Method and system for tracking motion of a probe in an ultrasound system

Abstract

A method of generating a tracked imaging region representing ultrasound data acquired from a subject is provided. The method includes obtaining, by an ultrasound probe, ultrasound data acquired from an imaging region. First and second images of a surface acquired during the ultrasound data acquisition are obtained by an image sensor coupled to the ultrasound probe. The first and second images are compared and a first motion component of the ultrasound probe is calculated based on the comparison. A second motion component of the ultrasound probe acquired during the ultrasound data acquisition is then obtained by an inertial measurement unit coupled to the image sensor. The first and second motion components are combined, thereby generating motion of the ultrasound probe, which is then combined with the ultrasound data from the imaging region, thereby generating the tracked imaging region.

Description

Technical Field

[0001] This invention relates to the field of ultrasound imaging, and more specifically, to the field of probe tracking in ultrasound imaging. Background Technology

[0002] Ultrasound imaging is used in many interventional and diagnostic applications. Typically, for interventional or diagnostic use cases, finding and identifying relevant organs is crucial.

[0003] For example, a specific use case could include locating the carotid artery and the correct position within it to obtain blood flow measurements. In another example, the use case could include positioning the desired area for needle insertion to apply regional anesthesia. Yet another example could include inserting a catheter into a vein in a subject. However, interpreting ultrasound images in the above use cases is challenging and requires a skilled professional to accurately interpret the images.

[0004] Ultrasound systems have evolved from high-end trolley-style or static machines to portable, low-cost solutions. One trend is the development of mobile ultrasound imaging solutions that allow handheld ultrasound equipment to connect to mobile devices, such as smartphones.

[0005] Currently, locating and identifying vascular pathways using ultrasound probes, especially in low-cost portable ultrasound systems, is challenging. Radiologists must mentally construct and map the vessel of interest in a 3D mental picture while moving the probe in a trial-and-error manner (both translation and rotation). Depending on the application, this may or may not involve color Doppler data. After locating the vessel, the radiologist must then move the ultrasound probe along it, simultaneously moving it in a trial-and-error manner (both translation and rotation) to find the desired location, such as a bifurcation point. The radiologist then moves the probe until the vessel under investigation is parallel to the probe's rotation angle and manually measures and inputs the vessel diameter to obtain an estimated blood flow measurement.

[0006] The methods described above are error-prone, time-consuming, and not intuitive, and require highly trained and experienced professionals to obtain accurate results. Even with sufficient training, a small error in the probe angle can lead to significant errors in blood flow measurements.

[0007] Therefore, a means of accurately tracking probe motion is needed in imaging methods. Summary of the Invention

[0008] This invention is defined by the claims.

[0009] According to one aspect of the present invention, a method is provided for generating a tracking imaging region representing ultrasound data acquired from an object, the method comprising:

[0010] Ultrasonic data is acquired from the imaging area using an ultrasonic probe;

[0011] A first image of the surface acquired during the acquisition of the ultrasonic data is obtained by an image sensor coupled to the ultrasonic probe;

[0012] A second image of the surface acquired during ultrasonic data acquisition is obtained using an image sensor;

[0013] Compare the first image and the second image;

[0014] The first motion component of the ultrasonic probe is calculated based on comparison.

[0015] The second motion component of the ultrasonic probe acquired during the acquisition of ultrasonic data is obtained by an inertial measurement unit coupled to an image sensor.

[0016] The motion of the ultrasound probe is generated by combining the first and second motion components; and

[0017] By combining ultrasound data from the imaging region and the motion of the ultrasound probe, a tracking imaging region is generated.

[0018] The method provides a means of accurately tracking the motion of an ultrasonic probe and the imaging area defined by the field of view of the ultrasonic probe by using a combination of motion signals derived from an image sensor and motion signals obtained from an inertial measurement unit, thereby improving the accuracy of motion tracking of the ultrasonic probe.

[0019] By aligning incoming ultrasound data with combined motion signals from the ultrasound probe, the area imaged by the ultrasound probe can be accurately tracked in a 3D coordinate system.

[0020] In an embodiment, the method further includes generating a 3D ultrasound volume based on the tracked imaging region by combining ultrasound data of the tracked imaging region and the motion of the ultrasound probe.

[0021] In this way, a 3D ultrasound volume can be generated by arranging the obtained ultrasound data in a 3D coordinate system based on the motion of the derived ultrasound probe.

[0022] In an embodiment, the method further includes:

[0023] Ultrasound images are generated based on ultrasound data obtained from the tracked imaging region; and

[0024] Based on the combination of ultrasound images, 3D ultrasound volume, and ultrasound probe motion, a real-time representation of the tracking imaging area within the 3D ultrasound volume is generated.

[0025] In this way, a live visualization of the current view of the ultrasound probe (i.e., the tracking imaging area) can be displayed against the background of a 3D ultrasound volume, thus providing an intuitive visualization system for guiding the user to image the desired area.

[0026] In other embodiments, the ultrasound data includes Doppler ultrasound data, and wherein generating a 3D ultrasound volume includes generating a 3D Doppler angiography based on the Doppler ultrasound data and the motion of the ultrasound probe.

[0027] By segmenting 3D Doppler angiography based on Doppler ultrasound data and the motion of the ultrasound probe, the accuracy of the angiography can be improved, and the position of the ultrasound probe during the acquisition of Doppler ultrasound data can be taken into account.

[0028] In other embodiments, the method further includes deriving blood flow measurements from 3D Doppler angiography, wherein deriving blood flow measurements includes one or more of the following:

[0029] The angle between the ultrasound probe's imaging area and the central axis of the blood vessel is calculated based on the motion of the ultrasound probe, and the Doppler ultrasound data is adjusted based on the calculated angle; and

[0030] The cross-sectional area of ​​blood vessels is calculated based on 3D Doppler angiography, and the Doppler ultrasound data is adjusted based on the calculated cross-sectional area.

[0031] In this way, blood flow information can be derived from vascular maps. For example, the angle of the ultrasound probe during data acquisition can be considered in Doppler ultrasound data, thereby improving the accuracy of any derived blood flow measurement. Furthermore, the shape of the blood vessels can be considered in the correction of Doppler data, further improving the accuracy of the derived blood flow measurement.

[0032] In an embodiment, the method further includes:

[0033] Generating guidance information for locating interventional devices based on 3D ultrasound images; and

[0034] Provide guidance information to users.

[0035] In this way, users can receive guidance to position the interventional device within or outside the field of view of the 3D ultrasound image.

