WO2021165562A1 - Device for the application of focalised physiotherapeutic ultrasound, and method for the positioning of the same - Google Patents

Device for the application of focalised physiotherapeutic ultrasound, and method for the positioning of the same Download PDF

Info

Publication number
WO2021165562A1
WO2021165562A1 PCT/ES2021/070121 ES2021070121W WO2021165562A1 WO 2021165562 A1 WO2021165562 A1 WO 2021165562A1 ES 2021070121 W ES2021070121 W ES 2021070121W WO 2021165562 A1 WO2021165562 A1 WO 2021165562A1
Authority
WO
WIPO (PCT)
Prior art keywords
transducer
module
positioning
processing module
applying ultrasound
Prior art date
Application number
PCT/ES2021/070121
Other languages
Spanish (es)
French (fr)
Inventor
Francisco Ramón MONTERO DE ESPINOSA FREIJO
Gerardo Alejandro Portilla Tuesta
Original Assignee
Consejo Superior De Investigaciones Cientificas (Csic)
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 Consejo Superior De Investigaciones Cientificas (Csic) filed Critical Consejo Superior De Investigaciones Cientificas (Csic)
Publication of WO2021165562A1 publication Critical patent/WO2021165562A1/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
    • A61H23/0245—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with ultrasonic transducers, e.g. piezoelectric
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N2007/0086—Beam steering
    • A61N2007/0091—Beam steering with moving parts, e.g. transducers, lenses, reflectors

Definitions

  • the present invention is part of the field of the application of therapeutic ultrasound.
  • the invention relates to a device and method for applying ultrasound in physiotherapy with controlled and programmable targeting, which uses a multiple piezoelectric transducer that works with intensities and frequencies in the range of clinical ultrasonic physiotherapy.
  • An object of the present invention is to provide a device for applying ultrasound that makes it possible to improve the efficiency of ultrasound treatment by focusing the ultrasound in a guided manner.
  • the device for applying ultrasound makes use of a multiple piezoelectric transducer with axial or three-dimensional location, which allows the determination of the focal point quickly and easily.
  • Another object of the invention is a method for positioning the device to apply focused physiotherapeutic ultrasound, which is based on manual and automated positioning of the transducer.
  • Another object of the invention is a method for locating the point of application of ultrasound by means of a dry puncture needle and automatically positioning the device to apply focused physiotherapeutic ultrasound.
  • ultrasound is the most widely used technique along with dry needling, shock waves, magnet therapy, short wave and laser.
  • Ultrasounds have been used in Rehabilitation and Physiotherapy since 1930 as well as in Surgery and Oncology to treat injuries, kidney stones, to treat tumors, to promote healing by increasing the therapeutic rate of other treatments, or to increase the rate of calcification in fractures
  • the heating of the tissues is produced by the absorption of the sound wave through its propagation, but there is also a mechanical interaction between the pressure wave and the medium, which gives rise to mechanisms such as the radiation force, the flow of fluid and cavitation.
  • the present invention describes a device for applying focused physiotherapeutic ultrasound, which makes it possible to improve the efficiency in the application of ultrasound in physiotherapeutic applications.
  • the device allows to guide the insonification to a predetermined point precisely.
  • it allows automated control of the positioning of the transducer and the guidance of a focal point, after being manually placed in contact with the skin of a subject.
  • the device for applying focused physiotherapeutic ultrasound of the invention comprises, firstly, a multiple piezoelectric transducer, es dedr, comprising a plurality of emitters, intended to emit ultrasound, so that it allows a punctual insonification or a scan of the programmable focus.
  • transducer it is possible to modify the acoustic opening and the number and arrangement of emitters that it comprises in the background of the particular application that is desired. Likewise, the transducer will sound preferentially with intensities and frequencies within the range of dynamic ultrasonic physiotherapy.
  • the device for applying ultrasounds of the invention also comprises a housing.
  • the housing of the device for applying ultrasound will come into contact with the skin of a subject and will thus determine the inidal position of the transducer placed inside it.
  • the device for applying ultrasound of the invention may comprise an inlet hole in the center of the transducer and the housing.
  • the inlet hole allows manual positioning of the device by allowing the insertion of a dry needle that serves as a guide for positioning the transducer and programming the position of the ultrasound focus.
  • the device for applying ultrasound also comprises a positioning module.
  • the positioning module allows to know the exact position and orientation of the transducer, for which it comprises one or more angular and position sensors.
  • the device for applying ultrasound can comprise a manual controller, which allows setting the angular position and depth of the ultrasound focus.
  • This manual controller can consist of a stem attached to the housing that modifies the angulation of the transducer and programs the focal length thanks to the angle and position sensors, located inside.
  • the device for applying ultrasound of the Invention also comprises an actuation module, which, once the position of the focal point has been determined, allows the transducer to be moved and rotated automatically by means of one or more actuators. that said module of action comprises.
  • the actuation module can comprise a half-ring structure that allows a rotational movement around two rotational axes.
  • the structure comprises two half rings coupled with two actuators.
  • an Inner half ring is placed in contact with the transducer on its outer lateral surface.
  • the inner half ring is coupled to the transducer at two diametrically opposite points, which allows its movement around a first axis of rotation, which is provided by a first actuator that controls the rotation of the transducer around said first axis of rotation. .
  • an outer half ring connects to the inner half ring.
  • the transducer assembly and inner half ring can move around a second axis of rotation perpendicular to the first axis of rotation. This movement is achieved with a sliding contact between the outer half ring and the transducer, through a slot in the outer half ring, and is actuated by a second actuator, which controls the rotation of the transducer around the second axis of rotation.
  • the device for applying ultrasound also includes a processing module, which is responsible for controlling the entire process of automatic placement of the transducer and insonification.
  • the processing module is first connected to the positioning module to obtain the position of the transducer. Also, the processing module connects with the actuation module, to position the automatic transducer. Likewise, the processing module is connected to the piezoelectric transducer, in order to control the ultrasound emission process, for which, it calculates the delay law that will be applied to the transducer's emitters.
  • the device for applying ultrasound may also comprise a programmable multi-channel power unit.
  • the power unit makes it possible to set the number of cycles, the repetition frequency and the delays, by means of the processing module, which determines the emission parameters.
  • the power unit supplies power to the transducer, preferably with a programmable acoustic intensity in the focal zone that can be higher than the maximum level usually used in physiotherapy of 50000W / M ⁇ 2 and a programmable frequency that includes the range between 1MHz and 3Mhz.
  • the processing module is connected to the positioning and actuation modules by means of a communication module.
  • the communication module therefore, allows the sending of data from the positioning module to the processing module and from the processing module to the actuation module.
  • the communication module also allows the connection of the processing module with the power module in order to send the excitation parameters to the transducer.
  • the device for applying ultrasound may further comprise a metallic capsule with a radial mode eliminator.
  • the capsule must be designed to minimize the effect of these lateral resonances, since they increase in a difficultly predictable way and therefore it is difficult to neutralize the mechanical coupling of the transducer's emitters.
  • filters made with phononic networks can be used, that is, perforations in their surface that allow to reduce the propagation of radial modes in the capsule or special designs of the same with smoothed profiles and thickness changes.
  • the setting of the point to be insonified in the processing module can be done by adding a simulation module.
  • the simulation module is connected to the processing module and comprises a screen.
  • a three-dimensional image is projected that represents the position of the focus, showing the value of the parameters that are sent to the positioning module and the power module.
  • the device of the invention is suitable for both thermal treatments and those grouped under the concept of non-thermal due to the proposed power and frequency ranges, the fact that it uses a pulsed wave of amplitude and programmable number of cycles and, fundamentally , to its ability to concentrate the acoustic intensity in any part of the volume under treatment while it is not shielded by reflective elements of the anatomy.
  • the invention also relates to a method for positioning the device for applying focused physiotherapeutic ultrasound of the invention.
  • the invendon method allows to carry out a predso and adaptive control of the positioning of the transducer and the focal point.
  • the method comprises a first step of placing a layer of gel for medical use on the skin of a patient, then the transducer is placed, putting the housing in contact with the skin of the subject.
  • the transducer can be a multi-channel transducer with programmable targeting capability, a single-channel targeting transducer, or a single-channel non-targeting transducer.
  • the transduction parameters are configured, such as the diameter of the aperture, the number and arrangement of emitters, depending on the specific application for which the ultrasound application is to be carried out.
  • the transducer can be mechanically steered by means of the hand controller, or alternatively, use of a dry needling needle can be used to guide the mechanical positioning of the transducer.
  • the needle is placed on the subject's skin, and later, the transducer is placed, introducing the needle through the entry hole that is defined in the housing of the device.
  • a type of treatment is determined in the processing module, depending on the specific application.
  • the positioning module is activated, which allows the position of the transducer to be determined. If the dry needling needle is used, the depth of the dry needling needle should also be determined. Next, the necessary transducer movement is calculated to insonify a predetermined point. The Calculation of the movements that the transducer must perform in order to position itself properly, is done by the processing module. In the case of using a dry puncture needle, insonification is calculated so that the focus coincides with the tip of the needle.
  • the calculation of the movement of the transducer is carried out by means of the simulation module, which generates a three-dimensional image on a screen that reflects the position of the transducer and the focal point.
  • the method of the invention comprises a phase of selecting by simulation the point to be insonified in the three-dimensional image.
  • the insonification parameters are determined in the processing module. These parameters can comprise at least one of: the frequency, the pulse width, the number of cycles, the repetition frequency and the delay of each channel, and are set according to the type of focus, the geometry of the transducer and the relative position. the transducer relative to the body surface.
