All publications and patent applications mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication or patent application was specifically and individually indicated to be incorporated by reference.
Embodiments described herein relate to systems and methods for image recording.
Recording images using a hand-held imaging probe requires hand-eye coordination as well as the ability to control several functions at once. If the images are recorded in a temporal manner, that is a constant number of frames per second, then the number of sequential images recorded is a function of how long the recording function is “on”. Constant recording may not be desirable because each image recorded requires computer memory resources and operator time to review.
By the way of example, if the record function is “on”, but the probe is not contacting tissue, then the images recorded have no information. The system would waste computer storage resources to store these “empty” images and waste the reviewer's time to review these empty images.
By the way of another example, if the probe is on the tissue then images with viable information would be recorded, but if the probe does not move then the same information would be available in multiple images. The system would waste computer storage resources to store these “identical” images and waste the reviewer's time to review these identical images.
One method of solving this problem would be to consciously activate the recording function when the user wants images recorded and consciously deactivate the recording function when the user does not want the images recorded. Thus, the user could turn the recording function “on” when the user judges that the device has an image with information that is worthy of recording and when the imaging probe moves and the sequence of images changes such that the images recorded are unique. That conscious “on” and “off” feature could be a manually activated button, a foot pedal, or voice activation (for example, saying the word “on” to turn the recording on and saying the word “off” to turn the recording off).
This method is cumbersome, often impossible. When scanning with a hand-held probe it is often necessary to use one hand to manipulate the probe and a second hand to stabilize the tissue to be scanned. This procedure does not allow a free hand to manipulate the “on” and “off” procedure. In addition, when scanning the tissue the user must often focus their vision on the tissue to be scanned and averting that visualization to find an “on” or “off” button to press. The same challenge that applies to visualizing manual buttons applies to finding a foot pedal to depress. Additionally, with audible commands, these can be distracting to the patient.
As such, embodiments described herein relate to systems and methods to automate or control the start and stop of image recording by an imaging device based on image device movement and/or image quality of recorded images.
Methods, apparatus, and systems for use with an ultrasound imaging console in screening a volume of tissue are disclosed herein. The targeted human tissue can include a human breast.
In general, in one embodiment, a tissue imaging system includes an image recording system in communication with a manual imaging device having an imaging probe. The manual imaging device is configured to scan a volume of tissue and output a first scan image and a second scan image. The image recording system is configured to electronically receive the first and second scan images, calculate an image-to-image spacing between the first and second scan images, determine whether the image-to-image spacing indicates movement by the imaging probe, determine an image quality of the first and second scan images if the image-to-image spacing indicates movement, and record the first and second scan images where the calculated image-to-image spacing indicates movement by the imaging probe and the image quality analysis indicates that the first and second scan images satisfy a pre-determined image quality. A position tracking system is configured to detect and track the position of the imaging probe and provide location identifier information for the first and second scan images. The position tracking system can be configured to electronically output probe position data and the location identifier information to the image recording system.
This and other embodiments can include one or more of the following features. The image recording system can be configured to store a user-defined image-to-image distance limit for comparison to the calculated image-to-image spacing and automatically record the first and second scan images if the calculated image-to-image spacing is equal to or more than the user-defined image-to-image distance limit and if the scan images satisfy the pre-determined image quality. The user defined image-to-image spacing can be about 1 mm or less. The system can further include electromagnetic position sensors. The system can further include magnetic position sensors. The system can further include microwave position sensors. The system can further include position sensors that are optical markers imaged by a plurality of cameras. The position sensors can be infrared markers imaged by a plurality of cameras. The position sensors can be ultraviolet markers imaged by a plurality of cameras. The image quality can be determined based on a percentage of tissue imaged information present in the scan image. The pre-determined image quality can be tissue imaged information present in the scan image of greater than about 50%. The percentage can be a user-defined value corresponding to the variation in gray-scale within an image area of neighboring pixels. The user-defined value for the variation in the gray-scale within the image area can correspond to pixel value differences of less than 16 values on a 256 level gray scale. The system can be configured to only record images that indicate movement of the imaging probe and satisfy the image quality analysis. The system can further include orientation sensors.
