WO2008104888A2

WO2008104888A2 - Intracavitary system

Info

Publication number: WO2008104888A2
Application number: PCT/IB2008/000885
Authority: WO
Inventors: Amit Timor; Andrei Yosef; Eliyahu Stolero
Original assignee: C-Wide Ltd.
Priority date: 2007-02-28
Filing date: 2008-02-27
Publication date: 2008-09-04
Also published as: WO2008104888A3; IL181636A0

Abstract

An ultrasonic imaging system comprises an intracavitary probe (11) to be inserted into a body cavity. The probe comprises an elongated body (23), an ultrasonic transducer (37), a remotely controlled motion generator (33, 44) for imparting three- dimensional motion on the ultrasonic transducer relative to the elongated body, an intracavitary anchoring unit (45) for anchoring the elongated body of the probe inside the body cavity, and a remote control device for controlling the motion generator. An intracavitary system including an intracavitary probe to be inserted into a body cavity; a plurality of anchoring units (45a-45f) that anchor the intracavitary probe inside the body cavity, wherein the plurality of anchoring units are provided radially around the intracavitary probe, and each of the anchoring units is individually controlled to extend toward and retract from walls of the body cavity; and a controller for controlling extension and retraction of the anchoring units.

Description

INTRACAVITARY SYSTEM

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority from Israel Application No. 181636, which was filed on February 28, 2007, and is incorporated herein by reference in its entirety.

FIELD OF THE INVENTION

[0002] The present invention relates to medical intracavitary devices and systems. In particular, the present application can relate to, but is not limited to, ultrasonography for scanning and imaging of organs of the body, including gynecologic and obstetric ultrasonic systems aimed at transvaginally imaging female pelvic organs and imaging of the fetus during pregnancy.

BACKGROUND OF THE INVENTION

[0003] Ultrasonography is an ultrasound-based diagnostic imaging technique. As ultrasound is effective for imaging soft tissues of the body, ultrasonography is commonly used in medicine.

[0004] Medical sonographers typically use a hand-held probe, sometimes referred to as a "transducer" that is placed directly on and moved over the patient's body. A water- based gel is used to couple the ultrasonic waves between the probe and patient. The scan may be performed externally, or internally, by using intracavitary transducers.

[0005] In a pelvic ultrasound, organs of the pelvic region are imaged and during pregnancy the fetus is imaged. This includes for example the uterus and ovaries and the urinary bladder. Gynecologic ultrasonography refers to the imaging of the female pelvic organs, specifically the uterus, the ovaries, the Fallopian tubes, as well as the bladder, the Pouch of Douglas and any other body part which it is desired to image pertaining to the female reproductive system.

[0006] There are two methods of performing a pelvic ultrasound - externally or internally. The internal pelvic ultrasound is performed either transvaginally (in a woman) or transrectally (in a man or a woman). An external pelvic ultrasound may be performed abdominally.

[0007] The depth penetration of ultrasonic waves is limited, making it difficult to image structures deep in the body, especially in obese patients. An internal ultrasound scan may provide a more accurate scan and therefore can image such restricted areas of the body. Thus, generally, transvaginal imaging gives better resolution of the ovaries and fallopian tubes, whereas lesions reaching into the abdomen are better seen transabdominally.

[0008] Still, intracavitary scan may be difficult to perform as it requires penetrating the patient's body and as it allows a limited access since it is restricted by the formation of the cavity and of the body.

[0009] In addition, an internal scan is usually an invasive act, which violates the patient's privacy. Therefore an internal scan is usually an uncomfortable and unpleasant experience for both the patient and the sonographer who performs the scan.

[0010] Accordingly, an ultrasound scan, and particularly, an intracavitary scan is operator-dependent. A high level of skill and experience is needed to acquire good- quality images of restricted areas of the body and to ease the level of discomfort of the patient.

[0011] Thus, usually, when a gynecologic scan is performed, the sonographer has to manually rotate and reorientate the transducer at angels that might inflict pain to the patient, or some discomfort, due to the pressure imparted on the pelvis bones in order to reach several scanning planes.

[0012] Furthermore, the level of discomfort caused to a female patient during a gynecological ultrasonic scan may grow even more in case the sonographer or the specialist performing the scan is of the opposite sex. For some women it may make the scan unacceptable from religious reasons.

[0013] Today, as a consequence of these and other difficulties, medical ultrasonic scanning around the globe is mainly performed externally.

[0014] US 5,634,466 (Gruner) discloses an ultrasonic transesophageal probe with detachable transducer tip, which is a multiplane TEE probe for the imaging and diagnosis of multiple scan planes from within a cavity of the body, and especially for the imaging of the heart by positioning the probe in the patient's esophagus or stomach. The probe includes an articulation section formed of a plurality of interconnected links. The articulation section is controlled from the handle of the probe. The articulation section may be locked in a given bent position.

