Systems and methods for inerital sensor-assisted volume measurements in ultrasound imaging applications

Abstract

Provided herein are ultrasound imaging systems and methods of estimating a size / volume of an anatomical feature of a subject using an ultrasound imaging system. As described, the systems and methods combines automatic image segmentation through artificial intelligence with inertial measurement unit data to improve the accuracy of organ and tissue volume measurements. The systems and methods described herein can be applied to measure a number of different anatomical features (e.g., an organ, a tumor, a fluid region, a cyst, and / or an intraperitoneal hemorrhage), and cam assist in diagnosing conditions such as organ hypertrophy or atrophy.

Description

SYSTEMS AND METHODS FOR INERITAL SENSOR-ASSISTED VOLUME MEASUREMENTS IN ULTRASOUND IMAGING APPLICATIONSGovernment Interest

[0001] This invention was made with United States government support awarded by the United States Department of Health and Human Services under the grant number HHS / ASPR / BARDA 75A50120C00097. The United States has certain rights in this invention.Field of the Disclosure

[0002] The present disclosure relates generally to ultrasound imaging systems and techniques, and more specifically to systems and methods of quantifying the volume of anatomical features using ultrasound images.Background

[0003] Accurate measurement of tissue volume of various anatomical features (e.g., organs, tumors, fluid regions, etc.) is important in pathological decision making, enabling physicians to make informed diagnoses and treatment plans. For example, in oncology, determining the size and shape of a tumor is critical for staging cancers and assessing the tumor’s response to therapies. Similarly, in urology, the ability to accurately measure bladder volume is essential in diagnosing and monitoring various urological conditions, including urinary retention, overactive bladder, and urinary tract infections. Conventional approaches to tissue volume assessment have relied on subjective estimation, leading to potential inaccuracies and significant variability. However, safe, non-invasive, and cost effective imaging techniques for accurately measuring tissue volumes are lacking.

[0004] Ultrasound imaging is one imaging modality that enables healthcare professionals to non-invasively visualize and evaluate various types of anatomical features in real-time. Ultrasound imaging is generally safe for frequent use and allows for immediate assessment of conditions related to organs, soft tissues, blood flow, and more. Ultrasound imaging is also more cost- effective when compared with other imaging modalities, which makes it more accessible in various healthcare settings worldwide.Summary of the Disclosure

[0005] According to various aspects of the present disclosure, systems and methods for performing tissue volume measurements safely, non-invasively, and cost-effectively are provided by leveraging advancements in ultrasound imaging processing in conjunction with sensor data analysis. As a result, new systems and methods for making tissue volume estimations are disclosed that are more accurate than conventional approaches. Additionally, the systems and methods described herein can be applied to measure a number of different anatomical features (e.g., liver, kidneys, prostate, tumors, etc.) and assist in diagnosing conditions such as organ hypertrophy or atrophy.

[0006] According to an embodiment of the present disclosure, a method of estimating a volume of an anatomical feature of a subject is provided. The method may include: (i) obtaining ultrasound imaging data of the anatomical feature, wherein the ultrasound imaging data includes a plurality of B-mode images; (ii) obtaining acceleration data representative of the movement of an ultrasound probe while the ultrasound probe was generating the ultrasound imaging data; (iii) analyzing the acceleration data to determine two or more tilt angles associated with the ultrasound probe used to generate the ultrasound imaging data; (iv) segmenting the anatomical feature of the subject from a subset of the plurality of B-mode images; and (v) estimating a volume of the segmented anatomical feature from the subset of B-mode images based on the two or more tilt angles.

[0007] In an aspect, the ultrasound imaging data may be generated using an ultrasound probe.

[0008] In an aspect, the acceleration data may be generated using an inertial measurement unit coupled to the ultrasound probe.

[0009] In an aspect, the ultrasound imaging data may be generated by tilting the ultrasound probe positioned against the subject about a first fixed axis.

[0010] In an aspect, the two or more tilt angles may include an initial tilt angle that corresponds to a first B-mode image of the plurality of B-mode images where the anatomical feature first becomes visible when tilting the ultrasound probe about the first fixed axis, and a final tilt angle that corresponds to a second B-mode image of the plurality of B-mode images where the anatomical feature is last visible when tilting the ultrasound probe about the first fixed axis.

[0011] In an aspect, the two or more tilt angles may include one or more intermediate tilt angles, each intermediate tilt angle corresponding to an intermediate B-mode image collected when tilting the ultrasound probe between the initial tilt angle and the final tilt angle.

[0012] In an aspect, the subset of the plurality of B-mode images may include the first B-mode image where the anatomical feature first becomes visible when tilting the ultrasound probe about the first fixed axis, the second B-mode image where the anatomical feature is last visible when tilting the ultrasound probe about the first fixed axis, and each of the intermediate B-mode images collected when tilting the ultrasound probe between the initial tilt angle and the final tilt angle.

[0013] In an aspect, the volume of the segmented anatomical feature may be determined based on the B-mode images taken at the initial tilt angle, the final tilt angle, and the intermediate tilt angles.

[0014] In an aspect, from about 1 to about 10 intermediate B-mode images may be used in estimating the volume of the anatomical feature.

[0015] In an aspect, the anatomical feature may be at least one of an organ, a tumor, a fluid region, a cyst, and / or an intraperitoneal hemorrhage.

