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WO1996000402A1 - Systeme ultrasonore d'imagerie 3d - Google Patents

Systeme ultrasonore d'imagerie 3d Download PDF

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Publication number
WO1996000402A1
WO1996000402A1 PCT/CA1994/000355 CA9400355W WO9600402A1 WO 1996000402 A1 WO1996000402 A1 WO 1996000402A1 CA 9400355 W CA9400355 W CA 9400355W WO 9600402 A1 WO9600402 A1 WO 9600402A1
Authority
WO
WIPO (PCT)
Prior art keywords
array
pixels
dimensional
image
slice
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CA1994/000355
Other languages
English (en)
Inventor
Aaron Fenster
John Miller
Shidong Tong
Donal B. Downey
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
VICTORIA/UNIVERSITY HOSPITAL Corp
London Health Association
Original Assignee
VICTORIA/UNIVERSITY HOSPITAL Corp
London Health Association
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE4344312A external-priority patent/DE4344312C2/de
Application filed by VICTORIA/UNIVERSITY HOSPITAL Corp, London Health Association filed Critical VICTORIA/UNIVERSITY HOSPITAL Corp
Priority to PCT/CA1994/000355 priority Critical patent/WO1996000402A1/fr
Priority to AU71178/94A priority patent/AU7117894A/en
Priority to GB9700844A priority patent/GB2308661B/en
Publication of WO1996000402A1 publication Critical patent/WO1996000402A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G06T15/10—Geometric effects
    • G06T15/20—Perspective computation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/48—Diagnostic techniques
    • A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B82—NANOTECHNOLOGY
    • B82Y—SPECIFIC USES OR APPLICATIONS OF NANOSTRUCTURES; MEASUREMENT OR ANALYSIS OF NANOSTRUCTURES; MANUFACTURE OR TREATMENT OF NANOSTRUCTURES
    • B82Y15/00—Nanotechnology for interacting, sensing or actuating, e.g. quantum dots as markers in protein assays or molecular motors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G01S15/8906—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques
    • G01S15/8934—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques using a dynamic transducer configuration
    • G01S15/8945—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques using a dynamic transducer configuration using transducers mounted for linear mechanical movement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G01S15/8906—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques
    • G01S15/8993—Three dimensional imaging systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
    • A61B8/445—Details of catheter construction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52017—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 particularly adapted to short-range imaging
    • G01S7/52053—Display arrangements
    • G01S7/52057—Cathode ray tube displays
    • G01S7/52071—Multicolour displays; using colour coding; Optimising colour or information content in displays, e.g. parametric imaging

