Apparatus and method for ultrasound spinal cord stimulation

A method for ultrasound stimulation of a spinal cord by an apparatus, the method comprising at least two stimulation cycles, each comprising the steps of:

• a) obtaining a first real-time spinal cord image using a first set of ultrasound transducers;
• b) selecting a pre-determined stimulation area of the spinal cord from the first real-time spinal cord image;
• c) calculating a position and orientation of the selected stimulation area relative to a second set of ultrasound transducers;
• and
• d) stimulating the selected stimulation area of the spinal cord at the calculated relative position and orientation using the second set of ultrasound transducers,
• wherein the apparatus comprises:
• an imaging module, wherein the imaging module comprises the first set of ultrasound transducers configured to obtain real-time spinal cord images;
• an image recognition module, wherein the image recognition module is configured to select the pre-determined stimulation area of the spinal cord from the first real-time spinal cord image of the real-time spinal cord images, and to calculate a position and orientation of the selected stimulation area relative to the first set of ultrasound transducers represented by a first rigid transform matrix;
• a stimulating module, wherein the stimulating module comprises the second set of ultrasound transducers configured to stimulate the selected stimulation area of the spinal cord at the calculated relative position and orientation subsequent to the selection of the pre-determined stimulation area of the spinal cord from the first real-time spinal cord image;
• and
• a control module, wherein the control module is configured to coordinate the imaging module, the image recognition module and the stimulating module to operate in at least two stimulation cycles, and wherein in each of the at least two stimulation cycles, at the same time of or after ultrasound stimulation is applied to the selected stimulation area of the spinal cord by the stimulating module, the following actions are performed:
• the imaging module obtains a second real-time spinal cord image;
• the image recognition module recognizes an actual stimulation area of the spinal cord from the second real-time spinal cord image;
• and
• the control module adjusts the recognition module and/or the stimulating module based on a difference between the actual stimulation area and the pre-determined stimulation area;
• wherein:
• the control module further comprises a receiver configured to generate a magnetic field in space;
• the imaging module further comprises a first spatial sensor configured to sense the magnetic field;
• the stimulating module further comprises a second spatial sensor configured to sense the magnetic field;
• the image recognition module is further configured to calculate a position and orientation of the first and second spatial sensors relative to the receiver according to a strength of the magnetic field and a change of magnitude of the magnetic field, to thereby calculate a position and orientation of the first set of ultrasound transducers relative to the second set of ultrasound transducers represented by a second rigid transform matrix;
• and
• the image recognition module is further configured to calculate the position and orientation of the selected stimulation area relative to the second set of ultrasound transducers with the first and second rigid transform matrixes.