A single mediaprocessor-based programmable ultrasound system

Transform-Based Channel-Data Compression to Improve the Performance of a Real-Time GPU-Based Software Beamformer

Graphics processing unit (GPU)-based software beamforming has advantages over hardware-based beamforming of easier programmability and a faster design cycle, since complicated imaging algorithms can be efficiently programmed and modified. However, the need for a high data rate when transferring ultrasound radio-frequency (RF) data from the hardware front end to the software back end limits the real-time performance. Data compression methods can be applied to the hardware front end to mitigate the data transfer issue. Nevertheless, most decompression processes cannot be performed efficiently on a GPU, thus becoming another bottleneck of the real-time imaging. Moreover, lossless (or nearly lossless) compression is desirable to avoid image quality degradation. In a previous study, we proposed a real-time lossless compression-decompression algorithm and demonstrated that it can reduce the overall processing time because the reduction in data transfer time is greater than the computation time required for compression/decompression. This paper analyzes the lossless compression method in order to understand the factors limiting the compression efficiency. Based on the analytical results, a nearly lossless compression is proposed to further enhance the compression efficiency. The proposed method comprises a transformation coding method involving modified lossless compression that aims at suppressing amplitude data. The simulation results indicate that the compression ratio (CR) of the proposed approach can be enhanced from nearly 1.8 to 2.5, thus allowing a higher data acquisition rate at the front end. The spatial and contrast resolutions with and without compression were almost identical, and the process of decompressing the data of a single frame on a GPU took only several milliseconds. Moreover, the proposed method has been implemented in a 64-channel system that we built in-house to demonstrate the feasibility of the proposed algorithm in a real system. It was found that channel data from a 64-channel system can be transferred using the standard USB 3.0 interface in most practical imaging applications.

Ultrasound phase rotation beamforming on multi-core DSP

Phase rotation beamforming (PRBF) is a commonly-used digital receive beamforming technique. However, due to its high computational requirement, it has traditionally been supported by hardwired architectures, e.g., application-specific integrated circuits (ASICs) or more recently field-programmable gate arrays (FPGAs). In this study, we investigated the feasibility of supporting software-based PRBF on a multi-core DSP. To alleviate the high computing requirement, the analog front-end (AFE) chips integrating quadrature demodulation in addition to analog-to-digital conversion were defined and used. With these new AFE chips, only delay alignment and phase rotation need to be performed by DSP, substantially reducing the computational load. We implemented the delay alignment and phase rotation modules on a Texas Instruments C6678 DSP with 8 cores. We found it takes 200 μs to beamform 2048 samples from 64 channels using 2 cores. With 4 cores, 20 million samples can be beamformed in one second. Therefore, ADC frequencies up to 40 MHz with 2:1 decimation in AFE chips or up to 20 MHz with no decimation can be supported as long as the ADC-to-DSP I/O requirement can be met. The remaining 4 cores can work on back-end processing tasks and applications, e.g., color Doppler or ultrasound elastography. One DSP being able to handle both beamforming and back-end processing could lead to low-power and low-cost ultrasound machines, benefiting ultrasound imaging in general, particularly portable ultrasound machines.

Novel Method for Predicting Dexterous Individual Finger Movements by Imaging Muscle Activity Using a Wearable Ultrasonic System

Recently there have been major advances in the electro-mechanical design of upper extremity prosthetics. However, the development of control strategies for such prosthetics has lagged significantly behind. Conventional noninvasive myoelectric control strategies rely on the amplitude of electromyography (EMG) signals from flexor and extensor muscles in the forearm. Surface EMG has limited specificity for deep contiguous muscles because of cross talk and cannot reliably differentiate between individual digit and joint motions. We present a novel ultrasound imaging based control strategy for upper arm prosthetics that can overcome many of the limitations of myoelectric control. Real time ultrasound images of the forearm muscles were obtained using a wearable mechanically scanned single element ultrasound system, and analyzed to create maps of muscle activity based on changes in the ultrasound echogenicity of the muscle during contraction. Individual digit movements were associated with unique maps of activity. These maps were correlated with previously acquired training data to classify individual digit movements. Preliminary results using ten healthy volunteers demonstrated this approach could provide robust classification of individual finger movements with 98% accuracy (precision 96%-100% and recall 97%-100% for individual finger flexions). The change in ultrasound echogenicity was found to be proportional to the digit flexion speed (R(2)=0.9), and thus our proposed strategy provided a proportional signal that can be used for fine control. We anticipate that ultrasound imaging based control strategies could be a significant improvement over conventional myoelectric control of prosthetics.

