Transponder tracking and ultrasound image enhancement

Abstract

Transponders are used to track the position of the distal end of a medical device in an ultrasound image and / or to enhance the ultrasound image.

Description

[Technical Field]

[0001] Cross-references to related applications

[0001] This application claims priority to and is incorporated by reference for all purposes to U.S. Patent Provisional Application No. 63 / 522,944, filed June 23, 2023, entitled “Transponder Tracking and Ultrasonic Image Enhancement”, U.S. Patent Provisional Application No. 63 / 522,793, filed June 23, 2023, entitled “Optical Fiber with Acoustically Sensitive Fiber Bragg Grating and Ultrasonic Sensor Including the Same”, and U.S. Patent Provisional Application No. 63 / 510,079, filed June 23, 2023.

[0002]

[0002] The following U.S. patent applications are incorporated by reference for all purposes: U.S. Patent Application No. 18 / 492,593 (Attorney No. 0269-0006US1), filed October 23, 2023, entitled “Optical Fiber Sensor System for Ultrasonic Sensing and Imaging”; U.S. Provisional Patent Application No. 63 / 592,482 (Attorney No. 0269-0007PR1), filed October 23, 2023, entitled “Transducer Array with Fiber Sensor”; and U.S. Provisional Patent Application No. 63 / 545,327 (Attorney No. 109835-1386207), filed October 23, 2023, entitled “Micromixed Array Imaging Probe”.

[0003]

[0003] This application relates to ultrasound imaging in general, and more specifically to transponder tracking and ultrasound image enhancement. Acoustic imaging can be used for both medical and non-medical applications. One well-known example of acoustic imaging is ultrasound imaging, which is non-invasive and allows observation of soft tissues and surrounding anatomical structures. Ultrasound imaging can also be used to locate various medical devices within the body, such as needles, scopes, and catheters.

[0004]

[0004] However, transducers used in conventional ultrasound probes may have limited output, which may result in the generation of optimal ultrasound images and inability to accurately track the position of the instrument. Therefore, improved methods and systems are needed for tracking and image enhancement. [Overview of the Initiative] [Means for solving the problem]

[0005]

[0005] Various examples of transponder tracking and ultrasound image enhancement are described. These descriptive examples are given not to limit or define the scope of this disclosure, but rather to provide examples to aid understanding. The descriptive examples are described in detail and provide further explanation. The advantages provided by the various examples can be further understood by examining this specification. [Brief explanation of the drawing]

[0006]

[0006] The accompanying drawings incorporated herein and forming part thereof illustrate one or more specific examples and are useful in illustrating the principles and implementations of those specific examples, along with descriptions of those examples.

[0007] [Figure 1] An exemplary system for transponder tracking and ultrasound image enhancement is shown. [Figure 2A] An exemplary system for transponder tracking and ultrasound image enhancement is shown. [Figure 2B] An exemplary system for transponder tracking and ultrasound image enhancement is shown. [Figure 3] This graph shows a triangulation example. [Figure 4A] This provides an example of a fiber optic sensor that detects acoustic signals as a point sensor or a linear sensor. [Figure 4B] This provides an example of a fiber optic sensor that detects acoustic signals as a point sensor or a linear sensor. [Figure 4C]This provides an example of a fiber optic sensor that detects acoustic signals as a point sensor or a linear sensor. [Figure 5] This document illustrates exemplary methods for transponder tracking and ultrasound image enhancement. [Figure 6] This document illustrates exemplary methods for transponder tracking and ultrasound image enhancement. [Figure 7] A flowchart of one embodiment of a method for enhancing an ultrasound image using a point sensor or a linear sensor is shown. [Modes for carrying out the invention]

[0008]

[0012] Examples are given herein in the context of transponder tracking and ultrasound image enhancement. Those skilled in the art will understand that the following description is illustrative only and not intended to limit in any sense. The embodiments shown in the accompanying drawings are then referred to in detail. The same reference numerals are used throughout the drawings and throughout the following description to refer to similar or analogous items.

[0009]

[0013] For clarity, not all of the everyday features of the examples described herein are shown or explained. Of course, in developing such actual implementations, numerous implementation-specific specifications may be made to achieve the developer's specific goals, such as compliance with application and business constraints, and these specific goals will differ from implementation to implementation and from developer to developer.

[0010]

[0014] The following co-owned patent applications disclose various methods and systems for ultrasonic beamforming and image processing. U.S. Patent Application No. 18 / 032953, filed April 20, 2023, titled "Image Synthesis of Hybrid Ultrasonic Sensor Arrays"; U.S. Patent Application No. 18 / 205081, filed March 7, 2023, titled "Synthetic Aperture Imaging Systems and Methods Using Hybrid Arrays"; U.S. Patent Application No. 18 / 901073, filed December 29, 2022, titled "Acousto-Optic Harmonic Imaging with Optical Sensors"; PCT International Application PCT / US2022 / 077762, filed October 7, 2022, titled "Visualization of Ultrasonic Beacons with Optical Sensors"; PCT International Application PCT / US2022 / 041250, filed August 23, 2022, titled "Multidimensional Signal Detection with Optical Sensors"; PCT International Application PCT / US2022 / 018515, filed March 2, 2022, titled "Acoustic Imaging and Measurement Using Windowed Nonlinear Frequency-Modulated Chirps".

[0011]

[0015] Visualization, tracking, and localization of objects in medical applications can be important aspects for performing medical procedures safely and reliably. Therapeutic and diagnostic medical applications include ultrasonic image processing in addition to guidance needle access, biopsies, aspirations, drug, biologic, anesthetic or other therapeutic agent administrations, catheter insertions, minimally invasive procedures, ablation, cauterization, placement or movement of objects or tissues, cutting, slicing, and sensing (tracking, visualization, monitoring, etc.) of objects (such as needles, catheters, guidewires, etc.) during other medical procedures. Procedures and applications in the following fields are examples of the broad use and need for accurate guidance and imaging during diagnostic and therapeutic procedures. Anesthesiology, cardiology, critical care, dermatology, emergency medicine, endocrinology, gastroenterology, gynecology and obstetrics, hepatology, infectious diseases, interventional radiology, musculoskeletal medicine, nephrology, neurology, oncology, orthopedics, pain management, pediatrics, plastic and reconstructive surgery, urology, vascular access, and other fields.

[0012]

[0016] For non-medical uses, ultrasound is used in industrial applications such as defect detection and particle sorting, non-destructive testing, structural inspection, geological applications including mining and excavation operations, and underwater ocean applications. Such applications are consistent with the embodiments described herein.

[0013]

[0017] The objects to be tracked, visualized, and localized can include any type of medical device that moves within or is located within the body of a subject. For example, medical personnel visualize and track the tip of a needle when performing a biopsy to ensure safety. In such cases, accurate visualization and tracking of the needle tip can be useful in preventing or reducing unintended damage to blood vessels, nerves, tissues, or internal organs. Similarly, aspiration of body fluids, injection of drugs or biological agents into joints, tendons, nerves, biopsy of body fluids or soft tissue tumors, aspiration and washing of calcifications, removal of tissues, organs or foreign bodies, placement of stents, filters, valves, permanent, temporary or biodegradable implants, shunts or drains, injection for anesthesia, insertion of vascular access devices used in infusion therapy, ablation procedures, not limited to performing Seldinger method or catheter insertion for accessing blood vessels and / or other organs in a safe manner, but when performing these medical procedures, it can be useful to visualize, track, or localize needles, endoscopes, cannulas, laparoscopic tools, or other medical device tools. Visualization and tracking can be advantageous in minimally invasive surgery or open surgery, especially when the area of interest is obscured or blocked by tissue, blood, or body fluids.

[0014]

[0018] In one example of an ultrasound-guided intervention system, an ultrasound transponder is coupled to a medical device, such as a needle, which is inserted into the tissue or lumen of a patient, such as a human or animal. The transponder may be an ultrasound receiver or transmitter, or a combination of both. Exemplary transponders include sensors, such as point sensors, linear sensors, or sensors formed into other known shapes. The transponder may be coupled to one end of a needle, such as the distal end of the needle, which is the end that first penetrates the tissue or enters a body cavity or lumen. In some examples, multiple transponders are coupled to the needle or medical device. For example, one transponder may be coupled to the distal end, and another transponder may be coupled to the midpoint of the needle or to another region that provides useful positional information during the procedure. Depending on the form factor of the needle or medical tool to which the transponder is attached and / or the imaging region of interest, the transponder may be formed in a linear, annular, or curved array (e.g., 1D, 1.5D, 2D, etc.). In embodiments in which the transponder includes a transmitter, the transmitter may or may not be integrated with a sensor, and may be located on the medical device being tracked, or on a component of a medical device delivery system such as a catheter, cannula, or endoscope.

