Ultrasonic device positioning

Abstract

A system for locating a three-dimensional field of view of a beamforming ultrasound imaging probe based on a position indicator disposed within the three-dimensional field of view. The beamforming ultrasound imaging probe transmits and receives ultrasound signals within a three-dimensional field of view that includes a plurality of predetermined subvolumes, each subvolume being defined by a two-dimensional beam array. A controller causes the beamforming ultrasound imaging probe to sequentially scan the subvolumes by transmitting and receiving ultrasound signals corresponding to each beam. A tracking system determines the position of the position indicator within the three-dimensional field of view; and determines the subvolume in which the position indicator is located. The controller causes the beamforming ultrasound imaging probe to provide a local field of view that includes the position of the position indicator by constraining the transmission and reception of ultrasound signals to the portion of the subvolume in which the position indicator is located.

Description

Technical Field

[0001] The present invention relates to a system for positioning the three-dimensional field of view of a beamforming ultrasound imaging probe. The present invention is particularly applicable to the field of medical ultrasound imaging and can be used with a variety of ultrasound imaging probes. It is contemplated to be used with transthoracic (TTE) ultrasound imaging probes, intravascular (IVUS) ultrasound imaging probes, as well as transesophageal (TEE), transnasal (TNE), intracardiac (ICE), and transrectal (TRUS) ultrasound imaging probes. Background Art

[0002] Interventional devices such as medical needles, catheters, and surgical tools are often difficult to visualize in ultrasound images due to the specular nature of their reflectivity, especially at unfavorable angles of incidence.

[0003] In this regard, document US 2004 / 193042 A1 relates to a three-dimensional ultrasound diagnostic imaging system that is operated to guide or observe the operation of an invasive medical device in three dimensions. The appearance of the invasive device in a three-dimensional ultrasound image is enhanced to be more easily observed by a clinician. The enhancement is produced by transmitting a greater ultrasound beam density in a sub-volume region that includes the invasive device than in surrounding portions of the volume region. The beam density can be uniformly high in the sub-volume region and uniformly low in the surrounding region, or it can be tapered from a relatively high beam density around the invasive device to a minimum beam density at a distance removed from the invasive device.

[0004] Another document, WO 2015 / 101949 A1, describes a system for tracking the position of an interventional tool relative to an ultrasound image plane. Multiple ultrasound transducers disposed on the tool are used to track the distance of the interventional tool from the ultrasound image plane based on ultrasound tracking signals transmitted between the tool and a probe that generates the ultrasound image plane.

[0005] In the system described in document WO 2015 / 101949 A1, the position of the interventional tool can be inherently registered to the ultrasound image plane when the tracking signal is provided by or sensed within the ultrasound image plane. However, in order to sense such a signal and thereby provide the desired tracking, at least one of the ultrasound transducers should be within or at least close to the ultrasound image plane. Therefore, the user may have to manually adjust the positioning of the ultrasound probe in order to provide the desired tracking by bringing one of the sensors closer to the image plane. Thereafter, the user manually coordinates the movement of the interventional tool carrying the sensor and the ultrasound probe to maintain the desired positioning of the sensor(s) relative to the ultrasound image plane.

[0006] The tracking system described in document WO 2015 / 101949 A1 can also be used with a three-dimensional ultrasound imaging system. Again, as long as at least one of the ultrasound transducers remains within the field of view of the imaging probe, the position of the ultrasound transducer relative to the 3D field of view can be determined. A larger three-dimensional field of view has an increased likelihood of containing the ultrasound transducer, thereby reducing the need to manually adjust the positioning of the ultrasound probe. However, the cost of using three-dimensional imaging rather than planar imaging is generally a reduced frame rate and / or image quality. To mitigate this trade-off, the user can therefore reduce the imaging three-dimensional field of view to encompass a smaller volume, for example to image only the organ of interest. However, this smaller field of view requires more manual positioning of the probe in order to accurately follow the position of the interventional tool.

[0007] WO 2004 / 086082 discloses a three-dimensional ultrasound diagnostic imaging system that guides or observes the operation of invasive medical devices in three dimensions. The invasive medical device is displayed in a detailed ultrasound image. The detailed details and wide field of view can be displayed separately or superimposed in spatial alignment.

[0008] WO 2006 / 109219 discloses another interventional guidance system, wherein the position of an interventional medical device is determined based on image processing from live three-dimensional ultrasound images, which positioning is used to guide the ultrasound beam to change the imaging plane.

[0009] Therefore, there remains a need for an improved system for tracking the position of an interventional tool with a desired field of view while alleviating the aforementioned constraints. Summary of the Invention

[0010] In seeking to provide improved tracking, a system for positioning a three-dimensional field of view of a beamforming ultrasound imaging probe based on a position indicator disposed within the field of view is provided. A corresponding method and computer program product are also provided.

[0011] The invention is defined by the claims.

[0012] According to some aspects of the present disclosure, the system includes a beamforming ultrasound imaging probe, a controller, and a tracking system. The tracking system can be, for example, an electromagnetic or optical or ultrasonic tracking system. The beamforming ultrasound imaging probe sends and receives ultrasound signals within a three-dimensional field of view including a plurality of predetermined sub-volumes, each sub-volume being defined by a two-dimensional beam array. The controller causes the beamforming ultrasound imaging probe to sequentially scan the sub-volumes by sending and receiving ultrasound signals corresponding to each beam. The tracking system determines the position of a position indicator within the three-dimensional field of view and determines the sub-volume in which the position indicator is positioned. The controller causes the beamforming ultrasound imaging probe to provide a local field of view by constraining the sending and receiving of ultrasound signals to a portion of the sub-volume in which the position indicator is positioned.