[0015] US 6,471,653 (Jordfald et al.) discloses a transesophageal ultrasound probe with motor in the tip for scan-plane rotation, which comprises an endoscope with a probe head connected to the distal end of the endoscope. A transducer is secured to the probe head. A transfer mechanism is connected to the transducer. A motor at the distal end of the endoscope is connected to the transfer mechanism. Finally, an electrical wire is connected to the motor. The transesophageal ultrasound probe uses a motor in the tip of the transesophageal ultrasound probe for scan plane rotation.

[0016] US 4,967,752 (Blumenthal et al.) discloses a multi-planar scanning mechanism for endocavital ultrasonic imaging systems including an ultrasonic transducer coupled by a linkage to a selectively rotated motor tube extending from the face of a motor. The linkage causes the transducer to scan a planar sector wherein the planar sector has a fixed relationship to the motor face. The motor face is moved to change the plane scanned by the transducer.

[0017] US 5,662,116 (Kondo et al.) discloses a multi-plane electronic scan ultrasound probe having a rotary member rotatably mounted on a distal end portion of an elongated catheter member of the probe and support thereon an ultrasound transducer consisting of a row of a large number of ultrasound elements. The rotary member is connected to a rotation control knob on a manipulating head of the probe by way of rotation transmission wires extended through the catheter member and via a drive pulley mounted on the manipulating head in association with the rotation control knob to turn the ultrasound transducer through an arbitrary angle in multi-plane electronic scanning by manipulation of the rotation control knob. In addition, for the purpose of tilting the ultrasound transducer through a desired angle, the ultrasound probe is provided with a tilting mechanism to tilt the rotational axis of the rotary member in a predetermined direction, including a tiltable support for the rotary member, a tilt control means provided on the manipulating head, and a tilt signal transmission means for transmitting a tilt control signal from the tilt control means to the tiltable support. [0018] EP 1623676 (White et al.) discloses an ultrasound imaging guide wire with static central core and tip that is inserted into a patient's body, particularly into blood vessels. The guide wire has a static central core, and an imaging guide wire body comprising an acoustical scanning device. The acoustical scanning device can be rotated to obtain 360 degree acoustical images of a site of interest in the patient's body. Furthermore, the imaging guide wire includes a connector that permits the imaging guide wire body to be disengaged from the static central core tip so that the imaging guide wire body can be axially translated to obtain multi-position imaging.

[0019] US 5,377,685 (Kazi et al.) discloses an ultrasound catheter with mechanically steerable beam. The catheter has a mechanically steerable beam which can be directed at a variable angle with respect to an axis of rotation of the catheter. The ultrasonic transducer can be mounted in a pivoting head and steered by shape memory alloy wires subject to controlled ohmic heating. A feedback system including a marker wire embedded in a capsule wall of the catheter's outer tube can be used to determine the beam angle.

[0020] Another aspect of the present invention relates to visual inspection of the cervix. This is important in detection of cervical pathologies, such as cervical cancer, which is typically characterized in visual changes in the cervix. Typically a gynecologist would visually inspect the cervix by dilating the vagina and observing the cervix.

[0021] It is an object of the present invention to provide an ultrasonic probe and system, which facilitate performing a three-dimensional scan, and of areas with restricted access within the body, while the adjustment of the scan is done remotely.

[0022] Another object of the present invention is to provide an ultrasonic probe and system incorporating an imaging device so as to allow the sonographer to visually inspect the cervix or other organs, which the probe approaches.

[0023] Other objects and advantages of the present invention will become apparent after reading the present specification and reviewing the accompanying drawings. BRIEF DESCRIPTION OF THE INVENTION

[0024] There is thus provided, in accordance with some preferred embodiments of the present invention, an ultrasonic imaging system including an intracavitary probe to be inserted into a body cavity, the probe including an elongated body, an ultrasonic transducer, a remotely controlled motion generator for imparting three-dimensional motion on the ultrasonic transducer relative to the elongated body, an intracavitary anchoring unit for anchoring the elongated body of the probe inside the body cavity, and a remote control device for controlling the motion generator, thereby allowing a sonographer to displace and reorientate the transducer within the body cavity.

[0025] Furthermore, in accordance with some preferred embodiments of the present invention, the remotely controlled motion generator comprises linear displacer, rotor and tilter.

[0026] Furthermore, in accordance with some preferred embodiments of the present invention, the remotely controlled motion generator comprises rotational motor for rotating the transducer.

[0027] Furthermore, in accordance with some preferred embodiments of the present invention, the linear displacer is maneuverable along a longitudinal axis parallel to the elongated body.

[0028] Furthermore, in accordance with some preferred embodiments of the present invention, the rotor is maneuverable about a longitudinal axis parallel to the elongated body.

[0029] Furthermore, in accordance with some preferred embodiments of the present invention, the tilter is adapted to tilt the transducer with respect to a longitudinal axis parallel to the elongated body.

[0030] Furthermore, in accordance with some preferred embodiments of the present invention, the transducer is housed inside a maneuverable distal tip of the probe.

