motor.
  • the linkage causes the transducer to scan a planar sector wherein the planar sector has a fixed relationship to the motor face.
  • the motor face is moved to change the plane scanned by the transducer.
  • US 5,662,116 discloses a multi-plane electronic scan ultrasound probe having a rotary member rotatably mounted on a distal end portion of an elongated catheter member of the probe and support thereon an ultrasound transducer consisting of a row of a large number of ultrasound elements.
  • the rotary member is connected to a rotation control knob on a manipulating head of the probe by way of rotation transmission wires extended through the catheter member and via a drive pulley mounted on the manipulating head in association with the rotation control knob to turn the ultrasound transducer through an arbitrary angle in multi-plane electronic scanning by manipulation of the rotation control knob.
  • the ultrasound probe is provided with a tilting mechanism to tilt the rotational axis of the rotary member in a predetermined direction, including a tiltable support for the rotary member, a tilt control means provided on the manipulating head, and a tilt signal transmission means for transmitting a tilt control signal from the tilt control means to the tiltable support.
  • a tilting mechanism to tilt the rotational axis of the rotary member in a predetermined direction, including a tiltable support for the rotary member, a tilt control means provided on the manipulating head, and a tilt signal transmission means for transmitting a tilt control signal from the tilt control means to the tiltable support.
  • EP 1623676 (White et al.) discloses an ultrasound imaging guide wire with static central core and tip that is inserted into a patient's body, particularly into blood vessels.
  • the guide wire has a static central core, and an imaging guide wire body comprising an acoustical scanning device.
  • the acoustical scanning device can be rotated to obtain 360 degree acoustical images of a site of interest in the patient's body.
  • the imaging guide wire includes a connector that permits the imaging guide wire body to be disengaged from the static central core tip so that the imaging guide wire body can be axially translated to obtain multi-position imaging.
  • US 5,377,685 discloses an ultrasound catheter with mechanically steerable beam.
  • the catheter has a mechanically steerable beam which can be directed at a variable angle with respect to an axis of rotation of the catheter.
  • the ultrasonic transducer can be mounted in a pivoting head and steered by shape memory alloy wires subject to controlled ohmic heating.
  • a feedback system including a marker wire embedded in a capsule wall of the catheter's outer tube can be used to determine the beam angle.
  • Another aspect of the present invention relates to visual inspection of the cervix. This is important in detection of cervical pathologies, such as cervical cancer, which is typically characterized in visual changes in the cervix. Typically a gynecologist would visually inspect the cervix by dilating the vagina and observing the cervix.
  • Another object of the present invention is to provide an ultrasonic probe and system incorporating an imaging device so as to allow the sonographer to visually inspect the cervix or other organs, which the probe approaches.
  • an ultrasonic imaging system including an intracavitary probe to be inserted into a body cavity, the probe including an elongated body, an ultrasonic transducer, a remotely controlled motion generator for imparting three-dimensional motion on the ultrasonic transducer relative to the elongated body, an intracavitary anchoring unit for anchoring the elongated body of the probe inside the body cavity, and a remote control device for controlling the motion generator, thereby allowing a sonographer to displace and reorientate the transducer within the body cavity.
  • the remotely controlled motion generator comprises linear displacer, rotor and tilter.
  • the remotely controlled motion generator comprises rotational motor for rotating the transducer.
  • the linear displacer is maneuverable along a longitudinal axis parallel to the elongated body.
  • the rotor is maneuverable about a longitudinal axis parallel to the elongated body.
  • the tilter is adapted to tilt the transducer with respect to a longitudinal axis parallel to the elongated body.
  • the transducer is housed inside a maneuverable distal tip of the probe.
  • the remotely controlled motion generator imparts the three-dimensional motion on the maneuverable distal tip relative to the elongated body of the probe inside the body cavity.
  • the system further comprises a rotor for rotating the transducer in a plain parallel to the plain of the body cavity scanned by the transducer.
  • the intracavitary anchoring unit comprises a deployable dilator.
  • the deployable dilator comprises at least one inflatable balloon.
  • the system further comprises an ultrasound console the console comprising a controller for controlling the transducer, transmitting electric signals to the transducer, which are translated into ultrasonic signals by the transducer, receiving electric signals corresponding to echoes picked up by the transducer, a processor for processing the received signals and generating image data.