In general, in one embodiment, a method of recording images of a tissue structure includes: (1) electronically receiving a first scan image generated from an imaging device; (2) electronically receiving a second scan image generated from an imaging device; (3) calculating an image-to-image spacing between the first and second scan images based on position data received from a plurality of sensors coupled to the imaging device; (4) comparing the calculated image-to-image spacing to a stored predetermined distance value; (5) performing an image quality analysis on the first and second scan images if the image-to-image spacing exceeds the stored predetermined distance value; (6) recording the first scan image if the first scan image satisfies the image quality analysis; and (7) recording the second scan image if the second scan image satisfies the image quality analysis.
This and other embodiments can include one or more of the following features. The image quality analysis can be a pixel color analysis. The pixel color analysis can include grouping together neighboring pixels that are within 16 values on a 256 level gray scale of a user-defined value. The processor can be configured to divide the first and second scan images into segments and compute the pixel values for each segment for image quality analysis. The imaging device can be an ultrasound probe. The sensors can include position sensors. The sensors can include orientation sensors. The first and second scan images can be only recorded if the image-to-image spacing exceeds the predetermined distance value and the scan images satisfy the image quality analysis. The image quality can be determined based on a percentage of tissue imaged information present in the scan image. The pre-determined image quality can be tissue imaged information present in the scan image of greater than about 50%. The user defined image-to-image spacing can be about 1 mm or less.
In general, in one embodiment, a method of recording images of a tissue structure includes: (1) electronically receiving a position data for an imaging probe from position and/or orientation sensors coupled to the probe to detect movement of the imaging probe; (2) electronically receiving a first scan image generated from the imaging probe; (3) performing an image quality analysis on the first scan image if movement of the imaging probe is detected; and (4) recording the first image if the first scan image satisfies the image quality analysis and movement of the imaging probe is detected.
This and other embodiments can include one or more of the following features. The movement of the probe can be detected based on the position and/or orientation sensors coupled to the probe. Movement can be determined based on an image-to-image spacing computed by a processor and compared to a predetermined distance value stored in the processor. The predetermined distance value can be about 1 mm or less. The image quality can be determined based on a pre-determined percentage of tissue imaged information present in the scan image. The pre-determined image quality can be tissue imaged information present in the scan image of greater than about 50%. The image quality analysis can be a pixel color analysis. The pixel color analysis can include grouping together neighboring pixels that are within 16 values on a 256 level gray scale of a user-defined value.
In general, in one embodiment, a tissue imaging system includes an image recording system in communication with a manual imaging device having an imaging probe. The manual imaging device is configured to scan a volume of tissue and output a first scan image and a second scan image. The image recording system is configured to electronically receive the first and second scan images, calculate an image-to-image spacing between the first and second scan images, determine whether the image-to-image spacing indicates movement by the imaging probe, determine an image quality of the first and second scan images if the image-to-image spacing indicates movement, and automatically record the first and second scan images where the calculated image-to-image spacing indicates movement by the imaging probe and the image quality analysis indicates that the first and second scan images satisfy a pre-determined image quality. A position tracking system is configured to detect and track only the position or position and orientation of the imaging probe and provide location identifier information for the first and second scan images. The position tracking system can be configured to electronically output probe position data and the location identifier information to the image recording system.
This and other embodiments can include one or more of the following features. The system can further include position sensors or position and orientation sensors. The image recording system can be configured to store a user-defined image-to-image distance limit for comparison to the calculated image-to-image spacing and automatically record the first and second scan images if the calculated image-to-image spacing is equal to or more than the user-defined image-to-image distance limit. The user defined image-to-image spacing can be about 1 mm or less. The image quality can be determined based on a percentage of tissue imaged information present in the scan image. The pre-determined image quality can be tissue imaged information present in the scan image of greater than about 50%. The percentage can be a user-defined value corresponding to the variation in gray-scale within an image area of neighboring pixels. The user-defined value for the variation in the gray-scale within the image area of neighboring pixels can correspond to pixel value differences of less than 16 values on a 256 level gray scale. The system can be configured to only record images that indicate movement and satisfy the image quality analysis.
