Passive Ultrasonic Sensor-Based Initialization for Image-Based Device Segmentation

Abstract

A controller (220) for determining the shape of an interventional medical device in an interventional medical procedure based on the position of the interventional medical device includes a memory (221) storing instructions and a processor (222) executing the instructions. The instructions cause a system (200) including the controller (220) to implement a process including the following operations: obtaining (S320) the position of the interventional medical device (201), and obtaining (S330) an image of a volume including the interventional medical device. The process also includes applying (S340) image processing to the image to identify the interventional medical device (201), including identifying the shape of the interventional medical device (201), based on the position of the interventional medical device (201). The process also includes (S350) segmenting the interventional medical device (201) to obtain a segmented representation of the interventional medical device (201). The segmented representation of the interventional medical device (201) is superimposed (S360) on the image.

Description

Background Art

[0001] Ultrasound tracking technology estimates the position of a passive ultrasonic sensor (e.g., PZT, PVDF, copolymer, or other piezoelectric material) in the field of view (FOV) of a diagnostic ultrasound B-mode image by analyzing the signal received by the passive ultrasonic sensor as the imaging beam from the ultrasound probe sweeps across the field of view. Passive ultrasonic sensors are acoustic pressure sensors, and such passive ultrasonic sensors can be used to determine the position of an interventional medical device to which they are attached. Time-of-flight measurements provide the axial / radial distance between the passive ultrasonic sensor and the imaging array of the ultrasound probe, while amplitude measurements and knowledge of the direct beam transmission sequence provide the lateral / angular position of the passive ultrasonic sensor.

[0002] FIG1 illustrates a known system for tracking an interventional medical device using a passive ultrasound sensor. In FIG1 , an ultrasound probe 102 transmits an imaging beam 103 that sweeps across a passive ultrasound sensor 104 on the end of an interventional medical device 105. An image of tissue 107 is fed back by the ultrasound probe 102. Once determined by a signal processing algorithm, the position of the passive ultrasound sensor 104 on the end of the interventional medical device 105 is provided as an end position 108. The end position 108 is superimposed on the image of the tissue 107 as an overlay image 109. The tissue image 107, the end position 108, and the overlay image 109 are all displayed on a display 100.

[0003] Known techniques for passive ultrasound sensors provide the position of the passive ultrasound sensor 104 but not the shape of the interventional medical device 105. In many clinical situations, such as cardiac and vascular interventions, it may be advantageous to determine the shape of the interventional medical device 105. Summary of the invention

[0004] It is an object of the present invention to provide, at least in part, this shape.

[0005] According to one aspect of the present disclosure, a controller for determining the shape of an interventional medical device in an interventional medical procedure based on the position of the interventional medical device includes a memory storing instructions and a processor executing the instructions. The instructions, when executed by the processor, cause a system including the controller to implement a process including the following operations: obtaining the position of the interventional medical device and obtaining an image of a volume including the interventional medical device. The process implemented when the processor executes the instructions also includes applying image processing to an image based on the position of a point on the interventional medical device to identify the interventional medical device, including identifying the shape of the interventional medical device. The process implemented when the processor executes the instructions also includes segmenting the interventional medical device to obtain a segmented representation of the interventional medical device. The segmented representation of the interventional medical device is superimposed on the image.

[0006] According to another aspect of the present disclosure, a tangible non-transitory computer-readable storage medium stores a computer program. When executed by a processor, the computer program causes a system including the tangible non-transitory computer-readable storage medium to perform a process for determining the shape of the interventional medical device in the interventional medical procedure based on the position of the interventional medical device. The process performed when the processor executes the computer program from the tangible non-transitory computer-readable storage medium includes: obtaining the position of at least one point on the interventional medical device and obtaining an image of a volume including the interventional medical device. The process performed when the computer program is executed by the processor also includes: applying image processing to the image based on the position of the interventional medical device to identify the interventional medical device, including identifying the shape of the interventional medical device. The process performed when the computer program is run by the processor also includes segmenting the interventional medical device to obtain a segmented representation of the interventional medical device. The segmented representation of the interventional medical device is superimposed on the image.

[0007] According to another aspect of the present disclosure, a system for determining the shape of an interventional medical device in an interventional medical procedure based on the position of a passive ultrasonic sensor positioned using an ultrasonic imaging probe includes an ultrasonic imaging probe, a passive ultrasonic sensor, and a controller. The ultrasonic imaging probe transmits a beam during the interventional medical procedure. The passive ultrasonic sensor is fixed on the interventional medical device during the interventional medical procedure. The controller includes a memory storing instructions and a processor executing the instructions. The instructions, when executed by the processor, cause the system to implement a process including the following operations: obtaining the position of the passive ultrasonic sensor based on the emission of the beam from the ultrasonic imaging probe to obtain an image of a volume including the interventional medical device and the passive ultrasonic sensor. The process implemented when the processor executes the instructions also includes: applying image processing to the image based on the position of the passive ultrasonic sensor to identify the interventional medical device, including identifying the shape of the interventional medical device and the position of the interventional medical device. The process implemented when the processor executes the instructions also includes segmenting the interventional medical device to obtain a segmented representation of the interventional medical device. The segmented representation of the interventional medical device is superimposed on the image together with the position of the passive ultrasonic sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] When read in conjunction with the accompanying drawings, the exemplary embodiments can be best understood from the following detailed description. It should be emphasized that the various features are not necessarily drawn to scale. In fact, for the clarity of discussion, the size can be increased or reduced at will. Where applicable and practical, the same reference numerals refer to the same elements.

[0009] FIG. 1 illustrates a known system for tracking an interventional medical device using a passive ultrasound sensor.

[0010] Figure 2 A system for passive ultrasound sensor based initialization for image-based device segmentation is illustrated in accordance with a representative embodiment.

[0011] Figure 3 A process for passive ultrasound sensor based initialization for image-based device segmentation is illustrated in accordance with a representative embodiment.

[0012] 4 illustrates a visualization progression of passive ultrasound sensor based initialization for image-based device segmentation, according to a representative embodiment.

[0013] Figure 5 Another process for passive ultrasound sensor based initialization for image-based device segmentation is illustrated in accordance with a representative embodiment.

[0014] Figure 6 Another process for passive ultrasound sensor based initialization for image-based device segmentation is illustrated in accordance with a representative embodiment.

[0015] Figure 7 A set of two-dimensional or X-plane images is shown for optimizing views for passive ultrasound sensor based initialization for image-based device segmentation, according to a representative embodiment.

