EP4240146A1

EP4240146A1 - Automatic scanning system for fish

Info

Publication number: EP4240146A1
Application number: EP21848306.3A
Authority: EP
Inventors: Roger GULLIKSTAD; Terje WAHL
Original assignee: Greenfox Marine AS
Current assignee: Greenfox Marine AS
Priority date: 2020-12-18
Filing date: 2021-12-17
Publication date: 2023-09-13
Also published as: NO20201404A1; CA3202150A1; AU2021403126A9; CL2023001767A1; NO347369B1; AU2021403126A1; WO2022131929A1

Abstract

There is described herein a scanning system for imaging a subject (14), the system comprising: a conduit (11) having a base on which the subject is supported during scanning, an inlet (24), and an outlet (26), wherein the conduit defines a pathway for the organism to move across the base from the inlet to the outlet; an imaging device (15) located in a region of the base forming the pathway; and means (17, 19) for transporting the subject along the pathway from the inlet to the outlet, and over the imaging device. Also described is a method for automatic imaging and sorting of an animal.

Description

AUTOMATIC SCANNING SYSTEM FOR FISH

The invention relates to an automatic scanning system, and in particular to an automatic scanning system for fish. The scanning system may be configured to determine characteristics of a subject using an ultrasound probe.

Fish farming is becoming increasingly important economically. This is particularly true in Norway where the vast majority of farmed fish is exported, and where a large proportion of the world’s total production of Atlantic salmon is sourced. Exports of farmed salmon and trout produced in Norway have continued to grow year on year.

Salmon and other fish are regularly farmed in large offshore (or onshore) installations in which the fish are contained and subjected to carefully controlled conditions in order to optimise growth and maximise profit. This means controlling the temperature, salinity, and pH of the water, monitoring how much the fish are eating, and providing the proper medicines if required. In order to determine the optimum parameters within a fish cage the growth and development of the fish must also be monitored closely. This has traditionally involved either removal and sacrifice of a number of the fish within the cage, or visual monitoring with optical equipment or other sensors located at a distance from the fish inside of the fish cage itself.

Gender segregation of fish also has a number of significant advantages in that it allows growth rate, slaughter weight, and weight class of the fish to be better controlled. Optimization of slaughter time, for example, can help to achieve a higher turnover rate of fish in the cages, and so a more efficient production. Fish growing quickly and well use the feed better, which means lower levels of pollution. A better quality of meat from the fish will also be possible, as the number of fish which have become sexually mature at the time of slaughter can be reduced.

NO-A-343355 describes a system for automatic sorting and vaccination of fish. The apparatus moves fish past a detection unit on a conveyer belt. The detection unit includes a camera which obtains an image of the fish which can be used to determine size, length, and so on. Fish are held in place by a suction device during the vaccination and sorting process, and are dropped into a sorting line which is selected based on information extracted from the camera image. In WO-A-2020/002997 a sorting system suitable for use in the natural habitat of an animal, which can be a fish (e.g. in a lake), is described. The use of this system is primarily to remove invasive species from the environment in order to protect native species. The fish swims through the sorting apparatus on its own and is led into a holding pen if sensor data indicates that it belongs to the invasive species. Automatic sorting systems have previously made use of optical and other imaging systems, which are located away from the fish during scanning.

It is known to analyse the sexual maturity of male salmonids using a handheld ultrasound probe, and this process is described in an article by Naeve et al. (Physiological Reports ISSN 2051 -817X). The salmonids, which have already been sorted by gender to select males, are examined to determine the size of the left testes. Using this measurement, some information regarding the development of the fish can be extracted. The paper analyses the suitability of ultrasound as a replacement for previous more invasive methods of maturation monitoring.

Ultrasound or sonography works by the detection of sound waves having frequencies above the range detectable by the human ear. Probes comprise a transducer which emits ultrasound waves towards an object to be imaged. Sound waves which have been reflected from the interfaces between different materials return to the detector carrying with them information about the type and location of the materials forming the interfaces. Detailed images of the anatomy of a fish or another animal can be built up in this way.

Coupling between the transducer of the probe and the area to be imaged is an important factor in achieving a clear ultrasound image showing internal structure. Coupling gels are usually applied to the probe when used on a human or animal for imaging internal structures of the body, and the probe is pressed against the skin to take the image. Ultrasound will only be effective with the probe at close range and with adequate acoustic coupling, which requires the probe to be manipulated and held manually.

According to a first aspect of the present invention, there is provided a scanning system for imaging a subject, the system comprising: a conduit having a base on which the subject is supported during scanning, an inlet, and an outlet, wherein the conduit defines a pathway for the organism to move across the base from the inlet to the outlet; an imaging device located in a region of the base forming the pathway; and means for transporting the subject along the pathway from the inlet to the outlet, and over the imaging device.

The conduit represents a surface across which the subject travels through the scanner, and may be any shape, provided that it forms a pathway for the subject to move from the inlet to the outlet. Reference to the base supporting the subject during scanning is to the subject being positioned directly on and in contact with the base itself. The base forms a surface over which the subject travels, and it remains substantially in contact with the surface as it travels along the pathway from the inlet to the outlet. The inlet and outlet can also be any shape or configuration provided that they represent a starting point for the pathway and an end point, and provided that the subject is able to move into and out of the pathway via the inlet and outlet. The inlet and outlet do not need to be covered, although they can be. Reference to movement over the imaging device is to the subject being positioned during scanning directly above/over/covering the imaging device. Since the subject is supported on and in contact with the base, and the imaging device is positioned in the base, the subject will also contact the imaging device and will provide some downwards pressure on the imaging device as a result of its own weight. This can help to achieve an image of the desired quality, especially where an ultrasound probe is used as the imaging device. In embodiment, the base comprises one or more different levels. The height of the different regions of the base may therefore be different. The base may be on two or more levels, and may thus include one or more regions where the fish is caused to fall down to a lower level to continue sliding towards the outlet. This can occur just after scanning, for example.

In embodiments, the imaging device is an ultrasound probe. The ultrasound probe may be positioned such that a part of the probe head extends through the base of the conduit. In embodiments, the ultrasound probe operates in the frequency range IMHz to 50MHz.

In embodiments, the means for transporting comprises the base, which slopes downwards from the inlet to the outlet to form the pathway. This means that the subject travels from the inlet to the outlet by sliding down the sloped pathway, across the tray, towards the outlet. Preferably, the angle of the tilt of the conduit is between between 2° and 70°, more preferably between 5° and 50°, still more preferably between 10° and 30°, and most preferably around 20°, in a direction from the inlet to the outlet. No additional mechanical means is provided, and the conduit can be tilted optimally, about two axes if desired, to ensure maximum pressure between the body of the subject and the imaging device during scanning. Where an ultrasound probe is used, this helps to provide adequate acoustic coupling to achieve the desired image quality. In embodiments, the conduit is arranged to be orientated in use so that the inlet is located physically higher than the outlet.

In embodiments, the scanning system comprises a braking device configured to halt travel or slow the speed of travel of the subject as it passes the probe. This ensures that the subject spends enough time above the imaging device to achieve a high- quality scan or image. The braking device may comprise the wall of the scanning holding area, which may be movable relative to the probe in some embodiments.

