WO2021138466A1 - Vapor therapy systems and methods - Google Patents
Vapor therapy systems and methods Download PDFInfo
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- WO2021138466A1 WO2021138466A1 PCT/US2020/067532 US2020067532W WO2021138466A1 WO 2021138466 A1 WO2021138466 A1 WO 2021138466A1 US 2020067532 W US2020067532 W US 2020067532W WO 2021138466 A1 WO2021138466 A1 WO 2021138466A1
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- prostate
- needle
- therapy
- vapor
- sensor
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Definitions
- the transition zone includes two lateral prostate lobes and the periurethral gland region. There exist natural barriers around the transition zone, i.e., the prostatic urethra, the anterior fibromuscular stroma (FS), and a fibrous plane (FP) between the transition zone and peripheral zone.
- the anterior fibromuscular stroma (FS) or fibromuscular zone is predominantly fibromuscular tissue.
- the at least one sensor comprises at least one bio-impedance electrode.
- the controller is configured to determine that the therapy needle has contacted a prostatic capsule of the prostate when there is an abrupt change in the electrical impedance.
- the abrupt change comprises a sudden change of more than 25%.
- the parameter comprises an electrical resistance of one or more tissues of the prostate.
- the parameter comprises an electrical capacitance of one or more tissues of the prostate.
- the parameter comprises a force applied by one or more tissues of the prostate to the at least one sensor.
- the at least one sensor comprises a force sensor.
- the force sensor is embedded behind a flexible tip of the therapy needle, wherein the flexible tip is configured to flex when a critical force is applied to the flexible tip.
- the therapy needle is configured to deliver vapor into the prostate.
- the device further comprises a magnet coupled to a proximal portion of the therapy needle, wherein the advancement mechanism comprises a solenoid actuator disposed around the magnet, the solenoid actuator comprising a push winding coupled to a source of current and a pull winding coupled to the source of current, the push winding being configured to apply a first magnetic field to the magnet, the pull winding being configured to apply a second magnetic field to the magnet, wherein the first and second magnetic fields move a distal tip of the therapy needle between a retracted position inside the introducer shaft and an extended position at least partially outside of the introducer shaft.
- the advancement mechanism comprises a solenoid actuator disposed around the magnet, the solenoid actuator comprising a push winding coupled to a source of current and a pull winding coupled to the source of current, the push winding being configured to apply a first magnetic field to the magnet, the pull winding being configured to apply a second magnetic field to the magnet, wherein the first and second magnetic fields move a distal tip of the therapy needle between a
- a method of treating a prostate of a patient comprising the steps of inserting a shaft of a therapy device transurethrally into the patient, advancing a therapy needle from the shaft, through a prostatic urethra of the patient, and into the prostate of the patient, measuring at least one parameter of prostate tissue with a sensor disposed on the therapy needle, determining that the therapy needle has contacted a prostatic capsule based on the at least one parameter, and stopping advancing the therapy needle when the prostatic capsule is contacted.
- the at least one parameter comprises an electrical impedance of the prostate tissue.
- determining that the therapy needle has contacted the prostatic capsule further comprises detecting an abrupt change in the measured electrical impedance.
- the abrupt change comprises a sudden change of more than 25% in the measured electrical impedance.
- the at least one parameter comprises a force applied by the prostate tissue to the therapy needle.
- determining that the therapy needle has contacted the prostatic capsule further comprises detecting a critical force with the sensor.
- the method further comprises delivering vapor from the therapy needle into the prostate.
- a prostate treatment system comprising a therapy device comprising an introducer shaft sized and configured for transurethral access into a patient, a therapy needle slidably disposed within the introducer shaft, an advancement mechanism coupled to the therapy needle and configured to advance the therapy needle from the introducer shaft through a prostatic urethra into a prostate of the patient, at least one transmitter disposed on the therapy needle, and an external tracking system configured to sense a position of the at least one transmitter within the prostate.
- the at least one transmitter comprises a magnet
- the external tracking system is configured to sense a pulsed magnetic field from the magnet to determine the position of the at least one sensor within the prostate.
- the external tracking system comprises an array of transmitter coils configured to sense a change in ambient magnetic field of the magnet as it moves through the prostate.
- the external tracking system is disposed on or within a trans- rectal probe.
