System and method for ultrasound probe positioning

Abstract

Methods and systems for ultrasound imaging, and in particular, for controlling the position of an ultrasound probe are provided. In one example, a probe guide includes a body shaped to receive an ultrasound probe and including a first detent shaped to hold the ultrasound probe at a first rotational position along an axis of the body and a second detent shaped to hold the ultrasound probe at a second rotational position along the axis of the body.

Description

Technical Field

[0001] This specification relates in general to methods and systems for controlling the position of an ultrasound probe for ultrasound imaging, and more specifically, to methods and systems for controlling the position of an ultrasound probe. Background Technology

[0002] Ultrasound imaging can be used to detect the presence of blood flow within the body. In some configurations (such as those disclosed in U.S. Publication No. 2020 / 0174118), pulsed-wave Doppler calculates the Doppler shift of the ultrasound signal within the Doppler gate, and the flow velocity is estimated using the Doppler shift by assuming the vessel has a circular cross-section. In other configurations, the average flow velocity and cross-sectional area at a given location within the vessel can be estimated using a probe via color flow and B-mode imaging, which can be rotated about a depth axis using a probe guide. The instantaneous volumetric flow rate of blood flow is then calculated using the average velocity and cross-sectional area. The volumetric flow rate can be calculated based on the image combined with detailed location data of the ultrasound probe. Summary of the Invention

[0003] In one embodiment, the probe guide includes: a body shaped to receive an ultrasound probe and including a first pawl and a second pawl, the first pawl being shaped to hold the ultrasound probe in a first rotational position along the axis of the body, and the second pawl being shaped to hold the ultrasound probe in a second rotational position along the axis of the body.

[0004] It should be understood that the above description of the invention is provided to present a simplified version of the selected concepts further described in the detailed embodiments. This is not intended to identify key or essential features of the claimed subject matter, the scope of which is uniquely defined by the claims following the detailed embodiments. Furthermore, the claimed subject matter is not limited to embodiments that address any shortcomings mentioned above or in any part of this disclosure. Attached Figure Description

[0005] Figure 1 An ultrasound system according to one embodiment is illustrated schematically.

[0006] Figure 2 An ultrasonic probe according to one embodiment is shown.

[0007] Figure 3 An ultrasonic probe coupled to an ultrasonic probe guide is shown according to one embodiment, wherein the ultrasonic probe may have an angled lower surface.

[0008] Figure 4 An ultrasound probe, an ultrasound probe guide, a first imaging plane, a second imaging plane, a third imaging plane, and a blood vessel are schematically shown according to one embodiment.

[0009] Figure 5A bottom perspective view of an ultrasound probe guide according to one embodiment is shown.

[0010] Figure 6 Show Figure 5 The top perspective view of an ultrasound probe guide, which includes multiple pawls, each pawl shaped to receive an ultrasound probe.

[0011] Figure 7 Show Figures 5 to 6 Exploded bottom perspective view of the ultrasonic probe guide.

[0012] Figure 8 Show Figures 5 to 7 A top view of the ultrasonic probe guide, wherein the ultrasonic probe is in a first rotational position.

[0013] Figure 9 Show Figures 5 to 8 A top view of the ultrasound probe guide, wherein the ultrasound probe is in the second rotational position.

[0014] Figure 10 Show Figures 5 to 9 A top view of the ultrasonic probe guide, with the ultrasonic probe in the third rotational position.

[0015] Figure 11 A bottom perspective view of an ultrasound probe guide including a rotatable segment according to one embodiment is shown.

[0016] Figure 12 Show Figure 11 Top perspective view of the ultrasound probe guide.

[0017] Figure 13 Show Figures 11 to 12 Side view of the ultrasound probe guide.

[0018] Figure 14 Show Figures 11 to 13 Exploded top perspective view of the ultrasonic probe guide.

[0019] Figure 15 Show Figures 11 to 14 Exploded bottom perspective view of the ultrasonic probe guide.

[0020] Figure 16 Show Figures 11 to 15 A top view of the ultrasonic probe guide, wherein the ultrasonic probe is in a first rotational position.

[0021] Figure 17 Show Figures 11 to 16 A top view of the ultrasound probe guide, wherein the ultrasound probe is in the second rotational position.

[0022] Figure 18 Show Figures 11 to 17 A top view of the ultrasonic probe guide, with the ultrasonic probe in the third rotational position.

[0023] Figure 19 A flowchart according to one embodiment is shown, illustrating a method for imaging a subject via an ultrasound probe and an ultrasound probe guide.

[0024] Figure 20 A side view is shown of the outer segment of an ultrasound probe guide including an angled lower end according to one embodiment.

[0025] Figure 21 Show Figure 20 A perspective view of the ultrasonic probe guide.

[0026] Figure 22 Show Figures 20 to 21 A cross-sectional view of an ultrasound probe guide, wherein a flexible insert is positioned within an outer segment at an angled lower end.

[0027] Figures 5 to 18 and Figures 20 to 22 It is displayed approximately to scale, but other relative sizes can be used if needed. Detailed Implementation

[0028] The following description relates to systems for ultrasound imaging, and more specifically, to systems and methods for controlling the position of an ultrasound probe. Ultrasound imaging systems (such as...) Figure 1 The ultrasound imaging system shown includes an ultrasound probe (such as...) Figure 2 The ultrasound probe shown) and probe guide (such as Figures 5 to 10 The probe guide shown and Figures 11 to 18 The probe guide shown is shaped to receive an ultrasound probe, as illustrated. Figure 3 As shown. In some implementations, the lower end of the probe guide can be angled, such as... Figures 5 to 7 and Figures 20 to 22 As shown, and in other embodiments, the lower end may be flat and parallel to the upper end. During imaging of a subject via an ultrasound imaging system, the probe guide is positioned at the subject's anatomical structures of interest, such as... Figure 4In the illustrated blood vessel, the rotational position of the ultrasound probe is controlled by a probe guide. The probe guide can hold the ultrasound probe at any of a plurality of fixed rotational positions, each defined by a corresponding pawl of the probe guide. To determine the volumetric flow rate through the blood vessel, images can be acquired by the ultrasound probe at each of the fixed rotational positions defined by the probe guide, and the volumetric flow rate can be calculated based on this set of images. In some embodiments, for each rotational position, the ultrasound probe can be positioned directly against the corresponding pawl of the probe guide, and in other embodiments, the ultrasound probe can rotate within the probe guide to each rotational position and can be locked to each rotational position via the corresponding pawl of the probe guide. By holding the rotational position of the ultrasound probe via the probe guide, the probe guide can increase the accuracy of image acquisition along a predetermined imaging plane, which can increase the accuracy of the volumetric flow rate calculation.

[0029] Figure 1 This is a schematic diagram of an ultrasound imaging system 100. The ultrasound imaging system 100 includes a transmitting beamformer 101 and a transmitter 102 that drive elements 104 within an ultrasound probe 106 to transmit pulsed ultrasound signals into the body of an imaged subject (not shown). The ultrasound probe 106 may be, for example, a linear array probe, a curved array probe, a fan-shaped probe, or any other type of ultrasound probe, configured to acquire both 2D B-mode data and 2D color flow data, or both 2D B-mode data and another ultrasound mode for detecting blood flow velocity along the axial direction of blood vessels. The ultrasound probe 106 may have elements 104 arranged in a 1D array. Pulsed ultrasound signals may be backscattered from structures within the body (such as blood cells or muscle tissue) to generate echoes returning to elements 104. The echoes are converted by elements 104 into electrical signals or ultrasound data, and the electrical signals are received by a receiver 108. The electrical signals representing the received echoes pass through a receiving beamformer 110 that outputs ultrasound data. According to some embodiments, the ultrasound probe 106 may include all or part of electronic circuitry to perform transmit beamforming and / or receive beamforming. For example, all or part of the transmit beamformer 101, transmitter 102, receiver 108, and receive beamformer 110 may be located within the ultrasound probe 106. In this disclosure, the terms "scanning" or "in scan" may also be used to refer to the process of acquiring data by transmitting and receiving ultrasound signals. In this disclosure, the terms "data" and "ultrasound data" may be used to refer to one or more datasets acquired using an ultrasound imaging system.

[0030] The ultrasound imaging system 100 may include an input device 115. The input device 115 can be used to control the input of patient data, or to select various modes, operations, and parameters, etc. The input device 115 may include one or more of a keyboard, dedicated hard keys, a touchpad, a mouse, a trackball, rotary controls, sliders, etc. The input device 115 may include a proximity sensor configured to detect objects or gestures within a few centimeters of the proximity sensor. The input device 115 may include a touchscreen positioned in front of the display device 118, or the touchscreen may be separate from the display device 118. The input device 115 (which may be referred to herein as a user interface) may also include one or more physical controls (such as buttons, sliders, knobs, keyboards, mice, trackballs, etc.) individually or in combination with graphical user interface icons displayed on the display screen. According to some embodiments, the input device 115 may include a combination of physical controls (such as buttons, sliders, knobs, keyboards, mice, trackballs, etc.) and user interface icons displayed on the display device 118 or a touch-sensitive display screen.

[0031] Display device 118 may be configured to display a graphical user interface (GUI) according to instructions stored in memory 120. The GUI may include user interface icons representing commands and instructions. The GUI's user interface icons are configured such that a user can select a command associated with each specific user interface icon to activate various functions controlled by the GUI. For example, various user interface icons may be used to represent windows, menus, buttons, cursors, scroll bars, etc. According to an embodiment where input device 115 includes a touchscreen, the touchscreen may be configured to interact with the GUI displayed on display device 118. The touchscreen may be a single-touch touchscreen configured to detect a single contact point at a time, or a multi-touch touchscreen configured to detect multiple contact points at a time. For embodiments where the touchscreen is a multi-touch touchscreen, the touchscreen may be configured to detect multi-touch gestures involving contact from two or more fingers of the user at a time. The touchscreen may be a resistive touchscreen, a capacitive touchscreen, or any other type of touchscreen configured to receive input from a stylus or one or more fingers of the user. According to other embodiments, the touchscreen may be an optical touchscreen that uses techniques such as infrared light or light of other frequencies to detect one or more contact points initiated by the user.

