Abstract
Shock wave lithotripsy has generally been a first choice for kidney stone removal. The shock wave lithotripter uses an order of microsecond pulse durations and up to a 100 MPa pressure spike triggered at approximately 0.5–2 Hz to fragment kidney stones through mechanical mechanisms. One important mechanism is cavitation. We proposed an alternative type of lithotripsy method that maximizes cavitation activity to disintegrate kidney stones using high-intensity focused ultrasound (HIFU). Here we outline the method according to the previously published literature (Matsumoto et al., Dynamics of bubble cloud in focused ultrasound. Proceedings of the second international symposium on therapeutic ultrasound, pp 290–299, 2002; Ikeda et al., Ultrasound Med Biol 32:1383–1397, 2006; Yoshizawa et al., Med Biol Eng Comput 47:851–860, 2009; Koizumi et al., A control framework for the non-invasive ultrasound the ragnostic system. Proceedings of 2009 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), pp 4511–4516, 2009; Koizumi et al., IEEE Trans Robot 25:522–538, 2009). Cavitation activity is highly unpredictable; thus, a precise control system is needed. The proposed method comprises three steps of control in kidney stone treatment. The first step is control of localized high pressure fluctuation on the stone. The second step is monitoring of cavitation activity and giving feedback on the optimized ultrasound conditions. The third step is stone tracking and precise ultrasound focusing on the stone. For the high pressure control we designed a two-frequency wave (cavitation control (C-C) waveform); a high frequency ultrasound pulse (1–4 MHz) to create a cavitation cloud, and a low frequency trailing pulse (0.5 MHz) following the high frequency pulse to force the cloud into collapse. High speed photography showed cavitation collapse on a kidney stone and shock wave emission from the cloud. We also conducted in-vitro erosion tests of model and natural kidney stones. For the model stones, the erosion rate of the C-C waveform showed a distinct advantage with the combined high and low frequency waves over either wave alone. For optimization of the high frequency ultrasound intensity, we investigated the relationship between subharmonic emission from cavitation bubbles and stone erosion volume. For stone tracking we have also developed a non-invasive ultrasound theragnostic system (NIUTS) that compensates for kidney motion. Natural stones were eroded and most of the resulting fragments were less than 1 mm in diameter. The small fragments were small enough to pass through the urethra. The results demonstrate that, with the precise control of cavitation activity, focused ultrasound has the potential to be used to develop a less invasive and more controllable lithotripsy system.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Abolmaesumi P, Salcudean SE, Zhu WH, Sirouspour M, DiMaio S (2002) Image-guided control of a robot for medical ultrasound. IEEE Trans Robot Autom 18:11–23
Aoki Y, Kaneko K, Sakai T, Masuda K (2010) A study of scanning the ultrasound probe on body surface and construction of visual servo system based on echogram. J Robot Mech 22:273–279
Arnold P, Preiswerk F, Fasel B, Salomir R, Scheffler K, Cattin P (2011) 3D organ motion prediction for MR-guided high intensity focused ultrasound. Med Image Comput Comput Assist Interv 14:623–630
Bailey MR (1997) Control of acoustic cavitation with application of lithotripsy. PhD dissertation, University of Texas at Austin, Austin.