[0015]

[0019] This exemplary system also includes an ultrasound probe, which comprises an array of transducers that output and receive multiple acoustic beamforming pulses or signals. The system also includes a computer processor, display, and associated electronics for receiving data from the ultrasound probe and using that data to generate an ultrasound image.

[0016]

[0020] The transponder in the example system also communicates with the processor and associated electronics. Upon sensing an acoustic pulse from the probe, the transponder provides the processor with information that can be used to determine the transponder's position relative to the probe. For example, the transponder's position may be determined by triangulation or coherent imaging. The transponder sensor's position can then be used to display the transponder in conjunction with the ultrasound image (e.g., overlaying the transponder's position onto the ultrasound image).

[0017]

[0021] In some embodiments, the transponder may also function as a receiver for detecting scattered acoustic signals and / or tissue harmonics. When the transponder is positioned within an ultrasound-illuminated image region of interest, it may detect weak scattered or harmonic signals that cannot propagate far (e.g., acoustic signals with a signal-to-noise ratio too low, detected by probe 100 in Figure 1). The transponder transmits the detection results of these signals to a processor. The processor uses the signals detected by the transponder to reconstruct an ultrasound image of the anatomical structures surrounding the transponder and the ultrasound-illuminated region (e.g., using delayed and total beamforming schemes). This allows the ultrasound processor to produce a higher quality image than one generated based solely on signals detected by an ultrasound probe (e.g., probe 100 in Figure 1). Thus, the transponder can be used for tracking medical devices and / or enhancing acoustic images.

[0018]

[0022] In some embodiments, the transponder also includes an emitter, such as a transducer, capable of transmitting multiple ultrasonic pulses. The ultrasonic probe receives these pulses and transmits the corresponding signals to a processor. The transponder sensor may receive reflections of these ultrasonic pulses and transmit the corresponding signals to the processor. The processor uses the signals in combination with the transponder's position to consistently reconstruct an ultrasonic image of the anatomical structures surrounding the transponder. This allows the ultrasonic processor to produce a higher quality image than one that would be generated based solely on pulses emitted from the ultrasonic probe. It should be understood that in some embodiments, the transponder does not include an emitter.

[0019]

[0023] This exemplary example is provided to introduce the reader to the general subject matter discussed herein, and this disclosure is not limited to this example. The following sections describe various additional non-limiting examples and cases of transponder tracking and ultrasound image enhancement.

[0020]

[0024] Referring to Figure 1, Figure 1 is an example of a system 101 for ultrasound visualization of transponders, such as transponders coupled to medical devices. System 101 may be used for ultrasound transponder visualization of medical devices, such as needles 10, present within a medium 5 (e.g., body tissue, body cavity, lumen). However, it should be understood that in other examples, system 101 may also be used for ultrasound visualization of other medical devices, such as catheters, guidewires, intravenous (IV) lines, endoscopes, trocars, implants, or combinations thereof. System 101 may also be used to enhance the visualization of objects present within the medium 5, such as organs, blood vessels, tissues, tumors, other anatomical structures, other medical devices, or implants. Furthermore, although the following examples illustrate how to locate medical devices, the examples in this disclosure may also be used to locate non-medical devices, such as in applications in non-medical industries that use ultrasound imaging and / or tracking.

[0021]

[0025] In some examples, system 101 may include a processing system 200 that communicates with the ultrasound probe 100, a transponder in the form of an optical sensor 20 coupled to the needle 10, and a display 300. In some examples, the needle 10 may include multiple sensors 20 or a combination of sensors 20. In Figure 1, the sensor 20 is shown as a single element, but multiple separate elements may be arranged adjacent to each other or spaced apart, or in an array form factor. The needle 10 may be inserted into the medium 5 during the procedure. The optical sensor 20 (e.g., coupled to the needle 10) is positioned to move independently of the movement of the probe 100.

[0022]

[0026] During use, the probe 100 may be positioned adjacent to the medium 5 (e.g., outside the body tissue) to transmit and receive ultrasonic pulses, which may also be called ultrasonic signals. The area of ​​the medium receiving the ultrasonic signals may be called the ultrasonic irradiation area. In some examples, the probe 100 may be in vivo, such as for intravascular ultrasound (IVUS), ebronchoalsochorscopic ultrasound (EBUS), or endoscopic ultrasound (EUS) (e.g., tracking a biopsy catheter or a needle or other instrument extending from the distal end of an endoscope). In some examples, the probe 100 may include an ultrasonic array with one or more elements (e.g., transducers) for outputting (e.g., generating) acoustic pulses and / or receiving acoustic signals (e.g., echo signals) corresponding to the acoustic pulses. For example, the ultrasonic array may include one or more elements (e.g., transducers) configured to emit a set of acoustic beamforming pulses (e.g., ultrasonic signals) and / or receive a set of acoustic beamforming signals (e.g., ultrasonic echoes) corresponding to the set of acoustic beamforming pulses. The set of beamforming signals corresponding to the set of beamforming pulses may be used to generate an ultrasonic image. In some examples, medium 5 may include a nonlinear medium such as body tissue. In some examples, the transducer may be a linear array facing the distal end of the catheter, and may be inclined, for example, at adjacent angles in close proximity to the body tissue. The array may include acoustic energy generating (AEG) elements arranged in a linear, annular, or convex configuration to form an array of anterior or lateral emission, as is well known in EBUS, IVUS, and EUS devices.

[0023]

[0027] In some examples, the elements of probe 100 may be arranged as an array, such as an ultrasonic array. For example, probe 100 may include one or more acoustic energy generating (AEG) transducers, such as piezoelectric transducers, lead zirconate titanate (PZT) transducers, polymer thick film (PTF) transducers, polyvinylidene fluoride (PVDF) transducers, capacitive micromachine ultrasonic transducers (CMUTs), piezoelectric micromachine ultrasonic transducers (PMUTs), photoacoustic transducers, transducers based on single crystal materials (e.g., LiNbO3(LN), Pb(Mg113Nb213)-PbTiQ3(PMN-PT), and Pb(In112Nb112)-Pb(Mg113Nb213)PbTiQ3(PIN-PMN-PT)), or combinations thereof. It should be understood that probe 100 may include multiple transducers of any type. In some examples, the ultrasonic array may contain elements of the same type. Alternatively, the ultrasonic array may contain elements of different types. Probe 100 may be a conventional ultrasonic probe with a transmitter and receiver that generate acoustic energy, or probe 100 may be an acousto-optical probe (for example, as described in U.S. Patent Application No. 63 / 450,554, “Mixed Array Imaging Probe,” filed 7 March 2023, U.S. Patent Application No. 17 / 990,596, “Mixed Ultrasonic Transducer Array,” filed 18 November 2022, and U.S. Patent Application No. 17 / 244,605, “Modularized Acoustic Probe,” filed 29 April 2021). In some examples, including acoustic-optical probes, the ultrasonic array may include one or more optical sensors, such as interference-based optical sensors, which may be one or more of the following: optical interferometers, optical cavities, optical resonators (e.g., whispering gallery mode (WGM) resonators), birefringent sensors, or optical fiber end faces with acoustic response structures.

[0024]

[0028] One or more optical sensors 20 may be positioned at or near the end of the needle 10 and configured to receive acoustic signals corresponding to acoustic pulses emitted by the transducer of the probe 100. The optical sensors 20 convert the received acoustic signals into optical signals that can be transmitted to a processing system 200 via an optical fiber or other suitable waveguide. The optical fiber sensors may be positioned at the end of the optical fiber, adjacent to the end of the optical fiber, or at a location on a medical device relevant to diagnosis or treatment in order to create a sensor fiber. These optical fiber sensors may be point sensors or linear sensors. Optical fiber sensors include, but are not limited to, resonant structures such as Fabry-Perot (FP) resonators, whispering gallery mode resonators, optical cavities, and photonic crystal resonators; interferometers such as, but are not limited to, MZI, phase-shift coherent interferometers, and self-mixing interferometers; acoustically induced birefringent polarization sensors; fiber end faces with acoustic response structures such as metasurfaces containing patterns of small elements arranged to alter the wavefront shape of the acoustic signal and maximize acoustic signal collection; low-dimensional materials with special optomechanical properties that are prone to deformation; and plasmonic structures patterned to amplify the interaction between light and matter. In addition to operating as an optical sensor, fiber end face structures can also be added to other optical fiber sensors to further enhance the acoustic response. These optical structures are configured to respond to acoustic signals (such as ultrasound). The response to acoustic signals in interference-based optical fiber sensors may be due to photoelastic effects and / or physical deformation of the structure. Upon receiving an acoustic signal, the fiber end face with the resonant structure, interferometer structure, or acoustic response structure is subjected to mechanical stress and / or strain due to the alternating pressure of the acoustic signal sound waves. This mechanical stress and / or strain may alter the optical properties of the optical sensor structure due to the photoelastic effect, and may also cause changes or deformations in the physical structure of the resonator. In polarization-based sensors, the polarization of light changes when it receives an acoustic signal.When coupled to a light source (e.g., a laser light source, a broadband light source (e.g., a lamp or LED), or other suitable light source) via an optical waveguide (e.g., an optical fiber), the effect of an acoustic signal on the optical sensor structure can be measured by the change in light returned from the optical sensor structure via the optical waveguide. Details of these fiber sensors are described in U.S. Patent Application No. 18 / 492,593, “Optical Fiber Sensor System for Ultrasonic Sensing and Imaging,” filed October 23, 2023 (Attorneys Case No. 0269-0006US1).

