CN101297217A - Ultrasonic diagnostic imaging system with spectral and audio tissue doppler - Google Patents
Ultrasonic diagnostic imaging system with spectral and audio tissue doppler Download PDFInfo
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- CN101297217A CN101297217A CNA200680030586XA CN200680030586A CN101297217A CN 101297217 A CN101297217 A CN 101297217A CN A200680030586X A CNA200680030586X A CN A200680030586XA CN 200680030586 A CN200680030586 A CN 200680030586A CN 101297217 A CN101297217 A CN 101297217A
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Abstract
A spectral tissue Doppler processor for an ultrasound system produces Doppler phase shift estimates of sequences of signal samples from a sample volume with a short-lag autocorrelator. The autocorrelation products are summed and an arc tangent taken of each sum to produce angle estimates. The angle estimates, which are proportional to the tissue motion velocity, are plotted, smoothed, and displayed as a spectral tissue Doppler display. The angle estimates are also used to produce the audio Doppler signal which is frequency-adjustable by a user. The spectral Doppler display exhibits good time and velocity resolution for motion which is less than that of blood flow such as myocardial motion. Major causes of blurring, unevenness, and distortion are reduced or eliminated.
Description
Technical field
The present invention relates to the medical ultrasound diagnostic imaging system, relate in particular to and present the ultrasonic system that frequency spectrum and audio frequency are organized doppler information.
Background technology
The ultrasonic echo cardiology that is used for of tissue Doppler is to measure myocardium motion and timing.A kind of self-adaptation that is used to analyze the ultrasonic technique of blood flow rate is: color flow angiography, and frequency spectrum and tone burst wave Doppler.In blood flow techniques, noise filter to strong, slowly tissue echo suppresses, thereby can see very faint, echo fast from fluid flow blood.Tissue Doppler does not use noise filter usually, because interested echo is strong, tissue echo slowly.In tissue Doppler, what analyzed is dominant slow tissue echo signal, and it has the amplitude far above the signal that comes autoblood, noise and reverberation.
The frequency spectrum Doppler signal of handling for blood flow is called periodogram based on the fast Fourier transform (FFT) of overlapping short time windowization.The temporal resolution of periodogram directly and the FFT time span promptly to obtain sample sequence institute elapsed time proportional, and speed (Doppler frequency) resolution and FFT time span are inversely proportional to.This is the very balance of difficulty for tissue Doppler, because the low velocity (with respect to blood) of tissue needs velocity resolution preferably, and the dynamic timing of cardiac motion needs better temporal resolution.When periodogram adapted to the frequency spectrum tissue Doppler, the compromise frequency spectrum that obtains was in speed and all significantly fuzzy on the time.
This frequency spectrum of tissue Doppler is fuzzy to be not only the problem of aesthetic feeling.The clinician gets used to measuring the peak velocity of blood spectrum, and its dominant propagating source is blood disturbance, shear and movable spot.They also measure the peak velocity of fuzzy tissue Doppler frequency spectrum, and do not recognize in this case, and it is periodogram signal processing algorithm and the amplitude-time of gray level mapping and the pseudomorphism of velocity resolution fully that frequency spectrum launches.
Be similar to two dimensional image, Doppler frequency spectrum has the spot from the plural summation of the echo of a large amount of random scatter bodies.Because the speed and the temporal resolution requirement of tissue Doppler, bright speckle blobs and black hole are huge, usually produce unbalanced frequency spectrum, make aesthetic feeling and measure further degradation.Spot can partly alleviate by the bigger amplitude dynamic range of demonstration, but feasible fuzzy deterioration more from the FFT time span.
Catch for the frequency spectrum tissue Doppler, it may be invalid in the cardiac muscle that Doppler's sampling gate is remained on, because there is a large amount of transverse movements in the heartbeat process, because the motion that motion that heart contraction produces and patient respiratory produce.Yet,, also be enough strong and spendable from the signal that is received of secondary lobe, because come the echo reflection of self-organization to tend to strongly even when cardiac muscle slightly departs from main beam.But exercise effect may cause frequency spectrum to be presented in the brightness to be changed huge and causes audio frequency to change huge in loudness.Automatic gain control can help this problem, but has increased complicacy.
When signal intensity since cardiac muscle move and to depart from main doppler beam and when weak, more visible around zero velocity baseline from the fixed clutter of reverberation, though myocardial signal is still dominant.Extremely low frequency noise filter (for example 25Hz high pass) can make and show and to seem to clean more, but this makes become discontinuous when desirable signal change direction.