The novel features of the invention are set forth with particularity in the claims that follow. A better understanding of the features and advantages of the present invention will be obtained by reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the invention are utilized, and the accompanying drawings of which:
Embodiments described employ the use of image analysis and position sensors or a combination of position sensors and orientation sensors to measure whether the system is producing an image worth recording and whether the probe is being moved (e.g., creating different or unique images).
In the example of an ultrasound image, the image itself is an array of pixels (see
In the example of an ultrasound image, the image itself is an array of pixels. Each pixel represents the acoustic reflection properties of a portion of the tissue. If the user does not apply the probe correctly then the acoustic propagation may lose integrity and part of the image may show no reflective properties. An entire portion 116 of the image may be black (
Some embodiments contemplated provide for image recording systems and methods that use computer programming logic to analyze portions of the image to determine whether to record that image. For example, if a section of neighboring pixels of the image are determined to be black. The system may compute the percentage of black area. This percentage can be compared with a preset acceptable value. If the computed percentage is within acceptable limits, the system will record the image. Otherwise, the image is not recorded. If the user selects a value, for example, 67% of the segments being essentially black, to label an image as having no information, then criteria may be established to determine which images to record and which to ignore. In some embodiments the percentage of tissue image in the scanned image is predetermined by the user for the image quality analysis. In some embodiments the image quality analysis preset value is about 25% tissue image or greater. In some embodiments the image quality analysis preset value is about 33% tissue image or greater. In some embodiments the image quality analysis preset value is about 50% tissue image or greater. In some embodiments the image quality analysis preset value is about 66% tissue image or greater. In some embodiments the image quality analysis preset value is about 75% tissue image or greater.
One or more image segments of an image may be analyzed to determine the percentage of usable or unusable information in the image. As shown in
In some embodiments, see
Additionally, the term “same color” or substantially the same color does not require the pixel color to be the exact same color. For example, two pixels may not have identical levels of gray. Rather, these terms may include a range in color difference between pixels that still fall into the “same” category. As a non-limiting example, pixel value differences less than 16 values on a 256 level gray scale may be considered the same color or substantially the same in color. As can be seen in
As such, in some variations, embodiments described herein analyze the color of segments, neighboring pixels, or sections of an image to determine if a certain percentage of the segment is of the same or similar color. Referring to
To segment or divide the images, some embodiments will apportion the image into three sections. In some cases, the sections are a left third, middle third, and a right third. In some cases, the sections are a top third, middle third, and a right third. In some embodiments, the middle third does not include a quarter of the image on each side.
Embodiments contemplated include image recording systems and methods that analyze the color scheme and patterns in one or more segments of an image to determine, at least, whether there is a portion of the image that does not contain target tissue information and what percentage of the image contains target tissue information. In some embodiments, if a preset value or percentage of the image does not contain tissue information, then the image will not be recorded. This quality control feature improves adequate imaging of tissue and efficient image storage.
As shown in
In some variations, the image analysis includes the step of subtracting a subtraction “black” value from each pixel. The “subtraction black” value is a background that is indicative of no tissue reflection, and may not be “black”. For example, a full-black value may have a value between about 10-20, while a uniform background, not representing tissue, may have a value between 105 and 135 (see
Additionally, to analyze the image, some embodiments modify the image before analysis. For example, in the case of ultrasound, these images may include a section, such as a frame or band that outlines the image, which does not contain tissue information. As such, some embodiments include the step of removing or disregarding the frame or band prior to image analysis. In some cases, the top 15% of an image is removed or disregarded before pixel analysis.
Once it is determined that the image has sufficient usable information, the image recording systems records the image. In some embodiments, the presence of a satisfactory amount of usable information in a received image will activate the recording mode of the automatic image recording system. For example, the recording starts when the analyzed image has less than “X” percentage of a monochromatic color (e.g. black).
In additional embodiments, the image recording system may record an image based on the movement of an imaging device. In some embodiments, the movement of the imaging device may be used alone or in combination with the pixel analysis described to control whether the image recording system records or deletes a received image.