In embodiments, the conduit comprises a tray having a substantially flat base, and the tray is configured to rotate about two orthogonal axes in the plane of the base to position the inlet above the outlet and provide the sloping pathway.

In embodiments, the conduit comprises a tray and the base is a substantially flat surface.

In embodiments, the system comprises a scanning holding area which at least partly delimited by the region of the base and a wall arranged to halt travel or slow the travel speed of the subject along the pathway as the subject passes over the imaging device.

In embodiments, the wall is an L-shaped wall. Combined with a conduit which is tilted in two axes, the fish is caused to be pressed against both the horizontal and vertical parts of the L, which helps to hold it within the holding area and control the position and orientation during scanning. The holding area can move at a controlled speed relative to the imaging device during scanning by moving the L-shaped wall relative to the imaging device and the conduit.

In embodiments, the wall is movable relative to the base to adjust the position of the scanning holding area relative to the imaging device. The system is more flexible and is able to be used with different populations where subjects are differently sized and shaped. In embodiments, at least a part of the wall is retractable/movable to allow the organism to travel out of the scanning holding area and continue along the pathway towards the outlet. The holding areas can be automatically opened at the optimum time in an easy manner. This may instead or also be true of a part of a wall defining an initial holding area where the fish waits to enter the scanning holding area.

In embodiments, the scanning holding area comprises a sensor configured to detect the presence or absence of an object therein. This information can be used to control opening of or movement of the holding areas and/or to control movement of the subject along the pathway in an optimal manner. In embodiments, the system comprises an indicator to alert a user when there is no object in the scanning holding area.

In embodiments, the system comprises a processor configured to classify one or more images of the subject taken with the imaging device into one or more groups.

In embodiments, the outlet comprises two or more outlet channels, and the system comprises a mechanism for selectively opening one of the outlet channels based on the group classification. Opening a particular outlet channel may be achieved by aligning one of a number of outlet channels with the pathway, and simply refers to the fact that the outlet is configured so that the fish is directed to continue travel through that outlet to exit the system.

According to a second aspect of the present invention, there is provided a method for automatic imaging and sorting of an animal, the method comprising: obtaining one or more ultrasound images of the internal organs of the animal using the system of the first aspect; processing, by an image processor, the one or more ultrasound images and classifying the images as belonging to one of two or more groups based on at least one property of the images.

In embodiments, the method comprises the step of directing the subject to an area based on the group that it is classified as belonging to.

In embodiments, the subject is an animal. In embodiments the subject is a fish. The imaging device may be configured to image the internal organs of the animal. In embodiments, the subject is an anaesthetized fish. According to a third aspect of the present invention, there is provided a method for scanning a subject comprising: feeding the subject through an inlet of a conduit so that it is supported on a base of the conduit within a pathway across the conduit from the inlet to the outlet; causing the subject to move along the pathway, in contact with the base, from the inlet to the outlet so that it passes directly over an imaging device located in the base of the conduit; and imaging the subject as it passes over the imaging device. In embodiments, the method comprises, prior to feeding the subject through the inlet, adjusting the tilt of the conduit so that the conduit slopes downwards from the inlet to the outlet and causing the subject to move along the pathway comprises allowing the subject to slide across the base under the action of gravity. In embodiments, the imaging device is an ultrasound probe. The feeding and adjusting steps may be carried out manually or automatically.

According to a fourth aspect of the present invention, there is provided a scanning system for imaging the internal parts of a subject, the system comprising: a duct having an inlet and an outlet, and a region in a base of the duct configured to contain a liquid, an ultrasound probe located in the region; and mechanical means configured to move the subject from the inlet to the outlet so that the subject passes through the region and past the probe.

In embodiments, the system comprises a liquid inlet for liquid to flow into and fill the region. This liquid inlet may be the same inlet or a different inlet to the duct inlet. When water fills the region, and the subject passes through the region during scanning, the space between the subject and the probe will be filled with water.

In embodiments, the region is an indent in the base of the duct. An indented region is simple to manufacture and allows liquid to collect, at least to an extent, over the probe head which protrudes through the base of the duct within the region.

In embodiments, the subject is an animal and the system is a scanning system for imaging the internal organs of the animal. In embodiments, the subject is a fish. In embodiments, the subject is an anaesthetised fish.

In embodiments, the region extends from the base of the duct less than 30cm into the duct, preferably less than 10cm into the duct, more preferably less than 5cm into the duct, and most preferably less than 1cm into the duct. In some embodiments, the region extends between 1mm and 30cm, between 1 mm and 5cm, or between 1 mm and 1cm into the duct. If the region extends less than 30cm into the duct this means that the region is less than 30cm deep, as measured from the base of the duct toward the geometric centre, and may be 30cm deep across its whole area. The fish therefore passes within 30cm of the probe, and preferably much closer. When the region is full of liquid, this also means that there will be a layer of liquid in the region of a depth equal to the depth of the region, and the subject will pass through this layer of liquid as it travels past the probe. The depth of the water may be, for example, between 1 mm and 30cm, preferably between 1cm and 10cm deep, and preferably between 1cm and 5cm deep.

In embodiments, the ultrasound probe operates in the frequency range 1 MHz to 50MHz. This frequency range is ideal for imaging internal structure or organs.

In embodiments, the probe extends through the base of the duct within 30cm of the lowest point on the duct inner wall, as measured along the wall of the duct. The measurement may be taken along the inner wall of the duct.

In embodiments, the probe is located at the lowest part of the inner duct wall. The lowest point refers to the part of the inner duct wall that is closest to the floor or platform on which the scanning system is supported in use. In embodiments, the probe extends through the inner duct wall at its lowest point.

In embodiments, the system comprises an outlet for liquid to flow from the region and out of the duct.

In embodiments, the mechanical means comprises a robot arm moveable to push or carry the subject along the duct.

In embodiments, the robot arm comprises one or more extensions configured to grip the subject.

In embodiments, the system comprises a processor configured to classify one or more images of the subject taken with the ultrasound probe into one or more groups.

In embodiments, the outlet comprises two or more outlet channels, and the system comprises a mechanism for selectively opening one of the outlet channels based on the group classification. In embodiments, the system comprises a drainage device at the inlet to the duct for removal of excess liquid, such as excess water. The drainage device may comprise a grid with openings sized so that liquid can pass through for disposal or reuse in another part of the system, but the subject cannot.

In embodiments, the mechanical means comprises one or more conveyor belts forming the base of at least a portion of the duct.

In embodiments, the mechanical means comprises a downward slope in the duct from the inlet to the outlet and, in use, the subject slides along the duct under the force of gravity.

In embodiments, the system comprises a braking device configured to slow the speed of travel of the subject as it passes the probe.

In embodiments, the braking device comprises one or more of an opening through which the subject travels having a flexible diameter, a hinged door through which the subject passes that is biased in the closed position, and a rough portion of the duct surface.

In embodiments, the mechanical means comprises a stream of liquid which flows along the base of the duct and carries the subject. This liquid may also fill the region between the probe and subject in the imaging region of the duct.

According to a fifth aspect of the present invention, there is provided a method for automatic imaging and sorting of an animal, the method comprising: obtaining one or more ultrasound images of the internal organs of the animal using the system described above; processing, by an image processor, the one or more ultrasound images and classifying the images as belonging to one of two or more groups based on at least one property of the images.