  • a controller for controlling the transducer, transmitting electric signals to the transducer, which are translated into ultrasonic signals by the transducer, receiving electric signals corresponding to echoes picked up by the transducer, a processor for processing the received signals and generating image data.
  • the system further comprises a display for displaying image generated from the image data.
  • the intracavitary anchoring unit is controllable by the remote control device.
  • the system further comprises an imaging sensor coupled to the transducer.
  • the imaging sensor comprises a CCD camera.
  • a method for performing an intracavitary ultrasonic scanning of organs of the body including providing an intracavitary probe comprising an elongated body and an ultrasonic transducer, a remote controlled motion generator for imparting three-dimensional motion on the ultrasonic transducer relative to the elongated body, an intracavitary anchoring unit and a remote control device for controlling the motion generator; inserting the intracavitary probe into a body cavity; anchoring the elongated body of the probe inside the body cavity using the intracavitary anchoring unit; using the remote control device remotely controlling the motion generator and adjusting and reorienting the transducer within the body cavity to one or more desired positions, and scanning selected areas within the body cavity.
  • an intracavitary system includes an intracavitary probe to be inserted into a body cavity; a plurality of anchoring units that anchor the intracavitary probe inside the body cavity, wherein the plurality of anchoring units are provided radially around the intracavitary probe, and each of the anchoring units is individually controlled to extend toward and retract from walls of the body cavity; and a controller for controlling extension and retraction of the anchoring units.
  • the anchoring units include deployable dilators.
  • the deployable dilators are inflatable balloons.
  • the deployable dilators are arranged in two groups, a first group at a proximate location with respect to a longitudinal axis of the intracavitary probe and a second group at a distal location with respect to the longitudinal direction of the intracavitary probe.
  • the intracavitary probe includes an elongated body and an ultrasonic transducer.
  • the method includes providing an intracavitary probe within a body cavity, wherein the intracavitary probe includes a plurality of anchoring units that anchor the intracavitary probe inside the body cavity, and the plurality of anchoring units are provided radially around the intracavitary probe, and individually controlling the extension or retraction of each of the anchoring units to control a position of the intracavitary probe within the body cavity.
  • the individually controlling the extension or retraction of each of the anchoring units includes extending one of the anchoring units and retracting another of the anchoring units.
  • the anchoring units includes deployable dilators.
  • the deployable dilators are inflatable balloons.
  • the intracavitary probe includes an elongated body and an ultrasonic transducer.
  • the deployable dilators are arranged in two groups, a first group at a proximate location with respect to a longitudinal axis of the intracavitary probe and a second group at a distal location with respect to the longitudinal direction of the intracavitary probe.
  • Fig. 1 illustrates a cross-sectional view of a vaginal probe of a gynecologic ultrasonic system according to a first exemplary embodiment of the present invention.
  • FIG. 2 illustrates an isometric view of the vaginal probe shown in figure 1.
  • Fig. 3 illustrates a cross-sectional view of the distal end of the probe with the maneuverable tip (housing the transducer).
  • Fig. 4 illustrates a diagram of a gynecologic ultrasonic system according to the first exemplary embodiment of the present invention.
  • FIG. 5 illustrates an isometric view of intracavitary probe according to a second invention.
  • Fig. 6 illustrates a 6-6 cross-sectional view of the intracavitary probe shown in Fig. 5.
  • FIG. 7 illustrates a 7-7 cross-sectional view of the intracavitary probe shown in Fig. 5.
  • FIGS. 8 AND 9 SHOW POSITIONING OF THE INTRACAVITARY PROBE BY
  • An ultrasonic imaging system is aimed at providing an extensive and accurate ultrasonic scan of areas of the body with restricted access by using a probe which is capable of scanning different sections within the body without relocating the probe within the body. Such scan if performed by anchoring a probe comprising a transducer within a cavity of the body and commanding the transducer to perform three-dimensional movements within the cavity of the body.
  • remote control of the probe of the system.
  • remote control in the context of the present invention it is meant providing the sonographer (see henceforth) with control over the entire scanning process performed using a system according to the present invention without direct contact between the sonographer and the probe.
  • another aspect of the exemplary embodiments comprises enabling the patient self-insertion of the probe into a cavity in his body or at least enabling the insertion of such probe with the assistance of a caregiver, whom which the patient feels relatively comfortable with, and who is not necessarily the sonographer.
  • sonographer it is meant in the context of the present invention, any physician or any person who is specifically skilled and authorized to operate an ultrasonic imaging system.
