Ultrafast three-dimensional ultrasound: application to carotid artery imaging

Low-cost Volumetric Ultrasound by Augmentation of 2D Systems: Design and Prototype

Conventional two-dimensional (2D) ultrasound imaging is a powerful diagnostic tool in the hands of an experienced user, yet 2D ultrasound remains clinically underutilized and inherently incomplete, with output being very operator dependent. Volumetric ultrasound systems can more fully capture a three-dimensional (3D) region of interest, but current 3D systems require specialized transducers, are prohibitively expensive for many clinical departments, and do not register image orientation with respect to the patient; these systems are designed to provide improved workflow rather than operator independence. This work investigates whether it is possible to add volumetric 3D imaging capability to existing 2D ultrasound systems at minimal cost, providing a practical means of reducing operator dependence in ultrasound. In this paper, we present a low-cost method to make 2D ultrasound systems capable of quality volumetric image acquisition: we present the general system design and image acquisition method, including the use of a probe-mounted orientation sensor, a simple probe fixture prototype, and an offline volume reconstruction technique. We demonstrate initial results of the method, implemented using a Verasonics Vantage research scanner.

Imaging Carotid Atherosclerosis Plaque Ulceration: Comparison of Advanced Imaging Modalities and Recent Developments

Atherosclerosis remains the leading cause of long-term mortality and morbidity worldwide, despite remarkable advancement in its management. Vulnerable atherosclerotic plaques are principally responsible for thromboembolic events in various arterial territories such as carotid, coronary, and lower limb vessels. Carotid plaque ulceration is one of the key features associated with plaque vulnerability and is considered a notable indicator of previous plaque rupture and possible future cerebrovascular events. Multiple imaging modalities have been used to assess the degree of carotid plaque ulceration for diagnostic and research purposes. Early diagnosis and management of carotid artery disease could prevent further cerebrovascular events. In this review, we highlight the merits and limitations of various imaging techniques for identifying plaque ulceration.

Fully automatic plaque segmentation in 3-D carotid ultrasound images

Automatic segmentation of the carotid plaques from ultrasound images has been shown to be an important task for monitoring progression and regression of carotid atherosclerosis. Considering the complex structure and heterogeneity of plaques, a fully automatic segmentation method based on media-adventitia and lumen-intima boundary priors is proposed. This method combines image intensity with structure information in both initialization and a level-set evolution process. Algorithm accuracy was examined on the common carotid artery part of 26 3-D carotid ultrasound images (34 plaques ranging in volume from 2.5 to 456 mm(3)) by comparing the results of our algorithm with manual segmentations of two experts. Evaluation results indicated that the algorithm yielded total plaque volume (TPV) differences of -5.3 ± 12.7 and -8.5 ± 13.8 mm(3) and absolute TPV differences of 9.9 ± 9.5 and 11.8 ± 11.1 mm(3). Moreover, high correlation coefficients in generating TPV (0.993 and 0.992) between algorithm results and both sets of manual results were obtained. The automatic method provides a reliable way to segment carotid plaque in 3-D ultrasound images and can be used in clinical practice to estimate plaque measurements for management of carotid atherosclerosis.

Association of carotid artery parameters of atherosclerosis in coronary artery disease

BACKGROUND

Although carotid intima-media thickness (IMT) is the most commonly used ultrasonic measurement of atherosclerosis, plaque burden can be also assessed by ultrasound (US). We investigated the relationship between IMT, total plaque area (TPA) and total plaque volume (TPV) in patients with coronary artery disease (CAD).

METHODS

One hundred and seven patients with suspected CAD and carotid plaques identified by duplex ultrasound underwent 3-dimensional US and coronary angiography. The mean IMT, TPA, and TPV were analyzed for patients with CAD according to the severity of CAD.