A reconfigurable arbitrary waveform generator using PWM modulation for ultrasound research

Background

In ultrasound imaging systems, the digital transmit beamformer is a critical module that generates accurate control over several transmission parameters. However, such transmit front-end module is not typically accessible to ultrasound researchers. To overcome this difficulty, we have been developing a compact and fully programmable digital transmit system using the pulse-width modulation (PWM) technique for generating simultaneous arbitrary waveforms, specifically designed for research purposes.

Methods

In this paper we present a reconfigurable arbitrary waveform generator (RAWG) for ultrasound research applications that exploits a high frequency PWM scheme implemented in a low-cost FPGA, taking advantage of its flexibility and parallel processing capability for independent controlling of multiple transmission parameters. The 8-channel platform consists of a FPGA-based development board including an USB 2.0 interface and an arbitrary waveform generator board with eight MD2130 beamformer source drivers for individual control of waveform, amplitude apodization, phase angle and time delay trigger.

Results

To evaluate the efficiency of our system, we used equivalent RC loads (1 kΩ and 220 pF) to produce arbitrary excitation waveforms with the Gaussian and Tukey profiles. The PWM carrier frequency was set at 160 MHz featuring high resolution while keeping a minimum time delay of 3.125 ns between pulses to enable the acoustic beam to be focused and/or steered electronically. Preliminary experimental results show that the RAWG can produce complex arbitrary pulses with amplitude over 100 Vpp and central frequency up to 20 MHz with satisfactory linearity of the amplitude apodization, as well as focusing phase adjustment capability with angular resolution of 7.5°.

Conclusions

The initial results of this study showed that the proposed research system is suitable for generating simultaneous arbitrary waveforms, providing extensive user control with direct digital access to the various transmission parameters needed to explore alternative ultrasound transmission techniques.

An FPGA-based ultrasound imaging system using capacitive micromachined ultrasonic transducers

We report the design and experimental results of a field-programmable gate array (FPGA)-based real-time ultrasound imaging system that uses a 16-element phased-array capacitive micromachined ultrasonic transducer fabricated using a fusion bonding process. The imaging system consists of the transducer, discrete analog components situated on a custom-made circuit board, the FPGA, and a monitor. The FPGA program consists of five functional blocks: a main counter, transmit and receive beamformer, receive signal pre-processing, envelope detection, and display. No dedicated digital signal processor or personal computer is required for the imaging system. An experiment is carried out to obtain the sector B-scan of a 4-wire target. The ultrasound imaging system demonstrates the possibility of an integrated system-in-a-package solution.

A single FPGA-based portable ultrasound imaging system for point-of-care applications

We present a cost-effective portable ultrasound system based on a single field-programmable gate array (FPGA) for point-of-care applications. In the portable ultrasound system developed, all the ultrasound signal and image processing modules, including an effective 32-channel receive beamformer with pseudo-dynamic focusing, are embedded in an FPGA chip. For overall system control, a mobile processor running Linux at 667 MHz is used. The scan-converted ultrasound image data from the FPGA are directly transferred to the system controller via external direct memory access without a video processing unit. The potable ultrasound system developed can provide real-time B-mode imaging with a maximum frame rate of 30, and it has a battery life of approximately 1.5 h. These results indicate that the single FPGA-based portable ultrasound system developed is able to meet the processing requirements in medical ultrasound imaging while providing improved flexibility for adapting to emerging POC applications.