  • a system basically comprises an intracavitary probe and a remote control device.
  • the intracavitary probe generally comprises an ultrasonic transducer (henceforth: "transducer”), a remotely controlled motion generator for imparting three-dimensional motion on the transducer and an intracavitary anchoring unit for anchoring the probe inside a body cavity.
  • the remote control device is aimed at controlling the motion generator, thereby allowing a sonographer to displace and reorientate the transducer within the body cavity.
  • a probe according to the first exemplary embodiment of the present invention is connected to a controlling and imaging system.
  • the controlling and imaging system generates electric signals to the transducer, receives electric signals corresponding to echoes picked up by the transducer and processes these signals into image data.
  • the image data can be displayed on a display device.
  • An intracavitary probe of a system according to the first exemplary embodiment of present invention may be inserted in a patient's body cavity either by the sonographer, a caregiver or the patient himself.
  • caregiver it is meant for the purposes of the present invention, any person, besides the sonographer, who supplies medical or treatment services and is intended to assist the patient or any person who is related to the patient or was chosen by the patient to assist him.
  • a gynecologic ultrasonic system according to a preferred embodiment of the present invention is shown in Figs. 1 to 4.
  • This specific embodiment comprises a transvaginal probe (shown in Figs. 1 to 3) and a controlling and imaging system (shown in Fig. 4).
  • the remotely controlled motion generator of a transvaginal probe comprises a remote controlled linear displacer for linearly displacing the transducer, a remote controlled rotor for rotating the transducer and a remote control tilter for tilting the transducer.
  • the intracavitary anchoring unit of a transvaginal probe according to the specific embodiment comprises one or more inflatable balloons.
  • the controlling and imaging system of the specific embodiment comprises an ultrasound console, a remote control device and a visual display.
  • a power and data transfer cable connects the transvaginal probe and the controlling and imaging system.
  • Fig. 1 presents a cross-sectional view of a transvaginal probe (11) of the first exemplary embodiment of the invention.
  • the transvaginal probe comprises a main tube (23), an external housing (21), an internal housing (25), a maneuverable distal tip (12), a maneuverable tip mount (31), a slide (13), a displacement motor (15), a displacement axle (52), a worm gear (17), a displacement motor mount (19), a rotation motor (20), an external housing bore (55), an air-bore (53), inflatable balloon (45), an air supply pipe (47) and a power and data transfer cable (49).
  • the main tube (23) acts as a housing for the power and data transfer cable (49).
  • the longitudinal axis of the main tube defines the longitudinal axis of the probe (11).
  • the main tube comprises two cylindrical channels (54), which form two portions of the tube where the tube is narrower than the rest of the tube.
  • the main tube engulfs a medial portion of the power and data transfer cable (49).
  • the power and data transfer cable passes through the main tube and exits the main tube through its distal tip to connect with the maneuverable distal tip (12).
  • the proximal end of the main tube is coupled to the rotation motor (20).
  • the linear displacement of the transducer is performed by shifting the main tube forwards and backwards coaxially with the main longitudinal axis of the main body. Hence, the main tube moves between the internal housing (25) and the external housing (21). When shifted all the way forward, the proximal end of the main tube is enclosed by the internal housing as presented in Fig. 1. When shifted backwards, at least a portion of the proximal end of the main tube is enclosed by the external housing (21).
  • the external housing and the internal housing are preferably located in the proximal and the medial portions of the probe as to enable an adequate narrower distal portion of the probe designated to penetrate deeper into the vaginal cavity.
  • the inflatable balloon (45) (typically one but more than one balloon can be used) engulf at least a portion of the internal housing as shown in Fig. 1 and in Fig. 2 (Fig. 2 presents an isometric view of the vaginal probe shown in Fig. 1).
  • the internal housing further encloses the distal portion of the slide (13) and the distal portion of the air supply pipe (47).
  • the internal housing comprises at least one air-bore (53) through which air is supplied to the inflatable balloon.
  • Fig. 3 illustrates a cross-sectional view of the distal maneuverable tip of the probe (12).
  • the distal maneuverable tip comprises a transducer housing (41), which houses: a transducer (37), a CCD camera (66) and a transducer motor (44), a transducer- housing plug (43), a tilt axle (27), a tilt joint (32) and a tilt motor (33).