Definitions

  • This invention relates in general to a three- dimensional imaging system for scanning animate and inanimate objects and creating three dimensional (3-D) images thereof.
  • the system of the present invention may be used for three dimensional (3-D) ultrasound imaging of human or animal organs such as the eye, prostate, and other organs suitable for ultrasound imaging.
  • TRUS trans- rectal ultrasound
  • the ultrasound image in prior art 2-D images represents a single plane approximately 1 mm thick and at an arbitrary angle in the patient's body.
  • it is generally difficult to localize the image plane in the organ, and very difficult to reproduce a particular image location at some later time.
  • Prior art ultrasound imaging systems typically comprise a probe for transmitting ultrasound signals into the human body and receiving reflected ultrasound signals therefrom, and a clinical ultrasound machine for receiving and processing analog ultrasound signals from the probe for generating multiple images of the organ.
  • a number of patents have issued relating to prior art probes with internal mechanical sensors. Examples of these systems are disclosed in the following United States Patents: 5,159,931 (Pini) ; 5,152,294 (Mochizuki et al) ; 4,819,650 (Goldstein); 4,841,979 (Dow et al) and 4,934,370 (Campbell).
  • Prior art systems are also known to use encoders for determining the position of the sensors and transmitting that information to a controlling computer. Examples of such systems are disclosed in the following United States Patents: 5,159,931 (Pini); 5,152,294 (Mochizuki et al) ; 4,932,414 (Coleman et al) ; 4,271,706 (Ledley) ; 4,341,120 (Anderson); 5,078,145 (Furuhata) ; 5,036,855 (Fry et al) ; 4,858,613 (Fry et al) and 4,955,365 (Fry et al) .
  • a 3-D ultrasound imaging system which comprises a universal assembly onto which an ultrasound probe may be mounted.
  • the assembly incorporates a motor and drive for either rotating or scanning the probe relative to the organ under investigation.
  • Ultrasound signals from the probe are processed via a clinical ultrasound machine for generating multiple images of the organ.
  • a computer is provided for executing software for controlling movement of the assembly to rotate or scan the probe, and for collecting the 2-D ultrasound images from the clinical ultrasound machine and re-constructing these images to form a 3-D display.
  • the present invention may be characterized by a novel combination of ultrasound probe, clinical ultrasound machine, probe assembly and computer for controlling movement of the probe assembly and reconstructing three dimensional images from a plurality of two dimensional images obtained from the clinical ultrasound machine.
  • a unique advantage of the present invention is that it is adaptable to any prior art and manufacture of probe, thereby alleviating the prior art requirement for sophisticated probes with internal moving sensors, etc.
  • Figure l illustrates the configuration of a 3-D ultrasound imaging system according to the present invention
  • Figure 2 is a perspective view of an assembly for mounting a conventional ultrasound probe for scanning the human eye or other organs, according to a first embodiment of the invention
  • Figure 3 is a side view of the assembly shown in Figure 2;
  • Figure 4 is a detailed perspective view of the assembly shown in Figures 2 and 3;
  • Figure 5 is a perspective view (partly broken) of an assembly for rotating an end-firing ultrasound probe using axial rotation, according to a second embodiment of the present invention
  • Figure 6 is a side cross-sectional view of the assembly shown in Figure 5;
  • Figure 7 is a perspective view (partly broken) of an assembly for moving side-firing ultrasound probe using sector rotation, according to a third embodiment of the present invention.
  • Figure 8A is a perspective view (partly broken) of a further assembly for moving an ultrasound probe via lateral translation, according to a fourth embodiment of the invention
  • Figure 8B is a side cross-sectional view of the assembly shown in Figure 8A;
  • Figure 9 is a further embodiment of ultrasound probe assembly for rotating the probe via axial rotation
  • Figures 10A-10D illustrate various geometries of probe sweeping movements for imaging the eye, according the various embodiments of ultrasound probe assemblies
  • FIG. 11 is block diagram showing functional interconnection of various software modules of the present invention.
  • Figure 12 is a flow chart showing operation of the 3-D ultrasound imaging system of the present invention
  • Figure 13 is a flow chart showing details of the reconstruction and viewing steps of operating the 3-D imaging system of the present invention
  • Figure 14 is a flow chart showing details of 3-D image reconstruction according to the preferred embodiment
  • Figure 15 is a flow chart showing details of the pixel mapping steps of the reconstruction process illustrated in Figure 14;
  • Figures 16A and 16B are reconstruction diagrams showing transformation of an input image captured by axial rotation and sector rotation, respectively;
  • Figure 17 is a reconstruction diagram schematically representing a temporary raster
  • Figures 18A and 18B are reconstruction diagrams showing the computation of the contents of the temporary raster for an image captured by axial rotation
  • Figures 19A and 19B are reconstruction diagrams showing computation of the contents of the temporary raster for sector rotation
  • Figures 20A and 20B are reconstruction diagrams showing the creation of a list of contributing pixels in the temporary raster for an image captured by axial rotation;
