LANDMARKS FOR ULTRASOUND IMAGING

• US 20130211243A1
• Filed: 01/23/2013
• Published: 08/15/2013
• Est. Priority Date: 01/23/2012
• Status: Active Grant

• Current Assignee: BK Medical Holding Company, Inc.
• Original Assignee: Ultrasonix Medical Corporation (Analogic Corporation)
• Inventors: Pelissier, Laurent, Zhang, Bill, Zhuang, Bo
• Granted Patent: US 9,295,449 B2
• Time in Patent Office: Days
• US Class Current: 600/424
• CPC Class Codes: A61B 10/02 Instruments for taking cell samples or for biopsy A61B10/0038 and A61B10/0045 take precedence; needle locating or guiding means A61B17/3403; samplers for enzymology or microbiology C12M1/26; sampling or preparing biological specimens G01N33/48
• CPC Class Codes: A61B 10/0233 Pointed or sharp biopsy instruments
• CPC Class Codes: A61B 2017/3413 guided by ultrasound
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 8/0841 for locating instruments
• CPC Class Codes: A61B 8/14 Echo-tomography
• CPC Class Codes: A61B 8/4254 using sensors mounted on the probe
• CPC Class Codes: A61B 8/4263 using sensors not mounted on the probe, e.g. mounted on an external reference frame
• CPC Class Codes: A61B 8/463 characterised by displaying multiple images or images and diagnostic data on one display composite display in devices for short-range imaging with acoustic waves G01S7/52074
• CPC Class Codes: A61B 8/469 for selection of a region of interest
• CPC Class Codes: A61B 8/5292 using additional data, e.g. patient information, image labeling, acquisition parameters

Abstract

An ultrasound imaging system has a 3D location system and a data store for recording locations within a patient. Navigation to target locations is facilitated by providing graphical elements superposed on a 2-dimensional image. The size and/or color of the graphical elements are controlled in real time based on distance of the target location(s) from a current image plane. This provides intuitive visual feedback and can be achieved with low computational requirements.

Claims

1. Ultrasound imaging apparatus comprising:

an ultrasound probe configured to transmit ultrasound signals and to receive ultrasound echo signals;

an ultrasound system configured to process the ultrasound echo signals to yield a two-dimensional ultrasound image representing an image plane within a subject;

a display connected to display the ultrasound image;

a position-sensing system configured to monitor a position and orientation of the ultrasound probe in a coordinate system to yield probe position and orientation information;

a processor configured to;

process the probe position and orientation information to determine;

a display location in the ultrasound image corresponding to a perpendicular projection of a predetermined location onto the image plane and a distance between the predetermined location and the image plane; and

superimpose on the ultrasound image on the display location marking indicia at the display location and having one or more appearance characteristics determined at least in part by the distance between the predetermined location and the image plane.

2. An apparatus according to claim 1 wherein the position sensing system comprises a fiducial sensor configured to be applied at a predetermined fixed location relative to a subject, the position sensing system is configured to monitor a position and orientation of the fiducial sensor to yield fiducial position and orientation information and the processor is configured to use the fiducial position and orientation information in determining the display location and the distance between the predetermined location and the image plane.

3. An apparatus according to claim 2 further comprising a tool configured to be inserted into the subject,

wherein the position-sensing system is configured to monitor a position and orientation of the tool to yield tool position and orientation information and the processor is configured to process the tool position and orientation information to determine a position of a point on the tool relative to the image plane.

4. An apparatus according to claim 3 wherein the processor is configured to store information specifying the position of the point on the tool in response to a triggering event.

5. An apparatus according to claim 4 wherein the tool comprises a biopsy device and the triggering event comprises operation of the biopsy device to acquire a biopsy sample.

6. Apparatus according to claim 4 comprising a user interface wherein the triggering event comprises actuation of a control of the user interface.

7. An apparatus according to claim 3 wherein the processor is configured to process the tool position and orientation information to determine a tool location in the ultrasound image corresponding to a perpendicular projection of the point on the tool onto the image plane and a distance between the point on the tool and the image plane and to superimpose on the ultrasound image on the display tool indicia located at the tool location and having one or more appearance characteristics determined at least in part by the distance between the point on the tool and the image plane.

8. An apparatus according to claim 7 wherein the tool indicia and the location marking indicia are different in appearance.

9. An apparatus according to claim 3 wherein the processor is configured to determine from the orientation of the tool an intersection point at which the tool will intersect the image plane if inserted to the patient along a current trajectory and to superimpose on the ultrasound image indicia indicating a location in the ultrasound image corresponding to the intersection point.

10. An apparatus according to claim 1 wherein the processor is configured to suppress display of the location marking indicia when the distance between the predetermined location and the image plane exceeds a threshold distance.

11. An apparatus according to claim 10 wherein the threshold distance is adjustable by way of a user interface control.

12. An apparatus according to claim 1 wherein the one or more appearance characteristics of the location marking indicia is determined in part by whether the predetermined location is on a first side of the image plane or is on a second side of the image plane opposed to the first side.

13. An apparatus according to claim 12 wherein the location marking indicia comprises an outline shape and a size of the outline shape is set based upon the distance between the predetermined location and the image plane.

14. An apparatus according to claim 12 wherein a color of the location marking indicia is set based upon whether the predetermined location is on the first side or the second side of the image plane.

15. An apparatus according to claim 14 wherein the location marking indicia is colored green when the predetermined location lies within a threshold distance of the image plane.

16. An apparatus according to claim 1 wherein the visual characteristics comprise one or more of:

colour, brightness, transparency, size, or shape of the location marking indicia.

17. An apparatus according to claim 16 wherein the visual characteristics comprise a color of the location marking indicia, and wherein the color of the location marking indicia is set based on the signed distance between the predetermined location and the image plane.

18. An apparatus according to claim 17 wherein the location marking indicia comprises a first color when the predetermined location is on a first side of the image plane and the location marking indicia comprises a second color distinct from the first color when the predetermined location is on a second side of the image plane opposed to the first side of the image plane.

19. An apparatus according to claim 1 wherein the processor is configured to process the probe position and orientation information to determine for each of one or more additional predetermined locations:

an additional display location in the ultrasound image corresponding to a perpendicular projection of the additional predetermined location onto the image plane and a distance between the additional predetermined location and the image plane; and

to superimpose on the ultrasound image at the additional display location an additional location marking indicia having one or more appearance characteristics determined at least in part by the distance between the additional predetermined location and the image plane.

20. Apparatus according to claim 1 wherein the processor is configured to generate an array of additional locations which are located relative to the predetermined location and to store the locations of the array of additional locations as additional predetermined locations.

21. Apparatus according to claim 1 wherein the processor is configured to update the position and appearance of the location marking indicia in real time.

22. An apparatus for providing information regarding the relationship between the location of a selected point within the body of a patient and the location and orientation of an ultrasound probe, the apparatus comprising a processor, wherein:

the processor is configured to receive first information indicating the location and orientation of the ultrasound probe;

the processor is configured to determine, based on the first information, second information indicating the location and orientation of a 2D region within the body of the patient scanned by the ultrasound probe;

the processor is configured to receive third information indicating the location of the selected point;

the processor is configured to determine, based the second and third information fourth information indicating whether or not the selected point lies within the 2D region; and

the processor is configured to set location and appearance of indicia on a display based on the fourth information.

23. An apparatus according to claim 22 wherein:

the processor is configured to determine, based on the second and third information fifth information indicating the distance between the selected point and a point within the 2D region which is closest to the selected point; and

to control appearance of the indicia based at least in part on the fifth information.