[0025]

[0029] In some examples, the probe 100 may be configured to receive acoustic beamforming signals reflected in response to the interaction of the acoustic beamforming pulses with the surface of the medium 5, the medium 5, and / or the needle 10. The probe 100 may be configured to transmit a signal corresponding to the received acoustic beamforming signal to the processing system 200.

[0026]

[0030] The processing system 200 may include a transmitter 220, a receiver 230, a waveform generator 240, and one or more processors (e.g., signal processor 250 and processor 260). The waveform generator 240 may be configured to generate a set of digital waveforms for acoustic beamforming pulses. One or more processors included in the processing system 200 (e.g., processor 260) may be configured to control the waveform generator 240. The waveform generator 240 may be configured to generate digital waveforms and transmit the digital waveforms to one or more transmitters 220 and / or matched filters / Weiner filters (not shown).

[0027]

[0031] In some embodiments, the system includes an optical sensor for sensing an acoustic signal used to calculate the position of an instrument within a medium, and the optical sensor is also located within the medium. The sensor can be coupled with an instrument (such as a needle) for insertion into the medium. The instrument can be part of a third-party system (for example, the sensor providing additional functionality to the third-party system). In some embodiments, the sensor and instrument are provided as a unit to be incorporated into a third-party system (for example, a third-party system including probe 100 and processing system 200 in Figure 1).

[0028]

[0032] In the example shown in Figure 1, the processing system 200 is configured to generate an ultrasonic image based on the received acoustic beamforming signal. The received beamforming signal may be a signal received by the probe 100 and / or sensor 20. The processing system 200 is also configured to analyze the optical signal received from sensor 20 to generate a transponder indicator corresponding to the position of the tip of the needle 10 in the medium 5. The ultrasonic image and transponder indicator may optionally be displayed on the display 300. Furthermore, or alternatively, the transponder indicator may be output as one or more of the audio and tactile signals.

[0029]

[0033] Although the medical device in Figure 1 is shown as needle 10, it will be understood that other suitable medical devices may be visualized and / or tracked using System 101. For example, System 101 may be used to visualize and / or track a variety of diagnostic, therapeutic, and surgical medical devices such as (but not limited to) catheters, needles, endoscopes, ablation tools, cauterization tools, vacuum or suction tools, tools for grasping or moving tissue or other objects, forceps, cutting tools, minimally invasive surgical tools, and / or laparotomy tools as the devices are inserted into and / or manipulated within a medium that may include blood vessels, organs, tissues, body cavities, and / or lumens.

[0030]

[0034] Referring to Figures 2A and 2B, Figures 2A and 2B show the needle 10 of the example shown in Figure 1. The optical sensor 20 shown in Figures 2A and 2B may be positioned (e.g., coupled, attached, embedded, integrated, or otherwise installed) on at least a portion of the needle 10 to be tracked. The sensor 20 is fixedly coupled to the needle 10, and there is no relative movement between the optical sensor 20 and the needle 10. In some examples, the medical device may include a needle 10 comprising a cylindrical body (e.g., barrel, tube, lumen), an elongated member (e.g., plunger, shaft), and a distal tip. The elongated member may be configured to translate (e.g., slide) within the cylindrical body (e.g., the elongated member may translate within the cylindrical body). The elongated member may be coupled to any suitable actuation mechanism (e.g., an actuator) configured to inject and / or withdraw fluid into the cylindrical body. For example, fluid may be injected into and / or withdrawn from the cylindrical body by manually moving the elongated member within the cylindrical body. Furthermore, or alternatively, to move the elongated member within the cylindrical body, the elongated member may be coupled to an actuator such as a motor, allowing fluid to be injected into and / or withdrawn from the cylindrical body. The cylindrical body may be open at one end and tapered toward a distal tip (e.g., a hollow tip) at the other end. In some examples, the tip of the needle 10 may include an attachment for a stem (e.g., a connector) having a puncture tip configured to puncture a given medium (e.g., a patient's skin or tissue to obtain a biopsy sample). In some examples, the stem may be tapered so as to have a smaller diameter than the needle 10. The tip may be of a suitable type, such as a Slip-Tip®, Luer-Lok®, or eccentric tip.

[0031]

[0035] Figure 2A shows an example of a system in which an optical sensor 20 is attached to one end of a needle 10 to facilitate needle tracking and positioning. In Figure 2A, the optical sensor 20 may be attached to, coupled to, integrated with, or otherwise mounted at the tip of the needle 10 (e.g., the distal tip). Depending on the medical application, the needle may be reoriented relative to the source of the ultrasound signal. Some needles may be flexible and rotate as they travel along a winding path to the treatment site, while others may change their angle of orientation relative to the ultrasound source. By cutting a window into the needle and fixing the sensor to the needle, the acoustic signal can pass through the window and reach the sensor. The window may also cause signal scattering, which may be useful for confirming the position of the needle in the ultrasound irradiation area. The optical sensor fiber may be integrated with the needle by placing it in a groove or channel on the outer or inner surface of the needle. The sensor may be sealed / fixed within the needle using an acoustically transparent material such as RTV or polymer (e.g., having acoustic impedance matching conditions with respect to the tissue). In one embodiment, multiple sensors may be arranged around a needle or medical tool such that at least one sensor is oriented sufficiently to receive an ultrasonic signal from the probe. The multiple sensors may be formed in an array in a form factor suitable for the device to which they are coupled. The optical sensor 20 may be configured to detect an acoustic signal generated from the probe 100 in Figure 1. The optical sensor 20 may be configured to receive the acoustic signal through photoelastic effects and / or physical deformation of the optical sensor 20. For example, in the presence of an acoustic pulse, the light in the optical sensor 20 may undergo a spectral shift due to changes in the refractive index and shape of the optical sensor 20. The optical sensor 20 may be configured to transmit a set of optical signals representing the received acoustic transponder signal to a processing system (e.g., the processing system 200 in Figure 1). In some examples, the optical sensor 20 may be coupled to one or more optical waveguides 22 (e.g., optical fibers, optical integrated circuit waveguides, or other optical transmission channels) to transmit the set of optical signals to the processing system 200.The processing system 200 may be configured to generate a real-time transponder position indicator based on the optical signal. In some examples, the transponder indicator may represent the position of the tip of the needle 10 and / or may be used to track the tip of the needle 10. For example, the tip of the needle 10 may be visualized and tracked based on the transponder indicator. Thus, the needle 10 may be reliably visualized and tracked during a medical procedure using at least a single optical sensor 20.

[0032]

[0036] If the location of the transponder sensor is known, the transponder signal can be combined with the signal received by the element in the probe 100 to be used for beamforming, such as for ultrasound imaging and harmonics. The transponder can function as a receiver and / or transmitter in such an imaging system. Because the transponder sensor is very close to the area being imaged, and harmonic signals are usually weak or do not propagate far, the transponder sensor is useful for ambient harmonic imaging. As is well known, scattering of acoustic signals and / or tissue harmonics can occur due to tissues, bones, implants, and other structures within the area being ultrasound-irradiated. The fiber sensor 20 can detect direct signals (e.g., signals from the probe 100) and scattered signals and / or tissue harmonics arising from the probe 100 signal or emitter 24 signal within the ultrasound-irradiated area around the optical sensor. Furthermore, the system can display visualizations to assist clinicians, such as showing the needle's path and whether the needle tip is within the plane of the beamforming signal (within the imaging slice). This allows clinicians to adjust the needle in real time to avoid anatomical structures or change the path to the target area displayed in the ultrasound image.