The invention will be described in more detail with reference to the figures in which:

Figure 1 shows a scanning system; Figure 2 shows a cross-section through a circular duct;

Figure 3A illustrates the position of a fish and probe as the fish moves past the probe;

Figure 3B illustrates the position of a fish and probe as the fish moves past the probe in an example where the fish contacts the probe as it passes;

Figure 4 shows a scanning system including a tray forming a pathway and a scanning device in the base of the tray within the pathway;

Figure 5 illustrates the scanning device of figure 4 from the front;

Figure 6 shows the scanning device of figure 4 from above; and

Figure 7 illustrates the parts of the scanning device of figures 4 to 6.

A first example of a scanning system is described below, and is shown in figure 1. The system comprises a channel or duct 11 along which a fish can be guided in direction 18 past a scanner (in this case an ultrasound probe 15 comprising a transducer). The fish 14 may be anaesthetised prior to being guided or placed into the duct, at which point it will be carried along automatically by mechanical or other means. Prior to entering the duct, excess liquid may be removed from around the subject. This may be by way of a grating over which the subject passes prior to reaching the duct inlet. Water flows down through the grating leaving the fish on top of the grating with excess water removed.

The duct may be a closed or open channel as described in more detail below. The term “duct” is intended to refer simply to a pathway of some sort for the subject to pass through the imaging system and past the ultrasound probe. This duct can in some embodiments be a pipe, a half-pipe, or a closed or open-topped channel. The duct may have a curved or flat base. The probe is located in a wall, roof, or base of the duct and a layer 13 of water or another liquid is present between the probe and the subject (in this case the fish) as it is guided past the probe, so that proper acoustic coupling can be achieved without the requirement of manual intervention. This means that, while the system is in use, the part of the probe that is exposed within the duct and which is directed towards the subject during imaging is completely covered with a layer of liquid. There is a region of the duct surrounding the probe which is filled with liquid in use, and through which a part of the body of the subject passes (reference to the subject passing through a region of the duct refers to a part of the body of the subject passing through that region). The head of the probe may extend through the wall, roof, or base of the duct and may be surrounded, as is shown in figure 1 , by a waterproof gasket 16 which prevents the liquid from leaking through the join between the duct and the probe. The ultrasound transducer may be configured to emit and receive high frequency sound waves in the range 1 MHz to 50MHz, and preferably 1 MHz to 30MHz.

In figure 1 , the mechanical means by which a fish is encouraged to move along the duct comprises a robot arm 17 coupled to one or more movable extensions or fingers 19. The extensions, all or part of the arm itself, or both are movable to contact the fish 14 and to push it along the duct. The movement of the fingers 19 may encourage the fish along using a sweeping motion. This may be as a result of frictional forces between the contact point(s) and the body of the fish or may be aided by use of a suction cup or a similar device in order to grip the fish more forcefully. Extensions 19 may be provided on a robot arm as shown, or may be directly coupled to the top, bottom, or one or both sides of the duct. These extensions can be movable from side to side and forwards and backwards to provide the desired sweeping effect. The movement can be continuous and repetitive, and extensions may be provided all of the way along the duct.

Alternatively, the movement of the individual extensions or of the arm can be adapted depending on various parameters of the fish or where in the duct the extensions are located. Alternatively, the finger(s) 19 can be fixed relative to the arm. An attachment to the fish (a suction cup or other means) can be provided at the end of the fingers and the arm, with the fingers attached, can move to carry the fish along. The arm then needs to move in one direction only to sweep the fish over or past the probe. The arm may also be configured to move in a direction perpendicular to a direction along the duct (a sideways and/or up and down movement) to allow the arm to adjust the position of the subject in a direction across the duct. Whether this is required in each case will depend on the size and orientation of the subject, and the movement of the arm can be adjusted via a feedback mechanism in some cases (i.e. an image of the subject’s position causing an adjustment of the position using the arms). A single arm of this type can couple to the fish and carry or push it all of the way from the inlet to the duct to the outlet or can be provided to carry the fish past the probe with other means provided earlier and/or later during the fish’s journey along the duct. The arm can repeatedly couple to a fish, carry it along, decouple and move back towards the inlet to move another fish along the duct for scanning.

In other examples, the robot arm may be replaced with an alternative mechanical means for moving and/or guiding the fish through the system. The fish can be carried on a conveyor belt forming at least a portion of the base of the duct in one embodiment, in which case one conveyor belt may be provided downstream of the probe and another upstream if the probe is also located in the base of the duct. The duct may alternatively slope slightly from an entry point for the fish to an exit point from the duct. This way the fish is caused to slide down the duct from one end to another. A combination of one or more of the different means described above for moving the fish through the system may also be used together to provide the optimum speed of travel in the different parts of the system. It may be advantageous for the fish to move quickly through the system, but to slow as it passes the probe to give an efficient overall process while still achieving a high spatial resolution in the ultrasound images.

Whichever mechanism is used to move and guide the fish along the duct, the speed at which the fish moves, and in some cases the path of the fish and the position of the fish within the duct, can be controllable either manually or automatically in response to input. An optical camera can be used to take a picture of the fish entering the duct, and the position of the fish adjusted based on its apparent position as shown in the camera image. The same instrument can be used to measure a speed, for example by taking two pictures one after another and comparing the position of the fish in both, in which case the speed may also be adjusted to an optimum based on the measurement. One or more video cameras can also be used for the same purpose.

The speed at which the fish moves along the duct is important in terms of achieving a desired image resolution, especially in the portion of the duct near to the probe. In order to accurately determine the gender of a salmonid, which is one example of a potential use of the system, a spatial resolution of 2 mm (0.2 cm) or less for the ultrasound image is required. A spatial resolution of 1 mm (0.1 cm) is preferred. For such resolutions to be achievable, firstly the head of the probe must be close enough to the body of the fish to keep the distance that the sound waves need to travel before entering the body to a minimum, secondly the liquid filling the region between the probe and the fish body must be fairly free of bubbles and contaminants, and thirdly the fish must move slowly enough past the probe for image slices through the body to be able to be taken roughly every 2 mm (0.2 cm) along the length of the imaged section. This may necessitate a slowing of the speed of travel as the fish passes the probe.

To provide a precise control of speed as the fish passes the probe, as well as to provide better control in general, the position of the fish may be monitored as it moves along the duct. Monitoring may be by way of the optical cameras or video cameras described above, which can be located near to or within the duct as mentioned. The images of the fish entering and/or passing along the duct may be used to reposition the fish (i.e. using the robot arm) prior to it reaching the ultrasound probe. Other mechanisms for monitoring the movement of the fish can replace or enhance the action of the optical cameras. A measurement of speed can, for example, use light sensors located at two points within the duct to detect a drop in light intensity as the fish passes over, or one light sensor which emits light and detects a doppler shift in reflected light to determine a speed of movement of the passing subject.

