Ultrasonic transducer orientation sensing and display apparatus and method

• US 5,701,900 A
• Filed: 05/01/1995
• Issued: 12/30/1997
• Est. Priority Date: 05/01/1995
• Status: Expired due to Fees

• Current Assignee: Cedars-Sinai Medical Center (Cedars Sinai Health System)
• Original Assignee: Cedars-Sinai Medical Center (Cedars Sinai Health System)
• Inventors: Shehada, Ramez E., Grundfest, Warren S.
• Primary Examiner(s): MANUEL, GEORGE C
• Application Number:
  US08/433,866
• Time in Patent Office: 974 Days
• Field of Search: 128/662.03, 73/620-623, 33/343, 33/340, 33/341, 33/365, 33/366
• US Class Current: 600/463
• 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 8/4488 the transducer being a phased array

Abstract

An ultrasonic transducer orientation sensing and display apparatus, and related method, for use in providing an accurate representation of the orientation of an ultrasonic transducer'"'"'s imaging plane. The orientation sensing and display apparatus includes an ultrasonic transducer having an integral orientation sensor, a processor, and a display. The representation of the imaging plane as indicated on the display is based on electrical signals generated by the orientation sensor. The ultrasonic transducer, in accordance with one embodiment of the present invention, is integrated near the distal end or tip of an elongated tube of a laparoscopic instrument used for ultrasonic imaging. The orientation sensor is a biaxial gravitational sensor, composed of two orthogonal sensing toroids to sense rotation about any axis lying in a horizontal plane. Each sensing toroid has a hollow tubular shape that contains a gravity indicator that is free to move within the respective sensing toroid for measuring rotation about an axis through the toroid'"'"'s center. Gravity causes each gravity indicator to migrate to the lowest portion of the respective toroid. The orientation also can include a permanent magnet thus providing a tri-axial sensor.

Claims

1. An apparatus for providing an indication of an imaging plane of an ultrasonic transducer, comprising:

a sensor that provides an electronic signal representing a spatial orientation of the imaging plane of the ultrasonic transducer;

a display that displays the imaging plane and a symbol indicating the spatial orientation of the imaging plane; and

a processor, associated with the sensor and the display, that processes the electronic signal and generates a signal representing the spatial orientation that causes the display to manipulate the symbol.

2. Apparatus for providing an indication of an imaging plane as defined in claim 1, further comprising

a laparoscopic instrument having an elongated tube with a tip section that can be articulated at various angles and directions with respect to the elongated tube;

and

the sensor and the ultrasonic sensor are located in the tip section.

3. An apparatus for providing an indication of an imaging plane as defined in claim 1, wherein said symbol on said display comprises:

a stationary element representing a portion of said ultrasonic transducer; and

a dynamic element indicating relative orientation of an articulated tip of said ultrasonic transducer and/or said imaging plane thereof.

4. An apparatus for providing an indication of an imaging plane as defined in claim 3, wherein said dynamic element comprises a special cursor representing said imaging plane.

5. An apparatus for providing an indication of an imaging plane as defined in claim 1, wherein said display is divided to provide a plurality of views, said views being of different dimensional representations.

6. An apparatus for providing an indication of an imaging plane as defined in claim 1, wherein said processor processes a set of imaging planes and combines corresponding ultrasound images based on their respective electronic signals to provide a three-dimensional image on said display.

7. An apparatus for providing an indication of an imaging plane as defined in claim 1, wherein the sensor comprises:

a hollow sphere whose inner surface provides uniformly spaced apart indentations adapted to receive a gravity indicator,

a plurality of electrode units, each of which is situated in a distinct one of said indentations; and

a common electrode;

wherein the gravity indicator freely moves within the sphere so that the gravity indicator gravitates toward an indentation of the sphere with the lowest gravity potential to provide electrical contact between the common electrode and the electrode units as the gravity indicator settles in the respective indentation so that the sensor provides the signal.