[0013] Thus, the subvolume in which the position indicator is positioned is automatically determined, and a local field of view based thereon is provided. This alleviates the need for the user to manually adjust the positioning of the ultrasound imaging probe in order to find the position indicator. Furthermore, by dividing the entire field of view into such subvolumes and sequentially scanning the subvolumes, the need to search the entire three-dimensional field of view to provide the local field of view is generally avoided, thereby rapidly providing the local field of view.

[0014] Thereafter, the local field of view automatically tracks the position indicator, moving the local field of view in response to relative movement between the ultrasound imaging probe and the position indicator. This alleviates the need to manually adjust the ultrasound imaging probe to provide imaging near the position indicator.

[0015] If for any reason the position indicator is subsequently lost from the local field of view; for example, if a sudden movement of the ultrasound imaging probe causes the position indicator to move outside the local field of view at a rate faster than its position can be tracked, the sequential scan of the sub-volumes can be repeated to again determine the sub-volume in which the position indicator is located, thereby providing a new local field of view.

[0016] According to a particular aspect of the present disclosure, the system includes a beamforming ultrasound imaging probe, a controller, and an ultrasound tracking system. Furthermore, the position indicator is an ultrasound sensor, and the three-dimensional field of view of the beamforming ultrasound imaging probe is positioned based on ultrasound signals detected by the ultrasound sensor. The ultrasound tracking system is further configured to: receive a synchronization signal from the beamforming ultrasound imaging probe, the synchronization signal corresponding to the transmission time of each beam of transmitted ultrasound signals; and receive an electrical signal generated by the ultrasound sensor in response to the ultrasound signal transmitted by the beamforming ultrasound imaging probe; determine the position of the position indicator within the three-dimensional field of view based on the synchronization signal received from the beamforming ultrasound imaging probe and the received electrical signal generated by the ultrasound sensor; and determine the subvolume in which the ultrasound sensor is positioned based on the synchronization signal and a first scan subvolume having a maximum intensity beam, for which the intensity of the generated electrical signal exceeds a predetermined threshold and is a maximum value within the corresponding subvolume. The controller causes the beamforming ultrasound imaging probe to provide a local field of view including the maximum intensity beam by restricting the transmission and reception of ultrasound signals to a portion of the subvolume in which the ultrasound sensor is positioned. This particular aspect of the present disclosure shares the aforementioned benefits. Advantageously, because the tracking system uses ultrasound signals, the spatial reference frame of the tracking system is inherently co-registered with the spatial reference frame of the imaging probe.By avoiding the need for a separate registration, more accurate tracking may be provided.

[0017] Further aspects of the disclosure are described with reference to the appended claims and accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1The system SY is shown, comprising a beamforming ultrasound imaging probe BUIP having a three-dimensional field of view 3DFOV including a sub-volume SV 1..n , each sub-volume consists of beam B 1..k definition.

[0019] Figure 2 The diagram shows a beamforming ultrasound imaging probe BUIP, in which the transmission and reception of ultrasound signals are constrained to pass through the maximum intensity beam B max The first two-dimensional plane PL1.

[0020] Figure 3 A beamforming ultrasound imaging probe BUIP is illustrated, wherein transmission and reception of ultrasound signals are constrained to a first two-dimensional plane PL1 , and wherein the beamforming ultrasound imaging probe BUIP also provides a second field of view corresponding to a second two-dimensional plane PL2 .

[0021] Figure 4 A beamforming ultrasound imaging probe BUIP is illustrated, as well as a first two-dimensional plane PL1 and a second two-dimensional plane PL2 and a three-dimensional position POS of a position indicator S in the form of an ultrasound sensor.

[0022] Figure 5 A further beamforming ultrasound imaging probe BUIP is illustrated as well as a first two-dimensional plane PL1 and a second two-dimensional plane PL2 and a three-dimensional position POS of a position indicator S in the form of an ultrasound sensor.

[0023] Figure 6 Illustration with depth of field DOF 3DFOV Three-dimensional field of view 3DFOV and depth of field DOF LFOV The local field of view (LFOV) of the beamforming ultrasound imaging probe BUIP.

[0024] Figure 7 A method MET that may be used according to some aspects of the present disclosure is illustrated. DETAILED DESCRIPTION

[0025] To illustrate the principles of the present invention, a system is described in which a three-dimensional field of view of a beamforming ultrasound imaging probe is positioned based on a position indicator disposed within its field of view. The system includes a beamforming ultrasound imaging probe, a controller, and a tracking system. In addition, Figure 1 The system SY is shown, comprising a beamforming ultrasound imaging probe BUIP having a three-dimensional field of view 3DFOV including a sub-volume SV 1..n , each subvolume consists of a bundle B 1..k Therefore, the three-dimensional field of view 3DFOV is divided into multiple sub-volumes SV 1..n As shown in the figure, each sub-volume SV1..n Includes multiple beams, such as beam B 1..k Beam B 1..k The subvolume SV may correspond to an image line in a three-dimensional ultrasound image and is generated using known beamforming techniques from the ultrasound field. These include controlling the relative delays between ultrasound signals transmitted and received by the individual transducers of the two-dimensional ultrasound transducer array of the beamforming ultrasound imaging probe BUIP. 1..n Each beam B 1..k Assigned to subvolume SV 1..n One of them is defined. Although Figure 1 Only two sub-volumes are shown in FIG, but other numbers and shapes of sub-volumes are also conceivable.

[0026] Figure 1 The system SY in the embodiment can be used to position the three-dimensional field of view 3DFOV of the beamforming ultrasound imaging probe BUIP based on a position indicator S arranged within the field of view 3DFOV. Figure 1 As shown, the system SY may also optionally include an image reconstruction unit IRU that can generate a reconstructed ultrasound image based on the ultrasound imaging signal from the beamforming ultrasound imaging probe BUIP, and a display DISP that can display the reconstructed ultrasound image. As described in more detail below, each of the items UTS, CON, BUIP, IRU, and DISP may include electronic circuitry and / or one or more processors and one or more memories storing instructions that, when executed by the processors, implement one or more method steps corresponding to the functions described therein. The electronic circuitry, processors, and memories may be shared between one or more of the items UTS, CON, BUIP, IRU, and DISP.

