WO2014185560A1 - Transducteur comprenant un processeur frontal, dispositif de diagnostic d'image et procédé de traitement de signal - Google Patents

Transducteur comprenant un processeur frontal, dispositif de diagnostic d'image et procédé de traitement de signal Download PDF

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Publication number
WO2014185560A1
WO2014185560A1 PCT/KR2013/004219 KR2013004219W WO2014185560A1 WO 2014185560 A1 WO2014185560 A1 WO 2014185560A1 KR 2013004219 W KR2013004219 W KR 2013004219W WO 2014185560 A1 WO2014185560 A1 WO 2014185560A1
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Prior art keywords
signal
transducer
sub
array
end processor
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PCT/KR2013/004219
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English (en)
Korean (ko)
Inventor
조성택
노세범
석지원
Original Assignee
알피니언메디칼시스템 주식회사
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Publication of WO2014185560A1 publication Critical patent/WO2014185560A1/fr

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    • 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
    • G01S15/8927—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques using a static transducer configuration using a transducer array using simultaneously or sequentially two or more subarrays or subapertures
    • 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
    • G01S7/52023—Details of receivers
    • G01S7/52034—Data rate converters
    • 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
    • G01S7/5208—Constructional features with integration of processing functions inside probe or scanhead
    • 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
    • G10K11/34—Sound-focusing or directing, e.g. scanning using electrical steering of transducer arrays, e.g. beam steering
    • G10K11/341—Circuits therefor
    • G10K11/346—Circuits therefor using phase variation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R17/00—Piezoelectric transducers; Electrostrictive transducers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves

Definitions

  • the present invention relates to an imaging technique, and more particularly, to an ultrasound imaging apparatus.
  • the imaging device is a flower of a medical diagnostic device in that it can be seen without cutting the inside of the human body.
  • An X-ray diagnostic apparatus, a magnetic resonance imaging (MRI) diagnostic apparatus, an ultrasonic diagnostic apparatus, and the like are used as the imaging apparatus, and each has advantages and disadvantages thereof.
  • the ultrasound imaging apparatus has a merit that the real-time diagnosis is possible and the price is very low instead of the resolution being lowered. Accordingly, the ultrasound imaging apparatus has become an essential diagnostic device in almost all medical fields such as internal medicine, gynecology, pediatrics, urology, ophthalmology, radiology, and the demand is rapidly increasing.
  • the transducer converts the pulse of the electrical signal generated by the pulse generating module into an ultrasonic signal and transmits the ultrasonic signal to the object, and the ultrasonic signal reflected from the boundary of different media and returned back It converts the signal to the signal processing module of the main body.
  • the signal processing module may include TGC (Time Gain Compensation), Echo Processing, Spectral Doppler Processor (SDP) / Color Doppler Processor (CDP), Digital Scan Converter (DSC), etc. After performing proper signal processing of, it displays as an image on the display.
  • a transducer, an image diagnosis apparatus, and a signal processing method including a front end processor performing sub-array beamforming to minimize ADC sampling rate, minimize data rate, and save power are proposed.
  • a transducer is received by performing beamforming for each sub array group on an array element grouped into a plurality of sub array groups and ultrasonic analog signals received from an object through each element constituting the array element.
  • a front end processor including a plurality of sub-array beamforming units forming a beam.
  • the front end processor may further include a plurality of ADCs configured to convert the reception beams formed for each sub array group into digital signals through the sub array beam forming unit.
  • Each sub-array beamforming unit mixes a plurality of first amplifiers for amplifying a signal received through each element in a sub-array group, and an oscillation signal having a predetermined phase difference with the signals amplified by each first amplifier.
  • a plurality of mixers for outputting a mixing signal, a plurality of second amplifiers for amplifying the mixed signals output from each mixer, a summer for adding up signals amplified by the plurality of second amplifiers in the sub-array group, It may include a filter for extracting a predetermined band signal from the signal summed through the adder.
  • Each mixer can minimize the ADC sampling rate and data rate by mixing the RF signal amplified by each first amplifier and the oscillation signal generated by each local oscillator and frequency down-modulating the IF signal, which is an intermediate frequency band signal, respectively. have.
  • Each mixer outputs a signal whose frequency corresponds to the sum of the frequencies of the RF signal and the oscillation signal, and a signal whose frequency corresponds to the difference between the frequencies of the RF signal and the oscillation signal, and the transducer is different from the signal corresponding to the sum.
  • the apparatus may further include a frequency selection filter for selecting and filtering a signal corresponding to a difference among the signals corresponding to the difference.
  • the transducer may further include an interface unit for transmitting the digitally converted signal through the front end processor to the back end processor of the main body.
  • the interface unit may be a wireless interface transmitted using a wireless network.
  • the interface unit may include a first air interface unit for transmitting image data and a second air interface unit for transmitting a control signal.
  • an imaging apparatus performs beamforming for each sub array group on ultrasonic analog signals received from an object through each element constituting an array element grouped into a plurality of sub array groups.
  • a main body including a transducer including a front end processor for digitally converting a received beam after forming the beam, and a back end processor for receiving a signal processed by the transducer and performing digital processing to generate an image.
  • the imaging apparatus may further include an interface unit for wirelessly connecting the transducer and the main body.
  • a signal processing method using a transducer including receiving an ultrasonic signal reflected from an object through each element constituting an array element grouped into a plurality of sub array groups, and sub arrays.
  • the sub array beamforming is performed in the transducer having the front end processor, the number of channels can be reduced, the hardware configuration can be minimized, and power consumption can be minimized, thereby improving efficiency in operation time.
  • the sub-array beamforming process modulates the high frequency signal into an intermediate frequency signal through a mixer to minimize the ADC sampling rate and minimize the data rate to reduce post processing burden and greatly reduce power consumption.
  • FIG. 1 is a block diagram of an imaging apparatus according to an embodiment of the present invention.
  • FIG. 2 is a detailed configuration diagram of the front end processor of FIG. 1 according to an embodiment of the present disclosure
  • FIG. 3 is a detailed configuration diagram of a sub-array beamforming unit of FIG. 2 according to an embodiment of the present invention
  • 4 to 6 are reference diagrams for describing a beamforming process of a sub array beamforming unit
  • 7 to 9 are reference diagrams for explaining down conversion of a mixer according to an embodiment of the present invention.
  • FIG. 10 is a block diagram of an imaging apparatus according to a further embodiment of the present invention.
  • FIG. 11 is a flowchart illustrating a signal processing method of a transducer according to an embodiment of the present invention.
  • FIG. 1 is a block diagram of an image diagnosis apparatus according to an exemplary embodiment.
  • an imaging apparatus includes a transducer 1 and a main body 2, and an array element 10 and a front end processor in the transducer 1. 12 is included, and a back end processor 20 is included in the main body 2.
  • the array element 10 includes elements, which may basically generate ultrasonic signals when voltage is independently applied, and receive ultrasonic signals for each element.
  • elements which may basically generate ultrasonic signals when voltage is independently applied, and receive ultrasonic signals for each element.
  • an electrical signal is converted into an ultrasonic signal and transmitted to an object, for example, a human body, and the ultrasonic signal transmitted to the object is reflected at the boundary of the internal tissue of the object, The ultrasonic wave received at the element is converted into an electrical signal.