[0033]

[0037] The exemplary needle 10 shown in Figure 2A may also include at least one emitter 24 as part of a system for delivering the needle, such as a catheter, cannula, or endoscope. The emitter may be an AEG transducer, such as a PZT transducer element or array. The example shown in Figure 2A includes four emitters, but other examples may include fewer or additional emitters. The emitters generate signals that can be received by transducers on the probe 100. In some embodiments, the emitter 24 may be combined with a sensor 20. The signals received by the probe can be used to locate the needle 10 by triangulation or coherent imaging, as described herein. These signals can also be used to enhance the ultrasound image generated by the processing system 200. For example, the processing system 200 can combine the signals generated by the probe 100 with information from the signals generated by the emitter 24 coupled to the needle 10 to provide a higher quality image, particularly of the structure surrounding the tip of the needle 10.

[0034]

[0038] Figure 2B shows a cross-sectional view of an exemplary system in which two optical sensors 20 are attached to a needle 10 to track and / or locate the position of the needle 10. As shown in Figure 2B, the first optical sensor 20 may be located at the distal end of the needle 10, and the second optical sensor 20 may be located proximal to the first optical sensor 20 (e.g., on an elongated member of the needle 10), or coupled at the midpoint or other location of the needle 10. Thus, the first and second optical sensors 20 may be configured to receive acoustic signals generated by the probe 100 in Figure 1. The first and second optical sensors 20 (e.g., the first optical sensor at the distal tip and the second optical sensor on the elongated member) may be coupled to the same waveguide 22 (e.g., an optical fiber, a photon integrated circuit waveguide) to transmit (e.g., propagate) the optical signals to a processing system 200. The processing system may be configured to generate a first object indicator representing the position of the tip of the needle 10 (e.g., where the first light sensor is located) based on the optical signal received from the first light sensor 20, and a second object indicator representing the position of the elongated portion of the needle 10 (e.g., where the second light sensor is located) based on the optical signal received from the second light sensor 20. Furthermore, or alternatively, the processing system may be configured to use the first and second light sensors 20 to generate a single object indicator based on both the position of the tip of the needle 10 and the position of the elongated portion. For example, the object indicator may consist of a vector. Thus, by visualizing and tracking the tip and / or elongated portion of the needle 10, the needle 10 can be reliably visualized and tracked during medical procedures.

[0035]

[0039] Figure 2B also shows emitter 24. While two emitters are shown in the example in Figure 2B, some examples may include fewer or additional emitters. As shown in Figure 2A, the emitter generates a signal that can be received by the transducer on probe 100. In some embodiments, emitter 24 and sensor 20 may be combined, as shown in Figure 2A.

[0036]

[0040] Figure 2A shows a single optical sensor 20 for visualizing and tracking a needle 10, and Figure 2B shows two optical sensors 20 for visualizing and tracking a needle 10, but it will be readily apparent that any number of optical sensors (e.g., three, four, five, or more optical sensors, and / or three or more optical sensors configured in a linear, annular, curved, or other suitable array) may be used to visualize and track a medical device. These optical sensors may be attached, coupled, integrated, or otherwise mounted to the appropriate part of the medical device / instrument. For example, using three optical sensors on a single needle 10 (e.g., one at the tip of the needle and two along the elongated portion of the needle) may make it easier not only to visualize and track the position of the needle tip but also to track the curvature of the needle 10. As stated above, the system 101 in Figure 1 is for illustrative purposes only to illustrate and illustrate needle tracking. It will be readily apparent that any other object (e.g., end effectors, catheters, guidewires, endoscopes, trocars, implants) may be visualized and / or tracked using the systems and methods described herein.

[0037]

[0041] The transponder includes an interferometer sensor, a resonator sensor, a fiber end face with an acoustically responsive structure, and / or a polarization (birefringence) sensor (e.g., described in U.S. Patent Application No. 18 / 492,593, “Optical Fiber Sensor System for Ultrasonic Sensing and Imaging”). The fiber end face structure may include a metasurface containing a pattern of small elements arranged to modify the wavefront shape of the acoustic signal to maximize the detection of the acoustic signal, an acoustically responsive low-dimensional material with optomechanical features selected to optimize the acoustic response (e.g., features that are easily deformed when receiving an acoustic signal exhibit a greater material response to the acoustic signal), and an acoustically responsive microstructure such as a plasmonic structure patterned to amplify the interaction of light and matter. The plasmonic structure may locally amplify the incident light by plasmonic resonance. The transponder can be used to determine the position and / or orientation of an instrument when the fiber sensor is mounted on the instrument. The instrument may be a needle, catheter, endoscope, surgical tool, biopsy tool, etc. The aforementioned transponder sensors (such as sensor 20 in Figure 2) can be "point-like" in that the dimensions of sensor 20 are close to or smaller than specific feature sizes meaningful to the application, such as the wavelength of the acoustic signal or the diameter of the needle (e.g., sensor 20a in Figure 4A). Fiber optic sensors that utilize polarization (birefringence) can be "point-like" as well as "linear" (e.g., sensors 20b and 20c in Figures 4B and 4C). Linear sensors can utilize polarization sensitivity detection mechanisms within the optical fiber. When an acoustic signal strikes an optical fiber (e.g., incident), the acoustic signal changes the stress within the optical fiber material (e.g., along two axes) depending on the direction of the acoustic signal, causing a birefringence effect within the optical fiber. Light passing through the optical fiber experiences a change in polarization because the polarization components of the light corresponding to the two birefringence axes experience different phase delays. Such polarization changes induced by acoustic signals (e.g., ultrasound) can be detected by a polarization analyzer (such as a polarizer) by detecting the change in polarization of the light passing through the optical fiber. Therefore, acoustic signals can be detected using the polarization of light within a waveguide (e.g., optical fiber).In a linear fiber sensor, the acoustic signal is most strongly detected when it propagates in a direction perpendicular to the optical fiber (see, for example, Figures 4B and 4C) (e.g., perpendicular to the tangent). The perpendicular direction may also be called transverse, substantially transverse, or from any direction relative to the axis of the optical fiber. Many sections or parts of the optical fiber are sensitive to the acoustic signal. This is because the acoustic signal changes the polarization state of the light within the section of the optical fiber. The changes from many sections of the optical fiber collectively change the polarization of the light within the optical fiber, and thus collectively change the output signal. By detecting transverse signals at multiple points along the length of the optical fiber, the ability to track and / or locate the sensor fiber 604 can be improved if the sensor fiber 604 is placed within an ultrasonic irradiation area (e.g., during a medical procedure). Linear fiber sensors can be arranged linearly (20b) or in shape (20c) and can be used for a variety of applications. For example, a fiber sensor can be bent to form a “focus” type sensor that (e.g., optimally) detects ultrasound from a designed focal spot, or it can be conformed to the shape of a medical tool / device. Furthermore, it should be understood that linear sensors are not limited to fiber optic sensors utilizing birefringence, and that multiple point-type optical sensors may be arranged to form a linear configuration.

[0038]

[0042] By detecting lateral signals at multiple points along the length of sensors 20b and 20c, the ability to track and / or locate the sensor fiber when it is placed in a medium (e.g., inside a human body during a medical procedure) may be improved. For example, as shown in Figures 4B and 4C, multiple signals incident along the length of the sensor fiber may improve the ability to locate the position of different parts along the length of the sensor fiber, and thus the position of the entire sensor fiber 20b and 20c, not just the tip region like 20a, can be identified. For example, as shown in Figures 4B and 4C, multiple signals incident along the length of sensor fibers 20b and 20c may improve the ability to locate the position of different parts of the sensor fiber 20b and 20c, and thus the curvature of the sensor fiber 20c can be identified more accurately.

[0039]

[0043] To couple a fiber sensor to a device, grooves or channels may be formed on the inner or outer surface of the device to allow the fiber optic cable to be embedded, or the fiber optic cable may be directly bonded to the surface, and / or the fiber optic cable may be covered with a protective material layer such as a polymer coating or other acoustically transparent material. A linear fiber sensor 20b or 20c can be used in place of or in combination with one or more point sensors 20a.

[0040]

[0044] In some embodiments, the imaging system comprises a probe 100 and a transponder sensor 20. A “delayed sum” beamforming method may be applied to generate an ultrasound image of the surrounding medium (tissue). In this imaging mode, ultrasound is transmitted from the probe / transducer array (multiple transmissions with different transmission patterns are also possible), and the medium / tissue scattering signals are received by the transponder sensor to form an ultrasound image. An ultrasound image can be formed by consistently combining signals from multiple transponder sensors or signals from the same sensor at different locations. The positions of the transponder sensors are known or can be calculated at the time of signal acquisition. The transponder sensors can be “point” sensors 20a, such as fiber-end Fabry-Perot cavity sensors, and / or linear sensors 20b or 20c, such as polarization-sensitive fiber sensors. In the case of “point” transponder sensors 20a, the delay used to calculate the delayed sum beamforming corresponds to the linear distance from each pixel (or voxel in 3D imaging) to the position of the transponder (see, for example, Figure 4A). For a linear transponder sensor 20b, the delay used to calculate the delayed sum beamforming corresponds to the orthogonal straight-line distance from each pixel (or voxel in the 3D imaging) to the position of the line on the transponder sensor 20b (see, e.g., Figure 4B). If the linear transponder is curved, there may be multiple orthogonal straight-line paths to the transponder linear sensor 20c, and there may be multiple delay values ​​for each pixel (or voxel) (see, e.g., Figure 4C). In some configurations, the linear sensors 20b and / or 20c are simpler front-end designs, photodetection is performed in the backend (e.g., using a polarization analyzer), and / or wavelength locking may not be required. By knowing the position of the fiber relative to the probe 100, and / or the timing sequence of the emitter within the probe 100, the location of tissue scattering can be calculated based on the propagation time of the acoustic signal (e.g., assuming the scattered signal is incident orthogonal to the optical fiber).

