DE10303797A1 - Doppler ultrasound system for three-dimensional (3D) acquisition and evaluation of object movement data for e.g. medical application, has ultrasound head mounted to enable 3D funnel-directed scanning of object - Google Patents

Abstract

Acquisition and evaluation method for three-dimensional (3D) velocity data sets from objects using an ultrasonic Doppler approach provides ultrasonic transceiver transducer for transmission and receipt of ultrasound along a 3D funnel along a main sound direction (RA, RB, RC), scans object using the transducer; and evaluates transducer signals to determine a 3D vectorial velocity field of the object (H). Independent claims are also included for the following:- (a) a further method for acquisition and evaluation of 3D velocity data sets in which scalar 2D velocity data sets are evaluated to provide a 3D velocity field preferably using Tikhonov normalization; (b) and two ultrasound systems for acquisition and evaluation of 3D velocity data sets from objects using an ultrasonic Doppler approach.

Description

The invention relates to a method for recording and evaluating three-dimensional speed sets from Objects using ultrasonic waves using the Doppler method according to claim 1 and 3, an ultrasound system for recording and evaluating three-dimensional Speed records from Objects using ultrasonic waves using the Doppler method according to claims 15 and 17 and a corresponding computer program product according to claims 31 and 32.

Doppler ultrasound method for Determination of speeds of objects is known. With these Procedures are based on ultrasonic waves from an ultrasonic source guided the object to be examined and reflected from it Ultrasound waves detected frequency-selectively by means of an ultrasound receiver. If the object to be examined is related to the ultrasound source or moved the ultrasound receiver, there is a frequency shift due to the Doppler effect, from which the speed with known geometric configuration of the object to be examined can be determined. In particular Doppler ultrasound technology is preferred in medicine imaging process and takes especially in cardiac and vascular diseases a growing importance.

Conventional ultrasound systems, as they are used for example in medical technology however, not determining the full three-dimensional vectorial Velocity field of an object, such as the blood flow through Vessels or the wall movement of the heart. Such are known ultrasound systems not suitable the full vectorial direction of movement and the speed of the Object at every three-dimensional location within the examination area capture. Such complete three-dimensional vectorial velocity fields can only with expensive magnetic resonance methods (MR methods, phase contrast methods, MR tagging) can be determined, as for example in Ozturk et al. in "4-dimensional B-spline based motion analysis of tagged MR images: introduction and in vivo validation ", Phys. Med. Biol., June 2000, 45 (6): pages 1683-1702.

An ultrasound system and an associated one Procedure for capturing the complete three-dimensional vectorial Indicates the speed information of an object using ultrasound however, especially in a health policy context special relevance. There have therefore been intense efforts in recent times undertook to develop ultrasound systems which are used for detection more complete, three-dimensional, vectorial speed information are designed. such full Speed information could the reliable, inexpensive and quickly available Basis for the Diagnosis of "common diseases", such as CHD, heart attack and valve disorders, and as a basis for early detection of special, rare heart defects, such as congenital heart defects his. A future vision is on alternative, radiological or nuclear medicine procedures such as MRI, CT, PET, SPECT or To be able to do without cardiac catheter examinations completely, because these harmful short-wave, especially use radioactive radiation, are expensive and in acute, life-threatening conditions because of the cumbersome Logistics are not very practical. In addition, for example Cardiac catheterization the known risks of an invasive Intervention.

Another health policy The project is the handling and implementation of the ultrasound examination to transfer medical support personnel. In some countries, such as Britain or Holland, where expensive medical staff is rare, to lead already technical assistants (so-called "sonographers") of such ultrasound examinations by. However, this organizational approach has the decisive one Disadvantage that after Completion of the Examination of the recorded ultrasound data, in particular Speed information, from the doctor for his diagnosis Based on this data not retrospectively changed can be. The informative value of conventional, two-dimensional ultrasound is accordingly essential of skill or the exercise dependent on the examiner. On preferably accurate and independent measurement methods is only possible if practical handling if possible is simply designed and influenced as little as possible by the examiner can.

One solution is development of special ultrasonic probes, which are referred to as 3D + t probes become. These probes are intended to influence the investigator's influence on the minimize recorded ultrasound data. The approach is above all in the representation of the morphology of the object to be examined promising. Limited with ultrasonic Doppler methods, however strictly speaking, only one-dimensional speed information further developments regarding the transducer.

The above considerations become clearly that a Doppler ultrasound method a preferred method for collecting the complete three-dimensional speed information of objects to be examined would represent such speed information especially the basis for would allow a subsequent diagnosis by a doctor.

Strictly speaking, conventional ultrasound systems, such as those used in medical technology, can only provide one-dimensional speed information, since only the speed component is recorded parallel to the direction of sound of the transducer used. Such ultrasound systems are known under "color Doppler" and "tissue Doppler". Since in the Doppler ultrasound process ren only speed components in the direction of sound cause Doppler shifts of the reflected ultrasound waves, objects that move perpendicular to the sound direction do not cause a Doppler shift. Thus, no speed information can be acquired for objects that move perpendicular to the direction of sound. In the so-called color Doppler method ("color Doppler"), for example, the directions of movement towards the ultrasound head are coded too red, while the directions of movement away from the transducer are shown in blue ("BART" for "blue away, red towards"). Even with laminar, almost turbulence-free flows, a vertical "black zone" can clearly be seen in the middle between red and blue speed coding. In this zone, the object moves exactly perpendicular to the direction of sound, which means that the determinable, resulting speed information is zero. Comparable can also be shown using the example of the tissue Doppler.

The main medical problem at However, Doppler ultrasound processes and systems lie in the fact justified that directions of movement of rivers or tissues in reality not only run towards or towards the ultrasound source, but can have any angular orientation to it. Is desired rather the general movement information of the rivers or Tissue in three-dimensional space.

First approaches to solve this problem using the so-called "3D color Doppler process" have already been carried out.

Even in accordance with this conventional However, three-dimensional sound cones are used strictly speaking, only the object speeds are one-dimensional shown towards the transducer. In the case of the mitral valve flow this also corresponds to the clinically interesting direction, since the Flow through the mitral valve runs largely parallel to the direction of sound. At the Aortic river operated one looks at the so-called "angle correction". The angle correction is an allowable Auxiliary processes assuming that fluid flows continue in the "black zone" and do not abruptly stop. However, strictly speaking, this procedure also represents only one one-dimensional speed information in relation to the direction of sound ready.

Not all medical issues in the subject area of "rivers", however can be satisfactorily solved with the above-mentioned conventional methods. For example, the area of complex has been problematic congenital heart defects, such as atrial or ventricular septal defects, open duct, transposition of the large vessels and aortic stenosis or DORV proven. To represent such complex flow patterns, which are not laminar and whose direction is not in So far, the investigator has been able to easily identify logically takes a lot of time and experience. However, since it is in patients with complex congenital heart defects is mostly about children, especially the time required in the practical implementation ultrasound examination is a limiting factor. Furthermore allow the conventional So far no procedure to represent the timing of the river or even a spatial Track its course. This would be particularly the case with the presentation the coronary arteries really important. However, since the coronaries are vessels that are relatively far away from the transducer are their Doppler investigability using conventional Procedure only roughly at its origin from the main artery (aorta) possible. A Statement about the flow conditions or even the presentation of stenoses (constrictions) in the further course the coronaries, for example in coronary artery disease so far not possible.

In the subject area "Tissue Doppler" it is particularly possible to: so called "strain Rate "(deformation rate of the heart tissue). This allows an assessment of the vitality of the heart muscle, for example in patients with coronary artery disease or heart attack. The movements of the wall layers in the healthy Hearts in the systole are roughly from all sides to the center the cardiac cavity. In reality, however, the heart wall describes a significant torsion, similar to one Wringing. Especially when there is insufficient supply to the heart muscle (Myocardium) this movement pattern can change significantly. speeds within the myocardium for determining the movement pattern are conventionally in particular with the help of tissue Doppler echocardiography, also tissue velocity Imaging (TVI) or Doppler Myocardial Imaging (DMI).

Strain Rate Imaging (SRI) is a new technique based on Tissue Doppler Echocardiography for the diagnosis of myocardial vitality. In addition to the speed information, local contraction measures are determined here. The deformation of an object in relation to the initial state is called strain. The rate of change of the strain is referred to as the strain rate and thus corresponds to the time derivative. The (natural) strain rate within the heart muscle can be calculated using tissue Doppler as a myocardial velocity gradient on the sound beam to (v ₁ - v ₂ ) / x where v ₁ and v _{2 are} given speeds at two points and x the distance between the two points represents. The strain rate is therefore a measure of the local contraction.

The examination methods using Doppler echocardiography and methods based thereon, such as the strain-rate imaging described, are also limited, however, by the fact that conventional ultrasound systems can only determine the speeds along the sound beam. The measured Ge Speed is therefore only the projection of the actual speed vector onto the sound beam. This results in a large angular dependence of the measured speeds and the values calculated therefrom, in particular the strain rate. Furthermore, quantitative statements are only possible to a limited extent, since the true speed information is not available and, for example, the strain rate method can only determine a value of the strain rate tensor. The representation of shear movements would also be particularly important as a basis for diagnosis, which, however, has so far not been possible using conventional ultrasound methods. Another disadvantage is the high intra and interobserver variability, since a different sound angle is selected for each exposure and the measured Doppler data thus deviate.

A really three-dimensional one succeeds To determine the speed field within the myocardium would be the limitation the angle dependency the Doppler method fixed, with which quantitative statements by means of Doppler ultrasound possible would. Furthermore would be a determination of the complete strain and strain rate tensor possible. Based on the captured vectorial velocity field could be based on the localization of pathological movement patterns then in a subsequent one Step a diagnostic statement about the regional myocardial function and vitality as well as the planning of an appropriate therapy (medication, catheter intervention with balloon dilation or surgery).

In contrast to the previously described There is no subject area "Rivers" in the tissue Doppler possibility to compensate for the missing speed vectors, since the Positioning the transducer never optimal with respect to the Direction of speed can take place. The heart guides how described in the beginning, torsional movements in space, each single wall layer due to different fiber orientations has its own main direction of movement.

The technical problem described therefore limits the practical use of echocardiography on the question of contractility and vitality of the heart considerably. Conventional 3D Doppler methods therefore fail both in the representation of complex flow profiles and in the determination myocardial vitality, since the full three-dimensional, vectorial speed information in virtual space is missing.

In view of the above Accordingly, disadvantages are a task the invention, an ultrasound method and an associated ultrasound system indicate with which the complete, three-dimensional, vectorial Velocity field of an object to be examined can be determined can.

This task is accomplished through a process according to claim 1 and 3 and an ultrasound system according to claims 15 and 17 solved. preferred embodiments are subject to the dependent Expectations.