RESULTS

In the 107 participants, IMT, TPA and TPV averaged 0.90 ± 0.26 mm, 0.42 ± 0.39 cm(2) and 237.0 ± 301.2 mm(3), respectively. We found significant correlations for mean IMT : TPA, mean IMT : TPV and TPA : TPV of 0.448, 0.587 and 0.873, respectively (all p < 0.005). Although there was no significant association of IMT and the severity of CAD, TPA and TPV showed significant positive correlation with CAD severity (r = 0.340, p = 0.0003 for TPA and r = 0.465, p < 0.0001 for TPV). Multivariate linear regression analysis showed age was the only significant attributor to IMT, TPA, and TPV. Mean IMT was significantly associated only with hypertension. TPA was significantly associated with male sex, hypertension, and low density lipoprotein-cholesterol (LDL-C). TPV was significantly associated with male sex, C-reactive protein, and LDL-C.

CONCLUSION

Although there were significant correlations among the various US measures of carotid artery morphology, there seemed to be different biological determinants of IMT, TPA, and TPV. We might need to be selective about the particular measurements for specific applications.

Three-dimensional ultrasound scanning

The past two decades have witnessed developments of new imaging techniques that provide three-dimensional images about the interior of the human body in a manner never before available. Ultrasound (US) imaging is an important cost-effective technique used routinely in the management of a number of diseases. However, two-dimensional viewing of three-dimensional anatomy, using conventional two-dimensional US, limits our ability to quantify and visualize the anatomy and guide therapy, because multiple two-dimensional images must be integrated mentally. This practice is inefficient, and may lead to variability and incorrect diagnoses. Investigators and companies have addressed these limitations by developing three-dimensional US techniques. Thus, in this paper, we review the various techniques that are in current use in three-dimensional US imaging systems, with a particular emphasis placed on the geometric accuracy of the generation of three-dimensional images. The principles involved in three-dimensional US imaging are then illustrated with a diagnostic and an interventional application: (i) three-dimensional carotid US imaging for quantification and monitoring of carotid atherosclerosis and (ii) three-dimensional US-guided prostate biopsy.

Ultrafast photoacoustic imaging and its application to real-time 3D imaging with improved focusing

The restricted temporal resolution ofphotoacoustic imaging due to limited frame rates often prohibits its applications in areas such as real-time 3D imaging. This paper presents an ultrasound/photoacoustic multimodality imaging system that provides an ultrafast frame rate and consists of an ultrasound transducer array with plane wave excitation and a laser with pulse repetition frequency up to 2000 Hz. Its application to real-time 3D photoacoustic imaging is demonstrated and a synthetic-aperture focusing technique is applied to improve the elevational focusing quality of the mechanically-scanned 1D array. A 3D frame rate of 12 Hz in a volume covering a 19.2 mm x 19.2 mm scanning surface is demonstrated.

A 32 x 32 element row-column addressed capacitive micromachined ultrasonic transducer

This paper presents characterization and initial imaging results of a 32 x 32 element two-dimensional capacitive micromachined ultrasonic transducer array. The devices are fabricated using a wafer bonding process in which both the insulation layer and the membrane are user-deposited silicon nitride. The transducers use a row-column addressing scheme to simplify the fabrication process and beamformer. By adjusting the number of rows and columns that are biased, the effective aperture of the transducer can be adjusted. This is significant because it permits imaging in the near-field of the transducer without the use of a lens. The effect on the transmit beam profile is demonstrated. The transducer has a center frequency of 5.9 MHz and a relative bandwidth of 110%. Images of horizontal and vertical wires are taken to demonstrate image resolution. A three-dimensional image of four pin heads is also demonstrated.

A 256 x 256 2-D array transducer with row-column addressing for 3-D rectilinear imaging