  • the actuation module is activated to place the transducer in the proper position, performing the calculated movement.
  • Fig. 1.- Shows a diagram of the connection of the modules of the device to apply ultrasound.
  • Fig. 2.- Shows a preferred embodiment of the device for applying ultrasound of the invention.
  • Fig. 3. Shows a schematic view of the transducer and the metallic capsule of the device for applying ultrasound.
  • Fig. 4.- Shows a schematic view of the structure of the actuation module of the device for applying ultrasound.
  • Fig. 5. Shows a schematic view of the interface of the simulation module in determining the focal point with respect to the device for applying ultrasound.
  • Fig. 6. Shows a preferred embodiment of the device for applying ultrasound of the invention that makes use of a dry puncture needle.
  • Fig. 7.- Shows a schematic view of the interface of the simulation module in the selection of the focal point using a dry puncture needle.
  • Fig. 8.- Shows a schematic view of the results of using the device to apply ultrasound in a particular application.
  • Fig. 9.- Shows a diagram of the method for applying ultrasound of the invention.
  • FIG. 1 shows an embodiment of the modules comprising the device for applying ultrasound of the invention and its interconnection.
  • the device for applying ultrasound of the invention comprises a multiple piezoelectric transducer (1), composed of a set of ultrasonic emitters (2), a power unit (11), which supplies energy to the transducer (1), a positioning module ( 3), comprising a set of sensors (4) and an actuation module (5) comprising a set of actuators (6), a processing module (7), a simulation module (9), comprising a screen (10) interaction with a user, and a communication module (8).
  • Figure 2 shows a preferred embodiment of the device for applying ultrasound that comprises a housing (12) in which the transducer (1) is housed, a metallic capsule (14) with radial mode eliminator, the positioning module (3) and the performance module (5).
  • the device for applying ultrasounds of Figure 2 also comprises a manual controller (13), to set the position of the transducer (1) manually, which consists of a rod integral with a set of angular and linear sensors (4), which make up the positioning module (3), which allows the modification of its position and orientation, and includes a slider to set the depth of focus of the transducer (1).
  • the processing module (7) and the simulation module (9) are located outside the housing (12), in a computer that is connected to the transducer (1) and the positioning and actuation modules by means of the communication module (8), which in this case is a mini-USB connector for communication between the transducer (1) and the computer.
  • the power unit (11) is external and is connected to the transducer (1) by means of a LEMO type connector.
  • the power unit (11) is controlled by the computer that calculates the emission parameters of the transducer (1).
  • FIG 3 shows a preferred embodiment of the transducer (1) and the metallic capsule (14) of the device for applying ultrasound.
  • the transducer (1) which is responsible for emitting ultrasound, is manufactured with hard-type piezoelectric ceramics, type PZT4, which are glued to the capsule (14) of metallic material, and the opening, number and geometry of these emitters (2) is determined based on whether an axial or three-dimensional focusing is carried out.
  • the control of said transducer (1) is carried out by means of the processing module (7), to which it is connected, which determines the ultrasound emission parameters, calculating the delay law of the emitters (2) of the transducer (1 ).
  • the transducer (1) receives power from the power unit (11), which is also controlled by the processing module (7). In this way, the processing module (7) determines the number of cycles, the repetition frequency and the delays and applies them to the transducer (1) acting on the power unit (11), to which it is connected.
  • the metallic capsule (14) is coupled to the transducer (1) in order to reduce or eliminate its radial modes, which make it difficult to correctly determine the energy supplied at the point of interest by increasing the mechanical coupling in a difficult predictable way.
  • the transducer (1) To place the transducer (1) in its position, use is made of the manual controller (13).
  • the housing (12) of the device for applying ultrasound is brought into contact with the skin of a patient, applying a gel layer previously.
  • the stem is then moved to position the transducer (1) in the proper direction depending on the point to be insonised.
  • the precise positioning of the transducer (1) in position to insonify a previously determined point is carried out by means of the processing module (7), which is also connected with the positioning module (3) and with the actuation module (5 ), which allow determining and fixing the position of the transducer (1).
  • the positioning module (3) determines the initial position and orientation of the transducer, by means of the sensors (4), and transmits it to the processing module (7) through the communication module (8), the processing module (7) evaluates the final position of the transducer (1), depending on the parameters of the transducer (1) and the selection of the point to be insonified, and the movements that must be made in said transducer (1) in order to take it from starting position to ending position.
  • the processing module (7) sends a signal to the actuation module (5) to carry out the necessary movements, through the communication module (8).
  • the actuation module (5) performs, by means of the actuators (6), the movements defined by the processing module (7), so that the transducer (1) is placed in the final position to insonify.
  • the actuation module (5) comprises a structure that has two coupled half-rings (15, 17) and two actuators (16, 18).
  • the transducer (1) is coupled by a shaft with an inner half ring (15), which allows its rotation around a first axis of rotation, and the inner half ring (15) is connected with an outer half ring (17) that allows the rotation of the transducer (1) and the inner half-ring (15) around a second axis of rotation perpendicular to the first axis of rotation.
  • the half rings (15, 17) are rotated by the actuators (6), so that a first actuator (16) controls the rotation of the first half ring, and a second actuator (18) controls the rotation of the second half ring.
  • the selection of the point to be insonified is carried out by means of the simulation module (9) that comprises the screen (10), in which a graphic representation of the position of the transducer (1) is projected, with respect to the patient's skin. , and the position of a focal point (PF).
  • the simulation module (9) that comprises the screen (10), in which a graphic representation of the position of the transducer (1) is projected, with respect to the patient's skin. , and the position of a focal point (PF).
  • the simulation module (9) has, in this case, three different types of treatment (21) loaded, a viewer of the focal point coordinates (PF), three active views of the device where a The red point indicates the position of the focal point (PF), with respect to said device, and a voltage selection box (22) for the excitation of the emitters (2) in each treatment.
  • Figure 6 shows a preferred embodiment of the device for applying ultrasound, which makes use of a dry puncture needle (20), which comprises, as in the device for applying ultrasound with manual controller (13), a housing (12) in which the multiple piezoelectric transducer (1), the metallic capsule (14) with radial mode eliminator, the positioning module (3) and the actuation module (5) are housed.
  • the processing module (7) and the simulation module (9) are also located outside the housing (12), and are connected with the transducer (1) and the positioning and actuation modules by means of the module communication (8), connecting mini-USB.
  • the external power unit (11) is connected with the transducer (1) by means of the LEMO type connector.
  • the device for applying ultrasound comprises, instead of the manual controller (13), an inlet hole (19), provided to house the dry puncture needle (20), so that the positioning module (3), making use of the angular sensors (4), indicates the angle of the needle with respect to the plane of the housing in contact with the body.
  • Figure 7 shows a view of the simulation module (9) in the case in which a dry puncture needle (20) is used to place the transducer (1).
  • the simulation module (9) has three different types of treatment loaded (21) and shows a viewer of the starting angular coordinate point (0,0) and a red point that is the angular position of the dry puncture needle (20 ), as well as a selection box for the puncture depth (23) of the dry puncture needle (20).
  • Figure 8 shows a preferred embodiment of the method to position the device for applying ultrasound described, in the case in which use is made of a needle of dry puncture (20) to position the transducer (1).
  • the method comprises a step of placing (101) a gel layer on the skin of a patient in the area where the insonification is to be performed.
  • the transducer (1) is placed (102) by introducing the placed needle through the inlet hole (19) found in the housing (12). Thus, the transducer (1) is placed with the point of entry of the needle in the skin as the center.
  • the type of treatment to be carried out is determined (103), which sets the Insonification time and the acoustic intensity to be projected by the transducer (1).
  • the insonification parameters are determined (104) by means of the processing module (7). Therefore, the frequency, pulse width, number of cycles and delay of each channel are set, which will be a function of the type of focus and the diameter of the transducer (1).
  • the Insonification point is determined, for which use is made of the simulation module (9), in which the position of the needle point corresponding to the desired point is determined (105) insonify.
  • the graphical interface shows a box (23) to enter (106) the depth at which the puncture needle (20) has been entered, a reference point, which has angular coordinates (0,0), and a red point, which represents the real angular position of the dry needle (20), determined thanks to the positioning module, which includes the angular sensors. Therefore, to fix the Insonification position, the sliding cursors (24) are moved around the reference point, thereby moving the angular position of the transducer until the two coincide on the red point with a margin of error of + / - 1mm. Then, the actuation module (5) is activated (108) to move the transducer (1).
  • FIG 9 four video captures are shown in an example of application of the method of the invention making use of the device to apply ultrasound of the invention, where the focal point (PF) is identified at the points in the XY plane: [0,0]; [- 10.2]; [-9, -10]; [0.10], respectively.
  • PF focal point
  • a 2 MHz eight-element array transducer (1) has been used, with an active aperture of the set of circular emitters (2), 30 mm in diameter.
  • the emitters (2) are coaxial, of the hard type (PZT4) and the metal capsule (14) has a lateral vibration phononic filter.
  • a power unit (11) consisting of a commercial programmable pulsed signal generator with the following excitation parameters:
  • Pulse repetition frequency 1 kHz.
  • the housing (12) is positioned facing upwards.
  • a plastic container with a larger diameter and 65 mm in height is placed on the casing (12).
  • the medical gel container (GIMA) is filled by placing a 3 mm thick RTV sillcone disk on the surface of the gel.
  • FLIR E8 An infrared vision camera (FLIR E8) is arranged above the saddle disk at a distance of 50 mm to visualize the focal point (PF) thanks to the heating of the silicone due to the acoustic intensity.
  • Figure 9 shows the movement of the focal point (PF) as the transducer (1) moves angularly, leaving the focal length fixed at 60 mm with a variable linear resistance of the manual controller (13).

