Method and apparatus for ultrasound imaging, particularly for three-dimensional imaging

• US 20020016546A1
• Filed: 06/15/2001
• Published: 02/07/2002
• Est. Priority Date: 06/22/2000
• Status: Active Grant

• Current Assignee: Esaote SpA
• Original Assignee: Esaote SpA
• Inventors: Cerofolini, Marino
• Granted Patent: US 6,572,548 B2
• Time in Patent Office: Days
• US Class Current: 600/443
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/14 Echo-tomography
• CPC Class Codes: A61B 8/445 Details of catheter construction
• CPC Class Codes: A61B 8/4461 Features of the scanning mechanism, e.g. for moving the transducer within the housing of the probe
• CPC Class Codes: A61B 8/483 involving the acquisition of a 3D volume of data
• CPC Class Codes: G01S 15/894 by rotation about a single axis
• CPC Class Codes: G01S 15/8993 Three dimensional imaging systems
• CPC Class Codes: G01S 7/52046 Techniques for image enhancement involving transmitter or receiver image enhancement by image data processing G06T5/00
• CPC Class Codes: G01S 7/52068 Stereoscopic displays; Three-dimensional displays; Pseudo 3D displays G01S15/8993 takes precedence
• CPC Class Codes: G01S 7/52085 Details related to the ultrasound signal acquisition, e.g. scan sequences control of medical diagnostic ultrasound devices A61B8/54
• CPC Class Codes: G10K 11/355 Arcuate movement
• CPC Class Codes: Y10S 128/916 Ultrasound 3-D imaging

Abstract

A method of ultrasound imaging, including the following steps:

transmitting ultrasonic beams generated by transducers (20) into an object volume (v) such as an object body or a part thereof;

receiving (20) and storing (3) signals reflected from said object volume;

processing the received signals into image data associated to image dots or lines of a video display (8);

displaying at least a few image data on the display (8) in accordance with parameters set by a user and related to a predetermined section or projection plane of the image of said object volume.

According to the invention, scanning is only performed in the region of the object body which coincides with the section plane or the image projection plane (P) of the object volume along which imaging is to be performed.

Claims

1. A method of ultrasound imaging, including the following steps:

transmitting ultrasonic beams generated by transducers (20) into an object volume (v) corresponding to an object body or a part thereof;

receiving (20) and storing (3) signals generated by the ultrasonic beams in said object volume;

processing the received signals into image data associated to image dots or lines of a video display (8);

displaying at least a few image data on the display (8) in accordance with parameters set by a user and related to a predetermined section or projection plane of the image of said object volume,

processing of ultrasonic beams and/or displaying being specifically predetermined with reference to a preliminary selection of a section plane or an image projection plane of the object volume to be imaged.

characterized in that it includes the following additional steps;

defining a virtual volume coincident with the object body or part thereof or a three-dimensional reference system, provided it has a definite orientation with respect to the imaging planes generated by the ultrasound probe;

selecting the section plane of the object body and/or part thereof along which ultrasound imaging is to be performed;

determining the position-defining coordinates for the dots which form said section plane along which imaging is to be performed, with reference to the virtual volume;

restricting the scanning operation to the region which coincides with said section plane along which imaging is to be performed;

transmitting the transmission signals and receiving the reflected echoes only along such lines of view of the probe which coincide with the surface or the projection slice of the selected section plane along which imaging is to be performed;

only processing and displaying the received echo signals.

2. A method as claimed in claim 1, characterized in that it is provided in combination with so-called three-dimensional ultrasound imaging.

3. A method as claimed in claim 1 or 2, characterized in that it is provided in combination with the injection of contrast agents into the object volume and with the detection of echo signals having harmonic frequencies of the second and/or higher order than the fundamental frequency.

4. A method as claimed in one or more of the preceding claims, characterized in that ultrasound scanning of the whole object volume is performed by receiving and storing reflected echo signals even of regions which are not coincident with the selected section plane or with the selected projection plane to be imaged while there is provided, simultaneously to or after image processing of signals coinciding with said planes (P), even processing of the remaining signals or signal portions into image data, there being provided different ultrasonic signal transmission and reception modes along the different scan lines which form each scan plane of the probe depending on whether the lines (SCNL, SCNL(1), SCNL(1+N), SCNL(1+m)) are coincident with the section plane (P) to be imaged or non coincident therewith.

5. A method as claimed in claim 4, characterized in that scanning is performed with non optimal parameters, hence in a shorter time, for the scan lines which do not coincide with the section plane (P) along which imaging is to be performed, whereas scan parameters are optimized for the scan lines which coincide with the section plane (P) along which imaging is to be performed.