Bailey MR, Blackstock DT, Cleveland RO, Crum LA (1999) Comparison of electrohydraulic lithotripters with rigid and pressure-release ellipsoidal reflectors. II Cavitation fields. J Acoust Soc Am 106:1149–1159
Bailey MR, Couret LN, Sapozhnikov OA, Khokhlova VA, ter Haar G, Vaezy S, Shi X, Martin R, Crum LA (2001) Use of overpressure to assess the role of bubbles in focused ultrasound lesion shape in vitro. Ultrasound Med Biol 27:695–708
Bailey MR, Pishchalnikov YA, Sapozhnikov OA, Cleveland RO, McAteer JA, Miller NA, Pishchalnikova IV, Connors BA, Crum LA, Evan AP (2005) Cavitation detection during shock-wave lithotripsy. Ultrasound Med Biol 31:1245–1256
Brix L, Ringgaard S, Sorensen TS, Poulsen PR (2014) Three-dimensional liver motion tracking using real-time two-dimensional MRI. Med Phys 41:042303
Carnel MT, Alcock RD, Emmony DC (1993) Optical imaging of shock waves produced by a high-energy electromagnetic transducer. Phys Med Biol 38:1575–1588
Cathignol D, Tavakkoli J, Birer A, Arefiev A (1998) Comparison between the effects of cavitation induced by two different pressure-time shock waveform pulses. IEEE Trans Ultrason Ferroelectr Freq Control 45:788–799
Chahine GL, Duraiswami R (1992) Dynamical interactions in a multi-bubble cloud. J Fluids Eng 114:680–686
Chaussy C, Brendel W, Schiemdt E (1980) Extracorporeally induced destruction of kidney stones by shock waves. Lancet 2:1265–1268
Church CC (1989) A theoretical study of cavitation generated by an extracorporeal shock wave lithotripter. J Acoust Soc Am 86:215–227
Cleveland RO, Bailey MR, Fineberg N, Hartenbaum B, Lokhandwalla M, McAteer JA, Sturtevant B (2000a) Design and characterization of a research electrohydraulic lithotripter patterned after the Dornier HM3. Rev Sci Instrum 71:2514–2525
Cleveland RO, Sapozhnikov OA, Bailey MR, Crum LA (2000b) A dual passive cavitation detector for localized detection of lithotripsy-induced cavitation in vitro. J Acoust Soc Am 107:1745–1758
Coleman AJ, Saunders JE, Crum LA, Dyson M (1987) Acoustic cavitation generated by an extracorporeal shockwave lithotripter. Ultrasound Med Biol 13:69–76
Coleman AJ, Choi MJ, Saunders JE (1996) Detection of acoustic emission from cavitation in tissue during clinical extracorporeal lithotripsy. Ultrasound Med Biol 22:1079–1087
Crum LA (1988) Cavitation microjets as a contributory mechanism for renal calculi disintegration in ESWL. J Urol 140:1587–1590
d’Agostino L, Brennen CE (1988) Acoustical absorption and scattering cross sections of spherical bubble clouds. J Acoust Soc Am 84:2126–2134
d’Agostino L, Brennen CE (1989) Linearized dynamics of spherical bubble clouds. J Fluid Mech 199:155–176
Duryea AP, Maxwell AD, Roberts WW, Xu Z, Hall TL, Cain CC (2011) In vitro comminution of model renal calculi using histotripsy. IEEE Trans Ultrason Ferroelectr Freq Control 58:971–980
Duryea AP, Roberts WW, Cain CC, Hall TL (2013) Controlled cavitation to augment SWL stone comminution mechanistic insights in vitro. IEEE Trans Ultrason Ferroelectr Freq Control 60:301–309
Eisenmenger W (2001) The mechanisms of stone fragmentation in ESWL. Ultrasound Med Biol 27:683–693
Eisenmenger W, Du XX, Tang C, Zhao S, Wang Y, Rong F, Dai D, Guan M, Qi A (2002) The first clinical results of “wide-focus and low pressure” ESWL. Ultrasound Med Biol 28:769–774