• – Bereitstellen zumindest einer Ultraschallquelle, welche zum Senden eines dreidimensionalen Ultraschalltrichters entlang einer Schalltrichterhauptrichtung ausgelegt ist;
• – Bereitstellen zumindest eines Ultraschallempfängers, welcher zum Detektieren von an dem Objekt reflektierten Ultraschallwellen und deren Dopplerverschiebung ausgelegt ist;
• – Anschallen des Objekts mit der Ultraschallquelle aus zumindest drei vorbestimmten Anschallpositionen in drei zueinander linear unabhängigen Schalltrichterhauptrichtungen, wobei die von der Ultraschallquelle aus jeder der Anschallpositionen ausgesendeten und an dem Objekt reflektierten Ultraschallwellen mit dem Ultraschallempfänger zur Erfassung von skalaren dreidimensionalen Geschwindigkeitsdatensätzen des Objekts mittels der Dopplermethode detektiert werden; und
• – Berechnen des dreidimensionalen vektoriellen Geschwindigkeitsfeldes des Objekts aus den erfaßten skalaren Geschwindigkeitsdatensätzen.

According to a first aspect of the invention, a method for acquiring and evaluating three-dimensional speed data sets of objects by means of ultrasonic waves using the Doppler method comprises the following steps:

• - Providing at least one ultrasound source, which is designed to transmit a three-dimensional ultrasound funnel along a main direction of the horn.
• - Providing at least one ultrasound receiver, which is designed to detect ultrasound waves reflected on the object and their Doppler shift;
• - Sounding the object with the ultrasound source from at least three predetermined sound positions in three main directions of the horns which are linearly independent of one another, the ultrasound waves emitted by the ultrasound source from each of the sound positions and reflected on the object being detected by the ultrasound receiver for the acquisition of scalar three-dimensional speed data records of the object by means of the Doppler method become; and
• - Calculate the three-dimensional vectorial speed field of the object from the acquired scalar speed data sets.

According to the first aspect of the invention the object is sonicated with ultrasonic waves from three predetermined, different sound positions in three mutually linear main horn directions by means of at least one ultrasound source, which is a three-dimensional one Can emit ultrasonic funnel. The ultrasound source generates for example along a funnel-shaped or conical ultrasound pyramid a main direction of the horn. The main direction of the horn falls for example with the cone or pyramid axis of the ultrasonic funnel. Because the ultrasonic funnel has a non-zero degree Bell opening angle has the sound directions of two locations of the to be examined Object in the area of the ultrasonic funnel in general from each other different. By means of the at least one ultrasound source the object from three mutually linear main directions of the horn be echoed. Accordingly, the Ultrasound source arranged when the object is sonicated, that the Main horn directions the entire three-dimensional Euclidean Open space.

By means of the ultrasound receiver, which is designed for the detection of ultrasound waves reflected on the object and their Doppler shift, scalar three-dimensional speed data records of the object to be examined can be detected using the Doppler method. The ultrasonic temperature catcher is located at a known, predetermined position relative to the ultrasound source, preferably in the immediate vicinity of the ultrasound source. In this way, a scalar three-dimensional speed data record can be acquired from each sound position, ie scalar speed information v (x, y, z) for location points (x, y, z) within the horn. Each scalar speed data record contains the movement or speed information of the object depending on the respective direction of sound and the spatial position of the ultrasound receiver. Expressed mathematically, each scalar speed data set thus provides one-dimensional speed information for every three-dimensional location point within the horn.

From the at least three scalar speed data sets, which from different sound positions and different sound directions were recorded according to the first Aspect of the invention the three-dimensional vectorial velocity field calculated. Preferably, the reconstructed, three-dimensional vectorial speed field in real time as a virtual speed field displayed on a monitor. additionally or alternatively, the three-dimensional vectorial velocity field especially stored in electronic form, so that at a later Time virtual views of the speed or motion components of the object from different directions in different sectional planes can be generated. The method according to the invention thus delivers the complete three-dimensional vectorial velocity field of an object to be examined Object and can preferably be used as a non-diagnostic method be used to establish the basis for a later diagnosis allow a doctor based on the calculated speed field. However, are also outside of medical technology applications given, for example in ocean current research.

To improve the reconstruction stability of the three-dimensional vectorial speed field from the acquired scalar speed data sets it may be advantageous to make scalar speed records more than three predetermined sound positions along others To record the main horn directions. At the ultrasound sources it is preferably so-called 3D or 4D probes.

According to a preferred embodiment comprises computing the three-dimensional vectorial velocity field regularization, preferably Tikhonov regularization, based on predetermined topology and / or motion information of the object. The predetermined topology and / or motion information of the object (so-called a priori information) for which it is for example a human heart to be examined, represent in particular biomechanical properties of the object, which are similar on boundary or constraint conditions in the reconstruction process of the calculation the vectorial velocity field from the scalar velocity data records. The topology and / or Movement information advantageously mirrors physically and / or physiological rules the movement of the object to be examined again. Such one Regularization based on additional Topology and / or movement information of the object is special then advantageous if the detected scalar speed records by unfavorable Meßverhältnisse or bad measurement signals Have inaccuracies or errors. The regularization at Calculation of the vectorial speed field causes a Stabilization of the reconstruction process. The topology or Morphology information can for example, assumptions about the spatial Shape, size and nature of the object. The movement information can, for example Assumptions about include the typical movement pattern of the object.

für das zu bestimmende dreidimensionale vektorielle Geschwindigkeitsfeld ein Minimum aufweisen soll. Hierbei bezeichnet u_i den Ort (bzw. die Verschiebung) eines Massenpunktes des zu untersuchenden Objekts, x_j die Raumrichtungen, wobei i, j = 1, 2, 3 und das Integral ein Volumenintegral über den interessierenden zu untersuchenden Ortsraum ist. Zusätzlich kann vorteilhafterweise eine zeitliche Glattheit berücksichtigt werden.The topology and / or movement information can in particular include assumptions about the correlation of the movement of adjacent location points of the object. In particular, the basic assumption can be that neighboring parts of the object have similar directions and amounts of speed, so that the speed field has a continuous and in particular a differentiable (smooth) course. Expressed mathematically, for example, the a priori information can consist in that

should have a minimum for the three-dimensional vectorial velocity field to be determined. Here u _i denotes the location (or the displacement) of a mass point of the object to be examined, x _j the spatial directions, where i, j = 1, 2, 3 and the integral is a volume integral over the location space of interest to be examined. In addition, temporal smoothness can advantageously be taken into account.

For the reconstruction of the vectorial velocity field of tissue, in particular a heart muscle or the heart wall, or the heart cavity for blood flow can be a so-called discontinuity-maintaining Regularization can be beneficial. This is done only on those Locate a regularization where there is a movement of tissue or an Fluid flow too is expected.

• – Bereitstellen zumindest einer Ultraschallquelle, welche zum Senden eines dreidimensionalen Ultraschalltrichters entlang einer Schalltrichterhauptrichtung ausgelegt ist;
• – Bereitstellen zumindest eines Ultraschallempfängers, welcher zum Detektieren von an dem Objekt reflektierten Ultraschallwellen und deren Dopplerverschiebung ausgelegt ist;
• – Anschalten des Objekts mit der Ultraschallquelle aus zumindest einer vorbestimmten Anschallposition in zumindest einer vorbestimmten Schalltrichterhauptrichtung, wobei die von der Ultraschallquelle ausgesendeten und an dem Objekt reflektierten Ultraschallwellen mit dem Ultraschallempfänger zur Erfassung zumindest eines skalaren dreidimensionalen Geschwindigkeitsdatensatzes des Objekts mittels der Dopplermethode detektiert werden; und
• – Berechnen des dreidimensionalen vektoriellen Geschwindigkeitsfeldes des Objekts aus dem zumindest einen erfaßten skalaren Geschwindigkeitsdatensatz, wobei das Berechnen des dreidimensionalen vektoriellen Geschwindigkeitsfeldes eine Regularisierung, vorzugsweise eine Tikhonov-Regularisierung, basierend auf vorbestimmten Topologie- und/oder Bewegungsinformationen des Objekts umfaßt.

According to a second aspect of the invention, a method according to the invention for recording and evaluating three-dimensional speed data sets of objects by means of ultrasound waves using the Doppler method comprises the following steps:

• - Providing at least one ultrasound source, which is designed to transmit a three-dimensional ultrasound funnel along a main direction of the horn.
• - Providing at least one ultrasound receiver, which is designed to detect ultrasound waves reflected on the object and their Doppler shift;
• - Switching on the object with the ultrasound source from at least one predetermined sound position in at least one predetermined main horn direction, the ultrasound waves emitted by the ultrasound source and reflected on the object being detected with the ultrasound receiver for recording at least one scalar three-dimensional speed data record of the object by means of the Doppler method; and
• - Calculation of the three-dimensional vector speed field of the object from the at least one acquired scalar speed data record, wherein the calculation of the three-dimensional vectorial speed field comprises regularization, preferably Tikhonov regularization, based on predetermined topology and / or movement information of the object.

According to the second aspect of the invention the object is switched on with ultrasonic waves from at least an ultrasound position by means of at least one ultrasound source, which can send out a three-dimensional ultrasonic funnel. The ultrasound source generates, for example, a funnel or conical Ultrasound pyramid along a main direction of the horn. The For example, the main direction of the horn falls with the cone or pyramid axis of the ultrasonic funnel. Because the ultrasonic funnel has a non-zero degree Bell opening angle has the sound direction of two locations of the to be examined Object in the area of the ultrasonic funnel generally different from one another.

By means of the ultrasound receiver, which is designed for the detection of ultrasound waves reflected on the object and their Doppler shift, scalar three-dimensional speed data records of the object to be examined can be detected using the Doppler method. The ultrasound receiver is located at a known, predetermined position relative to the ultrasound source, preferably in the immediate vicinity of the ultrasound source. In this way, a scalar speed data record can be acquired, ie scalar speed information v _i (x, y, z) for location points (x, y, z) within the horn. The scalar speed data record contains the movement or speed information of the object depending on the current direction of sound and the spatial position of the ultrasound receiver. Expressed mathematically, the scalar speed data set thus provides one-dimensional speed information for each three-dimensional location point within the horn.

