Multiple ultrasound image registration system, method and transducer

• US 6,014,473 A
• Filed: 08/22/1997
• Issued: 01/11/2000
• Est. Priority Date: 02/29/1996
• Status: Expired due to Term

• Current Assignee: Siemens Medical Solutions USA Incorporated (Siemens AG)
• Original Assignee: Acuson Corporation (Siemens AG)
• Inventors: Holley, Gregory L., Napolitano, David J., Hossack, John A., Gardner, Edward A., Sliwa, John W. Jr., Maslak, Samuel H.
• Primary Examiner(s): Tran, Phuoc
• Assistant Examiner(s): Mariam, Daniel G.
• Application Number:
  US08/916,585
• Time in Patent Office: 872 Days
• Field of Search: 382/294, 600/441, 600/443, 600/447, 600/442, 600/459, 600/463, 348/169
• US Class Current: 382/294
• CPC Class Codes: A61B 8/145 characterised by scanning multiple planes
• CPC Class Codes: A61B 8/483 involving the acquisition of a 3D volume of data
• CPC Class Codes: G01S 15/66 Sonar tracking systems
• CPC Class Codes: G01S 15/87 Combinations of sonar systems
• CPC Class Codes: G01S 15/8934 using a dynamic transducer configuration
• CPC Class Codes: G01S 15/8979 Combined Doppler and pulse-echo imaging systems
• CPC Class Codes: G01S 15/8993 Three dimensional imaging systems
• CPC Class Codes: G01S 7/52034 Data rate converters
• CPC Class Codes: G01S 7/52065 Compound scan display, e.g. panoramic imaging
• CPC Class Codes: G01S 7/52071 Multicolour displays; using colour coding; Optimising colour or information content in displays, e.g. parametric imaging
• 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: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments

Abstract

An ultrasonic imaging system includes an ultrasonic transducer having an image data array and a tracking array at each end of the image data array. The tracking arrays are oriented transversely to the image data array. Images from the image data array are used to reconstruct a three-dimensional representation of the target. The relative movement between respective frames of the image data is automatically estimated by a motion estimator, based on frames of data from the tracking arrays. As the transducer is rotated about the azimuthal axis of the image data array, features of the target remain within the image planes of the tracking arrays. Movements of these features in the image planes of the tracking arrays are used to estimate motion as required for the three-dimensional reconstruction. Similar techniques estimate motion within the plane of an image to create an extended field of view.

Claims

1. A method for registering ultrasonic image information acquired from a target, said method comprising the following steps:

(a) acquiring a plurality of sets of ultrasonic image information with a single ultrasonic transducer array or with at least two ultrasonic transducer arrays in a substanially fixed relationship with each other, said array or arrays moved between least some of the sets of image information, said plurality of sets of ultrasonic image information comprising a plurality of image data sets and a plurality of tracking sets, both the image data sets and the tracking sets representative of respective portions of tissue in the target;

(b) automatically determining a component of motion based on a comparison of at least a portion of the tracking sets representing tissue acquired at different times in step (a); and

(c) automatically using the component of motion determined in step (b) to register selected ones of the image data sets acquired in step (a) with respect to one another.

2. The invention of claim 1 wherein the at least one ultrasonic transducer array comprises an imaging array and at least one tracking array, wherein the imaging array defines an image plane, wherein the tracking array defines a tracking plane, and wherein the image plane is oriented at a non-zero angle with respect to the tracking plane.

3. The invention of claim 1 wherein the sets of image information are oriented substantially parallel to one another, and wherein step (c) forms an extended field of view.

4. The invention of claim 1 wherein at least some of the tracking sets do not intersect at least some of the image data sets.

5. The invention of claim 1 wherein step (b) comprises the step of cross-correlating said at least a portion of the tracking sets.

6. The method of claim 2 wherein the at least one tracking array comprises first and second tracking arrays, each positioned adjacent a respective end of the imaging array to acquire tracking sets in respective first and second tracking planes, and wherein step (b) determines the component of motion in both said first and second tracking planes.

7. The method of claim 1 wherein the image data sets comprise information selected from the group consisting of B-mode information, color Doppler velocity information, color Doppler energy information, and combinations thereof.

8. The method of claim 1 comprising the further step of determining a second component of motion based on a comparison of at least some of the selected image data sets, and wherein step (c) comprises the step of using the second component of motion to register said image data sets.

9. The method of claim 1 wherein the image data sets are acquired using a different frequency than that used in acquiring the tracking sets.

10. The method of claim 1 wherein step (a) comprises the step of using dual beamformers to simultaneously acquire the image data sets and the tracking sets.

11. The method of claim 10 wherein step (a) comprises the step of using respective bandpass filtering in association with the respective beamformers.