  • the array elements 10 are grouped into sub array groups. For example, if there are 12 elements constituting the array element 10, the elements may be grouped into a total of three groups so that there are four elements per one sub array group. In this case, the number of elements belonging to one sub array group may be determined in consideration of the image resolution.
  • the front end processor 12 is separated from the body 2 and located in the transducer 1.
  • the front end processor 12 processes the ultrasonic analog signals received from the object through each element constituting the array element 10 for each sub array group and then digitally converts them.
  • one channel for signal processing and transmission is formed for each sub array group.
  • the number of channels can be drastically reduced as compared with the case of forming channels for each element constituting the array element 10. For example, if four elements are grouped into one group, the number of channels can be reduced to 1/4.
  • hardware (H / W) configuration can be simplified, and the data rate is reduced, which is advantageous for signal transmission. In addition, power consumption can be minimized.
  • the detailed configuration of the front end processor 12 will be described later with reference to FIG. 2.
  • FIG. 2 is a detailed block diagram of the front end processor 12 of FIG. 1 according to an exemplary embodiment.
  • the front end processor 12 may include a plurality of sub-array beamforming units 120-1, 120-2,..., 120-n and a plurality of ADCs 122-1, 122-2,. -n).
  • the array elements 10 are grouped into n sub-array groups.
  • the transducer 1 includes n sub-array beamforming units 120-1, 120-2,. -n) and n ADCs 122-1, 122-2, ..., 122-n.
  • Each sub array beamforming unit 120-1, 120-2,..., 120-n performs sub array beamforming for focusing ultrasonic signals received from each element of the sub array group for each sub array group. To perform. For example, if you want to focus on a point through receive beamforming, the time from which the signal from the desired focus reaches each element is slightly different, and the phases are aligned by delaying the phases of the signals differently so that the time is the same. Then all add up. As described above, as the sub-array beamforming is performed, the number of channels can be reduced, the hardware configuration can be minimized, and further, power consumption can be minimized, which may be advantageous for operation.
  • Each ADC 122-1, 122-2, ..., 122-n converts the beamformed signal into a digital signal for each sub array group through the sub array beamforming units 120-1, 120-2, ..., 120-n. do.
  • an ADC is required for each element.
  • the channel is formed for each sub-array group so that the number of channels is reduced.
  • the number of ADCs can be drastically reduced compared to the case of forming channels.
  • ADCs are advanced devices that are costly and power consuming. Therefore, reducing the number of ADCs can reduce product manufacturing costs, simplify circuit configuration, and reduce power consumption.
  • FIG. 3 is a detailed block diagram of the sub-array beamforming unit 120-1, 120-2,..., 120-n of FIG. 2 according to an embodiment of the present invention.
  • the sub-array beamforming units 120-1, 120-2,..., 120-n may include a plurality of first amplifiers 1200-1, 1200-2,. (1220-1,1220-2, ..., 1220m), a plurality of second amplifiers 1230-1,1230-2, ..., 1230-m, a single summer 1240, and a single filter ( 1250).
  • FIG. 3 a case in which m elements are included in one sub array group is illustrated, and m first amplification units 1200-1, 1200-2,.
  • the plurality of first amplifiers 1200-1, 1200-2,..., 1200-m amplify a signal received through each element in the sub array group.
  • the plurality of first amplifiers 1200-1, 1200-2,..., 1200-m may be low noise amplifiers (LNAs).
  • the plurality of mixers 1220-1, 1220-2,..., 1220-m have oscillations having a predetermined phase difference with respect to the signals amplified by the first amplifiers 1200-1, 1200-2,.
  • the signals are mixed to output a mixed signal.
  • An oscillating signal having a predetermined phase difference may be generated from a local oscillating signal generator 1210-1, 1210-2,...
  • 'mixed' is generated by the signals amplified by the first amplifiers 1200-1,1200-2, ..., 1200-m and the local oscillators 1210-1, 1210-2, ..., 1120-m. It can be used to mean multiply the oscillation signal.
  • each mixer 1220-1, 1220-2,..., 1220-m is a high frequency band amplified by each of the first amplifiers 1200-1, 1200-2,.
  • the RF signal and the oscillation signals generated by the local oscillators 1210-1, 1210-2,..., 1520-m are mixed and frequency modulated into intermediate frequency signals.
  • the sampling rate of the ADC can be minimized and the data rate can be minimized, thereby reducing the post processing burden in the later stage.
  • power consumption can be significantly reduced.
  • the sampling rate refers to the number of samplings that can convert an analog signal into a digital signal within a given time
  • the data rate refers to the amount of data transferred from one point to another within a given time.
  • the plurality of second amplifiers 1230-1, 1230-2,..., 1200-m amplify the mixed signals output from the mixers 1220-1, 1220-2,.
  • the summer 1240 sums the signals amplified by the plurality of second amplifiers 1230-1, 1230-2,.
  • the filter 1250 extracts a predetermined band signal from the signal summed up through the summer 1240.
  • the filter 1250 may be a low pass filter (LPF).
  • beamforming may be implemented using a time delay circuit. For example, if you want to focus on a point through receive beamforming, the time from which the signal from the desired focus arrives at each element is slightly different. You can also use the method.
  • 4 to 6 are reference diagrams for explaining a beamforming process of the sub array beamforming units 120-1, 120-2, ..., 120-n.
  • FIG. 4 illustrates n sub-array beamforming units 120-1, 120-2,..., 120-n when there are n sub-array beamforming units 120-1, 120-2,. This is an expanded drawing.
  • FIG. 5 illustrates a local oscillation output signal generation and signal synthesis process using a single local oscillator 1210 in each sub array beamforming unit 120-1, 120-2, ..., 120-n. That is, a single local oscillator 1210 generates a local oscillation output signal, and the generated local oscillation output signals are respectively MUX 1260-1, 1260-2,. 1220-1, 1220-2, ..., 1220-m, and each mixer 1220-1, 1220-2, ..., 1220-m has a local oscillator 1210 and each mixer 1220-1, 1220.
  • a signal input through -2, ..., 1220-m and the signals amplified by each of the first amplifiers 1200-1, 1200-2, ..., 1200-m are mixed to output a mixing signal.
  • FIG. 6 illustrates a phase rotation process of the sub-array beamforming units 120-1, 120-2,..., 120-n, and the first amplification units 1200-1, 1200-2,. Since the received signals provided through the phases are different from each other, phase rotation for each received signal is applied to align the phases to have the same phase.