[0031] Furthermore, in accordance with some preferred embodiments of the present invention, the remotely controlled motion generator imparts the three-dimensional motion on the maneuverable distal tip relative to the elongated body of the probe inside the body cavity. [0032] Furthermore, in accordance with some preferred embodiments of the present invention, the system further comprises a rotor for rotating the transducer in a plain parallel to the plain of the body cavity scanned by the transducer. [0033] Furthermore, in accordance with some preferred embodiments of the present invention, the intracavitary anchoring unit comprises a deployable dilator.

[0034] Furthermore, in accordance with some preferred embodiments of the present invention, the deployable dilator comprises at least one inflatable balloon.

[0035] Furthermore, in accordance with some preferred embodiments of the present invention, the system further comprises an ultrasound console the console comprising a controller for controlling the transducer, transmitting electric signals to the transducer, which are translated into ultrasonic signals by the transducer, receiving electric signals corresponding to echoes picked up by the transducer, a processor for processing the received signals and generating image data.

[0036] Furthermore, in accordance with some preferred embodiments of the present invention, the system further comprises a display for displaying image generated from the image data.

[0037] Furthermore, in accordance with some preferred embodiments of the present invention, the intracavitary anchoring unit is controllable by the remote control device.

[0038] Furthermore, in accordance with some preferred embodiments of the present invention, the system further comprises an imaging sensor coupled to the transducer.

[0039] Furthermore, in accordance with some preferred embodiments of the present invention, the imaging sensor comprises a CCD camera.

Furthermore, in accordance with some preferred embodiments of the present invention, there is provided a method for performing an intracavitary ultrasonic scanning of organs of the body, the method including providing an intracavitary probe comprising an elongated body and an ultrasonic transducer, a remote controlled motion generator for imparting three-dimensional motion on the ultrasonic transducer relative to the elongated body, an intracavitary anchoring unit and a remote control device for controlling the motion generator; inserting the intracavitary probe into a body cavity; anchoring the elongated body of the probe inside the body cavity using the intracavitary anchoring unit; using the remote control device remotely controlling the motion generator and adjusting and reorienting the transducer within the body cavity to one or more desired positions, and scanning selected areas within the body cavity.

[0040] In accordance with some preferred embodiment of the invention, an intracavitary system includes an intracavitary probe to be inserted into a body cavity; a plurality of anchoring units that anchor the intracavitary probe inside the body cavity, wherein the plurality of anchoring units are provided radially around the intracavitary probe, and each of the anchoring units is individually controlled to extend toward and retract from walls of the body cavity; and a controller for controlling extension and retraction of the anchoring units.

[0041] Furthermore, in accordance with some preferred embodiments, the anchoring units include deployable dilators.

[0042] Furthermore, in accordance with some preferred embodiments, the deployable dilators are inflatable balloons.

[0043] Furthermore, in accordance with some preferred embodiments, the deployable dilators are arranged in two groups, a first group at a proximate location with respect to a longitudinal axis of the intracavitary probe and a second group at a distal location with respect to the longitudinal direction of the intracavitary probe.

[0044] Furthermore, in accordance with some preferred embodiments, the intracavitary probe includes an elongated body and an ultrasonic transducer.

[0045] Furthermore, in accordance with some preferred embodiments, the method includes providing an intracavitary probe within a body cavity, wherein the intracavitary probe includes a plurality of anchoring units that anchor the intracavitary probe inside the body cavity, and the plurality of anchoring units are provided radially around the intracavitary probe, and individually controlling the extension or retraction of each of the anchoring units to control a position of the intracavitary probe within the body cavity.

[0046] Furthermore, in accordance with some preferred embodiments, the individually controlling the extension or retraction of each of the anchoring units includes extending one of the anchoring units and retracting another of the anchoring units. [0047] Furthermore, in accordance with some preferred embodiments, the anchoring units includes deployable dilators.

[0048] Furthermore, in accordance with some preferred embodiments, the deployable dilators are inflatable balloons.

[0049] Furthermore, in accordance with some preferred embodiments, the intracavitary probe includes an elongated body and an ultrasonic transducer.

[0050] Furthermore, in accordance with some preferred embodiments, the deployable dilators are arranged in two groups, a first group at a proximate location with respect to a longitudinal axis of the intracavitary probe and a second group at a distal location with respect to the longitudinal direction of the intracavitary probe.

BRIEF DESCRIPTION OF THE FIGURES

[0051] In order to better understand the present invention, and appreciate its practical applications, the following Figures are provided and referenced hereafter. It should be noted that the Figures are given as examples only and in no way limit the scope of the invention. Like components are denoted by like reference numerals.

[0052] Fig. 1 illustrates a cross-sectional view of a vaginal probe of a gynecologic ultrasonic system according to a first exemplary embodiment of the present invention.

[0053] Fig. 2 illustrates an isometric view of the vaginal probe shown in figure 1.

[0054] Fig. 3 illustrates a cross-sectional view of the distal end of the probe with the maneuverable tip (housing the transducer).