- the trans-rectal probe comprises a trans-rectal ultrasound probe.
- the magnet comprises an electromagnet.
- a prostate treatment device comprising an introducer shaft sized and configured for transurethral access into a patient, a therapy needle slidably disposed within the introducer shaft, an advancement mechanism coupled to the therapy needle and configured to advance the therapy needle from the introducer shaft through a prostatic urethra into a prostate of the patient, at least one transmitter disposed on the therapy needle, and a tracking sensor disposed on a distal portion of the introducer shaft, the tracking sensor being configured to sense a position of the at least one transmitter on the therapy needle relative to the distal portion of the introducer shaft.
- the at least one transmitter comprises a magnet
- the tracking sensor is configured to sense a pulsed magnetic field from the magnet to determine the position of the at least one sensor.
- the external tracking system comprises an array of transmitter coils configured to sense a change in ambient magnetic field of the magnet as it moves through the prostate.
- the magnet comprises an electromagnet.
- a method of treating a prostate of a patient comprising the steps of inserting a shaft of a therapy device transurethrally into the patient, advancing a therapy needle from the shaft, through a prostatic urethra of the patient, and into the prostate of the patient, determining a real-time position of the therapy needle in the prostate, displaying the real-time position of the therapy needle and the prostate, and providing ablative therapy from the therapy needle to the prostate.
- the advancing step further comprises advancing the therapy needle and a transmitter disposed on the therapy needle into the prostate.
- the method further comprises sensing the ambient magnetic field of the transmitter with a tracking system external to the therapy device.
- the method further comprises registering the real-time position of the therapy needle onto an ultrasound image from the trans-rectal ultrasound probe.
- the method further comprises creating a map of treated prostate locations.
- FIGS. 1A-1E show one embodiment of a vapor delivery system.
- FIGS. 3A-3B illustrates the infusion of air with vapor to track the zone of vapor ablation.
- FIGS. 4A-4C illustrate one embodiment of tracking a position of the vapor delivery needle with a needle tip magnet or coil.
- FIGS. 5A-5C show a vapor delivery needle with a tip coil sensor for motion tracking.
- FIGS. 6A-6E illustrate other embodiments of tracking a position of the vapor delivery needle with trans-rectal probes.
- FIGS. 7-8 illustrate further embodiments of a vapor delivery needle with contact sensors configured to detect when the needle tip contacts the prostate wall.
- FIGS. 9A-9B are an example of a vapor delivery needle with a non-Newtonian tip configured to deform when making contact with a prostatic capsule.
- FIG. 10 is a flowchart describing another method of treating prostate tissue. DETAILED DESCRIPTION
- one method for treating cancer of the prostate comprises introducing a heated vapor interstitially into the interior of a prostate, wherein the vapor controllably ablates prostate tissue.
- This method can utilize vapor for applied thermal energy of between 50 calories and 600 calories per each individual vapor treatment (and assumes multiple treatments for each prostate lobe) in an outpatient-based procedure.
- the method can cause localized ablation of prostate tissue without damaging the prostatic urethra and without damaging tissue outside of the prostate gland.
- the present disclosure is directed to the treatment of prostate cancer, and more particularly for ablating peripheral zone prostate tissue without ablating central or transitional zone prostate tissue.
- the system can include a vapor delivery mechanism that delivers vapor media, including water vapor.
- the system can utilize a vapor source configured to provide vapor having a temperature of at least 60°-140° C.
- the system further comprises a computer controller configured to deliver vapor for an interval ranging from 1 second to 30 seconds.
- the system further comprises a source of a pharmacologic agent or other chemical agent or compound for delivery with the vapor.
- agents include, without limitation, an anesthetic, an antibiotic or a toxin such as Botox ® , or a chemical agent that can treat cancerous tissue cells.
- the agent also can be a sealant, an adhesive, a glue, a superglue or the like.
- a prostate treatment device comprising an introducer shaft sized and configured for transurethral access into a patient, a vapor generator configured to generate a condensable vapor, a vapor delivery needle in communication with the vapor generator and slidably disposed within the introducer shaft, and an actuator configured to move the vapor delivery needle between a retracted position inside the introducer shaft and an extended position at least partially outside of the introducer shaft, and to advance or retract the needle continuously or in steps to tissues at any location between the prostatic urethra and prostate capsule.