Reconstruction algorithm for improved ultrasound image quality

A new algorithm is proposed for reconstructing raw RF data into ultrasound images. Previous delay-and-sum beamforming reconstruction algorithms are essentially one-dimensional, because a sum is performed across all receiving elements. In contrast, the present approach is two-dimensional, potentially allowing any time point from any receiving element to contribute to any pixel location. Computer-intensive matrix inversions are performed once, in advance, to create a reconstruction matrix that can be reused indefinitely for a given probe and imaging geometry. Individual images are generated through a single matrix multiplication with the raw RF data, without any need for separate envelope detection or gridding steps. Raw RF data sets were acquired using a commercially available digital ultrasound engine for three imaging geometries: a 64-element array with a rectangular field-of- view (FOV), the same probe with a sector-shaped FOV, and a 128-element array with rectangular FOV. The acquired data were reconstructed using our proposed method and a delay- and-sum beamforming algorithm for comparison purposes. Point spread function (PSF) measurements from metal wires in a water bath showed that the proposed method was able to reduce the size of the PSF and its spatial integral by about 20 to 38%. Images from a commercially available quality-assurance phantom had greater spatial resolution and contrast when reconstructed with the proposed approach.

A fully programmable computing architecture for medical ultrasound machines

Application-specific ICs have been traditionally used to support the high computational and data rate requirements in medical ultrasound systems, particularly in receive beamforming. Utilizing the previously developed efficient front-end algorithms, in this paper, we present a simple programmable computing architecture, consisting of a field-programmable gate array (FPGA) and a digital signal processor (DSP), to support core ultrasound signal processing. It was found that 97.3% and 51.8% of the FPGA and DSP resources are, respectively, needed to support all the front-end and back-end processing for B-mode imaging with 64 channels and 120 scanlines per frame at 30 frames/s. These results indicate that this programmable architecture can meet the requirements of low- and medium-level ultrasound machines while providing a flexible platform for supporting the development and deployment of new algorithms and emerging clinical applications.

Image quality evaluation with a new phase rotation beamformer

Over the last few decades, dynamic focusing based on digital receive beamforming (DRBF) has led to significant improvements in image quality. However, it is computationally very demanding due to its requirement for multiple lowpass filters (e.g., a complex filter for each receive channel in quadrature demodulation-based phase rotation beamformers (QD-PRBF)). We recently developed a novel phase rotation beamformer with reduced complexity, which can lower: 1) the number of lowpass filters using 2-stage demodulation (TSD) and 2) the number of beamforming points using adap tive field-of-view (AFOV) imaging. In TSD, dynamic focusing is performed on the mixed signals, while sampling frequency of the beamformed signal (i.e., beamforming frequency) is adjusted based on the displayed field-of-view (FOV) size in AFOV imaging. In this paper, the image quality of the developed beamformer (i.e., TSD-AFOV-PRBF) has been quantitatively evaluated using phantom and in vivo data. From the phantom study, it was found that TSD-AFOV-PRBF with only 1024 beamforming points provides comparable image quality to QD-PRBF. We obtained a median contrast resolution (CR) degradation of 7.6% for the FOV size of 160 mm. Image quality steadily improves with FOV size reduction (e.g., 2.3% CR degradation at 85 mm). Similar results were also obtained from an in vivo study. Thus, TSD-AFOV-PRBF could provide comparable image quality to conventional beamformers at considerably reduced computational cost.

Research interface on a programmable ultrasound scanner

MOTIVATION

Commercial ultrasound machines in the past did not provide the ultrasound researchers access to raw ultrasound data. Lack of this ability has impeded evaluation and clinical testing of novel ultrasound algorithms and applications.

OBJECTIVES

Recently, we developed a flexible ultrasound back-end where all the processing for the conventional ultrasound modes, such as B, M, color flow and spectral Doppler, was performed in software. The back-end has been incorporated into a commercial ultrasound machine, the Hitachi HiVision 5500. The goal of this work is to develop an ultrasound research interface on the back-end for acquiring raw ultrasound data from the machine.

METHODS

The research interface has been designed as a software module on the ultrasound back-end. To increase the amount of raw ultrasound data that can be spooled in the limited memory available on the back-end, we have developed a method that can losslessly compress the ultrasound data in real time.