[0036] According to one aspect of the present invention, a computer program is provided that includes computer program code means, wherein when the computer program is run on a computer, the computer program code is adapted to perform the following steps:

[0037] Ultrasonic data is acquired from the imaging area using an ultrasonic probe;

[0038] A first image of the surface acquired during the acquisition of the ultrasonic data is obtained by an image sensor coupled to the ultrasonic probe;

[0039] A second image of the surface acquired during the acquisition of the ultrasonic data is obtained using an image sensor;

[0040] Compare the first image and the second image;

[0041] The first motion component of the ultrasonic probe is calculated based on comparison.

[0042] The second motion component of the ultrasonic probe acquired during the acquisition of ultrasonic data is obtained by an inertial measurement unit coupled to an image sensor.

[0043] The motion of the ultrasound probe is generated by combining the first and second motion components; and

[0044] By combining ultrasound data from the imaging region and the motion of the ultrasound probe, a tracking imaging region is generated.

[0045] In an embodiment, the ultrasound data includes Doppler ultrasound data, and wherein, when a computer program is run on a computer, the computer program is adapted to implement the step of generating a 3D ultrasound volume by generating a 3D Doppler angiogram based on the Doppler ultrasound data and the motion of the ultrasound probe, wherein the ultrasound data includes Doppler ultrasound data, and wherein, when a computer program is run on a computer, the computer program is also adapted to implement the step of generating a 3D ultrasound volume by generating a 3D Doppler angiogram based on the Doppler ultrasound data and the motion of the ultrasound probe.

[0046] In an embodiment, when a computer program is run on a computer, the computer program is further adapted to perform the step of deriving blood flow measurements from a 3D Doppler angiography, wherein deriving the blood flow measurements includes one or more of the following:

[0047] The angle between the ultrasound probe's imaging area and the central axis of the blood vessel is calculated based on the motion of the ultrasound probe, and the Doppler ultrasound data is adjusted based on the calculated angle; and

[0048] The cross-sectional area of ​​blood vessels is calculated based on 3D Doppler angiography, and the Doppler ultrasound data is adjusted based on the calculated cross-sectional area.

[0049] According to one aspect of the present invention, a computer-readable storage medium is provided comprising instructions that, when executed by a computer, cause the computer to perform the following steps:

[0050] Ultrasonic data is acquired from the imaging area using an ultrasonic probe;

[0051] A first image of the surface acquired during the acquisition of the ultrasonic data is obtained by an image sensor coupled to the ultrasonic probe;

[0052] A second image of the surface acquired during the acquisition of ultrasonic data is obtained using an image sensor;

[0053] Compare the first image and the second image;

[0054] The first motion component of the ultrasonic probe is calculated based on comparison.

[0055] The second motion component of the ultrasonic probe acquired during the acquisition of ultrasonic data is obtained by an inertial measurement unit coupled to an image sensor.

[0056] The motion of the ultrasound probe is generated by combining the first and second motion components; and

[0057] By combining ultrasound data from the imaging region and the motion of the ultrasound probe, a tracking imaging region is generated.

[0058] In an embodiment, the computer-readable storage medium further includes instructions that, when executed by a computer, cause the computer to perform the step of generating a 3D ultrasound volume based on a tracked imaging region by combining ultrasound data of the tracked imaging region and the motion of an ultrasound probe, wherein the ultrasound data includes Doppler ultrasound data, and wherein the computer-readable storage medium further includes information that, when executed by a computer, causes the computer to perform the step of generating a 3D ultrasound volume by generating a 3D Doppler angiography based on the Doppler ultrasound data and the motion of the ultrasound probe.

[0059] In an embodiment, the computer-readable storage medium further includes instructions that, when executed by a computer, cause the computer to perform additional steps to derive blood flow measurements from a 3D Doppler angiography, wherein deriving blood flow measurements includes one or more of the following:

[0060] The angle between the ultrasound probe's imaging area and the central axis of the blood vessel is calculated based on the motion of the ultrasound probe, and the Doppler ultrasound data is adjusted based on the calculated angle; and

[0061] The cross-sectional area of ​​blood vessels is calculated based on 3D Doppler angiography, and the Doppler ultrasound data is adjusted based on the calculated cross-sectional area.

[0062] According to an example of one aspect of the present invention, a processing system is provided for use in an ultrasound system and for generating a tracking imaging region representing ultrasound data acquired from an imaging region, the processing system comprising:

[0063] The input unit is used to receive a first image, a second image, a second motion component, and ultrasound data; and

[0064] The processor, which is coupled to the input section, can:

[0065] Compare the first image and the second image;

[0066] The first motion component of the ultrasonic probe is calculated based on comparison.

[0067] The motion of the ultrasound probe is generated by combining the first and second motion components; and

[0068] By combining ultrasound data from the imaging region and the motion of the ultrasound probe, a tracking imaging region is generated.

[0069] According to one aspect of the present invention, an ultrasound imaging system is provided, comprising:

[0070] The above-mentioned processing system;

[0071] An ultrasonic probe, suitable for acquiring ultrasonic data;

[0072] An image sensor, coupled to an ultrasonic probe and adapted to acquire images of a surface; and

[0073] An inertial measurement unit is coupled to an image sensor and adapted to acquire a second motion component.

[0074] In an embodiment, the processor is also adapted to generate a 3D ultrasound volume based on the tracked imaging region by combining ultrasound data of the tracked imaging region and the motion of the ultrasound probe.

[0075] In this embodiment, the processor is further adapted to:

[0076] Ultrasound images are generated based on ultrasound data obtained from the tracked imaging region; and

[0077] A real-time representation of the tracking imaging region within the 3D ultrasound volume is generated based on a combination of ultrasound images, 3D ultrasound volume, and the motion of the ultrasound probe.

[0078] In an embodiment, the ultrasound data includes Doppler ultrasound data, and the processor is adapted to generate a 3D Doppler angiography based on the Doppler ultrasound data and the motion of the ultrasound probe when generating a 3D ultrasound volume. Optionally, the system further includes a user interface adapted to receive user input, and the processor is adapted to derive blood flow measurements from the 3D Doppler angiography in response to receiving user input at the user interface, wherein the derived blood flow measurements include one or more of the following:

[0079] The angle between the ultrasound probe's imaging area and the central axis of the blood vessel is calculated based on the motion of the ultrasound probe, and the Doppler ultrasound data is adjusted based on the calculated angle; and

[0080] The cross-sectional area of ​​blood vessels is calculated based on 3D Doppler angiography, and the Doppler ultrasound data is adjusted based on the calculated cross-sectional area.

[0081] In one embodiment, the system further includes a display unit, wherein the processor is further adapted to instruct the display unit to display one or more of the following:

[0082] 3D ultrasound volume; and

[0083] 3D Doppler angiography.

[0084] In this embodiment, the image sensor includes one or more of the following:

[0085] camera;

[0086] 3D cameras; and

[0087] LiDAR sensor.

[0088] In this embodiment, the inertial measurement unit includes one or more of the following:

[0089] accelerometer; and

[0090] Gyroscope.

