Object localization

Abstract

A method for locating an object (e.g., a needle) using ultrasound, comprising the steps of: (i) transmitting a beam from an element of a single element of an array transducer of an ultrasound system (120); (ii) receiving an echo signal from the transmitted beam in a single element of the array transducer, wherein at least a portion of the echo signal is reflected from a needle located at least partially in a patient; (iii) analyzing the received echo signal by a processor of the ultrasound system; and (iv) determining the distance of the needle inside the patient to the array transducer based on the analysis.

Description

Technical Field

[0001] The present disclosure is generally directed to methods and systems for localizing an object (e.g., a needle) using ultrasound.

Background Art

[0002] Needles and other small objects are often inserted into animals during procedures such as biopsies. When these objects are introduced into an animal, the position of the object becomes important information for targeting or avoiding a part of the body. Ultrasound is commonly used for needle guidance because it creates real-time images and provides good visibility of both the needle and the surrounding tissue. [[ID=##]]

[0003] Guiding a needle using ultrasound requires intermediate to advanced clinical skills. For example, an operator typically needs to manipulate the needle with one hand and the ultrasound transducer with the other hand, so hand-eye coordination is required. A third hand can be useful for adjusting the settings of the ultrasound device, but this requires advanced UI controls. Needle guidance also requires knowledge of the vulnerability and position of tissues and organs along the planned path of the needle. Needle guidance also needs to consider patient movement that could move the needle or internal tissues. In needle guidance, knowledge of the exact position of the needle tip is also required because materials are supplied and / or removed by the needle.

[0004] Ultrasound has been successfully used to image both the needle and the surrounding tissue using focused and steering beams, but a common problem with this design is that it is difficult to visualize the needle unless the beam is almost perpendicular to the needle. This can also require a great deal of effort, expertise, and time on the part of the operator to find a needle with a beam, usually by adjusting the transducer or manipulating the image at various angles to select a view that optimally images the needle until it is visualized.

Summary of the Invention

[0005] Therefore, there is a continuing need for ultrasonic methods and systems for locating objects (e.g., needles) using ultrasound. The present invention is defined by the independent claims. Dependent claims specify advantageous embodiments. [Means for solving the problem]

[0006] Accordingly, the various embodiments and implementations described herein are directed toward ultrasonic methods and systems configured for the localization of an object (e.g., a needle), where localization includes the distance and / or position of the object relative to a point (e.g., an array transducer). The system transmits a beam from a single element of the array transducer and receives an echo signal from the transmitted beam at a single element of the array transducer. A processor in the ultrasonic system analyzes the received echo signal and, based on the analysis, determines the distance of the needle in the patient relative to the single element of the array transducer. In the sense of this specification, a beam is any unfocused beam used to detect reflections from an object (e.g., a needle). In other words, the beam is primarily spherical, with the light source at a single element of the transducer array. Due to constraints of the elements of the array transducer or obstruction components, the beam may not be perfectly spherical and may have widths of beam angles, for example, 30, 40, 50, 60, 70, 90, 120, 180, 145 degrees, or other beam angles from 30 to 180 degrees. The beam width can also be increased, as long as it is wide enough so as not to focus the beam on a specific feature, and a smaller beam width may also be used.

[0007] The system may also be configured to repeat the steps of transmitting, receiving, analyzing, and determining for each of the multiple elements of the array transducer. The processor may also be configured to analyze the determined distance of an object inside the patient to each of the multiple elements of the array transducer and to determine the position of the object inside the patient relative to the array transducer.

[0008] The system further includes using a user interface to report the determined distance and / or position of the needle inside the patient, and overlaying the determined needle distance onto the patient's ultrasound image obtained from the determined needle position.

[0009] In general, one embodiment provides a method for locating an object (e.g., a needle) using ultrasound. This method comprises: (i) transmitting a beam from a single element of an array transducer of an ultrasound system; (ii) receiving an echo signal from the transmitted beam at a single element of the array transducer, wherein at least a portion of the echo signal is reflected from a needle located at least partially in the patient; (iii) analyzing the received echo signal by a processor of the ultrasound system; and (iv) determining the distance of the needle inside the patient to a single element of the array transducer based on the analysis.

[0010] The method further comprises the steps of transmitting, receiving, analyzing, and determining for each of the multiple elements of the array transducer, and the further step of analyzing the determined distance of the object inside the patient to each of the multiple elements of the array transducer to determine the position of the object inside the patient relative to the array transducer.

[0011] This method further includes reporting the determined distance and / or position of the needle inside the patient to the ultrasound operator via a user interface, and superimposing the determined needle position onto the ultrasound image of the patient obtained from the determined needle position.

[0012] According to one embodiment, superimposing the determined needle position onto an ultrasound image includes superimposing an image of the needle.

[0013] According to the embodiment, the method further includes determining that the transducer array is in an improper orientation based on the determined position of the needle inside the patient, and reporting the determined position of the needle includes issuing a warning.

[0014] According to the embodiment, the position of the needle inside the patient is determined in 3D space.

[0015] According to one embodiment, the analysis of the received echo signal includes a Hough transform of the received echo signal and / or a fluoroscopic transform of the received echo signal.

[0016] According to one embodiment, the beam is transmitted from multiple elements of an array transducer of an ultrasonic system.

[0017] According to one embodiment, this method further includes adjusting the position of the needle in the patient based on a report of the determined position of the needle inside the patient.

[0018] According to the embodiment, the position of the needle inside the patient is determined without steering or focusing the transmitted beam.

[0019] In another embodiment, a computer program product, when executed by an object positioning system, includes instructions that cause the system to perform the steps of any of the above methods.

[0020] In another embodiment, a system for detecting the position of an object during an ultrasound examination of a patient is provided, which is configured to perform any object positioning method described or claimed herein.