[0016] According to another embodiment of the present disclosure, an ultrasound imaging system is provided. The system may include: an ultrasound imaging probe configured to generate ultrasound imaging data of a subject including a plurality of B-mode images of the subject; an inertial measurement unit coupled with the ultrasound imaging probe, wherein the inertial measurement unit is configured to generate acceleration data representative of the movement of the ultrasound probe while the ultrasound probe generates ultrasound imaging data; a computer- readable storage medium having stored thereon computer-readable instructions; and one or more processors in communication with the ultrasound imaging probe, the inertial measurement unit, and the computer-readable storage medium. In an aspect, the one or more processors may be configured by the computer-readable instructions stored on the computer-readable storage medium to perform the following operations: (i) obtain, using the ultrasound imaging probe, ultrasound imaging data of an anatomical feature of a subject, wherein the ultrasound imaging data includes a plurality of B-mode images; (ii) obtain, using the inertial measurement unit, acceleration data representative of the movement of an ultrasound probe while the ultrasound probe was generating the ultrasound imaging data; (iii) analyze the acceleration data to determine two or more tilt angles associated with the ultrasound probe used to generate the ultrasound imaging data; (iv) segmentthe anatomical feature of the subject from a subset of the plurality of B-mode images; and (v) estimate a volume of the segmented anatomical feature from the subset of B-mode images based on the two or more tilt angles.

[0017] In an aspect, the ultrasound imaging data may be generated by tilting the ultrasound probe positioned against the subject about a first fixed axis.

[0018] In an aspect, the two or more tilt angles may include an initial tilt angle that corresponds to a first B-mode image of the plurality of B-mode images where the anatomical feature first becomes visible when tilting the ultrasound probe about the first fixed axis, and a final tilt angle that corresponds to a second B-mode image of the plurality of B-mode images where the anatomical feature is last visible when tilting the ultrasound probe about the first fixed axis.

[0019] In an aspect, the anatomical feature may be at least one of an organ, a tumor, a fluid region, a cyst, and / or an intraperitoneal hemorrhage.

[0020] According to yet another embodiment of the present disclosure, a computer program product is provided. The computer program product may include a computer-readable storage medium having stored thereon computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform the following operations: (i) obtain, using the ultrasound imaging probe, ultrasound imaging data of an anatomical feature of a subject, wherein the ultrasound imaging data includes a plurality of B-mode images; (ii) obtain, using the inertial measurement unit, acceleration data representative of the movement of an ultrasound probe while the ultrasound probe was generating the ultrasound imaging data; (iii) analyze the acceleration data to determine two or more tilt angles associated with the ultrasound probe used to generate the ultrasound imaging data; (iv) segment the anatomical feature of the subject from a subset of the plurality of B-mode images; and (v) estimate a volume of the segmented anatomical feature from the subset of B-mode images based on the two or more tilt angles.

[0021] These and other aspects of the various embodiments will be apparent from and elucidated with reference to the embodiments described hereinafter.Brief Description of the Drawings

[0022] In the drawings, like reference characters generally refer to the same parts throughout the different views. Also, the drawings are not necessarily to scale, emphasis instead generally being placed upon illustrating the principles of the various embodiments.

[0023] FIG. 1 is a flowchart illustrating a method of estimating a volume of an anatomical feature of a subject in accordance with aspects of the present disclosure.

[0024] FIG. 2A is a front-view illustration of an ultrasound imaging probe shown on a coordinate system in accordance with aspects of the present disclosure.

[0025] FIG. 2B is a side-view illustration of an ultrasound imaging probe shown on a coordinate system in accordance with further aspects of the present disclosure.

[0026] FIG. 3A is another side-view illustration of an ultrasound imaging probe shown on a coordinate system in accordance with further aspects of the present disclosure.

[0027] FIG. 3B is a side-view illustration of an ultrasound imaging probe having been tilted in accordance with aspects of the present disclosure.

[0028] FIG. 4 is a side-view illustration of the tilting operation of an ultrasound probe in accordance with aspects of the present disclosure.

[0029] FIG. 5 is an illustration showing certain acceleration data used in determining tilt angles in accordance with aspects of the present disclosure.

[0030] FIG. 6 is another side-view illustration of the tilting operation of an ultrasound probe in accordance with further aspects of the present disclosure.

[0031] FIG. 7A is a representative illustration of a B-mode image collected at a first tilt angle in accordance with aspects of the present disclosure.

[0032] FIG. 7B is a representative illustration of another B-mode image collected at a second tilt angle in accordance with aspects of the present disclosure.

[0033] FIG. 7C is a representative illustration of still another B-mode image collected at a third tilt angle in accordance with aspects of the present disclosure.

[0034] FIG. 7D is a representative illustration of yet another B-mode image collected at a fourth tilt angle in accordance with aspects of the present disclosure.

[0035] FIG. 8 is an illustration showing the reconstruction and volume estimation of an anatomical feature in accordance with aspects of the present disclosure.

[0036] FIG. 9 is a block diagram illustrating an ultrasound imaging system in accordance with aspects of the present disclosure.Detailed Description of Embodiments

[0037] In accordance with various aspects of the present disclosure, systems and methods for performing inertial sensor-assisted volume measurements in ultrasound imaging applications are described. Because ultrasound imaging is non-invasive and provides real-time information, the systems and methods are not only safe for frequent use but also provide a cost-effective technique for accurately measuring tissue volumes of anatomical features, which makes it more accessible in various healthcare settings worldwide. Additionally, in various aspects, the automated systems and methods provided herein not only aid physicians in decision-making for diagnosis and treatment plans, but also significantly enhance the confidence of novices in measuring organ volume. By using acceleration data in conjunction with image segmentation through artificial intelligence algorithms, the systems and methods described herein provide high accuracy that instills confidence without the need for manual intervention.

[0038] With reference to FIG. 1, a method 100 of estimating a volume of an anatomical feature of a subject is illustrated according to certain aspects of the present disclosure. In embodiments, the method 100 can include: in a step 110, obtaining ultrasound imaging data of the anatomical feature, wherein the ultrasound imaging data includes a plurality of B-mode images; in a step 120, obtaining acceleration data representative of the movement of an ultrasound probe while the ultrasound probe was generating the ultrasound imaging data; in a step 130, analyzing the acceleration data to determine two or more tilt angles associated with the ultrasound probe used to generate the ultrasound imaging data; in a step 140, segmenting the anatomical feature of the subject from a subset of the plurality of B-mode images; and in a step 150, estimating a volume of the segmented anatomical feature from the subset of B-mode images based on the two or more tilt angles.

