3-D ultrasonic strain imaging based on a linear scanning system

Six-Degree-of-Freedom Freehand 3D Ultrasound: A Low-Cost Computer Vision-Based Approach for Orthopedic Applications

In orthopedics, X-rays and computed tomography (CT) scans play pivotal roles in diagnosing and treating bone pathologies. Machine bulkiness and the emission of ionizing radiation remain the main problems associated with these techniques. The accessibility and low risks related to ultrasound handling make it a popular 2D imaging method. Indeed, 3D ultrasound assembles 2D slices into a 3D volume. This study aimed to implement a probe-tracking method for 6 DoF 3D ultrasound. The proposed method involves a dodecahedron with ArUco markers attached, enabling computer vision tracking of the ultrasound probe's position and orientation. The algorithm focuses on the data acquisition phase but covers the basic reconstruction required for data generation and analysis. In the best case, the analysis revealed an average error norm of 2.858 mm with a standard deviation norm of 5.534 mm compared to an infrared optical tracking system used as a reference. This study demonstrates the feasibility of performing volumetric imaging without ionizing radiation or bulky systems. This marker-based approach shows promise for enhancing orthopedic imaging, providing a more accessible imaging modality for helping clinicians to diagnose pathologies regarding complex joints, such as the shoulder, replacing standard infrared tracking systems known to suffer from marker occlusion problems.

Volumetric B-mode ultrasound and Doppler Imaging: Automatic Tracking With One Single Camera

Vascular diseases may occur in the upper extremities, and the lesions can span the entire length of the blood vessel. One of the most popular methods to identify vascular disorders is ultrasound Doppler imaging. However, traditional two-dimensional (2D) ultrasound Doppler imaging cannot capture the entire length of a long vessel in one image. Medical professionals often have to painstakingly reconstruct three-dimensional (3D) data using 2D ultrasound images to locate the lesions, especially for large blood vessels. 3D ultrasound Doppler imaging can display the morphological structure of blood vessels and the distribution of lesions more directly, providing a more comprehensive view compared to 2D imaging. In this work, we propose a wide-range 3D volumetric ultrasound Doppler imaging system with dual modality, in which a high-definition camera is adopted to automatically track the movement of the ultrasound transducer, simultaneously capturing a corresponding sequence of 2D ultrasound Doppler images. We conducted experiments on human arms using our proposed system and separately with X-ray computerized tomography (X-CT). The comparison results prove the potential value of our proposed system in the diagnosis of arm vascular diseases.

Long-term Dependency for 3D Reconstruction of Freehand Ultrasound Without External Tracker

OBJECTIVE

Reconstructing freehand ultrasound in 3D without any external tracker has been a long-standing challenge in ultrasound-assisted procedures. We aim to define new ways of parameterising long-term dependencies, and evaluate the performance.

METHODS

First, long-term dependency is encoded by transformation positions within a frame sequence. This is achieved by combining a sequence model with a multi-transformation prediction. Second, two dependency factors are proposed, anatomical image content and scanning protocol, for contributing towards accurate reconstruction. Each factor is quantified experimentally by reducing respective training variances.

RESULTS

1) The added long-term dependency up to 400 frames at 20 frames per second (fps) indeed improved reconstruction, with an up to 82.4% lowered accumulated error, compared with the baseline performance. The improvement was found to be dependent on sequence length, transformation interval and scanning protocol and, unexpectedly, not on the use of recurrent networks with long-short term modules; 2) Decreasing either anatomical or protocol variance in training led to poorer reconstruction accuracy. Interestingly, greater performance was gained from representative protocol patterns, than from representative anatomical features.

CONCLUSION

The proposed algorithm uses hyperparameter tuning to effectively utilise long-term dependency. The proposed dependency factors are of practical significance in collecting diverse training data, regulating scanning protocols and developing efficient networks.

SIGNIFICANCE

The proposed new methodology with publicly available volunteer data and code for parametersing the long-term dependency, experimentally shown to be valid sources of performance improvement, which could potentially lead to better model development and practical optimisation of the reconstruction application.

