WO2013171671A1 - Échographie en trois dimensions balayée mécaniquement et adaptée aux contours d'un corps - Google Patents

Échographie en trois dimensions balayée mécaniquement et adaptée aux contours d'un corps Download PDF

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Publication number
WO2013171671A1
WO2013171671A1 PCT/IB2013/053923 IB2013053923W WO2013171671A1 WO 2013171671 A1 WO2013171671 A1 WO 2013171671A1 IB 2013053923 W IB2013053923 W IB 2013053923W WO 2013171671 A1 WO2013171671 A1 WO 2013171671A1
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WO
WIPO (PCT)
Prior art keywords
transducer array
probe assembly
ultrasound
volume
force
Prior art date
Application number
PCT/IB2013/053923
Other languages
English (en)
Inventor
Martin Erskine ANDERSON
Marinus Antonius Dimphna Maria Loos
Original Assignee
Koninklijke Philips N.V.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips N.V. filed Critical Koninklijke Philips N.V.
Publication of WO2013171671A1 publication Critical patent/WO2013171671A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
    • A61B8/0825—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of the breast, e.g. mammography
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A61B8/4254—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors mounted on the probe
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4272—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue
    • A61B8/429—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue characterised by determining or monitoring the contact between the transducer and the tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
    • A61B8/4461—Features of the scanning mechanism, e.g. for moving the transducer within the housing of the probe
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G01S15/8906—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques
    • G01S15/8909—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques using a static transducer configuration
    • G01S15/8915—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques using a static transducer configuration using a transducer array
    • G01S15/8918—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques using a static transducer configuration using a transducer array the array being linear
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G01S15/8906—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques
    • G01S15/8934—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques using a dynamic transducer configuration
    • G01S15/8938—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques using a dynamic transducer configuration using transducers mounted for mechanical movement in two dimensions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G01S15/8906—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques
    • G01S15/8993—Three dimensional imaging systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52017—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 particularly adapted to short-range imaging
    • G01S7/52079—Constructional features
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/18—Methods or devices for transmitting, conducting or directing sound
    • G10K11/26—Sound-focusing or directing, e.g. scanning
    • G10K11/35—Sound-focusing or directing, e.g. scanning using mechanical steering of transducers or their beams
    • G10K11/352—Sound-focusing or directing, e.g. scanning using mechanical steering of transducers or their beams by moving the transducer
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/48—Diagnostic techniques
    • A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/004—Mounting transducers, e.g. provided with mechanical moving or orienting device

Definitions

  • the present invention relates to a probe head, an ultrasound imaging system and a method for providing a three-dimensional image of a volume, for example an anatomical site of a patient.
  • the present invention further relates to a computer program for implementing such method.
  • volume imaging In three-dimensional ultrasound imaging, or volume imaging, the acquisition of a three-dimensional image is accomplished by conducting many two-dimensional scans that slice through the volume of interest. Hence, a multitude of two-dimensional images is acquired that lie next to another. By proper image processing, a three-dimensional image of the volume of interest can be built out of the multitude of two-dimensional images. The three-dimensional information acquired from the multitude of two-dimensional images is displayed in proper form on a display for the user of the ultrasound system.
  • Mechanically scanned ultrasound arrays can be used to acquire large volumes of clinical image data.
  • One clinical context in which this is being done is, for example, automated breast ultrasound.
  • a technical challenge for such data acquisition is maintaining acoustic contact throughout the acquisition, given that no single spatial path of the transducer would match the body's surface contours across the existing range of human anatomy and body habitus. While the elasticity of some tissues allows coupling to be better maintained through the application of additional compressive force, it is preferable to minimize this tissue compression in order to maximize patient comfort. This is not a trivial matter, given that the pain that compression can cause deters some patients from being adequately screened.
  • a means is described to provide a transducer array with a mechanical suspension to allow it to better accommodate the contours of each patient's anatomy.
  • this approach can strike a better balance between acoustic coupling and patient comfort, while also limiting the architectural distortion in the breast that mechanical scanning can introduce.
  • the size and contour of the torso and the anatomical structure and elasticity of the breast can vary greatly among patients.