12. The method of claim 1 wherein step (a) provides the tracking sets as scan-converted data.

13. The method of claim 1 wherein step (a) provides the tracking sets as acoustic line data, prior to scan conversion.

14. The method of claim 1 wherein step (b) performs the comparison using every Nth pixel of the tracking sets, where N is an integer greater than zero.

15. The method of claim 1 wherein step (b) comprises the step of combining a plurality of measures of the component of motion.

16. The method of claim 15 wherein the step of combining comprises the step of assigning weights to individual measures of the component of motion, each weight indicative of quality of the respective measure.

17. The method of claim 16 wherein the step of assigning weights comprises the step of comparing spatially adjacent measures of the component of motion.

18. The method of claim 16 wherein the step of assigning weights comprises the step of comparing successive measures of the component of motion.

19. The method of claim 16 wherein the step of assigning weights uses fuzzy logic.

20. The method of claim 15 wherein the combining step comprises the step of discarding low-quality measures of the component of motion.

21. The method of claim 1 further comprising the step of:

(d) indicating to an operator when the component of motion determined in step (b) is outside a preferred range of values.

22. The method of claim 1 further comprising the step of:

(d) alerting an operator when the determining step (b) is not operating effectively.

23. The method of claim 2 wherein step (a) comprises the step of operating the imaging and tracking arrays in parallel.

24. The method of claim 23 wherein step (a) comprises the step of operating the imaging and tracking arrays at differing voltage levels.

25. The method of claim 1 further comprising the step of:

(d) interpolating between a plurality of measures of the component of motion determined in step (b).

26. The method of claim 1 wherein the sets of image information are acquired in step (a) using a plurality of separate frequencies.

27. The method of claim 1 wherein the sets of image information are acquired in step (a) using a plurality of different bandwidths.

28. The method of claim 1 wherein the tracking sets comprise sets acquired using a plurality of different ultrasonic frequencies.

29. The method of claim 1 wherein the tracking sets comprise sets acquired using a plurality of different ultrasonic bandwidths.

30. The method of claim 1 wherein step (b) comprises the step of generating curve-fitted values derived from a plurality of measures of the component of motion.

31. The method of claim 1 wherein step (b) comprises the step of adaptively varying a time interval between time of acquisition of the tracking sets used in determining the component of motion to cause the component of motion to approach a selected range.

32. The invention of claim 1 wherein step (b) comprises the step of averaging a plurality of pixels of at least one of the tracking sets prior to determining the component of motion.

33. The method of claim 1 further comprising the step of automatically varying intensity mapping of the tracking sets acquired in step (a) to enhance motion detection.

34. The invention of claim 1 further comprising the step of:

(d) filtering at least said portion of the tracking sets of image information prior to the comparison of step (b).

35. The method of claim 1 wherein step (b) comprises the step of repeatedly using a first one of the tracking sets of image information as a reference in a plurality of successive ones of the comparison of step (b) until the component of motion is determined with respect to said first tracking set of image information.

36. The method of claim 1 wherein step (b) comprises the step of performing the comparison over a search region of the tracking sets of image information, wherein the search region is elongated in shape in a direction substantially aligned with the component of motion.

37. The method of claim 1 wherein step (b) comprises the step of performing the comparison over a variable search region of the tracking set.

38. The method of claim 37 wherein step (b) comprises the step of positioning the variable search region based on a previously-determined component of motion.

39. The method of claim 37 wherein step (b) comprises the step of sizing the variable search region based on variability of a plurality of previously-determined components of motion.

40. The method of claim 1 wherein step (b) comprises the step of performing a series of comparisons of the tracking sets, wherein the comparisons differ in resolution in at least one of spatial and signal level resolution.

41. The method of claim 1 wherein step (b) comprises the step of correlating two non-parallel lines of image information included in two of the tracking sets of image information acquired in step (a) to determine vector components of the component of motion, said vector components aligned with said lines.

42. The method of claim 1 further comprising the step of

(d) forming data-compressed versions of at least some of the image data sets and tracking sets acquired in step (a) prior to at least one of steps (b) and (c).

43. The method of claim 42 further comprising the step of

(e) applying data decompression to the data-compressed versions of step (d) prior to at least one of steps (b) and (c).

44. The method of claim 2 further comprising the step of (d) using the registered image data sets to form a 2D image in a plane obliquely oriented with respect to the image plane.

45. The method of claim 1 wherein step (b) comprises the step of utilizing in the comparison only the tracking sets that correspond to selected portions of a cycle selected from the group consisting of an ECG cycle and a breathing cycle.