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)

Abstract

A device for the application of physiotherapeutic ultrasound, capable of applying focalised fields, comprising a multiple piezoelectric transducer for the emission of ultrasounds; a positioning module with one or more position sensors destined for measuring the position and orientation of the transducer; an actuation module with one or more actuators configured to move and rotate the transducer; a processing module, connected to the positioning and actuation modules, to obtain the position and to position the transducer, and also connected to the transducer, to control the emission of ultrasounds; a communication module, connected to the processing module and to the power unit, and adapted to enable the sending and receiving of data to and from said processing module, and a shell, housing the transducer and the positioning, actuation and processing modules, and which is destined to enter into contact with the skin of the subject to be insonified.

Description

DISPOSITIVO PARA APUCAR ULTRASONIDOS FISIOTERAPÉUTICOS DEVICE TO APUCATE PHYSIOTHERAPEUTIC ULTRASOUNDS
FOCALIZADOS Y MÉTODO DE POSICIONAMIENTO DEL MISMO TARGETED AND SAME POSITIONING METHOD
DESCRIPCIÓN DESCRIPTION
OBJETO DE LA INVENCIÓN. OBJECT OF THE INVENTION.
La presente invención se enmarca en el campo del campo de la aplicación de ultrasonidos terapéuticos. En particular, la invención se refiere a un dispositivo y método de aplicación de ultrasonidos en fisioterapia con focalización controlada y programable, el cual utiliza un transductor piezoeléctrico múltiple que trabaja con intensidades y frecuencias en el rango de la fisioterapia ultrasónica clínica. The present invention is part of the field of the application of therapeutic ultrasound. In particular, the invention relates to a device and method for applying ultrasound in physiotherapy with controlled and programmable targeting, which uses a multiple piezoelectric transducer that works with intensities and frequencies in the range of clinical ultrasonic physiotherapy.
Un objeto de la presente invención es proveer un dispositivo para aplicar ultrasonidos que permita mejorar la eficiencia del tratamiento por ultrasonidos al focalizar de forma guiada los ultrasonidos. El dispositivo para aplicar ultrasonidos hace uso de un transductor piezoeléctrico múltiple con localización axial o tridimensional, que permite la determinación del punto focal de forma rápida y sencilla. An object of the present invention is to provide a device for applying ultrasound that makes it possible to improve the efficiency of ultrasound treatment by focusing the ultrasound in a guided manner. The device for applying ultrasound makes use of a multiple piezoelectric transducer with axial or three-dimensional location, which allows the determination of the focal point quickly and easily.
Otro objeto de la invención es un método para posicionar el dispositivo para aplicar ultrasonidos fisioterapéuticos focalizados, que se basa en el posicionamiento manual y automatizado del transductor. Another object of the invention is a method for positioning the device to apply focused physiotherapeutic ultrasound, which is based on manual and automated positioning of the transducer.
Otro objeto de la invención es un método para localizar el punto de aplicación de los ultrasonidos por medio de una aguja de punción seca y posicionar automáticamente el dispositivo para aplicar ultrasonidos fisioterapéuticos focalizados. Another object of the invention is a method for locating the point of application of ultrasound by means of a dry puncture needle and automatically positioning the device to apply focused physiotherapeutic ultrasound.
ANTECEDENTES DE LA INVENCIÓN BACKGROUND OF THE INVENTION
En los tratamientos de fisioterapia de tejidos blandos, los ultrasonidos son la técnica más ampliamente utilizada junto con punción seca, ondas de choque, magnetoterapia, onda corta y láser. Los ultrasonidos se han utilizado en Rehabilitación y Fisioterapia desde 1930 así como en Cirugía y Oncología para tratar lesiones, cálculos renales, para tratar tumores, para promover la curación mediante el aumento de la tasa terapéutica de otros tratamientos o para aumentar la tasa de calcificación en fracturas. Actualmente se llevan a cabo más de un millón de tratamientos de fisioterapia por ultrasonidos en Gran Bretaña, el 20% de todos los tratamientos de fisioterapia en el Servicio Nacional de Salud del Reino Unido y el 54% de todos los tratamientos de fisioterapia privados. Se sabe que la exposición a los ultrasonidos produce una variedad de efectos biológicos en los tejidos, agrupados en térmicos y no térmicos. El calentamiento de los tejidos se produce por la absorción de la onda sonora a través de su propagación, pero también existe una interacción mecánica entre la onda de presión y el medio, lo que da lugar a mecanismos como la fuerza de radiación, el flujo de fluido y la cavitación. A pesar de su evidencia para producir cambios físicos en los tejidos, todavía existe controversia en la literatura sobre el uso de los ultrasonidos en la práctica clínica, en cuanto a su eficiencia. In soft tissue physiotherapy treatments, ultrasound is the most widely used technique along with dry needling, shock waves, magnet therapy, short wave and laser. Ultrasounds have been used in Rehabilitation and Physiotherapy since 1930 as well as in Surgery and Oncology to treat injuries, kidney stones, to treat tumors, to promote healing by increasing the therapeutic rate of other treatments, or to increase the rate of calcification in fractures Currently over a million ultrasound physiotherapy treatments are carried out in Great Britain, 20% of all physiotherapy treatments in the UK National Health Service and 54% of all private physiotherapy treatments. Exposure to ultrasound is known to produce a variety of biological effects on tissues, grouped into thermal and non-thermal. The heating of the tissues is produced by the absorption of the sound wave through its propagation, but there is also a mechanical interaction between the pressure wave and the medium, which gives rise to mechanisms such as the radiation force, the flow of fluid and cavitation. Despite its evidence to produce physical changes in tissues, there is still controversy in the literature on the use of ultrasound in clinical practice, regarding its efficiency.
La falta de un conocimiento exacto de la energía finalmente aplicada en la zona de interés hace que sea imposible determinar las curvas de dosis-respuesta para definir tratamientos robustos e individualizados. The lack of an exact knowledge of the energy finally applied in the area of interest makes it impossible to determine the dose-response curves to define robust and individualized treatments.
Una razón de la dificultad en la determinación de la energía que se aplica en la zona de interés es que los equipos comerciales que se usan habitualmente se basan en transductores piezoeléctricos monoelemento con aperturas acústicas no focalizadas, esto implica que el valor real de potencia acústica que llega a la zona de interés no tiene nada que ver con el indicado por el fabricante dado que los niveles de potencia de un equipo comercial se miden con balanzas de fuerza de radiación en un medio semi infinito. One reason for the difficulty in determining the energy that is applied in the area of interest is that the commercial equipment that is commonly used is based on single-element piezoelectric transducers with unfocused acoustic openings, this implies that the real value of acoustic power that reaches the area of interest has nothing to do with that indicated by the manufacturer since the power levels of commercial equipment are measured with radiation force balances in a semi-infinite medium.
Otra limitación de los equipos actuales es que, al hacer uso de transductores no focalizados, para que llegue una potencia a un punto interior del cuerpo, se ha de usar una potencia mayor que va viajando antes de llegar al punto de interés, lo que implica que se dan dosis muy altas a tejidos no dañados. Another limitation of current equipment is that, when using non-focused transducers, in order for a power to reach a point inside the body, a greater power must be used that travels before reaching the point of interest, which implies that very high doses are given to undamaged tissues.
Así pues, habitualmente, la planificación del tratamiento en clínica se basa en la experiencia del fisioterapeuta, que se guía por datos experimentales de dosis en condiciones que nada tienen que ver con la situación real clínica. En consecuencia, la mayoría de los tratamientos de fisioterapia con ultrasonidos son esencialmente empíricos y cuando el dolor del paciente desaparece o disminuye la inflamación después de un tratamiento de fisioterapia con ultrasonidos, no hay evidencia científica de la relación de la mejoría con el tratamiento. Por tanto, se hace necesario un dispositivo capaz de aplicar ultrasonidos en un punto interior del cuerpo de forma focalizada y evitando los problemas del estado de la técnica ya mencionados. Thus, usually, clinical treatment planning is based on the experience of the physiotherapist, who is guided by experimental dose data under conditions that have nothing to do with the actual clinical situation. Consequently, most ultrasound physiotherapy treatments are essentially empirical, and when the patient's pain disappears or inflammation decreases after an ultrasound physiotherapy treatment, there is no scientific evidence of the relationship of improvement with treatment. Therefore, a device capable of applying ultrasound to an interior point of the body in a focused manner and avoiding the problems of the state of the art already mentioned is necessary.
DESCRIPCIÓN DE LA INVENCIÓN DESCRIPTION OF THE INVENTION
La presente invención describe un dispositivo para aplicar ultrasonidos fisioterapéuticos focalizados, el cual permite mejorar la eficiencia en la aplicación de ultrasonidos en aplicaciones fisioterapéuticas. El dispositivo permite guiar la insonificación hacia un punto predeterminado de forma precisa. Además, permite el control automatizado del posicionamiento del transductor y el guiado de un punto focal, tras colocarse manualmente en contacto con la piel de un sujeto. The present invention describes a device for applying focused physiotherapeutic ultrasound, which makes it possible to improve the efficiency in the application of ultrasound in physiotherapeutic applications. The device allows to guide the insonification to a predetermined point precisely. In addition, it allows automated control of the positioning of the transducer and the guidance of a focal point, after being manually placed in contact with the skin of a subject.
Para ello, el dispositivo para aplicar ultrasonidos fisioterapéuticos focalizados de la invención comprende, en primer lugar, un transductor piezoeléctrico múltiple, es dedr, que comprende una pluralidad de emisores, destinado a emitir ultrasonidos, de modo que permite una insonificadón puntual o un barrido del foco programable. To this end, the device for applying focused physiotherapeutic ultrasound of the invention comprises, firstly, a multiple piezoelectric transducer, es dedr, comprising a plurality of emitters, intended to emit ultrasound, so that it allows a punctual insonification or a scan of the programmable focus.
En dicho transductor, se puede modificar la apertura acústica y número y disposición de emisores que comprende en fondón de la aplicadón particular que se desee. Asimismo, el transductor fondonará preferentemente con intensidades y frecuendas dentro del rango de la fisioterapia ultrasónica dínica. In said transducer, it is possible to modify the acoustic opening and the number and arrangement of emitters that it comprises in the background of the particular application that is desired. Likewise, the transducer will sound preferentially with intensities and frequencies within the range of dynamic ultrasonic physiotherapy.
El dispositivo para aplicar ultrasonidos de la invendón también comprende una carcasa. La carcasa del dispositivo para aplicar ultrasonidos entrará en contacto con la piel de un sujeto y determinará así la posidón inidal del transductor colocado en su interior. The device for applying ultrasounds of the invention also comprises a housing. The housing of the device for applying ultrasound will come into contact with the skin of a subject and will thus determine the inidal position of the transducer placed inside it.
De forma alternativa, el dispositivo para aplicar ultrasonidos de la invendón puede comprender un orifido de entrada en el centro del transductor y la carcasa. El orifido de entrada permite la colocadón manual del dispositivo al permitir la introducdón de una aguja de pundón seca que sirve como guía de posidonamiento del transductor y de programadón de la posidón del foco de ultrasonidos. Alternatively, the device for applying ultrasound of the invention may comprise an inlet hole in the center of the transducer and the housing. The inlet hole allows manual positioning of the device by allowing the insertion of a dry needle that serves as a guide for positioning the transducer and programming the position of the ultrasound focus.
El dispositivo para aplicar ultrasonidos también comprende un módulo de posidonamiento. El módulo de posidonamiento permite conocer la posición y orientadón exactas del transductor, para lo cual comprende uno o más sensores angulares y de posición. Adicionalmente, el dispositivo para aplicar ultrasonidos puede comprender un controlador manual, que permita fijar la posición angular y la profundidad del foco de ultrasonidos. Este controlador manual puede consistir en un vástago acoplado a la carcasa que modifica la angulación del transductor y programa la distancia focal gracias a los sensores angulares y de posición, localizados en su interior. The device for applying ultrasound also comprises a positioning module. The positioning module allows to know the exact position and orientation of the transducer, for which it comprises one or more angular and position sensors. Additionally, the device for applying ultrasound can comprise a manual controller, which allows setting the angular position and depth of the ultrasound focus. This manual controller can consist of a stem attached to the housing that modifies the angulation of the transducer and programs the focal length thanks to the angle and position sensors, located inside.