  • the mechanical translation of the array along a fixed path can sacrifice patient comfort to maintain acoustic coupling. Patient discomfort, in turn, could reduce patient compliance with their physicians' recommendations for the exam.
  • Document JP 10201762 A discloses attaching a two-dimensional ultrasonic vibrator transducer to an oscillating lever so as to be slidable in the oscillating direction of an ultrasonic wave, and thereby eliminating the influence of a reflected wave caused by a case, ultrasonic relay.
  • a driving device is constituted of a rotating machine for performing a reciprocating action at a constant angle, a base on which an eccentric pin driven by the rotating machine is set, as is a fulcrum provided at a proper distance from the eccentric pin, and an oscillating lever which is fitted to the eccentric pin at one end and which is engaged with the fulcrum with a slit.
  • the three-dimensional ultrasonic probing device is so designed that the existing two-dimensional ultrasonic vibrator transducer in an exposed state is made freely attachable to and detachable from the oscillating lever, thereby enabling a locus to be freely set at the tip end of the ultrasonic vibrator transducer, and also enabling an image to be formed with the transducer in direct contact with the human body.
  • a probe assembly for a scanning head of an ultrasound imaging system for providing a three-dimensional image of a volume comprises a transducer array for emitting and receiving ultrasound signals, a cowling for covering the transducer array at least partially, a suspension mechanism coupling the transducer array to the cowling, wherein the transducer array is linearly movable relative to the cowling in a first direction, and at least one position sensor for detecting a position of the transducer array relative to the cowling in the first direction.
  • an ultrasound imaging system for providing a three-dimensional image of a volume
  • the ultrasound imaging system comprising a probe assembly according to the first aspect of the present invention, wherein the transducer array of the probe assembly is configured to provide an ultrasound receive signal, and wherein the position sensor of the probe assembly is configured to provide position data, a control unit configured to receive the ultrasound receive signal and the position data and to generate display data, a display configured to receive the display data and to provide the three-dimensional image.
  • a method for providing a three- dimensional ultrasound image of a volume wherein the volume is scanned along a scan direction via an automatically scanned scanning head of an ultrasound imaging system, wherein the scanning head has a probe assembly having a transducer array linearly movable perpendicular to the scan direction.
  • the method comprises the steps of automatically scanning the volume, wherein a number of two-dimensional ultrasound images are generated, tracking a position of the transducer array perpendicular to the scan direction during the step of automatically scanning the volume, assigning to each generated two-dimensional ultrasound image a corresponding position of the transducer array perpendicular to the scan direction, shifting the number of two-dimensional ultrasound images according to their respective assigned position of the transducer array perpendicular to the scan direction, and generating a three-dimensional ultrasound image of the volume out of the number of two- dimensional ultrasound images.
  • a computer program comprising program code means for causing a computer to carry out the steps of such method when said computer program is carried out on the computer.
  • the suspension system is designed to allow motion perpendicular to the scanning direction while maintaining the alignment of the transducer array with high spatial accuracy.
  • a position sensor or linear position encoder reports the array's position over time to enable an accurate volume reconstruction, i.e. as the array moves during acquisition, the images acquired in each position are shifted in accordance with the position encoder's output before being added to the accumulated volume of data.
  • the patient's experience of the device will be that it maintains a more constant pressure throughout a clinical exam than devices that maintain a constant position.
  • ABUS Ultrasound
  • the suspension mechanism comprises at least one elastic element.
  • the suspension mechanism can be in a rather uncomplicated manner. Further, by knowing about a spring constant of the at least one elastic element, a direct dependence between the movement of the transducer array perpendicular to the scanning direction and a force exerted on/by the transducer array is given.
  • more than one elastic element can be present, for example two three or four elastic elements.
  • the at least one elastic element is a mechanical spring.
  • a mechanical spring provides for an elastic element with known behaviour and spring constant. Further, mechanical spring may be biased to adjust the spring constant present in an initial position of the transducer array relative to the cowling.
  • the at least one elastic element is a block element made of an elastic material.
  • a block element made of an elastic material for example a rubber or soft plastic, an elastic element may be provided that is cost efficient to manufacture and may provide technically more simple solution for an elastic element.
  • the suspension mechanism comprises a hydraulic actuator.
  • a good suspension may be provided.
  • the hydraulic actuator of the suspension mechanism is filled with a liquid.
