Histotripsy systems and associated methods including user interfaces and workflows for treatment planning and therapy

Abstract

A system and method, including an ultrasound imaging transducer, an ultrasound therapy transducer, a robotic arm configured to orient the ultrasound imaging transducer and the ultrasound therapy transducer about a patient, a display connected to imaging transducer, and a memory, storing instructions that when executed by a processor receive ultrasound images from the imaging transducer, present ultrasound images, receive an input to alter a shape of a contour line, present the contour line, receive an input of a size of a margin around the treatment area, present the margin, determine end points at locations where X, Y, and Z axes bisect the contour line in an XZ plane and a YZ plane, drive the ultrasound therapy transducer to a location where a focal point of the ultrasound therapy transducer is at the end point, and determining whether a resistance to movement exceeds a threshold.

Dependencies are inferred from the claim text.