We present simulation and experimental results from a 5-MHz, 256 x 256 2-D (65,536 elements, 38.4 x 38.4 mm) 2-D array transducer with row-column addressing. The main benefits of this design are a reduced number of interconnects, a modified transmit/receive switching scheme with a simple diode circuit, and an ability to perform volumetric imaging of targets near the transducer with transmit beamforming in azimuth and receive beamforming in elevation. The final dimensions of the transducer were 38.4 mm x 38.4 mm x 300 microm. After a row-column transducer was prototyped, the series resonance impedance was 104 Omega at 5.4 MHz. The measured -6 dB fractional bandwidth was 53% with a center frequency of 5.3 MHz. The SNR at the transmit focus was measured to be 30 dB. At 5 MHz, the average nearest neighbor crosstalk was -25 dB. In this paper, we present 3-D images of both 5 pairs of nylon wires embedded in a clear gelatin phantom and an 8 mm diameter cylindrical anechoic cyst phantom acquired from a 256 x 256 2-D array transducer made from a 1-3 composite. We display the azimuth and elevation B-scans as well as the C-scan for each image. The cross-section of the wires is visible in the azimuth B-scan, and the long axes can be seen in the elevation B-scan and C-scans. The pair of wires with 1-mm axial separation is discernible in the elevational B-scan. When a single wire from the wire target phantom was used, the measured lateral beamwidth was 0.68 mm and 0.70 mm at 30 mm depth in transmit beamforming and receive beamforming, respectively, compared with the simulated beamwidth of 0.55 mm. The cross-section of the cyst is visible in the azimuth B-scan whereas the long axes can be seen as a rectangle in the elevation B-scan and C-scans.

A dual-layer transducer array for 3-D rectilinear imaging

Very large element counts (16,000-65,000) are required for 2-D arrays for 3-D rectilinear imaging. The difficulties in fabricating and interconnecting 2-D arrays with a large number of elements (>5,000) have limited the development of suitable transducers for 3-D rectilinear imaging. In this paper, we propose an alternative solution to this problem by using a dual-layer transducer array design. This design consists of 2 perpendicular 1-D arrays for clinical 3-D imaging of targets near the transducer. These targets include the breast, carotid artery, and musculoskeletal system. This transducer design reduces the fabrication complexity and the channel count, making 3-D rectilinear imaging more realizable. With this design, an effective N x N 2-D array can be developed using only N transmitters and N receivers. This benefit becomes very significant when N becomes greater than 128, for example. To demonstrate feasibility, we constructed a 4 x 4 cm prototype dual-layer array. The transmit array uses diced PZT-5H elements, and the receive array is a single sheet of undiced P[VDF-TrFE] copolymer. The receive elements are defined by the copper traces on the flexible interconnect circuit. The measured -6 dB fractional bandwidth was 80% with a center frequency of 4.8 MHz. At 5 MHz, the nearest neighbor crosstalk of the PZT array and PVDF array was -30.4 +/- 3.1 dB and -28.8 +/- 3.7 dB, respectively. This dual-layer transducer was interfaced with an Ultrasonix Sonix RP system, and a synthetic aperture 3-D data set was acquired. We then performed offline 3-D beamforming to obtain volumes of nylon wire targets. The theoretical lateral beamwidth was 0.52 mm compared with measured beamwidths of 0.65 mm and 0.67 mm in azimuth and elevation, respectively. Then, 3-D images of an 8 mm diameter anechoic cyst phantom were also acquired.

Reproducibility of 3-dimensional ultrasound readings of volume of carotid atherosclerotic plaque

Background

Non-invasive 3-dimensional (3D) ultrasound (US) has emerged as the predominant approach for evaluating the progression of carotid atherosclerosis and its response to treatment. The aim of this study was to investigate the quality of a central reading procedure concerning plaque volume (PV), measured by 3D US in a multinational US trial.

Methods

Two data sets of 45 and 60 3D US patient images of plaques (mean PV, 71.8 and 39.8 μl, respectively) were used. PV was assessed by means of manual planimetry. The intraclass correlation coefficient (ICC) was applied to determine reader variabilities. The repeatability coefficient (RC) and the coefficient of variation (CV) were used to investigate the effect of number of slices (S) in manual planimetry and plaque size on measurement variability.

Results

Intra-reader variability was small as reflected by ICCs of 0.985, 0.967 and 0.969 for 3 appointed readers. The ICC value generated between the 3 readers was 0.964, indicating that inter-reader variability was small, too. Subgroup analyses showed that both intra- and inter-reader variabilities were lower for larger than for smaller plaques. Mean CVs were similar for the 5S- and 10S-methods with a RC of 4.7 μl. The RC between both methods as well as the CVs were comparatively lower for larger plaques.

Conclusion

By implementing standardised central 3D US reading protocols and strict quality control procedures highly reliable ultrasonic re-readings of plaque images can be achieved in large multicentre trials.