[0041]

[0045] Various methods exist for locating the transponder sensor 20 based on various signals and signal combinations. In some examples, triangulation may be used to locate one or more optical sensors. Ultrasound is transmitted from probe 100, one or more external elements or arrays, or in-vivo arrays (such as arrays for EBUS, EUS, IVUS). Transducers on probe 100 emit at least two signals with different wavefronts. The location of the transponder sensor 20 is determined by the cutoff points of the different transmitted wavefronts at the timing of each received pulse. The pulse timing of the ultrasonic transmission is determined by extracting and matching known pulse shapes from the ultrasonic signals in chronological order received by the transponder. Pulse timing can be extracted if the signal-to-noise ratio of the pulse signal is above a certain value. The fidelity of pulse detection can be increased by using filters or Wiener filters that are fitted to the known pulse shapes.

[0042]

[0046] Figure 3 is a schematic diagram showing exemplary positions of probe transducer elements 122 configured to emit acoustic pulses and exemplary positions of the optical sensor 20 in a Cartesian coordinate system. The optical sensor 20 may be placed on an object to be tracked (not shown). The position of the transponder optical sensor 20 may be determined using a Cartesian coordinate system, as shown in the following example. In Figure 3, three probe transducer elements 122 may be configured to emit acoustic pulses. The probe transducer elements 122 may form an array of probes (e.g., probe 100) (e.g., a 1.5D ultrasonic array). The probes may be configured to emit acoustic beamforming pulses (e.g., using the probe transducer elements 122 in Figure 3) and to receive acoustic beamforming signals. The optical sensor 20 may be configured to detect beamforming signals corresponding to the acoustic beamforming pulses.

[0043]

[0047] In FIG. 3, the three probe transducer elements 122 are arranged at P1: (-a, 0, 0), P2: (a, 0, 0), and P3: (0, b, 0), and the optical sensor is arranged at P: (x, y, z). The distances between the three transducer elements 122 and the optical sensor 20 can be calculated using the following equations. r1 = ((x + a) 2 + y 2 + z 2 ) 1 / 2 Equation (1) r2 = ((x - a) 2 + y 2 + z 2 ) 1 / 2 Equation (2) r3 = (x 2 +(y - b) 2 + z 2 ) 1 / 2 Equation (3)

[0044]

[0048] Solving Equation 1 and Equation 2 simultaneously gives the following. x = (r1 2 - r2 2 ) / 4a Equation (4)

[0045]

[0049] Equation 4 indicates that a ≠ 0. That is, the distance between the first element and the second element cannot be zero. Solving Equation 1 and Equation 3 simultaneously gives the following. y = (r1 2 - r3 2 - a 2 + b 2 - 2ax) / 2b Equation (5)

[0046]

[0050] The x in Equation 5 can be specified from Equation 4. Equation 5 indicates that b ≠ 0. That is, the third element cannot exist on the line specified by the first element and the second element. For example, the first element, the second element, and the third element may form a triangle. Therefore, the third element is offset in one dimension (e.g., the height dimension). Therefore, from Equation 1: z = (r1 2 -(x + a) 2 - y 2 ) 1 / 2Formula (6)

[0047]

[0051] x and y are determined from equations 4 and 5.

[0048]

[0052] If the acoustic velocity is c and the time required for the acoustic beamforming pulse to travel from the first element to the photosensor is t1, r1=ct1 formula (7)

[0049]

[0053] R2 and R3 can be determined in a similar manner to R1. Thus, the position of the light sensor 20 may be determined based on the time required for the acoustic pulse to travel from element 122 to the light sensor 20.

[0050]

[0054] The position of the light sensor 20 can be determined by detecting acoustic signals (e.g., echoes) corresponding to acoustic pulses from three probe transducer elements 122, although in some examples, three or more elements 122 may be used to determine the position of the light sensor. The elements 122 can be arranged in any suitable manner. However, in such triangulation techniques, the elements 122 and the sensor 20 cannot be placed on the same plane in order to track the sensor 20 in 3D space. For example, the first and second elements may be arranged along the lateral dimension, and the third element may be arranged along the height dimension perpendicular to the lateral dimension so as not to intersect the lateral dimension (e.g., so as to be arranged as the vertices of a triangle). Thus, the third element in this example is not aligned with the lateral dimensions of the first and second elements. The first and second elements are offset from each other, but their lateral dimensions are aligned. In some examples, using three or more elements 122 can improve the accuracy of determining the position of the light sensor 20. In some examples, multiple optical sensors 20 may be used to detect an acoustic signal. The position of each optical sensor 20 may be specified in the same manner as described above. Even if the probe transducer element 122 and the optical sensors 20 are in the same plane, 2D tracking information in that plane can be obtained. In this case, at least two transducer elements 122 are used.

[0051]

[0055] In another example, the position of the light sensor 20 is determined by coherent imaging. In ultrasound imaging, features are most easily distinguishable when the brightness of the image differs. The intensity of the image in an ultrasound imaging system is a function of the amplitude of the beamformed received signal, i.e., the amplitude after coherently adding the delayed received signals from each transducer element.

[0052]

[0056] In one example, an external element or array on the probe 100 transmits multiple ultrasonic emission signals from different locations and / or directions using different wavefronts (similar to an ultrasonic imaging transmission sequence). For each pixel in the imaging plane, the pixel value is calculated from multiple transmitted signals received by the transponder, assuming that the optical sensor 20 is at the location of that pixel. The resulting image (transponder signal image) coherently sums the signals only at the actual transponder locations where the received signals align, making ultrasonic interference constructive. The transponder signal image allows the location of the transponder sensor 20 to be identified because only the transponder locations are illuminated in the image (the physical properties of ultrasound limit the spot size of the transponder image). From the bright transponder spots in the transponder signal image, the location of a single transponder can be extracted using various methods (maximum pixel value, median filter, center of brightness weighting, etc.). The advantage of using coherent transponder tracking imaging is that received transponder signals from different transmissions are first coherently added together, and then pulse timing is determined based on the coherently added signals. In this case, the signal-to-noise ratio (SNR) is much higher than that of a single received time sequence signal. When an external element / array operates in the imaging emission sequence, an ultrasonic image can be generated simultaneously with transponder tracking. Therefore, there is no dedicated transponder tracking emission sequence. This coherent beamforming transponder imaging method can also be used for 3D tracking of transponders. In the case of 3D, the probe 100 has (e.g., at least) three probe transducer elements 122, where (e.g., at least) one probe transducer element 122 is outside the plane defined by the photosensor 20, and the other two probe transducer elements 122 of the probe 100 are inside the plane as shown in Figure 3.

[0053]

[0057] In one example, acoustic detection signals received by the optical sensor 20 from different transducer elements 122 of the probe 100 are summed in the processing system 200 to obtain a net signal representing the ultrasonic signal emitted from each transducer element 122 of the probe 100. The sum of the amplitudes of the summed signals represents the intensity of the received signals and therefore corresponds to the distance along the beam associated with the signal in angle from the sensor 20 to the probe transducer element 122. The summing of the individual signals is achieved by providing individual time delays (and / or phases) and gains to the signals from each transducer element 122 in the probe 100. Next, the output signals from the sensor 20 corresponding to each beamforming channel are coherently added, i.e., each channel is summed, to form the respective pixel intensity values ​​for each beam. The pixel intensity values ​​are logarithmically compressed, scan-transformed, and displayed as an image of the tip of the needle 10 where the sensor 20 is located, or as an image of the entire needle if multiple sensors 20 are used.