Evan AP, Lynn R, Willis LR, McAteer JA, Bailey MR, Connors BA, Shao Y, Lingeman JE, Williams JC Jr, Fineberg NS, Crum LA (2002) Kidney damage and renal functional changes are minimized by waveform control that suppresses cavitation in shock wave lithotripsy. J Urol 168:1556–1562
Gateau J, Aubry JF, Pernot M, Fink M, Tanter M (2011) Combined passive detection and ultrafast active imaging of cavitation events induced by short pulses of high-intensity ultrasound. IEEE Trans Ultrason Ferroelectr Freq Control 58:517–532
Ginhoux R, Gangloff J, Mathelin M, Soler L, Sanchez MMA, Marescaux J (2005) Active filtering of physiological motion in robotized surgery using predictive control. IEEE Trans Robot 21:67–79
Gracewski SM, Dahake G, Ding Z, Burns SJ, Everbach EC (1993) Internal stress wave measurements in solids subjected to the lithotripter pulses. J Acoust Soc Am 94:652–661
Ikeda T, Yoshizawa S, Tosaki M, Allen JS, Takagi S, Ohta N, Kitamura T, Matsumoto Y (2006) Cloud cavitation control for lithotripsy using high intensity focused ultrasound. Ultrasound Med Biol 32:1383–1397
Kato H, Konno A, Maeda M, Yamaguchi H (1996) Possibility of quantitative prediction of cavitation erosion without model test. J Fluids Eng 118:582–588
Knapp RT (1955) Recent investigation on the mechanics of cavitation and erosion damage. Trans ASME 77:1045–1054
Koizumi N, Seo J, Suzuki Y, Lee D, Ota K, Nomiya A, Yoshizawa S, Yoshinaka K, Sugita N, Homma Y, Matsumoto Y, Mitsuishi M (2009a) A control framework for the non-invasive ultrasound theragnostic system. Proceedings of 2009 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), St. Louis, USA, pp 4511–4516
Koizumi N, Warisawa S, Nagoshi M, Hashizume H, Mitsuishi M (2009b) Construction methodology for a remote ultrasound diagnostic system. IEEE Trans Robot 25:522–538
Koizumi N, Seo J, Lee D, Funamoto T, Nomiya A, Yoshinaka K, Sugita N, Homma H, Matsumoto Y, Mitsuishi M (2011) Robust kidney stone tracking for a non-Invasive ultrasound theragnostic system –servoing performance and safety enhancement. Proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, pp 2443–2450
Koizumi N, Seo J, Funamoto T, Nomiya A, Ishikawa A, Yoshinaka K, Sugita N, Homma Y, Matsumoto Y, Mitsuishi M (2013) Construction methodology for NIUTS ―Bed servoing system for body targets. J Robot Mech 25:1088–1096
Koizumi N, Funamoto T, Seo J, Lee D, Tsukihara H, Nomiya A, Azuma T, Yoshinaka K, Sugita N, Homma H, Matsumoto Y, Mitsuishi M (2014) A novel robust template matching method to track and follow body targets for NIUTS. Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, pp 1929–1936
Konno A, Kato H, Yamaguchi H, Maeda M (2002) On the collapsing behavior of cavitation bubble clusters. JSME Int J B 3:631–637
Krupa A, Fichtinger G, Hager G (2009) Real-time motion stabilization with B-mode ultrasound image speckle information and visual servoing. Int J Robot Res 28:1334–1354
Kubota Y, Matsumura A, Fulahori M, Minohara S, Yasuda S, Nagahashi H (2014) A new method for tracking organ motion on diagnostic ultrasound images. Med Phys 41:092901
Li R, Jia X, Lewis JH, Gu X, Folkerts M, Men C, Jiang SB (2010) Real-time volumetric image reconstruction and 3D tumor localization based on a single x-ray projection image for lung cancer radiotherapy. Med Phys Lett 37:2822–2826
Loske AM, Prieto FE, Fernández F, van Cauwelaert J (2002) Tandem shock wave cavitation enhancement for extracororeal lithotripsy. Phys Med Biol 47:3945–3957