A problem of tissue Doppler audio frequency is, because the relatively low speed of cardiac muscle and fully penetrate required low ultrasonic frequency, Doppler frequency is low-down.Produce for little loudspeaker very that the sound of low pitch is difficult, and such sound is difficult to for majority hear.Amplification of volume has certain help, but may cause distortion.
Faint, broadband blood signal that conventional FFT periodogram technology is very suitable for, but tissue Doppler has signal strong, the arrowband usually.Usually be used in this technology of estimating average velocity (angle of using-1 auto-correlation that lags behind to estimate) in the color flow angiography and reasonably well be suitable for the arrowband analysis, and go for sample streams continuous in the tissue Doppler.On the traveling time window of complex sampling, estimate-1 auto-correlation that lags behind, produce a series of speed (Doppler frequency) and estimate that these are estimated in speed and more accurate more than what use the FFT periodogram to obtain on the time.This window can be used weighting function, and for example (rised cosine) function received in the Chinese.
Summary of the invention
According to principle of the present invention, the apparatus and method that provide a kind of frequency spectrum tissue Doppler to handle, by to autocorrelative single order or high order lag averages and show as frequency spectrum with pulse Doppler form display graphics curve, overcome fast Fourier transform (FFT) time/the compromise phase shift of estimating by this way of frequency power is used for Composite tone output, this audio frequency output is calibration to higher frequency.By using arrowband auto-correlation processing rather than conventional Wideband FFT periodogram to handle, consequent frequency spectrum and audio frequency organize doppler ultrasound obtaining significant improvement aspect resolution, accuracy, homogeneity and the sharpness.
Description of drawings
In the accompanying drawings:
The conventional frequency spectrum that Fig. 1 illustrates blood flow shows.
Fig. 2 illustrates the block scheme according to the ultrasonic diagnosis imaging system of principles of construction of the present invention.
Fig. 3 is a functional block diagram of organizing doppler processor according to the frequency spectrum of principles of construction of the present invention and audio frequency.
Fig. 4 illustrates the display screen of ultrasonic system when the frequency spectrum of carrying out cardiac muscle is organized doppler analysis.
Embodiment
At first, shown that the standard frequency spectrum Doppler of blood flow shows with reference to figure 1.Frequency spectrum shows that the scale of Z-axis 94 is a unit with cm/sec, and the scale of transverse axis is time (sec).This frequency spectrum show by from the chamber of heart or blood vessel certain a bit (sample volume) obtain the sample sequence generation.One group of continuous sampling is called a window, operates as a unit.For example, blood flow frequency spectrum Doppler's window may be made of 128-256 continuous sampling.Weighting is normally passed through in sampling in the window, and maximum weight is used in the center of window.Sampling after the weighting is handled through FFT then, as known in the art, produces the fourier series of weight sampling.FFT handles the frequency domain sample that time-domain sampling is transformed to plural form, has real part and imaginary part.The amplitude of sampling is calculated and to each amplitude value of taking the logarithm.Each logarithm value is mapped to gray shade scale, is used for the vertical row that frequency spectrum shows.By this way, the frequency domain sample of window is shown as the row of data, and these row constitute the line that the rolling frequency spectrum shows.In case form the line that frequency spectrum shows, then obtain another sample window and carry out the FFT processing in an identical manner.Usually, exist overlappingly between adjacent window, limiting the variation between the continuous FFT result, thereby the variation of time is fully sampled and is not had aliasing.As shown in Figure 1, spectrum line 70 is calculated rapidly and is closely followed each other, is rendered as the continuum of gray scale.For blood flow, the clinician is often interested in the peak velocity of blood flow, may follow from the valvular jet that leaks to occur.These peak values can be by manually or as the spectrum line of the tracking automatically peak value of describing in the United States Patent (USP) 5287753 (Routh etc.) obtaining, shown in peak value trace 80 among Fig. 1.