  • 7 to 9 are reference diagrams for explaining down conversion of a mixer according to an embodiment of the present invention.
  • FIG. 7 illustrates that the mixer (1220-1,1220-2, ..., 1220-m of FIG. 3) is amplified by the first amplification unit (1200-1,1200-2, ..., 1200-m of FIG. 3).
  • the frequency signal of each signal when downconverting to an IF signal by mixing the received RF signal and the LO signal which is an oscillation signal generated from the local oscillator (1210-1,1210-2, ..., 1120-m in FIG. 3).
  • the x-axis represents the magnitude of the frequency of the signal
  • the y-axis represents the power of the signal.
  • the vRF and vLO signals may be represented by Equation 1 below. same.
  • Equation 2 uses the trigonometric formula of Equation 3.
  • FIG. 8 is a graph showing the frequency magnitude of a mixed signal that can be generated when the RF signal and the LO signal are mixed through the mixers 1220-1, 1220-2,..., 1220-m according to an embodiment of the present invention.
  • the x-axis represents the magnitude of the frequency of the signal
  • the y-axis represents the power of the signal.
  • the mixers 1220-1, 1220-2,..., 1220-m may have a signal whose frequency corresponds to the sum of the frequencies of the RF signal and the LO signal (LO + RF signal). And output a signal (LO-RF signal) whose frequency corresponds to the difference between the frequencies of the RF signal and the LO signal.
  • LO-RF signal a signal whose frequency corresponds to the difference between the frequencies of the RF signal and the LO signal.
  • the frequency magnitude of the LO signal is greater than the frequency magnitude of the RF signal.
  • the frequency magnitude of the LO signal may be smaller than the frequency magnitude of the RF signal. If the frequency magnitude of the LO signal is smaller than the frequency magnitude of the RF signal, the signal corresponding to the difference between the frequencies of the RF signal and the LO signal becomes an RF-LO signal.
  • FIG. 9 is a circuit diagram illustrating an additional frequency selection filter 1270 for selecting a signal having a predetermined frequency from among mixed signals output through the mixer 1220 according to an embodiment of the present invention.
  • the frequency selection filter 1270 selects and filters a LO-RF signal corresponding to a difference from a signal LO-RF signal corresponding to a difference between the LO + RF signal described above with reference to FIG. 8.
  • the frequency of the LO-RF signal corresponds to IF.
  • the frequency select filter 1270 is positioned in front of the second amplifier 1230, but the frequency select filter 1270 may be positioned after the second amplifier 1230.
  • FIG. 10 is a block diagram of an imaging apparatus according to a further embodiment of the present invention.
  • the imaging apparatus includes an array element 10, a plurality of sub array beamforming units 120-1, 120-2,..., 120-n, and a plurality of ADCs 122-1, 122-2,. n), FPGA 124, interface 126, and back end processor 20.
  • the FPGA 124 receives the digitally converted signals through the plurality of ADCs 122-1, 122-2, ..., 122-n, processes them through filters and decimators, performs digital beamforming, and processes the processed digital signals. It stores in the memory and outputs various control signals.
  • the interface unit 126 is a means for connecting the transducer 1 and the back end processor 20 of the main body 2 to transmit the image data and control signals processed by the FPGA 124 to the back end processor 20. do.
  • the interface unit 126 may transmit and receive image data and control signals using wired serial communication, wired or wireless networks, and the like.
  • the network includes the Internet, a local area network (LAN), a wireless local area network (WLAN), a wide area network (WAN), a personal area network (PAN), and the like, but is not limited thereto. It can be another kind of network capable of transmitting and receiving.
  • the back end processor 20 may include a digital scan converter (DSC), a post processor, an image display, and the like.
  • DSC digital scan converter
  • the image diagnosis apparatus is formed of a main body consisting of a front end processor and a back end processor is formed separately from the transducer.
  • a cable is connected between the transducer and the main body, and in this case, problems may occur in electrical, physical, and medical aspects.
  • the cable capacitance on the electrical side can lead to signal degradation and signal to noise ratio (SNR) performance degradation, the physical side to ergonomic burden, and the medical side to infectious issues. May occur.
  • SNR signal to noise ratio
  • the front end processor located in the main body 2 by moving the front end processor located in the main body 2 to the transducer 1, to solve the above problems.
  • the transducer 1 and the back end processor 20 are wirelessly connected through a wireless interface
  • the length of the wired cable is physically separated by physically separating the transducer 1 and the back end processor 20.
  • signal degradation due to cable capacitance and SNR performance can be prevented.
  • the medical problem can be prevented from wired cable infection problem.
  • the medical effect can be applied to operating room, emergency room or other anesthesia where a sterile environment is required.
  • the medical effect can be applied to the fields of needle visualization, vascular access, and nerve blocks. .
  • FIG. 11 is a flowchart illustrating a signal processing method of the transducer 1 according to an embodiment of the present invention.
  • the transducer 1 receives an ultrasonic signal reflected from an object through each element constituting the array element 10 grouped into a plurality of sub array groups (600).
  • reception beamforming is performed on ultrasonic signals received from each element in the sub-array group for each sub-array group to form a reception beam (610).
  • the transducer 1 amplifies a signal received through each element in a sub-array group, mixes an oscillation signal having a predetermined phase difference by using a mixer for the amplified signal, and mixes the mixed signal. After outputting, amplify the mixing signal.
  • the signals amplified in the sub-array group are summed, and then a predetermined band signal is extracted from the summed signal.
  • the mixer may minimize the sampling rate and data rate of the ADC by frequency modulating the amplified high frequency band signal into an intermediate frequency band signal.
  • the transducer 1 converts a reception beam formed for each sub array group into a digital signal using an ADC (620).
  • the digital signal converted by the ADC for each sub array group is transmitted to the back end processor 20 of the main body 2.
  • the present embodiment has been described as a method related to an ultrasound image for convenience of description with reference to the embodiments of the present invention.
  • the present invention is not limited thereto, and various ultrasound imaging techniques such as elastic images, radar and sound signals are provided. It can be appreciated by those skilled in the art that the present invention can be applied to a process.