[0039] As described herein, the ultrasound imaging data may be obtained from an ultrasound probe while the acceleration data may be obtained from an inertial measurement unit (IMU) coupled to the ultrasound probe. Thus, in embodiments, the steps 110, 120 can include directly receiving ultrasound imaging data and acceleration data from the ultrasound probe and the IMU coupled to the ultrasound probe. In other words, the ultrasound imaging data and acceleration data may be obtained in real-time. However, it is contemplated that the ultrasound imaging data and acceleration data may be generated by an ultrasound probe and an IMU coupled to the ultrasound probe and then stored in a computer-readable storage device (e.g., a server maintaining anelectronic medical records database, etc.). Thus, in some embodiments, the steps 110, 120 can include receiving ultrasound imaging data and acceleration data from a storage device some time after the ultrasound imaging data and acceleration data were generated by the ultrasound probe and the IMU coupled to the ultrasound probe.

[0040] According to further aspects of the present disclosure, the ultrasound imaging data and the acceleration data may be generated by operating the ultrasound probe in a particular way. For example, the ultrasound probe may be used to generate the desired ultrasound imaging data by positioning the ultrasound probe against the subject and rotating / tilting the probe about at least a first fixed axis. In embodiments, the ultrasound probe may be rotated or tilted about the first fixed axis without rotating or moving the ultrasound probe in one or more other axes.

[0041] For example, with reference to FIGS. 2A-2B and 3A-3B, aspects of the ultrasound probe 200 and its operation are illustrated in accordance with aspects of the present disclosure. Turning to FIGS. 2A and 2B, a front view (FIG. 2A) of an ultrasound probe 200 and a side view (FIG. 2B) are illustrated in accordance with certain aspects of the present disclosure. The ultrasound probe 200 generally includes a body 202 where an acoustic lens and ultrasound wave generating element (such as one or more piezoelectric transducers) reside. The ultrasound probe 200 can also include a handle 204. In embodiments, the inertial measurement unit (IMU) 206 may be located internally within the ultrasound probe 200, such as within the handle 204 of the probe 200 as shown in FIGS. 2A and 2B. In other embodiments, the IMU 206 may be reversibly or irreversibly coupled to the outside of the housing of the probe 200 and / or probe handle 204.

[0042] Turning to FIGS. 3A and 3B, certain aspects of a tilting scan performed in accordance with the present disclosure are illustrated. In the example of FIG. 3 A, a side view of the ultrasound probe 200 is shown in an upright position (i.e., 0° tilt). In the example of FIG. 3B, a side view of the ultrasound probe 200 is shown having been tilted / rotated a certain amount (i.e., 0) about the x-axis. As described herein, a tilting scan may be performed over a range of tilt angles (0) relative to the centerline (i.e., z-axis). For example, in some embodiments, a narrow tilting scan may be performed to image a relatively small anatomical structure by tilting the ultrasound probe 200 from about -10° to about +10°. In other embodiments, a wide tilting scan may be performed to image a relatively large anatomical structure by tilting the ultrasound probe 200 from about -80° to about +80°. However, it should be appreciated that tilting scans using various combinations of tilt angles(0) within these ranges can be used (e.g., from about -10° to about +80°, from about -80° to +10°, from about -30° to about +30°, etc.).

[0043] In embodiments, one or more sets of ultrasound imaging data and the acceleration data may be generated using the ultrasound probe 200 and IMU 206 by placing the ultrasound probe against the subject in a fixed location and rotating / tilting the ultrasound probe 200 about one or more fixed axes. Thus, in embodiments, after generating a first set of ultrasound imaging data and a first set of acceleration data by tilting the ultrasound probe 200 in a first axis, the ultrasound probe 200 may be rotated (e.g., about the z-axis), and then a second set of ultrasound imaging data and a second set of acceleration data may be generated by tilting the ultrasound probe 200 in a second axis different from the first axis. In embodiments, this process of tilting the ultrasound probe 200 in a fixed axis, rotating the probe 200, and tilting the probe 200 in a new fixed axis may be repeated one or more times to generate multiple sets of ultrasound imaging data and acceleration data. In other words, the ultrasound imaging data (obtained through one or more tilting scanning) can include a plurality of B-mode ultrasound images. However, it should be appreciated that accurate measurements of the anatomical feature may be calculated based on just one set of ultrasound imaging data and one set of acceleration data.

[0044] In particular embodiments, sensor data is also generated by an inertial measurement unit (IMU) 206 coupled to the ultrasound probe 200 while each of the tilting scans are performed. As described herein, the IMU 206 can comprise one or more accelerometers, gyroscopes, and / or magnetometers. In embodiments, sensor data from each of these components may be utilized to determine the position / orientation and movement of the ultrasound probe 200. In particular embodiments, the position / orientation and movement of the ultrasound probe 200 may be determined based solely on the sensor data from the accelerometers. That is, the acceleration data generated by the IMU 206 coupled to the probe 200 may be analyzed (e.g., in a step 130 of the method 100) to determine the position / orientation and movement of the ultrasound probe 200, including but not limited to one or multiple tilt angles.

[0045] More specifically, in the step 130, the method 100 can include analyzing at least the acceleration data to determine two or more tilt angles associated with the ultrasound probe 200 used to generate the ultrasound imaging data. In embodiments, these tilt angles can include an initial tilt angle that corresponds to a first B-mode image of the plurality of B-mode images where the anatomical feature first becomes visible when tilting the ultrasound probe 200 about one ormore fixed axes. In further embodiments, these tilt angles can also include a final tilt angle that corresponds to a second B-mode image of the plurality of B-mode images where the anatomical feature is last visible when tilting the ultrasound probe 200 about one or more fixes axes.