RESULTS AND DISCUSSION

The raw ultrasound data could be obtained in any conventional ultrasound mode, including duplex and triplex modes. Furthermore, use of the research interface does not decrease the frame rate or otherwise affect the clinical usability of the machine. The lossless compression of the ultrasound data in real time can increase the amount of data spooled by approximately 2.3 times, thus allowing more than 6s of raw ultrasound data to be acquired in all the modes. The interface has been used not only for early testing of new ideas with in vitro data from phantoms, but also for acquiring in vivo data for fine-tuning ultrasound applications and conducting clinical studies. We present several examples of how newer ultrasound applications, such as elastography, vibration imaging and 3D imaging, have benefited from this research interface. Since the research interface is entirely implemented in software, it can be deployed on existing HiVision 5500 ultrasound machines and may be easily upgraded in the future.

CONCLUSIONS

The developed research interface can aid researchers in the rapid testing and clinical evaluation of new ultrasound algorithms and applications. Additionally, we believe that our approach would be applicable to designing research interfaces on other ultrasound machines.

Ultrasonic Doppler Vibrometry: Novel Method for Detection of Left Ventricular Wall Vibrations Caused by Poststenotic Coronary Flow

BACKGROUND

A diastolic coronary flow murmur has been reported for patients with coronary stenoses, yet is rarely appreciated during routine auscultation. We hypothesized that an ultrasonic Doppler method can detect the epicardial vibrations associated with this murmur. Ultrasonic Doppler vibrometry is a pulsed wave echocardiography phase demodulation technique designed for detecting vibrations. We correlated the vibration characteristics measured using vibrometry with the angiographic severity of coronary artery stenosis.

METHODS

In a prospective pilot study, 49 patients were recruited for an ultrasound examination before coronary arteriography. An ultrasound instrument was customized to acquire the raw pulsed wave Doppler echocardiographic data from a range gate placed on the left ventricular myocardium near the path of the epicardial coronary arteries.

RESULTS

Patients with angiographically minor stenosis (tightest stenosis < 50% by quantitative coronary angiography, N = 25) had lower diastolic vibration energy (computed as the median spectral energy of myocardial wall velocity in the 100 approximately 1000-Hz frequency band normalized by a baseline diastolic value) compared with patients with moderate or severe stenosis (any stenosis > 50%, N = 24) (P < .001, area under the receiver operating characteristics curve = 0.84). The vibration energy increased with increasing stenosis severity for less severe narrowing (<70%) but decreased for severe narrowing (>70%) (R(2) = 0.21, P < .0002).

CONCLUSIONS

Preliminary evidence indicates that diastolic left ventricular wall vibrations measured using ultrasonic Doppler vibrometry are related to the severity of coronary artery stenoses. With further refinement and validation, this noninvasive and low-cost method could lead to an early screening and monitoring test for coronary artery stenosis.

A novel envelope detector for high-frame rate, high-frequency ultrasound imaging

This paper proposes a novel design of envelope detectors capable of supporting a small animal cardiac imaging system requiring a temporal resolution of more than 150 frames per second. The proposed envelope detector adopts the quadrature demodulation and the lookup table (LUT) method to compute the magnitude of the complex baseband components of received echo signals. Because the direct use of the LUT method for a square root function is not feasible due to a large memory size, this paper presents a new LUT strategy dramatically reducing its size by using binary logarithmic number system (BLNS). Due to the nature of BLNS, the proposed design does not require an individual LOG-compression functional block. In the implementation using a field programmable gate array (FPGA), a total of 166.56 Kbytes memories were used for computing the magnitude of 16-bit in-phase and quadrature components instead of 4 Gbytes in the case of the direct use of the LUT method. The experimental results show that the proposed envelope detector is capable of generating LOG-compressed envelope data at every clock cycle after 32 clock cycle latency, and its maximum error is less than 0.5 (i.e., within the rounding error), compared with the arithmetic results of square root function and LOG compression.

Ultrasonic imaging of myocardial vibrations associated with coronary artery disease

Coronary artery disease (CAD) is a major cause of mortality in the western world. Although progress has been made in recent years for the noninvasive diagnosis of CAD, a widely available, inexpensive and effective diagnostic solution remains elusive. We have developed a novel ultrasound-based technology to detect and analyze the myocardial vibrations associated with diastolic murmurs produced by CAD. Conventional ultrasound imaging systems suppress these vibrations. We have developed algorithms to process the raw ultrasound data and isolate these vibrations and integrated them into a programmable ultrasound system for real-time vibration imaging. In preliminary results from clinical studies of patients with CAD, we have observed localized areas of vibrations in the neighborhood of the stenosed coronary artery. The vibrations are narrowband with frequency >200 Hz, and appear to have harmonic components, thus indicating reasonance phenomena potentially with nonlinear mechanisms involved. No such vibrations were observed in normal subjects. Analysis of myocardial vibrations could provide a noninvasive diagnostic test for CAD that overcomes many of the limitations of conventional noninvasive tests. Potentially, this technology could provide a new way of evaluating CAD and cardiac function.