Depending on the mechanical means used to move the fish along the duct, the movement may be controlled in the vicinity of the probe by a number of different mechanisms. For a system using robot arms and/or moveable extensions some feedback is provided to the robot arm and extensions to cause these to move so as to encourage the fish along the duct at the correct speed. If the duct slopes, at least in the portion where the probe is located, then some type of mechanical braking device can be included. This can consist of a hinged panel with a biasing mechanism for biasing the panel in a first position. As the fish passes along the duct it contacts one side of the panel and forces it outwards against the biasing force. The biasing force can be provided by a spring or a similar mechanism, and can be adjusted depending on the slope of the duct and the material of the duct base and walls, or the speed of movement of the conveyor belts, and so on, to achieve the correct speed as the fish passes over or past the probe.

The fish may also be forced through a narrower region of ducting as it passes the probe. The walls of the duct in this region can be somewhat flexible so that the fish is squeezed through the narrower region and is simultaneously pressed against the probe and its speed slowed slightly. A narrower region of this type may be provided by a number of hinged panels surrounding an opening and biased to close the opening in some examples, or by including a flexible walled opening in the duct or a portion of the ducting itself which is flexible to expand and contract the size of a section of tubing that the fish must pass through as it passes the probe. The fish is squeezed through the opening as a result of the force provided by the mechanical means acting to move the fish along the duct. The size of the opening can be automatically controlled in some examples, for example in response to a pressure measurement so that the opening can expand slightly once a fish is present at the opening to allow it to slide through.

A similar effect may be provided by providing a rougher surface on the base and/or one or more sides of the duct in the region preceding or surrounding the probe in order to increase the frictional force in that region and slow the movement of the fish as it passes over. If conveyor belts are used to move the fish, then the rough area of ducting will obviously not form part of a conveyor belt but will represent a static region of the duct either between to conveyor belts or directly following a conveyor belt.

Mechanical arms, and in some examples the same mechanical arm as is used to move the fish along the duct can also act to provide some pressure between the body of the fish and the probe. This should be a fairly light pressure to avoid damage to the fish while minimising the distance between the probe and the fish body.

The ultrasound probe is located at the base of the channel in the example shown, so that the fish passes over the probe as it moves through the apparatus along the transport duct. The opening through which the probe extends into the duct is protected using a waterproof seal, which prevents egress of water or liquid from the channel. It may be necessary for the head of the probe, where sound waves are detected, to be exposed to the liquid in the duct in order to provide proper acoustic coupling, but the regions around this and any gaps between the probe and the duct walls will be protected with a waterproof seal (in this case a gasket 16).

The probe can be located anywhere along the travel path of the fish from the duct inlet to the duct outlet and in any position on the duct in a transverse cross-section, however it is preferable that whatever its location and orientation, there should be a fairly small distance between the probe head and the body of the fish or other animal when the images are taken. There should also preferably be a layer of liquid present between the head of the probe and the body of the fish at the time of imaging. Between the probe head and the body of the fish, therefore, there may be a small volume containing liquid. Preferably the thickness of this volume when the fish passes closest to the probe, and at the point where the body of the fish is closest to the probe, will be less than or equal to 300mm (30cm), more preferably less than or equal to 50 mm (5 cm), more preferably less than or equal to 10 mm (1 cm), more preferably less than or equal to 5 mm (0.5 cm), and most preferably less than or equal to 1 mm (0.1 cm). This distance may depend to some extent on the size, shape, and position of the fish, but these parameters will be less decisive if the probe is located in the base of the duct. This position for the probe directly underneath the subject will help to provide the minimum distance between the probe head and the body of the fish as it moves along the duct, because the force of gravity will help to press the body of the fish against the probe. In most cases with the probe in this position the minimum distance will be zero and the fish will contact the probe as it passes.

It is preferred that the position of the fish as it passes the probe is uniform for all fish imaged with the system. This makes comparison of images and classification simpler in terms of processing and more accurate. Preferably, the fish will lie on its side as it passes along the duct, and adjustment means can be provided to ensure that this is the case. The adjustment means can be the same as the mechanical means which are configured to move the fish along the duct. The shape of the duct itself, particularly in a region near to the inlet side, may also be configured to encourage the subject into the desired position.

The duct can be open or closed, and simply represents a pathway along which the fish, or other animal or object to be imaged, can travel. In some embodiments the duct will be in the form of a closed pipe which may have a circular cross-section, an elliptical cross-section, a square cross-section, or any other shape of cross-section. An elliptical cross-section, with the longer axis orientated horizontally when the system is in use, can be preferable as it can help to encourage the fish into the correct position while still allowing liquid to collect easily in the base of the duct around the probe (in a case where the probe is located below the subject). In some embodiments, the duct comprises the open base of a tube and may be in the form of a half-pipe, for example. The duct can also represent a flat surface, without sides, along which the animal or object to the imaged is carried. It is preferable for the shape of the duct to correspond at its base at least to some extent with the shape of the animal or object to be imaged. The configuration of the duct may change along the path through the system. The duct may be open-topped initially to facilitate additional optical imaging of the fish as it enters the system and in the form of a closed tube in the region where the probe is located to protect the animal or parts of the system, and/or to squeeze the fish against the probe to some extent as it moves over or past it.

If the duct has sides or sides and a top as well as a base in the region where the probe is located, then the probe may protrude through the base, one or more sides, or the top of the duct. As mentioned, providing the desired layer of liquid between the probe and the animal during imaging will be easier if the probe protrudes through the base of the duct as shown in figure 1 , or if it is at least located within the lower half of the duct.

Figure 2 shows a cross-section through a duct which has a semi-circular cross- sectional profile, and which is open-topped. The most preferable option will generally be to locate the probe at 0 degrees, so that it is centered on the vertical line running through the geometric centre of the duct as is shown in figure 2 (directly below the subject in the base of the channel and centered on the dotted line C representing the vertical). The vertical will be perpendicular to a horizontal platform on which the system is supported during use. This position for the probe at the lowest part of the duct will help to achieve the minimum possible distance between the probe and the subject during imaging, and will usually result in contact between the probe and the subject, using gravity to help push the subject against the probe and maintain this contact, all of which will help to achieve a clearer picture. Any free volume around the contact point between the probe and the subject, and located in front of the face of the probe such that sound waves emitted by the probe travel through it on a path to the subject, will be filled with liquid, so that an optimum acoustic coupling can be provided.

The probe can be located anywhere on the duct inner wall or within the duct and may still achieve a clear enough image, depending on the desired application and the size and shape of the animal to be imaged. The probe may be located at an angle from the vertical, measured in a transverse cross-section with the vertex at the geometric centre of the duct, of less than or equal to 90 degrees, more preferably at an angle from the vertical of less than or equal to 60 degrees, and most preferably at an angle from the vertical of less than or equal to 20 degrees. The region of the duct wall represented by this last range of angles is illustrated in figure 2 as region B. The geometric centre of the duct is represented in the figure as the point at which the dotted lines meet.

The shape and size of the duct itself can be selected in order to minimise distance between the probe and the body of animals passing the probe. The duct may need to be adapted to the particular size and shape of the subjects to be scanned using the system.

It is preferable, as explained above, to ensure that a layer of liquid is present between the ultrasound probe and the object or animal to be imaged. This can be achieved in a number of different ways. An indented region or dip can be formed in the base of the duct to form a pool of liquid as shown in figure 1 . The probe can be located at the lowest part of this indented region where the liquid layer is deepest. The liquid may collect to an extent within the indented region, which can help to minimise the formation of unwanted bubbles. It is preferable for the liquid in the duct to be recycled at least to a degree to keep the system clean and the fish healthy. The duct can include a spray system providing a steady stream of liquid in the duct at least in the vicinity of the probe. The entire base of the duct can be provided with a stream of liquid, and in some cases the movement of the liquid itself can help to push the fish along the duct.