When fft processor is used for frequency spectrum tissue Doppler rather than blood flow, must consider histokinesis than low velocity.The speed of this requirement reduction sample acquisition (lower pulse repetition rate, PRF).Therefore, the sample window of frequency spectrum tissue Doppler is shorter usually, for example be 64 the sampling rather than for the employed 128-256 of blood flow sampling.Short length of window causes the velocity resolution that reduces, yet wishes The better resolution for tissue Doppler, because the velocity range that is run into for tissue is compared for blood flow is much smaller.The PRF that reduces also means, because in the lower time span of obtaining required sampling under the speed of catching, the time interval between window and the window is bigger usually.Thereby temporal resolution descends, and has cut down the detectability to trickle time difference between the different tissues zone, for example between the sidewall and barrier film of ventricle.These fuzzy result of handling factors may not be conspicuous for the clinician, and the clinician gets used to observing the similar outward appearance among the frequency spectrum Doppler blood flow frequency spectrum figure, its by physiological action but not treatment effect cause.
In Fig. 2, shown the ultrasonic system that makes up according to the principle of the invention with block scheme.Transducer probe 10 sends ultrasonic beam, and receives the echo in response from the imaging region 14 of object, and described zone comprises organ and blood vessel 16.In this specific examples, ultrasonic system is used for analyzing the histokinesis of health, and for example the heart cardiac muscle moves.Ultrasonic energy is sent and is received by the element of transducer array 12.The echo that is received is coupled to Beam-former 20, and it produces relevant echoed signal.These echoed signals are by quadrature demodulator 22 demodulation.In the system shown in this example, echoed signal is further processed in three kinds of different modes.Range detector 32 is carried out the amplitude detecting of the echoed signal that receives, and the signal that detects is by logarithmic compressor 34 compressions.Echo values is mapped as demonstration numerical value by grey scale mapping 36 then.This processing will produce the B mode image of active organization interested, be cardiac muscle in this example.Removing the signal from fixing organization, and handle through the Doppler of color Doppler processor 46 after the filtering by the aggregate of signal by wall filter 42 filtering for signal after the quadrature demodulation.Doppler processor 46 can produce the different optional representation of motion, for example speed, acceleration, variance or Doppler's power.Synthetic phase shift or intensity are estimated to be mapped as corresponding colour or tone by color mapped 48.This processing produces the two dimension or the three-dimensional colour coverage diagram of histokinesis, its can in alignment with the B mode image that is covered in structure.As mentioned above, the strong and low tissue Doppler signal of speed for signal of interest, wall filter is not always essential.B mode image and color motion are coupled to scan converter 50, are combined as desirable space form to show as two dimension or three-dimensional colour tissue Doppler image at this.
According to principle of the present invention, be coupled to autocorrelator 44 from the quadrature demodulated signal of selected sampling volume.Described autocorrelator can be the level adjustable (adjustable lagorder) that lags behind.In this example, autocorrelator is set at the autocorrelator of hysteresis-1, and operation is used for and will multiplies each other from the echo samples of sampling volume and the complex conjugate of previous sampling, and this operation can be expressed as S
N+1* conj[S
n].Described autocorrelator is operated echo samples with groupings of windows.For example, can use the window of 64 samplings.Sampling in the window is weighted usually, in the higher weight of central authorities' use of window.Window is normally overlapping for desirable temporal resolution.For example, first window may comprise sampling 1-64, and second window comprises sampling 16-80, and the 3rd window comprises sampling 32-96 or the like.When using higher PRF, the autocorrelator of hysteresis-2 may be preferred, and it may be operated each other sampling in the sequence.The multiplication of hysteresis-1 will produce inaccurate relatively phase shift angle and estimate on the time interval of very correct time, two continuous samplings, autocorrelator 44 is by with the product accumulation of window and the result is obtained angle improve the angle estimated accuracy, and described angle is expressed as the plural number with real part and imaginary part.This angle estimates to be applied to arctan function.Counter 68 is searched or is calculated and will be used for the phase shift angle numerical value that the tissue Doppler frequency spectrum shows, the speed of tissue is proportional to the phase shift angle of being determined by auto-correlation result's arc tangent.
By this way, the time produces the auto-correlation velocity estimation of a series of windowizations consistently.These velocity estimation can be plotted as the curve in the curve map, and it is conceptive to be that frequency spectrum shows the mode that forms.Velocity estimation is applied to interpolater 66, and it forms the smooth curve of sequence of data points.Synthetic curve is coupled to graphic process unit, and it is placed on this curve on the common frequency spectrum displayed map.Thereby showing, frequency spectrum will become the form that the clinician is familiar with.In this example, graphical spectral tissue Doppler image is coupled to scan converter 50, is used for showing on color tissue doppler image next door as shown in following Fig. 4.The image that is produced by scan converter is coupled to video processor 80, is used for showing on image display 90.