46. The method of claim 1 wherein the information of the tracking sets used in the comparison of step (b) is selected from the group consisting of envelope-detected data prior to scan conversion, RF beamformer signals prior to envelope detection, and baseband beamformer signals prior to envelope detection.

47. The method of claim 1 wherein the image data sets are acquired using a different frequency than that used in acquiring the tracking sets.

48. The method of claim 1 wherein the image data sets are acquired using a different bandwidth than that used in acquiring the tracking sets.

49. The method of claim 1 wherein the image data sets are acquired using a different azimuthal focus than that used in acquiring the tracking sets.

50. The method of claim 1 wherein step (a) further comprises the step of using a different logarithmic compression of signal level for the image data sets than for the tracking sets.

51. The method of claim 3 wherein the at least one transducer array comprises a first transducer array and at least one additional transducer array, wherein the image data sets are acquired using the first transducer array, and wherein the tracking sets are acquired using the at least one additional transducer array.

52. The method of claim 51 wherein the first and at least one additional transducer arrays are co-linear and axially spaced from one another.

53. The method of claim 51 wherein the first and at least one additional transducer arrays are positioned alongside of and laterally spaced from one another.

54. The method of claim 1 wherein step (a) further comprises the step of automatically varying intensity mapping of the tracking sets to enhance motion detection.

55. The method of claim 1 wherein the image data sets and the tracking sets are acquired using different transducer arrays.

56. The method of claim 55 wherein the acquiring step comprises the step of multiplexing signals to the different transducer arrays via a common set of signal conductors.

57. The method of claim 1 wherein the image data and tracking sets each comprise a plurality of scan lines, and wherein sets of one or more scan lines of the image data sets are interleaved in time with sets of one or more scan lines of the tracking sets.

58. The method of claim 1 wherein step (a) comprises the step of forming multiple simultaneous transmit beams with the at least one transducer array.

59. The method of claim 1 wherein step (a) comprises the step of forming multiple simultaneous receive beams with the at least one transducer array.

60. The method of claim 1 wherein step (a) comprises the step of coherently forming at least the tracking sets.

61. The method of claim 1 further comprising the step of (d) indicating to an operator when tissue contact is lost for a transducer array included in the at least one transducer array.

62. The method of claim 1 wherein the selected ones of the image data sets comprise consecutively acquired image frames.

63. The method of claim 1 wherein the selected ones of the image data sets comprise non-consecutively acquired image frames separated in time by at least one intervening image frame.

64. The method of claim 1 wherein step (c) comprises the step of smoothly interpolating between the image data sets at a boundary between the selected image data sets.

65. A method for detecting an erroneous motion estimate comprising the following steps:

(a) providing an ultrasonic transducer comprising an imaging transducer array and at least three tracking transducer arrays, each tracking transducer array comprising at least one transducer element;

(b) collecting tracking data from each of the tracking transducer arrays;

(c) developing at least three motion estimates from the tracking data, each motion estimate associated with a respective tracking transducer array; and

(d) detecting an unreliable one of the motion estimates based on a comparison of the motion estimates.

66. A method for registering ultrasonic image information acquired from a target, said method comprising the following steps:

(a) acquiring a plurality of sets of ultrasonic image information with a single ultrasonic transducer array or with at least two ultrasonic transducer arrays in a substanially fixed relationship with each other, said array, or arrays moved between at least some of the sets of image information, said plurality of sets of ultrasonic image information comprising a plurality of image data sets and a plurality of tracking sets, both the image data sets and the tracking sets representative of respective portions of tissue in the target;

(b) automatically determining a component of motion based on a comparison of at least a portion of the tracking sets representing tissue acquired at different times in step (a); and

(c) automatically using the component of motion determined in step (b) to register selected ones of the image data sets acquired in step (a) with respect to one another;

wherein step (a) comprises the step of transmitting ultrasonic energy concentrated near a fundamental frequency into a target; and

wherein at least one of the image data sets and the tracking data sets comprises a selectively received harmonic component of received ultrasonic echo information, said harmonic component concentrated near a harmonic of the fundamental frequency.

67. The method of claim 66 wherein the image data sets comprise the selectively received harmonic component.

68. The method of claim 66 wherein the tracking data sets comprise the selectively received harmonic component.

69. The method of claim 66 wherein the image data sets and the tracking data sets both comprise the selectively received harmonic component.

70. The method of claim 67 wherein the tracking data sets comprise a second selectively received harmonic component of received ultrasonic echo information.

71. The method of claim 70 wherein the first-mentioned and second selectively received harmonic components differ in bandwidth.

72. The method of claim 66 wherein steps (a)-(c) are performed during a medical ultrasound examination session, and wherein the method comprises the further step of (d) maintaining the target free of additional non-linear contrast agent throughout the entire medical ultrasound examination session.