[0032] According to various embodiments, input device 115 may include off-the-shelf consumer electronics devices, such as smartphones, tablets, laptops, etc. For the purposes of this disclosure, the term "off-the-shelf consumer electronics device" is defined as an electronic device designed and developed for general consumer use rather than specifically designed for a medical environment. According to some embodiments, the consumer electronics device may be physically separate from the rest of the ultrasound imaging system. The consumer electronics device may communicate with the electronic controller 114, including processor 116, via wireless protocols such as Wi-Fi, Bluetooth, wireless local area network (WLAN), near field communication, etc. According to one embodiment, the consumer electronics device may communicate with processor 116 via an open application programming interface (API).

[0033] The ultrasound imaging system 100 also includes a processor 116 for controlling the transmit beamformer 101, transmitter 102, receiver 108, and receive beamformer 110. The processor 116 is configured to receive input from an input device 115. The receive beamformer 110 can be a conventional hardware beamformer or a software beamformer according to various embodiments. If the receive beamformer 110 is a software beamformer, it may include one or more of the following components: a graphics processing unit (GPU), a microprocessor, a central processing unit (CPU), a digital signal processor (DSP), or any other type of processor capable of performing logical operations. The receive beamformer 110 can be configured to perform conventional beamforming techniques as well as techniques such as backtracking transmit beamforming (RTB). If the receive beamformer 110 is a software beamformer, the processor 116 can be configured to perform some or all of the functions associated with the receive beamformer 110.

[0034] Processor 116 communicates electronically with ultrasound probe 106. Processor 116 can control ultrasound probe 106 to acquire ultrasound data. Processor 116 controls which elements in element 104 are active and the shape of the beam emitted from ultrasound probe 106. Processor 116 also communicates electronically with display device 118, and processor 116 can process ultrasound data into images for display on display device 118. Processor 116 can be configured to display one or more non-image elements on display device 118. Instructions for displaying each of the one or more non-image elements can be stored in memory 120. For the purposes of this disclosure, the term "electronic communication" can be defined to include both wired and wireless connections. According to one embodiment, processor 116 may include a central processing unit (CPU).

[0035] According to other embodiments, processor 116 may include other electronic components capable of performing processing functions, such as a digital signal processor, a field-programmable gate array (FPGA), a graphics processing unit (GPU), or any other type of processor. According to other embodiments, processor 116 may include multiple electronic components capable of performing processing functions. For example, processor 116 may include two or more electronic components selected from a list including: a central processing unit (CPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), and a graphics processing unit (GPU). According to another embodiment, processor 116 may also include a composite demodulator (not shown) that demodulates RF data and generates raw data. In another embodiment, demodulation may be performed earlier in the processing chain. Processor 116 may be adapted to perform one or more processing operations based on multiple selectable ultrasonic modes on the data. Data can be processed in real-time during a scanning session as echo signals are received. For the purposes of this disclosure, the term "real-time" is defined as including processes performed without any intentional delay. The real-time frame rate may vary based on specific parameters used during acquisition. Data may be temporarily stored in a buffer during a scanning session and processed in a less real-time manner. Some embodiments may include multiple processors (not shown) for processing processing tasks. For example, an embodiment may use a first processor to demodulate and extract RF signals, and a second processor to further process the data before displaying the image. It should be understood that other embodiments may use different processor arrangements. In embodiments where the receive beamformer 110 is a software beamformer, the processing functions attributable to the processor 116 described above and the software beamformer may be performed by a single processor such as the receive beamformer 110 or the processor 116. In some embodiments, the processing functions attributable to the processor 116 and the software beamformer may be distributed in different ways among any number of individual processing components.

[0036] According to one embodiment, the ultrasound imaging system 100 can continuously acquire real-time ultrasound data at frame rates, for example, 10 Hz to 30 Hz. Instantaneous or real-time images can be generated based on the real-time ultrasound data. Other embodiments can acquire data and / or display instantaneous images at different frame rates. For example, some embodiments may acquire real-time ultrasound data at frame rates less than 10 Hz or greater than 30 Hz, depending on the size of the ultrasound data and the intended application. Other embodiments may use ultrasound data that is not real-time ultrasound data. A memory 120 is included to store processed frames of the acquired data and instructions for displaying one or more non-image elements on a display device 118. In one exemplary embodiment, the memory 120 has sufficient capacity to store image frames of ultrasound data acquired over a time period of at least several seconds. The memory 120 may include any known data storage medium. The memory or storage device may be a component of the ultrasound imaging system 100, or it may be external to the ultrasound imaging system 100.

[0037] Optionally, the implementation scheme can be achieved using contrast agents and contrast imaging. When using ultrasound contrast agents, including microbubbles, contrast imaging generates enhanced images of in vivo anatomy and blood flow. After data acquisition using contrast agents, image analysis includes separating harmonic and linear components, enhancing harmonic components, and generating ultrasound images by utilizing the enhanced harmonic components. Appropriate filters are used to perform the separation of harmonic components from the received signal.

[0038] In various embodiments, processor 116 can process data through other or different mode-related modules (e.g., B-mode, color Doppler, M-mode, color M-mode, spectral Doppler, elastography, TVI, strain, strain rate, and combinations thereof) to form images or data. For example, one or more modules can generate B-mode, color Doppler, M-mode, color M-mode, spectral Doppler, elastography, TVI, strain, strain rate, and combinations thereof. Image beams and / or frames are stored, and timing information indicating the time of data acquisition in memory can be recorded. These modules may include, for example, a scan conversion module for performing scan conversion operations to convert image frames from beam space coordinates to display space coordinates. A video processor module may be provided that reads image frames from memory and displays image frames in real time during surgery on a patient. The video processor module can store image frames in an image memory, read from and display images from that image memory.

[0039] An ultrasound imaging system 100 includes a probe guide 107. The probe guide 107 is configured to maintain a rotational position of an ultrasound probe 106 during imaging of a subject (e.g., a patient), similar to the example further described below. In some embodiments, the probe guide 107 may include a position sensing system 122. The position sensing system 122 may include one or more sensors, such as sensor 126, configured to detect the rotational position of the ultrasound probe 106 during conditions where the ultrasound probe 106 is coupled to the probe guide 107. For example, during conditions where the ultrasound probe 106 is held in a first rotational position by the probe guide 107, sensor 126 may sense the position of the ultrasound probe 106 and transmit data indicating the position of the ultrasound probe 106 to a controller 114 (e.g., to a processor 116). During conditions where the position of the ultrasound probe 106 is adjusted from the first rotational position to a second rotational position, one or more sensors of the position sensing system 122 may detect the rotational position of the ultrasound probe 106 throughout the transition. According to embodiments, sensor 126 may be an electromagnetic position sensor, an optical position sensor, or a mechanical position sensor. The position sensing system 122 can be configured to detect the position of the ultrasonic probe 106 in real time.

[0040] Figure 2 This is a schematic perspective view of an ultrasonic probe 200 according to one embodiment. The ultrasonic probe 200 is comparable to the one described above. Figure 1 The ultrasonic probe 106 is similar to or the same as described above. Figure 2 The ultrasonic probe 200 shown is a linear probe. Component 204 (which can be referenced above) Figure 1 The elements 104 (similar or identical) are arranged in a linear array. Depending on the implementation, the ultrasonic probe 200 may have different configurations. For example, the ultrasonic probe 200 may be a curved array probe or a linear array probe. Figure 2 The central axis 208 of the ultrasonic probe 200 is shown. The central axis 208 extends through and is parallel to the handle 207 of the ultrasonic probe 200. According to... Figure 2 In the illustrated embodiment, the central axis 208 of the ultrasound probe 200 is perpendicular to the array surface 209 (which may be referred to herein as the end surface) having the element 204. The array surface 209 and the element 204 are positioned at a first end 210 of the ultrasound probe 200 and opposite to a handle 207 disposed at a second end 212 of the ultrasound probe 200. In some examples, the ultrasound probe 200 may be configured to interact with the electronic controller of the ultrasound imaging system (e.g., referenced above). Figure 1 The described electronic controller 114) communicates wirelessly. In other examples, the ultrasound probe 200 may be configured with a cable, such as cable 213, and may communicate electronically with the controller via cable 213.

[0041] See Figure 3 A side view of an ultrasound probe 300 coupled to an ultrasound probe guide 302 is shown according to one embodiment. The ultrasound probe can be coupled with... Figure 2 The ultrasound probe 200 shown and described above and / or Figure 1 The ultrasound probe 106 shown above is similar to or the same as the one described above. The probe guide 302 can be connected to... Figure 1 The probe guide 107 shown above is similar to or the same as that described above.

[0042] The ultrasound probe 300 can be connected to an electronic controller (e.g., as referenced above) via cable 304. Figure 1 The described electronic controller 114 communicates electronically. In some embodiments, the ultrasound probe 300 may communicate wirelessly with the electronic controller (e.g., via Wi-Fi).