[0091] These and other aspects of the invention will be apparent from the embodiments described below and will be set forth with reference to the embodiments described below. Attached Figure Description

[0092] To better understand the invention and to more clearly illustrate how to practice it, reference is now made to the accompanying drawings by way of example only, in which:

[0093] Figure 1 An ultrasound diagnostic imaging system for explaining general operation is shown;

[0094] Figure 2 A schematic diagram of an ultrasound imaging system according to one aspect of the present invention is shown;

[0095] Figure 3 A method for determining the position of an ultrasound imaging probe relative to a surface is shown; and

[0096] Figure 4 A method for generating 3D ultrasound images is shown. Detailed Implementation

[0097] The invention will be described with reference to the accompanying drawings.

[0098] It should be understood that the detailed descriptions and specific examples, while indicating exemplary embodiments of the apparatus, systems, and methods, are intended for illustrative purposes only and not for limiting the scope of the invention. These and other features, aspects, and advantages of the apparatus, systems, and methods of the invention will be better understood from the following description, the appended claims, and the accompanying drawings. It should be understood that these drawings are merely schematic and not drawn to scale. It should also be understood that the same reference numerals are used in all the drawings to indicate the same or similar parts.

[0099] This invention provides a method for generating a tracking imaging region representing ultrasound data acquired from an object. The method includes acquiring ultrasound data from the imaging region using an ultrasound probe. A first image and a second image of the surface acquired during the acquisition of the ultrasound data are obtained via an image sensor coupled to the ultrasound probe. The first and second images are compared, and a first motion component of the ultrasound probe is calculated based on the comparison.

[0100] Then, the second motion component of the ultrasound probe acquired during the acquisition of ultrasound data is obtained by an inertial measurement unit coupled to the image sensor.

[0101] The first and second motion components are combined to generate the motion of the ultrasound probe. Then, the motion of the ultrasound probe is combined with ultrasound data from the imaging area to generate the tracking imaging area.

[0102] First, refer to Figure 1 The invention describes the general operation of an exemplary ultrasound system, with emphasis on the system's signal processing capabilities, as the invention relates to the processing of signals measured by a transducer array.

[0103] The system includes an array transducer probe 4 having a transducer array 6 for emitting ultrasonic waves and receiving echo information. The transducer array 6 may include a CMUT transducer; a piezoelectric transducer formed of a material such as PZT or PVDF; or any other suitable transducer technology. In this example, the transducer array 6 is a two-dimensional array of transducers 8 capable of scanning a 2D plane or a three-dimensional volume of a region of interest. In another example, the transducer array may be a 1D array.

[0104] The transducer array 6 is coupled to a microwave beamformer 12, which controls the transducer elements to receive signals. As described in U.S. Patents US5,997,479 (Savord et al.), US6,013,032 (Savord), and US6,623,432 (Powers et al.), the microwave beamformer is capable of performing at least partial beamforming on signals received by a subarray of transducers (generally referred to as a “group” or “patch”).

[0105] It should be noted that the microwave beamformer is only optional. Furthermore, the system includes a transmit / receive (T / R) switch 16 to which the microwave beamformer 12 can be coupled, and the switch switches the array between transmit and receive modes, and protects the main beamformer 20 from high-energy transmitted signals when the microwave beamformer is not used and the transducer array is directly operated by the main system beamformer. Transmission of the ultrasonic beam from the transducer array 6 is guided by a transducer controller 18, which is coupled to the microwave beamformer (not shown) via the T / R switch 16, and the main transmit beamformer is capable of receiving input from user operations via a user interface or control panel 38. The controller 18 may include transmit circuitry arranged to drive the transducer elements of array 6 during transmit mode (directly or via the microwave beamformer).

[0106] In a typical line-by-line imaging sequence, the beamforming system within the probe can operate as follows: During transmission, a beamformer (which may be a microwave beamformer or a main system beamformer, depending on the implementation) activates the transducer array or sub-apertures of the transducer array. The sub-apertures can be one-dimensional transducer lines or two-dimensional transducer patches within a larger array. In transmission mode, the focusing and steering of the ultrasonic beam generated by the array or its sub-apertures are controlled as described below.

[0107] Once the backscattered echo signal from the object is received, the received signal undergoes receive beamforming (as described below) to align with the received information, and, in the case of a sub-aperture, the sub-aperture is then offset, for example, by offsetting one transducer element. The offset sub-aperture is then activated, and this process is repeated until all transducer elements of the transducer array have been activated.

[0108] For each line (or sub-aperture), the total received signal of the associated line used to form the final ultrasound image will be the sum of the voltage signals measured by the transducer elements of a given sub-aperture during the reception period. The line signals generated after the beamforming process below are generally referred to as radio frequency (RF) data. Each line signal (RF dataset) generated by the individual sub-apertures then undergoes additional processing to generate the line of the final ultrasound image. Variations in the amplitude of the line signal over time contribute to the variation in brightness of the ultrasound image with depth, where high amplitude peaks will correspond to bright pixels (or sets of pixels) in the final image. Peaks appearing near the beginning of the line signal will represent echoes from shallow structures, while later peaks appearing gradually in the line signal will represent echoes from structures at increasing depth within the object.

[0109] One of the functions controlled by the transducer controller 18 is the direction in which the beam is turned and focused. The beam can be turned directly forward (perpendicular to the transducer array) from the transducer array, or turned at different angles to a wider field of view. The turning and focusing of the transmitted beam can be controlled as a function of the actuation time of the transducer elements.

[0110] In general ultrasound data acquisition, two methods can be distinguished: plane wave imaging and beam steering imaging. These two methods are distinguished by the presence of beamforming in the transmit mode (beam steering imaging) and / or receive mode (plane wave imaging and beam steering imaging).

[0111] First, consider the focusing function. By simultaneously activating all transducer elements, the transducer array generates a plane wave that diverges as it passes through an object. In this case, the ultrasound beam remains unfocused. By introducing a position-dependent time delay into the transducer activation, the wavefront of the beam can be converged to a desired point called the focal zone. The focal zone is defined as the point where the lateral beamwidth is less than half the width of the emitted beam. In this way, the lateral resolution of the final ultrasound image is improved.

[0112] For example, if the time delay causes the transducer elements to activate in series, starting with the outermost element and ending at the center element of the transducer array, a focal band will be formed at a given distance from the probe, corresponding to the center element. The distance between the focal band and the probe will vary depending on the time delay between each subsequent activation of the transducer elements. After passing through the focal band, the beam will begin to diverge, forming the far-field imaging region. It should be noted that for the focal band located near the transducer array, the ultrasonic beam will diverge rapidly in the far field, resulting in beamwidth artifacts in the final image. Typically, the near field between the transducer array and the focal band shows very little detail due to the large overlap in the ultrasonic beam. Therefore, changing the position of the focal band can lead to a significant change in the final image quality.