  • a liquid in the hydraulic actuator an almost non-compressible medium is used providing a well predictable behavior of the hydraulic actuator.
  • the hydraulic actuator might also be filled with a gas.
  • the suspension mechanism comprises a pneumatic actuator.
  • a pneumatic actuator By this, an alternative solution for a good suspension may be provided. Further, it is also possible to actively actuate or steer the pneumatic actuator so as to influence the position of the transducer array and the force exerted on a patient's body.
  • the suspension mechanism comprises a linear motor.
  • an engine brake might be used to suspend the movement of the transducer array perpendicular to a patient's body and the scanning direction.
  • the linear motor may be used to directly steer the position of the transducer array.
  • the probe assembly further comprises a force sensor for detecting a force exerted by the transducer array on the volume.
  • a force sensor may, for example, a tactile sensor, a piezoelectric sensor or a displacement receiver.
  • the force sensor may be a pressure sensor measuring the pressure of a gas or a liquid of the pneumatic/hydraulic actuator.
  • the position sensor is further configured to output a force exerted by the transducer array on the volume based on the position of the transducer array relative to the cowling in the first direction and a spring constant of the at least one elastic element.
  • the probe assembly further comprises a force sensor configures to detect a force exerted by the transducer array on the volume and to output a corresponding force signal.
  • a force sensor may, for example, a tactile sensor, a piezoelectric sensor or a displacement receiver.
  • the force sensor may be a pressure sensor measuring the pressure of a gas or a liquid of the
  • the ultrasound image system further comprises a force controller configured receive the force signal and to control the suspension mechanism such that the force is constant.
  • a force controller configured receive the force signal and to control the suspension mechanism such that the force is constant.
  • Constant in this context shall be interpreted that slight deviations are possible, as in any control circuit. For example, deviations of up to 5 percent from a predetermined pressure shall still be interpreted as “constant”. By this, good contact with the volume to be scanned can be maintained. Further, the pressure exerted on the volume to be scanned can be kept in a small range avoiding that the volume changes its size or shape due to the changing pressure which could render the assembling of a sensible three-dimensional image impossible.
  • the ultrasound image system further comprises a force controller configured receive the force signal and to control the suspension mechanism such that the force is within a predetermined range.
  • the range can be chosen within a range that is comfortable for a patient. Further, depending on the type of volume to be scanned, the range can be set larger or smaller. If the volume, for example, is a rather rigid part of a patient's body, the range might be set larger so as to minimize movement of the transducer array.
  • the display is further configures to receive the force signal and to display the force exerted by the transducer array on the volume.
  • a user of the ultrasound imaging system is enabled to monitor the force exerted on the patient's body and may react when the force is too high, for example.
  • the ultrasound imaging system may comprise an automatic shutdown system that shuts of the scan procedure if the force is above a predetermined threshold. The transducer array and/or the probe head may than be retracted from the patient's body as far as possible.
  • the at least one processor further comprises a beam former configured to control the transducer array and to receive the ultrasound receive signal and to provide an image signal.
  • Beam formers are commonly used to control transducer arrays. By this, an image signal is provided out of the ultrasound receive signal that might be further processed.
  • the at least one processor further comprises a signal processor configures to receive the image signal and to provide image data, and an image processor configured to receive the image data and to provide display data.
  • a signal processor configures to receive the image signal and to provide image data
  • an image processor configured to receive the image data and to provide display data.
  • the signal processor is further configured to receive the image signal and the position data, to assign the position data to the corresponding image signal, to shift the image signal according to the position data, and to provide image data.
  • the signal processor is configured finally provide image data in which the individual two-dimensional images are already shifted according to the position of the transducer array relative to the cowling at the time the individual image was captured. This shifted image data is then received by the image processor and the image processor then provides display data.
  • the image processor is further configured to receive the image data, wherein the image is unshifted, and wherein the image processor is further configured to receive the position data, to assign the position data to the
  • the ultrasound imaging system further comprises an input device configured to input the predetermined range.
  • the predetermined range might be inputted manually into the ultrasound imaging system prior to the scanning process.
  • the force controller is configured to control the force exerted by the transducer array on the volume within a range of 10 percent, preferably 5 percent, even more preferably 2 percent, above and/or below an initial force present at the beginning of a scan.