[0043] As shown in the figure, during the period when the ultrasonic probe 300 is coupled to the probe guide 302 (e.g., disposed within the probe guide 302), the central axis 306 of the ultrasonic probe 300 is coaxially aligned with the central axis 308 of the probe guide 302. The ultrasonic probe 300 can be adjusted to different rotational positions about the central axis 308 of the probe guide 302 while maintaining the coaxial alignment of the central axis 306 of the ultrasonic probe 300 with the central axis 308 of the probe guide 302. The elements of the ultrasonic probe 300, configured to transmit pulsed ultrasonic signals (e.g., as referenced above) Figure 1 The described element 104 (similar or identical) is arranged toward a first end 310 of the probe guide 302 during the coupling condition of the ultrasound probe 300 and the probe guide 302. During imaging of a subject (e.g., a patient), the first end 310 of the probe guide 302 may be positioned in direct contact with the subject's body at the location of an anatomical structure of interest (e.g., a blood vessel), wherein the first end 310 is arranged closer to the body than the opposing second end 312 of the probe guide 302. Specifically, the first end 310 of the probe guide 302 may be positioned in direct contact with the subject's body, wherein an element of the ultrasound probe 300 is arranged at the first end 310 such that the element can directly transmit pulsed ultrasound signals toward the subject's body. In some embodiments, the ultrasound probe 300 may be coupled to the probe guide 302 by inserting the ultrasound probe 300 through the second end 312 of the probe guide 302.

[0044] In the illustrated embodiment, the first end 310 of the probe guide 302 is angled relative to the second end 312 of the probe guide 302. For example, an axis 314, shown as parallel to the second end 312, is angled 320 relative to an axis 316, shown as parallel to the first end 310. The axis 314 is arranged perpendicular to the central axis 308 of the probe guide 302. In some embodiments, the angle 320 may be approximately 15 degrees. By angulating the first end 310 of the probe guide 302 as shown, the ease of positioning the probe guide 302 and the ultrasound probe 300 relative to the subject to be imaged can be increased. Specifically, by utilizing the angled configuration of the first end 310 of the probe guide 302, during the positioning condition where the probe guide 302 is against the subject, the central axis 308 of the probe guide 302 is arranged at an angle 322 relative to the axis 318 perpendicular to the subject at the contact position between the probe guide 302 and the subject. Therefore, when the ultrasound probe 300 is coupled to the probe guide 302, the ultrasound probe 300 can be more easily oriented toward the desired imaging plane. The angled configuration of the first end 310 relative to the second end 312 allows the probe guide 302 to be positioned against the body of the subject being imaged, without using "heel-toe" probe positioning techniques, which increases the ease of maintaining the position of blood vessels throughout the imaging process. Additionally, the angled configuration reduces the tilt of the imaging plane (e.g., see reference below). Figure 4 The second imaging plane (406) describes a Doppler angle, which can increase the ease of imaging the subject.

[0045] The position of the probe guide 302 relative to the subject being imaged can be secured (e.g., held) by a strap or other fastening mechanism. For example, during imaging of a blood vessel (such as the femoral artery) of the subject, the probe guide 302 can be positioned in direct contact with the subject's body at the location of the blood vessel to be imaged and can be held in the desired position via one or more straps or other fastening devices. Straps or other fastening mechanisms can be used with each of the probe guide embodiments described herein to maintain the position of the probe guide relative to the subject being imaged (e.g., during imaging of the subject for diagnostic or evaluation purposes, such as for the diagnosis of peripheral vascular disease). As an example, one or more straps or other fastening devices can extend (e.g., wrap around) the limb of the subject being imaged and be coupled to the probe guide to maintain direct contact between the probe guide and the subject's body.

[0046] See Figure 4 The diagram schematically illustrates an ultrasound probe 400, an ultrasound probe guide 402, a first imaging plane 404, a second imaging plane 406, a third imaging plane 407, and a blood vessel 408 according to one embodiment. The ultrasound probe 400 can be used with... Figure 3The ultrasonic probe 300 shown and described above, Figure 2 The ultrasound probe 200 shown and described above and / or Figure 1 The ultrasound probe 106 shown above is similar to or the same as the one described above. The probe guide 402 can be connected to... Figure 3 The probe guide 302 shown and described above and / or Figure 1 The probe guide 107 shown above is similar to or the same as that described above.

[0047] The first imaging plane 404 extends along the longitudinal axis 410 of the blood vessel 408, the second imaging plane 406 is inclined (e.g., at an angle) relative to the longitudinal axis 410 and the first imaging plane 404, and the third imaging plane 407 is arranged to be orthogonal to the first imaging plane 404 and the longitudinal axis 410.

[0048] An operator of the ultrasound imaging system (e.g., a clinician) can acquire a first image of a blood vessel 408 with the ultrasound probe 400 oriented toward a first imaging plane 404, while a probe guide 402 maintains the rotational position of the ultrasound probe 400 relative to the blood vessel 408 and the probe guide 402. Specifically, the probe guide 402 can maintain the rotational position of the ultrasound probe 400 such that the ultrasound probe 400 does not move from its alignment with the first imaging plane 404 and the longitudinal axis 410 during the acquisition of the first image. The operator can then adjust the rotational position of the ultrasound probe 400 via the probe guide 402 before acquiring a second image, wherein the second image is acquired while the ultrasound probe 400 is oriented toward a second imaging plane 406. The rotational position of the ultrasound probe 400 can be maintained by the probe guide 402, wherein the ultrasound probe 400 is oriented toward the second imaging plane 406 throughout the acquisition of the second image. In some embodiments (e.g., referred to below) Figures 5 to 10 As described, the operator can decouple the ultrasound probe 400 from the probe guide 402 after acquiring the first image, and recouple the ultrasound probe 400 from the probe guide 402 to align with the second imaging plane before acquiring the second image. In other embodiments (e.g., as referenced below) Figures 11 to 18 As described, the operator can rotate the ultrasound probe 400 from alignment with the first imaging plane to alignment with the second imaging plane without decoupling the ultrasound probe 400 from the probe guide 402. In each example, the position of the probe guide 402 relative to the blood vessel 408 is maintained throughout the acquisition of the first and second images and throughout the entire change in the rotational position of the ultrasound probe 400. Furthermore, throughout the acquisition of the first and second images, the central axis of the ultrasound probe 400 (e.g., by...) is... Figure 3 As shown and described above, the central axis 306 is kept aligned with the central axis of the probe guide 402 (e.g., by...). Figure 3As shown and coaxial with the central axis 308 described above. The probe guide 402 includes a position sensing system with one or more position sensors (e.g., similar to the one described above). Figure 1 In an embodiment of the position sensing system 122 (described by sensor 126), probe guide 402 can transmit position information of ultrasonic probe 400 to controller (e.g., as described above) while ultrasonic probe 400 is coupled to probe guide 402. Figure 1 (The controller 114 is described). After acquiring the second image, the operator can adjust the rotational position of the ultrasound probe 400 via the probe guide 402 to orient the ultrasound probe 400 toward the third imaging plane 407, and can acquire the third image while the ultrasound probe 400 is oriented toward the third imaging plane 407. The rotational position of the ultrasound probe 400 can be maintained by the probe guide 402, wherein the ultrasound probe 400 is oriented toward the third imaging plane 407 throughout the acquisition of the third image.

[0049] The controller can determine (e.g., calculate) the volumetric flow rate through blood vessel 408 based on each of the first, second, and third images. Because the position of the ultrasound probe 400 relative to the probe guide 402 is controlled by the engagement of the corresponding pawl of the probe guide 402 during the condition where the ultrasound probe 400 is coupled to the probe guide 402, the controller can determine the volumetric flow rate with reduced information relative to a system that tracks (e.g., monitors) the position of the ultrasound probe 400 throughout the scan of blood vessel 408. For example, the ultrasound probe 400 can be coupled to the probe guide 402 with the first pawl of the probe guide 402 in an engaged condition (e.g., similar to the example further described below), wherein the first pawl holds the position of the ultrasound probe 400 relative to the probe guide 402. The probe guide 402 is configured such that during the period when the ultrasound probe 400 is coupled to the probe guide 402, each pawl of the probe guide 402 corresponds to a fixed rotational position of the ultrasound probe 400 (e.g., when the ultrasound probe 400 is coupled to the probe guide 402, engagement of the first pawl holds (e.g., locks) the ultrasound probe 400 in a first rotational position relative to the probe guide 402, engagement of the second pawl holds (e.g., locks) the ultrasound probe in a second rotational position relative to the probe guide 402, and engagement of the third pawl holds (e.g., locks) the ultrasound probe in a third rotational position relative to the probe guide 402).

[0050] For each pawl of the probe guide 402, the corresponding rotational position of the ultrasound probe 400 when coupled to the probe guide 402 can be known by the controller (e.g., stored in the controller's non-transitory memory). As an example, engagement of the first pawl of the probe guide 402 can result in an initial rotational position of the ultrasound probe 400 relative to the probe guide 402 (e.g., 0 degrees around the central axis of the probe guide 402), engagement of the second pawl of the probe guide 402 can result in the rotational position of the ultrasound probe 400 shifting from the initial position by a first amount (e.g., 45 degrees) around the central axis, and engagement of the third pawl of the probe guide 402 can result in the rotational position of the ultrasound probe 400 shifting from the initial position by a second amount (e.g., 90 degrees) around the central axis.

[0051] The probe guide 402 may include one or more sensors configured to sense the engagement of pawls of the probe guide 402, and the controller may determine the position of the ultrasound probe 400 based on the engagement of the pawls. For example, during the period when the controller determines that a first pawl is engaged, the controller may determine that the ultrasound probe 400 is in a first rotational position, and during the period when the controller determines that a second pawl is engaged, the controller may determine that the ultrasound probe 400 is in a second rotational position, and so on.