[0046] For example, with reference to FIG. 4, a tilting operation of an ultrasound probe 200 is illustrated in accordance with aspects of the present disclosure. As shown, the ultrasound probe 200 is positioned against a subject 401 (partially illustrated) such that an anatomical feature 403 is generally within the scanning field of the probe 200. The ultrasound probe 200 is tilted about the x-axis from a first (initial) probe position 405A and a second (final) probe position 405D. As the ultrasound probe 200 is tilted, the imaging plane shifts from a first imaging plane 407A to a second imaging plane 407D. At the first probe position 405 A, the probe 200 can have an initial tilt angle where the anatomical feature 403 first becomes visible within the imaging plane 407A. Similarly, at the second probe position 407D, the probe 200 can have a final tilt angle where the anatomical feature 403 is last visible when tilting the ultrasound probe 200.

[0047] With reference to FIG. 5, acceleration data 501 A-B, 503 A-B collected via an IMU 206 is illustrated and used to determine tilt angle 0. In particular, an accelerometer sensor mounted in the probe 200 as part of an IMU 206 measures the acceleration forces along multiple axes during the tilting operation. In embodiments, the accelerometer may have three axes (e.g., X, Y, and Z), where each axis corresponds to a specific direction of movement. As shown in the example of FIG. 5, when the probe 200 is moved and positioned differently, the IMU 206 generates unique signals for each axis that reflect the varying orientation of the sensor. Because each tilting operation of the probe 200 is generally restricted in one axis, this enables the detection of changes in the tilt angle / orientation of the probe 200 and allows for accurate mapping of the probe’s tilt angle / orientation in relation to the subject 401.

[0048] In addition to collecting an initial B-mode image corresponding to an initial tilt angle / position 405A and a final B-mode image corresponding to a final tilt angle / position 405D, the tilting scan may also include collecting one or more intermediate B-mode images corresponding to one or more intermediate tilt angles / positions between the initial and the final angle / position 405A, 405D. The sensor data (e.g., acceleration data) generated by the IMU 206 can also be analyzed to determine these intermediate tilt angles.

[0049] For example, with reference to FIG. 6, the plurality of B-mode images of the ultrasound imaging data can include the first B-mode image from a first tilt angle 405A where the anatomicalfeature 403 first becomes visible when tilting the ultrasound probe 200 about the first fixed axis, the second B-mode image from a second tilt angle 405D where the anatomical feature 403 is last visible when tilting the ultrasound probe 200 about the first fixed axis, and one or more the intermediate B-mode images from one or more intermediate tilt angles collected when tilting the ultrasound probe 200 between the initial tilt angle / position 405A and the final tilt angle / position 405D. In the step 130 of the method 100, the acceleration data generated by the IMU 206 coupled to the probe 200 may also be analyzed to determine one or more of these intermediate tilt angles

[0050] With reference to FIGS. 7A-D, illustrative B-mode images 701 A-D obtained at the four imaging planes 407A-D are shown in order moving from left to right (i.e., the initial position 405 A to the final position 405D shown in FIG. 6). As shown in FIG. 7A, the ultrasound image 701A is taken along ultrasound imaging plane 407A at a tilt angle (e.g., approximately +30°) where the anatomical feature 403 first becomes visible in the B-mode image 701 A. As shown in FIG. 7B, the tilt angle is reduced (to approximately +10°, for example) as the ultrasound probe 200 is tilted towards the final position 405D, thereby generating an ultrasound image 701B that captures the anatomical feature 403 across an intermediary plane 407B. As shown in FIG. 7C, the tilt angle is further changed (to approximately -15°, for example) as the ultrasound probe 200 is tilted towards the final position 405D, thereby generating an ultrasound image 701 C that captures the anatomical feature 403 across another intermediary plane 407C. As shown in FIG. 7D, the tilt angle is still further changed (to approximately -30°, for example) as the ultrasound probe 200 reaches its final position 405D, thereby generating an ultrasound image 701D that captures where the anatomical feature 403 is last visible when tilting the ultrasound probe 200 in the same axis.

[0051] It should be appreciated that the ultrasound imaging data generated by the ultrasound imaging probe 200 can also include depth information. That is, the depth information can include the ultrasound imaging depth, which is how far into the body the probe 200 can scan. The depth information available in a given B-mode ultrasound image (e.g., images 701 A-D) is ascertainable based on the settings of the ultrasound probe 200. By leveraging the know depth of the collected ultrasound image (e.g., images 701 A-D), it is possible to calculate the depth of each point in the ultrasound image (and thereby calculate the size / area of the anatomical feature 403 in each of the B-mode images). As shown in FIGS. 7A-D, the depth information can be measured in millimeters or centimeters, and generally range from about 0 cm to about 12 cm, depending on the settings of the probe 200.

[0052] With further reference to FIG. 1, the method 100 can also include, in a step 140, segmenting the anatomical feature 403 of the subject 401. As described herein, segmenting a feature of an image involves processing the image to locate and distinguish the desired feature and its boundaries from the rest of the image. In the context of the present disclosure, segmenting the anatomical feature 403 involves processing the B-mode images of the ultrasound imaging data to locate / identify the anatomical feature 403 and its boundaries. In embodiments, the output of the segmentation operation can include, for example, a series of coordinates representing the precise boundaries of the anatomical feature 403 in each of one or more B-mode images.

[0053] In embodiments, a variety of techniques may be utilized in the step 140 to automatically segment the anatomical feature 403. For example, in particular embodiments, one or more trained artificial intelligence (Al) algorithms may be used for image segmentation. These Al algorithms can include, but are not limited to, neural networks, convolutional neural networks (CNN), and / or the like.