Con el fin de insonificar un punto concreto previamente determinado, el dispositivo para aplicar ultrasonidos de la Invención comprende también un módulo de actuación, el cual, una vez determinada la posición del punto focal, permite mover y rotar automáticamente el transductor mediante uno o más actuadores que dicho módulo de actuación comprende. In order to insonify a previously determined specific point, the device for applying ultrasound of the Invention also comprises an actuation module, which, once the position of the focal point has been determined, allows the transducer to be moved and rotated automatically by means of one or more actuators. that said module of action comprises.
De forma preferente, el módulo de actuación puede comprender una estructura de semianillos que permite un movimiento de rotación alrededor de dos ejes de rotación. Así la estructura comprende dos semianillos acoplados con dos actuadores. Preferably, the actuation module can comprise a half-ring structure that allows a rotational movement around two rotational axes. Thus the structure comprises two half rings coupled with two actuators.
En ese caso, un semianillo Interior se coloca en contacto con el transductor por su superficie lateral extema. Así, el semianillo interior se acopla al transductor en dos puntos diametralmente opuestos lo que permite su movimiento en tomo a un primer eje de rotación, el cual es provisto por un primer actuador que controla la rotación del transductor en tomo a dicho primer eje de rotación. In this case, an Inner half ring is placed in contact with the transducer on its outer lateral surface. Thus, the inner half ring is coupled to the transducer at two diametrically opposite points, which allows its movement around a first axis of rotation, which is provided by a first actuator that controls the rotation of the transducer around said first axis of rotation. .
Asimismo, un semianillo exterior se conecta con el semianillo interior. De este modo, el conjunto transductor y semianillo interior pueden moverse en tomo a un segundo eje de rotación perpendicular al primer eje de rotación. Este movimiento se consigue con un contacto deslizante entre el semianillo exterior y el transductor, a través de una ranura del semianillo exterior, y es accionado por un segundo actuador, que controla la rotación del transductor en tomo al segundo eje de rotación. Also, an outer half ring connects to the inner half ring. In this way, the transducer assembly and inner half ring can move around a second axis of rotation perpendicular to the first axis of rotation. This movement is achieved with a sliding contact between the outer half ring and the transducer, through a slot in the outer half ring, and is actuated by a second actuator, which controls the rotation of the transducer around the second axis of rotation.
El dispositivo para aplicar ultrasonidos también comprende un módulo de procesamiento, que es el encargado de controlar todo el proceso de colocación automática del transductor e insonificación. The device for applying ultrasound also includes a processing module, which is responsible for controlling the entire process of automatic placement of the transducer and insonification.
El módulo de procesamiento está conectado, en primer lugar, con el módulo de posicionamiento, para obtener la posición del transductor. También, el módulo de procesamiento se conecta con el módulo de actuación, para poslcionar de forma automática el transductor. Igualmente, el módulo de procesamiento se conecta con el transductor piezoeléctrico, con el fin de controlar el proceso de emisión de ultrasonidos, para lo cual, calcula la ley de retardos que se aplicará a los emisores del transductor. The processing module is first connected to the positioning module to obtain the position of the transducer. Also, the processing module connects with the actuation module, to position the automatic transducer. Likewise, the processing module is connected to the piezoelectric transducer, in order to control the ultrasound emission process, for which, it calculates the delay law that will be applied to the transducer's emitters.
El dispositivo para aplicar ultrasonidos también puede comprender una unidad de potencia multicanal programable. La unidad de potencia permite fijar el número de ciclos, la frecuencia de repetición y los retardos, mediante el módulo de procesamiento, que determina los parámetros de emisión. The device for applying ultrasound may also comprise a programmable multi-channel power unit. The power unit makes it possible to set the number of cycles, the repetition frequency and the delays, by means of the processing module, which determines the emission parameters.
Así, la unidad de potencia suministra potencia al transductor, preferiblemente, con una Intensidad acústica programable en la zona focal que puede ser superior al nivel máximo usualmente utilizado en fisioterapia de 50000W/M^2 y una frecuencia programable que Incluye el rango entre 1MHz y 3Mhz. Thus, the power unit supplies power to the transducer, preferably with a programmable acoustic intensity in the focal zone that can be higher than the maximum level usually used in physiotherapy of 50000W / M ^ 2 and a programmable frequency that includes the range between 1MHz and 3Mhz.
El módulo de procesamiento se conecta con los módulos de posicionamiento y actuación por medio de un módulo de comunicación. El módulo de comunicación, por tanto, permite el envío de datos desde el módulo de posicionamiento al módulo de procesamiento y del módulo de procesamiento al módulo de actuación. El módulo de comunicación también permite la conexión del módulo de procesamiento con el módulo de potencia con el fin de enviar al transductor los parámetros de excitación. The processing module is connected to the positioning and actuation modules by means of a communication module. The communication module, therefore, allows the sending of data from the positioning module to the processing module and from the processing module to the actuation module. The communication module also allows the connection of the processing module with the power module in order to send the excitation parameters to the transducer.
El dispositivo para aplicar ultrasonidos además puede comprender una cápsula metálica con eliminador de modos radiales. La cápsula debe ser diseñada para minimizar el efecto de estas resonancias laterales, pues éstas aumentan en forma difícilmente predecible y por tanto difícilmente neutralizare el acoplamiento mecánico de los emisores del transductor. Para ello se pueden usar filtros hechos con redes fonónicas, es decir, perforaciones en su superficie que permiten disminuir la propagación de modos radiales en la cápsula o diseños especiales de la misma con perfiles suavizados y cambios de espesor. The device for applying ultrasound may further comprise a metallic capsule with a radial mode eliminator. The capsule must be designed to minimize the effect of these lateral resonances, since they increase in a difficultly predictable way and therefore it is difficult to neutralize the mechanical coupling of the transducer's emitters. For this, filters made with phononic networks can be used, that is, perforations in their surface that allow to reduce the propagation of radial modes in the capsule or special designs of the same with smoothed profiles and thickness changes.
La fijación del punto a insonificar en el módulo de procesamiento puede realizarse mediante la Incorporación de un módulo de simulación. Asi, el módulo de simulación está conectado al módulo de procesamiento y comprende una pantalla. En la pantalla del módulo de simulación, se proyecta una Imagen tridimensional que representa la posición del foco, mostrando el valor de los parámetros que son enviados al módulo de posicionamiento y al módulo de potencia. El dispositivo de la invención, es adecuado para tratamientos tanto de tipo térmico como los agrupados bajo el concepto de no térmicos debido a los rangos de frecuencia y potencia propuestos, al hecho de que utiliza onda pulsada de amplitud y número de ciclos programable y, fundamentalmente, a su capacidad de concentrar la intensidad acústica en cualquier parte del volumen en tratamiento mientras no esté apantallado por elementos reflectores de la anatomía. The setting of the point to be insonified in the processing module can be done by adding a simulation module. Thus, the simulation module is connected to the processing module and comprises a screen. On the screen of the simulation module, a three-dimensional image is projected that represents the position of the focus, showing the value of the parameters that are sent to the positioning module and the power module. The device of the invention is suitable for both thermal treatments and those grouped under the concept of non-thermal due to the proposed power and frequency ranges, the fact that it uses a pulsed wave of amplitude and programmable number of cycles and, fundamentally , to its ability to concentrate the acoustic intensity in any part of the volume under treatment while it is not shielded by reflective elements of the anatomy.
La invención también se refiere a un método para posidonar el dispositivo para aplicar ultrasonidos fisioterapéuticos focalizados de la invención. El método de la invendón permite llevar a cabo un control predso y adaptable del posicionamiento del transductor y del punto focal. The invention also relates to a method for positioning the device for applying focused physiotherapeutic ultrasound of the invention. The invendon method allows to carry out a predso and adaptive control of the positioning of the transducer and the focal point.
El método comprende una primera etapa de colocar una capa de gel de uso médico en la piel de un paciente, seguidamente, se coloca el transductor, poniendo la carcasa en contacto con la piel del sujeto. El transductor puede ser un transductor múltiple con capacidad de focalización programable, un transductor monocanal focalizante o un transductor monocanal no focalizante. The method comprises a first step of placing a layer of gel for medical use on the skin of a patient, then the transducer is placed, putting the housing in contact with the skin of the subject. The transducer can be a multi-channel transducer with programmable targeting capability, a single-channel targeting transducer, or a single-channel non-targeting transducer.
En este punto, se configuran los parámetros de transducción como son el diámetro de la apertura, número y disposición de emisores en función de la aplicación específica para la que se pretenda realizar la aplicación de ultrasonidos. Una vez colocado sobre la piel, el transductor puede ser direccionado mecánicamente por medio del controlador manual, o alternativamente, se puede hacer uso de una aguja de punción seca para guiar el posicionamiento mecánico del transductor. At this point, the transduction parameters are configured, such as the diameter of the aperture, the number and arrangement of emitters, depending on the specific application for which the ultrasound application is to be carried out. Once placed on the skin, the transducer can be mechanically steered by means of the hand controller, or alternatively, use of a dry needling needle can be used to guide the mechanical positioning of the transducer.
En el caso de hacer uso de una aguja de punción seca, en primer lugar, se coloca la aguja en la piel del sujeto, y posteriormente, se coloca el transductor, introduciendo la aguja por el orificio de entrada que está definido en la carcasa del dispositivo. In the case of using a dry puncture needle, firstly, the needle is placed on the subject's skin, and later, the transducer is placed, introducing the needle through the entry hole that is defined in the housing of the device.
A continuación, se procede a determinar un tipo de tratamiento en el módulo de procesamiento, en función de la aplicación específica. Next, a type of treatment is determined in the processing module, depending on the specific application.
Una vez obtenidos todos los parámetros necesarios, se activa el módulo de posicionamiento que permite determinar la posición del transductor. En el caso, de que se haga uso de la aguja de punción seca, también se deberá determinar la profundidad de punción de la aguja de punción seca. A continuación, se procede a calcular el movimiento del transductor necesario para insonificar un punto predeterminado. El cálculo de los movimientos que el transductor debe realizar con el fin de posicionarse adecuadamente, se realiza mediante el módulo de procesamiento. En el caso de que se haga uso de una aguja de punción seca, la insonificación se calcula para que el foco coincida con la punta de la aguja. Once all the necessary parameters have been obtained, the positioning module is activated, which allows the position of the transducer to be determined. If the dry needling needle is used, the depth of the dry needling needle should also be determined. Next, the necessary transducer movement is calculated to insonify a predetermined point. The Calculation of the movements that the transducer must perform in order to position itself properly, is done by the processing module. In the case of using a dry puncture needle, insonification is calculated so that the focus coincides with the tip of the needle.
Preferentemente, el cálculo del movimiento del transductor se realiza por medio del módulo de simulación, el cual genera una imagen tridimensional en una pantalla que refleja la posición del transductor y del punto focal. De este modo, el método de la invención comprende una fase de seleccionar mediante la simulación el punto a insonificar en la imagen tridimensional. Preferably, the calculation of the movement of the transducer is carried out by means of the simulation module, which generates a three-dimensional image on a screen that reflects the position of the transducer and the focal point. Thus, the method of the invention comprises a phase of selecting by simulation the point to be insonified in the three-dimensional image.