Inlets for the liquid can be provided at intervals along the duct, at one end of the duct, or there can be a single inlet provided close to the probe. If a pool or reservoir of liquid directly above and covering the probe is provided by an indented duct portion, then this might be provided through one or more inlets within or above the indentation itself. There can be one or more outlets further provided within the indented portion, and the liquid in the pool formed by the indent can be continuously recycled in this way.

The positioning of the probe within the duct and the pathways provided for liquid to form pools or streams within the duct will preferably coincide so that the probe is completely covered by a layer of liquid at all times when the scanner is in use (while subjects are being passed along the duct by mechanical means). In any case, the probe should be covered by a layer of liquid at least at the time when a subject is at its closest to the probe and is being imaged. The layer of liquid covering the probe may be at least 0.1 cm deep, preferably at least 1 cm deep at its deepest point. This ensures that when the animal or object passes the probe, a layer of liquid is always present between the animal or object and the probe. The acoustic coupling between the liquid and the tissue of the fish or other animal being imaged is important and the system will not be usable if only air is present in the intervening space. The liquid may be specifically chosen to have an acoustic impedance that it as close as possible to that of the tissue of the subject. The liquid should fill the space or gap between the probe and the animal or object to be imaged in order to provide proper acoustic coupling for the sound waves passing from the probe into the body of the animal and back.

The space between the probe and the subject refers to the space directly in front of the part of the probe through which sound waves are emitted and received. This is shown in figures 3A and 3B in a case where the subject passes close to the probe with a shortest distance x between the probe and the subject (3A), and were the subject contacts the probe as it passes (3B). In both cases, the space which must be filled with liquid when the subject is at its closest point to the probe is shaded and marked as area D. The volume making up the liquid-filled space is therefore demarcated on one side by the face of the probe, or at least the region of the probe through which sound waves are emitted and received, and has the same size and shape as this region, and is demarcated on an opposite side by the subject itself as it passes closest to the probe (at which point one or more images are collected). A similar cross-section to that shown in figures 3A and 3B can therefore be provided at 90 degrees to the cross-section shown in the figures, and the liquid-filled space represents a volume having a lateral cross-section in a plane parallel to the probe face that is the same size and shape as the part of the probe through which sound waves are received and emitted.

The liquid is preferably water. This may be saline (e.g. seawater) or fresh. The liquid (water or otherwise) may comprise additives to achieve a response to sound waves that is as similar as possible to the tissue or the animal to be imaged in order to maximise acoustic coupling. A slightly different composition of the liquid may therefore be used depending on what animal or object is intended to be imaged. Where the system is used to image the internal organs of fish, the liquid will be chosen to mimic the properties of fish tissue in terms of the propagation of sound waves therethrough. Figures 4 to 7 illustrate a similar scanning system in which the duct 11 is shaped as a tray, providing a flat surface over which the fish is guided. The surface is arranged to be sloping downwards in a direction from the feeding inlet 24 for the fish to the sorting outlet 26, so that the fish slides down over the tray from inlet to outlet under the force of gravity. Level changes across the tray can be included to help control movement of the fish. Walls or dividers, some of which may be movable as described below, can be included to further direct the fish, to change the speed of the fish’s movement, or to hold the fish in an area for a desired length of time. This type of holding area is present over the probe (the scanning holding area 30), with the probe 15 located in the base of the tray, to move the fish more slowly over the probe or to hold the fish still while it is being imaged. In the example shown, there is also an additional holding area (the initial holding area 32), which may or may not be in positioned on the tray surface, and which is located just downward of the inlet 24 where a new fish can be held until the scanning holding area 30 is clear.

At least the scanning holding area is generally movable with respect to the tray and the probe head. The fish within the holding area is moved slowly (at between 5mms and 50mms, preferably between 10mms and 30mms, most preferably at around 20mm/s) over the probe during scanning by moving the scanning area downwards across the tray at this speed. This is to achieve the desired resolution described above. If the holding area is formed by an L-shaped wall section as shown in figure 7, then the whole L-shaped wall section can move downwards slowly during the scan, so that the body of the fish moves over the imaging device. Generally, the relative positioning of the L-shaped wall defining the scanning holding area and the probe head will be such that at least the thickest part of the fish body is imaged during the scan. The initial holding area, if present, can comprise one wall, or two vertical walls (49 and 53) forming a channel as shown in figure 7. To allow the fish to continue movement along the pathway and into the scanning holding area, the horizontal wall 51 at the base of the channel pivots or retracts. In the example shown in figures 4 to 6, the vertical wall of the initial holding area is movable sideways to push the fish into a scanning holding area which is slightly lower down. The tray surface can therefore include a number of different levels, and the fish can be pushed down to a lower level by movable walls or similar mechanisms to continue sliding along the pathway from the inlet to the outlet. Similarly, rather than including a movable horizontal wall, as in figures 4 to 7, the scanning holding area may be moved sideways when scanning is complete, by moving the L-shaped wall in this case, to push the fish to a lower level on which an outlet channel is located. The fish can then continue to slide onwards to the outlet.

The positioning and configuration of the two holding areas can be adapted in many ways, as described above, but there is a mechanism in both to select when onwards movement of the fish occurs (i.e. by pushing sideways to free channel located on a lower level of the tray or by opening a hinged or retracting horizontal wall), and both control or halt movement of a fish while it is held in that area.

The imaging device itself may be any type of imaging device, but in a preferred example is an ultrasound probe. As for the example above in which the probe is located within an indented region in the base of the duct, the opening through which the probe head extends through the base of the tray can be protected using a waterproof seal, which prevents egress of water, liquid, or other material from the tray. The regions around the probe head and any gaps between the probe and the tray base will be protected with a waterproof seal such as a gasket.

Adequate acoustic coupling is possible in this case without including an additional indented region in which liquid pools around the probe head. The body of the fish is covered with a natural slime, and the fact that the fish is located directly above the probe during scanning means that there is a certain amount of pressure between the probe head and the body of the fish due to the weight of the fish itself. Together, these factors ensure that an image of sufficient quality can be achieved with the probe located in a flat base as shown. The imaging process is also helped by the fact that the fish is contained within a holding area, so that it is moving more slowly or is not moving when the image is taken. The fish may be caused to travel more slowly or may be held in place for several seconds (such as between 0.005 seconds and 1 minute, preferably between 0.01 seconds and 1 second, more preferably between 0.01 seconds and 0.1 seconds, and typically around 15 milliseconds) to allow for scanning and processing of the image. The correct outlet channel is selected based on the processing, and the fish is allowed to move out of the scanning holding area towards the outlet.

The system may include a wetting or cleaning apparatus comprising one or more nozzles 34 or inlets for liquid to keep the pathway for the fish moist, clear, and clean, but this liquid will not, in general, collect in the region where the probe is located. The system shown in figure 4 includes a further tray 36 in which water, brine, and other material from the system can be collected or caught and directed to a waste outlet.