  • Fig. 1 shows a schematic illustration of an ultrasound imaging system according to an embodiment
  • Fig. 2 shows a schematic illustration of a scanning head of an ultrasound imaging system
  • Fig. 3 shows a schematic illustration of a probe assembly according to an embodiment
  • Fig. 4 shows a schematic illustration of a probe assembly according to a further embodiment
  • FIG. 5 shows a schematic illustration of a probe assembly according to a further embodiment
  • Fig. 6 shows a schematic illustration of a probe assembly according to a further embodiment
  • Fig. 7 shows a schematic block diagram of an ultrasound imaging system according to the embodiment.
  • Fig. 8 shows a schematic flow diagram of a method according to an embodiment.
  • Fig. 1 shows a schematic illustration of an ultrasound system 10 according to an embodiment, in particular a medical ultrasound three-dimensional imaging system.
  • the ultrasound imaging system 10 is applied to inspect a volume of an anatomical site, in particular an anatomical site of a patient 12.
  • the ultrasound system 10 comprises an ultrasound probe or scanning head 14 having at least one transducer array 26 having a multitude of transducer elements for transmitting and/or receiving ultrasound waves.
  • the transducer elements each can transmit ultrasound waves in form of at least one transmit impulse of a specific pulse duration, in particular a plurality of subsequent transmit pulses.
  • the transducer elements can for example be arranged in a one-dimensional row, for example for providing a two-dimensional image that can be moved mechanically. Further, the transducer elements may be arranged in a two-dimensional array.
  • the multitude of two-dimensional images, each along a specific acoustic line or scanning line, in particular scanning receive line, may be obtained in three different ways.
  • the user might achieve the multitude of images via manual scanning.
  • the ultrasound probe may comprise position-sensing devices that can keep track of a location and orientation of the scan lines or scan planes.
  • the transducer may be automatically mechanically scanned within the scanning head 14 in a scanning direction 34. This shall be the case in the scanning head 14.
  • the scanning head 14 is applied to the body of the patient 12 so that an image of an anatomical site in the patient 12 is provided.
  • the ultrasound system 10 has a controlling unit 16 that controls the provision of a three-dimensional image via the ultrasound system 10.
  • the controlling unit 16 controls not only the acquisition of data via the transducer array of the ultrasound probe 14 but also signal and image processing that form the three-dimensional images out of the echoes of the ultrasound beams received by the transducer array of the scanning head 14.
  • the ultrasound system 10 further comprises a display 18 for displaying the three-dimensional images to the user.
  • an input device 20 is provided that may comprise keys or a keyboard 22 and further inputting devices, for example a track ball 24. The input device 20 might be connected to the display 18 or directly to the controlling unit 16.
  • the probe head 14 may be positioned via handles 28 on a patent's body or torso 32, for example for a mammography examination.
  • the transducer array 26 is then automatically scanned in the direction 34 within the probe head 14 to acquire a multitude of two-dimensional images of the volume of the patient's body underneath the probe head.
  • a coordinate system showing the x-, y- and z-axis according to the following description is designated with reference numeral 30.
  • the dimension along with the long axis of the transducer array 26 shall be referred to as the lateral or "x" dimension, the dimension in which that array is translated to sweep out a volume as the scanning direction or "y” dimension, and the final axis perpendicular to these as the range or "z” dimension.
  • a single image frame within the acquired volume lies in an x-z plane, while the image volume comprises a sequence of such frames spaced adjacently in y.
  • Fig. 2 shows a scanning head 14 as it, for example, could be used in an ultrasound imaging system 10 according to Fig. 1.
  • the scanning head 14 comprises a housing 36 which is shown in dashed lines so as to enable a view into the housings 36 and into the scanning head 14.
  • the housing has an opening 38 on its down surface in the z-direction facing the patient 12 to enable the transducer array 26 to get into contact with the patient 12 and a volume to be scanned, respectively.
  • the scanning head 14 comprises the support coupling 40 which is held in a ball bearing 42.
  • the support coupling 40 can for example be mounted on an arm (not shown) of a larger support system that enables a user of the ultrasound imaging system 10 to freely position the scanning head 14.
  • the scanning head 14 comprises a cowling 44 that houses the transducer array 26.