[0016] Figure 8 Illustrated is a visualization of a mesh of an interventional medical device superimposed in an ultrasound volume in passive ultrasound sensor-based initialization for image-based device segmentation, according to a representative embodiment. DETAILED DESCRIPTION

[0017] In the detailed description below, for the purpose of explanation, and not limitation, illustrative embodiments that disclose specific details are set forth to provide a thorough understanding of the embodiments according to the teachings of the present invention. The description of known systems, equipment, materials, operating methods, and manufacturing methods can be omitted to avoid obscuring the description of representative embodiments. Nevertheless, systems, equipment, materials, and methods within the capabilities of those of ordinary skill in the art are within the scope of this teaching and can be used according to representative embodiments. It should be understood that the terms used herein are only for the purpose of describing specific embodiments, and are not intended to be limited. The defined terms are the meanings outside the scientific and technological meanings of the defined terms that are generally understood and accepted in the technical field of this teaching.

[0018] It should be understood that although the terms first, second, third, etc. may be used herein to describe various elements or components, these elements or components should not be limited by these terms. These terms are only used to distinguish one element or component from another element or component. Therefore, without departing from the teachings of the inventive concept, the first element or component discussed below may also be referred to as the second element or component.

[0019] The terms used herein are only for the purpose of describing specific embodiments and are not intended to be limiting. The singular forms of the terms "one", "an" and "said" as used in the specification and claims are intended to include both the singular and plural forms, unless the context clearly dictates otherwise. In addition, when used in this specification, the terms "include" and / or "comprises" and / or similar terms specify the presence of recorded features, elements and / or parts, but do not exclude the presence or increase of one or more other features, elements, parts and / or their groups. The term "and / or" as used herein includes any combination and all combinations of one or more items in the associated listed items.

[0020] Unless otherwise specified, when an element or component is said to be "connected to," "coupled to," or "adjacent to" another element or component, it will be understood that the element or component can be directly connected or coupled to another element or component, or there may be intervening elements or components. That is, these and similar terms include situations where one or more intervening elements or components may be used to connect two elements or components. However, when an element or component is referred to as being "directly connected" to another element or component, this only includes situations where two elements or components are connected to each other without any intervening or intermediate elements or components.

[0021] In view of the foregoing, therefore, the present disclosure, through one or more of its various aspects, embodiments and / or specific features or subcomponents, is intended to bring one or more of the advantages specifically noted below. For the purpose of explanation and not limitation, example embodiments that disclose specific details are set forth in order to provide a thorough understanding of the embodiments according to the present teachings. However, other embodiments consistent with the present disclosure that deviate from the specific details disclosed herein are still within the scope of the claims. In addition, descriptions of well-known devices and methods may be omitted to avoid obscuring the description of the example embodiments. Such methods and devices are within the scope of the present disclosure.

[0022] As described herein, the position of a passive ultrasonic sensor can be used to easily obtain the shape of an interventional medical device (e.g., a wire). A system that identifies the position of a passive ultrasonic sensor can be used to quantify the shape. The position of the passive ultrasonic sensor can be used to initialize an image processing algorithm that uses, for example, spatial filtering or cross-correlation with a known shape to determine the shape of the device. Once the shape of the interventional medical device is determined, a mesh of the interventional medical device can be generated and superimposed to enhance visualization.

[0023] Figure 2 A system for passive ultrasound sensor based initialization for image-based device segmentation is illustrated in accordance with a representative embodiment.

[0024] In reference Figure 2 , the ultrasound system 200 includes an ultrasound imaging probe 210, a controller 220, a console 290, an interventional medical device 201, and a passive ultrasound sensor S1. As a warning, the ultrasound system 200 represents a system including a controller 220, which is used to obtain the position of the interventional medical device and an image of the volume including the interventional medical device. However, other types of positioning and imaging systems can be used to perform the features described herein and still fall within the spirit and scope of the present disclosure. Similarly, the ultrasound system 200 represents a system including a controller 220, which is used to apply image processing to the image based on the position of the interventional medical device 201, and to segment the interventional medical device to obtain a segmented representation of the interventional medical device 201. However, other types of imaging systems can be used to perform these features described herein and still fall within the spirit and scope of the present disclosure. Therefore, the system described herein is not necessarily an ultrasound system.

[0025] The controller 220 includes a memory 221 storing instructions and a processor 222 executing the instructions. As another request, the controller 220 as described herein may be distributed in multiple devices, each device including a combination of memory and processor to perform one or more characteristic functions attributed to the controller 220 herein.

[0026] The console 290 includes a memory 291 storing instructions and a processor 292 executing the instructions. The console 290 also includes a monitor 295 and a touch panel 296. The memory 291 and the processor 292 can be considered as a sensor unit that determines the position of the passive ultrasonic sensor S1 and provides the position of the passive ultrasonic sensor S1 to the controller 220. Alternatively, another combination of a memory and a processor (not shown) can be used to receive the voltage reading from the passive ultrasonic sensor S1 and the timing of the beam from the ultrasonic imaging probe 210 and determine the position of the passive ultrasonic sensor S1 to provide to the controller 220.

[0027] Using ultrasound system 200 or other embodiments consistent with the description herein, the tip of interventional medical device 201 (or another location on interventional medical device 201) can be located to quantify the shape of interventional medical device 201 by using passive ultrasound sensor S1. The tip of interventional medical device 201 is located in two-dimensional or three-dimensional ultrasound space using passive ultrasound sensor S1. Image processing techniques such as spatial filtering are then applied to the ultrasound image to enhance structures that may be identified as the body of interventional medical device 201. Interventional medical device 201 can be segmented and superimposed on the image based on the most prominent device-like structures that appear near the known location of passive ultrasound sensor S1.

[0028] The processor 222 or the processor 292 of the controller is tangible and non-transient. As used herein, the term "non-transient" should be interpreted as not a permanent feature of a state, but a feature of a state that will last for a period of time. The term "non-transient" specifically negates fleeting features, such as features of a carrier or signal or other forms that only exist transiently at any time anywhere. The processor 205 is an article and / or machine component. The processor 222 for the controller 220 is configured to execute software instructions to perform functions as described in various embodiments herein. The processor 22 for the controller 220 can be a general-purpose processor, or can be a part of an application-specific integrated circuit (ASIC). The processor 222 for the controller 220 can also be a microprocessor, a microcomputer, a processor chip, a controller, a microcontroller, a digital signal processor (DSP), a state machine, or a programmable logic device. The processor 222 for the controller can also be a logic circuit, including a programmable gate array (PGA) such as a field programmable gate array (FPGA), or another type of circuit including discrete gates and / or transistor logic. The processor 222 for the controller 220 may be a central processing unit (CPU), a graphics processing unit (GPU), or both. In addition, any processor described herein may include multiple processors, parallel processors, or both. Multiple processors may be included in or coupled to a single device or multiple devices. As used herein, "processor" encompasses an electronic component capable of executing a program or machine executable instructions. References to computing devices including "processors" should be interpreted as being capable of including more than one processor or processing core. The processor may be, for example, a multi-core processor. A processor may also refer to a collection of processors within a single computer system or distributed between multiple computer systems. The term computing device should also be interpreted as possibly referring to a collection or network of computing devices, each of which includes a processor or multiple processors. Many programs have instructions executed by multiple processors, which may be within the same computing device or may even be distributed on multiple computing devices.