Movement of an imaging device, such as the movement of a manual imaging probe for an ultrasound device, can be measured by detecting the location of the imaging device. Systems, devices, and methods for detecting the location of an imaging device are described in detail in U.S. patent application Ser. Nos.: 13/854,800 filed on Apr. 1, 2013; 61/753,832 filed Jan. 17, 2013; and 61/817,736 filed on Apr. 30, 2013, which are incorporated by reference in their entirety. For example,
The Image Recording System 10 also comprises position-tracking system 20, which includes, by way of example, position tracking module 22 and position sensor locator, such as a magnetic field transmitter 24. In addition, the Image Recording System 10 also comprises a plurality of position sensors 32a, 32b and 32c coupled or affixed to the hand-held imaging probe 14. Although the hand-held imaging system 12 is shown as a subsystem separate from the scanning completeness auditing system 10, in some embodiments, the two systems are part of the same overall system. In some cases, the imaging device may be part of the scanning completeness auditing system.
Still referring to
The position tracking module 22 is connected to data acquisition and display module/controller 40 via data transmission cable 48 wherein cable 48 is removably attached to microcomputer/storage/DVD ROM recording unit 41 of data acquisition and display module/control 40 with connector 45 and is removably connected to position tracking module with connector 49. Position sensor locator, such as a magnetic field transmitter 24 is connected to position tracking module 22 via cable 26 with removably attachable connector 25. Hand-held imaging probe assembly 30 includes, by way of example, position sensors 32a-32c, which are affixed to hand-held imaging probe 14 and communicate position data to position tracking module 22 via leads 34a-34c, respectively, and removably attachable connectors 36a-36c, respectively. Position sensor cables 34a-34c may be removably attached to ultrasound system cable 16 using cable support clamps 5a-5f at multiple locations as seen in
Any suitable sensor may be used to provide location and position data. For example, magnetic sensors, optical markers (e.g. to be imaged by cameras), infrared markers, and ultraviolet sensors are examples of suitable options. Furthermore, a position sensor may or may not be a separate sensor added to the imaging device. In some cases, the sensor is a geometric or landmark feature of the imaging device, for example, the corners of the probe. In some embodiments, the optical, infrared, or ultraviolet cameras could capture an image of the probe and interpret the landmark feature as a unique position on the imaging device.
Although certain location and motion recognition methods have been described (e.g.
Moreover, in some embodiments, sensors may not need to be added to the imaging device. Rather, location and motion detection systems can be used to track the position of the imaging device by using geometric or landmark features of the imaging device. For example, a location system may track the corners or edges of an ultrasound imaging probe while it is scanned across a target tissue.
Additionally, the sensors may also provide orientation data such as pitch, roll, and yaw. Such sensors may be position and/or orientation sensors that detect either position and/or orientation data. In some cases, a position sensor may only detect position. The system may then derive the undetected orientation information if needed. In other embodiments, the sensors may detect both position and orientation.
In some embodiments, movement of an imaging device may activate the recording system. For example, the recording system activates recording mode after detecting specific patterns of movements such as shaking, rotating, or tapping an imaging probe. The movement may be detected by a position tracking system and communicated to a recording system that activates when a specific movement is detected. In some variations, a recording system uses both movement of the imaging device and image analysis to activate recording function. For example, the recording system begins to receive images from an imaging probe/device/system once an activation motion is detected. The recording system then performs pixel analysis of the images to determine whether to record the images.
In further embodiments, the recording of an image may also be dependent on image-to-image spacing between two sequential images. The user can set a spatial limit on the image-to-image spacing which represents “movement”. For example, if two sequential images are spaced more than 0.01 mm, more than 0.1 mm apart, or more than 1 mm apart, or any other user-defined limit, the probe would be deemed as “moving” and recording may be possible.
Image-to-image spacing may be determined by any appropriate method or system including those described in U.S. patent application Ser. Nos.: 13/854,800 filed on Apr. 1, 2013; 61/753,832 filed Jan. 17, 2013; and 61/817,736 filed on Apr. 30, 2013, which are incorporated by reference in their entirety. In some embodiments, measuring or calculating the spacing or distance between individual images in a scan sequence may be referred to as determining the image-to-image resolution or spacing between discrete images in a scan sequence. Alternatively, frame to frame resolution may also be used to describe the spacing/distance between images in a scan sequence. As described, if the calculated space or distance between individual images satisfies a minimum or maximum value, the image recording system may then record these images. Additionally, the image recording system may also perform image analysis such as pixel color analysis to determine if a particular image has sufficient usable information warranting recording.