[0055] Fig. 4 illustrates a diagram of a gynecologic ultrasonic system according to the first exemplary embodiment of the present invention.

[0056] Fig. 5 illustrates an isometric view of intracavitary probe according to a second invention.

[0057] Fig. 6 illustrates a 6-6 cross-sectional view of the intracavitary probe shown in Fig. 5.

[0058] Fig. 7 illustrates a 7-7 cross-sectional view of the intracavitary probe shown in Fig. 5. FIGS. 8 AND 9 SHOW POSITIONING OF THE INTRACAVITARY PROBE BY

ADJUSTING THE INFLATION OF BALLOONS. DETAILED DESCRIPTION OF THE EXEMPLARY EMBODIMENTS

[0059] An ultrasonic imaging system according to exemplary embodiment of the present invention is aimed at providing an extensive and accurate ultrasonic scan of areas of the body with restricted access by using a probe which is capable of scanning different sections within the body without relocating the probe within the body. Such scan if performed by anchoring a probe comprising a transducer within a cavity of the body and commanding the transducer to perform three-dimensional movements within the cavity of the body.

[0060] Another aspect of the exemplary embodiments is the provision of remote control of the probe of the system. By "remote" and "remote control" in the context of the present invention it is meant providing the sonographer (see henceforth) with control over the entire scanning process performed using a system according to the present invention without direct contact between the sonographer and the probe.

[0061] Furthermore, in some cases, another aspect of the exemplary embodiments comprises enabling the patient self-insertion of the probe into a cavity in his body or at least enabling the insertion of such probe with the assistance of a caregiver, whom which the patient feels relatively comfortable with, and who is not necessarily the sonographer. By "sonographer" it is meant in the context of the present invention, any physician or any person who is specifically skilled and authorized to operate an ultrasonic imaging system.

[0062] Remote adjustment and controlling of an intracavitary ultrasonic scan by a system according to the present invention and the option of self-insertion of the probe minimize the violation of the privacy of the patient and also minimize the level of discomfort imparted both on the patient and on the sonographer.

[0063] A system according to a first exemplary embodiment of the present invention basically comprises an intracavitary probe and a remote control device. The intracavitary probe generally comprises an ultrasonic transducer (henceforth: "transducer"), a remotely controlled motion generator for imparting three-dimensional motion on the transducer and an intracavitary anchoring unit for anchoring the probe inside a body cavity. The remote control device is aimed at controlling the motion generator, thereby allowing a sonographer to displace and reorientate the transducer within the body cavity.

[0064] A probe according to the first exemplary embodiment of the present invention is connected to a controlling and imaging system. The controlling and imaging system generates electric signals to the transducer, receives electric signals corresponding to echoes picked up by the transducer and processes these signals into image data. The image data can be displayed on a display device.

[0065] An intracavitary probe of a system according to the first exemplary embodiment of present invention may be inserted in a patient's body cavity either by the sonographer, a caregiver or the patient himself. By "caregiver" it is meant for the purposes of the present invention, any person, besides the sonographer, who supplies medical or treatment services and is intended to assist the patient or any person who is related to the patient or was chosen by the patient to assist him.

[0066] More specifically, a gynecologic ultrasonic system according to a preferred embodiment of the present invention is shown in Figs. 1 to 4. This specific embodiment comprises a transvaginal probe (shown in Figs. 1 to 3) and a controlling and imaging system (shown in Fig. 4).

[0067] The remotely controlled motion generator of a transvaginal probe according to the specific embodiment comprises a remote controlled linear displacer for linearly displacing the transducer, a remote controlled rotor for rotating the transducer and a remote control tilter for tilting the transducer.

[0068] The intracavitary anchoring unit of a transvaginal probe according to the specific embodiment comprises one or more inflatable balloons.

[0069] The controlling and imaging system of the specific embodiment comprises an ultrasound console, a remote control device and a visual display. A power and data transfer cable connects the transvaginal probe and the controlling and imaging system.

[0070] Fig. 1 presents a cross-sectional view of a transvaginal probe (11) of the first exemplary embodiment of the invention. The transvaginal probe comprises a main tube (23), an external housing (21), an internal housing (25), a maneuverable distal tip (12), a maneuverable tip mount (31), a slide (13), a displacement motor (15), a displacement axle (52), a worm gear (17), a displacement motor mount (19), a rotation motor (20), an external housing bore (55), an air-bore (53), inflatable balloon (45), an air supply pipe (47) and a power and data transfer cable (49).

[0071] The main tube (23) acts as a housing for the power and data transfer cable (49). The longitudinal axis of the main tube defines the longitudinal axis of the probe (11). The main tube comprises two cylindrical channels (54), which form two portions of the tube where the tube is narrower than the rest of the tube. The main tube engulfs a medial portion of the power and data transfer cable (49). The power and data transfer cable passes through the main tube and exits the main tube through its distal tip to connect with the maneuverable distal tip (12). The proximal end of the main tube is coupled to the rotation motor (20).

