WO2015142306A1 - Procede et systeme associes a un systeme portatif d'imagerie ultrasonore - Google Patents

Procede et systeme associes a un systeme portatif d'imagerie ultrasonore Download PDF

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Publication number
WO2015142306A1
WO2015142306A1 PCT/TR2015/000118 TR2015000118W WO2015142306A1 WO 2015142306 A1 WO2015142306 A1 WO 2015142306A1 TR 2015000118 W TR2015000118 W TR 2015000118W WO 2015142306 A1 WO2015142306 A1 WO 2015142306A1
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WO
WIPO (PCT)
Prior art keywords
data
probe
ultrasound
transducer
acceleration
Prior art date
Application number
PCT/TR2015/000118
Other languages
English (en)
Other versions
WO2015142306A4 (fr
Inventor
Goksenin YARALIOGLU
Original Assignee
Ozyegin Universitesi
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 Ozyegin Universitesi filed Critical Ozyegin Universitesi
Publication of WO2015142306A1 publication Critical patent/WO2015142306A1/fr
Publication of WO2015142306A4 publication Critical patent/WO2015142306A4/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
    • A61B8/42—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
    • A61B8/13—Tomography
    • A61B8/14—Echo-tomography
    • 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

Definitions

  • the invention is related to portable ultrasonic imaging systems.
  • the invention is particularly related to ultrasonic imaging systems wherein the movement of the probe moved over the region to be imaged is detected by means of inertial sensors and the probe position is calculated using inertial sensor data via a positioning algorithm.
  • Ultrasonography is a commonly used imaging technique mat uses sound waves to visualize internal organs of patients. For imaging different parts of the body, medical professionals use hand- held probes that are moved on the organs to be directly imaged. Various probes are used to image different parts of the body and internal organs.
  • the key component of the ultrasonic imaging system is the ultrasonic transducer used for converting electrical and acoustic signals to each other. The transducer both generates and receives ultrasonic waves.
  • Ultrasonography systems operate quite similar to radar or sonar systems. The generated acoustic waves by the transducer are sent inside the patient's body. Said waves are reflected back from various parts of the body when they encounter an impedance change.
  • the reflected waves are collected by the transducer and reconverted to electrical signals.
  • a signal processing unit forms an image by processing these electrical signals.
  • Ultrasonic probes usually employ a transducer array to be able to steer and focus ultrasonic beams in the region of the patient body that is being imaged. Typically, these transducer arrays have 64, 96 or 128 elements. While in use, each element of the transducer is operated by dedicated beam former, driver and sense electronics. The driver electronics send precisely timed electrical signals to the transducer. The electrical signal is converted into acoustic signal by the transducer. In the receiving mode, acoustic echoes reflected from the tissue are re-collected by a dedicated sense electronic.
  • a transducer that scans mechanically.
  • a focused transducer composed of a single element, mechanically scans the region of the body to be imaged by means of a motor.
  • the focused transducer is connected to a platform driven by a motor which can rotate at a certain angle range. As the platform rotates at the specified angle range, the transducer sends an acoustic signal to the body part imaged and collects the reflections. By this means, the region is scanned by linear ultrasound signals and the image is formed by- displaying these linear ultrasound signals as to the scanner. This technique significantly reduces the transducer electronics.
  • the transducer in order to transmit ultrasound from the transducer to the patient's body, the transducer must be placed in a liquid filled environment.
  • the acoustic impedance of said liquid should be highly compatible with the human body and the impedance of the material forming the encapsulation. This process increases the complexity of the probe and thus limits cost reduction efforts.
  • inertial sensors have been used in ultrasonic imaging systems.
  • an inclination sensor accelerometer
  • Obtaining an ultrasound image is not the purpose of the inertial sensors used in this technique. For this reason, this approach does not help to the system in terms of reducing costs.