Again referring to
Referring again to
One embodiment to determine the distance between images is to calculate the maximum distance between any two adjacent image frames. Since the frames are planar, then the largest distance between any two frames will occur at the corresponding pixels 94 that are at one of the four corners. Thus, the maximum distance 716 between any two corresponding frames shall be:
{Maximum Distance between any Two Corresponding Frames}=
=MAX(DISTANCE(P(FIRST-ROW, FIRST-COLUMN)−P′(FIRST-ROW, FIRST-COLUMN)),
DISTANCE(P(FIRST-ROW, LAST-COLUMN)−P′(FIRST-ROW, LAST-COLUMN)),
DISTANCE(P(LAST-ROW, FIRST-COLUMN)−P′(LAST-ROW, FIRST-COLUMN)),
DISTANCE(P(LAST-ROW, LAST-COLUMN)−P′(LAST-ROW, LAST-COLUMN)))
Where P and P′ are the corresponding pixels 94 in two adjacent images, MAX is the maximum function which chooses the largest of the numbers in the set (in this example 4) and DISTANCE is the absolute distance 716 between the corresponding pixels.
In other embodiments, the relative distance between two, adjacent, images is measured by calculating the maximum of the distances between each of the four corners of the images ({x0,y0,z0}−{x0′,y0′,z0′}−{x1′,y1′,z1′}, {x2,y2,z2}−{x2′,y2′,z2′}, {x3,y3,z3}−{x3′,y3′,z3′}). These distances may be found via the method of Pythagoras where:
{x0,y0,z0}−{x0′,y0′,z0′}=sqrt ({x0−xo′}2+{y0−y0′}2+{z0−z0′−z0′}2)
Exemplary distances are shown in
In some cases, the acceptable spacing/distance is a preselected or predetermined value. In some cases, the value is a user defined limit. In other embodiments, the system may provide a range or acceptable spacing/distances for selection based on the type of exam or characteristics of the patient or target region for scanning.
The spacing between images in the scan (e.g. image-to-image spacing) may be used to detect that the imaging device is being rotated, translated, or moved on the target tissue. The image-to-image spacing may be determined by computing the maximum chord or distance, x between successive planar ultrasound scan frames at the maximum intended depth of ultrasound interrogation (i.e., maximum depth of the breast tissue in the present example). This maximum distance, x can be computed between the distal boundaries of each successive ultrasound scan frame (e.g., between ultrasound beam 50g and 50h, and corresponding images, since the position of the ultrasound transducer array 57 and/or the orientation of the hand-held ultrasound probe assembly 30 is precisely known at all time points when ultrasound scan frames are generated and recorded.
For the case of one embodiment involving the use of an Ascension Technologies position sensor product, the position of each sensor is determined (in one example version of a product sold by Ascension Technologies but not intended as a limitation as the data update rate may be higher or lower) at a rate of 120 times per second which is an order of magnitude more frequently than the repetition rate for ultrasound scan frames. As a consequence, the precise location of the ultrasound scan frame and, thereby, the precise location of the 240,000 pixels within each ultrasound scan frame, will be known in three-dimensional space as each ultrasound scan frame is generated by the ultrasound system 12 and recorded by the data acquisition and display module/controller 40. According, knowing the position of all pixels within each successive frame will enable the maximum distances between corresponding pixels in successive frames to be computed, focusing on those portions of successive ultrasound beams 50d-50h, and corresponding ultrasound images, that are known to be furthest apart, i.e., at locations within the recorded scan frame most distant from the ultrasound transducer array 57.
Referring now to
In some embodiments, by combining the factors of movement and image quality, parameters could be set up so that the system automatically records images without the need for active user intervention (such as a button, foot pedal, or voice command). In this scenario (see
In some embodiments, referring to
The image-to-image distance between the first and second images is calculated. This may be performed by any mathematical method including the Pythagorean theorem.