8. An apparatus for providing an indication of an imaging plane, comprising:

a sensor that provides an orientation signal representing a spatial orientation of the imaging plane of the ultrasonic transducer, wherein the sensor comprises;

first and second sensing toroids, each toroid including

a plurality of electrode units uniformly spaced apart around the toroid, each unit including at least two electrodes;

a common electrode;

a gravity indicator that freely moves within the toroid so that the gravity indicator gravitates toward the portion of the toroid with the lowest gravity potential as the toroid rotates, wherein the gravity indicator, as it moves to the toroid'"'"'s lowest gravity potential, provides electrical contact between the common electrode and the electrode units to generate electrical pulses, wherein a phase lead/lag relationship between electrical pulses of an electrode unit indicates the direction of rotation and number of electrical pulses from different electrode units indicates the rotation angle.

9. An apparatus as defined in claim 8, wherein the gravity indicator is a droplet of mercury metal.

10. An apparatus as defined in claim 8, wherein the gravity indicator is made of a nontoxic material.

11. A sensor for providing an orientation signal compatible with a computer input, comprising:

an indicator responsive to gravity;

a plurality of probe pairs that monitor the movement of the indicator about an axis, said probe pairs being configured such that said indicator interacts distinctly with each of said probe pairs to provide pulses, wherein a phase lead/lag relationship between the pulses of a probe pair indicates a direction of rotation and number of pulses from different probe pairs indicates a rotation angle.

12. A sensor as defined in claim 11, wherein:

the indicator consists of a conductive metal; and

each probe of the plurality of probe pairs includes an electrode that provides a respective pulse when in electrical contact with the conductive indicator.

13. A sensor for providing an orientation signal compatible with a computer mouse input port, comprising:

a indicator responsive to gravity;

a plurality of probe pairs that monitor the movement of the indicator about an axis, each probe pair providing first and second pulse signals, the timing between the pulse signals providing an indication of the angle and direction of the indicator'"'"'s movement, wherein;

the indicator has a reflective surface; and

each probe of the plurality of probe pairs includes an optical detector that provides the respective pulse based on light reflected from the indicator'"'"'s reflective surface.

14. An apparatus for providing an indication of an imaging plane of an ultrasonic transducer, comprising:

a gravitational sensor that provides an electronic orientation signal representing a spatial orientation of the imaging plane of the ultrasonic transducer;

a display that provides a visual representation of the imaging plane; and

a processor, associated with the gravitational sensor and the display, that processes the electronic orientation signal and generates a display signal that causes the display to provide the visual representation of the imaging plane, wherein;

the orientation signal provided by the gravitational sensor indicates the orientation of the ultrasonic sensor about a pair of axes in a horizontal plane; and

the gravitational sensor further comprises a magnetic sensor, responsive to the earth'"'"'s magnetic field, that provides an orientation signal that indicates the orientation of the ultrasonic sensor about a vertical axis.

15. Apparatus for providing an indication of an imaging plane as defined in claim 14, wherein:

the orientation signal provided by the gravitational sensor indicates the orientation of the imaging plane with respect to a pair of axis in a horizontal plane; and

the gravitational sensor further comprises a magnetic sensor, responsive to the earth'"'"'s magnetic field, that provides an orientation signal that indicates the orientation of the imaging plane with respect to a vertical axis.

16. An apparatus for providing an indication of an imaging plane of an ultrasonic transducer, comprising:

a gravitational sensor that provides an electronic orientation signal representing a spatial orientation of the imaging plane of the ultrasonic transducer;

a display that provides a visual representation of the imaging plane; and

a processor, associated with the gravitational sensor and the display, that processes the electronic orientation signal and generates a display signal that causes the display to provide the visual representation of the imaging plane, wherein the gravitational sensor comprises;

first and second sensing toroids, each toroid including

an illumination fiber that directs illumination light towards the toroid'"'"'s interior;

a plurality of detection fiber units, spaced apart around the toroid, that provide electrical signals based on illumination light received by the detection fiber unit;

a gravity indicator, having a reflective surface, that moves within the toroid so that the gravity indicator tends gravitates toward the portion of the toroid with the lowest gravity potential, wherein the gravity indicator, as it moves to the toroid'"'"'s lowest gravity potential, provides an optical reflection of the illumination light to only one detection fiber unit such that the gravitational sensor provides the orientation signal.