  • inertial sensors have been used to generate 3D volumetric images using a 2D probe. In this application, the positions of the manually scanned 2D images have been monitored using inertial sensors.
  • the present invention is related to method and system related to a portable ultrasonic imaging system that meets the aforementioned requirements, eliminates all the disadvantages and provides certain additional advantages.
  • the purpose of the invention is to provide a considerably low cost ultrasonic imaging system by monitoring probe movements using inertial sensors embedded inside the probe assembly.
  • Another object of the invention is to provide portability by decreasing the complexity of a system through the use of inertial sensors and to promote its widespread use by facilitating its use.
  • inertial sensors located within the body of the probe, which detects the position data by monitoring the acceleration and the rotational motion of the probein three-dimensional space, for with the perceived acceleration and rotation data is converted into position and direction data in the imaging unit through a positioning algorithm.
  • a series of inertial sensors monitors the rotation and the acceleration of an ultrasonic probe that emits and collects one dimensional ultrasound signals.
  • the step of angle and acceleration being obtained through said inertial sensors consists of the below steps:
  • said inertial sensors are formed by3-axis accelerometer and 3-axis gyroscope.
  • the power of said probe is provided by a rechargeable battery.
  • said transducer is curved.
  • said transducer is formed of the linear or circular transducer array.
  • Figure 1 Schematic view of a preferred alternative of a probe concept for the ultrasonic imaging system of the invention.
  • FIG. 1 A view of a preferred alternative of the imaging unit for the ultrasonic imaging system of the invention.
  • Figure 3 A schematic view of alternative application of the invention that also includes the schematic view of the probe.
  • Figure 4 A schematic view of another alternative application of the invention that also includes the schematic view of the probe.
  • Figure 5 A schematic view of another alternative application of the invention that also includes the schematic view of the probe.
  • Figure 6 A schematic view related to the operation of the probe.
  • Figure 7 A schematic view of a motion tracking algorithm.
  • Figure 8 A schematic view of a motion tracking algorithm wherein an e-compass is used.
  • FIG. 9 A schematic view of a signal-echo electronic REFERENCES USED IN THE FIGURES
  • the invention is related to a mechanically scanned, handheld probe (100) used for ultrasound imaging, which contains significantly reduced channels counts (2-4 an-ay elements).
  • Mechanically scanning is performed by the operator's hand movements. While the probe (100) is swungon the patient's body, the movement of the probe (100) in three dimensional space will be monitored by the inertial sensors.
  • the acceleration and rotation data from the inertial sensors are converted into position (X) data by using a positioning algorithm ( Figure 7, Figure 8) and this data is then used for the construction of the ultrasound image.
  • This approach significantly simplifies transducer electronics and, hence, reduces the system cost.
  • the ultrasound imaging system is composed of two functional units, namely the probe (100) and the imaging unit (201).
  • Figure 1 provides a schematic view of a preferred alternative of the probe (100).
  • Said probe (100) is formed of the probe body (101) and the transducer ( 102).
  • the diameter of the probe (100) is between 1 and 2 cm, while its length is between 10 and 15 cm.
  • the probe body (101) comprises electronics.
  • Figure 2 provides a view related to a preferred alternative of the imaging unit (201).
  • the imaging unit (201) may be a hand-portable unit or a computer to which the probe (100) may be connected by means of a wireless interface or a USB-like wired interface.
  • the imaging unit (201) receives the ultrasonic data and position data from the probe (100) and displays the constructed image on a screen.
  • FIG. 3 shows a block diagram of the probe ( 100).
  • the probe (100) is comprised of the transducer (102), inertial sensors (xyz accelerometer (109) and xyz gyroscope (106)) and driver electronics.