[0029] A memory such as the memory 221 or memory 291 described herein is a tangible storage medium that can store data and executable instructions and is non-transient during the time when the instructions are stored therein. As used herein, the term "non-transient" should be interpreted as not a permanent feature of a state, but a feature of a state that will last for a period of time. The term "non-transient" specifically negates fleeting features, such as features of a carrier or signal or other forms that only exist transiently at any time anywhere. The memory described herein is an article and / or a machine component. The memory described herein is a computer-readable medium from which a computer can read data and executable instructions. The memory 206 as described herein can be a random access memory (RAM), a read-only memory (ROM), a flash memory, an electrically programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a register, one or more disks in a hard disk, a removable disk, a tape, a compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a floppy disk, a Blu-ray disc, or any other form of storage medium known in the art. Memory can be volatile or non-volatile, secure and / or encrypted, unsecure and / or unencrypted. "Memory" is an example of a computer-readable storage medium. Computer memory is any memory that a processor can directly access. Examples of computer memory include, but are not limited to, RAM memory, registers, and register files. References to "computer memory" or "memory" should be interpreted as potentially being multiple memories. The memory can be, for example, multiple memories within the same computer system. The memory can also be multiple memories distributed among multiple computer systems or computing devices.

[0030] For convenience, reference to features of the ultrasound system 200 will be used throughout this disclosure and for other embodiments for consistency. However, as described above, the ultrasound system 200 is merely an example of a system that can perform the functions and functionality described herein.

[0031] Figure 3 A process for passive ultrasound sensor based initialization for image-based device segmentation is illustrated in accordance with a representative embodiment.

[0032] In S310, Figure 3 The process begins by transmitting a beam from an ultrasound imaging probe. For example, at S310, Figure 2 The ultrasound imaging probe 210 in may transmit beams as part of a beam sequence.

[0033] Next, at S320, Figure 3The process proceeds to obtain the position of the passive ultrasonic sensor S1 in the ultrasound volume. The position of the passive ultrasonic sensor S1 can be determined in a predetermined three-dimensional coordinate system, in which an origin is set for the ultrasound image. Registration can be performed to align the three-dimensional coordinate system for the ultrasound image with other three-dimensional coordinate systems, for example, a three-dimensional coordinate system for the interventional medical device 201, including an image from the viewpoint of the interventional medical device when the interventional medical device 201 is an imaging device such as an endoscope. Registration can be performed by aligning landmarks in the image in two different underlying coordinate systems so that one coordinate system is imported into another coordinate system through an image transformation. Registration can also be performed to align a 2D or 3D ultrasound image with a 2D or projected imaging space, for example by identifying common landmarks in each imaging space or identifying the pose of the ultrasound transducer in another imaging space.

[0034] In S330, Figure 3 The process then includes obtaining an image of the ultrasound volume including the interventional medical device 201 and the passive ultrasound sensor S1. The image may be an ultrasound image generated by an ultrasound beam emitted by the ultrasound imaging probe 210 during an interventional medical procedure.

[0035] In S340, Figure 3 The process includes applying image processing to the image based on the position of the passive ultrasound sensor S1 to identify the interventional medical device 201 using constraints, including identifying the shape of the interventional medical device 201 and the position of the interventional medical device 201. The image processing of S340 can be applied based on the position of a point on the interventional medical device 201 or based on the position of at least one point on the interventional medical device 201. The constraints used at S340 may include one or more characteristics of pixel intensity, relative pixel position, (one or more) predetermined shape and / or (one or more) size characteristics. For example, the pixel intensity of the pixel corresponding to the position of the interventional medical device 201 may be higher than the pixel intensity of the pixel corresponding to the anatomical feature of the object of the interventional medical procedure. As another example, the search may be limited to pixels within a predetermined range measured in distance, pixel or other manner from the pixel corresponding to the position of the passive ultrasound sensor S1. Image processing may involve filtering pixels based on predetermined characteristics to eliminate pixels so that the remaining elements of the original image better display the interventional medical device 201. That is, elements of the device shape (i.e., of the interventional medical device 201) are retained after filtering. Image processing therefore intentionally discards shape representations such as anatomical features, but not necessarily based on shape, as the discarding can be based on pixel intensity or pixel position, etc.

[0036] In other examples, the features used for image filtering may include a predetermined shape selected from a library of predetermined shapes corresponding to, for example, different interventional medical devices having different shapes. In another example, the features used for image filtering may include size features of the predetermined shape, such as minimum or maximum length, width, height, diameter, radius, cross-sectional area, curvature, etc. For example, a wire that is an interventional medical device 201 may have a very small cross section, and the search for the wire may look for an end whose area or diameter is less than a threshold corresponding to a very small cross section.

[0037] In S350, Figure 3 The process then includes reconstruction and segmentation of the shape of the interventional medical device 201 or the predetermined shape of the interventional medical device to obtain a segmented representation of the interventional medical device 201. The predetermined device shape can be used as a predetermined constraint so that the predetermined device shape is used as a candidate for the shape of the interventional medical device 201. The elements of the shape of the device (i.e., the interventional medical device 201) retained after filtering can be used to reconstruct the device shape. Segmentation is a representation of a structure such as an anatomical feature and / or an interventional medical device surface such as an interventional medical device 201, and includes, for example, a set of points in three-dimensional (3D) coordinates on the surface of the structure, and a triangular plane segmentation defined by connecting a group of adjacent three points so that the entire structure is covered by a mesh of non-intersecting triangular planes. The three-dimensional model of the structure is obtained by segmentation. Segmentation as described herein for S350 and similar operations in other embodiments may involve segmentation of the interventional medical device 201, anatomical structures, and / or other structures present in the three-dimensional ultrasound volume.