If the distance between the first and second images does not satisfy a minimum distance, then the image(s) is not recorded. In some cases, the first image is recorded. A second image is not recorded until its distance from the previous meets a minimum standard. The next image is not recorded until its distance meets a minimum standard.
If the distance between the first and second images satisfies a minimum distance, then an image analysis action is performed. The recording system determines if an image contains sufficient usable information. Alternatively, the recording system can determine if an image contains an unacceptable amount of unusable information. In some cases, unusable information corresponds to monochromatic area(s). The recording system may compare the computed amount of unusable information in the image with a user defined limit or other preset value. If the image satisfies the image analysis criteria, then the image is recorded.
In some embodiments, the image recording system is configured to perform the image analysis and/or image device movement analysis as described above to determine whether an image is recorded. The image recording system may include computer software instructions or groups of instructions that cause a computer or processor to perform an action(s) and/or to make decisions. In some variations, the system may perform functions or actions such as by functionally equivalent circuits including an analog circuit, a digital signal processor circuit, an application specific integrated circuit (ASIC), or other logic device. In some embodiments, the image recording system includes a processor or controller that performs the functions or actions as described. The processor, controller, or computer may execute software or instructions for this purpose.
“Software”, as used herein, includes but is not limited to one or more computer readable and/or executable instructions that cause a computer or other electronic device to perform functions, actions, and/or behave in a desired manner. The instructions may be embodied in various forms such as objects, routines, algorithms, modules or programs including separate applications or code from dynamically linked libraries. Software may also be implemented in various forms such as a stand-alone program, a function call, a servlet, an applet, instructions stored in a memory, part of an operating system or other type of executable instructions. It will be appreciated by one of ordinary skill in the art that the form of software may be dependent on, for example, requirements of a desired application, the environment it runs on, and/or the desires of a designer/programmer or the like. It will also be appreciated that computer-readable and/or executable instructions can be located in one logic and/or distributed between two or more communicating, co-operating, and/or parallel processing logics and thus can be loaded and/or executed in serial, parallel, massively parallel and other manners.
In some embodiments, the methods described may be performed by an imaging recording system that also performs additional other functions such as measuring coverage and resolution of images in a single and subsequent scan tracks and generating a tissue map.
As used herein in the specification and claims, including as used in the examples and unless otherwise expressly specified, all numbers may be read as if prefaced by the word “about” or “approximately,” even if the term does not expressly appear. The phrase “about” or “approximately” may be used when describing magnitude and/or position to indicate that the value and/or position described is within a reasonable expected range of values and/or positions. For example, a numeric value may have a value that is +/−0.1% of the stated value (or range of values), +/−1% of the stated value (or range of values), +/−2% of the stated value (or range of values), +/−5% of the stated value (or range of values), +/−10% of the stated value (or range of values), etc. Any numerical range recited herein is intended to include all sub-ranges subsumed therein.
As for additional details pertinent to the present invention, materials and manufacturing techniques may be employed as within the level of those with skill in the relevant art. The same may hold true with respect to method-based aspects of the invention in terms of additional acts commonly or logically employed. Also, it is contemplated that any optional feature of the inventive variations described may be set forth and claimed independently, or in combination with any one or more of the features described herein. Likewise, reference to a singular item, includes the possibility that there are plural of the same items present. More specifically, as used herein and in the appended claims, the singular forms “a,” “and,” “said,” and “the” include plural referents unless the context clearly dictates otherwise. It is further noted that the claims may be drafted to exclude any optional element. As such, this statement is intended to serve as antecedent basis for use of such exclusive terminology as “solely,” “only” and the like in connection with the recitation of claim elements, or use of a “negative” limitation. Unless defined otherwise herein, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The breadth of the present invention is not to be limited by the subject specification, but rather only by the plain meaning of the claim terms employed.
This application claims the benefit of U.S. Patent Appl. No. 61/840,805, filed Jun. 28, 2013, the disclosure of which is incorporated herein by reference.
Filing Document | Filing Date | Country | Kind |
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PCT/US2014/044525 | 6/27/2014 | WO | 00 |
Number | Date | Country | |
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61840805 | Jun 2013 | US |