[0021] It should be understood that all combinations of the foregoing concepts and additional concepts discussed in more detail below (so long as such concepts are not mutually inconsistent) are considered to be part of the subject matter of the inventions disclosed herein. In particular, all combinations of the claimed subject matter appearing at the end of this disclosure are considered to be part of the subject matter of the inventions disclosed herein. It should have also been understood that any terms explicitly employed within this document or that may appear within any disclosure incorporated by reference should be accorded a meaning that most closely corresponds to the particular concepts disclosed herein.

[0022] These and other aspects of the various embodiments will be apparent with reference to the embodiments described below (singular or plural), and will be elucidated with reference thereto.

[0023] In the drawings, the same reference numerals generally refer to the same parts throughout different figures. The figures illustrate features and methods for implementing the various embodiments and should not be construed as being limited to other possible embodiments within the scope of the appended claims. Also, the drawings are not necessarily to scale; instead, generally, emphasis is placed on explaining the principles of the various embodiments.

Brief Description of the Drawings

[0024] [Figure 1] It is a flowchart of a method for needle localization in ultrasound according to an embodiment. [Figure 2] It is a schematic diagram of an ultrasound system according to an embodiment. [Figure 3] It is a schematic diagram of an ultrasound system that transmits a beam and receives an echo signal according to an embodiment. [Figure 4A] It is an enhanced image of an echo from a linear array transducer that images a needle embedded in animal tissue according to an embodiment. [Figure 4B] It is a prediction of a needle curve according to an embodiment. [Figure 5]A graph depicting the depth of a needle measured using adjacent elements, according to an embodiment. [Figure 6] A schematic diagram of an ultrasonic system that transmits a beam and receives an echo signal, according to an embodiment. [Figure 7A] A schematic diagram of a 45-degree needle angle according to an embodiment. [Figure 7B] A schematic diagram of a 22-degree needle angle according to an embodiment. [Figure 8] A schematic diagram of a linear array that creates an image by translating an aperture along a plurality of array elements, according to an embodiment. [Figure 9] A schematic diagram of needle localization and analysis according to an example. [Figure 10] A schematic diagram of needle localization and analysis according to an example. [Figure 11A] A linear array image of tissue with two needles inserted, according to an embodiment. [Figure 11B] A diverging linear array image of the same tissue and two inserted needles from FIG. 11A, according to an embodiment. [Figure 12A] An ultrasonic image of tissue containing an inserted needle, according to an embodiment. [Figure 12B] An ultrasonic image of tissue containing an inserted needle, according to an embodiment. [Figure 12C] An ultrasonic image of tissue containing an inserted needle, according to an embodiment. [Figure 12D] An ultrasonic image of tissue containing an inserted needle, according to an embodiment.

Best Mode for Carrying Out the Invention

[0025] This disclosure describes various embodiments of ultrasound systems and methods configured to perform needle localization. More generally, the applicant recognizes and values ​​the benefit of providing improved ultrasound methods and systems for locating a needle or other small object during a procedure. Thus, the ultrasound system transmits a beam from a single element of an array transducer and receives an echo signal from the transmitted beam at a single element of the array transducer. A processor in the ultrasound system analyzes the received echo signal and, based on the analysis, determines the distance of the needle in the patient to the single element of the array transducer. The system may then report the determined location of the needle in the patient using a user interface, including overlaying the determined location of the needle onto an ultrasound image of the patient obtained from the determined location of the needle.

[0026] In some embodiments, the systems and methods described or otherwise assumed herein may be implemented in some non-limiting embodiments as elements of a commercially available product for ultrasound imaging or analysis, e.g., Philips Affiniti®, or as elements of a commercially available product for patient analysis or monitoring, e.g., Philips Patient Flow Capacity Suite (PFCS), or any suitable system.

[0027] According to embodiments, the systems and methods described or otherwise assumed herein enable localization of the needle path across a wide range of needle / beam angles, allowing the needle path to be appropriately indicated regardless of where the needle is inserted (i.e., left or right). The needle path is re-registered despite small movements of the transducer or patient. Furthermore, the systems and methods described or assumed herein operate up to 100 times faster than prior art, allowing the main image of the body to travel at full frame rate while tracking the needle path in real time. The systems and methods described or assumed herein do not require focusing or steering the ultrasound beam, providing a simpler and more robust solution to the problems currently faced by ultrasound localization. In other words, an unfocused beam can be transmitted. The beam angle may be, for example, 30 degrees, 40 degrees, 50 degrees, 60 degrees, or 70 degrees, or any other beam angle between 30 and 70 degrees. Nevertheless, wider and narrower beam angles can also be used without departing from the invention, as long as the beam angle is wide enough not to focus the image. The resulting beam does not focus well on microstructures that may scatter the beam (e.g., Rayleigh scattering or May scattering), but the inserted object (e.g., a needle) forms a large "specular" reflection, which makes it more prominent than the microstructure, thus enabling its identification and processing according to the present invention.

[0028] According to embodiments, the systems and methods described or envisioned herein utilize a divergent beam (e.g., spherically originating from a single element) to avoid conventional point-focused transmitting and receiving beamforming. According to one embodiment, a single element transmits a divergent beam, and the same element of an array records the echoes. These echoes are then analyzed based on Snell's law, which states that for a flat or straight object, the angle of incidence is equal to the angle of reflection. Geometric calculations determine the point of entry of the needle relative to the edge of the transducer array and the angle of the needle relative to the plane of the array. Thus, the system can localize the needle over a wide range of angles and points without the limitations inherent in the prior art. For example, the needle can be localized with just one transmission event without inducing or focusing the ultrasonic beam.

[0029] Figure 1 is a flowchart of method 100 for needle positioning using an ultrasonic system in one embodiment. It should be understood that the method described in relation to this figure is merely an example and does not limit the scope of the disclosure. The ultrasonic system may be any system described or otherwise assumed herein. The ultrasonic system may be a single system or multiple different systems.