  • Figures 21A and 2IB are reconstruction diagrams showing the creation of a list of contributing pixels in the temporary raster for an image captured by sector rotation;
  • Figure 22 is a reconstruction diagram showing extraction of a slice of a resultant image.
  • Figure 23 is a reconstruction diagram showing the storage of the contents of the temporary raster in an array of output pixels forming a reconstructed 3-D image.
  • a conventional ultrasound probe 1 is rotated by means of a probe holder 3 which forms part of an assembly 5.
  • the assembly 5 also includes a motor and output shaft for moving the holder 3 and associated probe 1 through a predetermined angular sweep for generating a plurality of images of an organ (not shown) under examination.
  • the system of the present invention may be used to provide 3-D ultrasound images of the eye, prostate, female breast, heart, arteries and veins, kidney, liver, and other organs suitable for ultrasound imaging.
  • the signals from probe 1 are transmitted via a communication line 7 for processing by a conventional clinical ultrasound machine 9.
  • the processed multiple images are transmitted via a communication line 10 from ultrasound machine 9 to a computer 11 which typically incorporates a video-based digitizer (not shown) .
  • the series of 2-D images from ultrasound machine 9 are then reconstructed in computer 11 into a single 3-D image for interactive manipulation and display, or into a sequence of 3-D images.
  • the computer 11 also generates control signals to a motor driver 13 via line 12, which in response generates further control signals along line 14 for controlling operation of the assembly 5 to sweep the probe l.
  • an assembly 5 comprising a head support platform 15 for supporting the head of a patient P.
  • a base plate 17 is connected to the supporting platform 15.
  • the horizontal and angular position of the plate 17 may be adjusted by means of the adjustment knob 19 which is threaded to a bolt (not shown) passing through an adjustment slot 21 in the base plate 17.
  • a vertical adjustment member 23 houses a threaded rod 25 to which is connected an adjustment knob 27 at a top end of the vertical adjustment member 23 (see Figures 3 and 4) .
  • a bracket 29 is connected to vertical adjustment member 23 and has an internal threaded hole through which the adjustment bolt 25 passes, such that the height of the bracket 29 may be adjusted by rotating the knob 27.
  • a motor 31 is mounted in a motor box 33 which, in turn, is connected to the bracket 29.
  • the motor 31 typically comprises a stepper motor along with gear reduction wheels 35 and 37, and an output shaft 39.
  • An offset arm 41 is connected to the output shaft 39 at one end, while the opposite end of the offset arm 41 is connected to probe holder 3.
  • the pivoting offset arm 41 is positioned so that the probe 1 is placed firmly via a coupling gel (see Figure 10) adjacent the eye of the patient P.
  • the motor 31 is actuated thereby causing the arm 41 to sweep across a scanning region while the probe 1 scans the eye to obtain a sequence of images.
  • the sequence of images is digitized rapidly and stored in computer 11 ( Figure 1) .
  • approximately 100 images are collected in a single sweep of approximately 10 second duration, covering a probe scanning angle of approximately 30° (see Figure 3).
  • the collected images are then reconstructed to form a 3-D volumetric representation of the eye which can then be viewed and manipulated in "real time", either on the monitor of computer 11 or a remote monitor, for diagnostic purposes.
  • the embodiment of Figures 2-4 sweeps out a 3-D volume of the eye which is in the shape of a sector of a cylinder.
  • FIG. 5 an alternative embodiment of assembly is shown for axially rotating an end-firing ultrasound probe 51.
  • the image volume swept out by the probe 51 in the embodiment of Figure 5 is generally conical, rather than being in the shape of a sector as in the case of the embodiment in Figures 2-4.
  • the assembly 53 comprises an external housing which contains a motor 57 with an output shaft 59 extending from one end.
  • the probe 51 is held securely by a barrel 60 supported by a pair of ball bearing mounts 61 and 63.
  • Gear reduction wheels 65 and 67 are connected to the output shaft 59 and barrel 60, respectively, and a belt 69 translates rotary motion of the output shaft 59 to a similar (but gear reduced) rotation of the barrel 60 and consequently also of the probe 51 in a reciprocating circular motion in either direction as illustrated by the arrow A.
  • the axially rotating embodiment of Figures 5 and 6 may be useful for scanning internal organs such as the prostate.
  • an assembly is shown for rotating a side-firing ultrasound probe 70.
  • the image volume is swept out by the probe 70 in the embodiment of Figure 7 is generally in the shape of a sector, rather than being conical as in the embodiment of Figures 5 and 6.
  • the assembly 71 comprises a probe rotator 72 and motor 73 having an output shaft 74 extending from one end.
  • the probe 70 is held securely by a barrel 75 supported by a pair of ball bearing mounts 76 and 77.
  • Gear reduction wheels 78 and 79 are connected to the output shaft 74 and barrel 75, respectively, and a belt 80 translate rotary motion of the output shaft 74 to a similar (but gear reduced) rotation of the barrel 75 and consequently also of the probe 70 in a circular motion both clockwise and counterclockwise.
  • the embodiment of Figure 7 is also useful for scanning internal organs such as the prostate.
  • an assembly 80 comprising a motor 81 within a housing 82.
  • the motor 81 includes gear reduction wheels, belts, etc., which cause a threaded output shaft 83 thereof, to rotate.