Matsumoto Y, Yoshizawa S (2005) Behavior of bubble cluster in an ultrasound field. Int J Numer Methods Fluids 47:591–601
Matsumoto Y, Yoshizawa S, Ikeda T (2002) Dynamics of bubble cloud in focused ultrasound. Proceedings of the second international symposium on therapeutic ultrasound, International Society for Therapeutic Ultrasound (ISTU), Seattle, USA, pp290–299
Maxwell AD, Cunitz BW, Kreider W, Sapozhnikov OA, Hsi RS, Harper JD, Bailey MR, Sorensen MD (2015) Fragmentation of urinary calculi in vitro by burst wave lithotripsy. J Urol 193(1):338–344
McAteer JA, Williams JC, Cleveland RO, Van Cauwelaert J, Bailey MR, Lifshitz DA, Evan AP (2005) Ultracal-30 gypsum artificial stones for research on the mechanisms of stone breakage in shock wave lithotripsy. Urol Res 33:429–434
Mørch KA (1981) Cavity cluster dynamics and cavitation erosion. Proceedings of ASME Cavitation polyphase flow forum, ASME, Boulder, Colorado, pp 1–10
Mura M, Ciuti G, Ferrari V, Dario P, Menciassi A (2014) Ultrasound-based tracking strategy for endoluminal devices in cardiovascular surgery. Int J Med Robot, doi: 10.1002/rcs.1603. [Epub ahead of print]
Nakamura Y, Kishi K, Kawakami H (2001) Heartbeat synchronization for robotic cardiac surgery. IEEE Int Conf Robot Autom (ICRA) 2:2014–2019
Omta R (1987) Oscillations of a cloud of bubbles of small and not so small amplitude. J Acoust Soc Am 82:1018–1033
Ozhasoglu C, Saw CB, Chen H, Burton S, Komanduri K, Yue NJ, Huq SM, Heron DE (2008) Synchrony – cyberknife respiratory compensation technology. Med Dosim 33:117–123
Philip A, Delius M, Scheffczyk C, Vogel A, Lauterborn W (1993) Interaction of lithotripter-generated shock waves with air bubbles. J Acoust Soc Am 93:2496–2509
Pishchalnikov YA, Sapozhnikov OA, Bailey MR, Williams JC Jr, Cleveland RO, Colonius T, Crum LA, Evan AP, McAteer JA (2003) Cavitation bubble cluster activity in the breakage of kidney stones by lithotripter shockwaves. J Endourol 17:435–446
Reisman GE, Brennen CE (1996) Pressure pulses generated by cloud cavitation. ASME FED 236:319–328
Reisman GE, Wang YC, Brennen CE (1998) Observation of shock waves in cloud cavitation. J Fluid Mech 355:255–283
Sapozhnikov OV, Khokhlova VA, Williams JC Jr, McAteer JA, Cleveland RO, Crum LA (2002) Effect of overpressure and pulse repetition frequency on cavitation in shock wave lithotripsy. J Acoust Soc Am 112:1183–1195
Seo J, Koizumi N, Yoshinaka K, Sugita N, Nomiya A, Homma Y, Matsumoto Y, Mitsuishi M (2010) Three-dimensional computer controlled acoustic pressure scanning and quantification of focused ultrasound. IEEE Trans Ultrason Ferroelectr Freq Control 57:883–891
Seo J, Koizumi N, Funamoto T, Sugita N, Yoshinaka K, Nomiya A, Ishikawa A, Homma Y, Matsumoto Y, Mitsuishi M (2011) Visual servoing for a US-guided therapeutic HIFU system by coagulated lesion tracking: a phantom study. Int J Med Robot Comput Assist Surg 7:237–247
Shimada M, Matsumoto Y, Kobayashi T (2000) Influence of the nuclei size distribution on the collapsing behavior of the cloud cavitation. JSME Int J B 43:380–385
Sokolov DL, Bailey MR, Crum LA (2001) Use of a dual-pulse lithotripter to generate a localized and intensified cavitation field. J Acoust Soc Am 110:1685–1695
Sokolov DL, Bailey MR, Crum LA (2003) Dual-pulse lithotripter accelerates stone fragmentation and reduces cell lysis in vitro. Ultrasound Med Biol 29:1045–1052