[0030] Step 110 of this method provides an ultrasonic system 200. An embodiment of the ultrasonic system 200 is shown in Figure 200. As shown in Figure 2, the system includes one or more of the following: a processor 220, memory 230, user interface 240, communication interface 250, and storage 260, interconnected via one or more system buses 212. Figure 2 constitutes an abstraction in several respects, and the actual configuration of the components of system 200 may be more complex and differ from that illustrated. Furthermore, the ultrasonic system 200 may be any of the systems described or otherwise assumed herein. Other elements and components of the ultrasonic system 200 are disclosed and / or assumed elsewhere in this specification.

[0031] According to embodiments, the ultrasound systems and methods described or otherwise assumed herein are used to localize and / or visualize needles or other small objects that have been at least partially inserted into animals such as humans. For example, ultrasound systems and methods can be used to localize and assist in the guidance of the placement of needles used during procedures such as biopsies, drug placement / insertion, and / or any other procedure or use.

[0032] In step 120 of this method, the transducer of the ultrasonic system transmits a beam while the needle is at least partially inserted. According to the embodiment, the beam is transmitted from a single element of the array transducer of the ultrasonic system. The beam can be generated and transmitted according to any method for generating and transmitting a beam from an ultrasonic transducer.

[0033] According to the embodiment, the operator controls the transducer probe while the beam is being transmitted. The transducer and ultrasound operators may be the same user operating the patient's needle, or they may be different individuals. The user may be an ultrasound technician, nurse, physician, emergency medical technician, paramedic, or other individual who can perform ultrasound or is authorized to perform ultrasound. According to the embodiment, the ultrasound apparatus or system may be a fixed device, a portable device, or a handheld device. Many other ultrasound apparatuses and systems are possible.

[0034] According to the embodiment, multiple ultrasound images can be obtained for any part of the subject. The ultrasound image data can be acquired using any ultrasound device or system, which may be any device or system suitable for acquiring or otherwise receiving ultrasound image data of a patient. The ultrasound image data can be acquired as 2D or 3D data. The ultrasound image data may also be acquired as video data. One or more parameters of the ultrasound device can be set, adjusted, pre-programmed, or otherwise determined by a medical professional. The ultrasound device or system comprises an ultrasound transducer probe configured to acquire ultrasound images.

[0035] According to the embodiments, the ultrasound system may include patient data relating to the subject on which the procedure and ultrasound localization are performed. Patient data may be any information relating to the patient that is available or can be available for analysis as described herein or otherwise assumed by the ultrasound system. According to the embodiments, patient data may include one or more of the following: demographic information relating to the patient, the patient's medical history, the patient's diagnosis, and the reason for performing the ultrasound examination. For example, demographic information may include information relating to the patient such as name, age, body mass index (BMI), and other arbitrary demographic information. The patient's medical history may include information relating to past hospitalizations or discharges, past treatments, past diagnoses, past examinations or imaging, and / or other information. The patient's diagnosis may be any information relating to the patient's past and / or current medical diagnosis. The reason for performing the ultrasound examination may be the purpose, reason, necessity, or other driving force behind the examination.

[0036] Patient data is received from one or more different sources. According to the embodiment, patient data is received, retrieved, or otherwise retrieved from an electronic medical record (EMR) database or system. The EMR database or system may be local or remote. The EMR database or system may be a component of an ultrasound system, or may be local and / or remote communication with an ultrasound system. The received patient data may be immediately available, or may be stored in local or remote storage for use in further steps of the method.

[0037] The needle or other small object may be any of the objects used for procedures requiring localization. For example, the needle or other small object may be an instrument for delivering something like a drug or treatment to the body, and / or an instrument for retrieving something like a sample from the body. The needle or other small object may be a straight object, a curved object, or any other possible shape and size.

[0038] In step 130 of this method, a single element of the array transducer of the ultrasound system receives an echo signal from the transmitting beam, where at least a portion of the echo signal is reflected from the needle where the patient is at least partially located. The echo signal can be received by the transducer of the ultrasound system according to any method for receiving the echo signal.

[0039] According to the embodiment, the transmit / receive switch reduces receive overload during the transmit pulse. Analog time gain (TGC) can be applied to the received echo signal, and the signal can be digitized and supplied to a processor for analysis. According to the embodiment, no delay or addition is performed on the received echo signal. This is possible because the same elements of the array transducer transmit and receive the reflected echo signal.

[0040] Figure 3 is a schematic representation 300 of an ultrasonic system in one embodiment, in which a beam is transmitted and an echo signal is received while a needle is at least partially inserted. In this representation, the needle 310 is at least partially inserted into the tissue 320 of an animal or organism. The transducer of the ultrasonic system transmits a beam 330 in a spherical shape (dashed line) while the needle is at least partially inserted. The linear array 340 of the ultrasonic system receives an echo signal 350, at least a portion of which is reflected from the needle 310. The beam-echo pair follows Snell's law, where the angle of incidence is equal to the angle of reflection. Therefore, the distance of the needle to a single transducer of the array transducer can be determined by analyzing the echo signal reflected from the needle received by the transmitting element. Thus, the position of the needle can be determined by performing such a transmit / receive scheme from multiple different single elements of the array transducer. Note that for each element of the array transducer, the minimum distance to the object is identified in this way.

[0041] In step 140 of this method, the processor of the ultrasonic system analyzes the received echo signals. According to one embodiment, the processor analyzes each channel individually, finds patterns in the echo that match the model, and selects the pattern that best matches the model. According to one embodiment, when analyzing each channel individually, the system can bandpass the signal with a 30% bandwidth at the center frequency of the transmitted waveform. The system can apply TGC with the same properties as the main image. The system can detect the waveform using a Hilbert transform or equivalent circuit.

[0042] According to one embodiment, when a pattern or pattern is found in the echo that matches the model, the system can search the received waveform for peaks and create a new waveform using only the peaks and their time positions. The waveform contains peaks found when an echo is received from an object such as a needle.