  • An I-block 84 is mounted to the output shaft 83 via an internal threaded hole so that the I-block 84 moves according to a linear motion in either direction, as represented by the arrow in Figure 8A.
  • the holder 3 for probe 1 is connected to I-block 84 via screws 85 and 86.
  • the angle of inclination of the probe 1 relative to the direction of movement, is adjustable via the screw 86.
  • the assembly of Figures 8A and 8B may be used to collect images of an internal organ or lesions such as breast tumors within the trunk of the patient P, there being shown a layer of coupling gel 87 intermediate the probe 1 and the patient P.
  • an ultrasound probe 91 is shown for trans-esophageal imaging of the heart.
  • the probe 91 is mounted within an annular gear-toothed wheel 93 which, in turn, engages a further gear reduction wheel 95 connected to a motor 97 via an output shaft 99 thereof.
  • gear wheels 95 and 93 rotate, which causes the ultrasound probe 91 to rotate in consequence.
  • FIGs 10A-10D various scanning geometries are illustrated.
  • the sweeping motion of probe 1 results in a plurality of 2-D images of the eye E conforming to a fan of planes.
  • the probe 1 is separated from the eye E by an acoustic window of gel G such that a fan of two dimensional images is collected wherein the axis of rotation is behind the eye E.
  • the probe rotation mode represented by Figures 10A and 10B is referred to herein as "sector" rotation.
  • the axis of rotation is longitudinal so as to provide 180° rotation of the probe 1.
  • the probe rotation mode represented by Figures IOC and 10D is referred to herein as "axial" rotation.
  • FIG. 11 shows the overall system functionality of the present invention.
  • a user interface 1101 is provided in the form of a mouse, keyboard or other input to the computer 11 ( Figure 1) and software.
  • the software operating within the computer 11 is divided into various functional modules, as follows: ultrasound scanning module 1103, volume reconstruction module 1105 and volume viewing module 1107.
  • commands 1109 may be sent to control the probe assembly, (e.g. assembly 5 in Figures 2-4, assembly 53 in Figures 5 and 6, or assembly 71 in Figures 7 and 8 via the motor driver 13 ( Figure 1)) .
  • a succession of 2-D images from the ultrasound probe 1 are transmitted from clinical ultrasound machine 9 via line 10 as an input 1111 to the ultrasound scanning module 1103. These analog images are digitized via the ultrasound scanning module 1103 and stored in a computer memory 1113.
  • Computer memory 1113 can then store the digitized 2-D images via image data transfer in a file storage device 1115, or, upon receipt of an appropriate user command from interface 1101, the 2-D images may be reconstructed via volume reconstruction software module 1105, as discussed in greater detail below.
  • the volume viewer module 1107 manipulates the view perspective of the reconstructed 3-D image for output to a monitor (output to monitor module 1117) .
  • motor 31 According to the preferred embodiment, motor 31
  • the probe 1 is inserted into the scanner assembly (step 1203) , the anatomy to be scanned is located (step 1205) , and an image of the anatomy is placed in an ROI frame (step 1207) .
  • the ROI frame is a frame drawn on the output monitor by a frame grabber program executed by computer 11, where ROI represent an area of interest.
  • the user confirms the anatomy coverage by manual scan control (step 1209) . If the anatomy is outside of the ROI frame, then operation returns to step 1207, otherwise, (step 1211) the operation proceeds to step 1213 wherein the user fixes or holds the probe scanner assembly in place.
  • step 1215 a volume of image is acquired and the user may review the acquired frames in step 1217. If the data has been acquired incorrectly (step 1219), the process control returns to step 1205.
  • step 1221 in which the acquired volume is saved and stored to computer memory as a stack of 2-D images I (x,y, z) , (see 1113 of Figure 11) .
  • step 1223 the steps of reconstruction and viewing of the 3-D image are effected. If the user wishes to perform another 3- D scan (step 1225) , the process control returns to step 1205. Otherwise, the procedure is exited (step 1227) .
  • step 1313 The steps for utilizing the reconstruction and viewing algorithm discussed in greater detail below with reference to Figures 14-23, are shown in Figure 13, beginning with a start step 1301. If the user does not wish to reconstruct a 3-D image (step 1303), then the user merely exits the system (step 1313) . Otherwise, the system reconstructs the 3-D image (step 1305) , and saves the reconstructed image to computer memory (step 1307) . The user is then given the opportunity to view the 3-D image (step 1309) . If the user does not elect to view the 3-D image, then process control returns to set 1303. However, if the user wishes to view the captured and reconstructed 3-D image, then the image is viewed and if required image slices may be extracted (step 1311) . After viewing the 3-D image, the procedure is exited (step 1313) .
  • the 3-D image reconstruction algorithm of module 1105 ( Figure 11) is discussed in greater detail.
  • the stack of 2-D images I (x,y, z) is retrieved from computer memory 1113 (step 1403) .
  • the stack of images I (x,y, z) is transformed into a resultant image R (x,y, z) .
  • the transformation function is f: (x,y, z) ⁇ (x, z,y) .
  • the transformation is effected by f : (x,y, z) ⁇ (z,y, c-x) , where C is the x-dimension I(x,y, z) -1.
  • step 1405 The transformations of step 1405 are conducted on a pixel-by-pixel basis, utilizing known methodologies.
  • a temporary raster T(x,y) is created which must be large enough to store a z-slice of the reconstructed image.