  • a pair of 6-axis inertial sensors (3 accelerometer and 3 gyroscope) may form the sub-circuit of the probe that detects the position.
  • There are MEMS sensors with sizes as small as 4 mm x 4 mm which might be used in the probe.
  • the driver electronics are formed of a wireless interface (107), microprocessor and timing generator (104), transmission/reception electronics (105) for ultrasound and an analog-to-digital converter (108) (ADC).
  • ADC analog-to-digital converter
  • Ultrasound transmission/reception electronics (105) generates a high voltage electrical signal based on the timing signals and control line generated by the microprocessor unit. This signal is applied to the transducer ( 102) and the transducer (102) converts this signal into a sound wave. The reflected sound signals are re-collected by the transducer (102) and these signals are converted back into electrical signals. After the amplification that strengthens said signals, these signals are converted into digital domain by the analog-to- digital converter (108). The microprocessor and timing generator unit (104) generates timing signals (1 1 1 ) for the motion sensors (106, 109) and the other sub systems (105, 107, 108).
  • the digital output of the inertial sensors is collected by the microprocessor unit (104) through the data bus (110) and transmitted together with the digitized acoustic signals to the imaging unit (201) by means of the wireless interface (107).
  • the wireless interface could be Bluetooth, Wide Bandor Wi-Fi. All electronics are powered by a battery (103). Rechargeable or normal batteries could be used to power up the probe electronics. .
  • Figure 4 shows another embodiment of the probe electronics.
  • an electronic compass sensor (1 12) xyz com.
  • Figure 5 shows another embodiment wherein the probe electronics, the motion sensor and the acoustics data are transmitted to the imaging units through a USB interface (107').
  • the battery (103) may be removed from the probe as the power for the system can be provided from the wired interface.
  • Figure 6 shows how an operator uses the probe.
  • the probe (100) may be rolled around the transducer (102).
  • the imaging unit receives inertial sensor and acoustic data.
  • the imaging unit (201) converts the acceleration and rotation data into position data.
  • Specific algorithms are used for converting the inertial sensor data that is received into position data.
  • Figure 7 shows an algorithm used to convert the data received from the inertial sensors into angle and position data. As the inertial sensors obtain the rotational velocity data and the linear acceleration data, integration of these quantitiesis necessary for determining the change of the angle of the probe and the distance covered by the probe. Moreover, it is necessary to remove the effect of gravity in order to eliminate its effect on acceleration.
  • the angle is found using a simple algorithm with the help of an integrator via the integration of the gyroscope signal (X j ).
  • the double integration of the accelerometer signal (Xi) provides the distance covered by the probe.
  • angle information provides the distance covered by the probe.
  • To find the actual orientation of the probe one needs to use angle information and subtract the gravity from each axis accordingly.
  • the algorithm shown in Figure 7 works well in fairly short periods of time. With the random noise on the gyroscope signal (Xj) and the accelerometer signal (Xj), this algorithm starts to diverge quickly.
  • An electronic compass (1 12) can be used to compensate for drift (1 12).
  • the electronic compass indicates the absolute direction of the probe.
  • the gyroscope signal (Xj ) can be calibrated using this information.
  • FIG. 8 provides the algorithm wherein the electronic compass (1 12) is used. This algorithm consists of the below process steps:
  • FIG 9 shows an example of the transmission/reception electronics (105).
  • a transistor is operated in avalanche-breakdown mode.
  • the charges accumulated in the capacitor (302) connected to the collector of the transducer (301) flow through the transducer.
  • This generates a high voltage electrical signal and creates an acoustic signal.
  • the amplifier is protected from the high voltage signal by the diode protection circuit. These diodes turn on in the event that the voltage over them exceeds certain level. However, during reception, small electrical signals can pass through the protection circuit.