  • the cowling 44 also has an opening in its lower side so that the transducer array 26 can project out of the cowling.
  • the cowling 44 at least partially surrounds the transducer array 26.
  • the ultrasound signals generated by the transducer array 26 are free to exit and ultrasound signals may be received by the transducer array 26 without any interference between the cowling 44 and the ultrasound signals.
  • the cowling 44 and the transducer array 26 form a probe assembly 60. The detailed construction of the probe assembly 60 will be explained later on with reference to the embodiments shown in Figs. 3 to 6.
  • the scanning head 14 comprises a guide rail 46 and a motor 48.
  • the motor 48 is coupled to a rod 52 via a belt 50.
  • this mechanical embodiment is for illustrative purposes only. Any other mechanical embodiments may be used to couple a motor 48 with the probe assembly 60.
  • the motor is, thus, enabled to rotate the rod 52 that is in threaded engagement with a moving element 50 for coupling to the probe assembly 60.
  • the moving element 54 linearly moves along the rod 52 and with the moving element 54, also the probe assembly 60 is scanned along the y-direction, that is the scanning direction 34.
  • An interface 45 connects the cowling 44 to the guide rail 46 and, via the guide rail 46, to the housing 36.
  • a cable guide 56 is provided.
  • the cable guide lies on a sliding surface 58.
  • a first embodiment of a probe 60 is shown.
  • the cowling 44 is at least partially shown in dashed lines in Fig. 3 and as shown more or less transparent to enable a view into the interior of the cowling 44.
  • the transducer array 26 projects out of the cowling 44.
  • the cowling 44 has a further opening for feeding the transducer cable through.
  • the cowling 44 comprises a cover 47 and a support plate (shown in Fig. 3a).
  • the support plate is positioned adjacent to a side 49 of the cover 47.
  • the side 49 may, for example, be the side that faces into the positive y- direction.
  • the probe assembly 60 comprises a suspension mechanism 70.
  • the suspension mechanism 70 suspends the movement of the transducer array 26 in the z- direction relative to the cowling 44. It has to be emphasized that the transducer array 26 is only movable in the z-direction relative to the cowling 44 and within the cowling 44. For movement along the scan direction 34 in the y-direction, the whole probe assembly 60 is scanned as explained above with reference to Fig. 2.
  • the suspension mechanism 70 comprises four elastic elements 72 that are designed as mechanical springs 73.
  • Each spring 73 is directly or indirectly attached to the cowling 44 with a first end and attached to the second slide element 64 with an opposite second end.
  • the springs 73 may be biased so as to choose a specific spring constant in an initial position of the transducer array 26 relative to the cowling 44.
  • the springs 73 are individually selected and also the number is chosen to provide an overall spring constant as desired.
  • the transducer array 26 will move relative to the cowling 44 with a certain force exerted on the transducer array 26 and the patient's body 12, respectively, during a scan process, i.e. movement of the probe assembly 60 along the y-direction.
  • the probe assembly 60 or the transducer array 26 is able to follow the contour of a patient's body 12 during the scan process. Further, sufficient contact to the patient's body 12 of the transducer array 26 is maintained during the scan process.
  • a position sensor 82 is provided which is just schematically shown as being attached to the cowling 44.
  • the position 82 may be attached to any other part of the probe assembly 60 to determine the position of the transducer array 26 relative to the cowling 44.
  • the position sensor 82 may be of any sufficient type.
  • the position sensor may be an optical sensor, a tactile sensor, a conductive sensor or an inductive sensor.
  • Hall sensors or else are known to a person skilled in the art to sufficiently determine the position of the transducer array 26.
  • a further possible arrangement for the position sensor is indicated by reference numeral 82'.
  • more than one position sensor may be present, in particular two position sensors 82, 82'.
  • a force sensor 84 is schematically shown in Fig. 3.
  • the force sensor 84 may also be positioned at any place within the probe assembly 60 to measure the force exerted on the patient's body and the transducer array 26, respectively.
  • a corresponding force may be calculated.
  • the position sensor 82 may act also as a force sensor 84.
  • an additional force sensor 84 can also be provided.
  • Fig. 3a it is shown a view opposite to that of Fig. 3.