Calculating the three-dimensional vectorial velocity field includes regularization, preferably Tikhonov regularization based on predetermined topology and / or movement information (so-called a priori information) of the object. The predetermined topology and / or movement information of the Object, which is, for example, an object to be examined human heart, especially biomechanical properties of the object, which are similar on boundary or constraint conditions in the reconstruction process of the calculation the vectorial velocity field from the scalar velocity data records. The topology and / or movement information advantageously mirror physical and / or physiological laws the movement of the object to be examined again. The regularization when calculating the vectorial velocity field a stabilization of the reconstruction process so that even if only a single scalar speed data record is available the resulting sub-system of equations for the vectorial Clearly solve the speed field leaves. The Topology or morphology information can, for example, make assumptions about the spatial Shape, size and nature of the object. The movement information can, for example Assumptions about include the typical movement pattern of the object.

für das zu bestimmende dreidimensionale vektorielle Geschwindigkeitsfeld ein Minimum aufweisen soll. Hierbei bezeichent u_i den Ort (bzw. die Verschiebung) eines Massenpunktes des zu untersuchenden Objekts, x_j die Raumrichtungen, wobei i, j = 1, 2, 3 und das Integral ein Volumenintegral über den interessierenden zu untersuchenden Ortsraum ist. Zusätzlich kann vorteilhafterweise eine zeitliche Glattheit berücksichtigt werden.The topology and / or movement information can in particular include assumptions about the correlation of the movement of adjacent location points of the object. In particular, the basic assumption can be that neighboring parts of the object have similar directions and amounts of speed, so that the speed field has a continuous and in particular a differentiable (smooth) course. Expressed mathematically, for example, the a priori information can consist in that

should have a minimum for the three-dimensional vectorial velocity field to be determined. Here u _i denotes the location (or the displacement) of a mass point of the object to be examined, x _j the spatial directions, where i, j = 1, 2, 3 and the integral is a volume integral over the location space of interest to be examined. In addition, temporal smoothness can advantageously be taken into account.

For the reconstruction of the vectorial velocity field of tissue, in particular a heart muscle or the heart wall, or the heart cavity for blood flow can be a so-called discontinuity-maintaining Regularization can be beneficial. This is done only on those Locate a regularization where there is a movement of tissue or an Fluid flow too is expected.

Preferably takes place in the method according to the second Aspect of the invention the sonication of the object with the ultrasound source linear from two predetermined sound positions in two to each other independent Main horn directions, making two scalar three-dimensional Velocity data records are recorded. The object is also preferably sonicated with the ultrasound source from at least three predetermined sound positions in three to each other linearly independent Main horn directions, so that at least three scalar three-dimensional Speed records detected become.

From the at least two, preferably three scalar speed data sets, which come from different Sound positions and different sound directions added were taken into account the topology and / or movement information of the Object according to the second Aspect of the invention calculates the three-dimensional vectorial velocity field. Preferably, the reconstructed, three-dimensional vectorial Speed field in real time as a virtual speed field displayed on a monitor. additionally or alternatively, the three-dimensional vectorial velocity field especially stored in electronic form, so that at a later Time virtual views of the speed or

Movement components of the object generated from different directions in different cutting planes can be. The method according to the invention thus delivers the complete three-dimensional vectorial velocity field of an object to be examined Object and can preferably be used as a non-diagnostic method be used to establish the basis for a later diagnosis allow a doctor based on the calculated speed field. However, are also outside of medical technology applications given, for example in ocean current research.

To improve the reconstruction stability of the three-dimensional vectorial speed field from the acquired scalar speed data sets it may be advantageous to make scalar speed records more than three predetermined sound positions along others To record the main horn directions. At the ultrasound sources it is preferably so-called 3D probes.

According to a preferred embodiment of a method according to the invention with a sound from at least two main directions of the horn in the step of sonication, the at least one ultrasound source aligned at the sound positions such that the assigned Main horn directions essentially orthogonal to each other run.

If the subject to be examined is sonicated Object from three sound positions in three mutually different Main horn directions become main horn directions preferably chosen such that she are each orthogonal to each other. The orthogonal arrangement the main directions of the horns cause them to be linearly independent of one another are and at the best possible Detection of the movement components of the object to be examined are arranged. The orthogonality between the main horn directions must do this are not adhered to in a strict sense. However, it is preferred that between the main directions of the horn at least 50 °, preferably 80 ° available are so as to accurately record the movement of the person to be examined Ensure object.

According to another preferred embodiment at least one ultrasound head is provided, which has an ultrasound source and an ultrasound receiver includes. Ultrasound source and receiver are preferably integrated in an ultrasound head, which thus acts as an ultrasound transceiver. Preferably comes for one such an ultrasound head a so-called 3D + T transceiver for Commitment. Ultrasound source and receiver are in one Ultrasound head preferably arranged close together so that the distance between ultrasound source and receiver much less than the typical distance between the ultrasound head and the one to be examined Object is.

According to a further preferred embodiment of a method according to the invention with a connection from at least two main directions of the horn, exactly one ultrasound head is provided, which is positioned sequentially at the sound positions for recording the three-dimensional scalar speed data sets. In this preferred embodiment, only a single ultrasound head is provided, which is positioned at the at least two sound positions in order to acquire the three-dimensional scalar speed data sets from different directions of the horn. The recording of the scalar speed data records takes place sequentially, that is to say the movement of the object to be examined is first detected from a first sound position in a first direction of the horn by scalar speed data at predetermined time intervals records are recorded from this sound position. Subsequently, the ultrasound head is arranged at the second sound position, from which further scalar speed data records are in turn acquired with the assigned predetermined direction of the main horn at predetermined time intervals. If a third sound position is provided with a third direction of the horn, the procedure is the same from the third sound position.

In this embodiment, the fact exploited that movements one A large number of objects to be examined have a periodic period Show course. For example, is the object to be examined a human heart, so can the sequentially recorded speed data records the different sound positions correlated in time be, for example, by a predetermined ascending or descending Edge of the heartbeat cycle is selected as the respective reference time. Assuming that the Movement or speed fields are similar in temporally closely adjacent heartbeat periods, can therefore be sequential with just a single ultrasound head Acquisition of scalar speed data sets from different Sonic positions are made. Particularly advantageous such an embodiment is that under circumstances the essential system components of a conventional ultrasound system can be used with a single ultrasound head, provided an evaluation device is provided which is used for the calculation according to the invention of the three-dimensional vectorial velocity field of the investigating object is designed.

According to a preferred embodiment of a method according to the invention with switching on from at least two main directions of the horn are at least three ultrasound heads provided so that at an ultrasound head is arranged in each of the sound positions. In such an embodiment can the scalar speed records from the three to each other different sound positions along the mutually different Main horn directions preferably added simultaneously become. A periodicity the movement pattern of the object to be examined is therefore not necessary Requirement. Such an embodiment is associated with a greater "hardware outlay", however such an arrangement allows faster, more reliable and more accurate acquisition of the scalar speed data sets the different sound positions.

According to a particularly preferred embodiment of a method according to the invention with switching on from at least two main directions of the horn becomes a positioning device when the object is sonicated used to position the at least one ultrasound source, around the sound positions and the main directions of the horns relative to each other. The positioning device is preferably designed so that they Stop shots for the at least one ultrasound source, preferably three ultrasound sources, has so that their Sound position and main direction of the funnel through the holding fixture is clearly defined. The positioning device is particularly preferred designed for positioning ultrasound heads. Preferably the positioning device is the main direction of the horn so firmly at the respective sound positions that these are essentially orthogonal to each other. The minimum distance between the transducers is preferably at least 100% of the mean distance of each transducer to the center of the object to be examined, preferably at least 140% this distance. For example, is the object to be examined a human heart of an adult is the minimum distance between the transducers 10 cm, preferably 15 cm, more preferably at least 20 cm.

The positioning device is preferably a tripod, which at its leg ends holds for the least has an ultrasound source. Such a tripod is suitable in particular as a positioning device if it is the object to be examined is a human or animal Organ, especially a human heart. Prefers the legs of the tripod are telescopic, so as to different anatomical conditions of the examined Adapted to people to be able to. Furthermore, the angles between the legs of the tripod are preferably adjustable. For better fixation of the tripod to the torso of the patient to be examined Person can provide a fourth leg with a fixation device be, for example, a vacuum fixing device can act.

According to a particularly preferred embodiment of a method according to the invention with a sonication from at least two main directions of the horn, a multiplicity of ultrasound sources and ultrasound receivers are integrated in a flat, flexible positioning device which is arranged on the object before the step of switching on. In this particularly preferred embodiment, a large number of ultrasound sources and receivers are preferably integrated as ultrasound elements in a flat, flexible positioning device which can be arranged around the object to be examined. It is therefore not absolutely necessary in this embodiment to position certain ultrasound sources or receivers at predetermined sound positions in order to record the scalar speed data sets. Instead, due to the large number of ultrasound elements in the flat positioning device, it can be trusted that there are always ultrasound sources and receivers, which are mutually exclusive located at favorable sound positions with favorable horn main directions in order to be arranged for an efficient and trouble-free acquisition of the scalar speed data sets.

Similar to the embodiment described above, which uses a tripod as the positioning device is the area, flexible positioning device particularly user-friendly, because a possibly difficult, exact positioning of conventional ultrasound heads for an optimal one Data acquisition is unnecessary. Instead, the flat, flexible Positioning device can also be created by people who a comparatively low corresponding experience and previous education have, especially medical nursing staff.

The flat is preferably flexible Positioning device a belt, which can be put on the torso of a person in particular. In the belt are in regular positions, for example Ultrasound elements (ultrasound sources and receivers) with arranged in such a density that the belt is preferably in a can be arranged almost any way around the torso and nevertheless, ultrasonic elements at almost optimal sound positions come to rest. The belt can be connected to an evaluation device of the ultrasound system.

According to another preferred embodiment the at least one sound position and the at least one Main horn direction of the ultrasound source by means of a Tracking systems recorded. Such a tracking system preferably comprises a tracking sensor, which at the ultrasound source with a known orientation is arranged and a sensor readout device which with respect to a predetermined coordinate system, the location and position of the tracking sensor can determine. Such tracking systems can, for example optically or magnetically executed his. equally can also the location and position of ultrasound receivers or ultrasound heads are detected. The use of a tracking system enables, for example, one Manual ultrasound head in three different sound positions bring to the object to be examined from three different from each other Sound the main direction of the horn without this Sound positions or main directions of the horn before the procedure must be known exactly. Rather, the location and location positions of the ultrasound head in each of the sound positions accurately recorded by the tracking system, so that the Calculation of the vectorial speed field necessary and positional positions of the ultrasound head are present.

• – zumindest eine Ultraschallquelle, welche zum Senden eines dreidimensionalen Ultraschalltrichters entlang einer Schalltrichterhauptrichtung ausgelegt ist;
• – zumindest einen Ultraschallempfänger, welcher zum Detektieren von an dem Objekt reflektierten Ultraschallwellen und deren Dopplerverschiebung ausgelegt ist;
• – eine Auswerteeinrichtung, welche mit der Ultraschallquelle und dem Ultraschallempfänger in Signalverbindung steht und ausgelegt ist, ein dreidimensionales vektorielles Geschwindigkeitsfeld des Objekts aus zumindest drei skalaren dreidimensionalen Geschwindigkeitsdatensätzen zu berechnen, welche durch Anschallen des Objekts mit der Ultraschallquelle aus zumindest drei vorbestimmten Anschallpositionen in drei zueinander linear unabhängigen Schalltrichterhauptrichtungen und Empfangen von an dem Objekt reflektierten Ultraschallwellen mit dem Ultraschallempfänger aus der Dopplerverschiebung der reflektierten Ultraschallwellen erfaßbar sind.

