Ultrasound systems comprise ultrasound scanning devices, such as ultrasound probes. The ultrasound probes are connected to an ultrasound system for controlling the operation of the probes. Such ultrasound probes comprise a scan head having a plurality of transducer elements (e.g., piezoelectric crystals), which may be arranged in an array. The transducers are used to perform various different ultrasound scans such as different imaging of a volume or body. During a scan of a volume or body, the ultrasound system drives the transducer elements within the array based upon the type of scan to be performed.
During ultrasound scanning, the caretaker must often concurrently visually monitor and evaluate a wide variety of different parameters. For example, the caretaker must often ensure that there is acceptable acoustic contact between the ultrasound probe in the anatomy or object being scanned. In many cases, the caretaker must also locate or orient the probe with respect to an intended target such as a desired imaging plane location, a needle or the like. Visually monitoring and evaluating such a wide variety of different parameters at the same time can be challenging, may result in poor image quality (such as resolution and/or signal to noise ratio) and may prolong the time consumed by the scan.
Proper acoustical or acoustic contact between the probe and the volume or body being scanned facilitates the generation of images having acceptable resolution. During ultrasound image formation in phased array probes, a large part of the aperture of the probe is used for steering and focusing along each beam direction. As a result, a reduction of acoustical contact for portions of the probe surface reduces the effective aperture and results in poor image resolution, sometimes observed as a smearing in the lateral direction of the image. Reduced signal to noise ratios is caused by reduced power transmitted into the body by the reduced effective aperture. As a result, fewer second harmonic signals are created.
Reduced or poor acoustical contact may arise from multiple factors. For example, poor acoustical skin contact may result from an insufficient amount of contact gel being used, especially when the probe surface is not parallel to the skin surface. In cardiac imaging, achieving proper probe contact with the patient skin may be difficult due to the narrow acoustic window between the patient's ribs. To ensure good probe placement and acoustic contact for a given imaging application, a caretaker must often view a display screen, move the probe and adjust the probe settings.
During scanning, the experienced caretaker may recognize the occurrence of poor lateral image resolution and may adjust the probe position to improve image occurrence of poor lateral image resolution (e.g., adjust the probe position to improve image quality). However, such adjustment is a time consuming and challenging process. For less experienced caretakers, identifying acoustical contact issues and performing operations to correct for the issues is even more challenging, resulting in less than acceptable images (e.g., inability to perform proper diagnosis based on the image).
By providing the caretaker with tactile feedback regarding acoustical contact between the probe and the scanned body, system 20 facilitates better acoustical contact to facilitate generation of ultrasound images having improved quality or resolution. System 20 comprises probe 22 and controller 24. Probe 22 comprises a manually held or handheld device or instrument having a surface 24 to be manually contacted by a caretaker's hand while the hand is manipulating probe 22. As further schematically show
Transducer sensing area (TSA) 26 comprises that portion of probe 22 to be positioned against or in proximity to the body being scanned, providing acoustical contact with the body being scanned. In one implementation such “acoustical contact” is facilitated by contact gel between the skin of a patient and the transducer sensing area 26 of probe 22. In one implementation, transducer sensing area 26 comprises quartz crystals, piezoelectric crystals, that change shape in response to the application electrical current so as to produce vibrations or sound waves. Likewise, the impact of sound or pressure waves upon such crystals produce electrical currents. As a result, such crystals are used to send and receive sound waves. In one implementation, transducer sensing area 26 comprises a plurality sensing portions, such as a plurality of transducer sub apertures or contact apertures. In some implementations, transducer sensing area 26 may additionally include a sound absorbing substance to eliminate back reflections from the probe itself and an acoustic lens to focus emitted sound waves.
Tactile indicator 30 comprises one or more devices that provide tactile feedback to the person gripping or holding probe 22. Such tactile feedback indicates acoustical contact between transducer sensing area 26 and the body or anatomy being examined. In one implementation, such tactile feedback indicates a general quality of acoustical contact between transducer sensing area 26 and the body or anatomy being examined for the overall area of trenches a sensing area 26. In another implementation, such tactile feedback indicates quality of acoustical contact for different specific regions or portions of tactile sensing area 26. For example, in one implementation, such tactile feedback indicates which regions or portions of transducer sensing area 26 have acoustical contact satisfying a predefined threshold and which regions or portions of transducer sensing area 26 have acoustical contact that does not satisfy the predetermined threshold. In yet another implementation, such tactile feedback indicates a different quality or degree of acoustical contact for each of the portions of transducer sensing area 26. For example, such tactile feedback may indicate that a first portion has a first degree of acoustical contact, a second portion has a second degree of acoustical contact better than the first degree of acoustical contact and a third portion has a third degree of acoustical contact better than the second degree of acoustical contact.