  • the cover 47 and the transducer array 26 are cut away to enable a view on the remaining elements, in particular a support plate 110. All mechanical interfaces are on the support plate 110.
  • the support plate 110 itself may then be attached to the interface 45.
  • the cover 47 of the cowling 44 can be removed while the suspension mechanism 70 remains working.
  • the cover 49 serves for protection and additional mechanical frame stiffness.
  • the transducer array 26 may be attached to a first array connector 62 and a second array connector 114. By this, it is possible to attach the transducer array 26 on two of its sides.
  • the first array connector 62 is attached to a first guide rail 116.
  • the second array connector 114 is attached to a second guide rail 118.
  • the first and second guide rails 116 118 are each attached to the support plate 110.
  • the springs 73 are connected to the support plate 110 on the bottom side, i.e. the side in negative z-direction.
  • the upper part of each spring 73 is connected to a spring support bracket 64 that has its own guiding element 66 in the form of a rail connected to the support plate 110.
  • a spring preload adjustment bolt 68 that is screwed into the spring support bracket 64 and is attached to the first array connector 62, in particular makes a point contact with the first array connector 62.
  • the position sensor 82' may also be attached to the support plate 110.
  • An encoder scale may face to the first array connector 62 to enable the detection of a movement of the transducer array in the z-direction.
  • Fig. 4 shows an alternative embodiment of the probe assembly. Like elements are depicted with like reference numerals. In the following, merely the differences are explained.
  • the suspension mechanism 70 is designed in an alternative way.
  • the probe assembly may also comprise pneumatic actuators 74 or hydraulic actuators 76 to provide the suspension mechanism 70.
  • pneumatic actuators 74 or only hydraulic actuators 76 may be present.
  • the number of the actuators 74, 76 may be different. For example, merely one, two or three or more actuators 74, 76 may be present.
  • further channels, lines or conductors may be present to direct air, gas or liquid to and from the actuators 74, 76 which are not shown in Fig. 4.
  • a pressure of a gas within one or more of the actuators 74, 76 may be altered or the amount of liquid in one of the actuators 76 may be altered so as to directly steer or control a pressure exerted by the transducer array 26 on a patient's body 12.
  • Fig. 5 shows another alternative embodiment of the probe assembly 60. Again, like elements are shown with like reference numerals. In the following, merely differences are explained.
  • the suspension mechanism 70 also comprises two elastic elements 72.
  • the elastic elements are designed as block elements 78 comprising a elastic material, for example a rubber or a soft plastic.
  • the spring constant of such a block element may be known in advance.
  • Fig. 6 shows another embodiment of a probe assembly 60. Again, like elements are depicted with like reference numerals. In the following, merely the differences are explained.
  • a linear motor 80 is depicted that may form the suspension mechanism 70.
  • a motor 80 may be used to suspend the movement of the transducer array 26 in the z-direction relative to the cowling 44, e.g. via a motor brake. Further, by steering or control the motor 80, any position of the transducer array 26 relative to the cowling can be reached. By this, further, the force exerted by the transducer array 26 on the patient's body can be controlled.
  • Fig. 7 shows a schematic block diagram of the ultrasound system 10.
  • the ultrasound system 10 comprises an ultrasound probe (PR) 14, the controlling unit (CU) 16, the display (DI) 18 and the input device (ID) 20.
  • the scanning head 14 comprises a phased two-dimensional transducer array 26.
  • the probe head comprises the position sensor 82 and may further comprise the force sensor 84.
  • the probe head is provided to scan a volume 86.
  • the controlling unit (CU) 16 may comprise a central processing unit that may include analog and/or digital electronic circuits, a processor, microprocessor or the like to coordinate the whole image acquisition and provision.
  • the controlling unit 16 comprises a herein called main controller 96.
  • the main controller 96 does not need to be a separate entity or unit within the ultrasound system 10. It can be a part of the controlling unit 16 and generally be hardware or software implemented. The current distinction is made for illustrative purposes only.
  • the main controller 96 as part of the controlling unit 16 may control a beam former 90 and, by this, what images of the volume 86 are taken and how these images are taken.
  • the beam former 90 generates the voltages that drives the transducer array 26, determines parts repetition frequencies, it may scan, focus and apodize the transmitted beam and the reception or receive beam(s) and may further amplify filter and digitize the echo voltage stream returned by the transducer array 26.