According to a third aspect of the invention, an ultrasound system for recording and evaluating three-dimensional speed data sets of objects by means of ultrasound waves is proposed using the Doppler method, the ultrasound system comprising:

• - At least one ultrasound source, which is designed to transmit a three-dimensional ultrasound funnel along a main direction of the horn;
• - At least one ultrasound receiver, which is designed to detect ultrasound waves reflected on the object and their Doppler shift;
• - An evaluation device, which is in signal connection with the ultrasound source and the ultrasound receiver and is designed to calculate a three-dimensional vectorial velocity field of the object from at least three scalar three-dimensional velocity data sets, which are linearly linearly in three to one another by sonicating the object with the ultrasound source independent trumpet main directions and receiving ultrasound waves reflected on the object can be detected with the ultrasound receiver from the Doppler shift of the reflected ultrasound waves.

The ultrasound system according to the third Aspect of the invention is particularly related to performing the input method described with the first aspect of the invention. to Avoid repetitions in the following description of devices according to the invention is therefore based on the corresponding statements above on the method according to the invention directed. The evaluation device preferably comprises a computer unit with one for it designed loadable computer program, which is used to calculate the vectorial three-dimensional velocity field from the scalars Speed records is designed.

According to a preferred embodiment of the ultrasound system according to the third Aspect of the invention includes the evaluation device has an object memory for storing predetermined ones Topology and / or movement information of the object and is designed to when calculating the three-dimensional vectorial velocity field a regularization, preferably a Tikhonov regularization, based on the speed data records on the stored topology and / or movement information of the Object. The object store is preferably a non-volatile one Semiconductor memory or a computer data carrier (e.g. hard disk), which is connected to a computing unit of the evaluation device.

• – zumindest eine Ultraschallquelle, welche zum Senden eines dreidimensionalen Ultraschalltrichters entlang einer Schalltrichterhauptrichtung ausgelegt ist;
• – zumindest einen Ultraschallempfänger, welcher zum Detektieren von an dem Objekt reflektierten Ultraschallwellen und deren Dopplerverschiebung ausgelegt ist;
• – eine Auswerteeinrichtung, welche mit der Ultraschallquelle und dem Ultraschallempfänger in Signalverbindung steht und ausgelegt ist, ein dreidimensionales vektorielles Geschwindigkeitsfeld des Objekts aus zumindest einem skalaren dreidimensionalen Geschwindigkeitsdatensatz zu berechnen, welcher durch Anschallen des Objekts mit der Ultraschallquelle aus einer vorbestimmten Anschallposition und Schalltrichterhauptrichtung und Empfangen von an dem Objekt reflektierten Ultraschallwellen mit dem Ultraschallempfänger aus der Dopplerverschiebung der reflektierten Ultraschallwellen erfaßbar ist, wobei die Auswerteeinrichtung einen Objektspeicher zum Speichern vorbestimmter Topologie- und/oder Bewegungsinformationen des Objekts aufweist und eingerichtet ist, bei dem Berechnen des dreidimensionalen vektoriellen Geschwindigkeitsfeldes eine Regularisierung, vorzugsweise eine Tikhonov-Regularisierung, der Geschwindigkeitsdatensätze basierend auf den gespeicherten Topologie- und/oder Bewegungsinformationen des Objekts vorzunehmen.

According to a fourth aspect of the invention, an ultrasound system for recording and evaluating three-dimensional speed data sets of objects by means of ultrasound waves using the Doppler method is proposed, the ultrasound system comprising:

• - At least one ultrasound source, which is designed to transmit a three-dimensional ultrasound funnel along a main direction of the horn;
• - At least one ultrasound receiver, which is designed to detect ultrasound waves reflected on the object and their Doppler shift;
• - An evaluation device which is in signal connection with the ultrasound source and the ultrasound receiver and is designed to calculate a three-dimensional vectorial speed field of the object from at least one scalar three-dimensional speed data record, which is obtained by sonicating the object with the ultrasound source from a predetermined sonication position and main direction of the horn and receiving Ultrasound waves reflected on the object can be detected with the ultrasound receiver from the Doppler shift of the reflected ultrasound waves, the evaluation device having an object memory for storing predetermined topology and / or movement information of the object and being set up, when calculating the three-dimensional vectorial speed field, a regularization, preferably a Tikhonov regularization, the speed data records based on the stored topology and / or movement gsinformation of the object.

The ultrasound system according to the fourth Aspect of the invention is particularly related to performing the input method described with the second aspect of the invention. to Avoid repetitions in the following description of devices according to the invention is therefore based on the corresponding statements above on the method according to the invention directed. The evaluation device preferably comprises a computer unit with one for it designed loadable computer program, which is used to calculate the vectorial three-dimensional velocity field from the scalars Speed records is designed.

According to a preferred embodiment of the ultrasound system according to the fourth Aspect of the invention, the evaluation device is designed that vectorial velocity field from at least two scalar velocity data sets calculate which by sonicating the object with the ultrasound source linear from two predetermined sound positions in two to each other independent Main horn directions are detectable.

According to a preferred embodiment of the ultrasound system according to the fourth Aspect of the invention, the evaluation device is designed that vectorial velocity field from at least three scalar velocity data sets calculate which by sonicating the object with the ultrasound source from at least three predetermined sound positions in three to each other linearly independent Main horn directions are detectable.

According to another preferred embodiment comprises the ultrasound system has at least two, preferably three, ultrasound sources, which are aligned in this way for sonication of the object at the sonication positions are that the assigned main horn directions essentially orthogonal to each other.

According to another preferred embodiment comprises the ultrasound system has at least one ultrasound head, which is a Ultrasound source and an ultrasound receiver comprises.

According to another preferred embodiment comprises the ultrasound system is exactly one ultrasound head, which is used for detection of the three-dimensional scalar speed data sets sequentially the sound positions can be positioned. Alternatively, the ultrasound system includes at least three ultrasound heads, which are arranged at the sound positions.

According to a particularly preferred embodiment comprises the ultrasound system has a positioning device for positioning the at least one ultrasound source or the at least one ultrasound head, wherein the positioning device for the relative determination of the sound positions and the main direction of the bell is designed for each other. The positioning device is preferably a tripod which is attached to his leg ends holding recordings for the at least one ultrasound source having.

According to another particularly preferred embodiment are a variety of ultrasound sources and ultrasound receivers (or the ultrasound heads) in a flat, integrated flexible positioning device, which can be arranged is set up on the object. The flat is preferably flexible Positioning device a belt, which can be put on the torso of a person in particular.

According to another preferred embodiment comprises the ultrasound system is a tracking system which is used for recording the at least one sound position and the at least one main direction of the horn the ultrasound source (or the ultrasound head) is designed.

According to another aspect of Invention is the use of an ultrasound system according to the invention described above for recording and calculating the three-dimensional speed field of liquids, Organs and / or tissues of the human or animal body proposed.

• – Eingeben von skalaren dreidimensionalen Geschwindigkeitsdatensätzen des Objekts, welche durch Anschalten des Objekts mit einer 3D-Ultraschallquelle aus zumindest drei vorbestimmten Anschallpositionen in drei zueinander linear unabhängigen Schalltrichterhauptrichtungen und Detektieren von an dem Objekt reflektierten Ultraschallwellen mit einem Ultraschallempfänger mittels der Dopplermethode bestimmt wurden; und
• – Berechnen des dreidimensionalen vektoriellen Geschwindigkeitsfeldes des Objekts aus den erfaßten skalaren dreidimensionalen Geschwindigkeitsdatensätzen.

According to a further aspect of the invention, a computer program product is used for evaluation three-dimensional speed data records of objects are proposed, the computer program product comprising the following steps:

• Entering scalar three-dimensional speed data records of the object, which were determined by switching on the object with a 3D ultrasound source from at least three predetermined sound positions in three mutually linear main directions of the horn and detecting ultrasound waves reflected on the object with an ultrasound receiver using the Doppler method; and
• - Calculate the three-dimensional vectorial velocity field of the object from the acquired scalar three-dimensional velocity data sets.

The computer program product according to this Aspect of the invention is particularly related to use with the procedure according to the first Aspect of the invention and an ultrasound system according to the third Aspect of the invention suitable. On the relevant parts of the description is referred to in this context. The computer program product is for the calculation of the three-dimensional vectorial velocity field designed on the basis of at least three three-dimensional, scalar speed data sets. The scalar speed data sets, which are created using the above Doppler technology described are used for calculation fed into the program or recorded by the program.

• – Eingeben zumindest eines skalaren dreidimensionalen Geschwindigkeitsdatensatzes des Objekts (H), welcher durch Anschalten des Objekts (H) mit einer 3D-Ultraschallquelle (28) aus einer vorbestimmten Anschallpositionen (A, B, C) in einer vorbestimmten Schalltrichterhauptrichtung (RA, RB, RC) und Detektieren von an dem Objekt (H) reflektierten Ultraschallwellen mit einem Ultraschallempfänger (28) mittels der Dopplermethode bestimmt wurde; und
• – Berechnen des dreidimensionalen vektoriellen Geschwindigkeitsfeldes des Objekts (H) aus den erfaßten skalaren dreidimensionalen Geschwindigkeitsdatensätzen, wobei das Berechnen des dreidimensionalen vektoriellen Geschwindigkeitsfeldes eine Regularisierung, vorzugsweise eine Tikhonov-Regularisierung, basierend auf vorbestimmten Topologie- und/oder Bewegungsinformationen des Objekts (H) umfaßt.

According to a further aspect of the invention, a computer program product for evaluating three-dimensional speed data records of objects is proposed, the computer program product comprising the following steps:

• - Entering at least one scalar three-dimensional speed data record of the object (H), which is generated by switching on the object (H) with a 3D ultrasound source ( 28 ) from a predetermined sound position (A, B, C) in a predetermined direction of the main horn (RA, RB, RC) and detecting ultrasound waves reflected on the object (H) with an ultrasound receiver ( 28 ) was determined using the Doppler method; and
• - Calculating the three-dimensional vector speed field of the object (H) from the acquired scalar three-dimensional speed data records, the calculation of the three-dimensional vectorial speed field comprising regularization, preferably a Tikhonov regularization, based on predetermined topology and / or movement information of the object (H).

The computer program product according to this Aspect of the invention is particularly related to use with the method according to the second Aspect of the invention and an ultrasound system according to the fourth Aspect of the invention suitable. On the relevant parts of the description is referred to in this context. The computer program product is for the calculation of the three-dimensional vectorial velocity field based on at least one three-dimensional, scalar speed data set designed. The scalar speed data sets, which are created using the above Doppler technology described are used for calculation fed into the program or recorded by the program. When calculating the vectorial speed field is done regularization based on so-called a priori information, which are particularly physically or physiologically motivated can.