[0113] It should be noted that in emission mode, unless the ultrasound image is divided into multiple focal zones (each focal zone can have a different emission focus), only one focus can be defined.

[0114] Furthermore, once an echo signal is received from inside the object, the reverse process described above can be performed to perform receiver focusing. In other words, the incident signal can be received by the transducer elements and subjected to an electronic time delay before being transmitted to the system for signal processing. The simplest example of this is called delay-summation beamforming. The receiver focusing of the transducer array can be dynamically adjusted according to time.

[0115] Now consider the function of beam steering. By correctly applying a time delay to the transducer elements, a desired angle can be applied to the ultrasonic beam as it leaves the transducer array. For example, by activating the transducers on the first side of the transducer array, and then activating the remaining transducers in the sequence ending on the opposite side of the array, the wavefront of the beam will tilt towards the second side. The magnitude of the steering angle relative to the normal of the transducer array depends on the magnitude of the time delay between the activation of subsequent transducer elements.

[0116] Furthermore, it is possible to focus the beam after steering, where the total time delay applied to each transducer element is the sum of the focusing and steering time delays. In this case, the transducer array is called a phased array.

[0117] In the case of CMUT transducers, a DC bias voltage is required for their activation, and transducer controller 18 can be coupled to control DC bias controller 45 for the transducer array. DC bias controller 45 sets the DC bias voltage applied to the CMUT transducer elements.

[0118] For each transducer element in the transducer array, an analog ultrasonic signal, typically referred to as channel data, enters the system through a receive channel. In the receive channel, a partially beamformed signal is generated from the channel data by a microwave beamformer 12 and then passed to a main receive beamformer 20, where the partially beamformed signals from the individual patches of the transducers are combined into a fully beamformed signal, referred to as radio frequency (RF) data. Beamforming performed at each stage can be performed as described above, or additional functionality can be included. For example, the main beamformer 20 can have 128 channels, each receiving partially beamformed signals from patches of dozens or hundreds of transducer elements. In this way, signals received by thousands of transducers in the transducer array can effectively contribute to a single beamformed signal.

[0119] The beamformed received signal is coupled to signal processor 22. Signal processor 22 is capable of processing the received echo signal in various ways, such as: bandpass filtering; decimation; I and Q component separation; and harmonic signal separation, which is used to separate linear and nonlinear signals, thereby enabling the identification of nonlinear (higher harmonics of the fundamental frequency) echo signals returned from tissue and microbubbles. The signal processor can also perform additional signal enhancement, such as speckle reduction, signal recombination, and noise cancellation. The bandpass filter in the signal processor can be a tracking filter whose passband slides from higher to lower frequency bands as the echo signal is received from increasing depth, thereby rejecting noise at higher frequencies from larger depths where anatomical information is typically lacking.

[0120] The beamformers for transmitting and receiving are implemented in different hardware and are capable of different functions. Of course, the receiver beamformer is designed to take into account the characteristics of the transmitting beamformer. For simplicity, in Figure 1 Only receiver beamformers 12 and 20 are shown in the diagram. Throughout the system, there will also be a transmitter chain with a transmit microwave beamformer and a main transmit beamformer.

[0121] The function of microwave beamformer 12 is to provide an initial combination of signals in order to reduce the number of analog signal paths. This is typically performed in the analog domain.

[0122] Final beamforming is performed in the main beamformer 20 and is typically done after digitization.

[0123] The transmit and receive channels use the same transducer array 6 with a fixed frequency band. However, the bandwidth occupied by the transmit pulse can vary depending on the transmit beamforming used. The receive channel can capture the entire transducer bandwidth (this is the classic approach), or, by using bandpass processing, it can extract only the bandwidth containing the desired information (e.g., harmonics of the main harmonic).

[0124] The RF signal can then be coupled to a B-mode (i.e., brightness mode or 2D imaging mode) processor 26 and a Doppler processor 28. The B-mode processor 26 performs amplitude detection on the received ultrasound signal for imaging structures in the body, such as organs, tissues, and blood vessels. In the case of line-by-line imaging, each line (beam) is represented by an associated RF signal, the amplitude of which is used to generate a brightness value to be assigned to a pixel in the B-mode image. The exact location of a pixel within the image is determined by the position of the associated amplitude measurement along the RF signal and the number of lines (beams) of the RF signal. B-mode images of this structure can be formed in a harmonic or fundamental frequency imaging mode, or a combination of both, as described in U.S. Patent US6283919 (Roundhill et al.) and U.S. Patent US6458083 (Jago et al.). The Doppler processor 28 processes temporally different signals generated by tissue motion and blood flow to detect moving matter, such as blood cell flow in the image field. Doppler processor 28 typically includes a wall filter, wherein parameters are set to allow or reject echoes returning from a selected type of material in the body.

[0125] The structural and motion signals generated by the B-mode and Doppler processors are coupled to a scan converter 32 and a multiplane reformer 44. The scan converter 32 arranges the echo signals in the desired image format according to the spatial relationships from which the echo signals are received. In other words, the scan converter is used to convert RF data from a cylindrical coordinate system to a Cartesian coordinate system suitable for displaying an ultrasound image on an image display 40. In the case of B-mode imaging, the brightness of a pixel at a given coordinate is proportional to the amplitude of the RF signal received from that location. For example, the scan converter can arrange the echo signals into a two-dimensional (2D) fan-shaped format or a pyramidal three-dimensional (3D) image. The scan converter is capable of overlaying the B-mode structural image with colors corresponding to the motion at points in the image field, where the velocity estimated by Doppler produces the given color. The combined B-mode structural image and the color Doppler image depict the motion of tissue and blood flow within the structural image field. The multiplane reformer converts echoes received from points in a common plane within a volumetric region of the body into an ultrasound image of that plane, as described in U.S. Patent US6443896 (Detmer). The volumetric renderer 42 converts the echo signal of the 3D dataset into a projected 3D image viewed from a given reference point, as described in U.S. Patent US6530885 (Entrekin et al.).

[0126] 2D or 3D images are coupled from the scan converter 32, multiplane reformer 44, and volume rendering unit 42 to the image processor 30 for further enhancement, buffering, and temporary storage for display on the image display 40. The image processor can be adapted to remove certain imaging artifacts from the final ultrasound image, such as acoustic shadowing caused by strong attenuators or refraction; posterior enhancement caused by weak attenuators; reverberation artifacts where highly reflective tissue interfaces are located very close together; and so on. Furthermore, the image processor can be adapted to perform certain speckle reduction functions to improve the contrast of the final ultrasound image.