6. A method as claimed in one or more of the preceding claim 4 or 5, characterized in that the number of scan lines is reduced or a smaller number of transducers is activated to scan along the scan lines which do not coincide with the scan plane (P) to be imaged, as compared with the number of lines or the number of transducers activated in the regions of the scan plane of the probe which coincide with the section plane (P) along which imaging is to be performed.

7. A method as claimed in one or more of the preceding claims, including the following steps:

performing a three-dimensional scan of the object volume, i.e. transmitting ultrasonic signals into the object body while focusing them along individual section planes (S1, S2, S3, Sn) having different orientations or positions and such that all the individual section planes (S1, S2, S3, Sn) together cover different and predetermined sections arranged over the extension of the whole object volume, or focused on individual adjacent unit volumes which cover, as a whole, all the object volume, and receiving the corresponding reflected echoes, each section plane being formed by a series of parallel and adjacent section lines, or each section slice being formed by a plurality of unit scan volumes, which are formed, in turn, by a plurality of adjacent scan lines;

processing the received echo signals into image data in relation to their position in space with reference to scan modes;

storing image data in a memory in univocal relation to the corresponding spatial position information and transforming them into image dots or lines on a video display;

the method being further characterized by the following steps;

generating a virtual volume, containing or coinciding at least partly with the volume of the object body or part thereof or a three-dimensional reference system, provided it has a precise orientation with respect to the imaging planes generated by the ultrasound probe;

setting or selecting the orientation of a predetermined section plane (P) of the object volume (V) or of a predetermined projection plane of said object volume prior to the scanning, processing and displaying process;

determining the lines (L1, L2, L3, Ln) of said selected section or projection plane (P) which intersect the individual scan planes (S1, S2, S3, Sn) and/or the unit volumes coinciding with said section or scan plane.

only transmitting ultrasonic signals and receiving echoes therefrom along said lines of said selected section or projection plane which intersect the individual scan planes and/or the unit volumes coinciding with said section or scan plane.

processing into image data and into signals for controlling the video display (8) only such reflected signals or parts thereof which are related to said lines (L1, L2, L3, Ln) intersecting the selected section plane or projection plane (P) to be displayed.

8. A method as claimed in one or more of the preceding claims, characterized in that it includes the following steps:

defining a virtual volume, which at least partially coincides with or encloses the object body or part thereof or a three-dimensional reference system, with respect to a first scan plane of the ultrasound probe.

selecting and setting position and orientation parameters of the section plane (P) or of the projection plane (P) to be imaged, relative to said virtual volume;

identifying the transmission signals and the corresponding echoes which relate to dots, unit volumes, lines or discrete bands or slices coincident or substantially coincident with said section plane or with said projection plane to be imaged by simply comparing the position references of the dots and/or lines contained in said section plane or in said projection plane to be imaged with the scan planes of the probe;

three-dimensionally scanning the object volume (V) only in the region coinciding with the section plane (P) along which imaging is to be performed, and storing the received echo signals and spatial position references univocally related thereto, with reference to individual discrete dots or unit volumes and/or to discrete scanning lines or bands or slices;

relating position and orientation parameters for the section plane (P) or projection plane which has been predetermined for imaging with the references to the spatial position of each received signal;

only processing the received echo signals relating to dots or lines which coincide or substantially coincide with the dots or lines contained in the section plane (P) or in the projection plane to be displayed.

9. A method as claimed in one or more of the preceding claims, characterized in that it may be arranged that only certain ultrasonic signals are transmitted and/or that focusing is performed only in certain regions or along certain lines, with reference to the lines (L1, L2, L3, Ln) or volumes of each scan plane (S1, S2, S3, Sn) and/or scan unit volume respectively, which intersect with said selected section plane (P) or projection plane.

10. A method as claimed in one or more of the preceding claims, characterized in that, in order to ensure a certain reliability, scanning tolerances may be set to provide that scanning is not only performed along lines or unit volumes coinciding with the section plane (P) along which imaging is to be performed or with the projection thereof, but also, within predetermined limits, in the regions directly adjacent to said section plane or to the projection thereof.

11. A method as claimed in one or more of the preceding claims, characterized in that it is provided in combination with scanning probes of the so-called linear electronic or mechanical or phased array type, or with so called sector-sector probes or with probes of the above or different type having transducers arranged over a two-dimensional surface, named 2D array probes.