[0072] Basically, the linear displacement of the transducer is performed by shifting the main tube forwards and backwards coaxially with the main longitudinal axis of the main body. Hence, the main tube moves between the internal housing (25) and the external housing (21). When shifted all the way forward, the proximal end of the main tube is enclosed by the internal housing as presented in Fig. 1. When shifted backwards, at least a portion of the proximal end of the main tube is enclosed by the external housing (21).

[0073] The external housing and the internal housing are preferably located in the proximal and the medial portions of the probe as to enable an adequate narrower distal portion of the probe designated to penetrate deeper into the vaginal cavity.

[0074] The inflatable balloon (45) (typically one but more than one balloon can be used) engulf at least a portion of the internal housing as shown in Fig. 1 and in Fig. 2 (Fig. 2 presents an isometric view of the vaginal probe shown in Fig. 1). The internal housing further encloses the distal portion of the slide (13) and the distal portion of the air supply pipe (47). The internal housing comprises at least one air-bore (53) through which air is supplied to the inflatable balloon.

[0075] As shown in Fig. 2, the distal end of the main tube is coupled to the maneuverable distal tip (12) of the probe by the maneuverable tip mount (31),) so that the main tube and the maneuverable distal tip can be displaced along and be rotated around the longitudinal axis of the main tube conjointly. [0076] Fig. 3 illustrates a cross-sectional view of the distal maneuverable tip of the probe (12). The distal maneuverable tip comprises a transducer housing (41), which houses: a transducer (37), a CCD camera (66) and a transducer motor (44), a transducer- housing plug (43), a tilt axle (27), a tilt joint (32) and a tilt motor (33). The distal maneuverable tip also comprises the distal end of the power and data transfer cable (49) which exits the main tube to connect with the transducer housing (41) in order to transfer data to and from the transducer and to supply power to the transducer motor and to the tilt motor. Illumination in the form of one or more light diodes or other illumination means is also provided (not shown in the figures for brevity) as the probe is operating in a dark surroundings.

[0077] The ultrasonic transducer typically comprises a piezoelectric crystal and converts electric signals to ultrasonic waves and vice versa.

[0078] Referring now back to Fig. 1, the external housing (21) is adjacent to the internal housing (25) (as also shown in Fig. 2). The external housing encloses displacement motor (15), worm gear (17), displacement axle (52) displacement motor mount (19), at least the proximal tip of the slide (13) and a proximal portion of the power and data transfer cable (49). The external housing further comprises an external housing bore (57) through which an air supply pipe (47) and the power and data transfer cable exit the probe (11) and an electrical wire (57) which exits the power and data transfer cable and connects with the displacement motor in order to supply power to the motor.

[0079] Fig. 4 illustrates a diagram of a gynecologic ultrasonic system, according to a preferred embodiment of the present invention.

[0080] The controlling and imaging system of a system according to the present invention is controlled by and designated to be operated by a sonographer. [0081] In the specific embodiment shown in Fig. 4, the proximal end of the air supply pipe (47) is connected to a pressure air supply source. The proximal end of the power and data transfer cable (49) is connected to an ultrasound console. The ultrasound console is connected to a remote control device and to a remote visual display. [0082] The ultrasound console is used for controlling the movements of the transducer which is located in the probe, for generating ultrasonic signals and for receiving and processing the echoes picked up by the transducer.

[0083] Generally, the power and data transfer cable (49) supplies power to the intracavitary probe and transfers data from and to the console, which is received and echoed in return by the transducer. In the specific embodiment of the vaginal probe shown in Fig. 1 to 3, the power and data transfer cable encloses different wires which supply power to the different motors in the probe and wires which transfers electric signals between the transducer and the ultrasound console. The same wires may be used for supplying power and for transferring data.

[0084] The console processes the received data into image data, which is displayed by the visual display, in a known manner (which is not the object of the present invention).

[0085] The sonographer determines the body section to be scanned by the transducer, by moving and reorienting the transducer within the patient's body cavity. The control of the transducer movement is done through the remote control device. The remote control device is connected to the controlling and imaging system which available for the use of the sonographer. The remote control device is connected to the ultrasound console and may be in the form of a joystick, a keyboard, a cat, a touch screen or a computer mouse.

[0086] As mentioned earlier, a system according to the present invention may or may not incorporate a controlling and imaging system. In case a controlling and imaging system is incorporated then the remote control device may be a part of that system as presented in Fig. 4 wherein the remote control device is connected to the ultrasound console.

[0087] The intracavitary anchoring unit of a probe according to the specific embodiment shown in Fig. 1 and 2 is aimed at anchoring, stabilizing and fixing the probe within the cavity of a patient's body. The anchoring of the probe enables to remotely move the transducer inside a cavity of a patient's body. In the specific embodiment shown in Fig. 1 and 2, the anchoring unit of the probe is in the form of an inflatable balloon (45). [0088] Air pressure is circulated by a remote command that is either given by the sonographer, a caregiver or the patient. In case the sonographer controls the air circulation then the remote control device comprises an air pressure control means such as an ON/OFF switch or a power button. In case a caregiver or the patient is controlling the air circulation then a remote control means is installed and disposed for their use. A remote control means for controlling the inflatable balloon may be then installed on an accessible and convenient location on the probe or may be provided separately such as a wireless remote control comprising an ON/OFF switch etc¹.