[0043] According to one embodiment, when selecting the pattern that best matches the model, the system utilizes a model that associates the echo time position with the needle angle and uses the offset to create a Hough transform of the received data. The needle angle and offset are determined by searching for their peak values ​​in the transform.

[0044] The results of the processor analysis may be used immediately, or they may be stored locally or remotely for use in further steps of the method.

[0045] In step 150 of this method, the system determines the distance and / or position of the needle within the animal or individual relative to the array transducer, based on analysis by the processor. In particular, the position of the needle within the patient is determined without steering or focusing the transmitted beam.

[0046] Figures 4A and 4B show an example of needle localization using a method and system described herein or otherwise conceived in one embodiment. For example, Figure 4A is an image of echoes from a linear array transducer imaging a needle embedded in animal tissue. There is a long transverse curve of the needle from the echoes of each element. Figure 4B is a prediction of the curve using a model by a method and system described herein or otherwise conceived.

[0047] According to the embodiment, in any step 152 of the method, the system determines, based on the determined position of the needle inside the patient, that the transducer array is in an improper orientation, for example, if the needle is inserted into an unexpected end of the array. Inserting the needle into the wrong position or an unexpected location on the system screen may endanger patient safety. For example, a possible mistake is holding the array in the wrong orientation, which may surprise the user when the needle becomes invisible due to this error. The methods and systems described or assumed herein detect the needle path regardless of the left-right orientation of the transducer. Many ultrasound systems have left-right control that determines which end of the array is displayed on the left side of the image on the screen, so the system can issue a warning if the orientation does not match the needle path.

[0048] In step 160 of the method, the system provides or reports to the ultrasound operator, via a user interface, the determined location of the needle in the animal or patient. According to the embodiment, the reported location includes overlaying the determined needle location onto an ultrasound image of the patient obtained for the determined needle location. For example, as one non-limiting example, overlaying the determined needle location onto the ultrasound image includes overlaying an image of the needle. The image may be an actual image of the needle, a CGI-like representation of the needle, or any other image used to represent the needle.

[0049] The determined distance and / or position can be provided or reported to the user through any known mechanism for providing object location information. For example, object location information may be provided on the ultrasound window, in another window or on another screen, as a visual display such as a projector or wearable device, and through any other mechanism. The provided object location information may include any element of the analysis and, if applicable, other information such as patient demographics or medical information, and / or any other information. As an example, object location information can be displayed to the user as one or more labeled images via a user interface.

[0050] According to one embodiment, the method 100 for needle positioning using an ultrasonic system includes determining the position of a needle inside an animal or individual and providing that information to a user. Thus, according to one embodiment, in step 112 of the method, the operator or user receives a report including the position of an object, where the position of the object is determined as described above.

[0051] In step 170 of this method, the user or operator utilizes the received location information. The user or operator can utilize the received location information in various ways. For example, according to one embodiment, the user or operator can determine, based on the reported location information, that the needle is in the correct direction, angle, and / or position. According to another embodiment, the user or operator can determine, based on the reported location information, that the needle is in the wrong direction, angle, and / or position. Therefore, the user or operator adjusts the direction, angle, and / or position of the needle. Then, new image data can be acquired to obtain the new position of the needle. There are many other ways to utilize the reported needle position information.

[0052] Many variations of the methods and systems described or envisioned herein are possible. For example, in a system that steers to create an image of a needle, the needle path is used by the system to optimize steering and needle imaging. While the needle path is highly responsive and reliable, it typically does not show the actual needle, its components, and the actions near the tip (such as fluid inflow and outflow or recovery). By using the path to control needle imaging, the advantages of the path are combined with the clinical need to visualize the needle.

[0053] According to the embodiments, the ultrasonic system may include special purposes, or a 3D / 4D array may be able to more completely track the needle. Conventional transducers often have a fixed elevation-angle aperture and focus, producing a narrow beam in a plane perpendicular to the imaging plane. However, transducers such as 3D / 4D arrays can also be visualized in the elevation plane. Thus, the needle path algorithm can be extended to include the needle in 3D space as well as 2D space. Conventional focused imaging algorithms may not be able to visualize the needle in 3D due to the same vertical problem discussed herein in the 2D plane. However, the methods and systems described or assumed herein can solve this in 3D and thus provide a much better visualization of the path compared to conventional designs.

[0054] According to one embodiment, the ultrasonic system uses the Hough transform to extract the needle path from the received data. Alternatives to the Hough transform are also possible. In some embodiments, the Hough transform can take a long time to compute its solution because it searches for any pattern in the data that matches the model and searches for all combinations. Ultrasonic images are not symmetrical. Echoes are not created in the lateral dimension, but only in the axial dimension. It is easy to image a needle oriented in the lateral dimension, but it is very difficult to image the same needle oriented in the axial dimension. Adjacent element information can be used as an alternative to the Hough transform and is faster and more accurate than the Hough transform method. Figure 5 is a graph showing the needle depth measured using adjacent elements in one embodiment.

[0055] According to one embodiment, the ultrasound system creates an image from needle path information. Both the needle path and the needle image can be important information for clinicians. One approach is to use path information to steer conventional images. However, the system can also create an image from needle path information. According to one embodiment, conventional beamforming, such as delay and summation, can be applied to elemental signals. The system may not be able to enjoy the benefits of transmit beamforming because only one transmit may be utilized. However, it is still possible to create an image.

[0056] In another embodiment, the system can utilize synthetic aperture beamforming. In this case, several diverging transmit beams can be used up to the maximum number of channels in the array. Synthetic aperture techniques can produce images that are perfectly in focus on both transmit and receive, which can be ideal for stationary objects. However, even small movements can ruin the image produced by the synthetic aperture. In any case, this method offers the same flexibility as conventional imaging in trading off image quality and frame rate.