According to another aspect of the present invention, the velocity estimation that is produced by arctangent computation device 68 is coupled to controllable scaler.Scaler 82 is in response to the control signal from user's control panel 70, to set the scaling factor that applied velocity estimation is calibrated.Because these numerical value representatives are by an angle that samples the average phase-shift generation of another sampling, it comprises the number of phase-shift values that is proportional to Doppler frequency.These number of phase-shift values and selected scaling factor multiply each other, and to obtain the audio frequency output frequency, it is for sampling another phase shift from an audio frequency output.Numerical value after the calibration is undertaken smoothly being applied to audio process 86 then by interpolater 84, produces the sinusoidal audio signal sampling, and the phase shift between the audio sample is through the phase shift after the calibration of interpolation.Boombox 88L and 88R on the audio processor drives ultrasonic system, use is based on the signal of phase shift (frequency) symbol: be provided to a loudspeaker corresponding to the positive frequency towards the motion of transducer, be provided to another loudspeaker corresponding to the negative frequency away from the motion of transducer.Thereby produce the stereo audio Doppler signal.The clinician will listen attentively to the variation of audio frequency Doppler signal sound intermediate frequency tone.Because the absolute figure of tone is unessential, and only is the variation of tone, the clinician can adjust customer controller and calibrate numerical value and produce the range of pitch that is suitable for his or she ear most to regulate audio frequency Doppler.In addition, because audio frequency Doppler sinusoidal curve results from frequency measurement but not signal amplitude, thereby do not exist as the decline under the audio frequency Doppler situation that FFT is provided and lose.
With reference to figure 3, shown the functional block diagram of an example of the present invention.The element of transducer of transducer probe (mark 10 among Fig. 1) is driven by firing pulse generator (302) and is used for the ultrasonic pulse emission, and the echo that is received by transducer is coupled to received beam and forms device (320).The echoed signal that the process wave beam forms is separated by detuner (322) and is transferred to base band, organizes the echo samples of the sampling volume of Doppler measurement to be sued for peace by sampling gate totalizer (324) from carrying out frequency spectrum, and storage is used for handling in memory buffer unit (326) then.In other words, storage is used for further handling is a plural number corresponding to each transmit events, and wherein plural number is represented the summation of demodulation echoed signal on the sampling volume scope.The sampling of being stored is selected to be used for handling at overlapping time window (330), the short hysteresis auto-correlation (344) of experience.Described auto-correlation estimates to have inherent weight, thereby compares with stronger sampling, has cancelled the very little variation of sampling contribution of spot.In addition, by the angle of only using auto-correlation to estimate, in the result, there are not amplitude fading, fuzzy or spot.This makes that the technology of this innovation is more reliable, does not need excessive adjustment, and less needs user's Adjustment System controller.
This technology does not need cluster wave filter (cluster filter).When cardiac muscle slightly departs from main beam, compare with clutter and to remain dominant signal, thereby frequency spectrum shows that suffered influence can ignore.When not having tissue signal, the related angle that comes self noise is at random.This will produce the frequency spectrum and the audio result of disperseing, thereby need be zero with angle initialization when not detecting tissue signal.A kind of method is that power or correlation magnitude and threshold value (346) are compared.Another kind method is with coherence's (| R1|/R0, wherein R1 lags behind-1 auto-correlation and R0 is lag behind-0 auto-correlation or variation) and threshold, because tissue signal is extremely relevant and noise is extremely incoherent.To auto-correlation numerical value (368) the negate tangent of confirming.
By producing the frequency spectrum demonstration, to produce the curve that connects to estimating to carry out interpolation from the precise speed of auto-correlation angle (366).This frequency spectrum is image pattern rather than traditional frequency spectrum in fact more, but it has been passed on necessary information and has not had traditional pseudomorphism.In fact, be familiar with for the clinician, the ring of organizing color doppler image of clinician's analyzing stored is to produce the curve of similar speed with respect to the time.The smoothness of spectrum curve (372) and thickness are controllable by the span of auto-correlation window estimated time.The video intensity of curve can be regulated with gain control (392), and without any the variation that depends on signal.