[0089] Once the balloon is inflated the volume of the probe increases until is fits the internal volume of the vaginal cavity in which it is inserted. The inflation process is aimed at generating friction, which prevents the probe from moving during the performance the scan. After the scan is done, the balloon is deflated, enabling the retrieval of the probe from the cavity.

[0090] The transducer of a system according to the present invention may be displaced and reoriented within a body cavity of a patient in a three dimensional manner. In the specific embodiment shown in fig. 1 to 3, the maneuverable distal tip of the probe (12), which comprises the transducer, may be rotated around the longitudinal axis of the probe in one predetermined direction or the opposite direction, it may be displaced along the longitudinal axis of the probe and in may be tilted with respect to the longitudinal axis of the probe.

[0091] Now referring to Fig. 1, the displacement motor (15), the worm gear (17) and the slide (13) perform the linear displacement of the distal maneuverable tip correspondingly to the longitudinal axis of the probe (11).

[0092] The displacement motor rotates the worm gear, the worm gear displaces the slide and the slide linearly displaces the main tube (23). The worm gear comprises a cogwheel.

[0093] The slide (13) is an elongated stake, designed in a manner that allows it to slide back and forth along the longitudinal axis of the probe (11) within the space formed between the main tube (23) and the internal housing (25) and within the inner space of the external housing (when the slide is slid backwards). The proximal tip of the slide is bent in a manner that prevents sliding the slide forward beyond a predetermined distance along the longitudinal axis of the probe (11). The slide is threaded and comprises two jags (51).

[0094] The displacement motor (15) is fixed to the external housing by a mount (19). The displacement motor is coupled to the cogwheel (17) by an axle (52). The cogwheel is adjacent to the slide in a manner that the cogs of the cogwheel reside in and are confined by the threads of the slide. The slide is joined to the main tube by placing the jags of the slide in a manner that the jags reside in and confined by the channels (54) of the main tube (each jag in the corresponding channel) so the slide and the main tube are displaced back and forth correspondingly to the longitudinal axis of the probe (11) conjointly.

[0095] Thus, the rotational movement produced by the rotation motor rotates the cogwheel. The rotation of the cogs of the cogwheel along the threads of the slide slides and linearly displaces the slide and therefore the main tube back and forth along the longitudinal axis of the tube (which is parallel to the longitudinal axis of the probe). The direction of the main tube movement (back or forth) is determined by the direction of the cogwheel rotation and hence by the direction of the revolutions of the displacement motor.

[0096] As for remote controlled motor, a rotary motor is used. The rotation motor (20) comprises a rotary motor, which is coupled to the main tube so the revolutions of the motor rotate the main tube about its longitudinal axis to one direction or the other. [0097] The linear displacement and the rotational movement of the maneuverable distal tip (12) may be achieved by using any other known mechanism.

[0098] The main tube is coupled to the maneuverable distal tip (12) by the maneuverable tip mount (31) in a manner that both are linearly displaced and rotated along and about the longitudinal axis of the probe conjointly.

The tilt motor (33) is coupled to the tilt mount (29) and tilts the maneuverable distal tip (12) with respect to the longitudinal axis of the probe. The tilt may be achieved by using cog wheels or any other gear or transmission mechanism.

[0099] Furthermore, a probe according to the specific embodiment shown in Fig. 3 comprises a transducer motor (44) and a CCD camera (66), which can include a light. [00100] The transducer motor allows remote controlled rotation of the transducer

(37) within the transducer housing (41). That is to obtain a different sectional scans due to the usually asymmetric shape of the transducer.

[00101] Generally, the face of the transducer - the surface through which the ultrasonic waves are projected to the body - is rectangular (as illustrated in Fig. 3), thus facilitating scanning of an asymmetric area. Therefore, rotating the face of the transducer around an axis which is perpendicular to the area which is scanned at a right angle will produce a scan of a different area, yet from the same exact position of the maneuverable tip (12) or the transducer (37) within the cavity of the patient's body. The angle of rotation may be predetermined or not.

[00102] The CCD camera is coupled to the transducer for optically viewing the areas scanned by the transducer. The CCD camera allows viewing restricted areas of the cervix in order to diagnose visual pathologies in the texture of the cervix tissues. The light associated with the CDD camera illuminates the area in front of the CCD camera. Therefore the CCD camera can replace the known manual examination in a more accurate, remote controlled and therefore less privacy violating examination. Any other suitable imaging sensor may replace the CCD camera.