In one implementation, tactile indicator 30 comprises one or more haptic devices which provide feedback in the form of touch by applying forces, vibrations or motions to the caretaker's hand that is gripping or holding probe 22. For example, in one implementation, tactile indicator 30 comprises a two-dimensional array, a row or a matrix of projections, pins, rods or bumps that are selectively raised and lowered to different heights above the underlying substrate or surface of probe 24 based upon determined acoustical contact of transducer sensing area 26. In another implementation, tactile indicator 30 comprises one or more individual vibration motors which produce a vibration sensation at different locations along surface 24. In still other implementations, tactile indicator 30 provides tactile feedback in other manners such as through temperature variations, wherein proportions of surface 24 are heated (or cooled) to different temperatures based upon acoustical contact of transducer sensing area 26 with the body or anatomy being examined.
Controller 24 comprises one or more processing units 32 and associated memory 34 that control provision of acoustic contact feedback to the caretaker through tactile indicator 30. For purposes of this application, the term “processing unit” shall mean a presently developed or future developed processing unit that executes sequences of instructions contained in a memory, such as memory 34. Execution of the sequences of instructions causes the processing unit to perform steps such as generating control signals.
Memory 34 comprises a non-transitory computer-readable medium upon which are stored code, software or other programmed logic defining the sequences of instructions for controlling operation of tactile indicator 30. Memory 34 may be in the form of a random access memory (RAM) for execution by the processing unit from a read only memory (ROM), a mass storage device, or some other persistent storage. In other embodiments, hard wired circuitry may be used in place of or in combination with software instructions to implement the functions described. For example, controller 24 may be embodied as part of one or more application-specific integrated circuits (ASICs). Unless otherwise specifically noted, the controller is not limited to any specific combination of hardware circuitry and software, nor to any particular source for the instructions executed by the processing unit.
Memory 34 contains instructions for directing processing unit 32 to carry out the example method 100 outlined in
In one implementation, instructions in memory 34 direct processing unit 32 to calculate or determine a frequency spectrum which is used to determine acoustic contact of transducer sensing area 26 of probe 22 with the object or anatomy being examined. As described in more detail in U.S. Pat. No. 8,002,704 which issued on Aug. 23, 2011 to Torp et al., the full disclosure of which is hereby incorporated by reference, processor 32 receives RF scanline data or complex demodulated RF scanline data from an image sector generated by ultrasound system 20. In operation, and for example, for a probe having a 1-D array transducer, the lateral frequency spectrum is equal to the two-way aperture function in the focal plane. This results from the Fraunhofer approximation and the assumption of linear propagation of pressure waves. Further, the two-way aperture function is given by the convolution of the transmit and receive aperture functions. A typical example of equal size transmit and receive apertures with rectangular apodization results in a triangular shaped amplitude-spectrum with a bandwidth proportional to the sum of the transmit and receive aperture as described herein. In general, the spectral shape and size is given by the aperture functions.
There is ideally a one-to-one mapping between the frequency spectrum and the autoconvolution of the probe aperture function. Comparing the Fourier transformed data to the two-way probe aperture function is performed and identifies regions with reduced spectral amplitude that correspond to regions on the aperture with improper contact. It should be noted that the use of frequency spectrum to detect acoustical contact may be implemented in different types of phased array probes, including, for example, probes having 2-D arrays, wherein the frequency spectrum in both the azimuth and elevation direction will provide an image of the two-dimensional aperture function. Additionally, the amplitude spectrum in the radial direction may be calculated and visualized. This 2-D (for 1-D arrays) or 3-D (for 2-D arrays) spectrum also has information relating to image resolution in the radial direction, showing for example, the amount of frequency dependent attenuation present at the current probe position.
The received data is processed to provide a lateral map. The lateral map is a collection of a single Fourier coefficient from a radial Fourier transform of each beam produced by the probe. More particularly, band pass filtering of the data is performed around the pulse demodulation frequency. For IQ demodulated data, this filtering simplifies to averaging (or summing) radial samples along each beam that corresponds to the low pass filtering. In operation, the more radial samples included in the summation, the narrower the filter frequency response. Specifically, a spatial frequency response 200 of the ultrasound or other imaging system is determined and which may be used to indicate image quality or acoustic contact. As shown in defines the wavelength of an emitted pulse. Thus, the spectral band/plane is calculated in the k-space.