  • a herein called image acquisition part of the main 96 controller of the controlling unit 16 may determine general scanning strategies. Such general strategies may include a desired volume acquisition rate, lateral extent of the volume, an elevation extent of the volume, maximum and minimum line densities, scanning line times and the line density as already explained above.
  • the image acquisition part does not need to be a separate entity or unit within the ultrasound system 10. It can be a part of the controlling unit 16 and generally be hardware or software implemented. The current distinction is made for illustrative purposes only.
  • the image acquisition part can also be implemented in, for example, the beam former 90 or the general controlling unit 16 or may be implemented as a software run on a data processing unit of the controller 16.
  • the beam former 90 further receives the ultrasound signals from the transducer array 26 and forwards them as image signals.
  • the ultrasound system 10 comprises a signal processor 92 that receives the image signals.
  • the signal processor 92 is generally provided for analogue-to- digital-converting, digital filtering, for example, band pass filtering, as well as the detection and compression, for example a dynamic range reduction, of the received ultrasound echoes or image signals.
  • the signal processor forwards image data.
  • the ultrasound system 10 comprises an image processor 94 that converts image data received from the signal processor 92 into display data finally shown on the display 18.
  • the image processor 94 receives the image data, preprocesses the image data and may store it in an image memory. These image data is then further post- processed to provide images most convenient to the user via the display 18.
  • the image processor 94 may form the three-dimensional images out of a multitude of two-dimensional images acquired along the scan direction 34.
  • the main controller my further comprise a force controller 100 to control a force exerted on a body of the patient 12 by means of the transducer array 26.
  • the force controller 100 does not need to be a separate entity or unit within the ultrasound system 10. It can be a part of the controlling unit 16 and generally be hardware or software implemented. The current distinction is made for illustrative purposes only.
  • the force controller 100 can also be implemented in, for example, the beam former 90 or the general controlling unit 16 or may be implemented as a software run on a data processing unit of the controller 16.
  • a user interface is generally depicted with reference numeral 98 and comprises the display 18 and the input device 20. It may also comprise further input devices, for example, a mouse or further buttons which may even be provided on the ultrasound probe 14 itself.
  • Fig. 8 shows a schematic block diagram of a method for providing a three- dimensional ultrasound image of a volume 86, wherein the volume 86 is scanned along a scan direction 34 via an automatically and mechanically scanned scanning head 14 of an ultrasound imaging system 10, wherein the scanning head 14 has a probe assembly 60 having a transducer array 26 linearly movable also perpendicular to the scan direction 34 in the z- direction.
  • a first step SI the volume is automatically scanned by mechanically scanning the probe assembly 60 within the scanning head 14 along the scan direction 34. By this, a number of two-dimensional ultrasound images is generated.
  • steps SI and S2 can also be referred to as being conducted in parallel.
  • step S3 the corresponding position of the transducer array 26 in the z-direction as tracked during step S2 is assigned to each two-dimensional ultrasound image.
  • each of the number of two-dimensional ultrasound images is shifted according to the respectively assigned position of the transducer array during acquisition of the respective image.
  • a computer program may be stored/distributed on a suitable medium, such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the Internet or other wired or wireless telecommunication systems.
  • a suitable medium such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the Internet or other wired or wireless telecommunication systems.

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Abstract

La présente invention concerne un réseau d'éléments de transducteur (26) balayé mécaniquement sur le corps du patient (12) et un volume (86) à examiner respectivement. Afin de maintenir un contact serré entre le volume (86) et le réseau de transducteurs (26), il est proposé un réseau de transducteurs (26) qui suit les contours du corps du patient (12) lors de l'enregistrement du mouvement du réseau dans la direction z. Ceci permet d'obtenir une reconstruction en 3D de l'image balayée.