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Abstract

L'invention concerne un transducteur comprenant un processeur frontal, un dispositif de diagnostic d'image et un procédé de traitement de signal. Selon un mode de réalisation de l'invention, le transducteur comprend : un élément de réseau constitué d'une pluralité de groupes de sous-réseaux ; et un processeur frontal comprenant une pluralité d'unités de formation de faisceaux de sous-réseaux pour former des faisceaux de réception par formation de faisceaux de signaux analogiques ultrasonores qui proviennent d'un sujet par l'intermédiaire d'éléments respectifs formant l'élément de réseau pour chaque groupe de sous-réseau.
PCT/KR2013/004219 2013-05-13 2013-05-13 Transducteur comprenant un processeur frontal, dispositif de diagnostic d'image et procédé de traitement de signal WO2014185560A1 (fr)

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KR1020130053694A KR101489909B1 (ko) 2013-05-13 2013-05-13 프론트 엔드 프로세서를 갖는 트랜스듀서와 영상 진단장치 및 그 신호 처리방법

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US20090005684A1 (en) * 2007-06-28 2009-01-01 General Electric Company Transmit beamforming in 3-dimensional ultrasound
JP2011500253A (ja) * 2007-10-29 2011-01-06 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ 複数の撮像トランスデューサアレイを含む超音波アセンブリに対するシステム及び方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000279413A (ja) * 1999-03-30 2000-10-10 Terumo Corp 体腔内超音波診断装置
KR20020083321A (ko) * 2001-04-27 2002-11-02 주식회사 메디슨 표시 장치의 화소에 대응하는 복셀에서 수신 집속하는 3차원 초음파 영상 시스템
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