[0027] Figure 1 The beamforming ultrasound imaging probe BUIP in may be, for example but not limited to, a transthoracic "TTE" ultrasound imaging probe, an intravascular "IVUS", a transesophageal "TEE", a transnasal "TNE", an intracardiac "ICE" or a transrectal "TRUS" ultrasound imaging probe.

[0028] Figure 1Also illustrated is a position indicator S disposed within the three-dimensional field of view 3DFOV. The position indicator S can be a passive device or an active device. Non-limiting examples of passive devices include ultrasound reflectors or permanent magnets. Non-limiting examples of active devices include ultrasound sensors or transmitters, magnetic sensors or magnetic field generators, optical sensors or transmitters. In some embodiments, the position indicator can be disposed on an interventional device. The interventional device can be, for example, but not limited to, a medical needle, a catheter, a guidewire, a probe, an endoscope, an electrode, a robot, a filtering device, a balloon device, a stent, a mitral valve clip, a left atrial appendage closure device, an aortic valve, a pacemaker, an intravenous catheter, a drainage tube, a surgical tool, a tissue sealing device, a tissue cutting device, or an implantable device.

[0029] As shown in the figure, Figure 1 The controller CON communicates with the ultrasound tracking system UTS and the beamforming ultrasound imaging probe BUIP. Figure 1 The functions of the controller CON may be provided by electronic circuits and / or one or more memories storing instructions, and one or more processors executing the instructions. When executed by the processors, the instructions cause the system SY including the controller CON to implement a process comprising causing the beamforming ultrasound imaging probe BUIP to transmit and receive signals corresponding to each beam B. 1..k The corresponding ultrasound signal is used to sequentially scan the sub-volume SV 1..n For example, when the subvolume SV 1..n When arranged in a one-dimensional array, a linear scan of the subvolume array is expected. 1..n When arranged in a two-dimensional array, consider raster scanning the subvolume array.

[0030] As shown in the figure, Figure 1 The tracking system UTS in the system communicates with the beamforming ultrasound imaging probe BUIP. Figure 1 The functionality of the tracking system UTS in the embodiment of the present invention may be provided by electronic circuitry and / or one or more memories storing instructions and one or more processors executing the instructions. When executed by the processors, the instructions cause the system SY comprising the ultrasound tracking system UTS to perform operations comprising determining a position of a position indicator S within a three-dimensional field of view 3DFOV and determining a sub-volume SV in which the position indicator S is located. 1..n Various tracking systems can be used as the tracking system UTS, including ultrasonic, (electro)magnetic and optical tracking systems, such as those described in documents WO 2015 / 101949 A1, US 2003 / 0120150 A1 and US 2012 / 0069347 A1, respectively. The position of the position indicator S within the three-dimensional field of view 3DFOV can in some embodiments be a position indicator from the beam B. 1..kThe position indicator S is located in the beam selected in the image processing apparatus BUIP, or in other embodiments is the three-dimensional position of the position indicator S relative to the beam forming ultrasound imaging probe BUIP. The three-dimensional position can be expressed, for example, in a Cartesian coordinate system or a polar coordinate system, or by the position sensor S and the beam forming ultrasound imaging probe BUIP and the beam selected in the image processing apparatus BUIP. 1..k The position indicator S is positioned between the beams B and B, and is represented by a combination of time, flight, or range. In some embodiments, determining the position of the position indicator S within the three-dimensional field of view 3DFOV may include registering the coordinate system of the tracking system UTS to the reference beam B. 1..k This registration can be used to determine the subvolume SV where the position indicator S is located. 1..n In other embodiments described later, the coordinate system of the tracking system UTS may be inherently registered to the reference beam B 1..k coordinate system, so registration may not be required.

[0031] Subsequently, the controller CON implements a process which includes causing the beamforming ultrasound imaging probe BUIP to provide a local field of view LFOV including the position of the position indicator S by constraining the transmission and reception of ultrasound signals to the portion of the sub-volume in which the position indicator S is located. Figure 1 This is illustrated by constraining the ultrasound signals to shadow beams comprising the local field of view LFOV, in this particular example around the beam B where the position sensor S is positioned. max and beam B max As the center.

[0032] Thereafter, the local field of view automatically tracks the position indicator, moving the local field of view in response to relative motion between the ultrasound imaging probe and the position indicator. This alleviates the need for manual adjustment of the ultrasound imaging probe to provide imaging near the position indicator.

[0033] Constraining the transmission and reception of ultrasound signals to the portion of the sub-volume at which the position indicator S is positioned may, for example, comprise constraining the transmission and reception of ultrasound signals to the entire sub-volume at which the sensor is positioned. Alternatively, it may comprise constraining the transmission and reception of ultrasound signals to a predetermined beam selection comprising the position or beam at which the position indicator S is positioned, such as a two-dimensional plane passing through said position or beam, or two or more two-dimensional intersecting planes each intersecting with said position or beam, or providing a new beam pattern comprising the position or beam at which the position indicator S is positioned. In some embodiments, the beamforming ultrasound imaging probe BUIP comprises a transducer array and a three-dimensional field of view 3DFOV, and the local fields of view LFOV may each have a depth of field DOF along an axis passing through the transducer array TA 3DFOV DOF LFOVIn these embodiments, the local field of view (DOF) LFOV The depth of field can be smaller than the 3D field of view DOF 3DFOV Depth of field and 3D field of view DOF 3DFOV within the depth of field.