- this disclosure is directed to navigation of a vapor delivery device, including a vapor delivery needle, into and throughout the prostate without the possibility of penetrating the prostate capsule.
- the vapor delivery needle tip is blunted to a degree that it penetrates the prostatic urethra under large deployment forces, yet it cannot puncture the prostate capsule under smaller navigation forces.
- electrodes are disposed on the needle tip to measure tissue electrical impedance adjacent the tip. Tissue impedance, (both resistance and capacitance) change abruptly as the tissue changes from cellular within the prostate to fibrous in the capsule wall.
- linear force or displacement sensors may be disposed on the vapor delivery device, including on the vapor delivery needle.
- the system may include a switch closure feature that activates when a specified tip force has been exceeded.
- the needle is advanced by applying a force to the needle via an electronic solenoid to which the needle is attached. Sensors adjacent the solenoid measure the displacement of the solenoid magnet and needle. Using a closed loop algorithm, the needle is advanced a specified distance or at a specified speed. If the needle encounters an obstruction, the solenoid current is automatically increased to continue needle movement. A critical current corresponds to a critical force on the needle that is equal and opposite to the force exerted on the needle by prostate tissue. A critical force may be defined indicating that the needle has encountered the prostate capsule. At this point the solenoid force may be taken to zero and the operator may be warned that a critical obstruction has been encountered which may be the wall of the prostate capsule.
- the needle tip can be constructed from a non-Newtonian material that maintains a needle tip shape when advanced rapidly during needle deployment to puncture the urethra, but is deformed to a blunt tip when smaller, slowly acting forces are applied.
- the blunt tip shape cannot penetrate the prostate capsule.
- the vapor delivery needle tip is blunted to a degree that penetration of the prostate capsule cannot occur under the forces applied by the needle driver during navigation of prostate tissues.
- the needle driver comprises a solenoid. Initial deployment of the needle can occur in 10 to 15 msec, and the needle may reach speeds in excess of 1 m/sec, adequate for blunted needle tips to penetrate the urethral wall.
- the solenoid may be activated for times of about 1 to 2 msec, adequate for the needle to travel a small, specified distance.
- the needle does not reach its terminal speed during the short pulse duration, and the needle reaches speeds that are less than 1 m/sec, or less than 0.5 m/sec.
- the needle is advanced in a continuous movement through prostate tissue, which requires solenoid forces that are much smaller than the initial deploy force. The force is measured and controlled via an algorithm to prevent forces high enough to penetrate the capsule wall.
- FIG. 1A shows one embodiment of a vapor delivery system 100.
- Vapor delivery system 100 can have an elongate shaft 102 configured for insertion into the urethra of a patient and a handle portion 104 for gripping with a human hand.
- the handle can be an ergonomic swept back handle that allows the user to comfortably rotate the delivery device left and right to deliver vapor to the right and left lobes of the prostate.
- the vapor delivery system 100 can include a vapor delivery needle 106 of FIG. IB disposed in the shaft and configured to extend from a distal portion of the elongate shaft 102.
- the solenoid current may be monitored in real time and an alert or automatic shutdown performed when the solenoid current exceeds a critical value indicating the presence of an obstruction, especially important if the obstruction is the capsule wall.
- the vapor generator 112 can comprise a coiled metal tube 120 through which sterile water flows that is converted to high quality vapor when DC or AC current is passed through the walls of the tube. The vapor passes through the delivery device needle for delivery to targeted tissues.
- the vapor generator 112 can include a coiled tube 120 of Inconel 625 stainless steel with electrical leads for DC or AC current attached at its ends.
- the Inconel tube is covered by a thin wall, electrical insulating material 122, such as polyimide, to ensure current flow through the entire length of the tube without shorting between adjacent tube windings.
- electrical insulating material 122 such as polyimide
- Inconel 625 is an example of a metal that has a very small temperature coefficient of electrical resistance, so that Ohmic heat is applied uniformly along the length of the tube regardless of a substantial temperature gradient along its length.
- Polyimide is an excellent electrical insulator across a thickness small enough to provide good thermal conductivity between adjacent tube windings, thereby minimizing the temperature gradient along the heating element tube.