[0054]

[0058] In some examples, multiple transponders, such as the sensor 20 coupled to the needle 10 in Figure 2B, are present, each capable of operating independently and receiving signals. The transponder sensors 20 can share or receive array emission sequence signals from the same external element or probe 100 to track their respective positions. Coated excitation can be used to increase the signal-to-noise ratio (SNR). Such coded excitation may be used in combination with long-pulse or multi-pulse chirp signal techniques for the ultrasonic emission sequence. By applying the received transponder sensor signal to a matched filter / Wiener filter to perform pulse compression, the SNR in pulse timing identification and / or axial resolution in the beamformed transponder signal image can be significantly improved. As a result, the SNR is higher, improving the accuracy of transponder tracking.

[0055]

[0059] If the transponder includes an emitter 24, the transponder's position can be obtained by triangulation or beamforming using external elements or arrays of the probe 100. In such an example, a single-point transponder transmits a signal toward the probe 100, which is received by individual external transducer elements 122 of the probe 100. The transponder's position can be determined by either triangulation or coherent transponder tracking imaging, as described above. Multiple transponder emitters can be used to transmit simultaneously, with each transponder emitter appearing as a bright spot in the transponder tracking image.

[0056]

[0060] Figures 4A, 4B, and 4C illustrate embodiments of detection using sensors 20a, 20b, and 20c. In Figure 4A, the point sensor 20a is a fiber sensor capable of receiving scattering from any direction. In Figure 4B, sensor 20b is a fiber polarization sensor that is a linear receiver. Sensor 20b receives scattered light from the transverse direction. In Figure 4C, sensor 20c is a fiber polarization sensor that is a curved receiver. Sensor 20c receives scattered light from the orthogonal direction. Thus, the optical sensor structures shown in Figures 4A, 4B, and 4C are configured to detect acoustic signals over directional ranges of at least 180 degrees, at least 270 degrees, at least 300 degrees, at least 330 degrees, or at least 360 degrees.

[0057]

[0061] In response to one or more acoustic signals incident on one or more optical sensors 20, one or more electrical signals can be generated as sensor data based on one or more detected optical responses to light propagation within the one or more optical sensors 20. The sensor data can be used to enhance the ultrasonic image. For example, probe 100 is used to generate an ultrasonic image (e.g., a first image), sensor data is used to generate a sensor image (e.g., a second image, based on the generation of acoustic pulses from probe 100 at known times and locations, and / or the known position of sensor 20 relative to probe 100), the sensor images are combined with the ultrasonic image (e.g., by image fusion using processor 260 in Figure 1) to enhance the ultrasonic image and generate an enhanced image (e.g., a third image, which increases the resolution of the region in the ultrasonic image near sensor 20). In some embodiments, sensor data is transmitted to the processor 260 in Figure 1 without generating a sensor image (for example, the processor 260 generates a enhanced image based on the sensor data and data from the probe 100, so that one image, i.e., a third image, is generated, and the first and / or second images are not generated separately from the third image). In some cases, the first image (ultrasound image) and the third image (enhanced image) may be generated without a second image (sensor image). In some cases, the second image (sensor image) may be generated without generating a third image (enhanced image) or the first image (ultrasound image).

[0058]

[0062] Transponder sensors can be used to track the path of a device. When a transponder sensor, or multiple transponder sensors, are integrated into a device (such as a needle or catheter), the transponder sensor's position history can be used to identify the path the device has taken. This historical path can be used to provide valuable medical information. In some applications, the historical path can be used to predict the movement of a device. For example, if a needle has traveled a certain distance, its position history can be used to predict the projected path of the needle, which can then be overlaid on an ultrasound image. In this way, in some embodiments, it can be assumed that the needle is following a straight path or a curved path that can be defined by its historical position. Furthermore, this information may be used to predict the current expected path based on the current path. Historical paths can also be used to indicate physiological structures that a device has traversed. For example, a catheter device moving through a blood vessel can map the shape of the vessel from the historical path of the device's transponder sensor. The device's historical path can also be used as a record of a medical procedure and / or to evaluate the performance and safety of the procedure. For example, the history of two transponders on either side of a forceps can be used to determine the number of times the forceps have closed / opened.

[0059]

[0063] One or more transponder sensors can be used to determine the shape and / or orientation of a device. If a transponder sensor or multiple transponder sensors are integrated into a device (such as a needle or catheter), the position of the transponder sensors can be used to determine the shape and orientation of the device. For example, if multiple transponders are integrated along a catheter, their positions can be used to determine the shape of the catheter (such as a point-to-point curve). The shape of the catheter can be used to determine the shape of physiological structures into which the catheter is inserted, such as blood vessels or bronchi in the lungs. In another example, the positions of two transponder sensors on a needle can be used to determine the orientation and position of the needle (for example, assuming the needle is straight). The positions of three transponder sensors can be used to determine the orientation and position of the surface of a medical device (where three points form the surface), or, if the medical device is a rigid body, the orientation and position of the medical device itself. With polarized linear sensors, multiple transmissions can be programmed from the probe to "scan" the linear sensor. Because linear sensors are sensitive to ultrasound that reaches them laterally, a "scan" generates a signal at the sensor when the transmitted ultrasound is lateral to a portion of the line, identifying the section of the line that is lateral to a particular transmission pattern. By determining the position and orientation of multiple sections of the line from multiple transmission patterns, the shape and position of the line can be determined / estimated from that section information. Therefore, the shape and position of a linear sensor can be used to indicate the shape and position of a medical device that incorporates a linear sensor.

[0060]

[0064] Referring to Figure 5, Figure 5 shows an exemplary method 500 for transponder tracking and ultrasound image enhancement. This exemplary method 500 is described with respect to the system shown in Figures 1 and 2, but other suitable systems in accordance with this disclosure may be employed.

[0061]

[0065] In block 510, an ultrasound probe (such as an external or intra vivo probe) transmits and receives acoustic signals. For example, the ultrasound probe 100 shown in Figure 1 transmits acoustic pulses from an array of transducers to a medium 5 representing the patient's anatomical structure. The probe 100 may transmit these pulses using various known methods or as described above. The probe 100 receives acoustic signals (for example, the probe 100 receives acoustic signals reflected or scattered from objects and / or features such as tissue in the medium 5). For example, echoes may be reflected from a tumor present in the medium. The probe 100 converts the ultrasound pulses into a signal, which is transmitted to the processing system 200.

[0062]

[0066] In block 520, the transponder detects the acoustic signal. For example, the sensor 20 coupled to the needle 10 in Figure 1 also receives ultrasonic pulses emitted from the probe 100. The sensor 20 converts the ultrasonic pulses into a signal, which is then transmitted to the processing system 200.

[0063]

[0067] In block 530, the processing system 200 determines the location of the transponder based at least partially on the signals received from the sensor 20. For example, the processing system 200 may utilize triangulation and / or beamformed transponder signal imaging to determine the location of the transponder based on multiple signals received from the sensor 20.

[0064]

[0068] In block 540, the processing system 200 generates an ultrasound image. For example, the ultrasound image is generated from the acoustic signal received by the probe 100. The ultrasound image may be transmitted to the display 300 and displayed on the display 300.

[0065]

[0069] In block 550, the processing system 200 overlays the transponder's position onto the ultrasound image. For example, graphics such as crosshairs (e.g., "+") or circles are overlaid on the ultrasound image, corresponding to the position of the needle tip 14 in the ultrasound image. Thus, when viewed by a user such as an ultrasound technician, medical professional, or patient, the transponder is displayed on the same display as the ultrasound image, indicating where the transponder, which is the sensor 20 on the needle 10, is located within the medium 5. The image may also display the path and / or projected path.

[0066]

[0070] Referring to Figure 6, Figure 6 shows an exemplary method 600 for transponder tracking and ultrasound image enhancement. This exemplary method 600 is described with respect to the system shown in Figures 1 and 2, but any suitable system in accordance with this disclosure may be employed.

[0067]

[0071] In block 610, an ultrasound probe (such as an external or intra vivo probe) transmits and receives acoustic signals (e.g., conventional ultrasound). For example, the ultrasound probe 100 shown in Figure 1 transmits acoustic pulses from an array of transducers to a medium 5 representing the patient's anatomical structure. The probe 100 may transmit these pulses using various known methods or as described above. The probe 100 receives acoustic signals (for example, the probe 100 receives acoustic signals reflected or scattered from objects and / or features such as tissue in the medium 5). For example, echoes may be reflected from a tumor present in the medium. The probe 100 converts the ultrasound pulses into a signal, which is transmitted to the processing system 200.

[0068]

[0072] In block 620, the transponder detects the acoustic signal. For example, the sensor 20 coupled to the needle 10 in Figure 1 also receives ultrasonic pulses emitted from the probe 100. The sensor 20 converts the ultrasonic pulses into a signal, which is then transmitted to the processing system 200.

[0069]

[0073] In block 630, the processing system 200 determines the location of the transponder based at least partially on the signals received from the sensor 20. For example, the processing system 200 may utilize triangulation and / or beamformed transponder signal imaging to determine the location of the transponder based on multiple signals received from the sensor 20.