[0034] In some embodiments, the three-dimensional field of view 3DFOV may have an angular extent in each of two orthogonal planes, and each subvolume has an angular extent in one of the two orthogonal planes equal to the angular extent of the three-dimensional field of view in the corresponding plane.

[0035] In some embodiments, the three-dimensional field of view 3DFOV has an angular range in each of two orthogonal planes, and each subvolume SV 1..n The angular ranges in the two orthogonal planes are smaller than the angular ranges of the three-dimensional field of view 3DFOV in the corresponding planes.

[0036] In some embodiments, the controller CON may implement a process comprising: recording the last position of the position indicator S, and if the position becomes lost or unreliable, for example, the signal indicating the position falls below a predetermined threshold, the controller CON may implement a process comprising scanning a plurality of subvolumes SV starting from the last subvolume whose position is known or reliable. 1..n , for example, a subvolume in which the maximum intensity of the electrical signal exceeds a predetermined threshold. Subvolumes adjacent to this subvolume may then be scanned. In other embodiments, the subvolumes may then be scanned sequentially or in a random or quasi-random manner.

[0037] As described above, various tracking systems are contemplated for determining the position of the position indicator S within the three-dimensional field of view 3DFOV. The tracking system may be, for example, an ultrasonic, (electro)magnetic, or optical tracking system. Both active and passive tracking systems are contemplated, with active tracking systems comprising energy sensors or emitters as position indicators S, and passive tracking systems comprising passive elements such as passive ultrasonic reflectors or references or magnets as position indicators S.

[0038] In one embodiment, described in greater detail below, the tracking system is an ultrasound tracking system, the position indicator S is an ultrasound sensor, and the three-dimensional field of view (3DFOV) of the beamforming ultrasound imaging probe (BUIP) is positioned based on ultrasound signals detected by the ultrasound sensor S. In an alternative ultrasound tracking system, the position indicator S is an ultrasound transmitter, and the three-dimensional field of view (3DFOV) of the beamforming ultrasound imaging probe (BUIP) is positioned based on ultrasound tracking signals transmitted by the ultrasound transmitter S and received by the beamforming ultrasound imaging probe (BUIP). The ultrasound tracking signals are processed by the beamforming ultrasound imaging probe (BUIP) and the ultrasound tracking system, and the position of the ultrasound transmitter S within the three-dimensional field of view (3DFOV) is determined based on the time of flight of the tracking signals between the ultrasound transmitter S and the beamforming ultrasound imaging probe (BUIP) and a beam selected from the beams B1..k within which the tracking signals are received. Thus, the tracking signals are received and processed by the beamforming ultrasound imaging probe as if they were ultrasound echoes received from within the three-dimensional field of view (3DFOV). In yet another alternative ultrasound tracking system, a plurality of discrete ultrasound transmitters or sensors are disposed on a beamforming ultrasound imaging probe BUIP, and triangulation is performed on the flight times of ultrasound tracking signals respectively received or transmitted by the ultrasound sensors or transmitters disposed within a three-dimensional field of view 3DFOV to determine the positions of the ultrasound sensors or transmitters disposed within the three-dimensional field of view 3DFOV.

[0039] When the tracking system is an ultrasonic tracking system and the position indicator S is an ultrasonic sensor, the ultrasonic tracking system UTS may implement a process comprising receiving a synchronization signal from the beamforming ultrasonic imaging probe BUIP, the synchronization signal corresponding to each beam B 1..k receiving an electrical signal generated by the ultrasonic sensor S in response to the ultrasonic signal transmitted by the beamforming ultrasonic imaging probe BUIP; determining the position of the position indicator S within the three-dimensional field of view 3DFOV based on the synchronization signal received from the beamforming ultrasonic imaging probe BUIP and the received electrical signal generated by the ultrasonic sensor S; and determining the position of the position indicator S within the three-dimensional field of view 3DFOV based on the synchronization signal and the beam having the maximum intensity B max The first scan subvolume of determines the subvolume SV1..n in which the ultrasound sensor S is positioned, for the maximum intensity beam B max , the intensity of the generated electrical signal exceeds a predetermined threshold and is the maximum value of the corresponding subvolume.

[0040] Therefore, the synchronization signal identifies the beam sent by the beamforming ultrasound imaging probe BUIP, and by recording the corresponding intensity of each electrical signal generated by the ultrasound sensor S, the beam B closest to the ultrasound sensor position can be determined. maxThe generated electrical signals below a predetermined threshold can be ignored as these may be noise signals that would otherwise falsely identify the beam closest to the sensor. The maximum intensity beam B is finally determined. max , which is the beam whose generated electric signal intensity exceeds a predetermined threshold and is the maximum value of the corresponding sub-volume. Therefore, the maximum intensity beam B max can be considered to represent the beam closest to the ultrasonic sensor S.

[0041] Furthermore, the controller CON implements a process that includes causing the beamforming ultrasound imaging probe BUIP to provide a beam comprising a maximum intensity beam B by constraining the transmission and reception of ultrasound signals to the portion of the sub-volume in which the ultrasound sensor S is positioned. max The local field of view LFOV.

[0042] Thereafter, automatic adjustment of the local field of view so that it includes the maximum intensity beam ensures that the local field moves in response to movement of the ultrasound imaging probe and transducer. This alleviates the need to manually adjust the ultrasound imaging probe position to ensure it remains within the local field of view.

[0043] The above-described ultrasound tracking system, in which the tracking system and the beamforming ultrasound imaging probe BUIP share the same coordinate system, advantageously alleviates the need to register their respective coordinate systems. This eliminates the need for calibration and may provide for more accurate position determination.