Figure 4 also illustrates the tray 11 across which the fish is directed, the scanner 15 located in the base of the tray and usually also within a holding area 30 of the tray, an inlet 24 for fish entering the system, and one or more outlets 26 for fish exiting the system. With respect to a horizontal plane (taken as an xy plane) the tray will usually be slanted during use about both the x and y axes as can be seen most clearly in figure 5. In this figure, the tray is tilted forwards and to the left, so that the outlet 26 is located physically below the inlet 24, and the right edge 38 of the tray is located physically above the left edge 40 of the tray. The angle of the slope with respect to a horizontal plane in both axes may be between 2° and 70°, more preferably between 5° and 50°, still more preferably between 10° and 30°, and most preferably around 20°. This will cause the fish to be held or pressed against one or more dividers or walls is at moves through the system, as will be described in more detail below. The amount of time that a fish spends in the one or more holding areas may be adjusted and can be controlled automatically.

The tray includes a left and right edge, and a bottom edge 42 and top edge 44, and may include upwardly extending walls 46, which if present will usually be fairly low walls, around a part or all of its perimeter. The inlet is located at or near the top edge, and the outlet(s) at the bottom edge. A number of dividers or walls can be included closer to the middle of the tray to direct the fish over the scanning device, and to form at least one holding area. These are orientated in a generally vertical direction with respect to the tray itself (extending in a direction from the bottom to the top edge on the upper face) or in a generally horizontal version (in a direction from left to right across the upper face of the tray). To guide the fish over the probe head, a vertical wall is used, and to provide a holding area in the region directly above the probe head an additional horizontal wall, which may or may not be hinged or retractable, is used to prevent rapid onward movement towards the outlet. Together, these form an L-shaped wall which together with the base defines the holding area 30.

On entering the system through the inlet 24, fish are placed or directed into an initial holding area just below the inlet and are held there for a time. The initial holding area can also comprise at least a horizontal wall and a vertical wall, forming an L-shape, and will usually comprise an additional vertical wall, forming a closed channel. The inlet is upward (and possible also to the right) of the holding area, so that with the tray tilted downwards and to the left, the fish slides under gravity from the inlet into the holding area so that it sits in the L and is prevented from moving further through the system by the vertical and horizontal walls. Obviously, the tray can instead be arranged to tilt downwards from right to left, in which case orientation of other parts of the system can be reversed, and the L-shaped walls of the two holding areas will be arranged so that the L faces in the opposite direction with the vertical wall rightmost, rather than leftmost. In some cases, and as shown in the example of figure 7 for the initial holding area, an additional vertical wall is present on the other side of the holding area to further control movement of the fish. The horizontal wall of the initial holding area 32, which forms the base of the L, is movable to allow the fish to proceed across the tray.

Directly below the initial holding area is a scanning holding area 30, again formed of a vertical 48 and horizontal 50 wall section forming an L structure. The vertical wall 48 may be a continuation of the vertical wall section of the initial holding area, or may be separate. The fish slides from the initial holding area into the scanning holding area and is held there for a time, again due to the slant of the tray and the positioning of the walls. If retractable, the movable horizontal walls of the two holding areas can either swing about a pivot point at the base of the vertical wall, at an end opposite the vertical wall, can open from both sides, or can simply retract sideways. With the horizontal wall pivoted or retracted the fish can continue to slide downwards across the tray. Alternatively, as mentioned above, the whole of the wall defining the holding area can be moved sideways (for example to the right across the tray) to push the fish down into an open channel on a lower level where it can continue its movement through the system.

The scanning device, which may be an ultrasound probe, is located in the base of the tray within the scanning holding area. The fish is imaged while the fish is held within this region, usually at the same time as the scanning holding area is moved slowly downwards to move the fish at a controlled speed over the probe. After the scan is complete, the L-shaped wall is moved sideways to push the fish into an open channel on a lower level of the tray, or horizontal wall of the scanning holding area is pivoted or retracted in the same manner as for the initial holding area, and the fish slides onwards towards the one or more outlets. The initial holding area can be dispensed with in some cases, and the fish can be directed straight into the scanning holding area directly above the scanning device from the inlet. The fish can, in some cases, be placed or dropped first into the holding area above the scanning device (at least a part of which then forms the inlet), and can slide through the system from there. The scanning holding area which encompasses or surrounds the scanning device is defined by at least an area of the base of the tray where the scanning device 15 is located or through which it protrudes, a vertical wall 48, and a horizontal wall 50. The position of the scanning device 15, which in this case is an ultrasound probe, in the base of the tray and the fact that the scanning holding area includes the region of the base including the probe head means that an ultrasound image of good quality can be obtained without manual handling of the fish. The images obtained using the system are clear enough, for example, to determine the sex of the fish, and to give an idea of the shape and size.

There are significant advantages to being able to keep the ultrasound probe or other scanning device substantially static during the scanning and sorting, and of avoiding manual handling of the probe. An ultrasound probe may include over 100 channels, each with a separate coaxial cable associated. These, and other parts of the scanning device, can be easily damaged if the probe is manipulated. The probe head itself is also extremely delicate. The present system reduces the potential of damage to the probe and the scanning device because of the lack of moving parts around the probe.

The result of the scan can determine the path of the fish as it exits the system, as for the first example described above. In the example shown in figures 4 to 6 three possible routes out of the scanning system are provided, and these are used to separate fish into different categories based on the results of the scan. In one example, the three categories may be male, female, and “to be rescanned” (for example due to an error in orientation of the fish or in the scanning), but any other feature or property of the fish distinguishable in images taken by the scanning device can be used to categorize. The fish can be sorted by weight, size, or shape, for example. Although three outlet channels are shown in the figures, there can equally be only two outlet pathways included, or more than three. It may be useful to include an additional pathway for sorting fish with defects recognisable in the image or defects imaged using a different imaging device within the system. The multiple outlet mechanism shown in figures 4 to 6 can be used in any of the examples of systems described herein. In example shown in the figures, and most clearly seen in figure 6, the outlet pathways are controlled using a movable section 52 which can be moved in a horizontal direction to align one of the three pathways 54 with the outlet channel for the fish into which it moves after leaving the scanning area. With one of the pathways 54 aligned with the outlet 26, the fish slides out of the scanning holding area 30 when the horizontal wall section is retracted or the fish is pushed into an outlet channel, and on through the respective outlet.

Alternatively, there may be one outlet channel provided, and this may itself be moved to extend from the holding area where the fish is imaged to a desired one of a number of holding pens or further pathways for fish sorted into different categories. The way in which the exit from the system is controlled can be adapted, and can include further movable walls, movable tubes or ducts, or openings in the base of the tray which open and close depending on where the fish is to be directed. There may be no sorting carried out based on the results of the scan in some cases, and the fish may simply be imaged and then sent through a single fixed outlet. Statistical data informing about the state of a sample of fish can be collected in this manner. Alternatively, information from the scanner can be sent to an external device to be used for sorting of the fish or for other purposes.