  • the distal maneuverable tip also comprises the distal end of the power and data transfer cable (49) which exits the main tube to connect with the transducer housing (41) in order to transfer data to and from the transducer and to supply power to the transducer motor and to the tilt motor.
  • Illumination in the form of one or more light diodes or other illumination means is also provided (not shown in the figures for brevity) as the probe is operating in a dark surroundings.
  • the ultrasonic transducer typically comprises a piezoelectric crystal and converts electric signals to ultrasonic waves and vice versa.
  • the external housing (21) is adjacent to the internal housing (25) (as also shown in Fig. 2).
  • the external housing encloses displacement motor (15), worm gear (17), displacement axle (52) displacement motor mount (19), at least the proximal tip of the slide (13) and a proximal portion of the power and data transfer cable (49).
  • the external housing further comprises an external housing bore (57) through which an air supply pipe (47) and the power and data transfer cable exit the probe (11) and an electrical wire (57) which exits the power and data transfer cable and connects with the displacement motor in order to supply power to the motor.
  • Fig. 4 illustrates a diagram of a gynecologic ultrasonic system, according to a preferred embodiment of the present invention.
  • the controlling and imaging system of a system according to the present invention is controlled by and designated to be operated by a sonographer.
  • the proximal end of the air supply pipe (47) is connected to a pressure air supply source.
  • the proximal end of the power and data transfer cable (49) is connected to an ultrasound console.
  • the ultrasound console is connected to a remote control device and to a remote visual display.
  • the ultrasound console is used for controlling the movements of the transducer which is located in the probe, for generating ultrasonic signals and for receiving and processing the echoes picked up by the transducer.
  • the power and data transfer cable (49) supplies power to the intracavitary probe and transfers data from and to the console, which is received and echoed in return by the transducer.
  • the power and data transfer cable encloses different wires which supply power to the different motors in the probe and wires which transfers electric signals between the transducer and the ultrasound console. The same wires may be used for supplying power and for transferring data.
  • the console processes the received data into image data, which is displayed by the visual display, in a known manner (which is not the object of the present invention).
  • the sonographer determines the body section to be scanned by the transducer, by moving and reorienting the transducer within the patient's body cavity.
  • the control of the transducer movement is done through the remote control device.
  • the remote control device is connected to the controlling and imaging system which available for the use of the sonographer.
  • the remote control device is connected to the ultrasound console and may be in the form of a joystick, a keyboard, a cat, a touch screen or a computer mouse.
  • a system according to the present invention may or may not incorporate a controlling and imaging system.
  • the remote control device may be a part of that system as presented in Fig. 4 wherein the remote control device is connected to the ultrasound console.
  • the intracavitary anchoring unit of a probe is aimed at anchoring, stabilizing and fixing the probe within the cavity of a patient's body.
  • the anchoring of the probe enables to remotely move the transducer inside a cavity of a patient's body.
  • the anchoring unit of the probe is in the form of an inflatable balloon (45).
  • Air pressure is circulated by a remote command that is either given by the sonographer, a caregiver or the patient.
  • the remote control device comprises an air pressure control means such as an ON/OFF switch or a power button.
  • a remote control means for controlling the inflatable balloon may be then installed on an accessible and convenient location on the probe or may be provided separately such as a wireless remote control comprising an ON/OFF switch etc 1 .
  • the balloon is inflated the volume of the probe increases until is fits the internal volume of the vaginal cavity in which it is inserted.
  • the inflation process is aimed at generating friction, which prevents the probe from moving during the performance the scan.
  • the balloon is deflated, enabling the retrieval of the probe from the cavity.
  • the transducer of a system according to the present invention may be displaced and reoriented within a body cavity of a patient in a three dimensional manner.
  • the maneuverable distal tip of the probe (12), which comprises the transducer may be rotated around the longitudinal axis of the probe in one predetermined direction or the opposite direction, it may be displaced along the longitudinal axis of the probe and in may be tilted with respect to the longitudinal axis of the probe.
  • the displacement motor (15), the worm gear (17) and the slide (13) perform the linear displacement of the distal maneuverable tip correspondingly to the longitudinal axis of the probe (11).
  • the displacement motor rotates the worm gear, the worm gear displaces the slide and the slide linearly displaces the main tube (23).
  • the worm gear comprises a cogwheel.
  • the slide (13) is an elongated stake, designed in a manner that allows it to slide back and forth along the longitudinal axis of the probe (11) within the space formed between the main tube (23) and the internal housing (25) and within the inner space of the external housing (when the slide is slid backwards).