Seguidamente, se determinan los parámetros de insonificación en el módulo de procesamiento. Estos parámetros pueden comprender al menos uno de: la frecuencia, la amplitud de pulso, el número de ciclos, frecuencia de repetición y el retardo de cada canal, y son fijados en función del tipo de foco, la geometría del transductor y la posición relativa del transductor respecto a la superficie del cuerpo. Next, the insonification parameters are determined in the processing module. These parameters can comprise at least one of: the frequency, the pulse width, the number of cycles, the repetition frequency and the delay of each channel, and are set according to the type of focus, the geometry of the transducer and the relative position. the transducer relative to the body surface.
Una vez que se ha calculado el movimiento que el transductor debe realizar, se activa el módulo de actuación para colocar el transductor en la posición adecuada, realizando el movimiento calculado. Once the movement that the transducer must perform has been calculated, the actuation module is activated to place the transducer in the proper position, performing the calculated movement.
DESCRIPCIÓN DE LOS DIBUJOS DESCRIPTION OF THE DRAWINGS
Fig. 1.- Muestra un diagrama de la conexión de los módulos del dispositivo para aplicar ultrasonidos. Fig. 1.- Shows a diagram of the connection of the modules of the device to apply ultrasound.
Fig. 2.- Muestra una realización preferente del dispositivo para aplicar ultrasonidos de la invención. Fig. 2.- Shows a preferred embodiment of the device for applying ultrasound of the invention.
Fig. 3.- Muestra una vista esquemática del transductor y la cápsula metálica del dispositivo para aplicar ultrasonidos. Fig. 3.- Shows a schematic view of the transducer and the metallic capsule of the device for applying ultrasound.
Fig. 4.- Muestra una vista esquemática de la estructura del módulo de actuación del dispositivo para aplicar ultrasonidos. Fig. 4.- Shows a schematic view of the structure of the actuation module of the device for applying ultrasound.
Fig. 5.- Muestra una vista esquemática de la interfaz del módulo de simulación en la determinación del punto focal con respecto al dispositivo para aplicar ultrasonidos. Fig. 6.- Muestra una realización preferente del dispositivo para aplicar ultrasonidos de la invención que hace uso de una aguja de punción seca. Fig. 5.- Shows a schematic view of the interface of the simulation module in determining the focal point with respect to the device for applying ultrasound. Fig. 6.- Shows a preferred embodiment of the device for applying ultrasound of the invention that makes use of a dry puncture needle.
Fig. 7.- Muestra una vista esquemática de la interfaz del módulo de simulación en la selección del punto focal usando una aguja de punción seca. Fig. 7.- Shows a schematic view of the interface of the simulation module in the selection of the focal point using a dry puncture needle.
Fig. 8.- Muestra una vista esquemática de los resultados de usar el dispositivo para aplicar ultrasonidos en una aplicación particular. Fig. 8.- Shows a schematic view of the results of using the device to apply ultrasound in a particular application.
Fig. 9.- Muestra un diagrama del método para aplicar ultrasonidos de la invención. Fig. 9.- Shows a diagram of the method for applying ultrasound of the invention.
REALIZACIÓN PREFERENTE DE LA INVENCIÓN PREFERRED EMBODIMENT OF THE INVENTION
Las ventajas de la invención se muestran en los ejemplos de realización preferente mostrados en las Figuras y descritos a continuación. The advantages of the invention are shown in the preferred embodiment examples shown in the Figures and described below.
La Figura 1 muestra una realización de los módulos que comprende el dispositivo para aplicar ultrasonidos de la invención y su interconexión. El dispositivo para aplicar ultrasonidos de la invención comprende un transductor (1) piezoeléctrico múltiple, compuesto por un conjunto de emisores (2) ultrasónicos, una unidad de potencia (11), que suministra energía al transductor (1), un módulo de posicionamiento (3), que comprende un conjunto de sensores (4) y un módulo de actuación (5) que comprende un conjunto de actuadores (6), un módulo de procesamiento (7), un módulo de simulación (9), que comprende una pantalla (10) de interacción con un usuario, y un módulo de comunicación (8). Figure 1 shows an embodiment of the modules comprising the device for applying ultrasound of the invention and its interconnection. The device for applying ultrasound of the invention comprises a multiple piezoelectric transducer (1), composed of a set of ultrasonic emitters (2), a power unit (11), which supplies energy to the transducer (1), a positioning module ( 3), comprising a set of sensors (4) and an actuation module (5) comprising a set of actuators (6), a processing module (7), a simulation module (9), comprising a screen (10) interaction with a user, and a communication module (8).
La Figura 2, muestra una realización preferente del dispositivo para aplicar ultrasonidos que comprende una carcasa (12) en la que se aloja el transductor (1), una cápsula (14) metálica con eliminador de modos radiales, el módulo de posicionamiento (3) y el módulo de actuación (5). Figure 2 shows a preferred embodiment of the device for applying ultrasound that comprises a housing (12) in which the transducer (1) is housed, a metallic capsule (14) with radial mode eliminator, the positioning module (3) and the performance module (5).
El dispositivo para aplicar ultrasonidos de la Figura 2, también comprende un controlador manual (13), para fijar la posición del transductor (1) manualmente, el cual consiste en un vástago solidario a un conjunto de sensores (4) angulares y lineales, que conforman el módulo de posicionamiento (3), que permite la modificación de su posición y orientación, e incluye un deslizador para fijar la profundidad de foco del transductor (1). En este caso, el módulo de procesamiento (7) y el módulo de simulación (9), se localizan fuera de la carcasa (12), en un ordenador que se conecta con el transductor (1) y los módulos de posicionamiento y actuación por medio del módulo de comunicación (8), que en este caso es un conector mini-USB de comunicación del transductor (1) con el ordenador. The device for applying ultrasounds of Figure 2 also comprises a manual controller (13), to set the position of the transducer (1) manually, which consists of a rod integral with a set of angular and linear sensors (4), which make up the positioning module (3), which allows the modification of its position and orientation, and includes a slider to set the depth of focus of the transducer (1). In this case, the processing module (7) and the simulation module (9) are located outside the housing (12), in a computer that is connected to the transducer (1) and the positioning and actuation modules by means of the communication module (8), which in this case is a mini-USB connector for communication between the transducer (1) and the computer.
Asimismo, la unidad de potencia (11) es extema y se conecta con el transductor (1) por medio de un conectar tipo LEMO. La unidad de potencia (11) es controlada por el ordenador que calcula los parámetros de emisión del transductor (1). Likewise, the power unit (11) is external and is connected to the transducer (1) by means of a LEMO type connector. The power unit (11) is controlled by the computer that calculates the emission parameters of the transducer (1).
La Figura 3 muestra una realización preferente del transductor (1) y la cápsula (14) metálica del dispositivo para aplicar ultrasonidos. El transductor (1), que se encarga de emitir ultrasonidos, se fabrica con cerámicas piezoeléctricas de tipo duro, tipo PZT4, las cuales se pegan a la cápsula (14) de material metálico, y la apertura, el número y la geometría de estos emisores (2) se determina en función de si se lleva cabo una focalización axial o tridimensional. El control de dicho transductor (1) se lleva a cabo mediante el módulo de procesamiento (7), al que está conectado, que determina los parámetros de emisión de ultrasonidos, calculando la ley de retardos de los emisores (2) del transductor (1). Figure 3 shows a preferred embodiment of the transducer (1) and the metallic capsule (14) of the device for applying ultrasound. The transducer (1), which is responsible for emitting ultrasound, is manufactured with hard-type piezoelectric ceramics, type PZT4, which are glued to the capsule (14) of metallic material, and the opening, number and geometry of these emitters (2) is determined based on whether an axial or three-dimensional focusing is carried out. The control of said transducer (1) is carried out by means of the processing module (7), to which it is connected, which determines the ultrasound emission parameters, calculating the delay law of the emitters (2) of the transducer (1 ).
El transductor (1) recibe energía de la unidad de potencia (11), la cual también está controlada por el módulo de procesamiento (7). De ese modo, el módulo de procesamiento (7) determina el número de ciclos, la frecuencia de repetición y los retardos y los aplica al transductor (1) actuando sobre la unidad de potencia (11), a la que está conectada. The transducer (1) receives power from the power unit (11), which is also controlled by the processing module (7). In this way, the processing module (7) determines the number of cycles, the repetition frequency and the delays and applies them to the transducer (1) acting on the power unit (11), to which it is connected.
La cápsula (14) metálica se acopla al transductor (1) con el objetivo de reducir o eliminar los modos radiales del mismo, que dificultan la correcta determinación de la energía suministrada en el punto de interés al aumentar de forma difícilmente predecible el acoplamiento mecánico. The metallic capsule (14) is coupled to the transducer (1) in order to reduce or eliminate its radial modes, which make it difficult to correctly determine the energy supplied at the point of interest by increasing the mechanical coupling in a difficult predictable way.
Para la colocación del transductor (1) en su posición, se hace uso del controlador manual (13). La carcasa (12) del dispositivo para aplicar ultrasonidos se pone en contacto con la piel de un paciente, aplicando una capa gel previamente. A continuación, se mueve el vástago para posicionar el transductor (1) en la dirección adecuada en función del punto que se desea insonificar. La colocación precisa del transductor (1) en posición para insonificar un punto determinado previamente, se lleva a cabo mediante el módulo de procesamiento (7), que se conecta también con el módulo de posicionamiento (3) y con el módulo de actuación (5), los cuales permiten determinar y fijar la posición del transductor (1). To place the transducer (1) in its position, use is made of the manual controller (13). The housing (12) of the device for applying ultrasound is brought into contact with the skin of a patient, applying a gel layer previously. The stem is then moved to position the transducer (1) in the proper direction depending on the point to be insonised. The precise positioning of the transducer (1) in position to insonify a previously determined point, is carried out by means of the processing module (7), which is also connected with the positioning module (3) and with the actuation module (5 ), which allow determining and fixing the position of the transducer (1).
Así, el módulo de posicionamiento (3) determina la posición y orientación inicial del transductor, por medio de los sensores (4), y lo transmite al módulo de procesamiento (7) mediante el módulo de comunicación (8), el módulo de procesamiento (7) evalúa la posición final del transductor (1), en función de los parámetros del transductor (1) y la selección del punto a insonificar, y los movimientos que se deben realizar en dicho transductor (1) con el fin de llevarlo desde la posición inicial a la posición final. A continuación, el módulo de procesamiento (7) envía una señal al módulo de actuación (5) para realizar los movimientos necesarios, mediante el módulo de comunicación (8). El módulo de actuación (5) realiza, mediante los actuadores (6), los movimientos definidos por el módulo de procesamiento (7), de modo que el transductor (1) se coloca en la posición final para insonificar. Thus, the positioning module (3) determines the initial position and orientation of the transducer, by means of the sensors (4), and transmits it to the processing module (7) through the communication module (8), the processing module (7) evaluates the final position of the transducer (1), depending on the parameters of the transducer (1) and the selection of the point to be insonified, and the movements that must be made in said transducer (1) in order to take it from starting position to ending position. Next, the processing module (7) sends a signal to the actuation module (5) to carry out the necessary movements, through the communication module (8). The actuation module (5) performs, by means of the actuators (6), the movements defined by the processing module (7), so that the transducer (1) is placed in the final position to insonify.