[0127] In addition to their use in imaging, blood flow values ​​generated by the Doppler processor 28 and tissue structure information generated by the B-mode processor 26 are coupled to the quantization processor 34. The quantization processor generates measurements of various flow conditions, such as the volumetric rate of blood flow, in addition to structural measurements like organ size and gestational age. The quantization processor can receive input from the user control panel 38, such as points in the anatomical structures of the image to be measured.

[0128] Output data from the quantization processor is coupled to the graphics processor 36 for reproducing the measured values ​​and graphs with images on the display 40, and for outputting audio from the display device 40. The graphics processor 36 is also capable of generating graphic overlays for display alongside ultrasound images. These graphic overlays can include standard identification information such as patient name, date and time of the image, imaging parameters, etc. For these purposes, the graphics processor receives input from the user interface 38, such as the patient name. The user interface is also coupled to the transmit controller 18 to control the generation of ultrasound signals from the transducer array 6, and thus control the generation of images produced by the transducer array and the ultrasound system. The transmit control function of the controller 18 is only one of the functions performed. The controller 18 also considers the operating mode (given by the user) and the corresponding desired transmitter and bandpass configurations in the receiver analog-to-digital converter. The controller 18 can be a state machine with fixed states.

[0129] The user interface is also coupled to a multiplane reformer 44 for selecting and controlling planes of multiple multiplane reformatted (MPR) images, which can be used to perform quantization measurements in the image field of the MPR image.

[0130] Figure 2 A schematic diagram of an ultrasound imaging system 50 according to one aspect of the present invention is shown.

[0131] The system includes an ultrasound probe 55 adapted to acquire ultrasound data from a surface 60 adjacent to a region of interest of an object being investigated. For example, the surface could be the skin of the object. The ultrasound probe can be any ultrasound transducer-based system suitable for acquiring ultrasound data from the surface of an object. For example, the ultrasound probe can have a 1D ultrasound transducer array, a 2D ultrasound transducer array, or a 3D matrix ultrasound probe, and can be part of a static or portable ultrasound system. The ultrasound system can be a reference... Figure 1 The system being explained.

[0132] The system also includes an image sensor 65, which is permanently or releasably coupled to the ultrasonic probe 55 and adapted to acquire images of the surface 60 within a field of view 70. The image sensor can be any suitable image sensor, such as a visible spectrum camera, a 3D camera, a time-of-flight camera, a lidar camera, or an infrared camera. Furthermore, the system includes an inertial measurement unit 75, which is permanently or releasably coupled to the probe and / or the image sensor 65 and adapted to acquire motion signals from the image sensor. The inertial measurement unit can be any suitable motion sensor, such as an accelerometer or a gyroscope.

[0133] In this example, the ultrasound probe can be connected to a smart device, such as a smartphone, which includes an image sensor and an inertial measurement unit.

[0134] Image sensors and inertial measurement units are suitable for, or even better suited for, simultaneous localization and mapping (SLAM) of ultrasound probes. SLAM can be implemented in a processor, which is also part of the system, such as a smartphone processor. Alternatively or additionally, this SLAM can be implemented in the ultrasound probe's processor, or a hybrid solution can be used. In the case of a smartphone, the smartphone processor can perform SLAM processing. Alternatively, dedicated SLAM hardware on the phone can also implement SLAM processing. When SLAM functionality is implemented in the probe, dedicated SLAM hardware can be integrated into the probe for SLAM processing.

[0135] During use, the image sensor captures images of the surface, which can be compared to each other to determine the first motion component of the ultrasound probe. This is because the image sensor and the inertial measurement unit have a fixed orientation relative to the ultrasound probe. The first motion component of the ultrasound probe, derived from the comparison between the images, can include six degrees of freedom, including three translational degrees of freedom and three angular degrees of freedom. Simultaneously, the inertial measurement unit measures a second motion component, which can include three angular degrees of freedom. The first and second motion components can be combined immediately upon acquisition, but they can also be combined at a later stage. Since the ultrasound images recorded by the probe have a known orientation relative to the probe, knowing the position and orientation of the probe also provides information about the position and orientation of the ultrasound images recorded at a specific timestamp. The first and second motion components can therefore be coupled to or associated with the recorded ultrasound images at the relevant timestamps.

[0136] Therefore, by combining the first and second motion components to derive the motion of the ultrasonic probe, the stability and accuracy of the overall motion signal can be improved. For example, motion artifacts present in the image captured by the image sensor, which may in turn lead to errors in the estimated motion of the ultrasonic probe, can be compensated for by including a separate inertial measurement unit 75 coupled to the image sensor.

[0137] System 50 also includes a processor 80 that communicates with the image sensor 65 and the inertial measurement unit 75. (Refer to below) Figure 3The operation of the processor is further described. The processor may optionally communicate with the ultrasound probe; however, this is not necessary for the methods and operations described herein. Instead, an image sensor combined with an inertial measurement sensor, and in some cases with a processor, can derive the motion of the ultrasound probe with only a physical connection to it. This means that components of the system can be integrated into any existing ultrasound probe or system. It should be noted that, although in Figure 2 The processor 80 is schematically shown as being connected to the system 50, but the processor may optionally be a remote processor that is wired or wirelessly connected to the system 50. The processors that can be used will be further described below.

[0138] Image sensor 65, inertial measurement unit 75, and processor 80 may form part of an integrated unit (e.g., a smartphone or SLAM unit), which may be mounted to the ultrasound probe in any suitable manner. In the example where image sensor 65, inertial measurement unit 75, and processor 80 form part of an integrated unit, the integrated unit may include any other suitable components for the operation of the integrated unit, such as a battery and / or a Wi-Fi communication unit.

[0139] Image sensor 65, inertial measurement unit 75, and processor 80 provide motion data from the ultrasonic probe (e.g., in the form of a set of coordinates describing a combination of six degrees of freedom from the image captured by the image sensor and three degrees of freedom captured by the inertial measurement unit), and ultrasonic probe 55 provides an ultrasonic data stream to form an ultrasonic image. Both motion data and ultrasonic data can be provided, for example, asynchronously to a separate visualization unit that combines the ultrasonic and motion data. Any suitable wired or wireless connection (e.g., Wi-Fi) can be used to provide the ultrasonic and motion data to the visualization unit. The ultrasonic and motion data can be synchronized before being combined.

[0140] Figure 3 A method 200 for generating a tracking imaging region representing ultrasound data acquired from an object is shown, the method being executable by a processor 80 as described above.

[0141] The method begins in step 110 by acquiring ultrasound data from the imaging area using an ultrasound probe. The ultrasound data can include any type of ultrasound data, such as B-mode ultrasound data, M-mode ultrasound data, and Doppler ultrasound data, such as color Doppler ultrasound data. This largely depends on the type of diagnosis to be performed. Therefore, anatomical imaging may only require regular intensity data, while flow measurements may alternatively or additionally require the recording of Doppler data.