[0057] According to another embodiment, the system can optimize transmit / receive options to create an image from needle path information. A preferred embodiment utilizes a single transmit element to locate the needle, but beamformed transmits from several elements can also be included in the invention. Variations in transmit aperture and waveform can be made to operate in the methods and systems described herein or otherwise assumed.

[0058] The methods and systems described or envisioned herein may be used to localize targets other than straight needles. For example, these techniques and systems utilize a divergent beam and track echoes without conventional beam-focusing, so this technique can be used to find many variations, including curved needles. The key point is that the shape of the target can be clearly defined and modeled.

[0059] The methods and systems described or envisioned herein may be used with multiple element apertures. As described herein, preferred embodiments utilize a single transmitting element and a single receiving element; however, any group of one or more elements may be used. Thus, for example, adjacent transmitting or receiving elements may continue to function. Note that a group of one or more elements may be used in sequence, with each element transmitting an echo and receiving a reflected echo to determine the distance of an object to the element. The combination of distances can then be processed to determine the position of the object.

[0060] The methods and systems described or envisioned herein are available with multiple transmissions. As described herein, preferred embodiments utilize a single transmission event. However, multiple transmissions may be used to improve performance. According to embodiments, the signal-to-noise ratio (SNR) can be improved by repeated transmissions due to the averaging of noise during reception. Furthermore, multiple transmission locations may provide better coverage. For example, the system can transmit on the first element, the middle element, and the last element, thus broadening the system's field of view. As shown in Figure 6, in one embodiment, the central element transmit beam 610 cannot identify the tip of the needle (indicated by the central transmit echo 620 lacking the end of the array). However, the right end of the array easily identifies / locates the tip of the needle.

[0061] The methods and systems described or envisioned herein may be used in conjunction with a receiving element delay. According to embodiments, the element delay may be used to steer reception toward the expected direction of reflected echoes. Figures 7A and 7B show representations of needle angles (ET = transmitting element) of 45 degrees (Figure 7A) and 22 degrees (Figure 7B). Receiving steering can be used to eliminate echoes at undesirable angles and enhance reception from desired angles.

[0062] Figures 7A and 7B show that, according to the embodiment, the x-axis is at the needle puncture origin "O". All transducer elements in this embodiment are also arranged along the x-axis. According to the embodiment, the needle path is defined by two parameters: (i) distance O2ab, which is the distance between "O" and the front of the transducer array, and (ii) Theta, which is the angle of the needle measured from the x-axis.

[0063] According to the embodiment, there are three additional parameters that complete the model layout: (i) ER, which is the receiving array element; (ii) ET, which is the transmitting array element; and (iii) dist, which is the distance the ultrasound travels from ET to ER via Snell's Law reflected from the needle.

[0064] According to the embodiment, the model is XER = ER * cos(theta), and YET = ER * sin(theta) (Equation 1) XET = ET * cos(theta), and YET = ET * sin(theta) (Equation 2) This includes trigonometry.

[0065] According to Snell's Law, there is a point along the needle, the angle from that point to ER is the same as the angle to ET, and the distance from XER to that point is A. Note that the equation is simplified because the right triangles of ER and ET up to that point are similar.

[0066] Next, according to the embodiment, A = (XET−XER) / (1 + YET / YER) (similar triangle) (Equation 3) dist = sqrt(A^2 + YER^2) * (1 + YET / YER) (Equation 4) This is the result.

[0067] This is the following function, function dist_model = ComputeDist( ER, ET, Theta ) dist_model = (1+ET / ER) * sqrt(ER^2 * sin(Theta)^2 + (―ER*cos(Theta) + ET*cos(Theta^2)) / ( 1+ET / ER)^2); end This brings about (e.g., via Matlab).

[0068] In the case of the Hough transform, the input data domain is dist / ER. The Hough accumulator domain is Theta / O2ab. The Hough accumulator (i) uses a single transmitting element ET, and (ii) for each peak of the input data, for each of the 50 different angles of Theta and for each of the 80 values ​​of O2ab, Dist_model = ComputeDist(ER,ET,Theta) (Equation 5) It can satisfy this. abs( disk ― dist_model) (Equation 6) Find the proximity.

[0069] According to one embodiment, if the proximity is less than 2, the accumulator (Theta, O2ab) is incremented. The size of the increment is proportional to the peak brightness.

[0070] The methods and systems described or envisioned herein can be used with focused transmission. As described herein, preferred embodiments utilize a small number of transmitting elements with beams to illuminate the entire needle. However, transmit focusing can be used to reduce signals from unwanted directions. Figure 6 shows the transmit and receive geometry of a sample. According to embodiments, a transmit beam, such as 630, can be focused away from the end of the needle, thereby improving signal intensity and avoiding unwanted tissue.

[0071] According to embodiments, the methods and systems described herein, or otherwise conceived, may be used in conjunction with conventional ultrasound hardware and software. For example, the system can be used with linear and curved linear arrays that create images by translating an aperture along array elements. For example, referring to Figure 8, the system can be used with a linear array to create images by translating an aperture along multiple array elements.

[0072] According to the embodiment, Figure 9 is a schematic diagram 900 of needle localization and analysis. The ultrasonic system transmits a beam and receives an echo signal, while the needle 910 is at least partially inserted into tissue or other structure. The transducers of the ultrasonic system transmit a beam while the needle is at least partially inserted. The same elements of the linear transducer array of the ultrasonic system receive the echo signal, at least part of which is reflected from the needle 910. According to the embodiment, line 910 represents the actual needle inserted into the tissue, while line 920 represents how the ultrasonic system detects the needle and how it is displayed or represented on the ultrasonic screen, as shown in Figure 1. As shown in Figure 9, the representation of the needle 920 is not the actual position of the needle 910, and therefore the received signal must be operated as described herein or assumed herein so that the adjusted representation of the needle is the actual position of the needle 910.