The invention is described below Described by way of example with reference to accompanying drawings. It shows:

1a A schematic perspective partial view of an embodiment of an ultrasound system according to the invention with a positioning device which is attached to a schematically represented human torso;

1b a detailed view of a vacuum fixing device of the positioning device of 1a ;

2 an enlarged schematic perspective view of the in 1a Positioning device shown with schematically indicated main horn directions;

3a a schematic perspective partial view of a further preferred embodiment of an ultrasound system according to the invention with a flat, flexible positioning device, which is designed like a belt and is placed around the torso of a child;

3b a detailed perspective view of the belt-like positioning device of 3a ;

4 is a schematic perspective view of another flat, flexible positioning device, which is designed for examining inhomogeneous contact surfaces such as the female breast;

5 a schematic representation of the projection of the true speed vector on the direction to the transducer;

6 a schematic representation of the Doppler problem with river movements ( 6a ) and wall movements ( 6b );

7 a schematic representation to illustrate so-called Doppler constraints (Doppler conditions) in two-dimensional space ( 7a ) and in three-dimensional space ( 7b );

8a an example of a function that cannot be clearly minimized;

8b the function of 8a and the regularization term;

8c the regularized function, which can now be clearly minimized;

9 a schematic representation to illustrate the relaxation of the Doppler constraints in 2D ( 9a ) and in 3D ( 9b );

10 a schematic representation to illustrate smoothness assumptions of heart muscle movements during a cardiac cycle, wherein 10a schematically three muscle strands with defined control points, 10b an unlikely pattern of movement and 10c shows a likely movement pattern based on smoothness assumptions;

11 a schematic diagram to illustrate the principle of measurement and fusion of measured Doppler data from several directions, wherein 11a the real speed, 11b the first measurement from position 1 . 11c the second measurement from position 2 and 11d illustrates the reconstruction of the true speed vector from the measured Doppler data from the first and second measurements; and

12 A schematic diagram to illustrate the calibration of the ultrasound system. The invention aims to determine the three-dimensional, vectorial velocity field of an object to be examined, in particular a part of the human or animal body, for non-diagnostic purposes. In particular, it should provide the data basis on the basis of which a reliable subsequent diagnosis can be made by a doctor. The same applies to the associated ultrasound system.

In 1a . 1b and 2 is an embodiment of an ultrasound system according to the invention with a positioning device 10 shown. This embodiment of an ultrasound system according to the invention is a system for recording the three-dimensional vectorial speed field of the human heart. 1a shows a schematic perspective view of the positioning device 10 which as a tripod with an additional fixation device 12 is formed, which is a vacuum stand. The tripod-like positioning device 10 is for better illustration of operational positioning on the torso 14 of a person positioned in the region of the heart. The fixation device 12 the positioning device 10 has a hollow base 16 with an elastic suction cup 18 on, which in an enlarged sectional view schematically in 1b is shown. On a hose 20 , which is connected to the hollow base, a suction device (not shown) can be connected to - as in 1b is indicated - in the room 22 between suction cup 18 and to create a negative pressure on the skin of the person to be examined, so as to position the device 10 to be fixed securely over the object to be examined, here the heart.

The positioning device also has 10 via three telescopic arms 24 , at the ends of holding devices 26 for at least one ultrasound head 28 are provided. In 1a is a single ultrasound head 28 in an inserted state in the holding device 26 the positioning device 10 shown. The other holding devices 26 at the distal ends of the remaining arms 24 are in the exemplary representation of 1a not with additional ultrasound heads 28 Mistake. However, all holding devices can be used simultaneously 26 ultrasound probes 28 are introduced in order to obtain scalar, three-dimensional speed data sets from three different sound positions along different main horn directions, preferably simultaneously. Each of the holding devices 26 has a stop 30 in which the front end of the ultrasound head 28 can be introduced. The ultrasound head 28 can in the holding fixture 30 the holding device 26 with the help of clamping screws 32 be fixed in position.

2 shows the one on the torso 14 the. Positioning device to be examined person 10 in a partially sectioned schematic side view. The ultrasound probe or the ultrasound head 28 , which is preferably a 3D + t ultrasound head, is, as indicated by the arrow, in a holding fixture 30 the holding device 26 the positioning device 10 introduced and with clamping screws 32 attached. The ultrasound head 28 is now in a predetermined first sound position A and is through the holding fixture 30 the holding device 26 arranged in such a way that the main direction of the horn runs along the dashed line in the direction RA towards the heart H to be examined. The acoustic impedance jump between the ultrasound head 28 and keeping the skin surface as small as possible is in the usual way between the front end of the ultrasound head 28 and an ultrasound gel is applied to the skin surface.

In the sound position A along the main horn direction RA, scalar, three-dimensional speed data records are now recorded and stored at predetermined time intervals. For each scalar three-dimensional speed data record, a relative time with respect to a reference time is additionally stored. The relative time, which begins to run from a reference point in time (for example a rising edge of the heartbeat), represents the time at which the scalar three dimensional speed data record is acquired during the heartbeat cycle. After a certain number of scalar, three-dimensional speed data records have been recorded from the sound position A along the main horn direction RA, the ultrasound head 28 from the holding fixture 30 taken from the sound position A and into the next holding fixture 30 the sound position B introduced. Subsequently, a certain number of further scalar three-dimensional speed data records are recorded from the second sound position B along the main direction of the horn. Finally, the transducer 28 brought into the third sound position C in order to record scalar three-dimensional speed data records along the main direction of the horn funnel RC. The main horn directions RB and RC are shown schematically by dashed lines. The three-dimensional funnel-shaped or conical sound pyramid of the 3D sound head preferably extends around the main horn directions RA, RB and RC in such a way that they represent the cone or pyramid axes of the three-dimensional sound horns produced.

When using 2 explained methods and ultrasound system comes only a single ultrasound head 28 for use. However, two or three ultrasound heads can advantageously be used 28 are used, so that scalar three-dimensional speed data sets can preferably be acquired simultaneously from the sound positions A, B and C along the main directions of the horns RA, RB and RC.

The holding arms are for better adaptation to the anatomical conditions of the person to be examined 24 the tripod-like positioning device 10 designed telescopically, as in 2 through the telescopic direction 34 is indicated. The holding arms 24 can so along the telescopic shift directions 34 be adapted to the torso without losing the orthogonal angular relationship between the main horn directions RA, RB and RC. At the in 1 and 2 shown variant of the positioning device 10 are the stop shots 30 arranged in such a way that inserted ultrasound heads 28 be positioned so that the resulting main horn directions RA, RB and RC are perpendicular to each other. However, for better adaptation to the anatomical conditions of the person to be examined, it is conceivable to loosen this strict orthogonal angle relationship between the main directions of the horn. For this purpose, the holding devices 26 adjustable angle on the holding arms 24 the positioning device 10 be arranged. Alternatively, it is possible to determine the angular relationship between the holding arms 24 to change in a known, predetermined manner. However, care must be taken that the main horn directions RA, RB and RC are linearly independent of one another, ie the unit vectors along the main horn directions RA, RB and RC must span the entire Euclidean space. The telescopic displacement of the holding arms 24 along the telescopic direction 34 is preferably carried out by means of a stamp 36 which on the the holding arms 24 opposite side of the positioning device 10 is arranged.

Based on 3 and 4 A further preferred embodiment of an ultrasound system according to the invention is explained below. In this embodiment there is no tripod-like positioning device for determining the location and position of the ultrasound heads 28 used, but a flat, flexible positioning device in the manner of a belt 40 , In the schematic, perspective view of 3a the upper body and head of a child is shown schematically, the vectorial speed field of the movement of the child's heart possibly being determined for a later diagnosis. For this purpose, a flexible, flat positioning device in the form of a belt is used 40 wrapped around the child's torso so that the belt 40 in direct skin contact, preferably with gel application. The belt contains, as schematically in 3a is shown, a matrix-like arrangement of ultrasound and tracking elements.

3b shows an enlarged detail of this matrix-like element structure of the belt 40 , Accordingly, the belt points 40 a plurality of preferably regularly arranged tracking sensors 42 which uses a tracking readout system (not shown) to determine the exact location and position of the tracking sensors 42 allow. In addition to the tracking sensors 42 the belt also has a plurality of ultrasonic elements 44 on, their location and location information at any time through the tracking sensors 42 can be determined by means of the tracking reading device (not shown). The ultrasonic elements 44 have ultrasound sources and receivers which are arranged in close spatial proximity to one another. At the in 3b shown enlarged schematic view of the belt 40 integrated tracking sensors 42 and ultrasonic elements 44 are the tracking elements 42 laterally next to the ultrasound elements 44 arranged. However, it is equally possible to use the tracking sensors 42 on the ultrasonic elements 44 to arrange in this way the location and location information of the ultrasonic elements 44 to be able to clearly determine in three-dimensional space. The distance between the ultrasound elements (probe subunits) should be chosen to be as small as possible in order to arrange the belt in any way 40 always ensure on the torso of the person to be examined that ultrasound elements are present which are almost in the optimal position for detecting the scalar three-dimensional speed data sets from which the vectorial three-dimensional speed field is calculated. However, in the interest of sufficient flexibility to better fit the torso of the un seeker person, the distance on the other hand be chosen so large that the belt 40 doesn't get too stiff.

The belt 40 has particular advantages in the detection of the three-dimensional vectorial speed field of moving, restless people, for example children. Because a targeted positioning of an ultrasound head in three sound positions due to the large number of matrix-like arranged ultrasound elements 44 is not necessary in this embodiment, and the belt 40 close to the torso 14 of the child to be examined can be achieved in this way a much higher data quality of the calculated vectorial speed field, which then enables a better diagnosis by a doctor.

Another crucial advantage of the belt 40 and similar to the tripod-like positioning device described above 10 can be seen in that for putting on the belt 40 No special medical knowledge is required on the torso of the person to be examined to record the three-dimensional movement of the heart. So the belt 40 (and the three-legged positioning device described above 10 ) are also created by trained non-specialist personnel and the associated remaining (not shown) ultrasound system for data acquisition is operated. The data record that can be recorded in this way subsequently gives the specialist or the doctor the option of setting any desired cutting planes or viewing angles in order to create an accurate diagnosis on the basis of the previously recorded data. This means that expensive and, in many places, scarce medical specialists can be dispensed with in the data acquisition of the vectorial speed field of the heart, which are only preparatory steps for a diagnosis to be subsequently created on this basis.

4 shows a further schematic, perspective view of a further embodiment of a flexible, flat positioning device 40 especially for inhomogeneous contact surfaces using the example of female mammae. In this version is the belt 40 in a first belt 40a and a second belt 40b divided trained. The second belt 40b is attached below the breast crease.