[0142] In step 120, a first image of the surface is obtained via an image sensor coupled to the ultrasound probe, and in step 130, a second image of the surface is obtained via the image sensor. The first and second images are acquired during the acquisition of ultrasound data. Parameters indicating the relative time of recording can be acquired and associated with one or more images.

[0143] In step 140, the first image and the second image are compared to each other, and in step 150, a first motion component of the ultrasound probe is calculated based on the comparison. For example, corresponding features in the first and second images, and the positions of said features in each image, can form the parts to be compared. The differences in positions between the two images can be derived from the comparison.

[0144] Steps 120 to 150 can occur simultaneously with step 110. In other words, while ultrasound data is being acquired, first and second images can be obtained, and the first motion component can be derived.

[0145] Features can include any identifiable features within the field of view of the image sensor. For example, in the case where the surface is the skin of an object, features can include one or more of the following: skin color; variations in skin color; texture; natural markings; artificial markings; scars; hair; pores, etc. Features can be identified using any suitable image processing method. Segmentation can be performed. Identification can be performed manually or automatically via user input.

[0146] In step 160, the second motion component of the image sensor is obtained by the inertial measurement unit coupled to the image sensor, and in step 170, the first motion component and the second motion component are combined to generate the motion of the ultrasonic probe.

[0147] Steps 160 and 170 can occur simultaneously with steps 110 and 120 through 150. In other words, when acquiring ultrasound data, the motion sensor can obtain a second motion component, which can then be combined with the first motion component. The timestamps previously mentioned in this document regarding the acquisition of the first and second images can therefore be timestamps for the corresponding inertial measurements, and thus can also be timestamps for the second motion component.

[0148] In other words, when acquiring ultrasound data, the image sensor and the inertial motion sensor can respectively acquire a first motion component and a second motion component. Then, the first and second motion components are combined to obtain the motion of the ultrasound probe, which can then be used to locate and track the ultrasound data acquired by the probe in a 3D coordinate system.

[0149] In step 180, ultrasound data from the imaging region is combined based on the motion data of the ultrasound probe to generate a tracking imaging region. Optionally, in step 190, a 3D ultrasound volume can be generated based on the ultrasound data thus combined. Reference will be made below. Figure 4 These steps will be discussed in further detail.

[0150] exist Figure 3 In other steps not shown, the tracking imaging area or 3D ultrasound volume is output to the user via a suitable output interface (such as a display device).

[0151] It should be noted that although shown as separate steps for clarity, the steps of acquiring ultrasound data, acquiring the first image and the second image, calculating the first motion component, acquiring the second motion component, and combining the first motion component and the second motion component can be performed simultaneously or nearly simultaneously.

[0152] For example, refer to Figure 3 The described method may also include generating an ultrasound image based on ultrasound data obtained from the tracking imaging region, and generating a real-time representation of the tracking imaging region within the 3D ultrasound volume based on a combination of the ultrasound image, the 3D ultrasound volume, and the motion of the ultrasound probe.

[0153] In other words, the current field of view of the ultrasound probe can be presented and displayed to the user within the context of a 3D ultrasound volume. The positioning of the current field of view relative to the 3D ultrasound volume can be determined based on the motion of the ultrasound probe derived as described above. This visualization method is intuitive for the user because there is a direct correlation between how the user moves the ultrasound probe and how the current field of view (i.e., the imaging area) moves within the context of the 3D ultrasound volume. Therefore, the user can more easily locate or be guided to locate the ultrasound probe in the region of interest.

[0154] The method is advantageous because it can provide real-time, high-quality visualization of the area to be tracked using a relatively simple ultrasound system comprising only a single camera and an inertial measurement unit. Therefore, it is advantageous that the method and system enable the use of portable ultrasound systems with relatively simple components for volumetric ultrasound measurements. An exemplary simple system could be a 2D ultrasound probe equipped with only a single camera and inertial unit, contained within a portable device (such as a mobile phone or tablet) coupled to the probe.

[0155] Figure 4 It shows the use of Figure 3 Method 200 for generating 3D ultrasound images by obtaining the motion of the ultrasound probe.

[0156] The method begins in step 210, where ultrasound data is acquired from the imaging region using an ultrasound probe. For example, as referenced... Figure 3 As stated above. Figure 4 A schematic diagram of multiple imaging regions in the form of multiple imaging planes 215 is shown. For example, as the ultrasound probe moves across the surface of the object, the multiple imaging planes 215 may have been acquired at different points in time. As can be seen from the diagram, the imaging planes are not correctly aligned with each other.

[0157] In step 220, the ultrasound data are spatially registered based on the combined motion of the ultrasound probes, and in step 230, a volumetric 3D ultrasound image is generated based on the spatially registered ultrasound data. The 3D ultrasound image can be generated by interpolation between the spatially registered ultrasound data, but this is not required.

[0158] In this way, the quality of the final 3D ultrasound image does not depend on the user or their level of expertise. Instead, the systems and methods described above and below can provide a means for users of any skill level to obtain high-quality 3D ultrasound images.

[0159] Ultrasound data can include any type of ultrasound data, such as B-mode ultrasound data, M-mode ultrasound data, and Doppler ultrasound data, such as color Doppler ultrasound data.

[0160] When the ultrasound data includes Doppler ultrasound data, the 3D ultrasound image can include a 3D Doppler angiography. A 3D Doppler angiography can be obtained by segmenting the vascular structure from Doppler ultrasound data depicting blood flow within the vessel and the motion of the ultrasound probe. Segmentation can be performed using methods known in the art.

[0161] For example, as referenced Figure 3 and Figure 4 As explained, each Doppler slice of the blood vessel can be tracked in a global coordinate system, and then the Doppler slices can be used to accumulate a 3D vascular map. The vascular map can be a portion of the tracked ultrasound region, and the vascular map can be displayed within the tracked volume.

[0162] In this example, the system can be adapted to locate the bifurcation points of blood vessels within a 3D vascular map. For instance, contour detection can be applied to ultrasound data in each imaging plane to identify the periphery of the blood vessels. Image moments, as a weighted average of image pixels based on pixel intensity, can then be used to find the center of the contours of the blood vessels in the image. The center of each contour in each image slice can be tracked over time to identify a vector, referred to as the center vector, for example, in a global coordinate system. Temporal filtering can also be applied to the center vector to remove noise, but this may not always be necessary.

[0163] Vessel splitting points can be detected when the center count, i.e., the number of detected centers (or associated center vectors), changes. Therefore, for example, when the number of centers switches from one to more than one (e.g., two), or from more than one (e.g., from two) to one, vessel splitting points (bifurcation points in the case of splitting into two vessels) can be identified in, for example, the filtered center vectors. Of course, at the splitting point, a vessel with one contour splits into two or more contours, and vice versa, multiple contours merge into one contour.