[0044] The sensor S used in the above-described ultrasound tracking system can be any sensor capable of detecting an ultrasonic signal. In particular, piezoelectric and capacitive micromachined ultrasonic transducers, i.e., CMUT, sensors are contemplated. A variety of piezoelectric materials can be used, including hard and soft piezoelectric materials. Polyvinylidene fluoride, also known as PVDF, can be used in particular, as its mechanical properties and manufacturing process enable it to be attached to curved surfaces, such as medical needles. Alternative materials include PVDF copolymers, such as polyvinylidene fluoride trifluoroethylene, PVDF terpolymers, such as P(VDF-TrFE-CTFE). Preferably, the ultrasonic transducer is wrapped around the axis of the interventional device to provide sensing of about 360 degrees of rotation around the axis, although this need not always be the case. Embodiments using an ultrasonic transmitter as the position indicator S can also employ various materials including piezoelectric materials, or employ CMUT transmitters.

[0045] In embodiments using the ultrasound tracking system described above, it is envisaged that the transmission and reception of ultrasound signals is constrained to respective portions of the sub-volume.

[0046] In some embodiments comprising an ultrasound tracking system and a position indicator S in the form of an ultrasound sensor, the local field of view LFOV may correspond to the entire sub-volume in which the sensor is positioned. Figure 1As shown, the portion of the sub-volume in which the transmission and reception of ultrasound signals are confined may be around the maximum intensity beam B. max The predetermined beam selection can be, but not necessarily, the maximum strength beam B max In the embodiment comprising an ultrasonic tracking system and a position indicator S in the form of an ultrasonic sensor and referring to Figure 2 In other embodiments described, Figure 2 The diagram shows a beamforming ultrasound imaging probe BUIP, in which the transmission and reception of ultrasound signals are constrained to pass through a maximum intensity beam B max The first two-dimensional plane PL1, the portion of the sub-volume in which the transmission and reception of ultrasound signals are confined can be the maximum intensity beam B max A first two-dimensional plane PL1 is defined as a first two-dimensional plane. Various techniques for providing the first two-dimensional plane PL1 and other planes as defined herein are known in the ultrasound art. These techniques may include controlling various delays between ultrasound signals transmitted and received from a two-dimensional ultrasound transducer array within a beamforming ultrasound imaging probe (BUIP). Documents US 6,443,896 B1 and US 2014 / 0013849 A1 describe exemplary techniques for providing and controlling such planes.

[0047] In another embodiment comprising an ultrasonic tracking system and a position indicator S in the form of an ultrasonic sensor, a second two-dimensional plane PL2 may additionally be provided. Figure 3 To illustrate, Figure 3 A beamforming ultrasound imaging probe BUIP is illustrated, wherein transmission and reception of ultrasound signals are constrained to a first two-dimensional plane PL1, and wherein the beamforming ultrasound imaging probe BUIP also provides a second field of view corresponding to a second two-dimensional plane PL2. Figure 3 , the controller CON may further implement a process comprising causing the beamforming ultrasound imaging probe BUIP to provide a second field of view by further transmitting and receiving ultrasound signals corresponding to a second two-dimensional plane PL2, wherein the second two-dimensional plane PL2 includes the maximum intensity beam Bmax and is arranged transversely relative to the first two-dimensional plane PL1. Thus, the maximum intensity beam B max The second two-dimensional plane PL2 may be common to both the first two-dimensional plane PL1 and the second two-dimensional plane PL2, thereby defining an intersection between these planes. Like the first two-dimensional plane PL1, the second two-dimensional plane PL2 may be provided and controlled according to known techniques, such as disclosed in document US 2014 / 0013849 A1. As shown, the second two-dimensional plane PL2 may optionally extend beyond the subvolume in which the position indicator S is positioned. In some embodiments, the second two-dimensional plane PL2 may be arranged orthogonally relative to the first two-dimensional plane PL1, although other orientations of the second two-dimensional plane PL2 relative to the first two-dimensional plane PL1 are also contemplated.

[0048] Figure 4 The beamforming ultrasound imaging probe BUIP is illustrated, as well as a first two-dimensional plane PL1 and a second two-dimensional plane PL2 and a three-dimensional position POS of a position indicator S in the form of an ultrasound sensor. Figure 4 , its beamforming ultrasound imaging probe BUIP can replace Figure 1 The ultrasound tracking system UTS can be implemented by using the beamforming ultrasound imaging probe BUIP in the image sensor S. The ultrasound tracking system UTS can also implement a process of determining the three-dimensional position POS of the sensor S relative to the beamforming ultrasound imaging probe BUIP. The three-dimensional position POS can be based on the maximum intensity beam B max and for the maximum intensity beam B max The range RA between the beamforming ultrasound imaging probe BUIP and the ultrasound sensor S is determined. The range RA can be calculated based on the time difference between the generation time of the maximum generated electrical signal and the corresponding synchronization signal; the synchronization signal corresponds to the maximum intensity beam B max The controller CON implements a process that includes causing the beamforming ultrasound imaging probe BUIP to provide a second field of view by further transmitting and receiving ultrasound signals corresponding to a second two-dimensional plane PL2, the second two-dimensional plane PL2 passing through the three-dimensional position POS of the sensor S and arranged transversely with respect to the first two-dimensional plane PL1.

[0049] Figure 5 A further beamforming ultrasound imaging probe BUIP is illustrated as well as a first two-dimensional plane PL1 and a second two-dimensional plane PL2 and a three-dimensional position POS of a position indicator S in the form of an ultrasound sensor. Figure 5 The beamforming ultrasound imaging probe BUIP can replace Figure 1 This is achieved with the beamforming ultrasound imaging probe BUIP. Figure 4 compared to, Figure 5 The second two-dimensional plane PL2 shown originates from different positions on the transducer array TA of the beamforming ultrasound imaging probe BUIP. Figure 4 As shown, Figure 5 A second two-dimensional plane PL2 is shown passing through the three-dimensional position POS of the sensor S.