- the polyimide insulation may have a thickness between 10 and 100 microns.
- FIG. IB shows one embodiment of a vapor delivery system 100 which comprises two separable systems, the delivery device handle 103, and cartridge 104 which may be removed from handle 103.
- the handle 103 comprises buttons and actuators that engage circuit board 50 that, along with electronics in the external console, control needle movements and the delivery of vapor, and process and/or relay information from sensors such as thermocouples on the heating element 112 (not shown) and sensors disposed on needle 106 (for example in FIG. 6) that sense needle location and orientation relative to prostate tissues.
- Cable 60 connects sensors and electronics within the delivery device handle 103 with an external control system.
- Cable 70 connects the cartridge heating element 112 and sensors to the external console.
- cable 70 may plug into delivery device handle 103, with some of the leads passing through cable 60 to the console. Cables 60 and 70 from handle 103 and cartridge 104 may join at a point lying between the delivery system and the external console, entering the external console via a single connector.
- handle 103 is reusable while cartridge 104 is disposable.
- the two-piece design allows cartridges to be inserted for different aspects of a procedure. For example, in a prostate ablation procedure, a cartridge containing needle 126 of FIG. ID may be used to treat peripheral zones of the prostate while a cartridge containing needle 106 is used for treatment of other prostate zones. Cartridges may contain needles having other hole patterns and various needle lengths for treating other tissues.
- Some cartridges may contain sophisticated sensor systems, e.g., for tracking the needle tip or measuring vapor temperature or pressure at the needle tip.
- Cartridges may have a range of features and costs.
- the two-piece design of FIG. IB allows application specific cartridges to be exchanged without throwing away the handle containing relatively expensive electronics.
- cartridge 104 can rotate within handle 103. This feature allows the handle 103 to be held stationary while rotating the cartridge and needle tip to penetrate prostate tissues surrounding the prostatic urethra.
- the single piece system of FIG. 1A requires the user to rotate the entire device to address all prostate tissue.
- FIG. ID compares a standard hole pattern of vapor delivery ports 115 in needle 106 comprising three rows of four vapor delivery ports spaced evenly around the needle circumference occupying 4 mm along the needle distal end.
- FIG. ID also illustrates one example of a peripheral zone needle 126, comprising vapor delivery ports 115 spaced in a staggered pattern.
- needle 126 includes 9 vapor delivery ports occupying only 2 mm on the needle distal end. The diameter of the holes in the nine-hole patters is chosen so that the total cross-sectional area of all vapor holes remains the same as the 12-hole pattern, thereby ensuring that the vapor exit speed is approximately the same for both needles.
- FIG. IE is one example of the various electronics components incorporated into the vapor delivery system described above.
- the system can include an electronic controller or external console 151, a handle 103, and a cartridge 104, as described above.
- the cartridge and handle are schematically illustrated together, since in some embodiments these components are not separate, and additionally many of the electronics can be interchangeably placed in either the handle or cartridge of the system.
- the electronics are distributed between the console, cartridge, and delivery device handle in FIG. IE, although it should be understood that the electronics could be moved between the various components.
- FPGA 152 disposed in the console and FPGA 153 disposed in the handle are configured to communicate with each other to monitor and process system sensors and actuators and control needle movements and vapor delivery. Advantages of the FPGAs include very high speed for real time feedback of rapidly changing signals, small size, and parallel processing architecture for simultaneously addressing multiple delivery system functions.
- the vapor generator of the system can include a vapor coil 120 and a vapor controller 121 configured to control DC power delivery to the coil to heat the coil and produce vapor.
- the vapor coil can be disposed within the handle of the system. Delivery of saline or fluid from the console to the generator can be achieved by controlling a saline pump with FPGA 152. Vapor generator current needed to deliver maximum vapor flow rates into tissue can range up to 25 Amps in some applications. Relatively heavy current carrying leads having low electrical resistance can comprise two parallel strands of AWG#22 magnet wire on both the go and return leads. These leads may pass through the delivery device handle or be routed to the console without entering the delivery device handle. Similarly, some or all of the leads from sensors in the delivery device cartridge may be routed through the handle for processing in FPGA 153, or they may be routed directly to the console for processing in FPGA 152.