17. An apparatus for providing an indication of an imaging plane of an ultrasonic transducer, comprising:

a gravitational sensor that provides an electronic orientation signal representing a spatial orientation of the imaging plane of the ultrasonic transducer;

a display that provides a visual representation of the imaging plane; and

a processor, associated with the gravitational sensor and the display, that processes the electronic orientation signal and generates a display signal that causes the display to provide the visual representation of the imaging plane, wherein the gravitational sensor comprises;

a relatively transparent sphere filled with a relatively transparent liquid;

a ball suspended by the liquid within the transparent sphere such that the ball can freely rotate within the transparent sphere, the ball having a black outer surface overlaid with reflective stripes and having a weight, placed on the interior of the spherical ball such that the ball gravitates toward a predetermined orientation with respect to the direction of gravity,

at least one optical unit that directs light at the ball and that is oriented so that the optical unit, responsive to the intensity of light reflected from the surface of the ball, generates the orientation signal.

18. Apparatus for ultrasonic imaging, comprising:

a laparoscopic instrument having

an elongated tube section, and

a short tube section located at an end of the elongated tube, the short tube being configured to articulate at various angles and directions with respect to the elongated tube;

an ultrasonic sensor, responsive to structures in an imaging plane, that is housed in the short tube section and that generates electrical signals associated with the structures in the imaging plane; and

a sensor having a plurality of probe pairs for providing pulse signals representing a spatial orientation of the imaging plane, wherein a phase lead/lag relationship between the pulse signals of a probe pair indicates a direction of rotation and number of the pulse signals from different probe pairs indicates a rotation angle.

19. An apparatus for ultrasonic imaging, comprising:

a laparoscopic instrument having

an elongated tube section, and

a short tube section located at an end of the elongated tube, the short tube being configured to articulate at various angles and directions with respect to the elongated tube;

an ultrasonic sensor, responsive to structures in an imaging plane, that is housed in the short tube section and that generates electrical signals associated with the structures in the imaging plane; and

an orientation sensor that provides a signal representing a spatial orientation of the imaging plane, wherein the orientation sensor comprises;

first and second sensing toroids, each toroid including

a plurality of electrode units uniformly spaced apart around the toroid, each unit including at least two electrodes;

a common electrode;

a gravity indicator that freely moves within the toroid so that the gravity indicator gravitates toward the portion of the toroid with the lowest gravity potential, wherein the gravity indicator, as it moves to the toroid'"'"'s lowest gravity potential, provides electrical contact between the common electrode and the electrode units, said electrode units being configured such that said gravity indicator interacts distinctly with each of said electrode units in providing pulses, wherein a phase lead/lag relationship between the pulses of an electrode unit indicates a direction of rotation and number of pulses from different electrode units indicates a rotation angle.

20. An apparatus for ultrasonic imaging as defined in claim 19, wherein the gravity indicator is a droplet of mercury metal.

21. An apparatus for ultrasonic imaging, comprising:

a laparoscopic instrument having

an elongated tube section, and

a short tube section located at an end of the elongated tube, the short tube being configured to articulate at various angles and directions with respect to the elongated tube;

an ultrasonic sensor, responsive to structures in an imaging plane, that is housed in the short tube section and that generates electrical signals associated with the structures in the imaging plane; and

a sensor that provides an orientation signal representing a spatial orientation of the imaging plane, wherein the sensor comprises;

a gravity indicator responsive to gravity;

a plurality of probe pairs that monitor the movement of the gravity indicator about an axis, each of said probe pairs having a first probe and a second probe, said first probes of said plurality of probe pairs being connected to a first common node, said second probes of said plurality of probe pairs being connected to a second common node.

22. Apparatus for ultrasonic imaging, comprising:

a laparoscopic instrument having

an elongated tube section, and

a short tube section located at an end of the elongated tube, the short tube being configured to articulate at various angles and directions with respect to the elongated tube;

an ultrasonic sensor, responsive to structures in an imaging plane, that is housed in the short tube section and that generates electrical signals associated with the structures in the imaging plane; and

a gravitational sensor that provides an orientation signal representing a spatial orientation of the imaging plane, wherein;

the orientation signal provided by the gravitational sensor indicates the orientation of the ultrasonic sensor about a pair of axis in a horizontal plane; and

the gravitational sensor further comprises a magnetic sensor, responsive to the earth'"'"'s magnetic field, that provides an orientation signal that indicates the orientation of the ultrasonic sensor about a vertical axis.