[0052] In some examples, the probe guide 402 may not include the aforementioned sensor. In such examples, the controller can determine the relative position of the ultrasound probe 400 for each image in a sequence of images acquired by the ultrasound probe 400 based on the acquisition timing of each image. For example, the ultrasound probe 400 may acquire a first, second, and third image of the blood vessel 408 in a single scan of the blood vessel 408, wherein the first image is acquired before the second image without any other images being acquired in between; and the second image is acquired before the third image without any other images being acquired in between. The controller can determine, based on the sequence in which the images are acquired, that the position of the ultrasound probe 400 during the acquisition of the first image corresponds to the initial rotational position of the ultrasound probe 400 (which may be referred to herein as the first rotational position) (e.g., the rotational position of the ultrasound probe 400 is maintained by engagement of a first pawl). The controller can also determine, based on this sequence, that the position of the ultrasound probe 400 during the acquisition of the second image corresponds to a second rotational position of the ultrasound probe 400 (e.g., the rotational position of the ultrasound probe 400 is maintained by engagement of a second pawl, wherein the second rotational position is offset from the initial rotational position about the central axis of the probe guide 402). The controller can also determine, based on this sequence, the position of the ultrasound probe 400 during the acquisition of the third image, corresponding to a third rotational position of the ultrasound probe 400 (e.g., maintaining the rotational position of the ultrasound probe 400 by engagement of a third pawl, wherein the third rotational position is offset from the initial rotational position and the second rotational position about the central axis of the probe guide 402). In this way, the controller can determine the position of the ultrasound probe 400 during the acquisition of each image without requiring position information transmitted to the controller by sensors of the probe guide 402 and / or the ultrasound probe 400. Therefore, the ultrasound probe 400 and / or the probe guide 402 can be configured without position sensors, which can reduce the cost, assembly time and / or weight of the ultrasound imaging system.

[0053] The controller determines the volumetric flow rate through blood vessel 408 based on the first, second, and third images. The volumetric flow rate can be defined by the following equation:

[0054] Volumetric flow rate = average velocity * vessel cross-sectional area

[0055] Wherein, volumetric flow rate is the instantaneous volumetric flow rate of the fluid flowing through the blood vessel; average velocity is the instantaneous spatial average velocity within the cross-section of the blood vessel; and the cross-sectional area of ​​the blood vessel is the cross-sectional area of ​​the blood vessel perpendicular to the longitudinal axis.

[0056] The average flow velocity can be defined by the following equation:

[0057]

[0058] Where N (the CF pixels of the blood vessel in image 2) is the number of color blood flow pixels in the second image; Vel(i) is the velocity of the i-th color blood flow pixel; α(i) is the weighting coefficient of the i-th color blood flow pixel, and Doppler angle image 2 is the angle between the color blood flow beam and the longitudinal axis of the blood vessel. The weighting coefficient α(i) can be set to 1, or it can be calculated based on the energy of the color blood flow at the i-th pixel.

[0059] The cross-sectional area of ​​a blood vessel can be defined by the following equation:

[0060] Blood vessel cross-sectional area = pixel area (Image 3) * Cos(area angle Image 3)

[0061] The pixel area (Image 3) is the measured area of ​​the blood vessel pixels in the third image, and the area angle of Image 3 is the angle between the normal vector of the third plane (and the third image) and the longitudinal axis.

[0062] It should be understood that in other embodiments, the controller can use different equations to calculate the volumetric flow rate based on the first, second, and third images. Additionally, according to other embodiments, the controller can divide the processing operations for calculating the volumetric flow rate into multiple separate steps. According to an embodiment using a third image along a third plane, the area angle is defined as the angle between the normal vector of the third plane and the longitudinal axis of the blood vessel, and the pixel area is calculated based on the third or transverse image. On the other hand, the blood vessel CF pixels are determined based on the second or oblique image. The controller can be displayed on a display device (e.g., Figure 1 The volumetric flow rate is displayed on the display device 118 shown and described above.

[0063] In some implementations, the volumetric flow rate through blood vessel 408 can be calculated as described below. Specifically, the volumetric flow rate calculation can be performed while the rotational position of the probe is controlled via a probe guide as described herein. For example, as Figures 8 to 10 As shown in the example, volumetric flow rate calculation can be performed using probes positioned within various pawls of the probe guide. In this example, the probe acquires a first image when positioned in the first pawl, a second image when positioned in the second pawl, and a third image when positioned in the third pawl. As another example, such as... Figures 16 to 18As shown in the example, the volumetric flow rate calculation can be performed with the probe guide positioned within the central pawl and rotated to three different rotational positions while positioned within the central pawl. In this example, the probe guide acquires a first image when in a first rotational position corresponding to engagement of the protrusion with the first pawl, a second image when in a second rotational position corresponding to engagement of the protrusion with the second pawl, and a third image when in a third rotational position corresponding to engagement of the protrusion with the third pawl. In each example, the volumetric flow rate calculation uses each of the first, second, and third images to determine the volumetric flow rate through blood vessel 408.

[0064] The coordinate space of the probe's position within the probe guide can be defined by the x-axis in the transverse direction and the z-axis in the depth direction. When the probe is in a longitudinal view position (e.g., where the probe's sensor is aligned with the longitudinal axis 410), the coordinate space is defined by the probe's x-axis (transverse direction) and z-axis (depth direction). Θ (theta) can be defined as the angle between the blood vessel 408 and the X-axis, and ξ (zeta) can be defined as the turning angle between the ultrasound beam and the Z-axis. (phi) can be defined as the probe rotation angle, V can be defined as a unit vector in the direction of the blood vessel axis in coordinate space (e.g., the direction of the longitudinal axis 410), and U can be defined as a unit vector in the ultrasound beam in coordinate space.

[0065] During the period when the probe is placed within the probe guide and positioned along the longitudinal axis of the blood vessel 408, vectors V and U can be defined in the x, y, and z coordinates, where V = (cosΘ, 0, sinΘ) and U = (sinξ, 0, cosξ).

[0066] During the period when the probe is rotated to an inclined plane (e.g., the second imaging plane 406) and the probe guide is held against the subject's body (where the probe guide defines the coordinate space), vectors U and V become U' and V', respectively. V' can be defined as V' = V (since the blood vessel 408 remains in the same position relative to the probe guide compared to the initial position in which the probe guide is positioned aligned with the longitudinal axis, for example, along the first imaging plane 404), and U' can be defined as

[0067] The parameter DopplerAngle can be the angle between the vessel axis direction V' and the direction of the color Doppler ultrasound beam in the tilted imaging position U'. DopplerAngle can be defined as DopplerAngle = cos -1(U'.V'). For each color blood flow frame, the average velocity of the pixels in the frame can be calculated and then divided by Cos(DopplerAngle) to obtain the actual angular correction value of the average flow velocity of the blood vessel 408 in that color blood flow frame. This value is the instantaneous spatially average (through the cross-section of the blood vessel 408) velocity of the blood in the blood vessel 408 at the measurement location. This instantaneous average velocity can then be multiplied by the cross-sectional area of ​​the blood vessel 408 calculated from the image with the probe in a lateral position relative to the probe guide. The result is the instantaneous volumetric flow rate of the blood in the blood vessel 408 at the measurement location.

[0068] See Figure 5 The image shows a bottom perspective view of an ultrasound probe guide 500 according to one embodiment. The ultrasound probe guide 500 can be coupled with... Figure 4 The probe guide 402 shown and described above, Figure 3 The probe guide 302 shown and described above and / or Figure 1 The probe guide 500 shown is similar to or the same as the probe guide 107 described above. The main body 501 of the probe guide 500 can receive an ultrasound probe, such as... Figure 4 The ultrasonic probe 400 shown above can maintain the rotational position of the ultrasonic probe relative to the probe guide 500.

[0069] The probe guide 500 includes a first end 502 and a second end 504. During the coupling of the ultrasonic probe with the probe guide 500, the ultrasonic probe's elements configured to emit pulsed ultrasonic signals (e.g., similar to those referenced above) Figure 1 The described element 104 is arranged closer to the first end 502 than the second end 504. Figures 5 to 10 The probe guide 500 shown includes a lower end surface 508. In some examples, the lower end surface 508 may be formed of a flexible material (e.g., silicone) configured to transmit ultrasound pulses generated by elements of the ultrasound probe to the subject being imaged (e.g., a patient). In some examples, a portion of the ultrasound probe (e.g., an end portion including elements configured to transmit pulsed ultrasound signals) may be flush with the lower end surface 508 or may protrude outward from an opening in the lower end surface 508 at a first end 502 of the probe guide 500.

[0070] The lower surface 508 can be relative to the upper surface 603 ( Figure 6 (As shown) at an angle, similar to the reference above. Figure 4The example described above. Specifically, the upper surface 603 may extend radially relative to the central axis 506, and the lower surface 508 may extend at an angle relative to the central axis 506 (e.g., an axis 520 perpendicular to the lower surface 508 may be at an angle 522 relative to the central axis 506). In the configuration where the lower surface 508 is angled, the central axis 506 of the probe guide 500 may be at an angle 522 relative to the axis 520, wherein the axis 520 is perpendicular to the lower surface 508 that is in direct contact with the subject during imaging. In some embodiments, the angle 522 may be approximately 15 degrees. When the ultrasound probe is coupled to the probe guide 500, the central axis of the ultrasound probe may be arranged coaxially with the central axis 506 of the probe guide 500. Although the probe guide 500 is shown as including an angled lower surface 508, in other embodiments, the lower surface may be parallel to the upper surface 603 (e.g., the lower surface 508 and the upper surface 603 may each extend radially relative to the central axis 506).