[0038] In S360, Figure 3 The process of comprises superimposing a segmented representation of the interventional medical device 201 on the image together with the position of the passive ultrasound sensor S1.

[0039] Figure 3 The processes and features of other embodiments herein can be used for various types of interventional procedures. For example, in structural heart repair, the use of the features herein can be used to check to ensure the correct shape / path during deployment of the interventional medical device 201. Additionally or alternatively, the use of the features herein can be used to detect whether the interventional medical device 201 has left the desired path during an invasive procedure such as a septal puncture. For example, reference markers can be placed at the location of the target anatomical structure. As an additional or alternative use of the features described herein for structural heart repair, the shape of the mitral valve or other implant can be quantified in three dimensions during structural heart repair.

[0040] 4 illustrates a visualization progression of passive ultrasound sensor based initialization for image-based device segmentation, according to a representative embodiment.

[0041] In visualization A, the progression of FIG. 4 shows the end position of the interventional medical device 201 .

[0042] The progression of Figure 4 shows the effect or result of the image processing at visualization B. In Figure 4, the effect is that the detail of the overall image is greatly reduced, but the detail of the interventional medical device 201 is greater.

[0043] At visualization C, the progression of FIG4 shows an interventional medical device 201 superimposed on the original image. That is, the interventional medical device 201 identified and highlighted in visualization B may be superimposed in visualization C. Of course, the visualization of the interventional medical device 201 from visualization B may be enhanced, such as by filling in missing pixels to completely fill in the complete expected shape according to the model retrieved from the model library. Thus, the image processing used to reduce the details of the overall image for visualization B may also include enhancement to enhance the details of the interventional medical device.

[0044] In FIG4 , the shape of the interventional medical device 201 is obtained from image processing initialized based on the position of the passive ultrasound sensor S1. The end or other position of the interventional medical device 201 is located in the 3D volume using tracking of the passive ultrasound sensor S1. Image processing techniques are applied in the embodiment of FIG4 to make the tubular structure appear clearer. The highest intensity tubular structure near the position of the passive ultrasound sensor S1 can be assumed to be the body of the interventional medical device 201, which is then superimposed on the original image.

[0045] In one embodiment, the process involving the process of FIG. 4 can be used for an image processing algorithm applied in a three-dimensional volume to locate and enhance the visualization of an interventional medical device 201. A two-dimensional imaging plane from an ultrasound imaging probe 210 can be used to scan a three-dimensional space including an interventional medical device 201. The resulting image can then be analyzed to obtain a three-dimensional volume model of the space and / or the interventional medical device 201 in the space. The three-dimensional volume model of the space and / or the interventional medical device 201 can then be segmented. For example, an initial two-dimensional plane can be set to include a passive ultrasound sensor, and then the two-dimensional plane is incrementally rotated to pivot approximately around the passive ultrasound sensor. Two-dimensional image processing such as filtering and clustering can be performed on each frame in the rotation scan to identify portions of the interventional medical device 201. The view of the interventional medical device 201 in each plane can be analyzed to determine which plane from the scan provides the best display of the device, such as the longest portion of the device, or the most distal portion near the passive ultrasound sensor. The segmentation of the interventional medical device is then displayed.

[0046] Figure 5 Another process for passive ultrasound sensor based initialization for image-based device segmentation is illustrated in accordance with a representative embodiment.

[0047] In S510, Figure 5 The process begins by obtaining the position of the passive ultrasound sensor S1 in the ultrasound volume.

[0048] In S520, Figure 5 The process next includes setting filter constraints and search constraints. That is, the search for the interventional medical device 201 in the image can be started at the location of the passive ultrasound sensor S1. The search for constraints can be a search for an area in the image that satisfies a predetermined constraint. The area that satisfies the predetermined constraint can be within a specified radius or distance from the passive ultrasound sensor and can include characteristics such as one or more pixels having a pixel intensity above a predetermined threshold. In an example, the predetermined constraint can be for a specific shape that is part of the shape of the interventional medical device 201, such as a corner or a group of corners, one or more angles in the outline of the interventional medical device 201 that will appear in the ultrasound image, and other types of constraints. The constraints can be predetermined constraints and can vary based on the type of interventional medical device 201, the type of surgery, and the characteristics (including anatomical features) of the object of the interventional medical procedure.

[0049] In S530, Figure 5 The process next moves to applying the filter to the ultrasound volume using the filter constraints. The process performed by the controller 220 or the ultrasound system 200 including the controller 220 may include filtering images from the ultrasound imaging system to eliminate representations of objects of the interventional medical procedure. For example, filtering may be performed to eliminate representations of tissue, bone, and other anatomical features of the object of the interventional medical procedure because the object being sought in the image processing is the interventional medical device 201.

[0050] In S540, Figure 5 The process includes searching for an area of ​​maximum intensity around the passive ultrasonic sensor location and identifying a point with maximum intensity. The maximum intensity may be a pixel intensity above a predetermined threshold, or a relative intensity greater than a predetermined threshold of neighboring pixel intensities.

[0051] In S550, Figure 5 The process then includes connecting adjacent points. The adjacent points may be pixels whose intensity exceeds a threshold and are within a predetermined distance from the location of the passive ultrasonic sensor S1.

[0052] In S560, Figure 5 The process ends with superimposing the shape of the interventional medical device 201 on the ultrasound image. The superimposed interventional medical device 201 is a representation of the interventional medical device 201 and may be superimposed on the ultrasound image and highlighted, for example, by a highlighted outline.

[0053] The process of graph Figure 5 The present invention and other embodiments herein can be used for various types of interventional procedures. For example, in peripheral vascular intervention, features herein can be used to monitor the shape of an interventional medical device 201 (e.g., a wire) during a crossing of a stenosis or blockage to detect buckling of the interventional medical device 201. Additionally or alternatively, features herein can be used to detect the advancement of an interventional medical device 201, such as a wire, relative to a blood vessel to check whether the interventional medical device 201 has left the vessel wall.

[0054] Figure 6 Another process for passive ultrasound sensor based initialization for image-based device segmentation is illustrated in accordance with a representative embodiment.

[0055] Figure 6 The process diagram of FIG. 6 begins at S610 by obtaining a position of a passive ultrasound sensor in an ultrasound volume.

[0056] Next, at S620, Figure 6 The process includes setting filter constraints and identifying the model of the interventional medical device 201. The filter constraints may be predetermined constraints or may be constraints dynamically set for each different interventional medical procedure. The filter constraints may be applied to identify regions that satisfy the predetermined constraints so that the image processing to be performed is only performed at the identified regions or at least starts at the identified regions.