PCT/IB2013/053923 2012-05-15 2013-05-14 Échographie en trois dimensions balayée mécaniquement et adaptée aux contours d'un corps WO2013171671A1 (fr)

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CN104739452A (zh) * 2013-12-30 2015-07-01 深圳迈瑞生物医疗电子股份有限公司 一种超声成像装置及方法
WO2016099720A1 (fr) * 2014-12-16 2016-06-23 General Electric Company Procédé et système d'échographie mammaire
US9855014B2 (en) 2014-12-16 2018-01-02 General Electric Company Compression paddle for use in breast imaging
CN108030513A (zh) * 2018-01-10 2018-05-15 武汉维视医学影像有限公司 一种用于超声ct的外扫描三维成像装置
CN108652676A (zh) * 2018-05-22 2018-10-16 青岛大学附属医院 一种防护性好的妇产科检查用阴道超声探头
EP3659515A1 (fr) * 2018-11-29 2020-06-03 Koninklijke Philips N.V. Système d'imagerie comprenant un réseau de transducteurs d'ultrasons et des électrodes de contact avec la peau, et procédé d'imagerie correspondant
CN112203589A (zh) * 2018-05-28 2021-01-08 皇家飞利浦有限公司 超声探头定位系统
US20210259662A1 (en) * 2020-02-24 2021-08-26 Verathon Inc. Systems and methods for 3d ultrasound imaging of extended targets
JP2023035876A (ja) * 2021-08-31 2023-03-13 ジーイー・プレシジョン・ヘルスケア・エルエルシー 超音波プローブ、走査アセンブリ、及び超音波撮像装置

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JPH10201762A (ja) 1997-01-24 1998-08-04 Prod K Design Jimusho:Kk 三次元超音波探触装置
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Publication number Priority date Publication date Assignee Title
CN104739452A (zh) * 2013-12-30 2015-07-01 深圳迈瑞生物医疗电子股份有限公司 一种超声成像装置及方法
WO2015100906A1 (fr) * 2013-12-30 2015-07-09 深圳迈瑞生物医疗电子股份有限公司 Appareil d'échographie et procédé
US11754577B2 (en) 2013-12-30 2023-09-12 Shenzhen Mindray Bio-Medical Electronics Co., Ltd. Ultrasound imaging device and imaging method thereof
US11231431B2 (en) 2013-12-30 2022-01-25 Shenzhen Mindray Bio-Medical Electronics Co., Ltd. Ultrasound imaging device and imaging method thereof
US9855014B2 (en) 2014-12-16 2018-01-02 General Electric Company Compression paddle for use in breast imaging
CN107106100A (zh) * 2014-12-16 2017-08-29 通用电气公司 乳房成像方法和系统
US9949719B2 (en) 2014-12-16 2018-04-24 General Electric Company Breast imaging method and system
WO2016099720A1 (fr) * 2014-12-16 2016-06-23 General Electric Company Procédé et système d'échographie mammaire
CN107106100B (zh) * 2014-12-16 2023-08-25 通用电气公司 乳房成像方法和系统
CN108030513A (zh) * 2018-01-10 2018-05-15 武汉维视医学影像有限公司 一种用于超声ct的外扫描三维成像装置
CN108652676A (zh) * 2018-05-22 2018-10-16 青岛大学附属医院 一种防护性好的妇产科检查用阴道超声探头
CN112203589A (zh) * 2018-05-28 2021-01-08 皇家飞利浦有限公司 超声探头定位系统
EP3659515A1 (fr) * 2018-11-29 2020-06-03 Koninklijke Philips N.V. Système d'imagerie comprenant un réseau de transducteurs d'ultrasons et des électrodes de contact avec la peau, et procédé d'imagerie correspondant
WO2021173337A1 (fr) * 2020-02-24 2021-09-02 Verathon Inc. Systèmes et procédés d'imagerie ultrasonore 3d de cibles étendues
US20210259662A1 (en) * 2020-02-24 2021-08-26 Verathon Inc. Systems and methods for 3d ultrasound imaging of extended targets
US11944488B2 (en) 2020-02-24 2024-04-02 Verathon Inc. Systems and methods for 3D ultrasound imaging of extended targets using interchangeable track stands
JP2023035876A (ja) * 2021-08-31 2023-03-13 ジーイー・プレシジョン・ヘルスケア・エルエルシー 超音波プローブ、走査アセンブリ、及び超音波撮像装置
JP7434453B2 (ja) 2021-08-31 2024-02-20 ジーイー・プレシジョン・ヘルスケア・エルエルシー 超音波プローブ、走査アセンブリ、及び超音波撮像装置

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