[0054] In embodiments, the step 140 can include segmenting the anatomical feature 403 of the subject 401 from a subset of the plurality of B-mode images obtained. In other words, only select B-mode images contained in the ultrasound imaging data obtained (in step 110) may be needed to segment the anatomical feature 403. In some embodiments, the subset of B-mode images used to segment the anatomical feature 403 may be based on the tilt angles determined from the acceleration data. For example, in particular embodiments, the subset of B-mode images may include the B-mode images collected between the initial tilt angle of the ultrasound probe 200 and the final tilt angle of the ultrasound probe 200.

[0055] In specific embodiments, the subset of B-mode images may include only select B-mode images collected between the initial tilt angle of the ultrasound probe 200 and the final tilt angle of the ultrasound probe 200. For example, the subset of B-mode images may include only the B- mode images corresponding to the intermediate tilt angles calculated for the particular tilting scan. More specifically, in particular embodiments, the subset of B-mode images includes the first B- mode image (e.g., image 701 A) where the anatomical feature 403 first becomes visible when tilting the ultrasound probe 200 about the first fixed axis, the second B-mode image (e.g., image 701D) where the anatomical feature 403 is last visible when tilting the ultrasound probe 200 about the first fixed axis, and one or more intermediate B-mode images (e.g., images 701B, 701C) collectedwhen tilting the ultrasound probe 200 between the initial tilt angle 405A and the final tilt angle 405D.

[0056] Accordingly, the methods (e.g., method 100) described herein do not require an intermediate B-mode image for every possible imaging plane between the initial position 405A and the final position 405D. In particular embodiments, the number of intermediate B-mode images used to estimate the size / volume of the anatomical feature 403 may depend on the range of the tilting scan (i.e., the difference between the initial position 405 A and the final position 405D). For example, in some embodiments, only one or two intermediate B-mode images may be used when a narrow tilting scan is performed, whereas two or more intermediate B-mode images may be used when a wider tilting scan is performed. In specific embodiments, the number of intermediate B-mode images used to estimate the size / volume of the anatomical feature 403 can be at most from 1 to 10 images, including 1 intermediate B-mode image, 2 intermediate B-mode images, 3 intermediate B-mode images, 4 intermediate B-mode images, 5 intermediate B-mode images, 6 intermediate B-mode images, 7 intermediate B-mode images, 8 intermediate B-mode images, 9 intermediate B-mode images, and 10 intermediate B-mode images, including ranges having any combination of endpoints thereof.

[0057] With further reference to FIG. 1, the method 100 can then include, in a step 150, estimating a size and / or volume of the segmented anatomical feature 403 from the subset of B- mode images based on the tilt angles determined for the ultrasound probe 200. That is, in the step 150, the segmentation, angle information, and depth of the segment anatomical feature 403 are combined to accurately calculate the size and / or volume of the anatomical feature 403. As such, by leveraging the known depth of the collected ultrasound images, the depth of each point within the ultrasound images can be determined and thereby enables the precise calculation of the spatial location and depth of the anatomical feature 403 within the subset of B-mode images. As shown in FIG. 8, the anatomical feature 403 can then be reconstructed from a minimum number of B- mode images, which enables accurate size / volume measurements.

[0058] Also described herein are ultrasound imaging systems comprising: (i) an ultrasound imaging probe 200 configured to generate ultrasound imaging data of a subject 401 including a plurality of B-mode images of the subject 401; (ii) an inertial measurement unit 206 coupled with the ultrasound imaging probe 200, wherein the inertial measurement unit 206 is configured to generate acceleration data representative of the movement of the ultrasound probe 200 while theultrasound probe 200 generates ultrasound imaging data; (iii) a computer-readable storage medium 904 having stored thereon computer-readable instructions 922; and (iv) one or more processors 902 in communication with the ultrasound imaging probe 200, the inertial measurement unit 206, and the computer-readable storage medium 904, wherein the one or more processors 902 are configured by the computer-readable instructions 922 stored on the computer-readable storage medium 904 to perform the following operations: (i) obtain, using the ultrasound imaging probe 200, ultrasound imaging data of an anatomical feature 403 of a subject 401, wherein the ultrasound imaging data includes a plurality of B-mode images; (ii) obtain, using the inertial measurement unit 206, acceleration data representative of the movement of an ultrasound probe 200 while the ultrasound probe 200 was generating the ultrasound imaging data; (iii) analyze the acceleration data to determine two or more tilt angles associated with the ultrasound probe 200 used to generate the ultrasound imaging data; (iv) segment the anatomical feature 403 of the subject 401 from a subset of the plurality of B-mode images; and (v) estimate a volume of the segmented anatomical feature 403 from the subset of B-mode images based on the two or more tilt angles.

[0059] More specifically, as shown in the example of FIG. 9, the ultrasound imaging system 900 can include one or more processors 902 and a computer-readable memory 904 interconnected and / or in communication via a system bus 906 containing conductive circuit pathways through which instructions (e.g., machine-readable signals) may travel to effectuate communication, tasks, storage, and the like. The ultrasound imaging system 900 can be connected to a power source (not shown), which can include an internal power supply and / or an external power supply. In embodiments, the ultrasound imaging system 900 can also include one or more additional components, such as a user interface 908, a display 910, an input / output (I / O) interface 912, a networking unit 914, and the like, including combinations thereof. As shown, each of these components may be interconnected and / or in communication via the system bus 906, for example.

[0060] In embodiments, the one or more processors 902 can include one or more high-speed data processors adequate to execute the program components described herein and / or perform one or more operations of the methods described herein. The one or more processors 902 may include a microprocessor, a multi-core processor, a multithreaded processor, an ultra-low voltage processor, an embedded processor, and / or the like, including combinations thereof. The one or more processors 902 can include multiple processor cores on a single die and / or may be a part of a system on a chip (SoC) in which the processor 902 and other components are formed into a singleintegrated circuit, or a single package. That is, the one or more processors 902 may be a single processor, multiple independent processors, or multiple processor cores on a single die.