[0057] In S630, Figure 6 The process next includes securing the identified ends of the interventional medical device 201 model to the locations of the passive ultrasound sensors in the ultrasound volume.

[0058] In S640, Figure 6 The process includes determining the optimal angle of the interventional medical device 201 relative to the position of the passive ultrasound sensor S1 in the ultrasound volume. This angle can be used to align the pose of the interventional medical device 201 starting from the position ultrasound sensor S1 and in the direction of the angle from the passive ultrasound sensor S1.

[0059] In S650, Figure 6 The process ends with superimposing the shape of the interventional medical device 201 on the ultrasound image. For example, the mesh generated by segmenting the shape of the predetermined structure into the interventional medical device 201 can be aligned based on the process at S640, and then placed so that the representation of the corners or other ends of the interventional medical device 201 overlaps with the representation of the passive ultrasound sensor S1 in or on the passive ultrasound image.

[0060] Figure 7A set of two-dimensional or X-plane images is illustrated for optimizing views for passive ultrasound sensor based initialization for image-based device segmentation, according to a representative embodiment.

[0061] like Figure 7 As shown in FIG. 1 , five different two-dimensional or X-plane images are labeled A, B, C, D, and E, and each image shows a view of the interventional medical device 201 that varies due to a different viewpoint. The most complete view is that of the two-dimensional or X-plane image "C," which corresponds to a view with the greatest amount of detail of the interventional medical device 201.

[0062] exist Figure 7 In an embodiment of the present invention, images from either the 2D or X-plane views may be viewed to see which provides the best detail of the interventional medical device 201. Figure 7 The image can be obtained before or after the segmentation of the interventional medical device 201, and then used, for example, to identify or confirm the optimal placement, orientation, and posture of the interventional medical device 201 on the underlying three-dimensional ultrasound volume. As an example consistent with the example described in the context of FIG. 4, an initial two-dimensional plane can be set to include a passive ultrasound sensor, and then the two-dimensional plane is incrementally rotated to pivot approximately around the passive ultrasound sensor. In an embodiment where the position is determined by a mechanism other than the passive ultrasound sensor, the position of a point on the interventional medical device 201 can still be used as the starting point for the scan. Two-dimensional image processing such as filtering and clustering can be performed on each frame in the rotational scan to identify portions of the interventional medical device 201. The view of the interventional medical device 201 in each plane can be analyzed to determine which plane from the scan provides the best display of the device, such as the longest portion of the device, or showing the most distal portion near the passive ultrasound sensor. The segmentation of the interventional medical device is then displayed.

[0063] Figure 8 Illustrated is a visualization of a mesh of an interventional medical device 201 superimposed in an ultrasound volume in a passive ultrasound sensor-based initialization for image-based device segmentation, according to a representative embodiment.

[0064] exist Figure 8 In an embodiment of the present invention, the interventional medical device 201 may be a SHD device that is segmented into a grid and superimposed in a 3-dimensional ultrasound volume. The shape of the interventional medical device 201 is known and may be rigid and may fit into an ultrasound image of the 3-dimensional ultrasound volume. The position of the passive ultrasound sensor is used to initialize the search volume in order to identify Figure 8 Correct orientation, posture and overall placement of the interventional medical device 201.

[0065] As Figure 8In an example of an embodiment, the interventional medical device 201 may be rigid, such as in the case of a transseptal puncture needle or a mitral valve repair device. Image processing techniques may be used to search for a specific shape of the device in the area near the passive ultrasound sensor. A grid of known devices may then be superimposed on a two-dimensional or three-dimensional ultrasound image, such as Figure 8 As shown in . The overlay grid of the known device can be superimposed on the ultrasound image and highlighted, for example, by color, brightness or other visual characteristics to make the overlay grid distinctive in the combined image.

[0066] Thus, the passive ultrasound sensor-based initialization for image-based device segmentation can identify the interventional medical device 201 in the ultrasound image and place a model of the interventional medical device 201 in or on the ultrasound image. The passive ultrasound sensor-based initialization for image-based segmentation can be used in a variety of ways, such as ensuring that the interventional medical device 201 is deployed in the correct posture and along the correct path, such as detecting irregular paths during interventional medical procedures (e.g., septal puncture or chronic total occlusion pathways), and / or quantifying the interventional medical device 201 in three dimensions during an interventional medical procedure.

[0067] Although the passive ultrasonic sensor-based initialization for image-based device segmentation has been described with reference to several exemplary embodiments, it is to be understood that the words that have been used are words of description and illustration, rather than words of limitation. Changes may be made within the scope of the appended claims, as presently stated and amended, without departing from the scope and spirit of the passive ultrasonic sensor-based initialization for image-based device segmentation in its aspects. Although the passive ultrasonic sensor-based initialization for image-based device segmentation has been described with reference to specific means, materials, and embodiments, the passive ultrasonic sensor-based initialization for image-based device segmentation is not intended to be limited to the details disclosed; rather, the passive ultrasonic sensor-based initialization for image-based device segmentation extends to all functionally equivalent structures, methods, and uses, such as are within the scope of the appended claims.

[0068] For example, the above examples describe the use of features herein for structural heart repair or peripheral vascular intervention. Other practical applications of features herein may include detecting the bending of an interventional medical device 201 such as a needle during a deep tissue biopsy. Other practical applications of features herein may include providing a reliable in vivo two-dimensional projection reference for registration between ultrasound and / or X-ray.

[0069] The following examples are provided:

[0070] Example 1. A controller (220) for determining a shape of an interventional medical device (201) in an interventional medical procedure based on a position of the interventional medical device (201), comprising:

[0071] a memory (221) storing instructions, and

[0072] A processor (222) configured to execute instructions, wherein the instructions, when executed by the processor, cause the system including the controller (220) to implement a process including the following operations:

[0073] Obtaining (S320) the position of a point on the interventional medical device (201);

[0074] Obtaining (S330) an image of a volume including the interventional medical device (201);

[0075] Based on the position of the interventional medical device, applying (S340) image processing to the image to identify the interventional medical device, including identifying the shape of the interventional medical device; and

[0076] The interventional medical device is segmented (S350) to obtain a segmented representation of the interventional medical device, wherein the segmented representation of the interventional medical device is superimposed (S360) on the image.

[0077] Example 2. The controller (220) of Example 1, wherein the process implemented by the system further comprises:

[0078] obtaining (S320) a position of a passive ultrasound sensor based on the emission of a beam from an ultrasound imaging probe, wherein the position of the interventional medical device corresponds to the position of the passive ultrasound sensor; and

[0079] Starting (S340) searching the image at the location of the passive ultrasound sensor for the interventional medical device and searching the image for an area satisfying a predetermined constraint to apply the image processing to the image,

[0080] Therein, the segmented representation of the interventional medical device is superimposed on the image together with the position of the passive ultrasound sensor.