The scanning holding area 30 can be adjusted to adapt the system in order to be able to image different populations in the most effective way possible. When imaging with an ultrasound probe to determine the sex of a fish, for example, it is preferred that the probe be as close as possible to the regions where the gonads of a fish are located. Whether this is achieved will depend on the size of the particular fish being scanned, and the position of the horizontal and vertical walls defining the scanning holding region with respect to the probe head can be adjusted to ensure that the fish is positioned optimally over the probe both at the start of scanning and during scanning. Whichever type of scanner is used, either the horizontal or vertical walls separately or both the whole L-shaped wall section together can be movable to change the position of the scanning holding area with respect to the probe head. Moving the whole L-shaped wall section as one is usually most efficient, and this can be done by allowing movement of this section in two axes, vertically up the tray or horizontally sideways across the tray. In more complex systems the orientation and size of the holding area can be adjusted, but this is not usually necessary. In one example, the size of the fish is measured or estimated on entry to the system and the position of the scanning holding area is adjusted accordingly. This can be achieved using optical cameras imaging the fish within the initial holding area or at or before the inlet, for example, to determine a length or width of the fish body. Once this is known, the position of the horizontal and/or vertical walls can be adjusted to ensure that the fattest region of the fish, or the region desired to be imaged, is located over the probe head when the fish is within the scanning holding area. Only the position of the horizonal wall may be adjustable, such as by sliding up and down the vertical wall, but usually the L-shaped wall will be moved as one piece. The fish will usually be fed into the system so that its head faces downwards towards the outlet. The head of the fish will therefore contact the horizontal walls of the two holding areas while it is held within these areas. The fish will usually then be moved at a controlled speed downwards over the imaging device during scanning.

The position of the scanning holding area may be fixed at the start of scanning for a sample of fish based on an estimated average size of the population to be imaged in some cases. The measurement of fish size or shape, and the adjustment of the holding area configuration, and then the scanning itself with the scanning device located directly underneath the fish body, can all be carried out while the fish is within the scanning holding area. In such a case the means for measuring a size can be located within or arranged to image the scanning holding area itself if desired. If an optical camera is present, this can also be used to check for defects or disease, and this function can be instead of or in addition to the measurement of fish size. Diseased fish may be sorted into their own outlet channel. Other ways to measure or estimate fish size may include a weighing scale under a portion of the tray base or in an inlet section of the system, sensors to detect the present of an organism in different regions, and so on.

In order to be able to automate the system effectively, sensors 56 can be located within the scanning holding area and the initial holding area (if present) in order to indicate whether an organism is present within the holding area at any time. If the system is used for fish, these are generally directed into the scanning holding area head first. A sensor, which may be a proximity sensor such as a capacitive sensor, can be located in the base of the tray within the holding area. If a proximity sensor is used, this will preferably be located near to the bottom of the holding area, just above the horizontal wall, and is usable to determine whether a fish or part of a fish is present in that region. If a capacitive sensor is used then the capacitance measured will output one value or range of values when a fish or another organism is present, and another value or range when the holding area is empty. Although a capacitive sensor is a good choice here, any type of sensor which is able to inform as to whether an organism is present in the holding area can be utilised, such as a device working via interruption of a light beam by the subject when present in the area.

A signal from the proximity sensor indicating that the initial holding area (or the scanning holding area if no initial holding area is present) is empty can result in an indication to this effect being provided to a user (i.e. a green light as opposed to a red light when the scanning holding area is occupied). This can be noted, and a new fish fed into the inlet of the system. The fish can also be fed into the system automatically in response to a signal from the proximity sensor indicating that the holding area is empty. If an additional initial holding area is present, an indication from the proximity sensor that the scanning holding area is empty can result in automatic retraction of the horizontal wall 51 of the initial holding area to allow the fish to slide onwards into the scanning holding area for scanning. Once the scanning is complete, the horizontal wall 50 of the scanning holding area can also be caused to retract manually, or the L-shaped wall of the holding area can be moved horizontally to push the fish to an open channel in a lower level of the tray, to allow the fish to slide onwards to the outlet(s). Adjustment of the configuration of the outlets can also be automatic based on image analysis from the scan (see further detail below) so that the fish is sorted into the correct area or pathway.

As mentioned, although a stream or pool of water within the try base to cover the scanner is not required, means may be present for ensuring that the tray and the various holding regions remain clean and fairly moist. This will help the fish to slide effectively across the tray and will help to prevent material collecting within holding areas and over the probe head.

Obviously, as for the first example above, the system is described with reference to scanning of fish and shellfish, and is particularly suitable for this purpose due to the natural fluid on the skin or shell which helps with imaging if an ultrasound probe is used as the scanning device. The systems can, however, be used to automate the imaging and in some cases categorisation and sorting of any organism or object. In figure 7, the parts of a system including holding areas are shown. This may be the system shown in figures 4 to 6 and described above or the system described with reference to figures 1 to 3 with a sloping duct. The fish enters at an inlet which simply represents an entrance point for the animal to the pathway across the tray. As it enters the system it is held in the initial holding region and may be sprayed with water using a nozzle 34 to ensure that it is well lubricated, both for the purposes of sliding down across the tray and to ensure good acoustic coupling during scanning. The spray also helps to clear dirt and unwanted substances from the pathway region of the tray. The initial holding region includes a proximity sensor 56 which detects the presence of a subject within that holding region. The system includes the lower scanning holding area 30 including the stationary ultrasound probe 15 in the base of the tray, another water spray nozzle 34 for general cleaning and moistening of the system and the subject, and another proximity sensor 56 for detecting the presence of the subject in the scanning holding area. There may also be a high-pressure water jet 60 which further cleans and wets the area around the probe specifically. This can help with acoustic coupling, and can help to avoid dirt sticking to the probe head and interfering with the images taken.

Both holding areas can be delimited, as described above, by a part of the base and an L-shaped wall. One or more of these may include a pivotable bottom section. Additional wall portions can be present. The fish is held within the L, which is positioned on the tray so that the corner of the L is lowermost when the tray is tilted in use. The fish presses against both walls of the L and is held static is moved at a controlled speed over the probe head for scanning, or is held static within the waiting area. Pivoting the lower section of either L-shaped wall results in the fish sliding out of the respective holding area and continuing towards the outlet. As an alternative means for moving the fish out of the holding areas, the fish can be pushed, by movement of the L-shaped wall of the holding area, into another channel on a lower level within the tray, and can slide onwards within that channel to the next holding area or to the outlet. As mentioned above, the proximity sensor in the scanning holding area is used to control movement of the fish out of the initial holding area, such as by retraction of the horizontal wall 51 to allow a fish waiting there to proceed along the pathway into the scanning holding area 30. The proximity sensor in the initial holding area informs as to whether a new fish can be allowed to pass into the system through the inlet, and/or may automatically control feeding of the next fish into the system. The fish may be caused to move out of the scanning holding area, either by pushing it into an open channel on a lower level or by opening the horizontal wall at the base of the scanning holding area, once the image has been processed, classified, and the outlet(s) configured to direct the fish to the desired holding area based on the classification.

In all of the example systems described above, the ultrasound machine, which includes both the transducer and additional components 20, receives reflected sound waves from the body of the fish and converts motion of parts caused by the pressure waves to electronic signals. This can be, for example, by way of piezoelectric crystals which produce a voltage when a force is applied or a thin diaphragm which vibrates in response to sound waves, its movement causing a change in capacitance between the diaphragm and a back plate. The electrical signals are passed to processing software making up part of the additional components 20 and can be transformed there into a 2D images, raw data, or 3D images representing one or more slices through the body of the fish. The processing software may also receive meta-data from the ultrasound machine, along with the image data. The various parts of the ultrasound machine are standard and any suitable model for the transducer and additional components can be used in the scanning system described herein. It is preferred for the ultrasound transducer to be medical grade.

