Image based probe position and orientation detection

Details Image based probe position and orientation detection Image based probe position and orientation detection

1998-12-31

2001-02-27

Jaworski, Francis J. (Department: 3737)

Surgery

Diagnostic testing

Detecting nuclear, electromagnetic, or ultrasonic radiation

C434S262000, C600S407000

Reexamination Certificate

active

06193657

ABSTRACT:

CROSS-REFERENCE TO RELATED APPLICATIONS
None.
STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT
Not applicable.
BACKGROUND OF THE INVENTION
The present invention relates to ultrasound systems which measure and image anatomical structures. More particularly, the present invention relates to a method and apparatus for detecting the position and orientation of an ultrasound probe with respect to an ultrasound phantom, to be used in an ultrasound training system.
Ultrasound imaging systems are highly complex and sophisticated devices. System operators must be specially trained in the operation of ultrasound imaging systems in order to ensure that accurate and useful information is obtained. Training systems that provide feedback on operator technique would be useful in the training of ultrasound system operators.
Knowledge of the position and orientation of a sensor relative to a known coordinate system is useful in various fields such as in medical imaging. For example, because proper ultrasound visualization depends upon probe position and orientation, the detection of the position and orientation of an ultrasound probe relative to an imaged object is useful in an ultrasound training system.
Currently systems utilize positioning devices that are based on magnetic fields, optics or special electronic devices. For example, U.S. Pat. No. 5,609,485 discloses a system that may be used for ultrasound training wherein position and orientation information is utilized. In this system, the position and angle of an ultrasound probe (or a simulated probe) is detected by a separate positioning device that operates independently of the ultrasound system. This positioning device utilizes a transmitter/receiver pair having three antennae each that operate on magnetic field principals. The transmitter is mounted on or near a human body or mannequin while the receiver is located on the probe. When used in connection with a real ultrasound system in a data collection mode, the position information generated by the positioning device is stored in a virtual ultrasound database along with ultrasound image information corresponding to the detected position of the probe. When used in connection with a simulated ultrasound system for training, the position information is monitored and a simulated ultrasound image is simultaneously displayed using information from the virtual ultrasound database that corresponds to the position of a simulated probe.
A disadvantage of using independently operating positioning devices such as the kind described above is that use of separate positioning hardware adds to the level of complexity and cost of the system, such as an ultrasound training system. A further disadvantage is that the magnetic field used to detect probe position may interfere with, or be affected by, the imaging equipment. Still further, such positioning devices only measure position with respect to the transmitter, which is mounted on or near the imaged object. If the transmitter is not mounted in a proper position with respect to the imaged object, the probe position indicated by the positioning device may be different from the actual probe position.
A need remains for an improved manner of detecting probe position and orientation to overcome the above-identified difficulties. It is an object of the present invention to meet this need.
SUMMARY OF THE INVENTION
It is an object of the preferred embodiment of the present invention to provide an imaging system that is capable of determining sensor position and orientation.
It is a further object of the preferred embodiment of the present invention to provide an ultrasound system that is capable of determining ultrasound probe position and orientation.
It is a further object of the preferred embodiment of the present invention to provide an ultrasound training system that is capable of providing probe position and orientation feedback to the system operator.
It is another object of the preferred embodiment of the present invention to provide an ultrasound system that is capable of determining probe position and orientation without the use of a separate positioning device and associated hardware.
It is another object of the preferred embodiment of the present invention to provide an imaging system that provides sensor position and orientation information in an efficient and economical manner.
These and other objects of the present invention are provided by a system and method for determining sensor position and orientation with respect to an object having a known three dimensional structure. The sensor acquires an image of the known structure. Position and orientation of the sensor is determined by processing the image with formulas corresponding to the known structure.
One embodiment of the present invention comprises an ultrasound training system and method for determining the position and orientation of an ultrasound probe with respect to a known three dimensional structure embodied in an ultrasound phantom. An ultrasound phantom is generally a block of material suitable for imaging by an ultrasound system. The ultrasound probe acquires a cross sectional or partial volume image of the ultrasound phantom. The image is processed to obtain a number of geometrical image parameters. Position and orientation of the ultrasound probe is calculated from the image parameters using formulas based on the known three dimensional structure.
The three dimensional structure of the above described ultrasound phantom may be designed such that for each position and orientation of the ultrasound probe, located on or above the upper face of the phantom, a unique ultrasound image is acquired. Such structure may comprise a number of planes of a material embedded within the ultrasound phantom that will provide an ultrasound echo characteristic that sharply contrasts with that of the remaining phantom material.
The above described system and method may employ an image de-correlation algorithm to enhance the detection of small changes in probe position and orientation. Error accumulations created by de-correlation may be avoided by reevaluating the results obtained from the original calculation of probe position and orientation.
The above described system and method of determining sensor position and orientation with respect to an object with a known structure can be applied in other applications such as in radar, sonar or video capturing systems.
Other objects, features, and advantages of the present invention will be apparent from the accompanying drawings and from the detailed description that follows below.


REFERENCES:
patent: 5127409 (1992-07-01), Daigle
patent: 5447154 (1995-09-01), Cinquin et al.
patent: 5538004 (1996-07-01), Bumber
patent: 5540229 (1996-07-01), Collet-Billon
patent: 5575286 (1996-11-01), Weng et al.
patent: 5609485 (1997-03-01), Bergman et al.
patent: 5655535 (1997-08-01), Friemel et al.
patent: 5769079 (1998-06-01), Hossock
patent: 5782766 (1998-07-01), Weng et al.
patent: 5810009 (1998-09-01), Holupka et al.
patent: 5827942 (1998-10-01), Madsen et al.
patent: 5924989 (1999-07-01), Polz
patent: 6014473 (2000-01-01), Hossack et al.
patent: 6045508 (2000-04-01), Hossock et al.
patent: 6048317 (2000-04-01), Longguth
patent: 6076008 (2000-06-01), Bucholz

Affiliated with

Also associated with

Rating

Image based probe position and orientation detection does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Image based probe position and orientation detection, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Image based probe position and orientation detection will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-2558661