[0050] In some embodiments comprising an ultrasonic tracking system and a position indicator S in the form of an ultrasonic sensor, the depth of field of the local field of view may be less than and within the depth of field of the three-dimensional field of view. Figure 1 The display DISP in FIG. 1 shows the ultrasound image with a reduced depth of field. This rendering may be referred to as "volume cropping" and is referred to as Figure 6 To explain, Figure 6The diagram shows a beamforming ultrasound imaging probe BUIP having a depth of field DOF. 3DFOV Three-dimensional field of view 3DFOV and depth of field DOF LFOV The local field of view LFOV. Figure 6 The beamforming ultrasound imaging probe BUIP can replace Figure 1 The beamforming ultrasound imaging probe BUIP is used to achieve this. Figure 6 In the embodiment, the beamforming ultrasound imaging probe BUIP includes a transducer array TA, and a three-dimensional field of view 3DFOV and a local field of view LFOV each have a depth of field DOF along an axis AX passing through the transducer array TA. 3DFOV DOF LFOV Local field of view (DOF) LFOV The depth of field is less than DOF 3DFOV Depth of field and 3D field of view DOF 3DFOV Such rendering allows for the removal of otherwise distracting information from the displayed ultrasound image.

[0051] In some embodiments comprising an ultrasound tracking system and a position indicator S in the form of an ultrasound sensor, the three-dimensional field of view 3DFOV may have an angular range in each of two orthogonal planes, and each subvolume may have an angular range in one of the two orthogonal planes that may be equal to the angular range of the three-dimensional field of view in the corresponding plane.

[0052] In some embodiments comprising an ultrasound tracking system and a position indicator S in the form of an ultrasound sensor, the three-dimensional field of view 3DFOV has an angular range in each of two orthogonal planes, and each sub-volume SV 1..n The two orthogonal planes have angular ranges that are both smaller than the angular ranges of the three-dimensional field of view 3DFOV in the corresponding planes.

[0053] In some embodiments comprising an ultrasound tracking system and a position indicator S in the form of an ultrasound sensor, the controller CON may implement a process comprising recording the position of the position indicator S and, if the position becomes lost or unreliable, e.g., the electrical signal corresponding to the position POS falls below a predetermined threshold, the controller CON may implement a process comprising scanning a plurality of subvolumes SV starting from the last subvolume whose position was known or reliable. 1..n , a subvolume whose maximum intensity of the electrical signal exceeds a predetermined threshold. Subvolumes adjacent to the subvolume may then be scanned. In other embodiments, the subvolumes may then be scanned sequentially or in a random or quasi-random manner.

[0054] Figure 7The method MET that can be used according to some aspects of the present disclosure is illustrated. Note that aspects disclosed with respect to the method or with respect to the system can be used interchangeably. The method MET can be used to position the three-dimensional field of view 3DFOV of the beamforming ultrasound imaging probe BUIP based on a position indicator S disposed within the three-dimensional field of view 3DFOV. Figure 7 In one implementation method, MET may include the following steps:

[0055] - causing the S1 beamforming ultrasound imaging probe BUIP to transmit and receive ultrasound signals within a three-dimensional field of view 3DFOV comprising a plurality of predetermined sub-volumes SV1 ..n, each sub-volume SV1 ..n being defined by a plurality of beams B1 ..k;

[0056] - causing the S2 beamforming ultrasound imaging probe BUIP to sequentially scan the sub-volumes SV1..n by transmitting and receiving ultrasound signals corresponding to each beam B1..k;

[0057] - determining the position of the S5 position indicator (S) within the three-dimensional field of view 3DFOV;

[0058] - determining S6 the sub-volume SV1 ..n in which the position indicator S is located; and

[0059] - causing S7 the beamforming ultrasound imaging probe BUIP to provide a local field of view LFOV by constraining the transmission and reception of ultrasound signals to the portion of the sub-volume where the position indicator S is located.

[0060] According to a specific embodiment of the method MET, and wherein the position indicator S is an ultrasound sensor; and wherein the positioning of the three-dimensional field of view 3DFOV of the beamforming ultrasound imaging probe BUIP is based on the ultrasound signal detected by the ultrasound sensor; the MET method may further comprise the following steps:

[0061] - receiving S3 synchronization signals from the beamforming ultrasound imaging probe BUIP, the synchronization signals corresponding to the transmission time of the transmitted ultrasound signals of each beam B1 ..k; and

[0062] - receiving S4 an electrical signal generated by the ultrasound sensor S in response to an ultrasound signal transmitted by the beamforming ultrasound imaging probe BUIP;

[0063] - and wherein determining S5 the position of the position indicator S within the three-dimensional field of view 3DFOV is based on a synchronization signal received from the beamforming ultrasound imaging probe BUIP and a received electrical signal generated by the ultrasound sensor S; and

[0064] - wherein the step S6 of determining the subvolume SV1 ..n in which the position indicator S is located is based on the synchronization signal and the first scanned subvolume having the maximum intensity beam Bmax for which the intensity of the generated electric signal exceeds a predetermined threshold and is a maximum value of the corresponding subvolume; and wherein

[0065] - The step S7 of causing the beamforming ultrasound imaging probe BUIP to provide a local field of view LFOV further comprises providing the local field of view LFOV comprising a maximum intensity beam Bmax.