Robotic ultrasound imaging: State-of-the-art and future perspectives

Ultrasound (US) is one of the most widely used modalities for clinical intervention and diagnosis due to the merits of providing non-invasive, radiation-free, and real-time images. However, free-hand US examinations are highly operator-dependent. Robotic US System (RUSS) aims at overcoming this shortcoming by offering reproducibility, while also aiming at improving dexterity, and intelligent anatomy and disease-aware imaging. In addition to enhancing diagnostic outcomes, RUSS also holds the potential to provide medical interventions for populations suffering from the shortage of experienced sonographers. In this paper, we categorize RUSS as teleoperated or autonomous. Regarding teleoperated RUSS, we summarize their technical developments, and clinical evaluations, respectively. This survey then focuses on the review of recent work on autonomous robotic US imaging. We demonstrate that machine learning and artificial intelligence present the key techniques, which enable intelligent patient and process-specific, motion and deformation-aware robotic image acquisition. We also show that the research on artificial intelligence for autonomous RUSS has directed the research community toward understanding and modeling expert sonographers' semantic reasoning and action. Here, we call this process, the recovery of the "language of sonography". This side result of research on autonomous robotic US acquisitions could be considered as valuable and essential as the progress made in the robotic US examination itself. This article will provide both engineers and clinicians with a comprehensive understanding of RUSS by surveying underlying techniques. Additionally, we present the challenges that the scientific community needs to face in the coming years in order to achieve its ultimate goal of developing intelligent robotic sonographer colleagues. These colleagues are expected to be capable of collaborating with human sonographers in dynamic environments to enhance both diagnostic and intraoperative imaging.

[Establishment of a 3D ultrasound imaging system based on pulse-triggered image acquisition]

OBJECTIVE

To establish a 3D ultrasound imaging system based on pulse-triggered image acquisition using the linear probe on the Verasonics^TM vantage 128 platform and evaluate its performance in scanning standard phantom and human carotid artery.

OBJECTIVE

The 3D ultrasound imaging system included 3 modules for probe motion control, image acquisition and storage, and 3D image reconstruction and display. To improve the precision of image acquisition, we used fixed frequency pulses to control the external trigger function combined with mechanical scanning. Voxel-based 3D reconstruction was used for image reconstruction and display. The user interface was designed to allow direct operations of the platform. We carried out scanning tests of standard ultrasound phantom and human carotid artery to evaluate the performance of this imaging system.

OBJECTIVE

We successfully constructed a 3D ultrasound imaging system based on pulse-triggered image acquisition. The results of standard phantom and human carotid scanning tests showed that each module of the system was fully functional. The self-designed user interface of this ultrasound imaging system allowed full control of the system functions for original image acquisition, 3D image reconstruction, and display of cross-sections in 3 different views.

OBJECTIVE

This 3D ultrasound imaging system achieves high-quality 3D ultrasound imaging and provides the basis for further study and clinical application of 3D ultrasound imaging.

Probe Sector Matching for Freehand 3D Ultrasound Reconstruction

A 3D ultrasound image reconstruction technique, named probe sector matching (PSM), is proposed in this paper for a freehand linear array ultrasound probe equipped with multiple sensors, providing the position and attitude of the transducer and the pressure between the transducer and the target surface. The proposed PSM method includes three main steps. First, the imaging target and the working range of the probe are set to be the center and the radius of the imaging field of view, respectively. To reconstruct a 3D volume, the positions of all necessary probe sectors are pre-calculated inversely to form a sector database. Second, 2D cross-section probe sectors with the corresponding optical positioning, attitude and pressure information are collected when the ultrasound probe is moving around the imaging target. Last, an improved 3D Hough transform is used to match the plane of the current probe sector to the existing sector images in the sector database. After all pre-calculated probe sectors are acquired and matched into the 3D space defined by the sector database, a 3D ultrasound reconstruction is completed. The PSM is validated through two experiments: a virtual simulation using a numerical model and a lab experiment using a real physical model. The experimental results show that the PSM effectively reduces the errors caused by changes in the target position due to the uneven surface pressure or the inhomogeneity of the transmission media. We conclude that the PSM proposed in this study may help to design a lightweight, inexpensive and flexible ultrasound device with accurate 3D imaging capacity.

An Improved Region-Growing Motion Tracking Method Using More Prior Information for 3-D Ultrasound Elastography