Como se muestra en la Figura 4, el módulo de actuación (5) comprende una estructura que tiene dos semianillos acoplados (15, 17) y dos actuadores (16, 18). El transductor (1) se acopla mediante un eje con un semianillo interior (15), que permite la rotación del mismo en tomo a un primer eje de rotación, y el semianillo interior (15) se conecta con un semianillo exterior (17) que permite la rotación del transductor (1) y el semianillo interior (15) en tomo a un segundo eje de rotación perpendicular al primer eje de rotación. Los semianillos (15, 17) son rotados mediante los actuadores (6), de modo que un primer actuador (16) controla la rotación del primer semianillo, y un segundo actuador (18) controla la rotación del segundo semianillo. As shown in Figure 4, the actuation module (5) comprises a structure that has two coupled half-rings (15, 17) and two actuators (16, 18). The transducer (1) is coupled by a shaft with an inner half ring (15), which allows its rotation around a first axis of rotation, and the inner half ring (15) is connected with an outer half ring (17) that allows the rotation of the transducer (1) and the inner half-ring (15) around a second axis of rotation perpendicular to the first axis of rotation. The half rings (15, 17) are rotated by the actuators (6), so that a first actuator (16) controls the rotation of the first half ring, and a second actuator (18) controls the rotation of the second half ring.
La selección del punto a insonificar se lleva a cabo mediante el módulo de simulación (9) que comprende la pantalla (10), en la que se proyecta una representación gráfica de la posición del transductor (1), con respecto a la piel del paciente, y la posición de un punto focal (PF). De ese modo, se hace posible determinar a priori la posición del punto focal (PF) en función de los parámetros de emisión de ultrasonidos del módulo de procesamiento (7), modificar dichos parámetros de emisión con el fin de modificar la posición del punto focal (PF), o modificar directamente la posición del punto focal (PF), modificando en consonancia los parámetros de emisión, recalculándolos mediante el módulo de procesamiento (7). Como se muestra en la Figura 5, el módulo de simulación (9) tiene, en este caso, cargados tres tipos de tratamiento (21) distintos, un visor de las coordenadas del punto focal (PF), tres vistas activas del dispositivo donde un punto rojo indica la posición del punto focal (PF), con respecto a dicho dispositivo, y un cuadro de selección de voltaje (22) de excitación de los emisores (2) en cada tratamiento. The selection of the point to be insonified is carried out by means of the simulation module (9) that comprises the screen (10), in which a graphic representation of the position of the transducer (1) is projected, with respect to the patient's skin. , and the position of a focal point (PF). In this way, it is possible to determine a priori the position of the focal point (PF) as a function of the ultrasound emission parameters of the processing module (7), to modify said emission parameters in order to modify the position of the focal point (PF), or directly modify the position of the focal point (PF), modifying the emission parameters accordingly, recalculating them using the processing module (7). As shown in Figure 5, the simulation module (9) has, in this case, three different types of treatment (21) loaded, a viewer of the focal point coordinates (PF), three active views of the device where a The red point indicates the position of the focal point (PF), with respect to said device, and a voltage selection box (22) for the excitation of the emitters (2) in each treatment.
La Figura 6 muestra una realización preferente del dispositivo para aplicar ultrasonidos, que hace uso de una aguja de punción (20) seca, que comprende, al igual que en el dispositivo para aplicar ultrasonidos con controlador manual (13), una carcasa (12) en la que se aloja el transductor (1) piezoeléctrico múltiple, la cápsula (14) metálica con eliminador de modos radiales, el módulo de posicionamiento (3) y el módulo de actuación (5). Figure 6 shows a preferred embodiment of the device for applying ultrasound, which makes use of a dry puncture needle (20), which comprises, as in the device for applying ultrasound with manual controller (13), a housing (12) in which the multiple piezoelectric transducer (1), the metallic capsule (14) with radial mode eliminator, the positioning module (3) and the actuation module (5) are housed.
En este caso, el módulo de procesamiento (7) y el módulo de simulación (9) también se localizan fuera de la carcasa (12), y se conectan con el transductor (1) y los módulos de posicionamiento y actuación por medio del módulo de comunicación (8), el conectar mini-USB. In this case, the processing module (7) and the simulation module (9) are also located outside the housing (12), and are connected with the transducer (1) and the positioning and actuation modules by means of the module communication (8), connecting mini-USB.
Asimismo, la unidad de potencia (11) extema se conecta con el transductor (1) por medio del conectar tipo LEMO. Likewise, the external power unit (11) is connected with the transducer (1) by means of the LEMO type connector.
Sin embargo, en este caso, el dispositivo para aplicar ultrasonidos comprende, en lugar del controlador manual (13), un orificio de entrada (19), provisto para alojar la aguja de punción (20) seca, de modo que el módulo de posicionamiento (3), haciendo uso de los sensores (4) angulares, indica la angulación de la aguja respecto al plano de la carcasa en contacto con el cuerpo. However, in this case, the device for applying ultrasound comprises, instead of the manual controller (13), an inlet hole (19), provided to house the dry puncture needle (20), so that the positioning module (3), making use of the angular sensors (4), indicates the angle of the needle with respect to the plane of the housing in contact with the body.
La Figura 7 muestra una vista del módulo de simulación (9) en el caso en que se hace uso de una aguja de punción (20) seca para la colocación del transductor (1). El módulo de simulación (9) tiene cargados tres tipos de tratamiento distintos (21) y muestra un visor del punto de coordenadas angulares de partida (0,0) y un punto rojo que es la posición angular de la aguja de punción seca (20), así como un cuadro de selección de la profundidad (23) de punción de la aguja de punción seca (20). Figure 7 shows a view of the simulation module (9) in the case in which a dry puncture needle (20) is used to place the transducer (1). The simulation module (9) has three different types of treatment loaded (21) and shows a viewer of the starting angular coordinate point (0,0) and a red point that is the angular position of the dry puncture needle (20 ), as well as a selection box for the puncture depth (23) of the dry puncture needle (20).
La Figura 8 muestra una realización preferente del método para posicionar el dispositivo para aplicar ultrasonidos descrito, en el caso en el que se hace uso de una aguja de punción seca (20) para posicionar el transductor (1). El método comprende una etapa de colocar (101) una capa de gel en la piel de un paciente en la zona donde se va a realizar la insonificación. Figure 8 shows a preferred embodiment of the method to position the device for applying ultrasound described, in the case in which use is made of a needle of dry puncture (20) to position the transducer (1). The method comprises a step of placing (101) a gel layer on the skin of a patient in the area where the insonification is to be performed.
Previamente, se procede a la colocación (100) de una aguja de punción (20) seca, que marca el punto de Insonificación deseado. Previously, a dry puncture needle (20) is placed (100), which marks the desired Insonification point.
Una vez colocada la aguja de punción seca (20), se coloca (102) el transductor (1) Introduciendo la aguja colocada por el orificio de entrada (19) que se encuentra en la carcasa (12). Así, el transductor (1) queda colocado teniendo como centro el punto de entrada de la aguja en la piel. Once the dry puncture needle (20) has been placed, the transducer (1) is placed (102) by introducing the placed needle through the inlet hole (19) found in the housing (12). Thus, the transducer (1) is placed with the point of entry of the needle in the skin as the center.
A continuación, se determina (103) el tipo de tratamiento que se desea realizar, lo cual fija el tiempo de Insonificación y la Intensidad acústica que se va a proyectar mediante el transductor (1). Next, the type of treatment to be carried out is determined (103), which sets the Insonification time and the acoustic intensity to be projected by the transducer (1).
Seguidamente, se determinan (104) los parámetros de insonificación por medio del módulo de procesamiento (7). Se fija, por tanto, la frecuencia, amplitud de pulso, número de ciclos y retardo de cada canal, que será función del tipo de foco y del diámetro del transductor (1). Next, the insonification parameters are determined (104) by means of the processing module (7). Therefore, the frequency, pulse width, number of cycles and delay of each channel are set, which will be a function of the type of focus and the diameter of the transducer (1).
Fijados los parámetros, se determina el punto de Insonificación, para lo que se hace uso del módulo de simulación (9), en el cual se determina (105) la posición de la punta de la aguja que se corresponde con el punto que se desea insonificar. Once the parameters are set, the Insonification point is determined, for which use is made of the simulation module (9), in which the position of the needle point corresponding to the desired point is determined (105) insonify.
En este caso la Interfaz gráfica muestra un cuadro (23) para Introducir (106) la profundidad a la que se ha Introducido la aguja de punción (20), un punto de referencia, que tiene coordenadas angulares (0,0), y un punto rojo, que representa la posición angular real de la aguja seca (20), determinada gracias al módulo de posicionamiento, que comprende los sensores angulares. Por tanto, para fijar la posición de Insonificación se mueven los cursores deslizantes (24) alrededor del punto de referencia, con lo que se mueve la posición angular del transductor hasta que coincidan los dos sobre el punto rojo con un margen de error de +/- 1mm. Entonces, se activa (108) el módulo de actuación (5) para mover el transductor (1). In this case, the graphical interface shows a box (23) to enter (106) the depth at which the puncture needle (20) has been entered, a reference point, which has angular coordinates (0,0), and a red point, which represents the real angular position of the dry needle (20), determined thanks to the positioning module, which includes the angular sensors. Therefore, to fix the Insonification position, the sliding cursors (24) are moved around the reference point, thereby moving the angular position of the transducer until the two coincide on the red point with a margin of error of + / - 1mm. Then, the actuation module (5) is activated (108) to move the transducer (1).
En la Figura 9 se muestran cuatro capturas de video en un ejemplo de aplicación del método de la invención haciendo uso del dispositivo para aplicar ultrasonidos de la invención, donde se identifica el punto focal (PF) en los puntos en el plano XY: [0,0]; [- 10,2]; [-9,-10]; [ 0,10], respectivamente. In Figure 9 four video captures are shown in an example of application of the method of the invention making use of the device to apply ultrasound of the invention, where the focal point (PF) is identified at the points in the XY plane: [0,0]; [- 10.2]; [-9, -10]; [0.10], respectively.
En este ejemplo de aplicación se ha utilizado un transductor (1) array de ocho elementos de 2 MHz, con una apertura activa del conjunto de emisores (2) circular, de 30 mm de diámetro. En este caso, los emisores (2) son coaxiales, de tipo duro (PZT4) y la cápsula (14) metálica tiene un filtro fonónico de vibraciones laterales. In this application example, a 2 MHz eight-element array transducer (1) has been used, with an active aperture of the set of circular emitters (2), 30 mm in diameter. In this case, the emitters (2) are coaxial, of the hard type (PZT4) and the metal capsule (14) has a lateral vibration phononic filter.
Para proporcionar energía al transductor (1) se ha utilizado una unidad de potencia (11) consistente en un generador comercial programable de señal pulsada con los siguientes parámetros de excitación: To provide power to the transducer (1) a power unit (11) has been used consisting of a commercial programmable pulsed signal generator with the following excitation parameters:
Ocho canales físicos. Pulsos de semi-onda cuadrada negativa de 100V. Eight physical channels. 100V negative square half wave pulses.
Número de ciclos: 100. Number of cycles: 100.
Frecuencia de repetición del pulso: 1 kHz. Pulse repetition frequency: 1 kHz.
Foco: 60 mm Focus: 60mm
En este ejemplo de aplicación se coloca la carcasa (12) orientada hacia arriba. Sobre la carcasa (12) se coloca un recipiente de plástico de diámetro mayor y de 65 mm de altura. Se rellena el recipiente de gel de uso médico (GIMA) colocando en la superficie del gel un disco de sillcona RTV de 3 mm de espesor. In this application example, the housing (12) is positioned facing upwards. A plastic container with a larger diameter and 65 mm in height is placed on the casing (12). The medical gel container (GIMA) is filled by placing a 3 mm thick RTV sillcone disk on the surface of the gel.
Se dispone una cámara de visión de infrarrojo (FLIR E8) encima del disco de sillcona a una distancia de 50 mm para visualizar el punto focal (PF) gracias al calentamiento de la silicona debido a la intensidad acústica. An infrared vision camera (FLIR E8) is arranged above the saddle disk at a distance of 50 mm to visualize the focal point (PF) thanks to the heating of the silicone due to the acoustic intensity.
De ese modo, se obtienen Imágenes de Infrarrojo del punto focal (PF) en un plano, situado a 60 mm del transductor (1) y paralelo al mismo. In this way, Infrared Images of the focal point (PF) are obtained in a plane, located 60 mm from the transducer (1) and parallel to it.
Así, la Figura 9 se muestra el movimiento del punto focal (PF) según se desplaza angularmente el transductor (1) dejando fija la distancia focal en 60 mm con una resistencia lineal variable del controlador manual (13). Thus, Figure 9 shows the movement of the focal point (PF) as the transducer (1) moves angularly, leaving the focal length fixed at 60 mm with a variable linear resistance of the manual controller (13).