[0061] In embodiments, the user interface 908 may be configured to receive various forms of input from a user associated with the ultrasound imaging system 900. The user interface 908 can include, but is not limited to, one or more of a keyboard, keypad, trackpad, trackball(s), capacitive keyboard, controller (e.g., a gaming controller), computer mouse, computer stylus / pen, a voice input device, and / or the like, including combinations thereof.

[0062] In embodiments, the display device 910 may be configured to display information, including text, graphs, and / or the like. In particular embodiments, the display device 910 may be configured to display one or more ultrasound images, such as B-mode images. The display device 910 can include, but is not limited to, a liquid crystal display (LCD), a light-emitting diode (LED) display, a touch screen or other touch-enabled display, a foldable display, a projection display, and so on, or combinations thereof.

[0063] In embodiments, the input / output (I / O) interface 912 may be configured to connect and / or enable communication with one or more peripheral devices, including the ultrasound probe 200 and the inertial measurement unit 206. The peripheral devices can also include, but is not limited to, additional machine-readable memory devices, diagnostic equipment, and other attachable devices. The I / O interface 912 may include one or more I / O ports that provide a physical connection to the one or more peripheral devices. In some embodiments, the I / O interface 912 may include one or more serial ports.

[0064] In embodiments, the networking unit 914 may include one or more types of networking interfaces that facilitate wired and / or wireless communication between the ultrasound imaging system 900 and one or more external devices. That is, the networking unit 914 may operatively connect the ultrasound imaging system 900 to one or more types of communications networks 916, which can include a direction interconnection, the Internet, a local area network (“LAN”), a metropolitan area network (“MAN”), a wide area network (“WAN”), a wired or Ethernet connection, a wireless connection, a cellular network, and similar types of communications networks, including combinations thereof. In some embodiments, the ultrasound imaging system 900 may communicate with one or more remote / cloud-based servers and / or cloud-based services, such as a remote server 918 storing ultrasound imaging data and / or acceleration data in a patient database (e.g., an electronic medical records database), via the communications network 916.

[0065] In embodiments, the memory 904 can be variously embodied in one or more forms of machine accessible and machine-readable memory. In some embodiments, the memory 904 includes a storage device (not shown), which can include, but is not limited to, a non-transitory storage medium, a magnetic disk storage, an optical disk storage, an array of storage devices, a solid-state memory device, and / or the like, as well as combinations thereof. The memory 904 may also include one or more other types of memory, such as dynamic random-access memory (DRAM), static random-access memory (SRAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), Flash memory, and / or the like, as well as combinations thereof. In embodiments, the memory 904 may include one or more types of transitory and / or non-transitory memory.

[0066] The ultrasound imaging system 900 can be configured by software components stored in the memory 904 to perform one or more processes of the methods described herein. More specifically, the memory 904 can be configured to store data / information 920 and computer- readable instructions 922 that, when executed by the one or more processors 902, causes the ultrasound imaging system 900 to perform one or more operations of the methods described herein. Such data 920 and the computer-readable instructions 922 stored in the memory 904 may form an inertial sensor-assisted volume measurement package 924 that may be incorporated into, loaded from, loaded onto, or otherwise operatively available to and from the ultrasound imaging system 900. Thus, in some embodiments, the inertial sensor-assisted volume measurement package 924 and / or one or more individual software packages may be stored in a local storage device of the memory 904. However, in other embodiments, the inertial sensor-assisted volume measurement package 924 and / or one or more individual software packages may be loaded onto and / or updated from a remote server or service, such as server 918, via the communications network 916.

[0067] The ultrasound imaging system 900 may also include an operating system component 926, which may be stored in the memory 904. The operating system component 924 may be an executable program facilitating the operation of the ultrasound imaging system 900. Typically, the operating system component 926 can facilitate access of the I / O interface 912, network interface 914, the user interface 908, and the display 910, and can communicate or control other components of the ultrasound imaging system 900.

[0068] Accordingly, also provided herein is a computer program product 924 comprising a non-transitory computer-readable storage medium 904 having stored thereon computer-readableinstructions 922 that, when executed by one or more processors (such as processors 902), cause the one or more processors to perform one or more operations of the methods described above.

[0069] For example, in specific embodiments, the computer-readable storage medium 904 may include computer-readable instructions 922 that, when executed by one or more processors (such as processors 902), cause the one or more processors to perform a method for estimating a volume of an anatomical feature of a subject in accordance with the various aspects described herein. More particularly, the computer-readable storage medium 904 may include computer- readable instructions 922 that, when executed by one or more processors (such as processors 902), cause the one or more processors to perform the following operations: (i) obtain, using the ultrasound imaging probe, ultrasound imaging data of an anatomical feature of a subject, wherein the ultrasound imaging data includes a plurality of B-mode images; (ii) obtain, using the inertial measurement unit, acceleration data representative of the movement of an ultrasound probe while the ultrasound probe was generating the ultrasound imaging data; (iii) analyze the acceleration data to determine two or more tilt angles associated with the ultrasound probe used to generate the ultrasound imaging data; (iv) segment the anatomical feature of the subject from a subset of the plurality of B-mode images; and (v) estimate a volume of the segmented anatomical feature from the subset of B-mode images based on the two or more tilt angles.

[0070] It should be appreciated that all combinations of the foregoing concepts and additional concepts discussed in greater detail below (provided such concepts are not mutually inconsistent) are contemplated as being part of the inventive subject matter disclosed herein. In particular, all combinations of claimed subject matter appearing at the end of this disclosure are contemplated as being part of the inventive subject matter disclosed herein. It should also be appreciated that terminology explicitly employed herein that also may appear in any disclosure incorporated by reference should be accorded a meaning most consistent with the particular concepts disclosed herein.

[0071] All definitions, as defined and used herein, should be understood to control over dictionary definitions, definitions in documents incorporated by reference, and / or ordinary meanings of the defined terms.