Three-dimensional (3-D) ultrasound elastography can provide 3-D tissue stiffness information that may be used during clinical diagnoses. In the framework of strain elastography, motion tracking plays an important role. In this study, an improved 3-D region-growing motion tracking (RGMT) algorithm based on a concept of exterior boundary points was developed. In principle, the proposed method first determines displacement at some seed points by strictly checking the local correlation and continuity in the neighborhood of those seeds. Subsequent displacement estimation is then conducted from these initial seeds to obtain displacements associated with other locations. This RGMT algorithm is designed to use more known information-including displacements and correlation values of all known-displacement neighboring points-to estimate the displacement of an unknown-displacement point, whereas previous RGMT methods employed information from only one such point. The algorithm was tested on 3-D ultrasound volumetric data acquired from a simulation, a tissue-mimicking phantom, and five human subjects. Motion-compensated cross correlations (MCCCs), strain contrast, and displacement Laplacian values (representing smoothness of an estimated displacement field) were calculated and used to evaluate the merits of the proposed RGMT method. Compared with a previously published RGMT method, the results show that the proposed RGMT method can provide smaller displacement errors and smoother displacements and improve strain contrast while maintaining reasonably high MCCC values, indicating good motion tracking quality. The proposed method is also computationally more efficient. In summary, our preliminary results demonstrated that the proposed RGMT algorithm is capable of obtaining high-quality 3-D strain elastographic data using modified clinical equipment.

Electromagnetic tracking-based freehand 3D quasi-static elastography with 1D linear array: a phantom study

Recent developments in hardware and scanning protocols have advanced conventional 2D quasi-static elastography to 3D level, which provides an intuitive visualization of lesions. A 2D linear array or scanning mechanism is typically required for 3D quasi-static elastography, requiring expensive and specifically designed hardware. In this study, we propose a novel method based on a commercial electromagnetic tracking system for freehand 3D quasi-static elastography with 1D linear array. Phantom experiments are performed to validate the feasibility of the proposed method. During data acquisition, the probe contacts the surface of an elasticity phantom and moves in the elevational direction, while applying sinusoidal-like axial compression to the phantom. For each frame of ultrasound data, the 3D coordinates and orientations of the probe are obtained from an electromagnetic tracking system. A correlation-based algorithm is adopted to obtain a series of axial strain images. Volumetric strain data are reconstructed by using the recorded 3D coordinates and orientations of the probe corresponding to each strain image. The diameters of inclusions are then obtained from the slice plots of the volumetric strain data. The volumes of inclusions are estimated from the isosurface plots. The experimental result shows that the volume estimation of the inclusions has good accuracy, with errors within 2%, while the diameters of the inclusions estimated from three orthogonal planes have larger errors up to 18%. In conclusion, the present framework would promise a reliable and effective solution for freehand 3D quasi-static elastography with 1D linear array.

2.5-D Extended Field-of-View Ultrasound

Recently, the growing emphasis on medical ultrasound (US) has led to a rapid development of US extended field-of-view (EFOV) techniques. US EFOV techniques can be classified into three categories: 2-D US EFOV, 3-D US, and 3-D US EFOV. In this paper, we propose a novel EFOV method called 2.5-D US EFOV that combines both the advantages of the 2-D US EFOV and the 3-D US by generating a panorama on a curved image plane guided by a curved scanning trajectory of the US probe. In 2.5-D US EFOV, the real-time position and orientation of the US image plane can be recorded via an electromagnetic spatial sensor attached to the probe. The scanning direction is not necessarily straight and can be curved according to the regions of interest (ROI). To form the curved panorama, an image cutting method is proposed. Finally, the curved panorama is rendered in a 3-D space using a surface rendering based on a texture mapping technique. This allows 3-D measurements of lines and angles. Phantom experiments demonstrated that 2.5-D US EFOV images could show anatomical structures of ROI accurately and rapidly. The overall average errors for the distance and angle measurements are -0.097 ± 0.128 cm (-1% ± 1.2%) and 1.50° ± 1.60° (1.9% ± 2%), respectively. A typical extended US image can be reconstructed from 321 B-scans images within 3 s. The satisfying quantitative result on the spinal tissues of a scoliosis subject demonstrates that our system has potential applications in the assessment of musculoskeletal issues.

Fully Automatic Three-Dimensional Ultrasound Imaging Based on Conventional B-Scan

Robotic ultrasound systems have turned into clinical use over the past few decades, increasing precision and quality of medical operations. In this paper, we propose a fully automatic scanning system for three-dimensional (3-D) ultrasound imaging. A depth camera was first used to obtain the depth data and color data of the tissue surface. Based on the depth image, the 3-D contour of the tissue was rendered and the scan path of ultrasound probe was automatically planned. Following the scan path, a 3-D translating device drove the probe to move on the tissue surface. Simultaneously, the B-scans and their positional information were recorded for subsequent volume reconstruction. In order to stop the scanning process when the pressure on the skin exceeded a preset threshold, two force sensors were attached to the front side of the probe for force measurement. In vitro and in vivo experiments were conducted for assessing the performance of the proposed system. Quantitative results show that the error of volume measurement was less than 1%, indicating that the system is capable of automatic ultrasound scanning and 3-D imaging. It is expected that the proposed system can be well used in clinical practices.