The lateral frequency spectrum is then calculated by Fourier-transforming the averaged IQ-signal. The absolute value of the spectrum is then shifted to center the zero-frequency component. Thus, the left portion of the spectrum corresponds to the left side of the probe and the right side of spectrum corresponds to the right side of the probe. It should be noted that a Fast Fourier Transform algorithm may be implemented to reduce the processing time. Further, it should be noted that various embodiments are not limited to Fourier transforming, but different processing may be performed, for example, parametric frequency spectrum analysis.
Referring now to /Δγ, where Δγ is the beam sampling density in radians and
is the wavelength of the transmitted pulse.
For second harmonic (octave) imaging, is the wavelength corresponding to twice the transmitted frequency, which is shown in
Temporal and spatial averaging then may be applied to reduce the variance in the spectrum estimates. For example, successive frequency spectrum images are averaged temporally from frame to frame. Spatially, each frequency spectrum is smoothed by low pass filtering. Alternatively, the available radial samples are divided into separate segments, with each producing a spectral estimate, and which are then averaged to produce one final spectrum estimate. Various known methods of frequency spectrum estimation may be used, for example, the Welch method of power spectrum estimation. Dynamic compression is then performed. Specifically, in one embodiment, dynamic compression in the form of a logarithmic transform provides visualization of a range of intensities without clipping weak signals. Signal strength in ultrasound imaging may vary, for example, due to different types of tissue having varying ability to reflect ultrasound.
Gain control is then performed. In operation using the ultrasound system 100 or 150, different settings and examination of different types of tissue result in different signal intensities. Gain control is used to normalize spectrum amplitude. In one embodiment, manual gain control is provided via a user input device. Specifically, a user may set the gain and dynamic range of the displayed spectrum. In other embodiments, automatic gain control may be provided using a gain control algorithm as is known.
The lateral frequency spectrum is then visualized based on the type of probe. For example, as shown in
In other implementations, instructions in memory 34 direct processing unit 32 to determine or detect acoustical contact using signals from transducer sensing area 26 in other manners. As indicated by broken lines in
As indicated by block 104 of method 100 shown in
In yet another implementation, controller 24 identifies acoustical contact differences between different portions of transducer sensing area 26 and utilizes the different acoustical contact values for the different portions to output a single homogenous tactile feedback. As illustrated by
In the example illustrated in
In yet another implementation, controller 24 determines acoustical contact values for each of the plurality of different sensing portions 427 and outputs control signals to provide tactile feedback indicating the different individual levels of acoustical contact for each of the portions 427 of transducer sensing area 26. In the example illustrated in
In one implementation, each individual tactile portion 437 is additionally sized and/or shaped proportional to the size and/or shape of the individual sensing portion 427 being represented by the tactile portion 437. For example, transducer sensing area 26 may comprise two sensing portions 427 which have different shapes and/or have different sizes. In such an implementation, the tactile portions 437 assigned to the two sensing portions 427 would have similar differences in shape and similar proportional differences in size.
In the implementation illustrated in
Although
In the example illustrated in
Diaphragm 842 comprises a layer of resiliently flexible material extending across openings 854 in substrate 40. Diaphragm 842 is configured to be pushed upwardly by actuators 850 displace fluid 854. In one implementation, diaphragm 842 comprises a deformable polymer such as poly dimethyl siloxane (PDMS). In other implementations, diaphragm 842 may comprise other deformable polymers or other rubber-like films or membranes.
Spacer layer 844 extends above diaphragm 842 and cooperates with tactile layer 846 to form chambers 858. Spacer layer 844 is formed from a material and/or has a thickness so as to not vendor flex as actuators 850 the form layers 842 and 846. In one implementation, spacer layer 844 comprises a somewhat rigid polymer such as poly methyl methacrylate (PMMA). In other implementations, spacer layer 844 may comprise other materials.
Tactile layer 846 comprises a layer, film or membrane of material configured to resiliently deform and bulge through and above openings 860 in cover layer 849 to form and provide tactile portions 837. In one implementation, tactile layer 846 comprises a highly deformable polymer such as poly dimethyl siloxane (PDMS). In other implementations, diaphragm 842 may comprise other deformable polymers or other rubber-like films or membranes.
Fluid 848 comprises a liquid or gas captured within each of chambers 858 which are defined by diaphragm 842, spacer layer 844 and tactile layer 846. Fluid 848 transmits motion of diaphragm 842 to tactile layer 846 to move tactile layer 846 through opening 860 the last to extend above or below cover layer 849. In one implementation, fluid 848 comprises glycerin. In other implementations, fluid 848 may comprise other liquids or gases. In some implementations, rigid mechanical structures, such as pins, are used in place of fluid 848 to transmit force from actuators 850 to tactile layer 846 so as to displace portions of tactile layer 846 through openings 8602 form tactile portions 837 (shown in
Cover layer 849 comprise a layer of material configured so as to at a lower level of flexibility as compared to tactile layer 846. Cover layer 849 maintained its shape at tactile layer 846 is deformed and pushed through opening 860 in cover layer 849. In one implementation, cover layer 849 forms the outer surface 24 of portions of probe 22. In one implementation, cover layer 849 is formed from a rigid polymer. In yet other implementations, cover layer 849 supports additional other overlying layers of material which may be soft, compressible or flexible.