Audio frequency output is the sinusoidal signal with instantaneous frequency of synthesizing, smoothed interpolation (384) between estimating from the Doppler frequency of auto-correlation angle.Sinusoidal curve (386) based on the symbol of frequency be directed to stereo channels one of them.When the rapid change direction, stereo mixed to avoid the sound uncontinuity for undersonic frequency.Sinusoidal amplitude (loudness) can be regulated by gain control (392), and without any the variation that depends on signal.
Because sound only is the sinusoidal curve that produces according to a series of frequencies numeral, this frequency (tone) can be calibrated simply by factor arbitrarily.This has greatly alleviated the low pitch insensitivity problem of loudspeaker and ear.The clinician does not rely on the absolute pitch of sound, but the variation of tone.The tone calibration (382) that this technology provides is only limited by the fragrance of sound.Can set by the adjusting of user's control simply.
The further improvement of this technology is to improve Doppler pulse repetition frequency (PRF) by some integer factors, and improves (in the sampling) auto-correlation by identical factor and lag behind.Emissive power can reduce by identical factor, but signal to noise ratio (S/N ratio) is very high for tissue Doppler.According to having the emissive power that on average can surpass reduction that more samplings increase in each auto-correlation estimation.
The exemplary screen display 120 that is produced by the ultrasonic system of Fig. 2 is presented among Fig. 4.B pattern that makes up in this example and color doppler image 100 are tissue Doppler images of left ventricle, and mitral valve plane is indicated by the line between image base point 1 and 2.Sampling volume 3 is positioned on the myocardium of septum wall.The frequency spectrum tissue Doppler that extracts at sampling volume 3 places shows that 122 are presented at the right side of color tissue doppler image 100.Spectrum line shows that 124 are presented on the zero velocity baseline 126 of frequency spectrum demonstration 122.
Claims (19)
1. ultrasonic diagnosis imaging system that the frequency spectrum that produces sampling volume place histokinesis shows comprises:
Transducer probe;
Hysteresis-n autocorrelator in response to the echo samples of distributing from sampling volume, is operated to produce auto-correlation numerical value the window from the echo samples of different time emission;
The arc tangent processor in response to described auto-correlation numerical value, produces angle and estimates numerical value;
Graphic process unit is estimated numerical value in response to described angle, produces frequency spectrum and organizes doppler image; And
Display is coupled to described graphic process unit, shows that described frequency spectrum organizes doppler image.
2. according to the ultrasonic diagnosis imaging system of claim 1, further comprise interpolater, estimate numerical value and be coupled to described graphic process unit, produce the angle estimation curve in response to described angle.
3. according to the ultrasonic diagnosis imaging system of claim 1, further comprise processor threshold,, auto-correlation numerical value is confirmed with respect to threshold value in response to described auto-correlation numerical value.
4. according to the ultrasonic diagnosis imaging system of claim 1, further comprise:
Audio process is estimated numerical value in response to angle, produces the audio frequency sinusoidal curve in output place; And
Loudspeaker, the output of being coupled to described audio process produces audio frequency Doppler output.
5. according to the ultrasonic diagnosis imaging system of claim 4, further comprise:
Scaler, coupling are used for receiving angle estimation numerical value and control in response to the user, and have the output of being coupled to described audio process, and this scaler produces the angle of calibration and estimates numerical value.
6. according to the ultrasonic diagnosis imaging system of claim 5, further comprise:
Interpolater having the output terminal that angle that coupling is used to receive calibration is estimated the input end of numerical value and is coupled to described audio process.
7. according to the ultrasonic diagnosis imaging system of claim 4, wherein said loudspeaker comprises boombox, and it is consistent with the sinusoidal frequency symbol of described audio frequency in response to the output of described audio process.
8. according to the ultrasonic diagnosis imaging system of claim 1, further comprise:
The B schema processor, in response to the echo samples of distributing from tissue regions, work is used to produce the B mode image;
The color Doppler processor, in response to the echo samples of distributing from tissue regions, work is used to produce the coloured image of histokinesis; And
Scan converter in response to the described coloured image of described B mode image and histokinesis, and has the output terminal that is coupled to described display, and this scan converter work is used to produce the color tissue doppler image.
9. ultrasonic diagnosis imaging system according to Claim 8, wherein said display can be operated and be used for showing simultaneously that described frequency spectrum organizes doppler image and described color tissue doppler image.
10. according to the ultrasonic diagnosis imaging system of claim 9, further comprise audio process, in response to described auto-correlation numerical value, work is used to produce the audio frequency Doppler signal of organizing doppler image corresponding to described frequency spectrum.