Soyama H, Kato H, Oba R (1992) Cavitation observations of severely erosive vortex cavitation arising in a centrifugal pump. Proceedings of third IMechE International Conference on Cavitation, IMechE, London, UK, pp 103–110
ter Haar G (2001) Acoustic surgery. Phys Today, 54(12), pp. 29–34
Thienphrapa P, Ramachandran B, Elhawary H, Popovic A, Taylor RH (2014) Guidance of a high dexterity robot under 3d ultrasound for minimally invasive retrieval of foreign bodies from a beating heart. IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, pp 4869–4874
To G, Mahfouz MR (2013) Quaternionic attitude estimation for robotic and human motion tracking using sequential Monte Carlo methods with von Mises-Fisher and nonuniform densities simulations. IEEE Trans Biomed Eng 60:3046–3059
Tuna E, Franke T, Bebek O, Shiose A, Fukamachi K, Cavusoglu M (2013) Heart motion prediction based on adaptive estimation algorithms for robotic-assisted beating heart surgery. IEEE Trans Robot 29:261–276
van Wijngaarden L (1964) On the collective collapse of a large number of gas bubbles in water. Proceedings of 11th International Conference on Applied Mechanics, SpringerVerlag, Berlin, Germany, pp 854–861
Wang YC, Brennen CE (1995) The noise generated by the collapse of a cloud of cavitation bubbles. ASME FED 226. In: Cavitation and gas-liquid flow in fluid machinery devices, ASME, South Carolina, USA, pp 17–29
Wang YC, Brennen CE (1999) Numerical computation of shock waves in a spherical cloud of cavitation bubbles. ASME J Fluids Eng 121:872–880
Williams JC, Stonehill MA, Colmenares K, Evan AP, Andreoli SP, Cleveland RO, Bailey MR, Crum LA, McAteer JA (1999) Effect of macroscopic air bubbles on cell lysis by shock wave lithotripsy in vivo. Ultrasound Med Biol 25:473–479
Xi X, Zhong P (2000) Improvement of stone fragmentation during shock-wave lithotripsy using a combined EH/PEAA shock-wave generator – in vivo experiments. Ultrasound Med Biol 26:457–467
Yoshizawa S, Ikeda T, Takagi S, Matsumoto Y (2004) Nonlinear ultrasound propagation in a spherical bubble cloud. Proceedings of IEEE International ultrasonics symposium 2004, Montreal, Canada, vol 2, pp 886–889
Yoshizawa S, Ikeda T, Ito A, Ota R, Takagi S, Matsumoto Y (2009) High intensity focused ultrasound lithotripsy with cavitating microbubbles. Med Biol Eng Comput 47:851–860
Zhong P, Chuong CJ, Goolsby RD, Preminger GM (1992) Microhardness measurements of renal calculi: regional differences and effects of microstructure. J Biomed Mater Res 26:1117–1130
Zhong P, Cocks FH, Cioanta I, Preminger GM (1997) Controlled, forced collapse of cavitation bubbles for improved stone fragmentation during shock wave lithotripsy. J Urol 158:2323–2328
Zhu S, Cocks FH, Preminger GM, Zhong P (2002) The role of stress waves and cavitation in stone comminution in shock wave lithotripsy. Ultrasound Med Biol 28:661–671
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Ikeda, T., Yoshizawa, S., Koizumi, N., Mitsuishi, M., Matsumoto, Y. (2016). Focused Ultrasound and Lithotripsy. In: Escoffre, JM., Bouakaz, A. (eds) Therapeutic Ultrasound. Advances in Experimental Medicine and Biology, vol 880. Springer, Cham. https://doi.org/10.1007/978-3-319-22536-4_7
Download citation
DOI: https://doi.org/10.1007/978-3-319-22536-4_7
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-22535-7
Online ISBN: 978-3-319-22536-4
eBook Packages: Biomedical and Life SciencesBiomedical and Life Sciences (R0)