Claims

REIVINDICACIONES
1. Dispositivo para aplicar ultrasonidos fisioterapéuticos focalizados que comprende: 1. Device for applying focused physiotherapeutic ultrasound comprising:
- un transductor (1) piezoeléctrico múltiple, que comprende una pluralidad de emisores (2), destinado a emitir ultrasonidos, de modo que permite una insonificación puntual o un barrido de foco programable; - a multiple piezoelectric transducer (1), comprising a plurality of emitters (2), destined to emit ultrasound, so as to allow a punctual insonification or a programmable focus scan;
- un módulo de posicionamiento (3), que comprende uno o más sensores (4) angulares y de posición destinados a medir la posición y orientación del transductor (1); - a positioning module (3), comprising one or more angular and position sensors (4) intended to measure the position and orientation of the transducer (1);
- un módulo de actuación (5), que comprende uno o más actuadores (6) configurados para mover y rotar automáticamente el transductor (1); - an actuation module (5), comprising one or more actuators (6) configured to automatically move and rotate the transducer (1);
- un módulo de procesamiento (7), conectado con el módulo de posicionamiento (3) y el módulo de actuación (5), para obtener la posición del transductor (1) y posicionar el mismo, y con el transductor (1), para controlar la emisión de ultrasonidos, calculando la ley de retardos de los emisores (2); - a processing module (7), connected with the positioning module (3) and the actuation module (5), to obtain the position of the transducer (1) and position it, and with the transducer (1), to control the ultrasound emission, calculating the delay law of the emitters (2);
- un módulo de comunicación (8), conectado al módulo de procesamiento (7) y adaptado para permitir el envío y recepción de datos desde y hacia dicho módulo de procesamiento (7), conectándolo con el módulo de posicionamiento (3), el módulo de actuación (5) y el transductor (1); - a communication module (8), connected to the processing module (7) and adapted to allow sending and receiving data from and to said processing module (7), connecting it with the positioning module (3), the module actuation (5) and the transducer (1);
- una carcasa (12), que aloja el transductor (1), el módulo de posicionamiento (3), el módulo de actuación (5) y el módulo de comunicación (8) y está destinado a entrar en contacto con la piel del sujeto a insonificar. - a housing (12), which houses the transducer (1), the positioning module (3), the actuation module (5) and the communication module (8) and is intended to come into contact with the skin of the subject to insonify.
2. Dispositivo para aplicar ultrasonidos de acuerdo con la reivindicación 1, donde el módulo de procesamiento (7) está situado fuera de la carcasa (12) y se conecta con el módulo de posicionamiento (3), el módulo de actuación (5) y el transductor (1) mediante el módulo de comunicación (8). 2. Device for applying ultrasound according to claim 1, wherein the processing module (7) is located outside the housing (12) and is connected with the positioning module (3), the actuation module (5) and the transducer (1) through the communication module (8).
3. Dispositivo para aplicar ultrasonidos de acuerdo con la reivindicación 1, que además comprende un controlador manual (13) de posición angular y de profundidad, que consiste en un vástago acoplado al transductor (1) para modificar la posición del foco y orientación del mismo. 3. Device for applying ultrasound according to claim 1, which also comprises a manual controller (13) of angular position and depth, which consists of a stem coupled to the transducer (1) to modify the position of the focus and its orientation. .
4. Dispositivo para aplicar ultrasonidos de acuerdo con la reivindicación 1, que además comprende una cápsula (14) metálica con eliminador de modos radiales. Device for applying ultrasound according to claim 1, further comprising a metallic capsule (14) with radial mode eliminator.
5. Dispositivo para aplicar ultrasonidos de acuerdo con la reivindicación 1, donde el transductor (1) piezoeléctrico funciona con intensidades y frecuencias dentro del rango de la fisioterapia ultrasónica clínica. Device for applying ultrasound according to claim 1, wherein the piezoelectric transducer (1) operates with intensities and frequencies within the range of clinical ultrasonic physiotherapy.
6. Dispositivo para aplicar ultrasonidos de acuerdo con la reivindicación 1, donde el transductor (1) piezoeléctrico es de tipo duro, de tipo PZT4. 6. Device for applying ultrasound according to claim 1, wherein the piezoelectric transducer (1) is of the hard type, of the PZT4 type.
7. Dispositivo para aplicar ultrasonidos de acuerdo con la reivindicación 1, donde el módulo de actuación (5) comprende una estructura que comprende: un semianillo interior (15) conectado con el transductor (1) por su superficie lateral extema, que permite su movimiento en tomo a un primer eje de rotación; un primer actuador (16), que controla la rotación del transductor (1) en tomo al primer eje de rotación; un semianillo exterior (17) conectado con el semianillo interior por su superficie lateral externa, permitiendo su movimiento en tomo a un segundo eje de rotación perpendicular al primer eje de rotación; y un segundo actuador (18), que controla la rotación del transductor (1) en torno al segundo eje de rotación. 7. Device for applying ultrasound according to claim 1, wherein the actuation module (5) comprises a structure comprising: an inner half-ring (15) connected to the transducer (1) by its outer lateral surface, which allows its movement around a first axis of rotation; a first actuator (16), which controls the rotation of the transducer (1) around the first axis of rotation; an outer half ring (17) connected to the inner half ring by its outer lateral surface, allowing its movement around a second axis of rotation perpendicular to the first axis of rotation; and a second actuator (18), which controls the rotation of the transducer (1) around the second axis of rotation.
8. Dispositivo para aplicar ultrasonidos de acuerdo con la reivindicación 1, donde la intensidad acústica en un punto focal objetivo es programable a un nivel superior a 50000W/M^2 y una frecuencia programable en el rango entre 1MHz y 3Mhz. 8. Device for applying ultrasound according to claim 1, wherein the acoustic intensity at a target focal point is programmable at a level greater than 50000W / M ^ 2 and a programmable frequency in the range between 1MHz and 3Mhz.
9. Dispositivo para aplicar ultrasonidos de acuerdo con la reivindicación 1, que además comprende una unidad de potencia (11) multicanal programable en voltaje, número de ciclos, frecuencia de repetición y retardos, conectada con el módulo de procesamiento (7), que determina los parámetros de emisión, y con el transductor (1) al que suministra potencia. Device for applying ultrasound according to claim 1, further comprising a multi-channel power unit (11) programmable in voltage, number of cycles, repetition frequency and delays, connected to the processing module (7), which determines emission parameters, and with the transducer (1) to which it supplies power.
10. Dispositivo para aplicar ultrasonidos de acuerdo con la reivindicación 1, que además comprende un módulo de simulación (9), conectado a módulo de procesamiento (7) y que comprende una pantalla (10), para simular la posición del punto focal en función de los parámetros de posicionamiento y emisión de ultrasonidos, proporcionados por el módulo de procesamiento (7), mostrando la simulación del punto focal en una imagen tridimensional. 10. Device for applying ultrasound according to claim 1, further comprising a simulation module (9), connected to a processing module (7) and comprising a screen (10), to simulate the position of the focal point as a function of the positioning and ultrasound emission parameters, provided by the processing module (7), showing the simulation of the focal point in a three-dimensional image.
11. Dispositivo para aplicar ultrasonidos de acuerdo con la reivindicación 1, donde el transductor (1) es un transductor (1) múltiple con capacidad de focalización programable, un transductor (1) monocanal focalizante o no focalizante. Device for applying ultrasound according to claim 1, wherein the transducer (1) is a multiple transducer (1) with programmable targeting capability, a single-channel targeting or non-targeting transducer (1).
12. Dispositivo para aplicar ultrasonidos de acuerdo con la reivindicación 1, que además comprende un orificio de entrada (19) en el centro del transductor (1) y la carcasa (12), destinado a permitir la introducción de una aguja de punción (20) seca que sirve como guía de posicionamiento del transductor (1). 12. Device for applying ultrasound according to claim 1, further comprising an inlet hole (19) in the center of the transducer (1) and the housing (12), intended to allow the introduction of a puncture needle (20 ) seca that serves as a positioning guide for the transducer (1).
13. Método para posicionar el dispositivo para aplicar ultrasonidos de acuerdo con cualquiera de las reivindicaciones 1 a 11 y comprende las etapas de: 13. Method for positioning the device for applying ultrasound according to any of claims 1 to 11 and comprises the steps of:
- colocar (101) una capa de gel de uso médico (GIMA) en la piel de un paciente;- placing (101) a layer of gel for medical use (GIMA) on the skin of a patient;
- colocar (102) el transductor (1), poniendo la carcasa (12) en contacto con la piel del paciente; - positioning (102) the transducer (1), putting the casing (12) in contact with the patient's skin;
- determinar (103) tipo de tratamiento, fijando tiempo de insonificación e Intensidad acústica en el módulo de procesamiento (7); - determining (103) type of treatment, setting insonification time and acoustic intensity in the processing module (7);
- determinar (104) parámetros de insonificación en el módulo de procesamiento (7), que comprenden al menos uno de: frecuencia, amplitud de pulso, número de ciclos, frecuencia de repetición y retardo de cada canal; - determining (104) insonification parameters in the processing module (7), comprising at least one of: frequency, pulse width, number of cycles, repetition frequency and delay of each channel;
- determinar (107) la posición del transductor (1), mediante el módulo de posicionamiento (3); - determining (107) the position of the transducer (1), by means of the positioning module (3);
- calcular (108) el movimiento del transductor (1) para insonificar un punto predeterminado, mediante el módulo de procesamiento (7); - calculating (108) the movement of the transducer (1) to insonify a predetermined point, by means of the processing module (7);
- activar (109) el módulo de actuación (5) para colocar el transductor (1) en la posición calculada. - activate (109) the actuation module (5) to place the transducer (1) in the calculated position.
14. Método de acuerdo con la reivindicación 13, donde la etapa de calcular el movimiento del transductor (1) comprende una fase de seleccionar (105) mediante una simulación el punto a insonificar en una imagen tridimensional. Method according to claim 13, wherein the step of calculating the movement of the transducer (1) comprises a phase of selecting (105) by simulation the point to be insonified in a three-dimensional image.
15. Método para posicionar el dispositivo para aplicar ultrasonidos de acuerdo con la reivindicación 12 y comprende las etapas de: 15. Method for positioning the device to apply ultrasound according to claim 12 and comprises the steps of:
- introducir (100) una aguja de punción (20) seca a través de la piel de un sujeto;- inserting (100) a dry puncture needle (20) through the skin of a subject;
- colocar (101) una capa de gel de uso médico (GIMA) en la piel de un paciente; colocar (102) el transductor (1), poniendo la carcasa (12) en contacto con la piel de un sujeto, quedando la aguja de punción (20) seca en el Interior del orificio de entrada (19); determinar (103) tipo de tratamiento, fijando tiempo de insonificación e intensidad acústica en el módulo de procesamiento (7); determinar (104) parámetros de insonificación en el módulo de procesamiento (7), seleccionados de entre frecuencia, amplitud de pulso, número de ciclos, frecuencia de repetición y retardo de cada canal; determinar (106) la profundidad de punción de la aguja de punción (20) seca; determinar (107) la angulación de la aguja de punción seca (20), mediante el módulo de posicionamiento (3); calcular (108) el movimiento del transductor (1) para insonificar un punto situado en la punta de la aguja de punción (20) seca, mediante el módulo de procesamiento (7); activar (109) el módulo de actuación (5) para colocar el transductor (1) en la posición calculada. - placing (101) a layer of gel for medical use (GIMA) on the skin of a patient; positioning (102) the transducer (1), putting the casing (12) in contact with the skin of a subject, leaving the puncture needle (20) dry inside the entrance hole (19); determining (103) type of treatment, setting insonification time and acoustic intensity in the processing module (7); determining (104) insonification parameters in the processing module (7), selected from among frequency, pulse width, number of cycles, repetition frequency and delay of each channel; determining (106) the puncture depth of the dry puncture needle (20); determining (107) the angulation of the dry puncture needle (20), by means of the positioning module (3); calculating (108) the movement of the transducer (1) to insonify a point located on the tip of the dry puncture needle (20), by means of the processing module (7); activate (109) the actuation module (5) to place the transducer (1) in the calculated position.
16. Método de acuerdo con la reivindicación 15, donde la etapa de calcular el movimiento del transductor (1) comprende una fase de seleccionar (105) mediante una simulación el posicionamiento angular del transductor en una imagen bidimensional. 16. Method according to claim 15, wherein the step of calculating the movement of the transducer (1) comprises a phase of selecting (105) by simulating the angular positioning of the transducer in a two-dimensional image.
PCT/ES2021/070121 2020-02-21 2021-02-19 Device for the application of focalised physiotherapeutic ultrasound, and method for the positioning of the same WO2021165562A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ESP202030152 2020-02-21
ES202030152A ES2850083A1 (en) 2020-02-21 2020-02-21 DEVICE TO APPLY FOCUSED PHYSIOTHERAPEUTIC ULTRASOUNDS AND POSITIONING METHOD OF THE SAME (Machine-translation by Google Translate, not legally binding)