[0081] Example 3. The controller (220) of Example 2, wherein the process implemented by the system further comprises:

[0082] applying (S340) the predetermined constraint to the image to separate regions of the image that may conform to portions of the shape that include the interventional medical device,

[0083] Therein, the predetermined constraints include characteristics of pixel intensity, and pixel positions relative to the position of the passive ultrasonic sensor.

[0084] Example 4. The controller (220) of Example 2, wherein the process implemented by the system further comprises:

[0085] applying (S340) a predetermined constraint to the image to separate regions of the image that may conform to portions of the shape that include the interventional medical device,

[0086] Therein, the predetermined constraint comprises at least one predetermined shape used as a candidate for the shape of the interventional medical device.

[0087] Example 5. The controller (220) of Example 2, wherein the process implemented by the system further comprises:

[0088] applying (S340) the predetermined constraint to the image to separate regions of the image that may conform to portions of the shape that include the interventional medical device,

[0089] Wherein, the predetermined constraint includes at least one dimensional characteristic of a predetermined shape.

[0090] Example 6. The controller (220) of Example 1, wherein the process implemented by the system further comprises:

[0091] filtering (S340) the image to eliminate representations of objects in the interventional medical procedure inserted into the interventional medical device, wherein the elements of the shape of the interventional medical device are retained in the image after the filtering, and

[0092] The shape of the interventional medical device is reconstructed (S350) based on the elements of the shape of the interventional medical device that remain in the image after the filtering to obtain a reconstruction of the shape of the interventional medical device.

[0093] Example 7. A controller (220) according to Example 6, wherein the segmentation is performed on the reconstruction of the shape of the interventional medical device, and the segmented representation of the interventional medical device includes a segmented representation of the reconstruction of the shape of the interventional medical device.

[0094] Example 8. A controller (220) according to Example 1, wherein the segmentation is performed on a predetermined shape based on the image processing, and the segmented representation of the interventional medical device includes a segmented representation of the predetermined shape of the interventional medical device, so that the segmented representation of the predetermined shape is superimposed on the image.

[0095] Example 9. A tangible non-transitory computer-readable storage medium storing a computer program, the computer program, when executed by a processor, causing a system including the tangible non-transitory computer-readable storage medium to execute a process for determining a shape of an interventional medical device based on a position of the interventional medical device during an interventional medical procedure, the process executed when the processor (222) executes the computer program from the tangible non-transitory computer-readable storage medium comprising:

[0096] Obtaining (S320) the position of the interventional medical device;

[0097] obtaining ( S330 ) an image of a volume including the interventional medical device;

[0098] applying (S340) image processing to the image to identify the interventional medical device based on the position of at least one point on the interventional medical device, including identifying the shape of the interventional medical device; and

[0099] The interventional medical device is segmented (S350) to obtain a segmented representation of the interventional medical device, wherein the segmented representation of the interventional medical device is superimposed (S360) on the image.

[0100] Example 10. The tangible, non-transitory computer-readable storage medium of Example 9, wherein the process implemented by the system further comprises:

[0101] It is started (S340) to search for the interventional medical device in the image at the position of the passive ultrasound sensor and to search for a region satisfying a predetermined constraint in the image to apply the image processing to the image.

[0102] Example 11. The tangible, non-transitory computer-readable storage medium of Example 10, wherein the process implemented by the system further comprises:

[0103] obtaining (S320) a position of a passive ultrasound sensor based on the emission of a beam from an ultrasound imaging probe, wherein the position of the interventional medical device corresponds to the position of the passive ultrasound sensor; and

[0104] applying (S340) the predetermined constraint to the image to separate regions of the image that may conform to portions of the shape that include the interventional medical device,

[0105] Therein, the predetermined constraints include characteristics of pixel intensity, and pixel positions relative to the position of the passive ultrasonic sensor.

[0106] Therein, the segmented representation of the interventional medical device is superimposed on the image together with the position of the passive ultrasound sensor.

[0107] Example 12. The tangible, non-transitory computer-readable storage medium of Example 10, wherein the process implemented by the system further comprises:

[0108] applying (S340) the predetermined constraint to the image to separate regions of the image that may conform to portions of the shape that include the interventional medical device,

[0109] Therein, the predetermined constraint comprises at least one predetermined shape used as a candidate for the shape of the interventional medical device.

[0110] Example 13. The tangible, non-transitory computer-readable storage medium of Example 10, wherein the process implemented by the system further comprises:

[0111] applying (S340) the predetermined constraint to the image to separate regions of the image that may conform to portions of the shape that include the interventional medical device,

[0112] Wherein, the predetermined constraint includes at least one dimensional feature of a predetermined shape.

[0113] Example 14. The tangible, non-transitory computer-readable storage medium of Example 9, wherein the process implemented by the system further comprises:

[0114] filtering (S340) the image to eliminate representations of objects in the interventional medical procedure inserted into the interventional medical device, wherein elements of the shape are retained in the image after the filtering, and

[0115] The shape of the interventional medical device is reconstructed (S350) based on the elements of the shape of the interventional medical device that remain in the image after the filtering to obtain a reconstruction of the shape of the interventional medical device.

[0116] Example 15. The tangible, non-transitory computer-readable storage medium of Example 14,

[0117] wherein said segmentation is performed on said reconstruction of said shape of said interventional medical device, said segmented representation of said interventional medical device comprising a segmented representation of said reconstruction of said shape of said interventional medical device.

[0118] Example 16. The tangible, non-transitory computer-readable storage medium of Example 9,

[0119] wherein the segmentation is performed on a predetermined shape based on the image processing, and the segmented representation of the interventional medical device comprises a segmented representation of the predetermined shape of the interventional medical device, such that the segmented representation of the predetermined shape is superimposed on the image.