[0072] The indefinite articles “a” and “an,” as used herein in the specification and in the claims, unless clearly indicated to the contrary, should be understood to mean “at least one.”

[0073] The phrase “and / or,” as used herein in the specification and in the claims, should be understood to mean “either or both” of the elements so conjoined, i.e., elements that are conjunctively present in some cases and disjunctively present in other cases. Multiple elements listed with “and / or” should be construed in the same fashion, i.e., “one or more” of the elements so conjoined. Other elements may optionally be present other than the elements specifically identified by the “and / or” clause, whether related or unrelated to those elements specifically identified.

[0074] As used herein in the specification 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” shall be interpreted as being inclusive, i.e., the inclusion of at least one, but also including more than one, of a number or list of elements, and, optionally, additional unlisted items. Only terms clearly indicated to the contrary, such as “only one of’ or “exactly one of,” or, when used in the claims, “consisting of,” will refer to the inclusion of exactly one element of a number or list of elements. In general, the term “or” as used herein shall only be interpreted as indicating exclusive alternatives (i.e. “one or the other but not both”) when preceded by terms of exclusivity, such as “either,” “one of,” “only one of,” or “exactly one of.”

[0075] As used herein in the specification and in the claims, the phrase “at least one,” in reference to a list of one or more elements, should be understood to mean at least one element selected from any one or more of the elements in the list of elements, but not necessarily including at least one of each and every element specifically listed within the list of elements and not excluding any combinations of elements in the list of elements. This definition also allows that elements may optionally be present other than the elements specifically identified within the list of elements to which the phrase “at least one” refers, whether related or unrelated to those elements specifically identified.

[0076] As used herein, although the terms first, second, third, etc. may be used herein to describe various elements or components, these elements or components should not be limited by these terms. These terms are only used to distinguish one element or component from another element or component. Thus, a first element or component discussed below could be termed a second element or component without departing from the teachings of the inventive concept.

[0077] Unless otherwise noted, when an element or component is said to be “connected to,” “coupled to,” or “adjacent to” another element or component, it will be understood that the elementor component can be directly connected or coupled to the other element or component, or intervening elements or components may be present. That is, these and similar terms encompass cases where one or more intermediate elements or components may be employed to connect two elements or components. However, when an element or component is said to be “directly connected” to another element or component, this encompasses only cases where the two elements or components are connected to each other without any intermediate or intervening elements or components.

[0078] In the claims, as well as in the specification above, all transitional phrases such as “comprising,” “including,” “carrying,” “having,” “containing,” “involving,” “holding,” “composed of,” and the like are to be understood to be open-ended, i.e., to mean including but not limited to. Only the transitional phrases “consisting of’ and “consisting essentially of’ shall be closed or semi-closed transitional phrases, respectively.

[0079] It should also be understood that, unless clearly indicated to the contrary, in any methods claimed herein that include more than one step or act, the order of the steps or acts of the method is not necessarily limited to the order in which the steps or acts of the method are recited.

[0080] The above-described examples of the described subject matter can be implemented in any of numerous ways. For example, some aspects can be implemented using hardware, software or a combination thereof. When any aspect is implemented at least in part in software, the software code can be executed on any suitable processor or collection of processors, whether provided in a single device or computer or distributed among multiple devices / computers.

[0081] The present disclosure can be implemented as a system, a method, and / or a computer program product at any possible technical detail level of integration. The computer program product can include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present disclosure.

[0082] The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium comprises the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasableprogrammable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0083] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0084] Computer readable program instructions for carrying out operations of the present disclosure can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, configuration data for integrated circuitry, or either source code or object code written in any combination of one or more programming languages, comprising an object oriented programming language such as Smalltalk, C++, or the like, and procedural programming languages, such as the “C” programming language or similar programming languages. The computer readable program instructions can execute entirely on the user’s computer, partly on the user’s computer, as a standalone software package, partly on the user’s computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, comprising a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some examples, electronic circuitry comprising, for example, programmable logic circuitry, field-programmable gate arrays (FPGA),or programmable logic arrays (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present disclosure.

[0085] Aspects of the present disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to examples of the disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer readable program instructions.

[0086] The computer readable program instructions can be provided to a processor of a, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can direct a computer, a programmable data processing apparatus, and / or other devices to function in a particular manner, such that the computer readable storage medium having instructions stored therein comprises an article of manufacture comprising instructions which implement aspects of the function / act specified in the flowchart and / or block diagram or blocks.

[0087] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0088] The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various examples of the present disclosure. In this regard, each block in the flowchart or block diagrams can represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the blocks canoccur out of the order noted in the Figures. For example, two blocks shown in succession can, in fact, be executed substantially concurrently, or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustration, and combinations of blocks in the block diagrams and / or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions.

[0089] Other implementations are within the scope of the following claims and other claims to which the applicant can be entitled.

[0090] While several inventive embodiments have been described and illustrated herein, those of ordinary skill in the art will readily envision a variety of other means and / or structures for performing the function and / or obtaining the results and / or one or more of the advantages described herein, and each of such variations and / or modifications is deemed to be within the scope of the inventive embodiments described herein. More generally, those skilled in the art will readily appreciate that all parameters, dimensions, materials, and configurations described herein are meant to be exemplary and that the actual parameters, dimensions, materials, and / or configurations will depend upon the specific application or applications for which the inventive teachings is / are used. Those skilled in the art will recognize, or be able to ascertain using no more than routine experimentation, many equivalents to the specific inventive embodiments described herein. It is, therefore, to be understood that the foregoing embodiments are presented by way of example only and that, within the scope of the appended claims and equivalents thereto, inventive embodiments may be practiced otherwise than as specifically described and claimed. Inventive embodiments of the present disclosure are directed to each individual feature, system, article, material, kit, and / or method described herein. In addition, any combination of two or more such features, systems, articles, materials, kits, and / or methods, if such features, systems, articles, materials, kits, and / or methods are not mutually inconsistent, is included within the inventive scope of the present disclosure.