[0164] Blood flow measurements can be derived from 3D Doppler angiography. Because 3D Doppler angiography is based on motion-corrected ultrasound data, the accuracy of the derived blood flow measurements is improved, and the number of errors is reduced.

[0165] In this example, deriving blood flow measurement involves calculating the angle between the ultrasound probe's imaging plane and the central axis of the blood vessel (e.g., parallel to the vessel) based on the motion of the ultrasound probe, and adjusting the Doppler ultrasound data based on the calculated angle. In this way, even if ultrasound data is acquired at an incorrect angle, the Doppler ultrasound data can be corrected before deriving blood flow measurement, thus taking into account erroneous acquisition angles.

[0166] In a specific example, blood flow measurements can be calculated as follows: The center vector can be calculated as described above, and a principal eigenvector representing the center vector across all images can be computed. This eigenvector is then processed into a vessel vector, which defines the central axis of the vessel. For example, the eigenvector can be computed at a specific region of interest necessary for blood flow determination. Therefore, a subset of the recorded and motion-corrected ultrasound data can be used to perform the eigenvector computation to recover the vessel vector most representative of the region required for blood flow calculation.

[0167] Given a blood vessel vector and a vector representing the ultrasound imaging plane, the scanning angle of the ultrasound probe can be calculated. Depending on the user, this scanning angle can be used to correct the Doppler color velocity in the given imaging plane based on each pixel. The sum of the corrected velocities of the pixels in the contour can then form the final blood flow measurement.

[0168] Doppler color velocity correction can be performed using the following formula:

[0169] Corrected Doppler value = Original Doppler value / Cosine of angle

[0170] in:

[0171] The cosine of the angle = dot(normalized plane vector, blood vessel vector) / amplitude(blood vessel vector)

[0172] In another example, Doppler ultrasound data can be adjusted based on the cross-sectional area of ​​the blood vessel measured from a 3D Doppler angiography.

[0173] For example, the diameter or radius of a blood vessel's cross-section can be estimated visually or measured on an ultrasound image. Typically, the measured radius is converted to cross-sectional area, assuming the blood vessel's cross-section is an ideal circle. However, in reality, blood vessel cross-sections are usually not circular and may be deformed due to plaque, tissue, etc.

[0174] The sum of adjusted velocities derived from pixels in Doppler ultrasound data, as derived from the above formula, forms the final blood flow measurement. The sum of pixels is calculated from a pixel mask segmented from a vascular slice or 3D Doppler vascular map in the ultrasound imaging plane. This mask contains a physically accurate cross-section of the vessel, which accounts for vessel deformation and produces a more accurate flow measurement based on the actual vessel cross-section rather than using an estimated circle.

[0175] 3D Doppler angiography can also be used to guide users during interventional procedures. For example, a user may need to insert a needle at a specific point in a blood vessel. Based on the 3D angiography, the system can determine the optimal insertion point and angle, which can then be provided to the user performing the procedure. Guidance information can be provided to the user, for example, through one or more of the following means: visual means, such as visual projection onto a surface; auditory means; tactile means; and so on. Guidance information can also be provided to the user visually via a display or augmented reality headset.

[0176] Furthermore, the interventional device may include a position detection system that can notify the processor of the device's position, which can then form the basis for guidance information. Alternatively, the interventional device may be located within the field of view of the ultrasound probe, in which case the position of the interventional device used to generate guidance information can be derived from ultrasound data.

[0177] In another example, guidance information can include instructions on how to move the probe, such as to revisit a previously studied region of the vascular system of an object. In other words, 3D Doppler angiography can be used as the basis for generating guidance information to guide the user to revisit previously measured portions of an object. Because 3D Doppler angiography is generated based on the movement of the ultrasound probe, the representation of vascular structures and associated guidance is accurate.

[0178] The above method can be executed by any suitable processor of any suitable computer or computing system, such as a smartphone, laptop, personal computer, processing server, or cloud-based processing system.

[0179] By studying the accompanying drawings, the disclosure, and the appended claims, those skilled in the art can understand and implement variations of the disclosed embodiments when practicing the claimed invention. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude a plurality.

[0180] A single processor or other unit can perform the functions of several items listed in the claims.

[0181] The fact that certain measures are listed only in mutually different dependent claims does not mean that a combination of these measures cannot be used for a beneficial purpose.

[0182] Computer programs may be stored / distributed on suitable media, such as optical or solid-state storage media provided with or as part of other hardware, but may also be distributed in other forms, such as via the Internet or other wired or wireless telecommunications systems.

[0183] If the term “suitable” is used in the claims or specification, it should be noted that the term “suitable” is intended to be equivalent to the term “configured as”.

[0184] No reference numerals in the claims should be construed as limiting the scope of protection.

Claims

1. A method (100) for generating a tracking imaging region representing ultrasound data acquired from an object, the method comprising: (110) Ultrasonic data acquired from the imaging region by an ultrasonic probe, wherein the ultrasonic data includes Doppler ultrasonic data; A first image of the surface acquired during the acquisition of the ultrasound data is obtained by an image sensor coupled to the ultrasound probe (120); A second image of the surface acquired during the acquisition of the ultrasonic data is obtained by the image sensor (130); Compare (140) the first image and the second image; The first motion component of the ultrasonic probe is calculated based on the comparison. The second motion component of the ultrasound probe acquired during the acquisition of the ultrasound data is obtained by an inertial measurement unit coupled to the image sensor (160). Combining (170) the first motion component and the second motion component to generate the motion of the ultrasonic probe; The ultrasound data from the imaging region are combined (180) based on the motion of the ultrasound probe to generate a tracking imaging region; A 3D Doppler vascular map is generated based on the Doppler ultrasound data and the motion of the ultrasound probe; and Blood flow measurements are derived from the 3D Doppler angiography, wherein deriving the blood flow measurements includes one or more of the following: The angle between the imaging area of ​​the ultrasound probe and the central axis of the blood vessel is calculated based on the motion of the ultrasound probe, and the Doppler ultrasound data is adjusted based on the calculated angle; and The cross-sectional area of ​​the blood vessels is calculated based on the 3D Doppler angiography, and the Doppler ultrasound data is adjusted based on the calculated cross-sectional area.

2. The method as described in claim 1, wherein, The method further includes: (190) A 3D ultrasound volume including the tracking imaging region is generated by combining the ultrasound data of the tracking imaging region based on the motion of the ultrasound probe.

3. The method (100) as claimed in claim 1 or 2, wherein, The method further includes: An ultrasound image is generated based on the ultrasound data obtained from the tracking imaging region; and A representation of the tracking imaging region within the 3D ultrasound volume is generated in real time based on a combination of the ultrasound image, the 3D ultrasound volume, and the motion of the ultrasound probe.