  • the proximal tip of the slide is bent in a manner that prevents sliding the slide forward beyond a predetermined distance along the longitudinal axis of the probe (11).
  • the slide is threaded and comprises two jags (51).
  • the displacement motor (15) is fixed to the external housing by a mount (19).
  • the displacement motor is coupled to the cogwheel (17) by an axle (52).
  • the cogwheel is adjacent to the slide in a manner that the cogs of the cogwheel reside in and are confined by the threads of the slide.
  • the slide is joined to the main tube by placing the jags of the slide in a manner that the jags reside in and confined by the channels (54) of the main tube (each jag in the corresponding channel) so the slide and the main tube are displaced back and forth correspondingly to the longitudinal axis of the probe (11) conjointly.
  • the rotational movement produced by the rotation motor rotates the cogwheel.
  • the rotation of the cogs of the cogwheel along the threads of the slide slides and linearly displaces the slide and therefore the main tube back and forth along the longitudinal axis of the tube (which is parallel to the longitudinal axis of the probe).
  • the direction of the main tube movement (back or forth) is determined by the direction of the cogwheel rotation and hence by the direction of the revolutions of the displacement motor.
  • a rotary motor As for remote controlled motor, a rotary motor is used.
  • the rotation motor (20) comprises a rotary motor, which is coupled to the main tube so the revolutions of the motor rotate the main tube about its longitudinal axis to one direction or the other.
  • the linear displacement and the rotational movement of the maneuverable distal tip (12) may be achieved by using any other known mechanism.
  • the main tube is coupled to the maneuverable distal tip (12) by the maneuverable tip mount (31) in a manner that both are linearly displaced and rotated along and about the longitudinal axis of the probe conjointly.
  • the tilt motor (33) is coupled to the tilt mount (29) and tilts the maneuverable distal tip (12) with respect to the longitudinal axis of the probe.
  • the tilt may be achieved by using cog wheels or any other gear or transmission mechanism.
  • a probe according to the specific embodiment shown in Fig. 3 comprises a transducer motor (44) and a CCD camera (66), which can include a light. [00100]
  • the transducer motor allows remote controlled rotation of the transducer
  • the face of the transducer - the surface through which the ultrasonic waves are projected to the body - is rectangular (as illustrated in Fig. 3), thus facilitating scanning of an asymmetric area. Therefore, rotating the face of the transducer around an axis which is perpendicular to the area which is scanned at a right angle will produce a scan of a different area, yet from the same exact position of the maneuverable tip (12) or the transducer (37) within the cavity of the patient's body.
  • the angle of rotation may be predetermined or not.
  • the CCD camera is coupled to the transducer for optically viewing the areas scanned by the transducer.
  • the CCD camera allows viewing restricted areas of the cervix in order to diagnose visual pathologies in the texture of the cervix tissues.
  • the light associated with the CDD camera illuminates the area in front of the CCD camera. Therefore the CCD camera can replace the known manual examination in a more accurate, remote controlled and therefore less privacy violating examination. Any other suitable imaging sensor may replace the CCD camera.
  • At least a portion of the probe is inserted into a cavity of the body of the patient by either the patient, a caregiver or the sonographer.
  • the portion of the probe which is inserted into the vaginal cavity of the patient is the distal end of the probe which comprises the maneuverable distal tip (12), the distal portion of the main tube and the internal housing.
  • the inflatable balloon is inserted into the vaginal cavity in order to allow the anchoring of the probe and the external housing remains outside of the patient's body. While the vaginal probe is inserted, the inflatable balloon is substantially without air.
  • the patient, a caregiver or the sonographer anchor the probe within a cavity of the patient's body.
  • the anchoring is performed by inflating the balloons (45) until the probe is fixed against the walls of the vaginal cavity.
  • the controlling and imaging system can be located in a separate location from the location of the patient such as in a different room or in the same room with the patient but behind a curtain or some other kind of partition. In that manner the privacy of the patient is kept and the discomfort level of the patient is decreased greatly while performing a medical intracavitary ultrasonic scanning.
  • a system according to the present invention may further comprise a locking mechanism that locks the non-manual movement generator and therefore allows moving and maneuvering a probe of such system manually within a cavity of a patient's body.