[0071] See Figure 6 , showed Figure 5 A top perspective view of an ultrasound probe guide 500. The probe guide 500 includes a first pawl 600, a second pawl 602, and a third pawl 604. The first pawl 600 extends from a first end 502 through the probe guide 500 to the second end 504. The first pawl 600 is arranged along an axis 606 extending radially relative to a central axis 506 and is configured to receive an ultrasound probe (e.g., as shown in the image) in a first rotational position relative to the probe guide 500. Figure 8 (As shown and further described below). The second pawl 602 is arranged along an axis 608 extending radially relative to the central axis 506 and is configured to receive the ultrasound probe in a second rotational position relative to the probe guide 500 (e.g., as shown). Figure 9 As shown and further described below). Axis 608 is offset from axis 606 such that axis 608 forms an angle of 612° with respect to axis 606 about central axis 506. Figures 8 to 10 (As shown). In this configuration, the second pawl 602 is at an angle 612 relative to the first pawl 600 about the central axis 506. In some examples, the angle 612 may be 45 degrees. The third pawl 604 is arranged along an axis 610 extending radially relative to the central axis 506 and is configured to receive the ultrasound probe in a third rotational position relative to the probe guide 500 (e.g., as shown). Figure 10(As shown and further described below). Axis 610 is offset from axis 608 such that axis 610 forms an angle 614 with respect to axis 608 about central axis 506. In this configuration, third pawl 604 forms an angle 614 with respect to second pawl 602 about central axis 506. In some examples, angle 614 may be 45 degrees.

[0072] See Figure 7 , showed Figures 5 to 6 An exploded bottom perspective view of an ultrasound probe guide 500. In the illustrated embodiment, the probe guide 500 includes a recess 700 formed at a first end 502 and an insert 702 shaped to be disposed within the recess 700. The insert 702 may be formed of a flexible material (e.g., silicone) as described above, and a lower end surface 508 may be formed of the probe guide 500. During imaging of a subject, ultrasound pulses generated by the ultrasound probe can be transmitted to the subject through the insert 702 at the lower end surface 508. However, in other embodiments, the probe guide 500 may not include the insert 702, and the probe guide 500 may maintain direct contact between the ultrasound probe and the subject being imaged (e.g., no insert 702 is disposed between the ultrasound probe and the subject).

[0073] See Figure 8 , showed Figures 5 to 7 A top view of the ultrasonic probe guide 500, wherein the ultrasonic probe 800 is in a first rotated position. (See above for reference.) Figures 5 to 7 The described ultrasound probe may be ultrasound probe 800. Ultrasound probe 800 can be used with the aforementioned ultrasound probes (e.g., referenced above). Figure 4 The described ultrasound probe (400) is similar to or the same as... Figure 8 In the illustrated configuration, the ultrasonic probe 800 is coupled to the probe guide 500 and held in a first rotational position by a first pawl 600 of the probe guide 500. The first pawl 600 is engaged by the ultrasonic probe 800 such that the ultrasonic probe 800 is positioned within the first pawl 600 and held in the first rotational position by the inner wall of the first pawl 600. The contour of the first pawl 600 may be complementary to the contour of the ultrasonic probe 800 to reduce the gap between the first pawl 600 and the ultrasonic probe 800.

[0074] See Figure 9 , showed Figures 5 to 8A top view of an ultrasonic probe guide 500, wherein an ultrasonic probe 800 is in a second rotational position. The ultrasonic probe 800 is shown coupled to the probe guide 500 and held in the second rotational position by a second pawl 602. The second pawl 602 is engaged by the ultrasonic probe 800 such that the ultrasonic probe 800 is positioned within the second pawl 602 and held in the second rotational position by the inner wall of the second pawl 602. Because the second pawl 602 is offset by an angle 612 from the first pawl 600 about a central axis 506, the second rotational position of the ultrasonic probe 800 is offset by an angle 612 from the first rotational position (e.g., when the second pawl 602 is engaged by the ultrasonic probe 800, the ultrasonic probe 800 is in a different second rotational position relative to the condition where the first pawl 600 is engaged by the ultrasonic probe 800). The profile of the second pawl 602 may be similar to or the same as the profile of the first pawl 600 (e.g., shaped as a rectangular profile to engage the ultrasonic probe 800).

[0075] See Figure 10 , showed Figures 5 to 9 A top view of the ultrasonic probe guide 500, wherein the ultrasonic probe 800 is in a third rotational position. The ultrasonic probe 800 is shown coupled to the probe guide 500 and held in the third rotational position by a third pawl 604. The third pawl 604 is engaged by the ultrasonic probe 800 such that the ultrasonic probe 800 is positioned within the third pawl 604 and held in the third rotational position by the inner wall of the third pawl 604. Because the third pawl 604 is offset by an angle 614 from the second pawl 602 about the central axis 506, the third rotational position of the ultrasonic probe 800 is offset by an angle 614 from the second rotational position (e.g., when the third pawl 604 is engaged by the ultrasonic probe 800, the ultrasonic probe 800 is in a different third rotational position relative to the condition when the second pawl 602 is engaged by the ultrasonic probe 800). The profile of the third pawl 604 may be similar to or the same as the profile of the first pawl 600 and / or the profile of the second pawl 602 (e.g., shaped as a rectangular profile to engage the ultrasonic probe 800).

[0076] exist Figures 8 to 10 In each of these cases, the probe guide 500 is shown in the same position relative to the imaging subject 802. The position of the probe guide 500 relative to the subject 802 can be determined from the ultrasound probe 800... Figure 8 The first rotational position shown is to Figure 9 The second rotational position shown and the position from the second rotational position to Figure 10The third rotational position is maintained throughout the transition. Adjusting the ultrasound probe 800 from the first rotational position to the second rotational position may include removing the ultrasound probe 800 from the first pawl 600 (e.g., disengaging the first pawl 600 and the ultrasound probe 800) and placing the ultrasound probe 800 within the second pawl 602 (e.g., engaging the second pawl 602 and the ultrasound probe 800). Adjusting the ultrasound probe 800 from the second rotational position to the third rotational position may include removing the ultrasound probe 800 from the second pawl 602 (e.g., disengaging the second pawl 602 and the ultrasound probe 800) and placing the ultrasound probe 800 within the third pawl 604 (e.g., engaging the third pawl 604 and the ultrasound probe 800). By maintaining the position of the probe guide 500 relative to the subject 802, the controller can determine the position of the ultrasound probe 800 relative to the subject 802 (e.g., similar to the above reference). Figure 4 (Example described). As an example, the ultrasound probe 800 can acquire a first image of the subject 802 when the ultrasound probe 800 is engaged with the first pawl 600, and the ultrasound probe 800 can acquire a second image of the subject 802 when the ultrasound probe 800 is engaged with the second pawl 602. Because the angle of the second pawl 602 relative to the first pawl 600 is predetermined and known to the controller (e.g., angle 612), and because the position of the probe guide 500 is maintained throughout the adjustment of the ultrasound probe 800 from a first rotational position (e.g., engaged with the first pawl 600) to a second rotational position (e.g., engaged with the second pawl 602), the controller can determine the plane of the first image (e.g., similar to the reference above). Figure 4 The first imaging plane 404 described above is relative to the plane of the second image (e.g., similar to the plane in the reference above). Figure 4 The second imaging plane described is at an angle of 612 (406).

[0077] See Figure 11 The image shows a bottom perspective view of another ultrasound probe guide 1100 according to one embodiment. The probe guide 1100 is compatible with... Figure 4 The probe guide 402 shown and described above, Figure 3 The probe guide 302 shown and described above and / or Figure 1 The probe guide 1100 shown is similar to or the same as the probe guide 107 described above. The probe guide 1100 is configured to receive an ultrasound probe, such as... Figures 8 to 10 The ultrasonic probe 800 shown and described above, Figure 4 The ultrasonic probe 400 shown and described above, Figure 3 The ultrasonic probe 300 shown and described above, Figure 2 The ultrasound probe 200 shown and described above and / or Figure 1The ultrasonic probe 106 shown and described above.

[0078] The probe guide 1100 includes a first end 1102 and a second end 1104. During the coupling of the ultrasonic probe with the probe guide 1100, the ultrasonic probe's elements configured to transmit pulsed ultrasonic signals (e.g., similar to those referenced above) Figure 1 The described element 104 is arranged closer to the first end 1102 than the second end 1104. In some examples, a portion of the ultrasound probe (e.g., the end portion including elements configured to transmit pulsed ultrasound signals) may be flush with the end surface 1106 or may protrude outward from the central pawl 1108 at the end surface 1106 at the first end 1102 of the probe guide 1100. The end surface 1106 may be relative to the upper end surface 1200 ( Figure 12 (As shown) at an angle, similar to the reference above. Figure 4 The example described above. When the ultrasound probe is coupled to the probe guide 1100, the central axis of the ultrasound probe can be arranged coaxially with the central axis 1110 of the probe guide 1100.

[0079] The probe guide 1100 includes an inner segment 1112 and an outer segment 1114, wherein the inner segment 1112 and the outer segment 1114 are rotatably coupled to each other. The inner segment 1112 and the outer segment 1114 may be collectively referred to herein as the body of the probe guide 1100. The inner segment 1112 is coupled to the outer segment 1114 such that the inner segment 1112 is rotatable relative to the outer segment 1114, as described below. In some embodiments, the outer segment 1114 may include a side opening 1116 through which an operator of the ultrasound imaging system including the probe guide 1100 may rotate the inner segment 1112 relative to the outer segment 1114. Specifically, the inner segment 1112 is visible through the outer segment 1114, as shown below. Figure 13 As shown. In some embodiments, the inner segment 1112 and / or the outer segment 1114 may include a wheel or other device configured to rotate the inner segment 1112 relative to the outer segment 1114 during conditions where the wheel is rotated by an operator. In other embodiments, and as described below, the probe guide 1100 may include a motor configured to rotate the inner segment 1112 relative to the outer segment 1114. It should be understood that while rotation of the inner segment 1112 relative to the outer segment 1114 is described herein, in some embodiments, the outer segment 1114 may rotate relative to the inner segment 1112.