[0120] Example 17. A system (200) for determining a shape of an interventional medical device (201) in an interventional medical procedure based on a position of a passive ultrasound sensor (S1) positioned using an ultrasound imaging probe (210), comprising:

[0121] an ultrasound imaging probe (210) that transmits a beam during the interventional medical procedure;

[0122] a passive ultrasound sensor (S1) which is fixed to the interventional medical device (201) during the interventional medical procedure; and

[0123] A controller (220) comprising a memory (221) storing instructions and a processor (222) executing the instructions, wherein the instructions, when executed by the processor (222), cause the system to perform a process comprising the following operations:

[0124] The position of the passive ultrasonic sensor is obtained (S320) based on the emission of the beam from the ultrasonic imaging probe, wherein:

[0125] obtaining (S330) an image of a volume including the interventional medical device and the passive ultrasound sensor;

[0126] Based on the position of the passive ultrasound sensor, applying (S340) image processing to the image to identify the interventional medical device, including identifying a shape of the interventional medical device and a position of the interventional medical device; and

[0127] The interventional medical device is segmented (S350) to obtain a segmented representation of the interventional medical device, wherein the segmented representation of the interventional medical device is superimposed (S360) on the image together with the position of the passive ultrasound sensor.

[0128] Example 18. The system according to Example 17, further comprising:

[0129] a sensor unit (291 / 292) that determines the position of the passive ultrasonic sensor and provides the position of the passive ultrasonic sensor to the controller (220); and

[0130] a display (295) that displays the segmented representation of the interventional medical device based on the segmentation performed by the controller (220) and displays the position of the passive ultrasound sensor determined by the sensor unit

[0131] Example 19. The system of Example 17, wherein the process implemented by the system further comprises:

[0132] Start (S340) searching the image at the location of the passive ultrasound sensor for the interventional medical device and searching the image for an area satisfying a predetermined constraint to apply the image processing to the image.

[0133] Example 20. The system of Example 17, wherein the process implemented by the system further comprises:

[0134] filtering (S340) the image to eliminate representations of objects in the interventional medical procedure inserted into the interventional medical device, wherein elements of the shape are retained in the image after the filtering, and

[0135] The shape is reconstructed (S350) based on the elements of the shape remaining in the image after the filtering to obtain a reconstruction of the shape of the interventional medical device.

[0136] The description of the embodiments described herein is intended to provide a general understanding of the structure of various embodiments. These illustrations are not intended to be used as a complete description of all elements and features of the disclosure described herein. After reviewing the disclosure, many other embodiments will be apparent to those skilled in the art. Other embodiments may be utilized and derived from the disclosure so that structural and logical replacements and changes may be made without departing from the scope of the disclosure. In addition, these illustrations are only representative and may not be drawn to scale. Certain ratios in the illustrations may be amplified, while other ratios may be minimized. Therefore, the disclosure and the accompanying drawings should be considered to be illustrative rather than restrictive.

[0137] One or more embodiments disclosed herein may be referred to as the term "invention" independently and / or collectively for convenience purposes only, but this does not mean that the scope of the present application is limited to any particular invention or inventive concept. In addition, although specific embodiments have been illustrated and described herein, it should be understood that any subsequent arrangement designed to achieve the same or similar purpose can replace the specific embodiments shown. The present disclosure is intended to cover any and all subsequent modifications or variations of the various embodiments. By reviewing the specification, the combination of the above embodiments and other embodiments not specifically described herein will be apparent to those skilled in the art.

[0138] The abstract of the present disclosure is provided in compliance with 37 CFR § 1.72(b), and it should be understood when the abstract is submitted that it is not used to interpret or limit the scope or meaning of the claims. In addition, in the foregoing detailed description, various features may be grouped together or described in a single embodiment in order to simplify the present disclosure. The present disclosure should not be interpreted as reflecting the intention that the claimed embodiments require more features than those expressly recited in each claim. On the contrary, as reflected in the following claims, the inventive subject matter may be directed to less than all the features of any one of the disclosed embodiments. Therefore, the following claims are incorporated into the detailed description, wherein each claim independently defines the claimed subject matter.

[0139] The foregoing description of the disclosed embodiments is provided to enable any person skilled in the art to practice the concepts described in the present disclosure. As such, the subject matter disclosed above should be considered illustrative rather than restrictive, and the claims are intended to cover all such modifications, enhancements, and other embodiments that fall within the true spirit and scope of the present disclosure. Therefore, to the maximum extent permitted by law, the scope of the present disclosure will be determined by the broadest permissible interpretation of the following claims and their equivalents, and shall not be limited or restricted to the foregoing detailed description.

Claims

1. A controller (220) for an ultrasound system, the ultrasound system comprising an ultrasound imaging probe and an interventional medical device, the interventional medical device comprising a passive ultrasound sensor attached to the interventional medical device during an interventional medical procedure, the controller being configured to determine a shape of the interventional medical device (201) during the interventional medical procedure based on a position of the interventional medical device (201), the controller comprising: a memory (221) storing instructions, and A processor (222) configured to execute instructions, wherein the instructions, when executed by the processor, cause the ultrasound system including the controller (220) to implement a process including the following operations: Obtaining (S320) a position of the passive ultrasonic sensor on the interventional medical device (201) in an ultrasonic measurement space based on the emission of a beam from the ultrasonic imaging probe of the ultrasonic system, wherein the position of the interventional medical device corresponds to the position of the passive ultrasonic sensor; Obtaining (S330) an ultrasound image of a volume including the interventional medical device (201); Based on the position of the interventional medical device, applying image processing to the ultrasound image to identify the interventional medical device, including identifying the shape of the interventional medical device; and Segmenting the interventional medical device to obtain a segmented representation of the interventional medical device, wherein the segmented representation of the interventional medical device is superimposed (S360) on the ultrasound image, and, optionally, The ultrasound image superimposed with the segmented representation is output for display to a user of the ultrasound system.

2. The controller (220) according to claim 1, wherein: The users include engineers, medical practitioners or patients.

3. The controller (220) of claim 1, wherein: The process implemented by the ultrasound system further includes: starting to search the ultrasound image at the position of the passive ultrasound sensor for the interventional medical device and searching the ultrasound image for an area satisfying a predetermined constraint to apply the image processing to the ultrasound image, Therein, the segmented representation of the interventional medical device is superimposed on the ultrasound image together with the position of the passive ultrasound sensor.

4. The controller (220) according to claim 3, wherein: The process implemented by the ultrasound system further includes: applying the predetermined constraint to the ultrasound image to separate regions of the ultrasound image that may conform to portions of the shape that include the interventional medical device, Therein, the predetermined constraints include characteristics of pixel intensity, and pixel positions relative to the position of the passive ultrasonic sensor.

5. The controller (220) according to claim 3, wherein: The process implemented by the ultrasound system further includes: applying a predetermined constraint to the ultrasound image to separate regions of the ultrasound image that may conform to portions of the shape that include the interventional medical device, Therein, the predetermined constraint comprises at least one predetermined shape used as a candidate for the shape of the interventional medical device.