- sensors having leads that terminate in the cartridge include needle tip bio-impedance electrodes 154 configured for sensing proximity of the needle to the prostate capsule.
- Corresponding bio-impedance electronics 155 can be disposed in either the handle/cartridge or the console.
- Needle tip tracking electronics 158 and one or more coils 159 can be configured for sensing external magnetic fields used to track the location and heading of the needle tip (alternatively this coil may transmit an AC magnetic field that is sensed by external sensors).
- the external magnetic fields are generated with tracking coils 162 of the console. These tracking coils can be positioned externally to the console, for example.
- thermocouples 160 located on the vapor generator coil 120 measure vapor outlet temperature and enable auto shut down of heating current when the temperature is out of range.
- Leads attached to the ends of the vapor generator can be configured to measure the voltage across the vapor generator for computation of power delivered to the vapor generator.
- Sensor leads may comprise fine insulated wire, for example AWG #30 magnet wire. These leads may be routed to the delivery device handle, where they can be digitized and processed by FPGA 153, and communicated as needed to FPGA 152.
- Magnetic field sensors 161 can be configured to sense the magnetic field of the solenoid 156, from which the position of the magnet relative to the retracted position can be computed by FPGA 153 and relayed to FPGA 152 for real time feedback of solenoid current to control magnet position.
- FIG. 2C shows an embodiment in which a physician or user of the system can activate translation and/or rotation of the TRUS transducer 200 with a foot pedal 216 to keep a portion of the ultrasound image, for example the needle tip, in focus during the procedure.
- a flowchart is provided illustrating a method for tracking prostate therapy.
- the method can be performed using any of the systems and devices described herein.
- the method can include generating vapor in a therapy system, and at operation 304, delivering vapor at a location within the prostate with the therapy system.
- a vapor delivery system can include a transurethral shaft and a vapor delivery needle configured to access the prostate via the prostatic urethra.
- a user of the system can move the shaft to the desired position within the patient’s urethra, and extend the vapor delivery needle out from the shaft and into the prostate.
- the method can include injecting a volume of air into the prostate at the location. This injection of air can occur prior to, during, or after the vapor is delivered into the location at operation 304.
- a vapor therapy system can include a vapor generator with an air inlet that allows for an injection of air into the vapor stream by opening/closing a valve.
- the method can include injecting a known volume of air into the prostate at the location.
- the user of the device can inject any volume of air into the location. For example, it may be desirable to inject a larger volume of air into the prostate at a first or last treatment location.
- the method can include visualizing the injected air in the prostate to track the treated prostate locations.
- visualizing the injected air can comprise visualizing the prostate with an ultrasound imaging system. As described above, injected air in the prostate will appear on ultrasound imaging as a bright or white volume within the prostate tissue. Therefore, locations within the prostate that have been treated with vapor and received an air injection will be easily visible in ultrasound imaging.
- the method can further include the step of creating a map of treated locations within the prostate. The map can then be displayed to a user of the system to provide real-time feedback of treatment progress.
- Methods and techniques for safe and effective navigation of the vapor delivery needle can include image guidance using real-time ultrasound and/or pre-operative MRI images.
- vapor delivery needle tip tracking can be facilitated by a magnet 428 embedded in or near the tip of the vapor delivery needle. While the illustrated embodiment shows a permanent magnet in the needle, it should be understood that this component could also be referred to a transmitter of magnetic field.
- navigation of the device can occur in pulse steps in which the vapor delivery needle tip moves a short, predetermined distance in a short time.
- Changes in vapor delivery tip location can be sensed during the pulse movements of the needle.
- magnetic fields generated by the pulse movements of the magnet on the needle tip can be sensed by the sensors on the shaft of the device, and the value of the sensed magnetic field can be used to determine how far the tip of the vapor delivery needle is from the sensors, and therefore, how far the needle tip has advanced from the shaft of the vapor delivery device.
- the distance that the needle has moved is known from measurements made by Hall sensors of the needle driver magnet position.
- sensors 430 on the shaft tip can indicate the lateral deflection of the needle from a nominal needle tip location along a line perpendicular to the delivery device shaft.
- the needle tip magnet 428 can be a coil of wire 528 positioned near the needle tip, as shown in FIGS. 5 A.