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  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)

Abstract

L'invention concerne un système d'imagerie ultrasonore comprenant une sonde ultrasonore et une unité d'imagerie. La sonde à main balayée mécaniquement se compose d'un corps de sonde (101) et d'un transducteur, et contient un nombre réduit de canaux (2-4 éléments en réseau). Le balayage mécanique est mis en oeuvre par des mouvements de la main de l'opérateur. Le mouvement de la sonde, qui émet et reçoit des signaux ultrasonores unidimensionnels, est surveillé par des capteurs inertiels (accéléromètre, gyroscope), en particulier des capteurs MEMS. L'effet de la gravité sur l'accélération est supprimé. Les données d'accélération et de rotation sont converties en données de position, lesquelles sont ensuite utilisées pour construire l'image ultrasonore. La simplification importante des composants électroniques transducteurs permet de réduire le coût du système.
PCT/TR2015/000118 2014-03-20 2015-03-20 Procede et systeme associes a un systeme portatif d'imagerie ultrasonore WO2015142306A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
TR2014/03256 2014-03-20
TR201403256 2014-03-20

Publications (2)

Publication Number Publication Date
WO2015142306A1 true WO2015142306A1 (fr) 2015-09-24
WO2015142306A4 WO2015142306A4 (fr) 2015-11-19

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3653127A4 (fr) * 2017-07-11 2021-03-17 Telefield Medical Imaging Limited Système et procédé d'imagerie à ultrasons tridimensionnels portables
WO2021220269A1 (fr) * 2020-05-01 2021-11-04 Pulsenmore Ltd Système permettant d'acquérir des images ultrasonores

Citations (6)

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Publication number Priority date Publication date Assignee Title
WO2001028426A1 (fr) 1999-10-19 2001-04-26 Biomedicom Creative Biomedical Computing Ltd. Imagerie ultrasonore tridimensionnelle
WO2006127142A2 (fr) * 2005-03-30 2006-11-30 Worcester Polytechnic Institute Imagerie diagnostique ultrasonore en trois dimensions a main levee a capteurs de determination de position et d'angle
WO2009049363A1 (fr) * 2007-10-16 2009-04-23 Signostics Pty Ltd Interface utilisateur de dispositif de diagnostic médical
AU2011100208A4 (en) * 2010-03-05 2011-03-24 Signostics Limited Operator movement compensated scanning method and apparatus
US20110178707A1 (en) * 2010-01-21 2011-07-21 Invensense, Inc. Apparatus and methodology for calibration of a gyroscope and a compass included in a handheld device
EP2550919A1 (fr) 2011-07-26 2013-01-30 Samsung Medison Co., Ltd. Système ultrasonore et procédé de correction d'angle Doppler

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001028426A1 (fr) 1999-10-19 2001-04-26 Biomedicom Creative Biomedical Computing Ltd. Imagerie ultrasonore tridimensionnelle
WO2006127142A2 (fr) * 2005-03-30 2006-11-30 Worcester Polytechnic Institute Imagerie diagnostique ultrasonore en trois dimensions a main levee a capteurs de determination de position et d'angle
WO2009049363A1 (fr) * 2007-10-16 2009-04-23 Signostics Pty Ltd Interface utilisateur de dispositif de diagnostic médical
US20110178707A1 (en) * 2010-01-21 2011-07-21 Invensense, Inc. Apparatus and methodology for calibration of a gyroscope and a compass included in a handheld device
AU2011100208A4 (en) * 2010-03-05 2011-03-24 Signostics Limited Operator movement compensated scanning method and apparatus
EP2550919A1 (fr) 2011-07-26 2013-01-30 Samsung Medison Co., Ltd. Système ultrasonore et procédé de correction d'angle Doppler
US20130030299A1 (en) 2011-07-26 2013-01-31 Samsung Medison Co., Ltd. Ultrasound system and method for correcting doppler angle
KR20130012844A (ko) 2011-07-26 2013-02-05 삼성메디슨 주식회사 도플러 각도 자동 보정 방법 및 그를 위한 초음파 시스템

Non-Patent Citations (1)

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Title
HE ZHAO ET AL: "Motion Measurement Using Inertial Sensors, Ultrasonic Sensors, and Magnetometers With Extended Kalman Filter for Data Fusion", IEEE SENSORS JOURNAL, vol. 12, no. 5, 1 May 2012 (2012-05-01), pages 943 - 953, XP011440776, ISSN: 1530-437X, DOI: 10.1109/JSEN.2011.2166066 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3653127A4 (fr) * 2017-07-11 2021-03-17 Telefield Medical Imaging Limited Système et procédé d'imagerie à ultrasons tridimensionnels portables
AU2018301576B2 (en) * 2017-07-11 2023-12-07 Telefield Medical Imaging Limited Handheld three-dimensional ultrasound imaging system and method
WO2021220269A1 (fr) * 2020-05-01 2021-11-04 Pulsenmore Ltd Système permettant d'acquérir des images ultrasonores

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