[0080] See Figure 12 , showed Figure 11Top perspective view of the ultrasound probe guide 1100. Gap 1202 is shown between the inner segment 1112 and the outer segment 1114. Gap 1202 increases the ease of rotation of the inner segment 1112 relative to the outer segment 1114.

[0081] See Figure 14 , showed Figures 11 to 13 Exploded top perspective view of the ultrasound probe guide 1100. Figure 14 An inner segment 1112 and an outer segment 1114, decoupled from each other, are shown. The inner segment 1112 includes a first end 1400 and a second end 1402, and the outer segment 1114 includes a first end 1404 and a second end 1406. During the condition where the inner segment 1112 and the outer segment 1114 are coupled to each other, the first end 1400 of the inner segment 1112 is disposed at the first end 1404 of the outer segment 1114, and the second end 1402 of the inner segment 1112 is disposed at the second end 1406 of the outer segment 1114. The first end 1400 of the inner segment 1112, including the end surface 1106, may be surrounded by a lower opening 1408 at the first end 1404 of the outer segment 1114.

[0082] like Figure 14 As shown, the outer segment 1114 includes a protrusion 1410 disposed on the inner surface 1412 of the outer segment 1114. The protrusion 1410 is shaped to engage with a pawl of the inner segment 1112, as described below.

[0083] See Figure 15 , showed Figures 11 to 14 An exploded bottom perspective view of the ultrasound probe guide 1100. The inner segment 1112 is shown as including a first pawl 1500, a second pawl 1502, and a third pawl 1504. During the condition where the inner segment 1112 and the outer segment 1114 are coupled together, the protrusion 1410 of the outer segment 1112 ( Figure 14 The protrusion 1410 (shown) can engage with any of the first pawl 1500, the second pawl 1502, or the third pawl 1504 to maintain the rotational position of the inner segment 1114 relative to the outer segment 1114, as described below. Specifically, the protrusion 1410 can be disposed within any of the first pawl 1500, the second pawl 1502, or the third pawl 1504 to maintain the inner segment 1112 relative to the outer segment 1114 in a first rotational position, a second rotational position, or a third rotational position, as described below.

[0084] See Figure 16 , showed Figures 11 to 15 A top view of the ultrasonic probe guide 1100, wherein the ultrasonic probe 1600 is in a first rotational position. Figure 16In the configuration shown, the first pawl 1500 ( Figure 15 (as shown) and protrusion 1410 ( Figure 14 The inner segment 1112 is engaged relative to the outer segment 1114, such that the inner segment 1112 is held in a first rotational position relative to the outer segment 1114. Because the ultrasound probe 1600 is positioned within the central pawl 1108 and the orientation of the ultrasound probe 1600 relative to the inner segment 1112 is held by the central pawl 1108, the rotational position of the ultrasound probe 1600 corresponds to the rotational position of the inner segment 1112 relative to the outer segment 1114. Specifically, the ultrasound probe 1600 does not rotate within the central pawl 1108, but the ultrasound probe 1600 and the inner segment 1112 can rotate together as a single unit relative to the outer segment 1114. During imaging of the subject 1602, the position of the probe guide 1100 can be held relative to the subject 1602 (e.g., the probe guide 1100 can be held in the same translational position relative to the subject 1602), and the position of the ultrasound probe 1600 can be adjusted relative to the subject 1602 via the engagement of different pawls of the probe guide 1100.

[0085] For example, such as Figure 17 As shown, the ultrasonic probe 1600 is depicted coupled to the probe guide 1100 and in a second rotational position. Figure 17 In the configuration shown, the second pawl 1502 ( Figure 15 (as shown) and protrusion 1410 ( Figure 14 As shown, the first pawl 1500 and the third pawl 1504 do not engage with the protrusion 1410. As an example, the inner segment 1112 and the ultrasound probe 1600 can be used as a single unit relative to the outer segment 1114, together from... Figure 16 The first rotational position shown is rotated to Figure 17 The second rotational position is shown. Rotating the inner segment 1112 and the ultrasound probe 1600 from the first rotational position to the second rotational position includes disengaging the first pawl 1500 from the protrusion 1410 and engaging the second pawl 1502 with the protrusion 1410. The second pawl 1502 locks the position of the inner segment 1112 and the ultrasound probe 1600 and holds the inner segment 1112 and the ultrasound probe 1600 in the second rotational position. The inner segment 1112 and the ultrasound probe 1600 can rotate together while the outer segment 1114 does not rotate, such that the position of the outer segment 1114 relative to the subject 1602 is maintained.

[0086] Internal segment 1112 and ultrasonic probe 1600 can also be combined from Figure 17 The second rotational position shown rotates to Figure 18 The third rotational position is shown. In Figure 18 In the configuration shown, protrusion 1410 ( Figure 14 (as shown) and the third pawl 1504 ( Figure 15 As shown, the internal segment 1112 and the rotational position of the ultrasound probe 1600 are engaged, and the third pawl 1504 holds them in place. This third rotational position can be offset from the second rotational position by a first amount of angle (e.g., 45 degrees, similar to the reference above) about the central axis 1110 of the probe guide 1100. Figures 8 to 10 (Example described), and the second rotational position can be offset from the first rotational position by a second amount of angle (e.g., 45 degrees) about the central axis 1110 of the probe guide 1100. During the scan of the subject 802, the ultrasound probe 1600 and the internal segment 1112 can be in the following positions. Figure 16 The first image of subject 802 is acquired in the first rotational position shown, which can be achieved when the ultrasound probe 1600 and the internal segment 1112 are in the position shown. Figure 17 The second image of subject 802 is acquired in the second rotational position shown, and the ultrasound probe 1600 and the internal segment 1112 can be in the position shown. Figure 18 A third image of the subject is acquired in the third rotational position shown. The controller can determine (e.g., calculate) the volumetric flow rate of blood through the vessels at the imaging position of the subject 1602 based on the first, second, and third images, as described above (e.g., similar to the reference above). Figure 4 (Example described).

[0087] In some embodiments, the probe guide 1100 may include a motor 1604 configured to adjust the rotational position of the inner segment 1112 relative to the outer segment 1114. In some embodiments, the motor 1604 may be controlled by an operator of the ultrasound imaging system including the probe guide 1100 via a motor interface 1606. In some examples, the motor interface 1606 may be located external to the outer segment 1114. In other examples, the motor interface 1606 may interface with the user interface of the ultrasound imaging system (e.g., [interface name missing]). Figure 1 The input device 115 shown above is integrated. As yet another example, the motor 1604 can be controlled via the graphical user interface of the ultrasound imaging system and can be connected to the controller of the ultrasound imaging system (e.g., via a wired connection (e.g., a cable electronically connecting the probe guide 1100 to the controller) and / or a wireless connection (e.g., a Wi-Fi connection between the probe guide 1100 and the controller) via a wired connection (e.g., a cable electronically connecting the probe guide 1100 to the controller) and / or a wireless connection (e.g., a Wi-Fi connection between the probe guide 1100 and the controller). Figure 1 The controller 114 shown above communicates electronically.

[0088] Motor 1604 can control the rotational position of internal segment 1112 while the ultrasound probe 1600 is coupled to probe guide 1100 (e.g., positioned within central pawl 1108). In some embodiments, according to the imaging routine of the ultrasound imaging system, motor 1604 can automatically rotate internal segment 1112 when the ultrasound probe 1600 is coupled to central pawl 1108.

[0089] In exemplary operation of an ultrasound imaging system including a probe guide 1100 with a motor 1604, the operator of the ultrasound imaging system can position the probe guide 1100 at a desired location on the subject to be imaged (e.g., at a blood vessel in the subject, such as...). Figure 4 The ultrasound probe 1600 can be placed within the central pawl 1108, as shown and described above (blood vessel 408). The operator can initiate the imaging routine of the ultrasound imaging system (e.g., the operator can enter a command into the user interface of the ultrasound imaging system to initiate imaging of the subject via the ultrasound probe 1600 and probe guide 1100).

[0090] During the imaging routine, when the ultrasound probe is at 160°... Figure 16 In the first rotational position shown, the controller can first acquire the subject's anatomical structures (e.g., blood vessels, similar to those mentioned above). Figure 4 The first image of the blood vessel 408. The controller can then electronically command the motor 1604 to rotate the internal segment 1112 of the probe guide 1100 from the first rotational position to... Figure 17 The second rotational position shown, wherein adjustment of the internal segment 1112 from the first rotational position to the second rotational position includes disengaging the first pawl 1500 of the probe guide 1100 (e.g., removing the protrusion 1410 from the first pawl 1500) and engaging the second pawl 1502 of the probe guide 1100 (e.g., positioning the protrusion 1410 against the second pawl 1502). Because the ultrasound probe 1600 is positioned within the central pawl 1108 of the internal segment 1112, the ultrasound probe 1600 similarly rotates from the first rotational position to the second rotational position when the internal segment 1112 is rotated by the motor 1604. A second image of the subject's anatomy can then be acquired via the ultrasound probe 1600 while the ultrasound probe 1600 is held in the second rotational position by the probe guide 1100. The controller can then electronically command the motor 1604 to rotate the internal segment 1112 of the probe guide 1100 from the second rotational position to the second rotational position. Figure 18The third rotational position shown, wherein adjustment of the internal segment 1112 from the second rotational position to the third rotational position includes disengaging the second pawl 1502 of the probe guide 1100 (e.g., removing the protrusion 1410 from the second pawl 1502) and engaging the third pawl 1504 of the probe guide 1100 (e.g., positioning the protrusion 1410 against the third pawl 1504). A third image of the subject's anatomy can then be acquired via the ultrasound probe 1600, while the ultrasound probe 1600 is held in the third rotational position by the probe guide 1100. The controller can then determine (e.g., calculate) the volumetric flow rate through the subject's anatomy according to the method described herein (e.g., similar to the above reference). Figure 4 (The calculation described).