[0066] One or more method steps disclosed herein, particularly with respect to Figure 7 Those described in the method may be recorded in the form of instructions that, when executed on a processor, cause the processor to perform such method steps. The instructions may be stored on a computer program product. A computer program product may be provided by dedicated hardware as well as hardware capable of executing software in conjunction with appropriate software. When provided by a processor, the functionality may be provided by a single dedicated processor, a single shared processor, or multiple separate processors, some of which may be shared. Furthermore, the explicit use of the term "processor" or "controller" should not be construed to refer exclusively to hardware capable of executing software and may implicitly include, but is not limited to, digital signal processor (DSP) hardware, read-only memory (ROM) for storing software, random access memory (RAM), non-volatile storage devices, and the like. Furthermore, embodiments of the present invention may take the form of a computer program product accessible from a computer-usable or computer-readable storage medium providing program code for use by or in conjunction with a computer or any instruction execution system. For the purposes of this description, a computer-usable or computer-readable storage medium may be any device that can contain, store, communicate, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or apparatus. The medium can be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or apparatus or device, or a propagation medium. Examples of computer-readable media include semiconductor or solid-state memory, magnetic tape, removable computer diskettes, random access memory "RAM," read-only memory "ROM," hard disks, and optical disks. Current examples of optical disks include compact disks—read only memory "CD-ROM," compact disks—read / write "CD-R / W," Blu-Ray™, and DVDs.

[0067] In summary, a system for positioning a three-dimensional field of view of a beamforming ultrasound imaging probe based on a position indicator disposed within the field of view has been described. The system includes a beamforming ultrasound imaging probe, a controller, and a tracking system. The beamforming ultrasound imaging probe transmits and receives ultrasound signals within a three-dimensional field of view that includes a plurality of predetermined subvolumes, each subvolume being defined by a plurality of beams. The controller causes the beamforming ultrasound imaging probe to sequentially scan the subvolumes by transmitting and receiving ultrasound signals corresponding to each beam. The tracking system determines the position of the position indicator within the three-dimensional field of view; determines the subvolume in which the position indicator is positioned; and the controller causes the beamforming ultrasound imaging probe to provide a local field of view that includes the position of the position indicator by constraining the transmission and reception of ultrasound signals to the portion of the subvolume in which the position indicator is positioned.

[0068] Various implementations and options have been described with respect to the system, and it is noted that these can be combined to achieve further advantageous effects.Any reference signs in the claims should not be construed as limiting the scope of the invention.

Claims

1. A system (SY) for positioning a three-dimensional field of view (3DFOV) of a beamforming ultrasound imaging probe (BUIP) based on a position indicator (S) disposed within the field of view (3DFOV), the system (SY) comprising: Beamforming Ultrasound Imaging Probe (BUIP); Controller (CON); as well as Tracking System (UTS); The beamforming ultrasound imaging probe (BUIP) is configured to include a plurality of predetermined sub-volumes (SV 1..n ) to send and receive ultrasound signals within the three-dimensional field of view (3DFOV), and each sub-volume (SV 1..n ) by beam (B 1..k )'s two-dimensional array definition; The controller (CON) is in communication with the tracking system (UTS) and the beamforming ultrasound imaging probe (BUIP) and is configured to enable the beamforming ultrasound imaging probe (BUIP) to transmit and receive signals to and from each beamforming ultrasound imaging probe (B 1..k ) to sequentially scan the sub-volumes (SV 1..n ); wherein the tracking system (UTS) is in communication with the beamforming ultrasound imaging probe (BUIP) and is configured to: determining a position of the position indicator (S) within the three-dimensional field of view (3DFOV); Determine the subvolume (SV) in which the position indicator (S) is located 1..n );and Wherein, the controller (CON) is further configured to cause the beamforming ultrasound imaging probe (BUIP) to provide a local field of view (LFOV) including the position of the position indicator (S) by constraining the transmission and reception of ultrasound signals to the portion of the sub-volume where the position indicator (S) is positioned.

2. The system of claim 1, wherein: The position indicator (S) is an ultrasonic sensor; and wherein positioning the three-dimensional field of view (3DFOV) of the beamforming ultrasound imaging probe (BUIP) is based on ultrasound signals detected by the ultrasound sensor (S); and wherein the tracking system (UTS) is an ultrasonic tracking system; and Wherein, the ultrasonic tracking system (UTS) is further configured to: Receive a synchronization signal from the beamforming ultrasound imaging probe (BUIP), the synchronization signal corresponding to each beam (B 1..k ) of the transmitted ultrasonic signal; and receiving an electrical signal generated by the ultrasound sensor (S) in response to the ultrasound signal transmitted by the beamforming ultrasound imaging probe (BUIP); and determining the position of the position indicator (S) within the three-dimensional field of view (3DFOV) based on a received synchronization signal from the beamforming ultrasound imaging probe (BUIP) and a received electrical signal generated by the ultrasound sensor (S); Based on the synchronization signal and the beam with the maximum intensity (B max ) to determine the sub-volume (SV) in which the ultrasound sensor (S) is positioned 1..n ), for the maximum intensity beam, the intensity of the generated electrical signal exceeds a predetermined threshold and is a maximum value for the corresponding subvolume; and wherein the controller (CON) is further configured to cause the beamforming ultrasound imaging probe (BUIP) to provide a beamforming ultrasound imaging probe (BUIP) comprising the maximum intensity beam (B) by restricting the transmission and reception of ultrasound signals to the portion of the sub-volume in which the ultrasound sensor (S) is positioned. max )’s local field of view (LFOV).

3. The system according to claim 2, wherein: The portion of the sub-volume is the entire sub-volume in which the sensor is positioned.

4. The system according to claim 2, wherein: The portion of the subvolume is the portion passing through the maximum intensity beam (B max ) of the first two-dimensional plane (PL1).

5. The system according to claim 4, wherein: The controller (CON) is further configured to cause the beamforming ultrasound imaging probe (BUIP) to provide a second field of view by further transmitting and receiving ultrasound signals corresponding to a second two-dimensional plane (PL2), wherein the second two-dimensional plane (PL2) includes a maximum intensity beam (B max ) and is arranged laterally relative to the first two-dimensional plane (PL1).