6. The controller (220) of claim 3, wherein: The process implemented by the ultrasound system further includes: applying the predetermined constraint to the ultrasound image to separate regions of the ultrasound image that may conform to portions of the shape that include the interventional medical device, Wherein, the predetermined constraint includes at least one dimensional characteristic of a predetermined shape.

7. The controller (220) of claim 1, wherein: The process implemented by the ultrasound system further includes: filtering the ultrasound image to eliminate representations of objects in the interventional medical procedure where the interventional medical device is inserted, wherein elements of the shape of the interventional medical device are retained in the ultrasound image after the filtering, and The shape of the interventional medical device is reconstructed based on the elements of the shape of the interventional medical device that remain in the ultrasound image after the filtering to obtain a reconstruction of the shape of the interventional medical device.

8. The controller (220) of claim 7, wherein: The segmentation is performed on the reconstruction of the shape of the interventional medical device, and the segmented representation of the interventional medical device comprises a segmented representation of the reconstruction of the shape of the interventional medical device.

9. The controller (220) of claim 1, wherein: The segmentation is performed on a predetermined shape based on the image processing, and the segmented representation of the interventional medical device comprises a segmented representation of the predetermined shape of the interventional medical device such that the segmented representation of the predetermined shape is superimposed on the ultrasound image.

10. A tangible, non-transitory computer-readable storage medium storing a computer program, the computer program, when executed by a processor, causing an ultrasound system including the tangible, non-transitory computer-readable storage medium to perform a process for determining a shape of an interventional medical device based on a position of the interventional medical device during an interventional medical procedure, the process performed when the processor (222) executes the computer program from the tangible, non-transitory computer-readable storage medium comprising: obtaining (S320) a position of a passive ultrasonic sensor on the interventional medical device in an ultrasonic measurement space based on the emission of a beam from an ultrasonic imaging probe of the ultrasound system, wherein the position of the interventional medical device corresponds to the position of the passive ultrasonic sensor; obtaining (S330) an ultrasound image of a volume including the interventional medical device; Based on the position of the interventional medical device, applying image processing to the ultrasound image to identify the interventional medical device, including identifying the shape of the interventional medical device; and The interventional medical device is segmented to obtain a segmented representation of the interventional medical device, wherein the segmented representation of the interventional medical device is superimposed (S360) on the ultrasound image.

11. The tangible, non-transitory computer-readable storage medium of claim 10, wherein: The process implemented by the ultrasound system further includes: A search for the interventional medical device in the ultrasound image at the position of the passive ultrasound sensor and a region satisfying a predetermined constraint in the ultrasound image are started to apply the image processing to the ultrasound image.

12. The tangible, non-transitory computer-readable storage medium of claim 11, wherein: The process implemented by the ultrasound system further includes: applying the predetermined constraint to the ultrasound image to separate regions of the ultrasound image that may conform to portions of the shape that include the interventional medical device, wherein the predetermined constraints include characteristics of pixel intensity and pixel position relative to the position of the passive ultrasonic sensor, Therein, the segmented representation of the interventional medical device is superimposed on the ultrasound image together with the position of the passive ultrasound sensor.

13. The tangible, non-transitory computer-readable storage medium of claim 11, wherein: The process implemented by the ultrasound system further includes: applying the predetermined constraint to the ultrasound image to separate regions of the ultrasound image that may conform to portions of the shape that include the interventional medical device, Therein, the predetermined constraint comprises at least one predetermined shape used as a candidate for the shape of the interventional medical device.

14. The tangible, non-transitory computer-readable storage medium of claim 11, wherein: The process implemented by the ultrasound system further includes: applying the predetermined constraint to the ultrasound image to separate regions of the ultrasound image that may conform to portions of the shape that include the interventional medical device, Wherein, the predetermined constraint includes at least one dimensional characteristic of a predetermined shape.

15. The tangible, non-transitory computer-readable storage medium of claim 10, wherein: The process implemented by the ultrasound system further includes: filtering the ultrasound image to eliminate representations of objects in the interventional medical procedure inserted into the interventional medical device, wherein elements of the shape are retained in the ultrasound image after the filtering, and The shape of the interventional medical device is reconstructed based on the elements of the shape of the interventional medical device that remain in the ultrasound image after the filtering to obtain a reconstruction of the shape of the interventional medical device.

16. The tangible, non-transitory computer-readable storage medium of claim 15, in, The segmentation is performed on the reconstruction of the shape of the interventional medical device, the segmented representation of the interventional medical device comprising a segmented representation of the reconstruction of the shape of the interventional medical device.

17. The tangible, non-transitory computer-readable storage medium of claim 10, in, The segmentation is performed on a predetermined shape based on the image processing, and the segmented representation of the interventional medical device comprises a segmented representation of the predetermined shape of the interventional medical device such that the segmented representation of the predetermined shape is superimposed on the ultrasound image.

18. An ultrasound system (200) for determining a shape of an interventional medical device (201) in an interventional medical procedure based on a position of a passive ultrasound sensor (S1) positioned using an ultrasound imaging probe (210), the ultrasound system comprising: A controller according to any one of claims 1 to 9; The ultrasound imaging probe (210) transmits a beam during the interventional medical procedure; the passive ultrasound sensor (S1), which is fixed to the interventional medical device (201) during the interventional medical procedure; and, optionally, A display for receiving the ultrasound image superimposed with the segmented representation from the controller and for displaying it to a user of the ultrasound system.

19. The ultrasound system of claim 18, wherein: The users include engineers, medical practitioners or patients.

20. The ultrasound system of claim 18, further comprising: a sensor unit that determines the position of the passive ultrasonic sensor and provides the position of the passive ultrasonic sensor to the controller (220); as well as A display (295) displays the segmented representation of the interventional medical device based on the segmentation performed by the controller (220) and displays the position of the passive ultrasound sensor determined by the sensor unit.

21. The ultrasound system of claim 18, wherein: The process implemented by the ultrasound system further includes: A search for the interventional medical device in the ultrasound image at the position of the passive ultrasound sensor is started and a region satisfying a predetermined constraint is searched in the ultrasound image to apply the image processing to the ultrasound image.

22. The ultrasound system of claim 18, wherein: The process implemented by the ultrasound system further includes: filtering the ultrasound image to eliminate representations of objects in the interventional medical procedure inserted into the interventional medical device, wherein elements of the shape are retained in the ultrasound image after the filtering, and The shape is reconstructed based on the elements of the shape that remain in the ultrasound image after the filtering to obtain a reconstruction of the shape of the interventional medical device.

Images