[0070]

[0074] In block 633, an acoustic signal is transmitted from a transponder emitter located near the distal end of the device toward the probe transducer element 122. For example, the transponder on the needle 10 shown in Figure 1 transmits acoustic pulses from the array of emitters 24 to the medium 5. The transponder may transmit these pulses in various known ways or in the way described above.

[0071]

[0075] In block 636, an acoustic signal generated from the emitter 24 near the distal end of the device is received by an ultrasonic probe. For example, probe 100 receives the signal generated by emitter 24. Probe 100 then converts the ultrasonic pulse into a signal, which is sent to the processing system 200. These signals can be added to the echo received by probe 100, as described, for example, in relation to Figure 5. The processing system 200 can also determine the location of the transponder based at least partially on the signals received from probe 100. For example, triangulation may be used by the processing system 200 to determine the location of the transponder based on multiple signals received from probe 100.

[0072]

[0076] In block 640, the processing system 200 generates an ultrasonic image. For example, the ultrasonic image is generated from acoustic signals received by the probe 100. For example, the ultrasonic image is generated using acoustic signals emitted from the probe 100. An ultrasonic image is generated using acoustic signals emitted from the transmitter 24. The ultrasonic image is transmitted to the display 300 and may be displayed on the display 300. In some configurations, an ultrasonic image is generated from acoustic signals transmitted and received by the probe 100, and then the image is modified based on ultrasonic pulses emitted by the emitter 24 and received by the probe 100. For example, the processing system may be able to improve the resolution of the ultrasonic image, particularly with respect to objects in the medium 5 near the transponder.

[0073]

[0077] In block 650, the processing system 200 overlays the transponder's position onto the ultrasound image. For example, graphics such as a crosshair (e.g., "+") or a circle are overlaid on the ultrasound image, corresponding to the position of the tip 14 within the ultrasound image. Thus, when viewed by a user such as an ultrasound technician, medical professional, or patient, the transponder is displayed on the same display as the ultrasound image, indicating where the transponder, which is the sensor 20 on the needle 10, is located within the medium 5.

[0074]

[0078] Referring to Figure 7, Figure 7 shows an exemplary method 700 of ultrasonic image enhancement using a point sensor (e.g., using an optical sensor at the fiber end) or a linear sensor (e.g., using an optical fiber or polarization of multiple point sensors). This exemplary method 700 is described with respect to the system shown in Figure 4, but another suitable system according to the present disclosure may be employed. The fiber sensor 20 can detect scattered signals and tissue harmonics.

[0075]

[0079] In block 710, an ultrasound probe (e.g., an external probe or an intra vivo probe) transmits acoustic pulses. For example, the ultrasound probe 100 shown in Figure 1 transmits acoustic pulses from an array of transducers to a medium 5 representing the patient's anatomical structure. The probe 100 may transmit these pulses using various known methods and / or the methods described above. In block 715, a point sensor or a linear sensor senses direct acoustic signals (e.g., from the probe 100), acoustic signals reflected and / or scattered from objects and / or features such as tissue in the medium 5, and / or tissue harmonics. For example, echoes may be reflected from a tumor in the medium 5 in Figure 1. The point sensor is subject to scattering from any direction or axial direction, as shown in Figure 4A, while the linear sensor is subject to scattering from orthogonal or transverse directions, as shown in Figures 4B and 4C.

[0076]

[0080] If the location of the transponder sensor is known, the transponder signal can be combined with the signal received by an element in the probe (e.g., probe 100 in Figure 1) to be used for beamforming, such as for ultrasound imaging or harmonics. Transponder sensors are useful for ambient harmonic imaging because the transponder is very close to the area being imaged, and harmonic signals are usually weak or do not propagate far. Tissue scattering can cause scattering of acoustic signals and / or tissue harmonics. Fiber optic sensors can detect direct signals (such as those from the probe), scattered signals, and / or tissue harmonics.

[0077]

[0081] In block 720, the ultrasonic probe senses an acoustic signal. The signal corresponding to the sensed acoustic signal (e.g., electrical and / or optical signals from the transducer and / or probe) is transmitted to a processing system (e.g., system 200 in Figure 1). In some embodiments, a point sensor (e.g., sensor 20 in Figure 1 or sensor 20a in Figure 4A) is also used to calculate and superimpose the position of the equipment (e.g., as described in relation to Figure 5).

[0078]

[0082] In block 730, the processing system 200 generates an ultrasonic image. For example, the ultrasonic image is generated from the acoustic signal received by the probe 100 in Figure 1.

[0079]

[0083] In block 740, the processing system 200 enhances the ultrasound image to generate an enhanced ultrasound image. The processing system 200 enhances the ultrasound image using data from the fiber sensor 20. This data includes direct and scattered signals. The enhanced ultrasound image may be transmitted to and displayed on the display 300. Data from the fiber sensor may also be used to create another image of the ultrasound-irradiated area around the sensor, which is then transmitted to and displayed on the display 300.

[0080]

[0084] In some configurations, the method includes receiving a plurality of acoustic beamforming signals, each corresponding to one of a plurality of acoustic beamforming pulses emitted from an ultrasonic transducer array, via an optical sensor coupled to a medical device, and determining the position of the optical sensor by a processor based on one or more of the plurality of acoustic beamforming signals received by the optical sensor. In some embodiments, the method includes generating an ultrasonic image based on an acoustic signal detected by an ultrasonic receiver array and a plurality of acoustic beamforming signals received by the optical sensor; generating an ultrasonic image based on a plurality of acoustic beamforming signals received by the optical sensor; generating the position of the optical sensor in real time during ultrasound examination; tracking the path of the optical sensor based on a history of the position of the optical sensor based on a plurality of acoustic beamforming signals received by the optical sensor; displaying the path of the optical sensor during ultrasound-guided processing; projecting the path of the optical sensor during ultrasound-guided treatment based on a history of the position of the optical sensor determined based on a plurality of acoustic beamforming signals received by the optical sensor; and / or displaying the projected path of the optical sensor during ultrasound-guided treatment. In some embodiments, the optical sensor includes a linear sensor, a point sensor, or both a linear sensor and a point sensor, and determining the position of the optical sensor includes triangulation of the position of the optical sensor, and determining the position of the optical sensor includes forming a coherent image, and one or more sensors are coupled to a medical device so that the shape or orientation of the medical device can be generated in real time during an ultrasonic procedure, and the optical sensor is one of a plurality of optical sensors coupled to the medical device, and / or the method includes calculating the orientation of the medical device based on the determined positions of the plurality of optical sensors.

[0081]

[0085] In some configurations, the system comprises a photosensor coupled to a medical device and configured to receive multiple acoustic beamforming signals corresponding to multiple acoustic beamforming pulses emitted from an ultrasonic array, and a processor configured to determine the position of the photosensor based on at least a portion of the multiple acoustic beamforming signals received by the photosensor. In some embodiments, the photosensor is configured to receive multiple acoustic signals from an ambient acoustic irradiation area, and the processor is configured to create an ultrasonic image of at least a portion of the ambient ultrasonic irradiation area adjacent to the medical device based on at least a portion of the multiple acoustic signals from the ambient ultrasonic irradiation area received by the photosensor, and / or the photosensor is configured to detect a change in the polarization of light guided within the photosensor when an acoustic beamforming signal is incident on the photosensor.

[0082]

[0086] In some configurations, the system comprises a photosensor coupled to a medical device and configured to receive multiple acoustic beamforming signals corresponding to multiple acoustic beamforming pulses emitted from an ultrasound array, and multiple acoustic signals from a surrounding ultrasound-irradiated area, and a processor configured to determine the position of the photosensor based on at least a portion of the multiple acoustic beamforming signals received by the photosensor, and to create an ultrasound image of at least a portion of the surrounding ultrasound-irradiated area adjacent to the medical device based on at least a portion of the multiple acoustic signals from the surrounding ultrasound-irradiated area received by the photosensor. In some embodiments, the processor is configured to present the position of the photosensor and the ultrasound image in real time, the ultrasound image of at least a portion of the surrounding ultrasound-irradiated area is combined with an image generated by the ultrasound array, and / or the photosensor comprises a fiber optic sensor.