  • Tilt mount (29), a transducer plug (43), transducer housing (41), transducer housing mount (31), main tube (23), internal housing (25), tilt motor (33), tilt mount (29), tilt axle (27), tilt joint (32) and any other components which come or might come into direct contact with the cavity of a patient's body are coated with biocompatible materials.
  • the inflatable balloon (45) is preferably made of a biocompatible polymer.
  • the motors outer layer, the axels and gears are also preferably made of biocompatible materials.
  • FIG. 5 is an isometric view of a transvaginal probe of a second exemplary embodiment of the invention. Many of the features of the transvaginal probe are the same as those of the first exemplary embodiment shown in Figs. 1-4. Accordingly, only the features that are different will be discussed in detail, while the same references numerals will be used for common features.
  • a single inflatable balloon (45) is used to anchor the probe within the vaginal cavity.
  • a plurality of balloons (45a-45f) are used to control the positioning of the probe within the vaginal cavity.
  • a plurality of air supply lines (now shown) supply air to these balloons.
  • the invention is not limited in this respect.
  • the six balloons are arranged in two groups of balloons, with each group arranged in series along the internal housing (25). That is, as shown in FIG. 5, the first group of balloons, including balloons (45a, 45b), are provided radially around the internal housing (25) at a location that is proximate the distal tip (12), while a second group of balloons, including balloons (45d, 45e), are provided radially around the internal housing (25) at a location that is distal from the distal tip (12).
  • the first group also includes the balloon (45c), although this balloon is not shown in FIG. 5 because the balloon (45c) is at an opposite side of the internal housing (25). That is, as shown in FIG. 6, which is a 6-6 cross-sectional view of FIG. 5, the balloons (45a, 45b, 45c) surround the internal housing (25).
  • the second group also includes the balloon (45f), although this balloon is not shown in FIG. 5 because the balloon (45f) is also at an opposite side of the internal housing (25). That is, as shown in FIG. 7, which is a 7-7 cross-sectional view of FIG. 5, the balloons (45d, 45e, 45f) surround the internal housing (25).
  • the use of multiple balloons allows for adjustment of positioning of the probe within the vaginal cavity C. For example, as shown in FIG. 8, by reducing the amount of air within the balloons (45a, 45d), i.e., retracting these balloons, while increasing the amount of air within the balloons (45d, 45e), i.e., extending these balloons, the probe can be moved transversely away from one side of the vaginal cavity C and closer to another side.
  • the transverse position of the probe within the vaginal cavity C can be precisely controlled.
  • the orientation, i.e., angle, of the probe with respect to the walls the vaginal cavity C can also be precisely controlled by adjusting the amount of air within the various balloons. For example, as shown in FIG. 9, by reducing the amount of air within the balloons (45b, 45d), i.e., retracting these balloons, while increasing the amount of air within the balloons (45a, 45e), i.e., retracting these balloons, the probe can oriented at an angle with respect to the walls of the vaginal cavity C.
  • the amount of air within the various balloons can be controlled remotely by the remote control means.
  • the transverse position and orientation of the probe can be automatically controlled.

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  • Life Sciences & Earth Sciences (AREA)
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  • Veterinary Medicine (AREA)
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  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
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  • Biophysics (AREA)
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  • Radiology & Medical Imaging (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)

Abstract

La présente invention concerne un système d'imagerie à ultrasons comprenant une sonde intracavitaire (11) devant être insérée dans une cavité corporelle. Ladite sonde comporte les éléments suivants : un corps allongé (23) ; un transducteur à ultrasons (37) ; un générateur de mouvement contrôlé à distance (33, 44) permettant de transmettre un mouvement tridimensionnel au transducteur à ultrasons par rapport au corps allongé ; une unité d'ancrage intracavitaire (45) destinée à ancrer le corps allongé de la sonde à l'intérieur de la cavité corporelle ; et un dispositif de contrôle à distance permettant de contrôler le générateur de mouvement. La présente invention concerne également un système intracavitaire incluant les éléments suivants : une sonde intracavitaire devant être insérée dans une cavité corporelle ; une pluralité d'unités d'ancrage (45a-45f) qui ancrent la sonde intracavitaire à l'intérieur de la cavité corporelle, ladite pluralité d'unités d'ancrage étant placée radialement autour de la sonde intracavitaire, et chacune des unités d'ancrage étant individuellement contrôlée pour s'étendre vers des parois de la cavité corporelle et se rétracter depuis celles-ci ; et un contrôleur permettant de contrôler l'extension et la rétraction des unités d'ancrage.
