Three dimensional mapping display system for diagnostic ultrasound machines and method

• US 9,439,624 B2
• Filed: 10/20/2008
• Issued: 09/13/2016
• Est. Priority Date: 10/19/2007
• Status: Active Grant

• Current Assignee: Metritrack, Inc.
• Original Assignee: Metritrack, Inc.
• Inventors: Caluser, Calin
• Primary Examiner(s): Moher, Amanda Lauritzen
• Assistant Examiner(s): Mohammed, Shahdeep
• Application Number:
  US12/288,478
• Publication Number:
  US 20090124906A1
• Time in Patent Office: 2,885 Days
• Field of Search: 600/409, 600/420, 600/473, 600/424, 600/437, 382/128, 382/131, 382/132, 382/278, 382/282, 382/284
• US Class Current: 1/1
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 8/00 Diagnosis using ultrasonic, sonic or infrasonic waves imaging of objects using sonar G01S15/00
• CPC Class Codes: A61B 8/4245 involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
• 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 8/483 involving the acquisition of a 3D volume of data
• CPC Class Codes: G16H 30/20 for handling medical images, e.g. DICOM, HL7 or PACS
• CPC Class Codes: G16H 30/40 for processing medical images, e.g. editing
• CPC Class Codes: G16H 40/63 for local operation

Abstract

An apparatus, system, and method where the ultrasound transducer position registration is automated, calculates the position of each pixel in the ultrasound image in reference to the predetermined anatomical reference points (AR) and can store the information on demand. The graphic interface associated with the ultrasound image allows for the instant display of selected targets position coordinates relative to anatomical reference points, in the ultrasound images. This system would significantly reduce the ultrasound examination time, by eliminating the time consuming manual labeling of images and speeding up the target finding at subsequent examinations, enhance correlation capability with other diagnostic imaging modalities like CT scans, MRI, mammograms, decrease human errors and fatigue, provide an easy, uniform, method of communicating the target position among healthcare providers.

Claims

1. An ultrasound image registration system comprising:

an ultrasound imaging probe configured to acquire ultrasound image data during an examination, the image data calibrated to the ultrasound imaging probe;

an imaging probe sensor coupled to the ultrasound imaging probe, the imaging probe sensor comprising a magnetic sensor configured to track a realtime position and a realtime orientation of the ultrasound imaging probe;

an anatomical reference sensor coupleable to a patient body and configured to track a realtime position of an anatomical reference point on the patient body during the examination; and

a processor programmed to;

detect and record an orientation of a body axis of the patient body relative to the ultrasound imaging probe;

continuously track the realtime position of the anatomical reference point by monitoring a location of the anatomical reference sensor during the examination;

continuously track the realtime position of the ultrasound imaging probe relative to the realtime position of the anatomical reference point by monitoring the imaging probe sensor and the anatomical reference sensor during the examination;

continuously track the realtime orientation of the ultrasound imaging probe relative to the detected body axis by monitoring the ultrasound imaging probe sensor during the examination;

calculate a position of a body target in a captured ultrasound image generated from the acquired image data relative to the anatomical reference point and the detected body axis;

simultaneously display as overlays on a graphic diagram of the patient body during the examination (A) the realtime position of the ultrasound imaging probe, (B) the realtime orientation of the ultrasound imaging probe, (C) the realtime position of the anatomical reference point, and (D) the position of the target;

wherein the realtime position of the anatomical reference point is tracked independent from the orientation of the detected body axis.

2. The image registration system of claim 1 wherein the processor is further programmed to display the position of the body target in an alphanumerical format alongside the graphic diagram as:

a distance from the anatomical reference point; and

a position relative to the detected body axis centered on the anatomical reference point, displayed in one of (A) degrees and (B) hours and minutes.

3. The image registration system of claim 1 wherein the graphic diagram of the patient body comprises a two-dimensional representation of a region of the patient body.

4. The image registration system of claim 1 wherein the processor is further programmed to calculate a three-dimensional position of the body target relative to the anatomical reference point and the detected body axis.

5. The image registration system of claim 1 wherein the processor is further programmed to:

display the captured ultrasound image alongside the graphic diagram of the patient body; and

display a marked location of the body target as an overlay on the captured ultrasound image.

6. The image registration system of claim 1 wherein the processor is further programmed to register the position of the ultrasound imaging probe relative to the sagital plane of the patient body.

7. The image registration system of claim 1 wherein the ultrasound imaging probe comprises a three-dimensional (3D) ultrasound probe.

8. The image registration system of claim 1 wherein the processor is further programmed to simultaneously:

display the position of the body target in reference to the anatomical reference point in a body orientation coordinate system comprising hours and minutes, with the anatomical reference point positioned in the center of the body orientation coordinate system; and

display a depth of the body target relative to the anatomical reference point.

9. The image registration system of claim 1 wherein the processor is further programmed to display the location of the ultrasound imaging probe as a moving icon on the graphic diagram of the patient body.

10. The image registration system of claim 1 wherein the graphic diagram of the patient body comprises a three-dimensional representation of a body region of the patient.

11. The image registration system of claim 1 wherein the anatomical reference sensor is coupleable to a breast nipple of the patient and is configured to identify a realtime location of the breast nipple during the examination.

12. The image registration system of claim 1 wherein the processor is further programmed to display the position and orientation of the ultrasound imaging probe as a distance from the anatomical reference point relative to the orientation of the patient body.

13. A method comprising:

defining a position of an anatomical reference point on a breast of a patient relative to an ultrasound imaging probe of an ultrasound imaging system, the anatomical reference point corresponding to a breast nipple;

identifying a orientation of the ultrasound imaging probe relative to a body axis of the patient at the beginning of an examination;

acquiring image data from the patient using the ultrasound imaging probe during the examination, the image data calibrated to the ultrasound imaging probe;

tracking a realtime position of the anatomical reference point during the examination using a first magnetic sensor coupleable to the breast;

tracking a realtime position and a realtime orientation of the ultrasound imaging probe during the examination using a second magnetic sensor coupled to the ultrasound imaging probe;

reconstructing an image of the patient from the image data, the image comprising a plurality of pixels;

calculating a spatial position of each of the plurality of pixels in the image in reference to the anatomical reference point;

calculating an angular position of each of the plurality of pixels in the image in reference to the body axis of the patient and the anatomical reference point;

identifying a breast target within the image, the breast target corresponding to a specific location within the breast; and

simultaneously displaying on a display;

the image having the body target identified therein;

a graphic diagram of the breast having the realtime position of the ultrasound imaging probe, the realtime orientation of the ultrasound imaging probe, and the realtime position of the anatomical reference point identified therein;

coordinates of the breast target relative to the realtime position of the anatomical reference point; and

coordinates of the breast target relative to the body axis of the patient.

14. The method of claim 13 further comprising continuously displaying the realtime position of the anatomical reference point, the realtime position of the ultrasound imaging probe, and the realtime orientation of the ultrasound imaging probe during acquisition of image data on the display.

15. The method of claim 13 further comprising displaying coordinates of the breast target in a body orientation coordinate system comprising hours and minutes on the display, wherein the coordinates represent the position of the breast target in reference to the anatomical reference point, with the anatomical reference point defined as the center of the body orientation coordinate system.

16. The method of claim 15 further comprising displaying a depth of the breast target relative to the anatomical reference point on the display.