Specific Ultrasound Data Acquisition for Tissue Motion and Strain Estimation: Initial Results

Ultrasound applications such as elastography can benefit from 3-D data acquisition and processing. In this article, we describe a specific ultrasound probe, designed to acquire series of three adjacent imaging planes over time. This data acquisition makes it possible to consider the out-of-plane motion that can occur at the central plane during medium scanning, and is proposed with the aim of improving the results of strain imaging. In this first study, experiments were conducted on phantoms, and controlled axial and elevational displacements were applied to the probe using a motorized system. Radiofrequency ultrasound data were acquired at a 40-MHz sampling frequency with an Ultrasonix ultrasound scanner, and processed using a 3-D motion estimation method. For each of the 2-D regions of interest of the central plane in pre-compression data, a 3-D search was run to determine its corresponding version in post-compression data, with this search taking into account the region-of-interest deformation model chosen. The results obtained with the proposed ultrasound data acquisition and strain estimation were compared with results from a classic approach and illustrate the improvement produced by considering the medium's local displacements in elevation, with notably an increase in the mean correlation coefficients achieved.

Three-dimensional Ultrasound Elasticity Imaging on an Automated Breast Volume Scanning System

Ultrasound elasticity imaging has demonstrated utility in breast imaging, but it is typically performed with handheld transducers and two-dimensional imaging. Two-dimensional (2D) elastography images tissue stiffness of only a plane and hence suffers from errors due to out-of-plane motion, whereas three-dimensional (3D) data acquisition and motion tracking can be used to track out-of-plane motion that is lost in 2D elastography systems. A commercially available automated breast volume scanning system that acquires 3D ultrasound data with precisely controlled elevational movement of the 1D array ultrasound transducer was employed in this study. A hybrid guided 3D motion-tracking algorithm was developed that first estimated the displacements in one plane using a modified quality-guided search method, and then performed an elevational guided-search for displacement estimation in adjacent planes. To assess the performance of the method, 3D radiofrequency echo data were acquired with this system from a phantom and from an in vivo human breast. For both experiments, the axial displacement fields were smooth and high cross-correlation coefficients were obtained in most of the tracking region. The motion-tracking performance of the new method was compared with a correlation-based exhaustive-search method. For all motion-tracking volume pairs, the average motion-compensated cross-correlation values obtained by the guided-search motion-tracking method were equivalent to those by the exhaustive-search method, and the computation time was about a factor of 10 lesser. Therefore, the proposed 3D ultrasound elasticity imaging method was a more efficient approach to produce a high quality of 3D ultrasound strain image.

Global Patch Matching (GPM) for freehand 3D ultrasound reconstruction

BACKGROUND

3D ultrasound volume reconstruction from B-model ultrasound slices can provide more clearly and intuitive structure of tissue and lesion for the clinician.

METHODS

This paper proposes a novel Global Path Matching method for the 3D reconstruction of freehand ultrasound images. The proposed method composes of two main steps: bin-filling scheme and hole-filling strategy. For the bin-filling scheme, this study introduces two operators, including the median absolute deviation and the inter-quartile range absolute deviation, to calculate the invariant features of each voxel in the 3D ultrasound volume. And the best contribution range for each voxel is obtained by calculating the Euclidian distance between current voxel and the voxel with the minimum invariant features. Hence, the intensity of the filling vacant voxel can be obtained by weighted combination of the intensity distribution of pixels in the best contribution range. For the hole-filling strategy, three conditions, including the confidence term, the data term and the gradient term, are designed to calculate the weighting coefficient of the matching patch of the vacant voxel. While the matching patch is obtained by finding patches with the best similarity measure that defined by the three conditions in the whole 3D volume data.

RESULTS

Compared with VNN, PNN, DW, FMM, BI and KR methods, the proposed Global Path Matching method can restore the 3D ultrasound volume with minimum difference.

CONCLUSIONS

Experimental results on phantom and clinical data sets demonstrate the effectiveness and robustness of the proposed method for the reconstruction of ultrasound volume.

Radiofrequency ultrasound data acquisition with a 640-element array transducer for strain imaging: Experimental results with phantoms and biological tissue samples

This paper presents ultrasound elastography results obtained with a 640-element array transducer we have recently developed. This probe allows the acquisition of series of three adjacent imaging planes over time and therefore makes possible the computation of 2-D elastograms, with consideration of out-of-plane motion. In this study, elastography experiments were conducted on phantoms and bovine tissue samples, and compression was manually applied to the media via the hand-held ultrasound transducer. The results obtained with the proposed data acquisition and 3-D processing are presented and compared to those from a classical 2-D approach.