Preferably come in the method according to the invention and in the ultrasound system according to the invention ultrasound probes used, which each have at least one ultrasound source and one ultrasonic receiver exhibit. The prerequisite is that the ultrasound heads are so-called 3D ultrasound heads which are not just a linear (1D) or area-like (2D) capture of the object, but to a full three-dimensional (3D) detection of the object to be examined in a predetermined Lead sound area. For this purpose, a three-dimensional sound cone is made from the ultrasound head emitted, which may have a conical or funnel-shaped arrangement. The following is to be examined using the example of the human heart Described object, which ultrasound heads or probes to perform the method according to the invention or for the ultrasound system according to the invention suitable.

To ultrasound images of the human In principle, there are two possible access routes to maintain. On the one hand you can apply the ultrasound probe to the chest (so-called transthoractal echocardiography, TTE). Second, you can have special ones so-called TEE ultrasound probes (transesophageal echocardiography) into the esophagus introduce. In the usual way, the respective probe head is examined before the examination Gel applied to minimize air artifacts on the contact surface. The 3D effect is created by recording different 2D layers, mostly by rotation around an axis, so that a sound cone is created. This applies to both TTE for as well TEA. There are several options for rotation. The oldest known The method is to place a 2D transducer in an appropriate rotating device contribute. There are also transthoractal omniplanar probes which perform the rotation within the transducer, so that the Transducer no longer has to be turned directly on the skin. Also a so-called 4D acquisition in real time is by means of special ultrasound heads possible. There is no rotation of a 2D image to create one 3D horn, but it becomes a complete three-dimensional pyramid recorded at a single time. The transducers can with equipped with a tracking system which determines the position of the transducer in the room. This allows the probe to freely move over the examination area be moved so that a so called "free hand acquisition "is possible.

As tracking systems are preferred both magnetic and optical systems are used. You serve for determining the position of the ultrasound element in three dimensions Room. In optical tracking systems, the object is determined using two Special cameras added. From the perspective of the two cameras as well as their distance and position to each other, the position of the Object can be calculated. With magnetic tracking systems the position of a small tracking sensor, for example one Coil, electromagnetic depending determined to a reference point of the system.

Preferred ultrasound methods according to the invention are described below and ultrasound systems using the example of the detection of the vectorial Velocity field of the human heart to non-diagnostic Examples in more detail to be discribed.

wobei f_t die ausgesandte Frequenz und f_s die empfangene Frequenz, c die Ausbreitungsgeschwindigkeit von Schall, v_m die gemessene Geschwindigkeit, v die wahre Absolutgeschwindigkeit und θ den Anschallwinkel bezeichnet. Wie in 5 schematisch dargestellt ist, ist der Anschallwinkel θ der Winkel zwischen der Anschallrichtung in Richtung n _b und der Richtung des Geschwindigkeitsvektors vv .The Doppler ultrasound method, which is used according to the invention to determine the three-dimensional vectorial velocity field, is based on the Doppler shift (frequency shift) of the emitted sound wave. This frequency shift is caused by the movement of the examined object relative to the ultrasound head 28 caused. The ultrasound source and the ultrasound receiver are preferably located in the immediate vicinity. The Doppler shift is then calculated

where f _t denotes the transmitted frequency and f _s the received frequency, c the speed of sound propagation, v _m the measured speed, v the true absolute speed and θ the angle of incidence. As in 5 is shown schematically, the sound angle θ is the angle between the sound direction in the direction n _b and the direction of the speed vector vv.

Accordingly, one cannot determine the "true" speed vv = (v _x , v _y , v _z ), but only the projection v _m = <v, n _b > onto a unit direction vector n _b = f (x, y, z), Measure bn _b ∥ = 1 towards the transducer, as shown schematically in 5 is shown, ie the projection of the true speed vector onto the direction of the transducer 28 , With <..., ...> the scalar product of two vectors is designated. If the angle θ between the direction of sound (direction of sound propagation), which is preferably also the direction of measurement (direction towards the ultrasound receiver) and the true speed, the true speed amplitude can be determined

This simple procedure delivers however only for simple laminar flows satisfactory results and is for the complex wall movement and more complex intracardiac flows can only be used to a limited extent.

Using a so-called continuous wave Doppler methods is the speed distribution along the so-called scan line measured. In contrast, means so-called pulsed wave Doppler the (average) speed measured at a fixed point in space (volume sample). With the color Doppler Echocardiography is the velocities for a complete layer (volume) determined using the pulsed wave method and color-coded. By convention, river is in Direction red to transducer and blue coded flow away from transducer. This color coding can be used alone or as a superimposition of the gray value morphology Data can be visualized. Color Doppler was originally used Flow determination used. Using a suitable filter, what flow rate and tissue speed separate, the heart wall movement can also be represented in this way. This is called tissue doppler, tissue doppler, tissue velocity imaging, Doppler called myocardial imaging or myocardial doppler. Three-dimensional scalar ultrasound data can can be acquired with the known methods (rotation acquisition, Real-time transducers) from transthoracic (from outside), transesophageal (through the esophagus) as well as transgastric (via the esophagus from the stomach) position can be acquired.

6a schematically illustrates the "Doppler problem" for the determination of the vectorial velocity field of a river and 6b the typical situation with the tissue Doppler, whereby the movement of the myocardium is shown schematically. Only one of three components of the speed vector is thus determined. It becomes the x component of the velocity vector in one of the unit vector towards the transducer 28 spanned coordinate system measured. This coordinate system is obviously space-variant.

Thus the task for determining the true speed vector v = (v _x , v _y , v _z ) is to find a speed vector v which Pv = ⟨v, n⟩ = v m (3) met, where P is the corresponding projector operator.

The true speed vector cannot be clearly determined on the basis of this projection. You are dealing with a badly posed problem in terms of ambiguity. All vectors lying on a plane perpendicular to the projection are possible. This is shown schematically in 7a for a two-dimensional case (all vectors that end on a straight line perpendicular to the direction of sound are possible) and in 7b for the corresponding three-dimensional case (all vectors; those that end on a plane perpendicular to the direction of sound) are shown.

Methods according to the invention for the reconstruction of speed fields, in particular of blood flow or of tissue movements based on ultrasound Doppler images, are described in more detail below. As shown above, the true velocity vector cannot be obtained from the Doppler measurements be clearly reconstructed. The problem is undetermined and therefore cannot be clearly solved. This is easy to see for a single point: Pv = ⟨v, n⟩ = v m = | v | cosθ = v 1 n 1 + v 2 n 2 + v 3 n 3 (4)

To determine the three unknowns, i.e. of the components of the true speed vector is just a single equation.

das folgende Rang-defiziente Gleichungssystem: vm = Pv (6) If not only a single point but the entire volume of the object to be examined is considered, the result is a discrete, vector-like formulation:

the following rank-deficient system of equations: v m = Pv (6)

With IR the space of the real numbers. This system of equations is obviously not clearly solvable. The indeterminacy is due to a ranking, for example a singular value decomposition, of the system of equations detectable. By modeling the Doppler process an inverse problem arises as a projection. In particular is this problem is poorly posed in terms of ambiguity (Badly posed problems cannot be solved, either clearly solvable or the solution does not hang continuously from the data). If scalar speed records are off The system of equations is in three different directions clearly determined and the three-dimensional vectorial velocity field can without additional Information can be calculated.

However, as described above, if the inversion of the equation is not possible due to the indeterminacy, solution methods from the theory of poorly posed problems are used according to a preferred embodiment of the invention. These processes are, in particular, so-called regularization processes. A matrix (generalized inverse) has to be found with v = P Y v m (7) that clearly solves the problem mentioned.

wobei ω die a-priori Information (Topologie- und/oder Bewegungsinformation) bzw. einen Strafterm darstellt und Regularisierungsfunktional genannt wird. Die Matrix L wird als Regularisierungsmatrix bezeichnet. Mögliche Regularisierungsfunktionale werden später beispielhaft beschrieben. Die Gleichung beschreibt somit eine Variationsaufgabe, wobei eine Funktion gesucht wird, die ein Energiefunktional minimiert. Im Gegensatz dazu wird bei einer herkömmlichen Optimierung typischerweise ein Punkt gesucht, welcher eine Funktion minimiert. Bevorzugte Verfahren zur Lösung einer derartigen Variationsaufgabe werden unten angegeben.A preferred possible method to solve the problem is a so-called Tikhonov regularization. It is not an attempt to solve v _m = Pv, but the functional J (v) = ∥Pv - v m ∥ (8) to minimize information using a priori. The a priori information makes the problem solvable and is based on physically and physiologically motivated assumptions. The a-priori information thus represents predetermined topology and / or movement information of the object to be examined, which in particular reflects physical or physiological conditions. Possibilities of such topology and / or movement information are explained below by way of example. Taking the a priori information into account leads to the following minimized Tikhonov functional

where ω represents the a priori information (topology and / or movement information) or a penalty term and is called regularization functional. The matrix L is called the regularization matrix. Possible regularization functions are described later as examples. The equation thus describes a task of variation, looking for a function that minimizes an energy functional. In contrast, traditional optimization typically looks for a point that minimizes a function. Preferred methods for solving such a variation task are given below.

Based on 8a to 8e a simple example is presented below, which illustrates the effect of a Tikhonov regularization on a scalar function that cannot be clearly minimized. The amount of identity was used here as a regularization function.

8a shows a function f (x), which obviously cannot be clearly minimized. As in 8b and 8c is shown, the function f (x), which cannot be clearly minimized, can be used to regularize, based on a priori information, a function g (x) = f (x) + L (x) = f (x) + ∥ that can be clearly minimized construct x∥ which has a clear minimum.

In addition to the above discrete approach, a continuous formulation of the problem is possible and useful. In the following, scalar and vector fields as well as a projection operator are considered v ∊ H v with v: IR 3 → IR 3 , v ∊ H s with V m : IR 3 → IR 3 , P: H v → H s (10) In this case, the Tikhonov functional to be minimized is

This variation formulation softens or loosens the so-called "Doppler constraints" described above. The true speed is no longer sought only on a plane spanned by the measured speed, but in a cuboid around this plane. The size of this cuboid is determined by the parameter λ. This "relaxation" of the Doppler constraints is in the 2D case in 9a and for the 3D case in 9b illustrated.

The most general Tikhonov regularization using linear combinations of derivatives for a function v: IR → IR (p-order, weighted Sobolev norm with a weight factor w (x)) is:

The most general Tikhonov regularization using linear combinations of derivatives for a function v: R ³ → R ³ is:

The most general Tikhonov regularization for a function v: R ³ → R ³ is:

Preferably, the a priori Information ω (v) using such a general Tikhonov regularization shown.

Simple spatial smoothness represents a particularly preferred physically motivated topology or movement information. In particular, a Tikhonov regularization leads to a function v: R ³ → R ³ with simple spatial smoothness

In addition to the described Tikhonov Regularization is also all variants of Tikhonov regularization, especially the use of seminars, total variation, etc. as well as other known methods for regularization, for example a truncated singular value decomposition, stochastic methods, projection methods, mollifier methods and iterative methods.

