Ultrasound Beamformer Initialization via External Sensor Pose
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Solution Overview
Problem
Conventional ultrasound imaging struggles to reliably visualize surgical tools like catheters and needles due to difficulties in achieving favorable insonifying angles, leading to incomplete or artefact-prone visualization, especially in deep tissue locations and when tools deviate from planned trajectories.
Innovation Solution
A beamformer is initialized using estimates of the location and orientation of the object, derived from external sensors, allowing for one-way only beamforming that operates with an ultrasound transducer array without relying on reflected ultrasound data, and is configured to optimize beamforming parameters and mitigate artefacts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional pulse-echo ultrasound is used to image catheters and needles, then the imaging probe can detect reflected ultrasound signals, but the visualization is incomplete or artefact-prone because catheters and needles are specular reflectors that reflect sound away from the imaging probe when insonifying angles are not favorable
Solution Approach 1:
The system performs preliminary action by using electromagnetic sensors to determine the tool pose (location and orientation) before ultrasound imaging is performed. This preliminary pose information is then used to initialize the beamformer and optimize beamforming parameters, ensuring that the ultrasound beams are directed at favorable angles to the catheter or needle before imaging begins, thereby preventing specular reflection issues rather than correcting them afterward
Solution Approach 2:
The system introduces an intermediary element - electromagnetic sensors attached to the interventional tool - that mediates between the ultrasound probe and the catheter/needle. These sensors provide indirect measurement of tool pose, which then guides the ultrasound beamforming process, allowing the system to overcome the limitation of direct ultrasound detection that fails due to specular reflection
2Reliability
If the insonifying angle is adjusted to be perpendicular to the needle to improve visibility, then needle visibility greatly improves, but achieving a favorable angle is usually limited to shallow needle insertions
Solution Approach 1:
The system implements feedback by continuously monitoring the tool pose through electromagnetic sensors and using this information to dynamically adjust the beamforming parameters. The beamformer uses the estimated tool location and orientation to optimize beam directions in real-time, ensuring favorable insonifying angles are maintained regardless of needle insertion depth or trajectory, thus adapting to deep tissue locations while maintaining visibility
Solution Approach 2:
The system applies dynamics by making the beamforming parameters dynamic rather than static. The beamformer continuously updates its beam directions and focusing parameters based on real-time tool pose estimates from electromagnetic sensors, allowing the imaging system to adapt to changing needle positions and orientations throughout the procedure, whether shallow or deep insertions
3Reliability
If external sensors are used to determine tool pose for beamformer initialization, then the visibility of surgical tools is enhanced and artefacts are reduced, but the device complexity increases
Solution Approach 1:
The system applies universality by using electromagnetic sensors that serve multiple functions: they track the position of the interventional tool, determine its orientation, and provide this information for beamformer initialization and ongoing optimization. This multi-functional approach consolidates several needs (positioning, orientation, imaging optimization) into a single sensor system, reducing overall system complexity despite the addition of external sensors
Data Source
AI summary
A device and method for initializing an ultrasound beamformer to image an object based on a tool-pose-estimation of the object include an ultrasound imaging array and an object. The ultrasound imaging array operates with the beamformer. The object has a sensor external to the ultrasound imaging array. The tool-pose-estimation includes an estimation of the location and/or the orientation of the object. The tool-pose-estimation of the object is derived by a processor that receives an output of the sensor disposed on the object external to the imaging array that operates with the beamformer. The processor supplies the tool-pose-estimation to the beamformer to initialize the beamformer using the tool-pose-estimation for operating the imaging array.