  • Figure 17 shows a temporary raster T( ⁇ f Y) comprising a plurality of grid points or pixels 1701.
  • the temporary raster T(x,y) is used to hold a single z-slice of the reconstructed image, which is represented by a 3-D array V(x,y, z) .
  • the temporary raster T(x,y) Upon creating the temporary raster T(x,y) all computer calculations are performed on the x,y-plane (i.e. on individual z-slices of the image) .
  • the temporary raster T(x,y) must be created to sufficiently large dimensions to accommodate the creation of bigger images in axial rotation geometries.
  • the module For each pixel in the temporary raster T(x,y) the module must find the exact coordinate in the original slice of the resultant image R (x,y, z) (i.e. the exact color or grey level must be computed for each pixel in T from R) .
  • step 1409 for each pixel p(x,y) in T(x,y) a list L (x,y) of contributing pixels is computed in the source image from which each such pixel receives a gray level, discussed in greater detail below with reference to Figure 15.
  • Figures 18A and 18B shown computation of the contents of temporary raster T(x,y) from a z-slice of the resultant image R (x,y, z, ) , wherein the x-dimension of A ( ⁇ / Y) is ⁇ ; .
  • the geometry is such that there is a line which rotates according to a circular path to compute the original location for a pixel T, therefor the use of polar coordinates is adopted.
  • the radial distance "r” from the pixel and the angle "a” are computed. After “r” and “a” are computed, indexing is used for each image slice in R since the location of the first horizontal line of the image is known. By using the angle "a” the module computes where the pixel should be located in R. Once the location of the pixel has been computed, one of either a “nearest neighbor algorithm” or an averaging algorithm or weighting function are used to approximate the appropriate gray-level for the pixel.
  • the arrow A in Figure 18B shows the direction with which the original images in I(x,y, z) were captured.
  • Figures 19A and 19B show the computation of contents of the temporary raster T(x,y) from A(x,y) for sector reconstruction.
  • the geometry is similar to that of axial rotation except that the axis of rotation is outside of the image.
  • the angular displacement and distance of each pixel is computed from the first line of the image.
  • a smaller value of "r" is used in sector reconstruction than the actual distance from the pixel to the axis of rotation since there is no need to extend the radius all of the way back to the axis of rotation.
  • the vector established by the calculated polar coordinates can be transformed to have the same origin (i.e. it is possible to ignore the axis of rotation outside of the image volume) .
  • the list L of p(x 0 ,y 0 ) may contain some or all of the pixels neighbors in A (x,y) , depending on the scheme adopted (i.e. nearest neighbor, averaging or interpolation of neighbors) .
  • the module queries whether all z-slices of the final 3-D image V(x,y, z) have been constructed.
  • a new z-slice A(x,y) is extracted from the resultant image R (x,y, z) and the grey level or color of each pixel T(x,y) from A(x,y) is computed according to the L list of that pixel by means of nearest neighbor, or averaging or interpolation of neighbor pixels (step 1417) .
  • the list of neighbors has been computed for each pixel T, then the entire 3-D volume can be reconstructed.
  • each slice in R is accessed and reconstruction is executed, one slice at a time according to the list of neighbors L. After finding the exact location of the pixel J?, the list L of contributing pixels is computed.
  • Steps 1411-1419 are re-executed until all z-slices of the final 3-D image have been reconstructed, after which the module is exited (step 1413) .
  • the module is initiated at step 1501, following which the procedure queries whether all pixels of the temporary raster T(x,y) has been processed (step 1503) . If not, a pixel p(x,y) of the temporary raster
  • a mapping from p(x,y) to polar coordinates p' (r,a) is computed in step 1507 using the techniques discussed above with reference to
  • a list L (x,y) is created of the contributing pixels in the source image according to p' (r, a) (step 1509) .
  • the creation of this list is shown with reference to Figures 20A and 20B for axial rotation and 21A and 2IB for sector reconstruction.
  • the list L(x,y) is then stored at step 1511 and process control is returned to the query of step 1503. Once all pixels of the temporary raster T(x,y) have been processed, the sub-module is exited at step 1513.
  • volume reconstruction technique As discussed above, once the reconstruction has been completed and the reconstructed image array V(x,y, z) has been stored in computer memory 1113, the image may be viewed and manipulated in a well known manner utilizing volume viewer module 1107 (Figure 11) (e.g. AnalyzeTM) .
  • Figure 11 e.g. AnalyzeTM
  • the volume reconstruction technique has been described in an ultrasound 3-D imaging system having an ultrasound probe which is moveable to scan the target, it should be apparent to those of skill in the art that the volume reconstruction technique may be used in conjunction with 3-D imaging systems using a different type of ultrasound imaging probe and/or sweep geometry to acquire the 2-D images.
  • the volume reconstruction technique is not limited to ultrasound imaging but may also be used in different environments where a 3-D image of a target needs to be generated from a succession of 2-D images.
  • system has been described as including a clinical ultrasound machine and a computer, it is contemplated that a single machine performing the functions of both of these components be used.