Ultrasonic techniques for assessing wall vibrations in stenosed arteries

Arterial stenoses are often associated with audible bruits. Quantitative analysis of the bruit spectrum has been successfully used to predict the residual lumen diameter in carotid stenoses. Arterial wall vibrations occurring due to turbulent pressure fluctuations in the post-stenotic jet are known to be the source of the bruits. We present novel signal processing techniques that enable the detailed noninvasive assessment of these vibrations in real time using color-Doppler and pulsed-wave Doppler ultrasound. A color-Doppler-based two-dimensional vibration imaging technique can be used to locate the source of the bruits relative to the underlying anatomy. Subsequently, a pulsed-wave Doppler-based technique can be used to analyze the bruit spectrum quantitatively. Experiments in ex vivo arteries indicate that these techniques can predict the location of the bruit as well as its spectral content. Case studies on human subjects with stenosed vein grafts are presented and the clinical applicability of this technique is discussed.

Ultrasonic interrogation of tissue vibrations in arterial and organ injuries: preliminary in vivo results

Soft tissues surrounding vascular injuries are known to vibrate at audible and palpable frequencies, producing bruits and thrills. We report the results of a feasibility study where Doppler ultrasound (US) was used to quantitatively estimate the tissue vibrations after induced trauma in an animal model. A software-programmable US system was used to acquire quadrature-demodulated ensembles of received US echoes bypassing clutter filtering and other conventional Doppler processing stages. The waveforms of tissue velocity surrounding the injury site were then estimated from the clutter data using autocorrelation and analyzed to determine vibration characteristics. Six New Zealand white rabbits and two juvenile pigs were used for the study. The femoral artery of the anesthetized animal was punctured with an 18-gauge needle to model a peripheral arterial trauma, and the liver was surgically exposed and incised to model organ trauma. Two types of oscillatory tissue motion were observed: "vibrations" with high frequency (>50 Hz) and low peak-peak amplitude (<1 microm) and "flutter" with low frequency (<50 Hz) and high peak-peak amplitude (>1 microm). Active bleeding in femoral artery punctures produced tissue vibrations at the frequency of 323 +/- 214 Hz (mean +/- standard deviation, pooled for both rabbits and pigs) and the amplitude of 0.24 +/- 0.15 microm. Active bleeding in liver incisions produced vibrations at the frequency of 120 +/- 47 Hz and the amplitude of 0.33 +/- 0.25 microm. Flutter was observed in punctured arteries at the frequency of 28 +/- 13 Hz the amplitude of 2.92 +/- 1.75 microm, and in incised livers at the frequency of 26 +/- 6 Hz and the amplitude of 1.53 +/- 0.76 microm. In a punctured artery, the vibration frequency and phase of tissue surrounding the artery were highly correlated between neighboring locations in tissue (correlation coefficient = 0.98), and with the flow oscillations in the lumen (correlation coefficient = 0.96). This preliminary study indicates that tissue vibrations could provide additional physiologic information for detecting, localizing and monitoring internal bleeding using US.