A three-dimensional ultrasonographic quantitative analysis of non-ulcerated carotid plaque morphology in symptomatic and asymptomatic carotid stenosis

BACKGROUND AND PURPOSE

Studies evaluating the association between carotid plaque composition and occurrence of ischemic cerebrovascular disease reveal inconsistent results. This study correlates the carotid echomorphology with the degree of stenosis in symptomatic and asymptomatic patients.

METHODS

We included consecutive patients with hemispheric stroke or asymptomatic carotid artery stenosis assessed with 2D ultrasound. The echomorphology was assessed with mean gray value (MGV) of the three-dimensional (3D) volume. We used the free-hand approach for 3D image and volume acquisition. Analyses of the stored carotid plaque volumes were carried out offline using the Virtual Organ Computer-aided Analysis (VOCAL) program.

RESULTS

We studied 110 symptomatic and 104 asymptomatic atherosclerotic carotid plaques. MGV was lower in symptomatic carotid plaques causing <70% stenosis compared to plaques causing > or =70% stenosis (25.95+/-7.40 vs. 32.16+/-11.35, p=0.002). There was no difference in MGV between plaques producing <60% and those with > or =60% in asymptomatic patients (32.08+/-8.36 vs. 31.46+/-9.25, p=0.724). There were significant differences in MGV between symptomatic and asymptomatic plaques causing <60 or <70% stenosis; MGV was lower in symptomatic patients.

CONCLUSIONS

Lower plaque echogenicity is observed in symptomatic than in asymptomatic patients with moderate degree of carotid stenosis, indicating that it is a significant factor for the production of cerebral ischemia. Our method could be useful in assessing the risk of cerebral ischemia and the response of carotid artery atherosclerosis to medical therapies.

3D reconstruction of carotid atherosclerotic plaque: comparison between spatial compound ultrasound models and anatomical models

This study deals with the creation of 3D models that can work as a tool for discriminating between tissue and background in the development of tissue classification methods. Ten formalin-fixed atherosclerotic carotid plaques removed by endarterectomy were scanned with 3D multi-angle spatial compound ultrasound (US) and subsequently sliced and photographed to produce a 3D anatomical data set. Outlines in the ultrasound data were found by means of active contours and combined into 10 3D ultrasound models. The plaque regions of the anatomical photographs were outlined manually and then combined into 10 3D anatomical models. The volumes of the anatomical models correlated with the volume found by a water displacement method (r = 0.95), except for an offset. The models were compared in three ways. Visual inspection showed quite good agreement between the models. The volumes of the ultrasound models correlated with the volumes of the anatomical models (r = 0.93), again with an offset. Finally, the overlap between the anatomical models and the ultrasound models showed, on average, that the intersection comprised 90%(vol) of the anatomical models and 73%(vol) of the ultrasound models.

Validation of 3D ultrasound vessel wall volume: an imaging phenotype of carotid atherosclerosis

Carotid atherosclerotic lesions are a major cause of stroke and the identification and quantification of such lesions in patients is important for the development of a better understanding of atherogenesis in high risk populations and for the design of studies to assess treatment efficacy. Our objective was to develop and validate a new three-dimensional ultrasound (3DUS) measurement or phenotype of carotid atherosclerosis, vessel wall volume (VWV), which is a three-dimensional measurement of vessel wall thickness and plaque within the carotid arteries measured in 3DUS images. To assess both intraobserver and interscan variability, 3DUS images were acquired from the right and left carotid arteries of ten subjects with carotid atherosclerosis scanned twice within a period of 2 wk. For both VWV and total plaque volume (TPV), an expert observer performed five measurement trials of all images acquired at baseline scan and 2-wk rescan with a 5-d period between measurement trials for images. Images were re-randomized for each measurement trial and both TPV and VWV were measured by observers who were blinded to subject identification for each time-point measurement. Coefficients of variation (COV) and intraclass correlation coefficients (ICC), for VWV measurements indicated higher intraobserver (scan COV = 4.6% ICC = 0.95, rescan COV = 3.4%, ICC = 0.96) and interscan reproducibility (COV = 5.7%, ICC = 0.85) than TPV measurements (intraobserver variability scan COV = 22.7% ICC = 0.85, rescan COV = 21.1% ICC = 0.88 and interscan variability, COV = 31.1%, ICC = 0.83), although absolute variances for both phenotypes were very similar (VWV = 90 mm3, TPV = 80 mm3).