In the following, the vectorial velocity field is to be reconstructed for the blood flow only within the heart muscle or within the heart cavities. A discontinuity-preserving regularization is advantageous for this. Since the regularization acts like a kind of diffusion process, “smearings” can occur at the heart muscle / heart cavity borders. In this way, speeds can also be reconstructed in places where there is no speed, which falsifies the result. In order to avoid this "smearing" of the vectorial velocity field at the borders of the heart muscle or the heart cavity, the weights w (x) in the equations above must be selected accordingly. Where no movement or flow is to be expected, regularization should also not take place, ie there is no regularization where there is no heart muscle or blood flow. This is referred to as segmentation-sensitive or adaptive regularization and represents a particularly preferred regularization according to the invention. The weights w (x) are determined on the basis of a previously performed segmentation, ie a division of the image into regions of interest or objects of interest, for example heart muscle and heart cavity , set. For example, you can bet

However, any other weights w (x) are also conceivable. The segmentation can take place in particular using threshold value methods on B-mode and / or Doppler data, although any other automatic, manual or interactive segmentation method can also be used. Furthermore, the discontinuity-maintaining regularization can be integrated directly into the function L, so that

It is important that the regularization dependent in some way of the object boundaries determined in some way.

The regularization is particularly preferably based in particular on smoothness assumptions of the vectorial speed field of the object to be examined. It is assumed that neighboring points or locations of the heart wall or heart muscle move in a similar way. It is further assumed that a point on the object to be examined does not make large "zigzag" movements during a cardiac cycle. Illustrative shows 10a in a highly schematic way three muscle strands with defined control points in an initial state. 10b shows a movement pattern of the three muscle strands, in which the control points offset each other strongly irregularly when the heart muscle contracts, so that this is a very unlikely movement pattern. 10c however, schematically represents a possible movement pattern, which is more likely. This movement pattern is characterized by a certain smoothness of the course of the control points.

wobei u_j den Ort (bzw. die Verschiebung) eines Massenpunktes des Objekts beschreibt. Die Summe (Integral) der Linearkombinationen der Geschwindigkeitsänderungen in den einzelnen Raumrichtungen x_j soll möglichst klein sein. In anderen Worten sollen sich die Geschwindigkeiten von benachbarten Massepunkten des zu untersuchenden Objekts nur wenig unterscheiden.The above smoothness assumptions can be expressed by the following mathematical model

where u _{j describes} the location (or displacement) of a mass point of the object. The sum (integral) of the linear combinations of the speed changes in the individual spatial directions x _j should be as small as possible. In other words, the speeds should differ only slightly from neighboring mass points of the object to be examined.

In addition to the spatial smoothness of the speed field described above as the preferred regularization functional, temporal smoothness can also be integrated. this leads to

The regularization according to the invention is particularly preferably carried out based on such a spatial and temporal smoothness assumption of the vectorial velocity field.

wobei ε_ij den sogenannten Strain-Tensor beschreibt. Die Matrix C beschreibt hierbei elastischen Materialeigenschaften. Hierbei muß noch die Geschwindigkeit v in die Verschiebung u umgerechnet werden. Die Strain-Energie wird hierbei als Regularisierungsfunktional verwendet. Das entspricht dem ω(v) von Gleichung (11). Wird die Matrix C im einfachsten Fall als Einheitsmatrix gewählt, erhält man als Regularisierungsterm

Other physically or physiologically motivated regularization functions can also be used advantageously, for example the so-called internal strain energy W

where ε _{ij describes} the so-called strain tensor. The matrix C describes elastic material properties. Here the speed v must be converted into the displacement u. The strain energy is used here as a regularization functional. This corresponds to the ω (v) of equation ( 11 ). If in the simplest case the matrix C is chosen as the unit matrix, one obtains the regularization term

The matrix C can also be realistic Material properties, characterized by Young's modulus of elasticity and Poisson's Cross-contraction number included.

berechnet werden, wobei Ω den Raum bezeichnet, über welchen bei der hierbei gewählten diskreten Formulierung zu summieren ist. Hierbei bezeichnet N(p) eine nxn Nachbarschaft um den betrachteten Punkt und w(x) eine Gewichtsfunktion. Die Gleichung muß für jeden Raumpunkt, an dem eine Geschwindigkeit berechnet werden soll, gelöst werden.Another preferred possibility for the reconstruction of the three-dimensional, vectorial velocity field, in particular with fewer than three different directions of sound, lies in the use of a local method with assumption of similarity. The smooth movement, for example of the heart muscle, is modeled by a speed that is constant within an nxn neighborhood. An nxn neighborhood of a point p are those points that lie within an nxn rectangle around this point. For example, for the point p = (3, 3) the 3x3 neighborhood is through the points (2,2), (2,3), (2,4), (3,2), (3,4), (4th , 2), (4,3), (4,4). Thus the vectorial velocity field v can be solved by solving

are calculated, where Ω denotes the space over which to sum in the discrete formulation chosen here. Here N (p) denotes an nxn neighborhood around the point under consideration and w (x) a weight function. The equation must be solved for every point in space at which a velocity is to be calculated.

In principle, all methods are possible that with the help of physiologically and physically reasonable assumptions the badly posed problem well-posed, i.e. make it clearly solvable.

The above preferred regularization functionals are particularly due to a physically meaningful movement of the heart wall motivated (continuum mechanics, elasticity theory). For the reconstruction of blood flow or rivers generally can others, through fluid mechanics motivated regularization functionalities are used.

möglich. Hierzu können gemäß der Erfindung alle Verfahren zur Lösung derartiger Variationsproblemen zum Einsatz kommen, z.B. direkte Lösungen oder Lösungen der zugehörigen Euler-Lagrange partiellen Differentialgleichungen (PDE).As shown above, the reconstruction of the velocity field is by solving

possible. For this purpose, according to the invention, all methods for solving such variation problems can be used, for example direct solutions or solutions of the associated Euler-Lagrange partial differential equations (PDE).

The general Euler long-range PDE for the variation task above

This PDE can in turn work with everyone common Procedure for solving partial differential equation can be solved, e.g. Finite differences Procedures or finite element methods.

If there are recordings from three different directions of sound, the true speed vector of a mass point can be calculated by solving the following linear system of equations without using a priori information

Here v _{mx are} the velocities measured using Doppler technology, v the true, sought velocities and n _x a unit vector in the direction of the transducer 28 , 11a to 11d illustrate the process of determining the true speed vector. In 11a the true velocity vector v is shown for a simple 2D case, which is to be determined using the Doppler technique. A recording is first made from a first sound position in a first sound direction, 11b , Subsequently, a second recording is made from a second sound position in a second sound direction, 11c , The two recordings allow the true speed vector to be clearly determined, 11d ,

The system of equations above is with Methods of solving to solve linear systems of equations. The security of the solution can preferably by means of the condition number of the matrix, for example by means of singular value decomposition (SVD) estimated become. If there is sound from more than three directions accordingly is an overdetermined one System of equations to solve.

Before doing the above calculations, should the recorded records be transformed into a common coordinate system, which later is explained in connection with the calibration.

Subsequent to the merger of scaler Doppler data from multiple sound directions with additional Regularization in the light of the previously described procedures based on Movement of the heart wall.

The Doppler measurement is subject to certain limits of the uncertainty principle: You cannot achieve arbitrarily precise location and time resolution. This means that the measured Doppler data are within certain limits always buggy. These errors can have a major impact on the reconstruction of the speed field, especially if the angle between two sound directions becomes small. A stability of the reconstruction process for recordings from several directions of sound can advantageously can be achieved by a regularization described above.

Bei kontinuierlicher Formulierung:

The complete reconstruction process of the three-dimensional vectorial velocity field thus results from the at least two scalar velocity data sets using a Tikhonov regularization:
With discrete wording:

With continuous formulation:

Here is
v _{m i} : speed measurement from recording i
v: Searched velocity field
P _i : projection matrix for image i, specified by transducer position in image i
λ: regularization parameter, determines the influence of the regularization term
L or ω (v): regularization used

Thus becomes a vectorial velocity field searched, which after application of the projection the measured data as well as the a priori information if possible approximates well.

In order to be able to reconstruct the vectorial speed field as described above using a plurality of sound directions (several scalar three-dimensional speed data sets), the scalar data sets are expediently first converted into a common coordinate system. This can be done using the following formula with the in 12 The conventions shown are as follows:

Here, a location point x in the recording coordinate system p is converted into a world coordinate system c. This is done with a transformation matrix ^R T _P , which converts the image coordinates into sensor coordinates of the tracking sensor. This matrix is preferably determined in a calibration step. The matrix ^T T _R carries out a transformation of the sensor coordinates into the coordinate system T of the tracking system and the matrix ^c T _{T carries out} a transformation from the coordinate system T of the tracking system into the world coordinate system c. Simply put, the distance from the origin of the image data to the mounted position sensor is to be determined, see 12 , The origin is the zero coordinate of the image.

Different ones can be used for calibration Procedures are used. Conventional calibration procedures however, only use 2D images and are therefore unsuitable. There A 3D ultrasound head is calibrated here, so should 3D images or data records be used for calibration. This allows the calibration procedure become more robust, accurate and easier to use.

For example, a three-dimensional Metal cross irradiated from several directions and the center can be determined manually or automatically.

The following is a known calibration system to solve.

Another possibility for calibration using the three-dimensional data acquisition consists in sounding an object from two directions. The object must be clearly registered. This registration can be used to transform the coordinate system of the first image into the coordinate system of the second image. In this way, an assignment of all points of the first picture to the corresponding points of the second picture is available. After calculating the transformation from the sensor position of the first image to the sensor position of the second image, the transformation matrix can be determined from the origin of the image coordinate system to the sensor coordinate system. This represents exactly the calibration matrix T ^R _P. The calibration method, which is preferably used according to the invention, uses three-dimensional speed data sets for calibration. Conventional calibration methods, on the other hand, use two-dimensional slice images for calibration.