A processor 21 is connected to the ultrasound machine to receive and process the images in order to categorise in some way the subject passing through the system. The processor receives a number of 2D images representing slices through the body of the subject, preferably in regions spaced 1 mm (0.1 cm) apart or less along the body of the fish. These images will usually each also have a spatial resolution of 1 mm (0.1 cm) or less because of the proximity of the probe to the fish during imaging and the use of liquid for proper acoustic coupling.

Either each 2D image for a particular animal or object can be examined in turn, or the 2D slices can be merged to a single 3D image and this can be analysed to classify the image. Classification may use a particular predetermined algorithm or can use machine learning to develop the classification algorithm based on training data (images of fish with a known gender, for example). The algorithms can continue to develop during use of the system if the performance is checked or confirmed at least at intervals, for example by manual classification of the images. In an example 3D convolutional neural networks (CNN) can be used as part of the image analysis process.

Predetermined algorithms can use pattern recognition to locate particular organs within the images. Such algorithms can, for example, work by simply pinpointing the expected location of a gonad using recognisable markers on the body (the point of the noise, a fin, etc) and then identifying any large contiguous area of darker pixels. The size of this region and its presence or absence can be noted. If absence is determined, the fish is classified as male, and if a gonad is detected then the fish is classified as female. Similar processing methods can be used to locate other organs and measure the size of these. The size of the heart may be an indicator of health or illness, for example.

The imaging system can represent a unit to be used as a module within a larger system for treatment and sorting of fish or other animals. The fish/animal may need to be anaesthetised, for example, prior to feeding them into the imaging unit via the duct or inlet in order to avoid excessive stress or damage. This may require machinery designed to retain and inject the fish, which can be coupled to the imaging unit by feeding the fish from an outlet from the anaesthetising unit directly to the inlet of the duct or to the tray of the imaging system described herein. Other modules, for cleaning and/or providing medicine to the animals, for example, can be included in the system upstream or downstream of the imaging system. In some cases a vaccination area can be added, either before or after the scanning system, during scanning (easier if the fish is held static during scanning), or while the fish is held within the initial holding area in the second example.

In some examples, the imaging system can also perform a sorting function, and the sorting may be based on the results of the image processing. One important use of the imaging system is to separate fish, and in particular salmonids or salmon or other fish at around 20g-10kg weight, according to gender. Larger fish between 30g and several kg, fish between 20g and 10,000g, or salmon or other fish from 30g up may be sorted using the system described herein. The gender of a fish can be very accurately determined using ultrasound because the sexual organs of the fish (and in particular the female fish) are clearly visible in an ultrasound image of the animal. Image processing to locate and isolate the gonad within a 3D image of 2D slices can also be achieved by fairly simple image processing techniques, as described above. The gender of the fish being imaged can be determined quickly by the processing software of the processor while the fish is passing through the duct past the probe. This determination can be used to control a subsequent pathway for the fish in order to sort the fish by gender. The duct could be bifurcated, for example, and one pathway closed off depending on the gender determined during processing. Alternatively, a hole in the base of the duct, which may lead to a holding pen or back into the fish cage, can be caused to open or close based on the gender determination.

This type of sorting mechanism can be used with other information resulting from the image processing. The image can be processed to pick out diseased regions in the body, defects, or areas where damage has occurred, and fish can be sorted based on the presence or absence of these diseased and/or damaged regions. The ultrasound images can also be used to predict future sexual development of the fish (based on the size of the gonads in comparison to the total size, for example) and fish which are expected to develop more quickly can be separated from those which are expected to develop more slowly.

The system can include more than one duct or tray and more than one ultrasound probe. The two or more probes can be coupled to the same or to a different ultrasound scanner. The ultrasound scanners (if more than one) can be coupled to the same or to a different processing unit. The operation of the two or more similar system parts can be coordinated so as to maximise efficiency during use. The mechanical means can be configured so that one fish reaches the probe within the first duct and is being imaged concurrently with a second fish in the second duct being positioned at the inlet of the duct correctly ready to be carried to the scanner using the mechanical means. This will ensure that the workload for the processor is more consistent.

Although the apparatus described above is particularly suited for use as a fish scanning system, it is also usable for scanning other animals, either marine or otherwise, provided that they can be passed along the duct or tray and near enough to the ultrasound probe to provide a clear anatomical picture. The system can also be used for scanning inanimate objects.

In addition, while the system has been described as including an ultrasound probe as the imaging device, other imaging devices, such as x-ray or MRI scanners, light sensors, pressure or heat sensors, and so on may be swapped for or used in addition to the ultrasound probe in any of the examples described above. Although most suited as an ultrasound scanning system, the proximity between the subject and the sensor, and the automatic nature of the set-up, will still provide inherent advantages if other imaging devices are used.

Claims

1. A scanning system for imaging a subject, the system comprising: a conduit having a base on which the subject is supported during scanning, an inlet, and an outlet, wherein the conduit defines a pathway for the organism to move across the base from the inlet to the outlet; an imaging device located in a region of the base forming the pathway; and means for transporting the subject along the pathway from the inlet to the outlet, and over the imaging device.

2. The scanning system of claim 1, wherein the imaging device is an ultrasound probe.

3. The scanning system of any of claims 1 and 2, wherein the means for transporting comprises the base, which slopes downwards from the inlet to the outlet to form the pathway.

4. The scanning system of any of claims 1 to 3, comprising a braking device configured to halt travel or slow the speed of travel of the subject as it passes the probe.

5. The scanning system of 3, wherein the conduit comprises a tray configured to rotate about two orthogonal axes in the plane of the base to position the inlet above the outlet and provide the sloping pathway.

6. The scanning system of claim 5, comprising a scanning holding area which is at least partly delimited by the region of the base and a wall arranged to slow or halt travel of the subject along the pathway as the subject passes over the imaging device.

7. The scanning system of claim 6, wherein the wall is an L-shaped wall.

8. The scanning system of any of claims 6 and 7, wherein the wall is movable relative to the base to adjust the position of the scanning holding area relative to the imaging device.

9. The scanning system of any of claims 6 to 8, wherein at least a part of the wall is movable to allow the organism to travel out of the scanning holding area and continue along the pathway towards the outlet.

10. The scanning system of any of claims 6 to 9, wherein the scanning holding area comprises a sensor configured to detect the presence or absence of an object therein.

11. The scanning system of any of claims 1 to 10, wherein the system comprises a processor configured to classify one or more images of the subject taken with the imaging device into one or more groups.

12. The scanning system of claim 11 , wherein the outlet comprises two or more outlet channels, and the system comprises a mechanism for selectively opening one of the outlet channels based on the group classification.

13. A method for automatic imaging and sorting of an animal, the method comprising: obtaining one or more ultrasound images of the internal organs of the animal using the system of claim 2; processing, by an image processor, the one or more ultrasound images and classifying the images as belonging to one of two or more groups based on at least one property of the images.

14. The method of claim 13, comprising the step of directing the subject to an area based on the group that it is classified as belonging to.