- the coil can be positioned proximally from the needle tip, including the vapor delivery ports 515 and bio-impedance electrodes 554.
- the leads 532 for the bio-impedance electrodes and the coil 528 can be routed through the vapor delivery ports into the needle.
- the needle can include a slot 536 with channels 538 to accommodate the coil and leads, respectively. A sinusoidal current at a given frequency may be passed through the needle tip coil in FIGS.
- the current, I is chosen as the maximum AC current at 5,000 Hz that can be delivered before the coil becomes hot to the touch.
- a typical safe current in this coil is 0.04 amps rms.
- the coil permeability can be provided by winding the coil over a permeable foil 540 or by winding the coil with a magnetically permeable wire, for example nickel magnet wire.
- a gap 542 can be provided in the permeable foil to prevent circumferential eddy currents in the foil that tend to cancel the magnetic field generated by the coil.
- the magnetic field of Eq.(3) at the maximum separation of 0.026 m is 2 x 10 7 Tesla rms
- a typical low noise amplifier has a noise voltage typically in the range of 3 x 10 9 x sqrt(BW) volts rms, where BW is the output signal bandwidth. If the measured rms voltage is averaged down to a rate of 10 samples per second, the bandwidth is 10 Hz, and the rms amplifier noise is about 9.5 x 10 9 volts rms. The expected signal to noise ratio at the largest separation between the needle tip and the shaft sensor is then:
- the magnetic field of the stationary magnet is at DC, and it is well known that many noise sources, both natural and man-made make it difficult to discern a DC signal from such a small magnet.
- the induction coil shaft sensors of FIG. 4B have zero sensitivity at DC and an induced signal that increases with frequency. If the needle is moved rapidly in small steps at high speeds, the sensors of FIG. 4B will see an AC signal corresponding to the rise time of the step movement of the magnet.
- the embedded permanent magnet has no leads with no electronics required for the needle tip. This is an advantage versus a needle tip coil because placing leads within the needle with no impact on other needle functions is challenging. As the magnet moves in pulse steps, the voltage induced in these coils is the time rate of change of the magnetic flux linking the coils:
- B dipole magnetic field in Tesla
- m dipole moment of tip magnet in Tesla-m 3
- x distance between the tip magnet and sensor in meters
- a standard precision amplifier chip has input voltage noise of 3 nV/Hz 1/2 .
- the sensor noise is 30 nV or:
- the motion is comprised of pulses.
- the pulses may be fast and 0.1 - 0.3 mm each.
- the induction coils on the shaft tip track changes in needle magnetic field, or changes in magnet position relative to the shaft tip coils.
- Both the solenoid coil currents and the solenoid magnet movement can be sensed by the shaft tip sensors as changes in the ambient magnet field and are thereby noise sources relative to the needle tip magnet or electromagnet. These fields are small due to the relatively large separation between the solenoid and the shaft tip and the rapid fall-off of the magnetic field with distance. These signatures are also known and measured by one or more sensors within the delivery device handle, and so they can be compensated. The displacement and speed of the needle deployment is obtained from delivery device sensors, which may be used to improve tip sensor tracking.
- the electronics 612 of the probe can process the sensed signals to provide the x, y, z coordinates of the needle tip relative to the rectal probe.
- Eqs. (2) and (3) may be evaluated with r equal to the largest separation anticipated between the rectal probe distal sensors and the needle tip. In the largest prostates at a needle location farthest from the rectal probe, the separation r will be less than 10 cm.
- the trans-rectal probe including the magnetic sensor array can be inserted into the patient’s rectum with the distal end of the probe positioned near the prostate gland.
- Balloons 606 and 608 may be inflated to stabilize the probe, as described above.
- the prostate is not mechanically moved or altered by probe forces.
- the stabilizing balloons prevent movement of the magnetic sensor arrays, and a rigid framework for the sensors provides a rigid coordinate system for tracking the position of the vapor delivery needle.
- the location of cancerous tissue may be manually input onto an ultrasound image if the coordinates of this tissue are known relative to the preoperative MRI image, and the coordinates of the MRI image are registered to the coordinates of the ultrasound image, for example by comparing coordinates of known landmarks in the two images.