10

positioning (Tripod)

12

fixing device the positioning device (vacuum stand)

14

torso the person to be examined

16

stand

18

suction cup

20

tube

22

room between the suction cup and the skin of the person to be examined

24

holding arms with holding device

26

holder for ultrasound head

28

ultrasound probe

30

holding receptacle the holding device

32

clamping screws

34

telescopic direction

36

stamp to move the holding arms

40

flexible, area Positioning device (belt)

40a

first belt

40b

second belt

42

tracking sensors

44

ultrasonic elements integrated in the belt (Ultrasound sources and

receiver)

A

first Anschallposition

B

second Anschallposition

C

third Anschallposition

RA

first Horn main direction

RB

second Horn main direction

RC

third Horn main direction

H

heart

Claims (31)

Method for acquiring and evaluating three-dimensional speed data sets of objects using ultrasound waves using the Doppler method, comprising the following steps: providing at least one ultrasound source ( 28 ), which is designed to transmit a three-dimensional ultrasonic funnel along a main direction of the horn (RA, RB, RC); - Providing at least one ultrasound receiver ( 28 ), which is designed for detecting ultrasound waves reflected on the object (H) and their Doppler shift; - switching on the object (H) with the ultrasound source ( 28 ) from at least three predetermined sound positions (A, B, C) in three main directions (RA, RB, RC) that are linearly independent of one another, the position of the ultrasound source ( 28 ) from each of the sound positions (A, B, C) emitted and reflected on the object (H) with the ultrasound receiver ( 28 ) for the detection of scalar three-dimensional speed data records of the object (H) are detected using the Doppler method; and - calculating the three-dimensional vectorial speed field of the object (H) from the acquired scalar speed data sets. The method of claim 1, wherein calculating the three-dimensional vectorial velocity field a regularization, preferably a Tikhonov regularization based on predetermined topology and / or movement information of the object (H). Method for recording and evaluating three-dimensional speed data sets of objects (H) using ultrasound waves using the Doppler method, comprising the following steps: - Providing at least one ultrasound source ( 28 ), which is designed to transmit a three-dimensional ultrasonic funnel along a main direction of the horn (RA, RB, RC); - Providing at least one ultrasound receiver ( 28 ), which is designed for detecting ultrasound waves reflected on the object (H) and their Doppler shift; - Sounding the object (H) with the ultrasound source ( 28 ) from at least one predetermined sound position (A, B, C) in at least one predetermined main direction of the horn (RA, RB, RC), whereby the ultrasound source ( 28 ) transmitted and reflected on the object (H) ultrasound waves with the ultrasound receiver (H) for recording at least one scalar three-dimensional speed data zes of the object (H) are detected using the Doppler method; and - calculating the three-dimensional vectorial speed field of the object (H) from the at least one acquired scalar speed data set, the calculating the three-dimensional vectorial speed field a regularization, preferably a Tikhonov regularization, based on predetermined topology and / or movement information of the object (H) includes. A method according to claim 3, wherein the sonication of the object (H) with the ultrasound source ( 28 ) from two predetermined sound positions (A, B) in two mutually linearly independent main horn directions (RA, RB), so that two scalar three-dimensional speed data sets are recorded. A method according to claim 3, wherein the sonication of the object (H) with the ultrasound source ( 28 ) from at least three predetermined sound positions (A, B, C) in three mutually linearly independent main horn directions (RA, RB, RC), so that at least three scalar three-dimensional speed data sets are recorded. Method according to one of claims 1, 2, 4 or 5, wherein in the step of sonication the at least one ultrasound source ( 28 ) is aligned at the sound positions (A, B, C) in such a way that the assigned main horn directions (RA, RB, RC) are essentially orthogonal to one another. Method according to one of the preceding claims, wherein at least one ultrasound head ( 28 ) is provided, which comprises an ultrasound source and an ultrasound receiver. Method according to one of claims 1, 2 or 4 to 7, wherein exactly one ultrasound head ( 28 ) is provided, which is sequentially positioned at the sound positions (A, B, C) for the acquisition of the three-dimensional scalar speed data sets. Method according to one of claims 1, 2 or 4 to 7, wherein at least three ultrasound heads ( 28 ) are provided so that at each of the sound positions (A, B, C) an ultrasound head ( 28 ) is arranged. Method according to one of claims 1, 2 or 4 to 9, wherein when the object (H) is sonicated, a positioning device ( 10 ; 40 ) for positioning the at least one ultrasound source ( 28 ) is used to determine the sound positions (A, B, C) and the main horn directions (RA, RB, RC) relative to each other. The method of claim 10, wherein the positioning device ( 10 ) is a tripod, which holds the legs at its leg ends ( 30 ) for the at least one ultrasound source ( 28 ) having. Method according to one of claims 1, 2 or 4 to 10, wherein a plurality of ultrasonic sources ( 44 ) and ultrasound receivers ( 44 ) in a flat, flexible positioning device ( 40 ) are integrated, which before the step of sonication on the object ( 14 ) is arranged. The method according to claim 12, wherein the flat, flexible positioning device is a belt ( 40 ), which is especially around the torso ( 14 ) can be created by a human. Method according to one of the preceding claims, wherein the at least one sound position (A, B, C) and the at least one main horn direction (RA, RB, RC) of the ultrasound source ( 28 ; 44 ) using a tracking system ( 42 ) are recorded. Ultrasound system for recording and evaluating three-dimensional speed data sets of objects (H) by means of ultrasound waves using the Doppler method, comprising: - at least one ultrasound source ( 28 ), which is designed to transmit a three-dimensional ultrasonic funnel along a main direction of the horn (RA, RB, RC); - at least one ultrasound receiver ( 28 ), which is designed for detecting ultrasound waves reflected on the object (H) and their Doppler shift; - an evaluation device which is connected to the ultrasound source ( 28 ) and the ultrasound receiver ( 28 ) has a signal connection and is designed to calculate a three-dimensional vectorial speed field of the object (H) from at least three scalar three-dimensional speed data sets, which are generated by switching on the object (H) with the ultrasound source ( 28 ) from at least three predetermined sound positions (A, B, C) in three mutually linear main directions (RA, RB, RC) and receiving ultrasound waves reflected on the object (H) with the ultrasound receiver ( 28 ) from the Doppler displacement of the reflected ultrasonic waves can be detected. Ultrasonic system according to claim 15, wherein the evaluation device an object memory for storing predetermined topology and / or Has movement information of the object (H) and is designed, when calculating the three-dimensional vectorial velocity field regularization, preferably Tikhonov regularization, based on the stored topology and / or motion information of the object (H). Ultrasound system for recording and evaluating three-dimensional speed data sets of objects (H) by means of ultrasound waves using the Doppler method, comprising: - at least one ultrasound source ( 28 ), which is designed to transmit a three-dimensional ultrasonic funnel along a main direction of the horn (RA, RB, RC); - at least one ultrasound receiver ( 28 ), which is designed for detecting ultrasound waves reflected on the object (H) and their Doppler shift; - an evaluation device which is connected to the ultrasound source ( 28 ) and the ultrasound receiver ( 28 ) is in signal connection and is designed to calculate a three-dimensional vectorial speed field of the object (H) from at least one scalar three-dimensional speed data record which is obtained by sonicating the object (H) with the ultrasound source ( 28 ) from a predetermined sound position (A, B, C) and main direction of the horn (RA, RB, RC) and receiving ultrasound waves reflected on the object (H) with the ultrasound receiver ( 28 ) can be determined from the Doppler shift of the reflected ultrasound waves, the evaluation device having and being set up an object memory for storing predetermined topology and / or movement information of the object (H), a regularization, preferably a Tikhonov regularization, when calculating the three-dimensional vectorial speed field, based on the stored topology and / or movement information of the object. Ultrasound system according to claim 17, wherein the evaluation device is designed to calculate the vectorial speed field from at least two scalar speed data sets, which are generated by sonicating the object (H) with the ultrasound source ( 28 ) can be detected from two predetermined sound positions (A, B) in two main directions (RA, RB) that are linearly independent of one another. Ultrasound system according to claim 17, wherein the evaluation device is designed to calculate the vectorial speed field from at least three scalar speed data sets, which are generated by sonicating the object (H) with the ultrasound source ( 28 ) can be detected from at least three predetermined sound positions (A, B, C) in three main directions (RA, RB, RC) which are linearly independent of one another. Ultrasonic system according to one of Claims 15, 16, 18 or 19 with at least two, preferably three, ultrasonic sources ( 28 ), which are aligned for sonicating the object (H) at the sonication positions (A, B, C) such that the assigned main horn directions (RA, RB, RC) are essentially orthogonal to one another. Ultrasonic system according to one of Claims 15 to 20 with at least one ultrasonic head ( 28 ), which comprises an ultrasound source and an ultrasound receiver. Ultrasound system according to one of Claims 15, 16 or 18 to 21 with exactly one ultrasound head ( 28 ), which can be positioned sequentially at the sound positions (A, B, C) to record the three-dimensional scalar speed data sets. Ultrasonic system according to one of Claims 15, 16 or 18 to 21 with at least three ultrasonic heads ( 28 ), which are arranged at the sound positions (A, B, C). Ultrasonic system according to one of Claims 15, 16 or 18 to 23 with a positioning device ( 10 ) for positioning the at least one ultrasound source ( 28 ), the positioning device ( 10 ; 40 ) for the relative determination of the sound positions (A, B, C) and the main direction of the horn (RA, RB, RC). The ultrasound system according to claim 24, wherein the positioning device ( 10 ) is a tripod, which holds the legs at its leg ends ( 30 ) for the at least one ultrasound source ( 28 ) having. Ultrasound system according to one of claims 15 to 25, wherein a plurality of the ultrasound sources ( 44 ) and the ultrasound receiver ( 44 ) in a flat, flexible positioning device ( 40 ) are integrated, which can be arranged on the object ( 14 , H) is set up. The ultrasound system according to claim 26, wherein the flat, flexible positioning device is a belt ( 40 ), which is especially around the torso ( 14 ) can be created by a human. Ultrasound system according to one of Claims 15 to 27 with a tracking system ( 42 ), which is used to record the at least one sound position (A, B, C) and the at least one main direction of the horn (RA, RB, RC) of the ultrasound source ( 28 ; 44 ) is designed. Use of an ultrasound system according to one of claims 15 to 28 for recording and calculating the three-dimensional speed field of liquids, Organs and / or tissues of the human or animal body non-diagnostic purposes. Computer program product for evaluating three-dimensional speed data sets of objects, comprising the following steps: - Entering scalar three-dimensional speed data sets of the object (H), which are generated by switching on the object (H) with a 3D ultrasound source ( 28 ) from at least three predetermined sound positions (A, B, C) in three main directions (RA, RB, RC) that are linearly independent of each other and detects ultrasound waves reflected on the object (H) with an ultrasound receiver ( 28 ) were determined using the Doppler method; and - calculating the three-dimensional vectorial velocity field of the object (H) from the acquired scalar three-dimensional velocity data sets. Computer program product for evaluating three-dimensional speed data sets of objects, comprising the following steps: - Entering at least one scalar three-dimensional speed data set of the object (H), which is generated by switching on the object (H) with a 3D ultrasound source ( 28 ) from a predetermined sound position (A, B, C) in a predetermined direction of the main horn (RA, RB, RC) and detecting ultrasound waves reflected on the object (H) with an ultrasound receiver ( 28 ) was determined using the Doppler method; and - calculating the three-dimensional vector speed field of the object (H) from the acquired scalar three-dimensional speed data sets, the calculating the three-dimensional vector speed field comprising regularization, preferably a Tikhonov regularization, based on predetermined topology and / or movement information of the object (H) ,