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  • Ultra Sonic Daignosis Equipment (AREA)

Abstract

Le système ultrasonore d'imagerie 3D de la présente invention est destiné au globe oculaire, à la prostate et à d'autres organes. Il se compose d'un ensemble auquel il est possible d'adapter une sonde ultrasonore, d'un moteur et d'un entraînement permettant la rotation ou le balayage de la sonde par rapport à l'organe humain à observer, et d'un ordinateur permettant l'exécution de logiciels propriétaires gérant le mouvement de l'ensemble de rotation ou de balayage de la sonde. Les signaux d'origine ultrasonore fournis par la sonde sont traités par une machine d'examens cliniques par ultrasons qui génère plusieurs images de l'organe. Le logiciel propriétaire s'exécutant sur l'ordinateur reprend les images 2D d'origine ultrasonore délivrées par la machine d'examens cliniques par ultrasons et les restitue après reconstruction en format 3D, lequel format 3D est observable et manipulable en temps réel, ou stockable pour restitution ultérieure.
PCT/CA1994/000355 1993-11-29 1994-06-23 Systeme ultrasonore d'imagerie 3d Ceased WO1996000402A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/CA1994/000355 WO1996000402A1 (fr) 1993-11-29 1994-06-23 Systeme ultrasonore d'imagerie 3d
AU71178/94A AU7117894A (en) 1994-06-23 1994-06-23 Three-dimensional ultrasound imaging system
GB9700844A GB2308661B (en) 1993-11-29 1994-06-23 Three-dimensional ultrasound imaging system

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US15826793A 1993-11-29 1993-11-29
DE4344312A DE4344312C2 (de) 1992-12-24 1993-12-23 Dreidimensionales Ultraschall-Abbildungssystem
PCT/CA1994/000355 WO1996000402A1 (fr) 1993-11-29 1994-06-23 Systeme ultrasonore d'imagerie 3d

Publications (1)

Publication Number Publication Date
WO1996000402A1 true WO1996000402A1 (fr) 1996-01-04

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PCT/CA1994/000355 Ceased WO1996000402A1 (fr) 1993-11-29 1994-06-23 Systeme ultrasonore d'imagerie 3d

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WO (1) WO1996000402A1 (fr)