6. The system according to claim 4, wherein: The ultrasound tracking system (UTS) is further configured to determine a three-dimensional position (POS) of the sensor (S) relative to the beamforming ultrasound imaging probe (BUIP), the three-dimensional position (POS) being based on the maximum intensity beam (B max ) and for the maximum intensity beam (B max ) is determined by a range (RA) between the beamforming ultrasound imaging probe (BUIP) and the sensor (S), the range (RA) being calculated based on a time difference between a maximum generated electrical signal and a generation time of a corresponding synchronization signal; and The controller (CON) is further configured to cause the beamforming ultrasound imaging probe (BUIP) to provide a second field of view by further transmitting and receiving ultrasound signals corresponding to a second two-dimensional plane (PL2), wherein the second two-dimensional plane (PL2) passes through the three-dimensional position (POS) of the sensor and is arranged laterally relative to the first two-dimensional plane (PL1).

7. The system according to claim 2, wherein: The portion of the subvolume includes the area surrounding the maximum intensity beam (B max )’s predetermined beam selection.

8. The system according to claim 7, wherein: The predetermined beam is selected with the maximum intensity beam (B max ) as the center.

9. The system according to claim 1, wherein: The beamforming ultrasound imaging probe (BUIP) comprises a transducer array (TA), and wherein the three-dimensional field of view (3DFOV) and the local field of view (LFOV) each have a depth of field (DOF) along an axis (AX) passing through the transducer array (TA). 3DFOV , DOF LFOV );and Wherein, the depth of field (DOF) of the local field of view LFOV ) is less than the depth of field (DOF) of the three-dimensional field of view 3DFOV ) and in the depth of field (DOF) of the three-dimensional field of view 3DFOV ) within.

10. The system according to claim 1, wherein: The three-dimensional field of view (3DFOV) has an angular extent in each of two orthogonal planes (PL1, PL2), and wherein each sub-volume (SV 1..n ) has an angular range in one of the two orthogonal planes that is equal to the angular range of the three-dimensional field of view (3DFOV) in the corresponding plane.

11. The system according to claim 1, wherein: The three-dimensional field of view (3DFOV) has an angular range in each of two orthogonal planes, and wherein each sub-volume (SV 1..n ) has an angular range in both of the two orthogonal planes that is smaller than the angular range of the three-dimensional field of view (3DFOV) in the corresponding plane.

12. The system according to claim 11, wherein The controller (CON) is further configured to record a maximum intensity of the electrical signal generated for the local field of view (LFOV); and wherein, in a case where the maximum intensity of the electrical signal generated for the local field of view (LFOV) is lower than a predetermined threshold, the controller (CON) is further configured to start scanning the plurality of sub-volumes (SV) at the last sub-volume where the maximum intensity of the electrical signal exceeds the predetermined threshold; 1..n ).

13. A method (MET) for positioning a three-dimensional field of view (3DFOV) of a beamforming ultrasound imaging probe (BUIP) based on a position indicator (S) disposed within the three-dimensional field of view (3DFOV), the method comprising the following steps: (S1) beamforming ultrasound imaging probe (BUIP) in a region including a plurality of predetermined sub-volumes (SV 1..n ) to send and receive ultrasound signals within the three-dimensional field of view (3DFOV), and each sub-volume (SV 1..n ) by beam (B 1..k )'s two-dimensional array definition; (S2) the beamforming ultrasound imaging probe (BUIP) transmits and receives the beams corresponding to each beam (B 1..k ) to sequentially scan the sub-volumes (SV 1..n ); determining (S5) a position of the position indicator (S) within the three-dimensional field of view (3DFOV); Determine (S6) the sub-volume (SV) in which the position indicator (S) is positioned 1..n );and The beamforming ultrasound imaging probe (BUIP) is caused (S7) to provide a local field of view (LFOV) by constraining transmission and reception of ultrasound signals to the portion of the sub-volume in which the position indicator (S) is located.

14. The method according to claim 13, wherein: The position indicator (S) is an ultrasonic sensor; and wherein positioning the three-dimensional field of view (3DFOV) of the beamforming ultrasound imaging probe (BUIP) is based on ultrasound signals detected by the ultrasound sensor; And wherein, the method further comprises the following steps: Receive (S3) a synchronization signal from the beamforming ultrasound imaging probe (BUIP), the synchronization signal corresponding to each beam (B 1..k ) of the ultrasonic signal transmitted; and receiving (S4) an electrical signal generated by the ultrasound sensor (S) in response to the ultrasound signal transmitted by the beamforming ultrasound imaging probe (BUIP); and wherein determining (S5) the position of the position indicator (S) within a three-dimensional field of view (3DFOV) is based on a received synchronization signal from the beamforming ultrasound imaging probe (BUIP) and the received electrical signal generated by the ultrasound sensor (S); and wherein determining (S6) the sub-volume (SV) in which the position indicator (S) is positioned 1..n ) is based on the synchronization signal and the beam with the maximum intensity (B max ), for the maximum intensity beam, the intensity of the generated electrical signal exceeds a predetermined threshold and is a maximum value for the corresponding subvolume; and Wherein, the step of causing (S7) the beamforming ultrasound imaging probe (BUIP) to provide the local field of view (LFOV) further comprises providing a beamforming ultrasound imaging probe (BUIP) comprising the maximum intensity beam (B max )’s local field of view (LFOV).

15. A computer program product comprising instructions that, when executed on a processor of a system for positioning a three-dimensional field of view of a beamforming ultrasound imaging probe based on ultrasound signals detected by an ultrasound sensor disposed within the three-dimensional field of view, cause the processor to perform the steps of the method according to claim 13 or claim 14.

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