PCT/IB2008/000885 2007-02-28 2008-02-27 Système intracavitaire WO2008104888A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IL181636 2007-02-28
IL181636A IL181636A0 (en) 2007-02-28 2007-02-28 Ultrasonic imaging system

Publications (2)

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WO2008104888A2 true WO2008104888A2 (fr) 2008-09-04
WO2008104888A3 WO2008104888A3 (fr) 2009-12-23

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US20110166455A1 (en) * 2010-01-07 2011-07-07 Cully Edward H Catheter
CN103157192A (zh) * 2013-03-01 2013-06-19 山东师范大学 一种医用三维模拟运动平台及其模拟运动方法
WO2015151102A1 (fr) * 2014-04-01 2015-10-08 Fertigo Medical Ltd. Système de surveillance pour détecter l'utérus de façon continue
CN113143188A (zh) * 2019-11-08 2021-07-23 苏州阿酷育医疗科技有限公司 一种超声和内窥镜组合***
WO2022259256A1 (fr) * 2021-06-11 2022-12-15 Shempriz.Health Ltd Sonde à ultrasons

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US6494827B1 (en) * 1998-10-29 2002-12-17 Olympus Optical Co., Ltd. Endoscope device and operation apparatus
US20030163147A1 (en) * 2002-02-22 2003-08-28 Rabiner Robert A. Apparatus and method for using a vascular introducer with an ultrasonic probe

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US5191890A (en) * 1991-04-22 1993-03-09 Interspec, Inc. Ultrasonic probe assembly
US5413107A (en) * 1994-02-16 1995-05-09 Tetrad Corporation Ultrasonic probe having articulated structure and rotatable transducer head
US6494827B1 (en) * 1998-10-29 2002-12-17 Olympus Optical Co., Ltd. Endoscope device and operation apparatus
US20030163147A1 (en) * 2002-02-22 2003-08-28 Rabiner Robert A. Apparatus and method for using a vascular introducer with an ultrasonic probe

Cited By (16)

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Publication number Priority date Publication date Assignee Title
RU2527668C2 (ru) * 2010-01-07 2014-09-10 Гор Энтерпрайз Холдингс, Инк. Улучшенный катетер
WO2011085180A3 (fr) * 2010-01-07 2011-11-24 Gore Enterprise Holdings, Inc. Cathéter amélioré
CN103037772A (zh) * 2010-01-07 2013-04-10 戈尔企业控股股份有限公司 改进的导管
JP2013516291A (ja) * 2010-01-07 2013-05-13 ゴア エンタープライズ ホールディングス，インコーポレイティド 改良カテーテル
US20110166455A1 (en) * 2010-01-07 2011-07-07 Cully Edward H Catheter
AU2011204333B2 (en) * 2010-01-07 2014-05-15 W. L. Gore & Associates, Inc. Improved catheter
KR101437251B1 (ko) * 2010-01-07 2014-09-02 고어 엔터프라이즈 홀딩즈, 인코포레이티드 카테터
CN103157192B (zh) * 2013-03-01 2015-08-05 山东师范大学 一种医用三维模拟运动平台及其模拟运动方法
CN103157192A (zh) * 2013-03-01 2013-06-19 山东师范大学 一种医用三维模拟运动平台及其模拟运动方法
WO2015151102A1 (fr) * 2014-04-01 2015-10-08 Fertigo Medical Ltd. Système de surveillance pour détecter l'utérus de façon continue
CN106535738A (zh) * 2014-04-01 2017-03-22 弗迪格医疗有限公司 用于持续感测子宫的监控***
RU2714459C2 (ru) * 2014-04-01 2020-02-17 Фертиго Медикал Лтд. Система мониторинга для непрерывной диагностики матки
US10856798B2 (en) 2014-04-01 2020-12-08 Fertigo Medical Ltd Monitoring system for continuously sensing the uterus
CN106535738B (zh) * 2014-04-01 2022-06-14 弗迪格医疗有限公司 用于持续感测子宫的监控***
CN113143188A (zh) * 2019-11-08 2021-07-23 苏州阿酷育医疗科技有限公司 一种超声和内窥镜组合***
WO2022259256A1 (fr) * 2021-06-11 2022-12-15 Shempriz.Health Ltd Sonde à ultrasons

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IL181636A0 (en) 2007-07-04

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