23. Apparatus for ultrasonic imaging, comprising:

a laparoscopic instrument having

an elongated tube section, and

a short tube section located at an end of the elongated tube, the short tube being configured to articulate at various angles and directions with respect to the elongated tube;

an ultrasonic sensor, responsive to structures in an imaging plane, that is housed in the short tube section and that generates electrical signals associated with the structures in the imaging plane; and

a gravitational sensor that provides an electrical orientation signal representing a spatial orientation of the imaging plane, wherein the gravitational sensor comprises;

first and second sensing toroids, each toroid including

an illumination fiber that directs illumination light towards the toroid'"'"'s interior;

a plurality of detection fiber units, spaced apart around the toroid, that provides electrical signals based on illumination light received by the detection fiber unit;

a gravity indicator, having a reflective surface, that freely moves within the toroid so that the gravity indicator gravitates toward the portion of the toroid with the lowest gravity potential, wherein the gravity indicator, as it moves to the toroid'"'"'s lowest gravity potential, provides an optical reflection of the illumination light to only one detection fiber unit such that the gravitational sensor provides the orientation signal.

24. Apparatus for ultrasonic imaging, comprising:

a laparoscopic instrument having

an elongated tube section, and

a short tube section located at an end of the elongated tube, the short tube being configured to articulate at various angles and directions with respect to the elongated tube;

an ultrasonic sensor, responsive to structures in an imaging plane, that is housed in the short tube section and that generates electrical signals associated with the structures in the imaging plane; and

a gravitational sensor that provides an electrical orientation signal representing a spatial orientation of the imaging plane, wherein the gravitational sensor comprises;

a relatively transparent sphere filled with a relatively transparent liquid;

a ball suspended by the liquid within the transparent sphere so that the ball can freely rotate within the transparent sphere, the ball having a black outer surface overlaid with reflective stripes and having a weight, placed on the interior of the spherical ball, that provides gravity orientation,

at least one optical unit that directs light at the spherical ball and that is oriented so that the optical unit, responsive to the intensity of light reflected from the surface of the ball, generates the orientation signal.

25. Apparatus for providing an indication of an image plane as defined in claim 24, wherein:

the orientation signal provided by the gravitational sensor indicates the orientation of the ultrasonic sensor about a pair of axis in a horizontal plane; and

the gravitational sensor further comprises a magnetic sensor, responsive to the earth'"'"'s magnetic field, that provides an orientation signal that indicates the orientation of the ultrasonic sensor about a vertical axis.

26. An apparatus for providing an indication of an imaging plane of an ultrasonic transducer, comprising:

a gravitational sensor that provides an electronic orientation signal representing a spatial orientation of the imaging plane of the ultrasonic transducer;

a display that provides a visual representation of the imaging plane; and

a processor, associated with the gravitational sensor and the display, that processes the electronic orientation signal and generates a display signal that causes the display to provide the visual representation of the imaging plane, wherein said visual representation is divided to provide a plurality of views, said views being of different dimensional representations and wherein a first view is a three-dimensional representation, a second view is a two-dimensional representation.

27. An apparatus for providing an indication of an imaging plane as defined in claim 26, wherein said second view utilizes different colors to indicate orientation of said imaging plane in different coordinate planes.

28. An apparatus for providing an indication of an imaging plane of an ultrasonic transducer, comprising:

a gravitational sensor that provides an electronic orientation signal representing a spatial orientation of the imaging plane of the ultrasonic transducer;

a display that provides a visual representation of the imaging plane; and

a processor, associated with the gravitational sensor and the display, that processes the electronic orientation signal and generates a display signal that causes the display to provide the visual representation of the imaging plane wherein said visual representation comprises;

a stationary element representing a portion of said ultrasonic transducer; and

a dynamic element indicating relative position of an articulated tip of said ultrasonic transducer and/or said imaging plane thereof and wherein said dynamic element comprises a vector symbol representing an imaging direction.