[0083]

[0087] In some configurations, the system comprises a photosensor coupled to a needle and configured to receive multiple acoustic signals from a surrounding ultrasonic irradiation area, and a processor configured to generate an image of at least a portion of the surrounding ultrasonic irradiation area adjacent to the needle based on at least a portion of the multiple acoustic signals from the surrounding ultrasonic irradiation area received by the photosensor. In some embodiments, the photosensor is configured to receive multiple acoustic beamforming signals corresponding to multiple acoustic beamforming pulses emitted from an ultrasonic array, the processor is configured to determine the position of the photosensor based on at least a portion of the multiple acoustic beamforming signals received by the photosensor, the photosensor is coupled to the needle distally, the photosensor is placed on the needle for a diagnostic or therapeutic procedure and generates an image of at least a portion of the surrounding ultrasonic irradiation area in real time, the photosensor is arranged to detect changes in the polarization of light in response to multiple acoustic signals, the photosensor is configured to optically sense deformation of the photosensor material caused by acoustic beamforming signals incident on the photosensor, and / or the photosensor is arranged to amplify photomatter interactions.

[0084]

[0088] While some examples of methods and systems described herein are described in terms of software running on various machines such as processing system 200, methods and systems may be implemented as hardware specifically configured to perform various methods in accordance with this disclosure, such as a field-programmable gate array (FPGA). For example, examples can be implemented as digital electronic circuits, or as computer hardware, firmware, software, or a combination thereof. In one example, the device may include one or more processors. The processors consist of computer-readable media such as random access memory (RAM) coupled to the processor. The processors execute computer-executable program instructions stored in memory, such as executing one or more computer programs. Such processors may include microprocessors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), and state machines. Such processors may further include programmable electronic devices such as PLCs, programmable interrupt controllers (PICs), programmable logic devices (PLDs), programmable read-only memory (PROMs), electronically programmable read-only memory (EPROMs or EEPROMs), and other similar devices.

[0085]

[0089] Such a processor may include, or communicate with, one or more non-transient computer-readable media, which, when executed by the processor, can store processor-executable instructions that can be executed by the processor or that can be used to perform methods pursuant to this disclosure. Examples of non-transient computer-readable media may include, but are not limited to, electronic, optical, magnetic, or other storage devices that can provide processor-executable instructions to a processor, such as a web server processor. Other examples of non-transient computer-readable media include floppy disks, CD-ROMs, magnetic disks, memory chips, ROMs, RAMs, ASICs, configured processors, optical media, magnetic tapes or other magnetic media, or other media that a computer processor can read. The described processor and processing may reside in one or more structures or be distributed through one or more structures. The processor may include code that performs methods (or parts of methods) pursuant to this disclosure.

[0086]

[0090] The above description relating to some examples is provided for illustrative and descriptive purposes only and is not intended to be exhaustive or to limit the disclosure to the exact form it is disclosed in. Many modifications and adaptations will be apparent to those skilled in the art without departing from the spirit and scope of the invention.

[0087]

[0091] Where examples or embodiments are referred to in this specification, it means that certain features, structures, operations, or other characteristics described in relation to those examples may be included in at least one embodiment of this disclosure. This disclosure is not limited to any specific example or implementation described herein. Where the words “in one example” or “in one implementation” appear in different parts of this specification, they do not necessarily refer to the same example or implementation. Certain features, structures, operations, or other characteristics described in relation to one example or implementation in this specification may be combined with other features, structures, operations, or other characteristics described in relation to other examples or implementations.

[0088]

[0092] The use of the word "or" in this specification is intended to cover both inclusive and exclusive OR conditions. That is, A or B or C, depending on the specific use, includes any or all of the following alternative combinations: A only; B only; C only; A and B only; A and C only; B and C only; and A, B, and C.

Claims

1. The method involves receiving multiple acoustic beamforming signals using an optical sensor coupled to a medical device, wherein each acoustic beamforming signal corresponds to one of multiple acoustic beamforming pulses emitted from an ultrasonic transducer array. The processor determines the position of the optical sensor based on one or more of the multiple acoustic beamforming signals received by the optical sensor, A method that includes this.

2. The method according to claim 1, comprising generating an ultrasonic image based on an acoustic signal detected by an ultrasonic receiving array and the plurality of acoustic beamforming signals received by the optical sensor.

3. The method according to claim 1, comprising generating an ultrasonic image based on the plurality of acoustic beamforming signals received by the optical sensor.

4. The method according to claim 1, wherein the optical sensor includes a linear sensor, a point sensor, or both a linear sensor and a point sensor.

5. The method according to claim 1, wherein confirming the position of the light sensor includes triangulation of the position of the light sensor.

6. The method according to claim 1, wherein confirming the position of the optical sensor includes coherent image formation.

7. The method according to claim 1, comprising generating the position of the optical sensor in real time during ultrasonic treatment.

8. The method according to claim 1, wherein one or more sensors are coupled to the medical device, enabling the shape or orientation of the medical device to be generated in real time during ultrasonic treatment.

9. Based on the history of the position of the optical sensor confirmed based on the plurality of acoustic beamforming signals received by the optical sensor, the path of the optical sensor is traced. Displaying the path of the optical sensor during ultrasonic guided pretreatment, The method according to claim 1, including the method described in claim 1.

10. Based on the history of the position of the optical sensor confirmed based on the plurality of acoustic beamforming signals received by the optical sensor, the path of the optical sensor is projected during ultrasound-guided treatment. During the ultrasonic guided pretreatment, the projected path of the optical sensor is displayed, The method according to claim 9, including the method described in claim 9.

11. The aforementioned optical sensor is one of a plurality of optical sensors coupled to the medical device, The method according to claim 1, wherein the method includes calculating the orientation of the medical device based on the confirmed positions of the plurality of optical sensors.

12. An optical sensor coupled to a medical device and configured to receive multiple acoustic beamforming signals corresponding to multiple acoustic beamforming pulses emitted from an ultrasonic array, A processor configured to determine the position of the optical sensor based on at least a portion of the plurality of acoustic beamforming signals received by the optical sensor, A system equipped with these features.

13. The aforementioned optical sensor is configured to receive multiple acoustic signals from the surrounding ultrasonic irradiation area. The processor is configured to create an ultrasound image of at least a portion of the surrounding ultrasound-irradiated area adjacent to the medical device, based on at least a portion of the plurality of acoustic signals from the surrounding ultrasound-irradiated area received by the optical sensor. The system according to claim 12.

14. The system according to claim 12, wherein the optical sensor includes an optical fiber sensor.

15. The system according to claim 12, wherein the optical sensor is configured to optically sense deformation of the material of the optical sensor caused by the acoustic beamforming signal incident on the optical sensor.

16. The system according to claim 12, wherein when the acoustic beamforming signal is incident on the photosensor, the photosensor is configured to detect a change in the polarization of the light being guided within the photosensor.

17. A light sensor attached to a medical device, Multiple acoustic beamforming signals corresponding to multiple acoustic beamforming pulses emitted from an ultrasonic array, A light sensor configured to receive multiple acoustic signals from the surrounding ultrasonic irradiation area, It is a processor, Based on at least a portion of the plurality of acoustic beamforming signals received by the optical sensor, the position of the optical sensor is determined. A processor configured to create an ultrasound image of at least a portion of the surrounding ultrasound irradiation area adjacent to the medical device, based on at least a portion of the plurality of acoustic signals from the surrounding ultrasound irradiation area received by the optical sensor, A system equipped with these features.

18. The system according to claim 17, wherein the processor is configured to present the position of the optical sensor and the ultrasonic image in real time.

19. The system according to claim 17, wherein the ultrasonic image of at least a portion of the surrounding ultrasonic irradiation area is combined with the image generated by the ultrasonic array.

20. The system according to claim 17, wherein the optical sensor includes a fiber sensor.

21. A light sensor coupled to a needle and configured to receive multiple acoustic signals from the surrounding ultrasonic irradiation area, A processor configured to generate an image of at least a portion of the surrounding ultrasonic irradiation area adjacent to the needle, based on at least a portion of the plurality of acoustic signals from the surrounding ultrasonic irradiation area received by the optical sensor, A system for preparing.

22. The optical sensor is configured to receive multiple acoustic beamforming signals corresponding to multiple acoustic beamforming pulses emitted from an ultrasonic array. The processor is configured to determine the position of the optical sensor based on at least a portion of the plurality of acoustic beamforming signals received by the optical sensor. The system according to claim 21.

23. The system according to claim 21, wherein the optical sensor is coupled to the needle at the distal end of the needle.

24. The system according to claim 21, wherein the optical sensor is positioned on the needle for diagnostic or therapeutic purposes.

25. The system according to claim 21, wherein the image of at least a portion of the surrounding ultrasonic irradiation area is generated in real time.

26. The system according to claim 21, wherein the optical sensor is arranged to detect a change in the polarization of light in response to the plurality of acoustic signals.

27. The system according to claim 21, wherein the optical sensor is configured to optically sense the deformation of the material of the optical sensor caused by the acoustic beamforming signal incident on the optical sensor.

28. The system according to claim 21, wherein the photosensor is arranged to amplify photomatter interactions.

Images