Publications (1)

Publication Number Publication Date
WO2021165562A1 true WO2021165562A1 (en) 2021-08-26

Family

ID=77389214

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2021/070121 WO2021165562A1 (en) 2020-02-21 2021-02-19 Device for the application of focalised physiotherapeutic ultrasound, and method for the positioning of the same

Country Status (2)

Country Link
ES (1) ES2850083A1 (en)
WO (1) WO2021165562A1 (en)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3454923A (en) * 1968-02-01 1969-07-08 Honeywell Inc Transducer control apparatus
US5331962A (en) * 1993-04-16 1994-07-26 Cornell Research Foundation Inc. Ultrasound system for corneal biometry
US5759162A (en) * 1992-03-10 1998-06-02 Siemens Aktiengesellschaft Method and apparatus for ultrasound tissue therapy
US20030171701A1 (en) * 2002-03-06 2003-09-11 Eilaz Babaev Ultrasonic method and device for lypolytic therapy
WO2005065409A2 (en) * 2003-12-30 2005-07-21 Liposonix, Inc. Ultrasound therapy head with movement control
WO2005065407A2 (en) * 2003-12-30 2005-07-21 Liposonix, Inc. Position tracking device
US20060122509A1 (en) * 2004-11-24 2006-06-08 Liposonix, Inc. System and methods for destroying adipose tissue
WO2017095008A1 (en) * 2015-12-01 2017-06-08 (주)클래시스 Therapeutic ultrasonic wave generating device
WO2018124479A1 (en) * 2016-12-29 2018-07-05 (주)클래시스 Ultrasound cartridge and ultrasound therapeutic head using same

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3454923A (en) * 1968-02-01 1969-07-08 Honeywell Inc Transducer control apparatus
US5759162A (en) * 1992-03-10 1998-06-02 Siemens Aktiengesellschaft Method and apparatus for ultrasound tissue therapy
US5331962A (en) * 1993-04-16 1994-07-26 Cornell Research Foundation Inc. Ultrasound system for corneal biometry
US20030171701A1 (en) * 2002-03-06 2003-09-11 Eilaz Babaev Ultrasonic method and device for lypolytic therapy
WO2005065409A2 (en) * 2003-12-30 2005-07-21 Liposonix, Inc. Ultrasound therapy head with movement control
WO2005065407A2 (en) * 2003-12-30 2005-07-21 Liposonix, Inc. Position tracking device
US20060122509A1 (en) * 2004-11-24 2006-06-08 Liposonix, Inc. System and methods for destroying adipose tissue
WO2017095008A1 (en) * 2015-12-01 2017-06-08 (주)클래시스 Therapeutic ultrasonic wave generating device
WO2018124479A1 (en) * 2016-12-29 2018-07-05 (주)클래시스 Ultrasound cartridge and ultrasound therapeutic head using same

Also Published As

Publication number Publication date
ES2850083A1 (en) 2021-08-25

Similar Documents

Publication Publication Date Title
EP0575363B1 (en) Therapeutic endo-rectal probe for treatment of tumour tissue, in particular of the prostate
ES2705758T3 (en) System for controlled heat treatment of human surface tissue
JP6980696B2 (en) Ultrasound imaging and treatment equipment
EP1871478B1 (en) Ultrasound generating apparatus
KR102512194B1 (en) Device for treatment of a tissue
US20060079868A1 (en) Method and system for treatment of blood vessel disorders
TWI414330B (en) A guided positioning module and a treatment system having the positioning module
RU2462997C2 (en) Device for ultrasonic three-dimensional visualisation and therapy
US20160038770A1 (en) Focused transcranial ultrasound systems and methods for using them
US20060074314A1 (en) Method and system for noninvasive mastopexy
JP2007516810A (en) Ultrasonic therapy head with motion control
KR101533402B1 (en) High Intensity Focused Ultrasound treatment apparatus and method of controlling the same
WO2006021851A1 (en) Focused ultrasound system for surrounding a body tissue mass
CN111134776A (en) High-intensity focused ultrasound equipment and control method
Rahimi et al. A high-frequency phased array system for transcranial ultrasound delivery in small animals
KR20190026402A (en) High intensity focused ultrasound device
WO2021165562A1 (en) Device for the application of focalised physiotherapeutic ultrasound, and method for the positioning of the same
CN211911724U (en) High intensity focused ultrasound device
ES2540599B1 (en) SYSTEM AND METHOD FOR APPLYING FOCALIZED PHYSIOTHERAPEUTIC ULTRASOUNDS OF LOW AND MEDIUM INTENSITY GUIDED BY ECOGRAPHIC IMAGE ON SOFT TISSUES
KR102538149B1 (en) Ultrasound treatment head and ultrasound imaging and treatment method
JP6783319B2 (en) Implantable ultrasound generation therapy devices for the treatment of the spinal cord and / or spinal nerves, devices and methods comprising the devices.
KR102541586B1 (en) Ultrasonic test system and ultrasonic test method thereof
Harada et al. Study on high-intensity focused ultrasound focal position control using intracorporeal acoustic device
KR20190015866A (en) High intensity focused ultrasound device
Mulgaonkar et al. Design of a minimally invasive low-frequency microtransducer for ultrasonic neuromodulation

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21757508

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21757508

Country of ref document: EP

Kind code of ref document: A1