[0091] Figure 19 A flowchart is shown illustrating method 1900 for imaging a subject via an ultrasound imaging system comprising an ultrasound probe and an ultrasound probe guide. The ultrasound imaging system, ultrasound probe, and ultrasound probe guide may be referenced above. Figure 1 The described ultrasound imaging system 100, ultrasound probe 106, and ultrasound probe guide 107 are similar to or identical to those described above. In some embodiments, the ultrasound probe and ultrasound probe guide may be respectively similar to those described above. Figure 4 The described ultrasound probe 400 and ultrasound probe guide 402 are similar to or identical to those described above. In some embodiments, the ultrasound probe and ultrasound probe guide may be respectively identical to those described above. Figures 8 to 10 The described ultrasound probe 800 and ultrasound probe guide 500 are similar to or identical to those described above. In some embodiments, the ultrasound probe and ultrasound probe guide may be respectively identical to those described above. Figures 16 to 18 The ultrasound probe 1600 and ultrasound probe guide 1100 described are similar or identical.

[0092] Instructions for implementing method 1900 and the remaining methods included herein may be generated by a controller based on instructions stored in the controller's memory and from sensors of the ultrasound imaging system (such as those referenced above). Figure 1 The controller executes actions based on signals received by the sensor described below. According to the method described below, the controller can employ actuators of the ultrasound imaging system to adjust system operation. As an example, the controller can control the motor of the probe guide (e.g., with...) based on instructions stored in the controller's memory and / or signals received by the controller from the probe guide. Figures 16 to 18 The operation of the probe guide is adjusted (as shown or described above, similar to or the same as the motor 1604). For example, the internal segments of the probe guide (e.g., similar to those in the above reference) are adjusted. Figures 11 to 18 The rotational position of the described internal segment 1112 may include adjusting the energization of the motor to rotate the internal segment.

[0093] Method 1900, at 1902, includes positioning an ultrasound probe within a probe guide and against a subject to be imaged in a first rotational position. The probe guide may include a first end and an opposing second end, wherein, during the condition of the ultrasound probe being positioned within the probe guide, elements of the ultrasound probe configured to emit ultrasound pulses are arranged at the first end. Positioning the ultrasound probe within the probe guide may include inserting the ultrasound probe through the second end of the probe guide and aligning it with the central axis of the probe guide.

[0094] Positioning the ultrasound probe within the probe guide and against the subject to be imaged in a first rotational position at 1902 includes engaging a first pawl of the probe guide at 1904. Engaging the first pawl may include positioning the ultrasound probe within the first pawl and abutting the inner surface of the first pawl to maintain the rotational position of the ultrasound probe relative to the probe guide, similar to the above reference. Figure 8 The example described. In other embodiments, engaging the first pawl may include positioning a protrusion of the probe guide within the first pawl to maintain the rotational position of the ultrasound probe relative to the probe guide, similar to the above reference. Figure 16 Example of the description.

[0095] This method continued from 1902 and 1904 to 1906, wherein the method included holding the ultrasound probe in a first rotational position via a first pawl, while acquiring a first image of the subject along a first imaging plane and maintaining the position of the probe guide relative to the subject. The first imaging plane is as described above. Figure 4 The first imaging plane 404 is similar or identical. Maintaining the probe guide position relative to the subject includes not adjusting the translational position of the probe guide relative to the subject (e.g., holding the probe guide at the desired anatomical structure of the subject to be imaged).

[0096] The method continued from 1906 to 1908, wherein the method included adjusting the ultrasound probe from a first rotational position to a second rotational position while maintaining the position of the probe guide relative to the subject. Adjusting the ultrasound probe from the first rotational position to the second rotational position may include rotating the ultrasound probe along the central axis of the probe guide.

[0097] Adjusting the ultrasound probe from a first rotational position to a second rotational position at 1908 while maintaining the probe guide position relative to the subject includes disengaging the first pawl and engaging the second pawl at 1910. In some examples, disengaging the first pawl may include removing the ultrasound probe from the first pawl. In other examples, disengaging the first pawl may include removing a protrusion of the probe guide from the first pawl. In some examples, engaging the second pawl may include positioning the ultrasound probe against the second pawl. In other examples, engaging the second pawl may include positioning a protrusion of the probe guide within the second pawl (e.g., by rotating an inner segment of the probe guide relative to an outer segment).

[0098] This method continued from 1908 and 1910 to 1912, wherein the method included holding the ultrasound probe in a second rotational position via a second pawl, while acquiring a second image of the subject along a second imaging plane and maintaining the position of the probe guide relative to the subject. The second imaging plane is consistent with the one described above. Figure 4 The second imaging plane 406 is similar or identical. Maintaining the probe guide position relative to the subject includes not adjusting the translational position of the probe guide relative to the subject (e.g., holding the probe guide at the desired anatomical structure of the subject to be imaged).

[0099] The method continued from 1912 to 1914, wherein the method included adjusting the ultrasound probe from a second rotational position to a third rotational position while maintaining the position of the probe guide relative to the subject. Adjusting the ultrasound probe from a first rotational position to a second rotational position may include rotating the ultrasound probe along the central axis of the probe guide.

[0100] Adjusting the ultrasound probe from the second rotational position to the third rotational position at 1914 while maintaining the probe guide position relative to the subject includes disengaging the second pawl and engaging the third pawl at 1916. In some examples, disengaging the second pawl may include removing the ultrasound probe from the second pawl. In other examples, disengaging the second pawl may include removing a protrusion of the probe guide from the second pawl. In some examples, engaging the third pawl may include positioning the ultrasound probe against the third pawl. In other examples, engaging the third pawl may include positioning a protrusion of the probe guide within the third pawl (e.g., by rotating an inner segment of the probe guide relative to an outer segment).

[0101] This method continued from 1914 and 1916 to 1918, in which the method included holding the ultrasound probe in a third rotational position via a third pawl, while acquiring a third image of the subject along a third imaging plane and maintaining the position of the probe guide relative to the subject. The third imaging plane is referenced above. Figure 4The third imaging plane 407 is similar or identical. Maintaining the probe guide position relative to the subject includes not adjusting the translational position of the probe guide relative to the subject (e.g., holding the probe guide at the desired anatomical structure of the subject to be imaged).

[0102] This method continued from 1918 to 1920, and included determining the volumetric flow rate of the subject's anatomical structures based on a first, second, and third image. In some examples, the controller could be based on a function stored in the controller's memory (e.g., similar to the reference above). Figure 4 The volumetric flow rate (e.g., volumetric flow rate) of the anatomical body is determined using the described example. The determination (e.g., calculation) of the volumetric flow rate can be based at least in part on the angles between three imaging planes, where these angles can be predetermined by the configuration of the probe guide and are known to the controller. For example, the first imaging plane can be orthogonal to the third imaging plane, and the second imaging plane can be tilted relative to each of the first and third imaging planes. Similarly, the first rotational position can be orthogonal to the third rotational position, and the second rotational position can be tilted relative to the first and third rotational positions (e.g., the second rotational position can be offset by 45 degrees from the first rotational position about the central axis of the probe guide, and the third rotational position can be offset by 90 degrees from the first rotational position and 45 degrees from the second rotational position about the central axis of the probe guide).

[0103] See Figure 20 The image shows a side view of the outer segment 2000 of the ultrasound probe guide. The outer segment 2000 can be configured to be coupled to the inner segment and can be rotated relative to the inner segment, similar to the reference above. Figures 11 to 18 The example described. The outer segment 2000 includes an upper end surface 2012 disposed at a first end 2002 and a lower end surface 2010 disposed at a second end 2004, along a central axis 2013 of the outer segment 2000, wherein the first end 2002 and the second end 2004 are opposite to each other. The lower end surface 2010 is angled relative to the upper end surface 2012. For example, axis 2008 is shown disposed parallel to the lower end surface 2010, and axis 2011 is shown disposed parallel to the upper end surface 2012, and axis 2008 is angled relative to axis 2011. In some examples, the angle between axis 2008 and axis 2011 can be between 10 and 15 degrees. During conditions where the inner and outer segments 2000 are coupled together, a plurality of clamps formed by the outer segment 2000 can hold the outer segment 2000 engaged with the inner segment. In the example shown, the outer segment 2000 forms the first clamp 2006 and the second clamp 2007. Figure 21 (as shown), third fixture 2009 ( Figure 21 (as shown) and the fourth clamp 2200 ( Figure 22 (As shown). However, in other examples, the outer segment 2000 may include a different number and / or relatively arranged clamps.

[0104] See Figure 21 The diagram shows a perspective view of the outer segment 2000. The outer segment 2000 includes a first edge 2102 and a second edge 2100 formed within the interior of the outer segment 2000. The first edge 2102 is an annular edge disposed at a second end 2004 of the outer segment 2000. The first edge 2102 extends from the inner surface 2104 of the outer segment 2000 toward a central axis 2013. The second edge 2100 is offset from the first edge 2102 in a direction toward the central axis 2013 (e.g., away from the second end 2004 and toward the first end 2002). A flexible insert can be disposed within the outer segment 2000 and held in place by the first edge 2102 and the second edge 2100, as described below.