Manual planimetric measurement of carotid plaque volume using three-dimensional ultrasound imaging

We investigated the utility of three manual planimetric methods to quantify carotid plaque volume. A single observer measured 15 individual plaques from 15 three-dimensional (3D) ultrasound (3D US) images of patients ten times each using three different planimetric approaches. Individual plaque volumes were measured (range: 32.6-597.1 mm3) using a standard planimetric approach (M1) whereby a plaque end was identified and sequential contours were measured. The same plaques were measured using a second approach (M2), whereby plaque ends were first identified and the 3D US image of the plaque was then subdivided into equal intervals. A third method (M3) was used to measure total plaque burden (range: 165.1-1080.0 mm3) in a region (+/- 1.5 cm) relative to the carotid bifurcation. M1 systematically underestimated individual plaque volume compared to M2 (V2 = V1 + 14.0 mm3, r = 0.99, p = 0.006) due to a difference in the mean plaque length measured. Coefficients of variance (CV) for M1 and M2 decrease with increasing plaque volume, with M2 results less than M1. Root mean square difference between experimental and theoretical CV for M2 was 3.2%. The standard deviation in the identification of the transverse location of the carotid bifurcation was 0.56 mm. CVs for plaque burden measured using M3 ranged from 1.2% to 7.6% and were less than CVs determined for individual plaque volumes of the same volume. The utility of M3 was demonstrated by measuring carotid plaque burden and volume change over a period of 3 months in three patients. In conclusion, M2 was determined to be a more superior measurement technique than M1 to measure individual plaque volume. Furthermore, we demonstrated the utility of M3 to quantify regional plaque burden and to quantify change in plaque volume.

Quantification of carotid plaque volume measurements using 3D ultrasound imaging

An accurate and reliable technique used to quantify carotid plaque volume has practical importance in research and patient management. In this study, we develop and investigate a theoretical description of carotid plaque volume measurements made using three-dimensional (3D) ultrasound (US) images and compare it with experimental results. Multiple observers measured 48 3D US patient images of carotid plaque (13.2 to 544.0 mm(3)) by manual planimetry. Coefficients of variation in the measurement of plaque volume were found to decrease with increasing plaque size for both inter- (90.8 to 3.9%) and intraobserver (70.2 to 3.1%) measurements. Plaque volume measurement variability was found to increase with interslice distance (ISD), while the relative measurement accuracy remained constant for ISDs between 1.0 and 3.0 mm and then decreased. Root-mean-square (RMS) difference between our theoretical description of plaque volume measurement variance and the experimental results was 5.7%. Thus, our results support the clinical utility of measuring carotid plaque volume by manual planimetry noninvasively using 3D US.

Development and validation of an in vivo analysis tool to identify changes in carotid plaque tissue types in serial 3-D ultrasound scans

We have developed a three-dimensional (3-D) B-mode acquisition system suitable for imaging carotid plaques in vivo. A texture classification system using 157 statistical and textural algorithms, previously developed in our laboratory and shown to predict the contents of in vitro carotid plaques, was applied to in vivo 3-D image sets obtained from patients with both symptomatic and asymptomatic carotid artery plaques. Delineation of plaque boundaries is more difficult using in vivo images than in vitro images of excised plaques embedded in agar. This study has examined inter- and intraobserver variability studies to assess the degree of selectivity of the plaque region-of-interest (ROI) and assess the degree of repeatability for potential use in comparing serial scans. An interobserver limit of agreement of +/-12.9% and an intraobserver limit of repeatability of <2% were obtained. These results show that the plaque ROI selection is subjective, but is repeatable within acceptable limits.