12. A method as claimed in one or more of the preceding claims, characterized in that it provides that probes are displaced along a dimension of the object volume, i.e. in a direction substantially transverse to the scan planes (S1, S2, S3, Sn) or to scan volumes in a manual, mechanical or motorized manner, by linear indexing, or by oscillation or rotation, the relative position of the individual planes being determined with reference to a reference plane, e.g. the plane (S1) of the first scan and by means of position sensors which detect the position and the orientation of the probe or, in the case of motorized means, thanks to the prefixed steps of the probe from the starting position to scan the first scan plane (S1).

13. A method as claimed in one or more of the preceding claims, wherein all received signals related to the whole volume scan are stored and processed off line, i.e. parallel to or after the signals to be displayed in real time, and are stored in appropriate physical or electronic mass-memory units to be possibly recalled by the operating personnel to display, at a later time, images of any section or projection plane or images obtained from the combination of said images.

14. An ultrasound imaging apparatus, particularly for three-dimensional ultrasound imaging, according to the method as claimed in one or more of claims 1 to 13, comprising:

a probe (2) having transducers (20) for generating ultrasonic pulses and receiving said pulses;

a control unit for generating and focusing said transmitted ultrasonic pulses in accordance with predefined scan modes (1);

a unit for reconstructing reflected echo signals with reference to focusing modes;

a unit for converting echo signals received and reconstructed into image data (4) and a unit for storing said image data in which said image data are related to position parameters based on scan modes;

a unit for processing said image data into signals for controlling a displaying monitor;

a unit (6) for setting spatial orientation parameters of the section and projection planes of the object volume along which imaging is to be performed;

a unit for controlling access to the image data memory and processing of said data into control signals for the displaying monitor based on the settings of spatial orientation parameters of section or projection planes of the object volume to be displayed;

the unit for controlling the scanning process and the unit (4) for controlling access to the image data memory (3) and processing of said data into control signals for the displaying monitor being controlled based on the settings of spatial orientation parameters of section or projection planes of the object volume to be imaged for transmission and reception, as well as for processing and storage of such signals which only relate to dots, lines or unit volumes coinciding with said selected section or projection planes along which imaging is to be performed.

15. An apparatus as claimed in claim 14, characterized in that it includes a main processor (5) whereto the means (7) for inputting the selected orientation of the plane (P) to be imaged and (6) the selected ultrasound imaging modes (B-mode, Doppler, Power Doppler, Harmonic Imaging, etc.) are associated, which controls a scan control processor (1) whereto the scanning probe (2) is connected, a processor (4) for converting image data into monitor control signals and a storage control processor (9), whereto means for storage onto physical media (10, 12) are connected;

a RAM unit (3) whereto the positions of the individual scanning dots, planes or unit volumes (S1, S2, S3, Sn) are provided by the scan processor (1) and whereto the storage control processor (9) and the processor (4) for converting scans into image data, as well as the displaying monitor (8) are connected.

16. An apparatus as claimed in claim 14 or 15, characterized in that the RAM unit (3) is a four input/output memory.

17. An apparatus as claimed in claim 16, characterized in that the RAM unit (3) includes inputs/outputs for data and addresses, the addresses being intended to univocally define the spatial positions of image data being univocally related thereto.

18. An apparatus as claimed in claims 16 and 17, characterized in that the probe 1 is connected, by its echo signal output to the dedicated data input (DATA 1) of the RAM unit (3), whereas the scan control processor (1) is connected to the dedicated address input (addresses 1) of the RAM unit (3), and the scan converting processor (4), the so-called scan converter is connected to a dedicated input/output (data 3) and to the dedicated address input (addresses 3) of said memory.

19. An apparatus as claimed in one or more of the preceding claims 16 to 18, characterized in that the scan converting processor (4) is a so-called linear or two-dimensional converter.

20. An apparatus as claimed in one or more of the preceding claims 16 to 19, characterized in that the displaying monitor is connected to a dedicated data input/output (data 2) and to a dedicated address input/output (addresses 2) of the RAM unit (3).

21. An apparatus as claimed in one or more of the preceding claims, characterized in that the storage control processor (9) is connected to a dedicated data input/output (data 4) and to a dedicated address input/output (addresses 4).

22. An apparatus as claimed in claims 14 to 21, characterized in that it provides the use of probes for three-dimensional imaging, particularly linear motorized probes of the electronic or mechanical type and/or of the so-called phased array type.

23. An apparatus as claimed in one or more of the preceding claims 14 to 22, characterized in that the probe (2) comprises an array of transducers (20) arranged side-by-side along a straight line and supported in such a manner as to swing (23) about the axis of an axle (24) parallel to said straight line along which the transducer array (20) extends, there being provided an electric motor (27) which controls the oscillation of the transducer array (20) through a drive.