Ultrasonic Doppler vibrometry: measurement of left ventricular wall vibrations associated with coronary artery disease

We have developed a new method of detecting coronary artery stenoses that uses Doppler ultrasound to measure minute local vibrations in the cardiac wall associated with post-stenotic flow turbulence. In this paper, we present the results of a preliminary clinical study to evaluate the efficacy of this method for detecting coronary artery disease (CAD) using coronary angiography as the gold standard. The study population consisted of 34 patients clinically-indicated for coronary angiography. Based on the catheterization reports, the patients were divided into three categories: severe (obstructive CAD, typically with >70% diameter reduction), moderate (non-obstructive CAD, typically with <50% diameter reduction or diffuse atherosclerosis), and normal (no angiographic evidence of CAD). A diastolic myocardial vibration index (DMVI) was calculated as the ratio of the normalized periodogram spectral energy in the 100~800-Hz frequency band of the instantaneous wall velocity in early diastole to a baseline value during diastasis. The DMVI was significantly higher in severe CAD patients (21.2 +/- 3.2 dB) compared to moderate CAD (17.5 +/- 3.5 dB) and normal (11.2 +/- 4.8 dB). The differences between each of the categories were statistically significant (p<0.05). Severe CAD patients could be distinguished from normal with a sensitivity of 91.7% and specificity of 83.3%. We believe that this method could potentially be developed into a low-cost and accurate test for diagnosis and screening for coronary artery stenosis.

Ultrasonic technique for imaging tissue vibrations: preliminary results

We propose an ultrasound (US)-based technique for imaging vibrations in the blood vessel walls and surrounding tissue caused by eddies produced during flow through narrowed or punctured arteries. Our approach is to utilize the clutter signal, normally suppressed in conventional color flow imaging, to detect and characterize local tissue vibrations. We demonstrate the feasibility of visualizing the origin and extent of vibrations relative to the underlying anatomy and blood flow in real-time and their quantitative assessment, including measurements of the amplitude, frequency and spatial distribution. We present two signal-processing algorithms, one based on phase decomposition and the other based on spectral estimation using eigen decomposition for isolating vibrations from clutter, blood flow and noise using an ensemble of US echoes. In simulation studies, the computationally efficient phase-decomposition method achieved 96% sensitivity and 98% specificity for vibration detection and was robust to broadband vibrations. Somewhat higher sensitivity (98%) and specificity (99%) could be achieved using the more computationally intensive eigen decomposition-based algorithm. Vibration amplitudes as low as 1 mum were measured accurately in phantom experiments. Real-time tissue vibration imaging at typical color-flow frame rates was implemented on a software-programmable US system. Vibrations were studied in vivo in a stenosed femoral bypass vein graft in a human subject and in a punctured femoral artery and incised spleen in an animal model.

Ultrasound Color-Flow Imaging on a Programmable System

Color-flow imaging is a well-established ultrasound mode and very valuable for visualizing in real time the distribution of blood flow in a specific region of interest. However, it is computationally quite expensive. To meet the large computational need in color-flow imaging, most ultrasound systems have been designed using fixed-function hardware. In this paper, we present a system where all the color-flow processing is supported on a programmable platform. About 95% of the processing modules were programmed in C language. On a single processor, we were able to achieve 7.9 frames/s, when the input data consist of 192 x 512 x 8 (ensemble size) samples for color flow and 384 x 512 for B mode and the output image size is 600 x 420. Additional processors can be added to handle more input data and/or support higher frame rates. Our results demonstrate that a programmable ultrasound system can provide the same functionality for clinical use as conventional ultrasound systems. However, it is more flexible and efficient due to its programmability.

Adaptive clutter filtering for ultrasound color flow imaging

In this article, we present an adaptive clutter rejection method for selecting different clutter filters in ultrasound color flow imaging. A single clutter filter is typically used to reject the clutter. Because the clutter characteristics vary in both space and time, the single clutter filter approach has difficulty in providing optimum clutter rejection in ultrasound images. To achieve more accurate velocity estimation, we have developed a method to select a clutter filter adaptively at each location in an image from a set of predefined filters. Selection criteria have been developed based on the underlying clutter characteristics and the properties of various filters (e.g., minimum-phase finite impulse response, projection-initialized infinite impulse response and polynomial regression). We have incorporated our adaptive clutter rejection method in an ultrasound system. We have found that our adaptive method can reduce the mean absolute error between the estimated and true flow velocities significantly compared with the conventional methods, in which a single clutter filter is used throughout the entire image. With in vivo abdominal data, we obtained an average gain of 5.0 dB in signal-to-clutter ratio (SCR), compared with the conventional method. These preliminary results indicate that the proposed adaptive method could improve the accuracy of flow velocity estimation in ultrasound color flow imaging through the improvement in SCR and the reduction in bias.