An Acoustic Tracking Approach for Medical Ultrasound Image Simulator

Ultrasound examinations are a standard procedure in the clinical diagnosis of many diseases. However, the efficacy of an ultrasound examination is highly dependent on the skill and experience of the operator, which has prompted proposals for ultrasound simulation systems to facilitate training and education in hospitals and medical schools. The key technology of the medical ultrasound simulation system is the probe tracking method that is used to determine the position and inclination angle of the sham probe, since this information is used to display the ultrasound images in real time. This study investigated a novel acoustic tracking approach for an ultrasound simulation system that exhibits high sensitivity and is cost-effective. Five air-coupled ultrasound elements are arranged as a 1D array in front of a sham probe for transmitting the acoustic signals, and a 5 × 5 2D array of receiving elements is used to receive the acoustic signals from the moving transmitting elements. Since the patterns of the received signals can differ for different positions and angles of the moving probe, the probe can be tracked precisely by the acoustic tracking approach. After the probe position has been determined by the system, the corresponding ultrasound image is immediately displayed on the screen. The system performance was verified by scanning three different subjects as image databases: a simple commercial phantom, a complicated self-made phantom, and a porcine heart. The experimental results indicated that the tracking and angle accuracies of the presented acoustic tracking approach were 0.7 mm and 0.5°, respectively. The performance of the acoustic tracking approach is compared with those of other tracking technologies.

A Review on Real-Time 3D Ultrasound Imaging Technology

Real-time three-dimensional (3D) ultrasound (US) has attracted much more attention in medical researches because it provides interactive feedback to help clinicians acquire high-quality images as well as timely spatial information of the scanned area and hence is necessary in intraoperative ultrasound examinations. Plenty of publications have been declared to complete the real-time or near real-time visualization of 3D ultrasound using volumetric probes or the routinely used two-dimensional (2D) probes. So far, a review on how to design an interactive system with appropriate processing algorithms remains missing, resulting in the lack of systematic understanding of the relevant technology. In this article, previous and the latest work on designing a real-time or near real-time 3D ultrasound imaging system are reviewed. Specifically, the data acquisition techniques, reconstruction algorithms, volume rendering methods, and clinical applications are presented. Moreover, the advantages and disadvantages of state-of-the-art approaches are discussed in detail.

Transverse and Oblique Long Bone Fracture Evaluation by Low Order Ultrasonic Guided Waves: A Simulation Study

Ultrasonic guided waves have recently been used in fracture evaluation and fracture healing monitoring. An axial transmission technique has been used to quantify the impact of the gap breakage width and fracture angle on the amplitudes of low order guided wave modes S0 and A0 under a 100 kHz narrowband excitation. In our two dimensional finite-difference time-domain (2D-FDTD) simulation, the long bones are modeled as three layers with a soft tissue overlay and marrow underlay. The simulations of the transversely and obliquely fractured long bones show that the amplitudes of both S0 and A0 decrease as the gap breakage widens. Fixing the crack width, the increase of the fracture angle relative to the cross section perpendicular to the long axis enhances the amplitude of A0, while the amplitude of S0 shows a nonmonotonic trend with the decrease of the fracture angle. The amplitude ratio between the S0 and A0 modes is used to quantitatively evaluate the fracture width and angles. The study suggests that the low order guided wave modes S0 and A0 have potentials for transverse and oblique bone fracture evaluation and fracture healing monitoring.

Development of a Wireless and Near Real-Time 3D Ultrasound Strain Imaging System

Ultrasound elastography is an important medical imaging tool for characterization of lesions. In this paper, we present a wireless and near real-time 3D ultrasound strain imaging system. It uses a 3D translating device to control a commercial linear ultrasound transducer to collect pre-compression and post-compression radio-frequency (RF) echo signal frames. The RF frames are wirelessly transferred to a high-performance server via a local area network (LAN). A dynamic programming strain estimation algorithm is implemented with the compute unified device architecture (CUDA) on the graphic processing unit (GPU) in the server to calculate the strain image after receiving a pre-compression RF frame and a post-compression RF frame at the same position. Each strain image is inserted into a strain volume which can be rendered in near real-time. We take full advantage of the translating device to precisely control the probe movement and compression. The GPU-based parallel computing techniques are designed to reduce the computation time. Phantom and in vivo experimental results demonstrate that our system can generate strain volumes with good quality and display an incrementally reconstructed volume image in near real-time.