[0105] See Figure 22 This shows a cross-sectional view of the outer segment 2000. Figure 22 The view can be along the axis of the central axis 2013 of the outer segment 2000 radially (such as... Figure 21 The axis shown is 2106). Figure 22 In the view shown, the flexible insert 2202 is disposed within an outer segment 2000 between a first edge 2102 and a second edge 2100. Similar to the example described above, the flexible insert 2202 may be formed of a flexible material (e.g., silicone). A first side 2208 of the flexible insert 2202 may have a first width 2204, and an opposing second side 2210 of the flexible insert 2202 may have a second width 2206, wherein the second width 2206 is smaller than the first width 2204. The first width 2204 and the second width 2206 are each in the same direction parallel to the central axis 2013. The flexible insert 2202 can transmit ultrasound pulses generated by elements of an ultrasound probe coupled to a probe guide, wherein the probe guide includes the outer segment 2000, to an imaged subject.

[0106] In this way, by controlling the rotational position of the ultrasound probe via the probe guide as described above, imaging consistency and / or image quality can be increased. As an example, because the fixed rotational position provided by the probe guide can be known to the controller, the controller can determine the rotational position of the ultrasound probe during each image acquisition without the need for an additional position sensor and / or a position sensing system. Therefore, the cost of the ultrasound imaging system can be reduced. As another example, because the probe guide maintains the rotational position of the ultrasound probe during image acquisition, the likelihood of image degradation due to undesirable movement of the ultrasound probe can be reduced, and image quality can be increased.

[0107] The technical effect of the probe guide is to maintain the rotational position of the ultrasound probe relative to the imaging subject and to provide multiple predetermined fixed rotational positions for the ultrasound probe.

[0108] Figures 2 to 18 and Figures 20 to 22 Exemplary configurations with the relative positioning of various components are shown. In at least one example, such components may be referred to as directly contacting or directly coupled if shown to be in direct contact or directly coupled. Similarly, in at least one example, components that are adjacent to or next to each other may be referred to as being adjacent to or next to each other. For example, components arranged to be in coplanar contact with each other may be referred to as being in coplanar contact. As another example, in at least one example, components positioned to be spaced apart from each other and having only space between them without other components may be described and referenced as such. As another example, components shown to be located above / below each other, on opposite sides of each other, or between the left / right sides of each other may be described and referenced relative to each other. Furthermore, as shown, in at least one example, the topmost component or point of the components may be referred to as the “top” of the component, and the bottommost component or point of the components may be referred to as the “bottom” of the component. As used herein, top / bottom, upper / lower, above / below may be relative to the vertical axis of the figure and may be used to describe the positioning of the components in the figure relative to each other. Thus, in one example, an component shown to be above other components is vertically positioned above other components. For example, the shape of the elements shown in the figure may be described as having these shapes (e.g., such as circular, straight, planar, curved, rounded, chamfered, angled, etc.). Furthermore, in at least one example, elements shown as intersecting each other may be described as intersecting elements or intersecting each other. Additionally, in one example, an element shown as being inside or outside another element may be described and referred to as such.

[0109] It should be noted that the exemplary routines included herein can be used with various ultrasound imaging system configurations. The methods and routines disclosed herein can be stored as executable instructions in non-transitory memory and can be implemented by a control system (including combinations of controllers with various sensors, actuators, and other hardware). The specific routines described herein can represent one or more of any number of processing strategies (such as event-driven, interrupt-driven, multitasking, multithreading, etc.). Therefore, the various actions, operations, and / or functions shown can be performed in the sequence shown, in parallel, or omitted in some cases. Similarly, the order of processing is not necessarily necessary to achieve the features and advantages of the exemplary embodiments described herein, but is provided for ease of illustration and description. One or more of the shown actions, operations, and / or functions can be repeatedly performed according to the specific strategy used. Furthermore, the described actions, operations, and / or functions can be graphically represented as code to be programmed into the non-transitory memory of a computer-readable storage medium in a control system, wherein the described actions are implemented by executing instructions in a system including combinations of various hardware components and electronic controllers.

[0110] It should be understood that the configurations and routines disclosed herein are exemplary in nature, and these specific embodiments should not be considered limiting, as many variations are possible. For example, the above-described techniques can be applied to other types of ultrasound probes. Furthermore, unless explicitly stated to the contrary, the terms "first," "second," "third," etc., are not intended to indicate any order, position, quantity, or importance, but are merely used as markers to distinguish one element from another. The subject matter of this disclosure includes all novel and non-obvious combinations and sub-combinations of the various systems and configurations disclosed herein, as well as other features, functions, and / or characteristics.

[0111] As used herein, unless otherwise specified, the term “approximately” is understood to mean ±5% of that range.

[0112] The following claims specifically point to certain combinations and sub-combinations that are considered novel and non-obvious. These claims may refer to an "a" element or a "first" element or its equivalent. Such claims should be understood to include combinations of one or more such elements, neither requiring nor excluding two or more such elements. Other combinations and sub-combinations of the disclosed features, functions, elements, and / or properties may be claimed by amending these claims or by presenting new claims in this application or related applications. Such claims, whether broader or narrower in scope than the original claims, identical or different, are considered to be included within the subject matter of this disclosure.

Claims

1. A probe guide, comprising: a body shaped to receive an ultrasound probe and including a first detent and a second detent, the first detent shaped to hold the ultrasound probe at a first rotational position along an axis of the body, the second detent shaped to hold the ultrasound probe at a second rotational position along the axis of the body, wherein the first and second detents intersect one another and each extend parallel to one another along the axis of the body between an upper end surface of the probe guide and a lower end surface of the probe guide, wherein the body is in a same position relative to an imaged subject throughout a transition of the ultrasound probe from the first rotational position to other rotational positions including the second rotational position.

2. The probe guide of claim 1, further comprising a third detent offset from each of the first and second detents and shaped to hold the ultrasound probe at a third rotational position along the axis of the body.

3. The probe guide of claim 2, wherein the first, second, and third detents intersect one another.

4. The probe guide of claim 3, wherein the lower end surface is angled relative to the upper end surface and formed by a flexible insert seated within the body.

5. The probe guide of claim 1, wherein the body includes an inner segment and an outer segment rotatably coupled to one another, wherein the inner segment includes the first and second detents and the outer segment includes a protrusion shaped to engage the first and second detents.

6. The probe guide of claim 5, wherein the protrusion is disengaged from the second detent when engaged with the first detent.

7. The probe guide of claim 5, further comprising a motor configured to rotate the inner segment relative to the outer segment, or vice versa.

8. The probe guide of claim 5, further comprising a side opening formed in the outer segment, wherein the side opening extends to a gap between the inner segment and the outer segment.

9. A method for ultrasound imaging, comprising: adjusting an ultrasound probe to a plurality of fixed rotational positions defined by a plurality of detents of a probe guide, wherein the plurality of detents intersect one another and each extend parallel to one another along an axis of the probe guide between an upper end surface of the probe guide and a lower end surface of the probe guide; acquiring a plurality of images of a subject via the ultrasound probe, the plurality of images including a respective image for each of the plurality of fixed rotational positions; and maintaining a position of the probe guide relative to the subject throughout a duration of adjusting the ultrasound probe to the plurality of fixed rotational positions.

10. The method of claim 9, wherein a first end of the probe guide is angled relative to a second end of the probe guide.

11. The method of claim 9, further comprising determining a volume flow rate of an anatomical structure of the subject based on the plurality of images.

12. The method of claim 9, wherein adjusting the ultrasound probe to the plurality of fixed rotational positions defined by the probe guide comprises: adjusting the ultrasound probe to a first rotational position by engaging a first detent of the plurality of detents of the probe guide; adjusting the ultrasound probe to a second rotational position offset from the first rotational position about the axis of the probe guide by engaging a second detent of the plurality of detents of the probe guide; and adjusting the ultrasound probe to a third rotational position offset from each of the first rotational position and the second rotational position about the axis of the probe guide by engaging a third detent of the plurality of detents of the probe guide.

13. The method of claim 12, wherein engaging the first detent comprises disposing the ultrasound probe against the first detent, and engaging the second detent comprises disposing the ultrasound probe against the second detent.

14. The method of claim 12, wherein engaging the first detent comprises disposing a protrusion of the probe guide against the first detent, and engaging the second detent comprises disposing the protrusion against the second detent.

15. A system for ultrasound imaging, the system comprising: an ultrasound probe; and a probe guide shaped to receive the ultrasound probe and maintain a rotational position of the ultrasound probe at any one of a plurality of fixed rotational positions along an axis of the probe guide, the plurality of fixed rotational positions defined by a plurality of detents of the probe guide, wherein the plurality of detents intersect one another and each extend parallel to one another along the axis of the probe guide between an upper end surface of the probe guide and a lower end surface of the probe guide, wherein the probe guide is in a same position relative to a subject being imaged throughout a transition of the ultrasound probe from one rotational position of the plurality of fixed rotational positions to another rotational position of the plurality of fixed rotational positions.

16. The system of claim 15, wherein the plurality of detents comprises a first detent defining a first rotational position of the plurality of fixed rotational positions, a second detent defining a second rotational position of the plurality of fixed rotational positions, and a third detent defining a third rotational position of the plurality of fixed rotational positions, and wherein the first detent, the second detent, and the third detent are offset from one another about the axis.

17. The system of claim 15, wherein each detent of the plurality of detents is shaped to directly engage an end surface of the ultrasound probe.

18. The system of claim 17, wherein when any one of the plurality of detents directly engages the end surface of the ultrasound probe, a central axis of the ultrasound probe is coaxially aligned with the axis of the probe guide. ​ 19. The system of claim 15, wherein the probe guide further comprises a lower opening shaped to receive a sensor of the ultrasound probe.

20. The system of claim 15, wherein the ultrasound probe is lockable within the probe guide to only one of the plurality of fixed rotational positions defined by the plurality of detents.

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