4. The method (100) as described in claim 2, wherein, The method further includes: Based on the 3D ultrasound volume, guidance information for locating interventional devices is generated; and Provide the guidance information to the user.

5. A computer program comprising computer program code, wherein when the computer program is run on a computer, the computer code is adapted to perform the following steps: Ultrasonic data acquired from the imaging area using an ultrasonic probe, wherein, The ultrasound data includes Doppler ultrasound data; A first image of the surface acquired during the acquisition of the ultrasound data is obtained by an image sensor coupled to the ultrasound probe; A second image of the surface is obtained by the image sensor during the acquisition of the ultrasonic data; Compare the first image and the second image; The first motion component of the ultrasonic probe is calculated based on the comparison. The second motion component of the ultrasound probe acquired during the acquisition of the ultrasound data is obtained by an inertial measurement unit coupled to the image sensor. The motion of the ultrasonic probe is generated by combining the first motion component and the second motion component. The ultrasound data from the imaging region and the motion of the ultrasound probe are combined to generate a tracking imaging region; A 3D Doppler vascular map is generated based on the Doppler ultrasound data and the motion of the ultrasound probe; and Blood flow measurements are derived from the 3D Doppler angiography, wherein deriving the blood flow measurements includes one or more of the following: The angle between the imaging area of ​​the ultrasound probe and the central axis of the blood vessel is calculated based on the motion of the ultrasound probe, and the Doppler ultrasound data is adjusted based on the calculated angle; and The cross-sectional area of ​​the blood vessels is calculated based on the 3D Doppler angiography, and the Doppler ultrasound data is adjusted based on the calculated cross-sectional area.

6. The computer program as described in claim 5, wherein, When the computer program is run on a computer, the computer program is adapted to perform the step of generating a 3D ultrasound volume based on the tracking imaging region by combining the ultrasound data of the tracking imaging region and the motion of the ultrasound probe.

7. A computer-readable storage medium including instructions that, when executed by a computer, cause the computer to perform the following steps: Ultrasonic data acquired from the imaging area using an ultrasonic probe, wherein, The ultrasound data includes Doppler ultrasound data; A first image of the surface acquired during the acquisition of the ultrasound data is obtained by an image sensor coupled to the ultrasound probe; A second image of the surface is obtained by the image sensor during the acquisition of the ultrasonic data; Compare the first image and the second image; The first motion component of the ultrasonic probe is calculated based on the comparison. The second motion component of the ultrasound probe acquired during the acquisition of the ultrasound data is obtained by an inertial measurement unit coupled to the image sensor. The motion of the ultrasonic probe is generated by combining the first motion component and the second motion component. The ultrasound data from the imaging region and the motion of the ultrasound probe are combined to generate a tracking imaging region; A 3D Doppler vascular map is generated based on the Doppler ultrasound data and the motion of the ultrasound probe; and Blood flow measurements are derived from the 3D Doppler angiography, wherein deriving the blood flow measurements includes one or more of the following: The angle between the imaging area of ​​the ultrasound probe and the central axis of the blood vessel is calculated based on the motion of the ultrasound probe, and the Doppler ultrasound data is adjusted based on the calculated angle; and The cross-sectional area of ​​the blood vessels is calculated based on the 3D Doppler angiography, and the Doppler ultrasound data is adjusted based on the calculated cross-sectional area.

8. The computer-readable storage medium of claim 7, wherein, The computer-readable storage medium also includes instructions that, when executed by a computer, cause the computer to perform the step of generating a 3D ultrasound volume based on the tracking imaging region by combining the ultrasound data of the tracking imaging region and the motion of the ultrasound probe.

9. A processing system (80) for use in an ultrasound system and for generating a tracking imaging region representing ultrasound data acquired from an imaging region, said processing system comprising: Input section, which is used to receive (i) Ultrasonic data acquired from the imaging area using an ultrasonic probe, wherein the ultrasonic data includes Doppler ultrasound data. (ii) A first image of the surface acquired by an image sensor coupled to the ultrasound probe during the acquisition of the ultrasound data, and (iii) A second image of the surface acquired by the image sensor during the acquisition of the ultrasonic data; and A processor, coupled to the input section, is configured to: Compare the first image and the second image; The first motion component of the ultrasonic probe is calculated based on the comparison. The motion of the ultrasonic probe is generated by combining the first motion component and the second motion component. The ultrasound data from the imaging region and the motion of the ultrasound probe are combined to generate a tracking imaging region; Blood flow measurements are derived from 3D Doppler angiography, wherein the derived blood flow measurements include one or more of the following: The angle between the imaging area of ​​the ultrasound probe and the central axis of the blood vessel is calculated based on the motion of the ultrasound probe, and the Doppler ultrasound data is adjusted based on the calculated angle; and The cross-sectional area of ​​the blood vessels is calculated based on the 3D Doppler angiography, and the Doppler ultrasound data is adjusted based on the calculated cross-sectional area.

10. An ultrasound imaging system (50), comprising: The processing system (80) as described in claim 9; An ultrasonic probe (55) is suitable for acquiring ultrasonic data; Image sensor (65), which is coupled to the ultrasonic probe and adapted to acquire images of the surface; as well as An inertial measurement unit (75) is coupled to the image sensor and is adapted to acquire the second motion component.

11. The ultrasound imaging system (50) as claimed in claim 10, wherein, The processor is also adapted to: A 3D ultrasound volume is generated based on the tracking imaging region by combining the ultrasound data of the tracking imaging region and the motion of the ultrasound probe.

12. The ultrasound imaging system (50) as claimed in claim 11, wherein, The processor is also adapted to: An ultrasound image is generated based on the ultrasound data obtained from the tracking imaging region; and A real-time representation of the tracking imaging region within the 3D ultrasound volume is generated based on a combination of the ultrasound image, the 3D ultrasound volume, and the motion of the ultrasound probe.

13. The ultrasound imaging system (50) as claimed in claim 11 or 12, wherein, The processor is also adapted to: Guidance information for locating interventional devices is generated based on the 3D ultrasound volume.

14. The ultrasound imaging system (50) as claimed in claim 13, wherein, The system further includes a display unit, and wherein the processor is further adapted to: The display unit is instructed to display one or more of the following: The 3D ultrasonic volume; The 3D Doppler angiography; and The guidance information.

15. The ultrasound imaging system (50) according to any one of claims 10 to 12, wherein, The image sensor (65) includes one or more of the following: camera; 3D cameras; and LiDAR sensor.

16. The ultrasound imaging system (50) according to any one of claims 10 to 12, wherein, The inertial measurement unit (75) includes one or more of the following: accelerometer; and Gyroscope.

Images