11. according to the ultrasonic diagnosis imaging system of claim 1, wherein said hysteresis-n autocorrelator comprises hysteresis-1 autocorrelator.
12. according to the ultrasonic diagnosis imaging system of claim 1, wherein said hysteresis-n autocorrelator comprises hysteresis-2 autocorrelator.
13. a basis produces the method that the frequency spectrum tissue Doppler shows from a series of echoed signals that the sampling volume that is positioned on the moving tissue receives, and comprising:
Echoed signal is carried out demodulation to preserve the phase information of echoed signal;
Structure is from window overlapping time of the demodulation sequences of echo signals of different time emission;
Carry out the short hysteresis auto-correlation of described echoed signal window;
Each auto-correlation window is produced the arc tangent angle to be estimated; And
Estimating to produce frequency spectrum according to described arc tangent angle shows.
14. the method according to claim 13 further comprises:
Described angle is estimated to carry out interpolation; And
The step that wherein produces the frequency spectrum demonstration comprises that the interpolation of estimating according to described angle produces frequency spectrum and shows.
15. the method according to claim 14 further comprises:
The described short autocorrelative result and power or relevant threshold of lagging behind compared.
16. the method according to claim 14 further comprises:
Described angle is estimated to be coupled to the sinusoidal audio process of generation audio frequency; And
Produce the audio frequency Doppler signal according to described audio frequency sinusoidal curve.
17., further comprise by the adjustment of described sinusoidal frequency being regulated described audio frequency Doppler signal according to the method for claim 16.
18. according to the ultrasonic diagnosis imaging system of claim 3, wherein said threshold value comprises power threshold.
19. according to the ultrasonic diagnosis imaging system of claim 3, wherein said threshold value comprises relevant threshold.
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| US71042905P | 2005-08-22 | 2005-08-22 | |
| US60/710,429 | 2005-08-22 | ||
| US60/749,214 | 2005-12-08 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102421372A (en) * | 2009-05-13 | 2012-04-18 | 皇家飞利浦电子股份有限公司 | Ultrasonic blood flow doppler audio with pitch shifting |
| CN102551791A (en) * | 2010-12-17 | 2012-07-11 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic imaging method and device |
| CN107920802A (en) * | 2015-08-27 | 2018-04-17 | 皇家飞利浦有限公司 | Utilize the spectrum doppler processing of adaptively sampled window size |
| CN110114000A (en) * | 2016-12-19 | 2019-08-09 | 皇家飞利浦有限公司 | The ultrasonic guidance of actuatable medical tool |
| CN110832343A (en) * | 2017-04-28 | 2020-02-21 | 皇家飞利浦有限公司 | Power doppler imaging system and method with improved clutter suppression |
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| CN102421372A (en) * | 2009-05-13 | 2012-04-18 | 皇家飞利浦电子股份有限公司 | Ultrasonic blood flow doppler audio with pitch shifting |
| CN102421372B (en) * | 2009-05-13 | 2014-10-29 | 皇家飞利浦电子股份有限公司 | Ultrasonic blood flow doppler audio with pitch shifting |
| CN102551791A (en) * | 2010-12-17 | 2012-07-11 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic imaging method and device |
| CN102551791B (en) * | 2010-12-17 | 2016-04-27 | 深圳迈瑞生物医疗电子股份有限公司 | A kind of ultrasonic imaging method and device |
| US9907531B2 (en) | 2010-12-17 | 2018-03-06 | Shenzhen Mindray Bio-Medical Electronics Co., Ltd | Methods and systems for ultrasonic imaging |
| CN107920802A (en) * | 2015-08-27 | 2018-04-17 | 皇家飞利浦有限公司 | Utilize the spectrum doppler processing of adaptively sampled window size |
| CN107920802B (en) * | 2015-08-27 | 2022-02-25 | 皇家飞利浦有限公司 | Spectral doppler processing with adaptive sampling window size |
| CN110114000A (en) * | 2016-12-19 | 2019-08-09 | 皇家飞利浦有限公司 | The ultrasonic guidance of actuatable medical tool |
| CN110832343A (en) * | 2017-04-28 | 2020-02-21 | 皇家飞利浦有限公司 | Power doppler imaging system and method with improved clutter suppression |
| CN110832343B (en) * | 2017-04-28 | 2024-02-13 | 皇家飞利浦有限公司 | Energy Doppler imaging system and method with improved clutter suppression |
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