Claims

ClaimsWhat is claimed is:

1. A method (100) of estimating a volume of an anatomical feature of a subject, the method comprising: obtaining (110) ultrasound imaging data of the anatomical feature, wherein the ultrasound imaging data includes a plurality of B-mode images; obtaining (120) acceleration data representative of the movement of an ultrasound probe while the ultrasound probe was generating the ultrasound imaging data; analyzing (130) the acceleration data to determine two or more tilt angles associated with the ultrasound probe used to generate the ultrasound imaging data; segmenting (140) the anatomical feature of the subject from a subset of the plurality of B-mode images; and estimating (150) a volume of the segmented anatomical feature from the subset of B-mode images based on the two or more tilt angles.

2. The method (100) of claim 1, wherein the ultrasound imaging data was generated using an ultrasound probe.

3. The method (100) of claim 2, wherein the acceleration data was generated using an inertial measurement unit coupled to the ultrasound probe.

4. The method (100) of claim 2, wherein the ultrasound imaging data was generated by tilting the ultrasound probe positioned against the subject about a first fixed axis.

5. The method (100) of claim 4, wherein the two or more tilt angles include an initial tilt angle that corresponds to a first B-mode image of the plurality of B-mode images where the anatomical feature first becomes visible when tilting the ultrasound probe about the first fixed axis, andthe two or more tilt angles further include a final tilt angle that corresponds to a second B- mode image of the plurality of B-mode images where the anatomical feature is last visible when tilting the ultrasound probe about the first fixed axis.

6. The method (100) of claim 5, wherein the two or more tilt angles includes one or more intermediate tilt angles, each intermediate tilt angle corresponding to an intermediate B-mode image collected when tilting the ultrasound probe between the initial tilt angle and the final tilt angle.

7. The method (100) of claim 6, wherein the subset of the plurality of B-mode images comprises the first B-mode image where the anatomical feature first becomes visible when tilting the ultrasound probe about the first fixed axis, the second B-mode image where the anatomical feature is last visible when tilting the ultrasound probe about the first fixed axis, and each of the intermediate B-mode images collected when tilting the ultrasound probe between the initial tilt angle and the final tilt angle.

8. The method (100) of claim 6, wherein the volume of the segmented anatomical feature is determined based on the B-mode images taken at the initial tilt angle, the final tilt angle, and the intermediate tilt angles.

9. The method (100) of claim 6, wherein from about 1 to about 10 intermediate B- mode images are used to estimate the volume of the anatomical feature.

10. The method (100) of claim 1, wherein the anatomical feature is at least one of an organ, a tumor, a fluid region, a cyst, and / or an intraperitoneal hemorrhage.

11. An ultrasound imaging system (900) comprising: an ultrasound imaging probe (200) configured to generate ultrasound imaging data of a subject including a plurality of B-mode images of the subject; an inertial measurement unit (206) coupled with the ultrasound imaging probe (200), wherein the inertial measurement unit (206) is configured to generate acceleration datarepresentative of the movement of the ultrasound probe (200) while the ultrasound probe (200) generates ultrasound imaging data; a computer-readable storage medium (904) having stored thereon computer- readable instructions (922); and one or more processors (902) in communication with the ultrasound imaging probe (200), the inertial measurement unit (206), and the computer-readable storage medium (904), wherein the one or more processors (902) are configured by the computer-readable instructions (922) stored on the computer-readable storage medium (904) to perform the following operations:(i) obtain, using the ultrasound imaging probe (200), ultrasound imaging data of an anatomical feature of a subject, wherein the ultrasound imaging data includes a plurality of B-mode images;(ii) obtain, using the inertial measurement unit (206), acceleration data representative of the movement of an ultrasound probe (200) while the ultrasound probe (200) was generating the ultrasound imaging data; (iii) analyze the acceleration data to determine two or more tilt angles associated with the ultrasound probe (200) used to generate the ultrasound imaging data; (iv) segment the anatomical feature of the subject from a subset of the plurality of B-mode images; and (v) estimate a volume of the segmented anatomical feature from the subset of B-mode images based on the two or more tilt angles.

12. The ultrasound imaging system (900) of claim 11, wherein the ultrasound imaging data was generated by tilting the ultrasound probe (200) positioned against the subject about a first fixed axis.

13. The ultrasound imaging system (900) of claim 12, wherein the two or more tilt angles include an initial tilt angle that corresponds to a first B-mode image of the plurality of B- mode images where the anatomical feature first becomes visible when tilting the ultrasound probe (200) about the first fixed axis, and the two or more tilt angles further include a final tilt angle that corresponds to a second B- mode image of the plurality of B-mode images where the anatomical feature is last visible when tilting the ultrasound probe (200) about the first fixed axis.

14. The ultrasound imaging system (900) of claim 11, wherein the anatomical feature is at least one of an organ, a tumor, a fluid region, a cyst, and / or an intraperitoneal hemorrhage.

15. A computer program product (924) comprising: a computer-readable storage medium (904) having stored thereon computer- readable instructions (922) that, when executed by one or more processors (902), cause the one or more processors (902) to perform the following operations: (i) obtain, using the ultrasound imaging probe, ultrasound imaging data of an anatomical feature of a subject, wherein the ultrasound imaging data includes a plurality of B-mode images; (ii) obtain, using the inertial measurement unit, acceleration data representative of the movement of an ultrasound probe while the ultrasound probe was generating the ultrasound imaging data; (iii) analyze the acceleration data to determine two or more tilt angles associated with the ultrasound probe used to generate the ultrasound imaging data; (iv) segment the anatomical feature of the subject from a subset of the plurality of B-mode images; and (v) estimate a volume of the segmented anatomical feature from the subset of B-mode images based on the two or more tilt angles.

Images