- Registration of the needle tip track to a preoperative MRI image is important to ensure the computed track of the needle tip is always near the true location of the needle tip as displayed on the MRI image. Because the MRI image is taken before the vapor therapy procedure, the location of some prostate tissue may have shifted. In addition, the delivery device shaft may alter the location of prostate tissues. Registration comprises electromagnetic determination of coordinates of anatomical features that appear on the MRI image.
- Magnetic fields transmitted from external antennas such as that of FIG. 4C can be used to locate the cartridge and thus the delivery device shaft tip relative to the external reference frame.
- One or more cartridge sensors will also provide the orientation of the cartridge and needle tip.
- Remote sensors for leadless needle tip tracking While multi-turn coils that may have a permeable core can achieve the highest sensitivity to magnetic fields, an array of flux-gate or solid-state magnetic sensors placed near the patient can also be used to measure the pulsed movements of the vapor delivery needle tip and localize five degrees of freedom of the needle tip that are the x, y, z coordinates and polar and azimuth angles of the tip relative to the sensor coordinate system.
- Typical rms magnetic field noise in a 100 Hz bandwidth centered at 1 kHz is 6 x 10 10 Tesla.
- the side magnetic field from the tip magnet at 25 mm given in Eq.(3) may be extrapolated to another distance, r.
- FIG. 5C is a flowchart providing one method of treating a prostate of a patient. The method can be performed with any of the systems or devices described herein.
- the method of FIG. 5C can include inserting a shaft of a therapy device transurethrally into a patient.
- the method can further include advancing a therapy needle from the shaft into the prostate of the patient.
- the transmit coils of FIG. 6D may be wound with magnet wire that provides sufficient flexibility to the coils, and may be driven by AC current and voltage levels that are safe and economically provided.
- magnet wire in the range of #42 to #52 may be used to wind the transmit coils of FIG. 6D.
- the transmit coils may comprise any shapes that may be wound conveniently, including circles, ovals, squares, rectangles and even irregular shapes that can be quantified to compute magnetic fields using the law of Biot and Savart.
- the transmit coils may be integrated into the wall of a trans rectal tube as shown in FIG. 7B.
- the ultrasound probe is inserted into the tube of FIG. 6B that comprises the electromagnetic field windings.
- trans-rectal coil system of this invention Another advantage of the trans-rectal coil system of this invention is that the sensor lead wires and electronics are exposed to negligible magnetic fields from the transmitter. In external transmit coil systems such as that of FIG. 4C, leads extending from the needle tip sensor and electronics in the delivery device handle of FIG. 1 may be exposed to magnetic fields that distort the received signal by inducing currents in the leads, connectors, and electronics components and ground planes. [00200] Another advantage of the trans-rectal coil system of this invention is that the trans- rectal image is automatically registered to the EM track after calibration, and in contrast to external coil systems, registration cannot change during a procedure.
- FIG. 1 Another embodiment of a vapor delivery needle with a force sensor is shown in FIG.
- a sensitive material 802 is sandwiched between two electrodes 804, with the outside electrode capable of flexing when a force is applied at the vapor delivery needle tip 806.
- Examples include a capacitor in which the material is a dielectric or even air or vacuum. The capacitance is measured and varies with electrode separation. Piezoelectric materials generate a voltage between the electrodes when force is applied. Piezoresistive materials change electrical resistance measured between the electrodes when force is applied.
- Sensor technologies include a magnetic field sensor in the tip that measures separation from a magnetic source such as the tip magnets described above. In another embodiment, the sensor may comprise a miniature integrated circuit that may contain micro-machined membranes or cantilevers, and may measure acceleration, displacement, or force.
- the vapor delivery needle tip can be passively prevented from penetrating the prostate capsule wall by configuring the needle tip to flatten when contacting the prostate wall or capsule under the relatively small pulse navigation or continuous navigation forces, as shown in FIGS. 9A-9B.
- the needle tip When the large and quickly acting needle deploy forces are applied, such as when the needle is initially advanced into the prostate, the needle retains its pointed shape to penetrate the urethral wall, as shown in FIG. 9A. However, when the needle is pressed slowly against a tissue with more rigidity such as the prostate capsule, the needle tip can be configured to flatten or blunt itself, as shown in FIG. 9B.