Differences between carotid wall morphological phenotypes measured by ultrasound in one, two and three dimensions

Ultrasound measurements are both surrogate markers and risk factors for atherosclerosis end points. Carotid intima-media thickness (IMT) is most commonly used, but ultrasound can also define structures in higher spatial dimensions, such as total plaque area (TPA) and total plaque volume (TPV). Because there are minimal data regarding the relationship between IMT, TPA and TPV, we measured these variables in 272 Oji-Cree subjects. We found pairwise correlations for IMT:TPA, IMT:TPV and TPA:TPV of 0.507, 0.588 and 0.846, respectively (transformed variables, all P <0.0001). In a subset of 168 subjects with complete cardiovascular risk factor data, we performed multivariate regression analysis to identify sources of variation for IMT, TPA and TPV. We found that the ultrasound traits showed different correlations with individual cardiovascular risk factors. In particular, IMT was significantly associated with hypertension, TPA with smoking and plasma cholesterol, and TPV with diabetes. Therefore, these ultrasound measures of carotid artery morphology, while somewhat correlated, likely represent distinctive quantitative traits with different biological determinants, as underscored by different risk factor associations in the multivariate regression analysis. Because the measurements have different implications and determinants, investigators might need to be selective about the particular measurements they choose for specific applications.

Reproducibility of histological assessment of carotid plaque: implications for studies of carotid imaging

BACKGROUND

Thromboembolism from carotid plaque is an important cause of stroke. Identification of unstable plaque would therefore be clinically useful. Unfortunately, studies of carotid plaque imaging have shown poor agreement with histology. However, this may be due to inconsistent methods and the variability of assessments of carotid plaque histology, rather than inadequate imaging.

METHODS

We assessed the reproducibility of histological assessment in 60 plaques, and section-to-section variability along the length of 26 plaques.

RESULTS

Kappa values ranged from 0.35 to 0.89 and from 0.44 to 0.68, respectively, for intra- and inter-observer reproducibility. There was considerable section-to-section variability within plaques.

CONCLUSIONS

The accuracy of imaging of carotid plaque morphology will be underestimated unless variability in the histology assessment is taken into account.

Reconstruction and quantification of the carotid artery bifurcation from 3-D ultrasound images

Three-dimensional (3-D) ultrasound is a relatively new technique, which is well suited to imaging superficial blood vessels, and potentially provides a useful, noninvasive method for generating anatomically realistic 3-D models of the peripheral vasculature. Such models are essential for accurate simulation of blood flow using computational fluid dynamics (CFD), but may also be used to quantify atherosclerotic plaque more comprehensively than routine clinical methods. In this paper, we present a spline-based method for reconstructing the normal and diseased carotid artery bifurcation from images acquired using a freehand 3-D ultrasound system. The vessel wall (intima-media interface) and lumen surfaces are represented by a geometric model defined using smoothing splines. Using this coupled wall-lumen model, we demonstrate how plaque may be analyzed automatically to provide a comprehensive set of quantitative measures of size and shape, including established clinical measures, such as degree of (diameter) stenosis. The geometric accuracy of 3-D ultrasound reconstruction is assessed using pulsatile phantoms of the carotid bifurcation, and we conclude by demonstrating the in vivo application of the algorithms outlined to 3-D ultrasound scans from a series of patient carotid arteries.

High-definition freehand 3-D ultrasound

This paper describes a high-definition freehand 3-D ultrasound (US) system, with accuracy surpassing that of previously documented systems. 3-D point location accuracy within a US data set can be achieved to within 0.5 mm. Such accuracy is possible through a series of novel system-design and calibration techniques. The accuracy is quantified using a purpose-built tissue-mimicking phantom, designed to create realistic clinical conditions without compromising the accuracy of the measurement procedure. The paper includes a thorough discussion of the various ways of measuring system accuracy and their relative merits; and compares, in this context, all recently documented freehand 3-D US systems.