[0073] According to one embodiment, the number of transmitting and receiving elements is set to 1 using the cadence of the linear array. Therefore, each element is used once per imaging frame. A single element transmits and receives, generating one image line for the displayed image. In the case of a linear array, the system recognizes that the lines provided by the acquisition system form a complete image.

[0074] Depending on the embodiment, the methods described or otherwise assumed herein include implementations in which needle visualization may be performed on any ultrasonic device supporting a linear array. Thus, rather than requiring new equipment or modifications to existing equipment, the system may include software that implements the methods described or otherwise assumed herein.

[0075] As shown in Figure 9, an echo at angle α from the needle 910 is displayed on the screen at theta angle. The system displays the echo as if it were directly in front of the transducer element, but normally the echo comes in at an angle. Therefore, the perceived position 920 of the needle, or the viewer image provided by the system, must be converted to the actual position 910 of the needle. Methods described or assumed herein perform this conversion and identify which lines are coming from the needle, rather than objects that are not valid needles. For example, B / A = tan(θ) = sin(α) (Equation 7) α = arcsin(B / A) (Equation 8) This is used to convert the perceived position 920 of the needle to the actual position 910 of the needle.

[0076] According to the embodiment, the visualization of the needle prioritizes showing the image of the needle, not just its coordinates. Referring to Figure 10, the length and thickness of the needle 1050 are distorted in the divergent beam image. The figure shows the proximal echo 1010 from the tip of the needle and the distal echo 1020 from the back of the needle. Different echo patterns of the needle, and a divergent beam image 1030 is generated (relative to the actual position 1050) rather than the expected perceived position 1040 of the needle shown in Figure 9. Similar behavior can occur in photographs. For example, an image of a building taken from below looking upwards will show distortion of the building based on the camera's viewpoint. Perspective transformation can correct the distortion.

[0077] Therefore, according to the embodiment, the received echo is processed with a fluoroscopic transform to correct the divergent beam image. This directly utilizes the divergent image and corrects it to generate a correct image of the needle.

[0078] Referring to Figures 11A and 11B, these are ultrasound images of tissue containing an inserted needle, without needle visualization processing. Figure 11A is a normal linear array image of tissue with two inserted needles. Figure 11B is a divergent linear array image of the same tissue with the two inserted needles. Depending on the embodiment, image processing is required to suppress non-needle portions of the image so that the needle-shaped image is prominent and usable. Many needle visualization techniques work by steering a focused beam perpendicular to the needle. In Figure 11A, the image is steered downwards, making the needle difficult to see. The divergent image in Figure 11B finds the needle simultaneously at all angles. Although the divergent image in Figure 11B suppresses non-needle shapes, it is still necessary to find the best candidate for displaying the needle.

[0079] Therefore, according to one embodiment, the divergent image is analyzed to identify the lines in the image that constitute the needle. The possible properties of the needle when imaged by divergent beam acquisition are as follows. Some or all of these properties can be used for image analysis. It is a perfectly straight line (when the needle is straight). It is a thin line (most needles are not thick, and the thickness can be a known parameter). The entry point is outside the array and is constrained by a limiting parameter (for example, the needle length, which may be a known parameter). The angle of the needle can range from 0 to 45 degrees. The needle appears brighter than a non-spectral echo due to its hard, glossy surface. Brightness will be convex in a direction perpendicular to the track (some exceptions are allowed). It may have a continuous axial section that satisfies the luminance characteristics, but other sections that do not. Some parts of the needle track may impair these characteristics, and the system can apply boundaries to this fact. The parts that will succeed in these checks must be on a thin, straight line (because the needle is straight). The part that fails must be a minority within the line.

[0080] The end of the needle is defined as the last needle (furthest from the entry point) that fails the standard.

[0081] According to one embodiment, the technique rotates the image to a certain angle and then processes it along a horizontal line. The processing highlights the characteristics of the needle.

[0082] Therefore, once a divergent image is acquired, it can be processed as described herein or otherwise assumed, using a fluoroscopic transformation to correct the divergent beam image and generate the true position of the needle, which can then be displayed to the user of the ultrasound system. This fluoroscopic transformation can be achieved using any fluoroscopic transformation sufficient to properly locate the needle using the divergent image. Some or all of the properties listed above may be available in the fluoroscopic transformation.

[0083] Figures 12A to 12D are ultrasound images of tissue containing an inserted needle, where Figures 12A and 12C are divergent images, and Figures 12B and 12D are images processed as described herein or assumed herein. Thus, Figure 12A is a divergent image, and Figure 12B is the same image after fluoroscopic transformation. Similarly, Figure 12C is a divergent image, and Figure 12D is the same image after fluoroscopic transformation. In Figures 12B and 12D, the needle is clearly identified in the image. Figures 12A and 12B are rotated by 0 degrees, and Figures 12C and 12D are rotated by 20 degrees. In this implementation, the processed images are filtered relative to the needle on the horizontal line.

[0084] Therefore, in step 150 of the method for determining the position of the needle inside an animal or individual relative to the array transducer based on analysis by the processor, this determination may include a perspective transformation as described or assumed herein.

[0085] Figure 2 refers to a schematic diagram of the ultrasonic system 200. System 200 may be any system described herein or otherwise conceived, and may include any of the components described herein or otherwise conceived. In some respects, Figure 2 constitutes an abstraction, and the actual configuration of the components of system 200 may be more complex and differ from that shown.

[0086] According to one embodiment, the system 200 includes a processor 220 capable of executing instructions stored in the memory 230 or storage unit 260, or can process data in another way to perform, for example, one or more steps of a method. The processor 220 may consist of one or more modules. The processor 220 can take any suitable form, including but not limited to a microprocessor, microcontroller, multiple microcontrollers, circuitry, field-programmable gate array (FPGA), application-specific integrated circuit (ASIC), single processor, or multiple processors.