24. An apparatus as claimed in claim 23, characterized in that the electric motor (27) and the drive for starting (28, 29) the oscillation of the transducer array (20) are housed inside a probe case (30, 31).

25. An apparatus as claimed in one or more of the preceding claims 22 to 24, characterized in that the probe case includes a housing (32) in an end portion thereof, which is sealed (31, 33) and houses the transducer array (20), the swing axle (24, 40), and the drive (29, 28), and a housing (31) for accommodating and allowing the passage of the connecting wires and of the motor (27, 44), the two housings (32, 31) being separated from each other in a liquid-tight manner and there being provided a liquid-tight passage for the connecting wires and the motor shaft from one housing to the other.

26. An apparatus as claimed in one or more of the preceding claims 22 to 25, characterized in that the probe is of the mechanical type, the transducer array (20) being allowed to swing along two transverse axles (24, 40).

27. An apparatus as claimed in claim 26, characterized in that the two swing axles (24, 40) are parallel to the plane which is in turn parallel to the transmission surface of the transducer array (20).

28. An apparatus as claimed in claim 26 or 27, characterized in that each of the swinging movements along one of the two axles (24, 40) respectively is controlled by a separate motor (27, 44) through a drive (25, 26;

42, 45).

29. An apparatus as claimed in one or more of the preceding claims 26 to 28, characterized in that the probe has a member (23) for supporting the transducer array (20) which is mounted in such a manner as to swing about one of the two axes of the swing axles (24) and which support (23) is connected, through a mechanical drive (25, 26) to a first control motor (27), said support member (23), together with the transducer array (20), said first swing axle (25, 26) and their control motor (27) being supported on a second support member (41) which is in turn mounted in such a manner as to swing about the axis of a second swing axle (40) transverse to the other (24) and there being provided drive means (42, 45) to mechanically connect the second support member (41) to a second control motor (44).

30. An apparatus as claimed in one or more of the preceding claims 26 to 29, characterized in that the transducer array may not be disposed along a straight line, as in the so-called linear array, but over a surface, thereby being named two-dimensional array.

36. A probe as claimed in one or more of the preceding claims 23 to 35, characterized in that each of the swinging movements along one of the two axles (24, 40) respectively is controlled by a separate motor (27, 44) through a drive (26, 26, 42, 45).

31. An ultrasound imaging probe, particularly for three-dimensional imaging, characterized in that it comprises an array of transducers (20) arranged side-by-side along a straight line and supported in such a manner as to swing about the axis of an axle parallel to said straight line along which the transducer array (20) extends, there being provided an electric motor (27, 44) which controls the oscillation of the transducer array (20) through a drive (25, 26, 42, 45).

32. A probe as claimed in claim 31, characterized in that the electric motor (27, 44) and the drive (25, 26, 28, 29, 43, 45) for starting the oscillation of the transducer array (20) are housed inside a probe case (30, 31, 32).

33. A probe as claimed in claims 31 or 32, characterized in that the probe case includes a housing (32) in an end portion thereof, which is sealed (30, 33) and houses the transducer array (20), the swing axle (24, 40), and the drive (25, 26, 27, 28, 42, 45), and a housing (31) for accommodating and allowing the passage of the connecting wires and of the motor (27, 40), the two housings being separated from each other in a liquid-tight manner and there being provided a liquid-tight passage for the connecting wires and the motor shaft from one housing to the other.

34. An apparatus as claimed in one or more of the preceding claims 31 to 33, characterized in that the probe is of the mechanical type, the transducer array (20) being allowed to swing along two transverse axles (24, 40).

35. An apparatus as claimed in claim 34, characterized in that the two swing axles (24, 40) are parallel to the plane which is in turn parallel to the transmission surface of the transducer array (20).

37. A probe as claimed in one or more of the preceding claims 31 to 36, characterized in that the probe has a member (23) for supporting the transducer array (20) which is mounted in such a manner as to swing about one (24) of the two axes of the swing axles and which support is connected, through a mechanical drive (25, 26) to a first control motor (27), said support member (23), together with the transducer array (20), said first swing axle (25, 26) and their control motor (27) being supported on a second support member (41) which is in turn mounted in such a manner as to swing about the axis of a second swing axle (40) transverse to the other (24) and there being provided drive means (42, 45) to mechanically connect the second support member (41) to a second control motor (44).

38. A probe as claimed in one or more of the preceding claims 31 to 37, characterized in that the transducer array may not be disposed along a straight line, as in the so-called linear array, but over a surface, thereby being named two-dimensional array.