[00103] At least a portion of the probe is inserted into a cavity of the body of the patient by either the patient, a caregiver or the sonographer. In the specific embodiment of a system according to the present invention shown in Fig. 1 and 2, the portion of the probe which is inserted into the vaginal cavity of the patient is the distal end of the probe which comprises the maneuverable distal tip (12), the distal portion of the main tube and the internal housing. Anyway, the inflatable balloon is inserted into the vaginal cavity in order to allow the anchoring of the probe and the external housing remains outside of the patient's body. While the vaginal probe is inserted, the inflatable balloon is substantially without air.

[00104] The patient, a caregiver or the sonographer, anchor the probe within a cavity of the patient's body. In the specific embodiment of a system according to the present invention shown in Fig. 1 and 2, the anchoring is performed by inflating the balloons (45) until the probe is fixed against the walls of the vaginal cavity. [00105] The controlling and imaging system can be located in a separate location from the location of the patient such as in a different room or in the same room with the patient but behind a curtain or some other kind of partition. In that manner the privacy of the patient is kept and the discomfort level of the patient is decreased greatly while performing a medical intracavitary ultrasonic scanning. A system according to the present invention may further comprise a locking mechanism that locks the non-manual movement generator and therefore allows moving and maneuvering a probe of such system manually within a cavity of a patient's body.

[00106] Tilt mount (29), a transducer plug (43), transducer housing (41), transducer housing mount (31), main tube (23), internal housing (25), tilt motor (33), tilt mount (29), tilt axle (27), tilt joint (32) and any other components which come or might come into direct contact with the cavity of a patient's body are coated with biocompatible materials. The inflatable balloon (45) is preferably made of a biocompatible polymer. The motors outer layer, the axels and gears are also preferably made of biocompatible materials.

[00107] Fig. 5 is an isometric view of a transvaginal probe of a second exemplary embodiment of the invention. Many of the features of the transvaginal probe are the same as those of the first exemplary embodiment shown in Figs. 1-4. Accordingly, only the features that are different will be discussed in detail, while the same references numerals will be used for common features.

[00108] In the first exemplary embodiment discussed above, a single inflatable balloon (45) is used to anchor the probe within the vaginal cavity. In the second exemplary embodiment, a plurality of balloons (45a-45f) are used to control the positioning of the probe within the vaginal cavity. A plurality of air supply lines (now shown) supply air to these balloons.

[00109] In this exemplary embodiment, six balloons (45a-45f) are used, but the invention is not limited in this respect. The six balloons are arranged in two groups of balloons, with each group arranged in series along the internal housing (25). That is, as shown in FIG. 5, the first group of balloons, including balloons (45a, 45b), are provided radially around the internal housing (25) at a location that is proximate the distal tip (12), while a second group of balloons, including balloons (45d, 45e), are provided radially around the internal housing (25) at a location that is distal from the distal tip (12).

[00110] The first group also includes the balloon (45c), although this balloon is not shown in FIG. 5 because the balloon (45c) is at an opposite side of the internal housing (25). That is, as shown in FIG. 6, which is a 6-6 cross-sectional view of FIG. 5, the balloons (45a, 45b, 45c) surround the internal housing (25).

[00111] Likewise, the second group also includes the balloon (45f), although this balloon is not shown in FIG. 5 because the balloon (45f) is also at an opposite side of the internal housing (25). That is, as shown in FIG. 7, which is a 7-7 cross-sectional view of FIG. 5, the balloons (45d, 45e, 45f) surround the internal housing (25).

[00112] The use of multiple balloons allows for adjustment of positioning of the probe within the vaginal cavity C. For example, as shown in FIG. 8, by reducing the amount of air within the balloons (45a, 45d), i.e., retracting these balloons, while increasing the amount of air within the balloons (45d, 45e), i.e., extending these balloons, the probe can be moved transversely away from one side of the vaginal cavity C and closer to another side. Thus, by adjusting the amount of air within the various balloons while maintaining a similar inflation state in balloons that are located on the same side of the vaginal cavity C (e.g., balloons (45a, 45d), the transverse position of the probe within the vaginal cavity C can be precisely controlled.

[00113] Moreover, the orientation, i.e., angle, of the probe with respect to the walls the vaginal cavity C can also be precisely controlled by adjusting the amount of air within the various balloons. For example, as shown in FIG. 9, by reducing the amount of air within the balloons (45b, 45d), i.e., retracting these balloons, while increasing the amount of air within the balloons (45a, 45e), i.e., retracting these balloons, the probe can oriented at an angle with respect to the walls of the vaginal cavity C.

[00114] The amount of air within the various balloons can be controlled remotely by the remote control means. Alternatively, the transverse position and orientation of the probe can be automatically controlled. [00115] It should be clear that the description of the embodiments and attached

Figures set forth in this specification serves only for a better understanding of the invention, without limiting its scope.

[00116] It should also be clear that a person skilled in the art, after reading the present specification could make adjustments or amendments to the attached Figures and above described embodiments that would still be covered by the present invention.