[0087] Memory 230 can take any suitable form, including non-volatile memory and / or RAM. Memory 230 may include various types of memory, such as L1, L2, or L3 caches or system memory. Thus, memory 230 may include static random access memory (SRAM), dynamic RAM (DRAM), flash memory, read-only memory (ROM), or other similar memory devices. The memory can store, among other things, the operating system. RAM is used by the processor for temporary storage of data. According to embodiments, the operating system may include code that controls the operation of one or more components of the system 200 when executed by the processor. In embodiments in which the processor implements one or more of the functions described herein in hardware, it will be apparent that the software described as corresponding to such functions in other embodiments may be omitted.

[0088] The user interface 240 may include one or more devices to enable communication with the user. The user interface may be any device or system that enables the transmission and / or reception of information, and may include a display, mouse, and / or keyboard for receiving user commands. In some embodiments, the user interface 240 may include a command-line interface or a graphical user interface that can be presented to a remote terminal via the communication interface 250. The user interface may be located together with one or more other components of the system, or it may be located remotely from the system and communicated via wired and / or wireless communication networks.

[0089] The communication interface 250 may include one or more devices to enable communication with other hardware devices. For example, the communication interface 250 may include a network interface card (NIC) configured to communicate according to the Ethernet protocol. Furthermore, the communication interface 250 may implement a TCP / IP stack for communication according to the TCP / IP protocol. Various alternative or additional hardware or configurations for the communication interface 250 will become apparent.

[0090] The storage unit 260 may include one or more machine-readable storage media, such as read-only memory (ROM), random access memory (RAM), magnetic disk storage media, optical storage media, flash memory devices, or similar storage media. In various embodiments, the storage 260 may store instructions for execution by the processor 220, or data on which the processor 220 can operate. For example, the storage 260 may store an operating system 261 for controlling various operations of the system 200.

[0091] It will be apparent that various types of information described as being stored in the storage unit 260 may be additionally or alternatively stored in the memory 230. In this regard, the memory 230 can also be considered to constitute a storage device, and the storage unit 260 can be considered a memory. Various other arrangements will become apparent. Furthermore, both the memory 230 and the storage unit 260 can be considered non-temporary machine-readable media. As used herein, the term “non-temporary” is understood to include all forms of storage devices, including both volatile and non-volatile memories, but excluding temporary signals.

[0092] Although System 200 is shown as including one of the components described herein, various components may be replicated in various embodiments. For example, Processor 220 may include multiple microprocessors configured to independently perform the methods described herein, or to perform steps or subroutines of the methods described herein, and configured to cooperate to achieve the functions described herein. Furthermore, if one or more components of System 200 are implemented in a cloud computing system, various hardware components may belong to separate physical systems. For example, Processor 220 may include a first processor in a first server and a second processor in a second server. Many other variations and configurations are possible.

[0093] According to one embodiment, the ultrasound system includes or communicates with an electronic medical record system 270, and the electronic medical record database can obtain or receive patient information, including clinical information and ultrasound data, from there. The electronic medical record database may be a local or remote database and communicates directly and / or indirectly with the ultrasound system 200. Therefore, according to one embodiment, the ultrasound system comprises an electronic medical record database or system 270.

[0094] According to one embodiment, the system comprises one or more ultrasound devices 280 capable of acquiring the required ultrasound images or analyses. According to another embodiment, the ultrasound system 200 is in wired and / or wireless communication with local or remote ultrasound devices 280 capable of acquiring the required ultrasound images or analyses.

[0095] According to the embodiment, the storage 260 of the system 200 may store one or more algorithms, modules, and / or instructions for performing one or more functions or steps of the methods described herein or otherwise assumed. For example, the system may include, among other instructions or data, an analysis instruction 262 and / or a reporting instruction 263.

[0096] According to one embodiment, the analysis command 262 instructs the system to analyze the received echo signal. According to another embodiment, the analysis command 262 instructs the system to analyze each channel individually, find patterns in the echo that match the model, and select the pattern that best matches the model. According to another embodiment, when analyzing each channel individually, the system can bandpass the signal with a 30% bandwidth at the center frequency of the transmitted waveform. The system can apply TGC with the same properties as the main image. The system can detect the waveform using a Hilbert transform or equivalent circuit. Thus, the analysis command 262 instructs the system to determine the position of the needle inside the animal or individual relative to the array transducer without requiring steering or focusing of the transmitted beam. The results of the analysis can be immediately used or may be stored in local or remote storage for use in further steps of the method.

[0097] According to one embodiment, the reporting instruction 263 instructs the system to generate and provide to the user information via the user interface, including the determined location of a needle or other small object. The location information may be provided to the user through display, visualization, or any mechanism for providing information via the user interface. According to one embodiment, the information may be communicated to the user interface and / or another device by wired and / or wireless communication. For example, the system may transmit the information to a mobile phone, computer, laptop, wearable device, and / or any other device configured to allow display of the report and / or other communication. The user interface may be any device or system that enables the transmission and / or reception of information and may include a display, mouse, and / or keyboard for receiving user commands.

[0098] Depending on the embodiment, within the context of the disclosure herein, the embodiment may take the form of a computer program product available for download from a server (for example, via the Internet), or may be embodied in one or more non-temporary computer-readable media having computer-readable program code embodied thereon. When the computer program product is executed by a processor, it includes computer program code instructions that enable the processor to perform the methods described herein. The program code may run entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. The computer-readable storage medium may be a tangible device capable of holding and storing instructions used by an instruction execution device. Examples of computer-readable storage mediums include, but are not limited to, electronic storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any combination of the foregoing, among other possibilities. The computer-readable program instructions described herein can be downloaded to the respective computing / processing device from a computer-readable storage medium or via a network, such as the Internet, a local area network, and / or a wireless network. Aspects of the present invention are described herein with reference to flowcharts and / or block diagrams of methods, apparatuses, systems, and computer program products according to embodiments of the present invention. It should be understood that each block in the flowcharts and / or block diagrams, as well as combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0099] According to the embodiment, the ultrasound system is configured to process thousands or millions of data points, process and analyze received ultrasound echoes and one or more ultrasound images to determine the location of a needle or other small object, and to provide the user with a report including that location. In fact, the generation of this location information is a process that has been relegated to computers because the human mind cannot perform the analysis within the required timeframe or with the required accuracy. This requires millions or billions of calculations to generate the location information. By providing an improved ultrasound system with improved localization information, this system has a very positive effect on patient analysis and care compared to conventional technology systems.