Theoretical and experimental quantification of carotid plaque volume measurements made by three-dimensional ultrasound using test phantoms

An accurate technique that exhibits low variability has practical importance for the quantification of carotid plaque volume. Such a technique is necessary to monitor plaque progression or regression that may result in response to nonsurgical therapy. In this study, we investigate the accuracy and variability of plaque volume measurement by three-dimensional ultrasound using vascular plaque phantoms over a range of 68.2 mm3 to 285.5 mm3. The agar plaques maintained a consistent cylindrical geometry with variations in the height, length, and echogenicity. The volume of each plaque was determined by water displacement. The three-dimensional (3D) ultrasound (US) images were acquired with a mechanical scanning system which creates a 3D US Cartesian volume, that was manipulated and viewed in any orientation, from a collection of conventional parallel two-dimensional (2D) US images. The plaque volumes were measured by serial 2D manual planimtery. The mean accuracy in plaque volume measurement was 3.1+/-0.9%. Variability in plaque volume measurement was calculated to be 4.0+/-1.0% and 5.1+/-1.4% for intraobserver and interobserver measurements, respectively. We have also developed a theoretical description for the variance in measurement of plaque volume using manual planimetry. Root-mean-square difference between experimentally and theoretically determined values of plaque volume fractional variance was 9%.

Quantification of extracranial carotid artery stenosis by ultrafast three-dimensional ultrasound

This study was designed to evaluate the possible contribution of 3-dimensional (3D) ultrasound (US) for noninvasive detection of extracranial carotid artery stenosis. Sixty-nine stenotic lesions of extracranial carotid artery were studied by (1) B-mode (Bm) US, (2) Doppler spectral analysis, and (3) a prototype of 3D vascular system. When indicated (46 stenotic lesions), biplane carotid angiography (CA) was performed. The degree of luminal narrowing measured as percent area reduction in the 3D data set correlated well with the degree of stenosis estimated by CA (r = 0.79, P <.01, mean difference 7.8% +/- 15.5%); however, for stenosis between 40% and 70%, 3D US tended to give higher values. Compared with CA, the sensitivity, specificity, diagnostic accuracy, and positive predictive value of 3D US for significant (> or =70%) stenosis were 96.0%, 77.7%, 88.3%, and 85.7%, respectively. Thus, 3D US showed good sensitivity and diagnostic accuracy for detection of significant stenosis of extracranial carotid artery. For stenosis between 40% and 70%, 3D US indicated a higher degree than CA; this finding suggests that CA may underestimate the severity of stenosis due to known discrepancies between linear measurement and true anatomic situation.

Optimisation and evaluation of an electromagnetic tracking device for high-accuracy three-dimensional ultrasound imaging of the carotid arteries

Electromagnetic tracking devices provide a flexible, low cost solution for three-dimensional ultrasound (3-D US) imaging. They are, however, susceptible to interference. A commercial device (Ascension pcBIRD) was evaluated to assess the accuracy in locating the scan probe as part of a digital, freehand 3-D US imaging system aimed at vascular applications. The device was optimised by selecting a measurement rate and filter setting that minimised the mean deviation in repeated position and orientation measurements. Experimental evaluation of accuracy indicated that, overall, absolute errors were small: the RMS absolute error was 0.2 mm (range: -0.7 to 0.5 mm) for positional measurements over translations up to 90 mm, and 0.2 degrees (range: -0.8 to 0.9 degrees ) for rotational measurements up to 30 degrees. In the case of position measurements, the absolute errors were influenced by the location of the scanner relative to the scan volume. We conclude that the device tested provides an accuracy sufficient for use within a freehand 3-D US system for carotid artery imaging.

An automated segmentation method for three-dimensional carotid ultrasound images

We have developed an automated segmentation method for three-dimensional vascular ultrasound images. The method consists of two steps: an automated initial contour identification, followed by application of a geometrically deformable model (GDM). The formation of the initial contours requires the input of a single seed point by the user, and was shown to be insensitive to the placement of the seed within a structure. The GDM minimizes contour energy, providing a smoothed final result. It requires only three simple parameters, all with easily selectable values. The algorithm is fast, performing segmentation on a 336 x 352 x 200 volume in 25 s when running on a 100 MHz 9500 Power Macintosh prototype. The segmentation algorithm was tested on stenosed vessel phantoms with known geometry, and the segmentation of the cross-sectional areas was found to be within 3% of the true area. The algorithm was also applied to two sets of patient carotid images, one acquired with a mechanical scanner and the other with a freehand scanning system, with good results on both.