Claims

1. An ultrasonic imaging system comprising: an intracavitary probe to be inserted into a body cavity, the probe comprising: an elongated body, an ultrasonic transducer, a remotely controlled motion generator for imparting three-dimensional motion on the ultrasonic transducer relative to the elongated body, and an intracavitary anchoring unit for anchoring the elongated body of the probe inside the body cavity, and a remote control device for controlling the motion generator, thereby allowing a sonographer to displace and reorientate the transducer within the body cavity.

2. The system as claimed in claim 1, wherein the remotely controlled motion generator comprises linear displacer, rotor and tilter.

3. The system as claimed in claim 1, wherein the remotely controlled motion generator comprises rotational motor for rotating the transducer.

4. The system as claimed in claim 2, wherein the linear displacer is maneuverable along a longitudinal axis parallel to the elongated body.

5. The system as claimed in claim 2, wherein the rotor is maneuverable about a longitudinal axis parallel to the elongated body.

6. The system as claimed in claim 2, wherein the tilter is adapted to tilt the transducer with respect to a longitudinal axis parallel to the elongated body.

7. The system as claimed in claim 1, wherein the transducer is housed inside a maneuverable distal tip of the probe.

8. The system as claimed in claim 7, wherein the remotely controlled motion generator imparts the three-dimensional motion on the maneuverable distal tip relative to the elongated body of the probe inside the body cavity.

9. The system as claimed in claim 8, further comprising a rotor for rotating the transducer in a plain parallel to the plain of the body cavity scanned by the transducer.

10. The system as claimed in claim 1, wherein the intracavitary anchoring unit comprises a deployable dilator.

11. The system as claimed in claim 10, wherein the deployable dilator comprises at least one inflatable balloon.

12. The system as claimed in claim 1, further comprising an ultrasound console the console comprising a controller for controlling the transducer, transmitting electric signals to the transducer, which are translated into ultrasonic signals by the transducer, receiving electric signals corresponding to echoes picked up by the transducer, a processor for processing the received signals and generating image data.

13. The system as claimed in claim 1, further comprising a display for displaying image generated from the image data.

14. The system as claimed in claim 1, wherein the intracavitary anchoring unit is controllable by the remote control device.

15. The system as claimed in claim 1, further comprising an imaging sensor coupled to the transducer.

16. The system as claimed in claim 15, wherein the imaging sensor comprises a CCD camera.

17. The system as claimed in claim 16, wherein the imaging sensor further comprises a light.

18. A method for performing an intracavitary ultrasonic scanning of organs of the body, the method comprising: providing an intracavitary probe comprising an elongated body and an ultrasonic transducer, a remote controlled motion generator for imparting three-dimensional motion on the ultrasonic transducer relative to the elongated body, an intracavitary anchoring unit and a remote control device for controlling the motion generator; inserting the intracavitary probe into a body cavity; anchoring the elongated body of the probe inside the body cavity using the intracavitary anchoring unit; and using the remote control device remotely controlling the motion generator and adjusting and reorienting the transducer within the body cavity to one or more desired positions, and scanning selected areas within the body cavity.

19. An intracavitary system comprising: an intracavitary probe to be inserted into a body cavity; a plurality of anchoring units that anchor the intracavitary probe inside the body cavity, wherein the plurality of anchoring units are provided radially around the intracavitary probe, and each of the anchoring units is individually controlled to extend toward and retract from walls of the body cavity; and a controller for controlling extension and retraction of the anchoring units.

20. The system as claimed in claim 19, wherein the anchoring units comprise deployable dilators.

21. The system as claimed in claim 20, wherein the deployable dilators comprises inflatable balloons.

22. The system as claimed in claim 19, wherein the deployable dilators are arranged in two groups, a first group at a proximate location with respect to a longitudinal axis of the intracavitary probe and a second group at a distal location with respect to the longitudinal direction of the intracavitary probe.

23. The system as claimed in claim 19, wherein the intracavitary probe comprises an elongated body and an ultrasonic transducer.

24. A method, comprising: providing an intracavitary probe within a body cavity, wherein the intracavitary probe includes a plurality of anchoring units that anchor the intracavitary probe inside the body cavity, and the plurality of anchoring units are provided radially around the intracavitary probe, and individually controlling the extension or retraction of each of the anchoring units to control a position of the intracavitary probe within the body cavity.

25. The method as claimed in claim 24, wherein the individually controlling the extension or retraction of each of the anchoring units comprises extending one of the anchoring units and retracting another of the anchoring units.

26. The method as claimed in claim 25, wherein the anchoring units comprise deployable dilators.

27. The method as claimed in claim 26, wherein the deployable dilators comprises inflatable balloons.

28. The system as claimed in claim 24, wherein the intracavitary probe comprises an elongated body and an ultrasonic transducer.

29. The system as claimed in claim 26, wherein the deployable dilators are arranged in two groups, a first group at a proximate location with respect to a longitudinal axis of the intracavitary probe and a second group at a distal location with respect to the longitudinal direction of the intracavitary probe.