[0100] All definitions defined and used herein should be understood to govern dictionary definitions, document definitions incorporated by reference, and / or the ordinary meanings of the defined terms.

[0101] In the specification and claims, the indefinite articles "a" and "an" as used herein should be understood to mean "at least one" unless otherwise explicitly indicated.

[0102] As used herein and in the claims, the phrase "and / or" should be understood to mean "either or both" of the elements thus combined, i.e., elements that exist constitutively in some cases and disjunctively in others. Multiple elements listed in "and / or" should be interpreted in the same way, i.e., "one or more" of the elements thus combined. Other elements other than those specifically identified by the "and / or" clause may exist at their discretion, whether related to or unrelated to the individually identified elements.

[0103] As used herein and in the claims, “or” should be understood to have the same meaning as “and / or” as defined above. For example, when separating items in a list, “or” or “and / or” is interpreted as inclusive, meaning that the number of elements or the list includes at least one (but more) of the elements, and optionally, additional items not listed. Only terms that explicitly indicate the opposite, such as “any one” or “one of the two,” refer to the number of elements or the list including only one of the elements. In general, as used herein, the term “or” should be interpreted as indicating an exclusive alternative (i.e., “either one, but not both”) only when preceded by an exclusive term such as “either,” “one of the two,” “only one of the two,” or “one of the two.”

[0104] As used herein and in the claims, the phrase “at least one” referring to a list of one or more elements should be understood to mean at least one element selected from any one or more elements in the list of elements, but not necessarily including at least one of each element specifically listed in the list of elements, nor excluding combinations of elements within elements in an enumeration of elements. This definition also allows for the existence of optional elements other than those specifically identified in the list of elements referred to by the phrase “at least one,” whether related to or unrelated to the specifically identified elements.

[0105] Furthermore, unless otherwise explicitly stated, it should be understood that in any method claimed herein that includes multiple steps or actions, the order of the steps or actions of that method is not necessarily limited to the order in which the steps or actions of that method are described.

[0106] In the claims and in the above specification, all transitional phrases such as “have,” “include,” “possess,” “encompass,” “involve,” and “hold” should be understood to be open-ended, meaning that they include but are not limited to.

[0107] While several embodiments of the present invention are described and illustrated herein, ordinary art of those skilled in the art will readily imagine a variety of other means and / or structures for performing the function and / or for obtaining the results and / or one or more of the advantages described herein, and each of such variations and / or modifications will be considered to fall within the scope of the embodiments of the invention described herein. More generally, those skilled in the art will readily understand that all parameters, dimensions, materials and configurations described herein are intended to be illustrative, and that actual parameters, dimensions, materials and / or configurations will depend on the particular application or application in which the teachings of the invention are used / utilized. Those skilled in the art will recognize many equivalents to the particular embodiments of the invention described herein, or can verify them using more than routine experimentation. Thus, it should be understood that the embodiments described herein are presented only as examples, and within the scope of the appended claims and equivalents, embodiments of the invention may be carried out in ways different from those specifically described and claimed. The embodiments of the present invention in this disclosure cover the individual features, systems, articles, materials, kits and / or methods described herein. Furthermore, any combination of two or more such features, systems, articles, materials, kits, and / or methods is included within the scope of the inventions of this disclosure, provided that such features, systems, articles, materials, kits, and / or methods are not mutually inconsistent.

Claims

1. A method for locating an object located at least partially inside a patient using ultrasound, wherein the method is The steps include transmitting a beam from a single element of an array transducer in an ultrasonic system, A single element of the array transducer receives echo signals from the transmitted beam, wherein at least some of the echo signals are reflected from an object located at least partially inside the patient. The process involves the processor of the ultrasonic system analyzing the received echo signal, Based on the analysis described above, the steps include determining the distance of an object inside the patient to a single element of the array transducer, and A method having.

2. The transmitting step, the receiving step, the analyzing step, and the determining step are repeated for each of the multiple elements of the array transducer. The above method further, The step of determining the position of the object inside the patient relative to the array transducer by analyzing the determined distance of the object inside the patient to each of the multiple elements of the array transducer. The method according to claim 1, comprising:

3. The method according to claim 2, wherein the step of analyzing the determined distance includes a Hough transform of the received echo signal and / or a fluoroscopic transform of the received echo signal.

4. The method according to claim 2 or 3, further comprising the step of determining that the transducer array is in an inappropriate orientation based on the determined position of the object inside the patient.

5. Steps to issue a warning that the transducer array is oriented incorrectly. The method according to claim 5, further comprising:

6. The method according to any one of claims 2 to 5, wherein the position of the object inside the patient is determined in 3D space.

7. The method according to any one of claims 1 to 6, wherein the distance and / or position of an object inside the patient is determined without steering or focusing of the transmitted beam.

8. The method according to any one of claims 1 to 7, further comprising the steps of reporting to an ultrasound operator via a user interface a determined distance and / or position of an object inside the patient, the determined object position superimposed on an ultrasound image of the patient acquired at the determined object position.

9. A computer program product having an instruction, when executed by an object positioning system, that causes the system to perform a step of the method according to any one of claims 1 to 8.

10. During an ultrasound examination of a patient, a system for locating an object inside the patient, at least partially inside the patient, wherein the system is A transducer probe having an array transducer, Processor and User interface and A system having a system configured to carry out the method described in any one of claims 1 to 8.

Images