- Safe and effective methods and systems for protecting sensitive tissues include limitation of heat conduction to these areas. Since heat conduction is a time dependent process, reducing the time that therapy is applied to tissues adjacent the prostate wall, and increasing the time for cooling between therapy shots are effective means for mitigating damage to periprostatic tissues.
- image guidance determines when the needle is adjacent sensitive tissues that need protection from overheating. Ablation of prostate tissue is performed in multiple steps that may comprise variable ablation times at a fixed calorie/second energy vapor delivery rate.
Abstract
Description
Claims
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AU2020419190A AU2020419190A1 (en) | 2019-12-30 | 2020-12-30 | Vapor therapy systems and methods |
US17/788,187 US20230052207A1 (en) | 2019-12-30 | 2020-12-30 | Vapor therapy systems and methods |
EP20910200.3A EP4084668A4 (en) | 2019-12-30 | 2020-12-30 | Vapor therapy systems and methods |
JP2022565733A JP2023508613A (en) | 2019-12-30 | 2020-12-30 | Steam therapy system and method |
CA3163613A CA3163613A1 (en) | 2019-12-30 | 2020-12-30 | Vapor therapy systems and methods |
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US201962955288P | 2019-12-30 | 2019-12-30 | |
US62/955,288 | 2019-12-30 |
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EP (1) | EP4084668A4 (en) |
JP (1) | JP2023508613A (en) |
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US6638275B1 (en) * | 2000-10-05 | 2003-10-28 | Medironic, Inc. | Bipolar ablation apparatus and method |
US20070179491A1 (en) * | 2006-01-31 | 2007-08-02 | Medtronic, Inc. | Sensing needle for ablation therapy |
US20120197243A1 (en) * | 2011-01-31 | 2012-08-02 | Sherman Marshall L | Multi frequency and multi polarity complex impedance measurements to assess ablation lesions |
US20140288543A1 (en) * | 2011-09-13 | 2014-09-25 | Nxthera, Inc. | Systems and methods for prostate treatment |
US20160029960A1 (en) * | 2013-03-27 | 2016-02-04 | Autonomix Medical, Inc. | Systems and methods for neurological traffic and/or receptor functional evaluation and/or modification |
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US8361066B2 (en) * | 2009-01-12 | 2013-01-29 | Ethicon Endo-Surgery, Inc. | Electrical ablation devices |
EP4356944A2 (en) * | 2017-01-06 | 2024-04-24 | Nxthera, Inc. | Transperineal vapor ablation systems |
-
2020
- 2020-12-30 JP JP2022565733A patent/JP2023508613A/en active Pending
- 2020-12-30 AU AU2020419190A patent/AU2020419190A1/en active Pending
- 2020-12-30 US US17/788,187 patent/US20230052207A1/en active Pending
- 2020-12-30 CA CA3163613A patent/CA3163613A1/en active Pending
- 2020-12-30 EP EP20910200.3A patent/EP4084668A4/en active Pending
- 2020-12-30 WO PCT/US2020/067532 patent/WO2021138466A1/en unknown
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US6638275B1 (en) * | 2000-10-05 | 2003-10-28 | Medironic, Inc. | Bipolar ablation apparatus and method |
US20070179491A1 (en) * | 2006-01-31 | 2007-08-02 | Medtronic, Inc. | Sensing needle for ablation therapy |
US20120197243A1 (en) * | 2011-01-31 | 2012-08-02 | Sherman Marshall L | Multi frequency and multi polarity complex impedance measurements to assess ablation lesions |
US20140288543A1 (en) * | 2011-09-13 | 2014-09-25 | Nxthera, Inc. | Systems and methods for prostate treatment |
US20160029960A1 (en) * | 2013-03-27 | 2016-02-04 | Autonomix Medical, Inc. | Systems and methods for neurological traffic and/or receptor functional evaluation and/or modification |
US20180168711A1 (en) * | 2016-12-21 | 2018-06-21 | Michael Hoey | Vapor ablation systems and methods |
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CA3163613A1 (en) | 2021-07-08 |
AU2020419190A1 (en) | 2022-07-14 |
EP4084668A1 (en) | 2022-11-09 |
US20230052207A1 (en) | 2023-02-16 |
JP2023508613A (en) | 2023-03-02 |
EP4084668A4 (en) | 2024-01-24 |
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