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EP0799601A1 (fr) * 1996-04-04 1997-10-08 Ge Yokogawa Medical Systems, Ltd. Procédé et appareil d'imagerie stéréoscopique à ultrasons
EP0813074A1 (fr) * 1996-06-13 1997-12-17 Aloka Co. Ltd. Appareil de diagnostic à ultrasons et méthode d'obtention d'images ultrasoniques avec l'appareil
WO1998020360A1 (fr) * 1996-11-07 1998-05-14 Tomtec Imaging Systems Gmbh Procede et dispositif servant a reconstituer une image ultrasonore
WO1998043109A1 (fr) * 1997-03-21 1998-10-01 Life Imaging Systems Inc. Systeme d'imagerie tridimensionnelle
US5911691A (en) * 1996-05-21 1999-06-15 Aloka Co., Ltd. Ultrasound image processing apparatus and method of forming and displaying ultrasound images by the apparatus
WO1999035511A1 (fr) * 1997-12-31 1999-07-15 Ge Ultrasound Israel, Ltd. Procede et dispositif permettant de determiner l'emplacement relatif de coupes tomographiques
EP0962785A1 (fr) * 1998-06-04 1999-12-08 Kretztechnik Aktiengesellschaft Procédé pour l'examen par ultrasons d'un objet
US6149598A (en) * 1998-03-31 2000-11-21 Fuji Photo Optical Co., Ltd. Ultrasound endoscope
US6263093B1 (en) 1998-03-20 2001-07-17 Aloka Co., Ltd. Three-dimensional ultrasound image processing apparatus and coordinate transformation method used in the apparatus
KR100912520B1 (ko) * 2007-07-23 2009-08-18 동국대학교 산학협력단 초음파를 이용한 은닉 물체 감지 장치
WO2013142978A1 (fr) * 2012-03-28 2013-10-03 University Of Western Ontario Actionneur pour le déplacement d'une sonde à ultrasons
US11562463B2 (en) * 2012-12-21 2023-01-24 Koninklijke Philips N.V. Anatomically intelligent echochardiography for point-of-care

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Publication number Priority date Publication date Assignee Title
US5823963A (en) * 1996-04-04 1998-10-20 Ge Yokogawa Medical Systems, Limited Method and apparatus for stereoscopic ultrasonic imaging
EP0799601A1 (fr) * 1996-04-04 1997-10-08 Ge Yokogawa Medical Systems, Ltd. Procédé et appareil d'imagerie stéréoscopique à ultrasons
US5911691A (en) * 1996-05-21 1999-06-15 Aloka Co., Ltd. Ultrasound image processing apparatus and method of forming and displaying ultrasound images by the apparatus
EP0813074A1 (fr) * 1996-06-13 1997-12-17 Aloka Co. Ltd. Appareil de diagnostic à ultrasons et méthode d'obtention d'images ultrasoniques avec l'appareil
US6228028B1 (en) 1996-11-07 2001-05-08 Tomtec Imaging Systems Gmbh Method and apparatus for ultrasound image reconstruction
WO1998020360A1 (fr) * 1996-11-07 1998-05-14 Tomtec Imaging Systems Gmbh Procede et dispositif servant a reconstituer une image ultrasonore
WO1998043109A1 (fr) * 1997-03-21 1998-10-01 Life Imaging Systems Inc. Systeme d'imagerie tridimensionnelle
WO1999035511A1 (fr) * 1997-12-31 1999-07-15 Ge Ultrasound Israel, Ltd. Procede et dispositif permettant de determiner l'emplacement relatif de coupes tomographiques
US6554769B1 (en) 1997-12-31 2003-04-29 Ge Ultrasound Israel Ltd. Method and apparatus for determining the relative location of tomograph slices
EP0944026A3 (fr) * 1998-03-20 2003-07-16 Aloka Co. Ltd. Méthodes et appareils pour générer des images à ultrasons tridimensionnelles
US6263093B1 (en) 1998-03-20 2001-07-17 Aloka Co., Ltd. Three-dimensional ultrasound image processing apparatus and coordinate transformation method used in the apparatus
US6149598A (en) * 1998-03-31 2000-11-21 Fuji Photo Optical Co., Ltd. Ultrasound endoscope
EP0962785A1 (fr) * 1998-06-04 1999-12-08 Kretztechnik Aktiengesellschaft Procédé pour l'examen par ultrasons d'un objet
KR100912520B1 (ko) * 2007-07-23 2009-08-18 동국대학교 산학협력단 초음파를 이용한 은닉 물체 감지 장치
WO2013142978A1 (fr) * 2012-03-28 2013-10-03 University Of Western Ontario Actionneur pour le déplacement d'une sonde à ultrasons
US10052083B2 (en) 2012-03-28 2018-08-21 University Of Western Ontario Actuator for moving an ultrasound probe
US11562463B2 (en) * 2012-12-21 2023-01-24 Koninklijke Philips N.V. Anatomically intelligent echochardiography for point-of-care

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GB2308661B (en) 1998-07-29
GB2308661A (en) 1997-07-02
GB9700844D0 (en) 1997-03-05

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