Actuators 850 comprise individually actuatable devices located and configured to interact with diaphragm 842 through openings 854 so as to raise and lower portions of diaphragm 842 so as to raise and lower portions of tactile layer 846 through openings 860 to selectively form tactile portions 837 shown in
Communication interface 932 comprises an interface by which probe 922 communicates with host 928. In one implementation, communication interface 932 facilitates wireless communication. For example, in one implementation, communication interface 932 comprises a wireless antenna. In another implementation, communication interface may comprise optical communication technology, such as an infrared transmitter. In another implementation, communication interface 932 facilitates a wired communication such as through a cable. For example, communication interface 932 may comprise a USB port or other communication port.
Input 924 comprises a device by which a person may provide selections, commands or instructions to host 928. Input 924 may comprise a keyboard, a mouse, a microphone with speech recognition software, a keypad and the like. Input 924 may be incorporated as part of a monitor which provides host 928. Input 924 may also be incorporated as part of display 926, wherein display 926 comprises a touch screen. Alternatively, input 924 may comprise one or more separate input structures in communication with host 928 in a wired or wireless fashion. In some implementations, input 924 may be omitted.
Display 926 comprises a screen or other display by which the results from probe 922 are visibly presented to a caretaker, such as a doctor or nurse. In one implementation, display 926 may comprise a separate screen distinct from host 28 and in communication with host 928 in a wired or wireless fashion. In another implementation, display 926 may be incorporated as part of host 928 as part of a single self-contained unit.
Host 928 comprises a monitor or other unit which analyzes signals from probe 922 and presents the results of the analysis as well as the signals themselves on display 926. In the example illustrated, host 928 additionally controls tactile indicator 30 of probe 922. Host 928 comprises communication interface 934 and controller 940. Communication interface 934 comprises an interface by which host 928 communicates with probe 922. In one implementation, communication interface 934 facilitates wireless communication. For example, in one implementation, communication interface 934 comprises a wireless antenna. In another implementation, communication interface may comprise optical communication technology, such as an infrared transmitter. In another implementation, to communication interface 934 facilitates a wired communication such as through a cable. For example, communication interface may comprise a USB port or other communication port.
Controller 940 comprises processor 942 and memory 944. According to one implementation, Prosser 942, following instructions contained in memory 944, receives ultrasound echo signals from probe 922 and analyzes such signals, wherein the results of such analysis are presented on display 926. In one implementation, controller 940 comprises circuitry providing beam former, radiofrequency (RF) processor and signal processor. Such circuitry causes probe 922 to emit ultrasound signals, receives ultrasound signals or echoes and generates ultrasound images based upon such ultrasound echoes.
In the example illustrated, controller 940 further functions similar to controller 24 described above. In particular, controller 940 carries out method 100 shown in
In operation, a person, user or caretaker manually contacts surface 1024, including tactile indicator 1030, while manipulating probe 1022 and positioning probe 1022 against the anatomy 40 being examined. As the person manipulates probe 1022 and repositions probe 1022, he or she receives different tactile or haptic sensations along surface 1024. Such haptic sensations correspond to the degree to which different sensing portions of transducer sensing area 1026 are in acoustic contact with the anatomy 40. Using such feedback, the person may manually manipulate probe 1022 to an appropriate orientation and position at which acoustic contact is enhanced for enhanced ultrasound image quality. Because such feedback regarding acoustic contact is communicated through touch, the caretaker person may maintain his or her focus on the patient during the examination.
Although systems 20 and 920 are described above that providing tactile feedback regarding acoustic contact between a transducer sensing area in the anatomy or object being examined, in other implementations, systems 20 and 920 provide tactile feedback regarding other parameters associated with the use of ultrasound probe 22, 922. In one implementation, systems 20 and 920 provide tactile feedback indicating current operational parameters or settings under which systems 20, 920 are operating. In another implementation, systems 20, 920 provide tactile feedback indicating performance levels or performance parameters (such a signal to noise ratio) currently being attained by the ultrasound system. In another implementation, systems 20 and 920 provide tactile feedback regarding a sensed, detected or determined relationship between systems 20, 920 and the anatomy and/or object being examined. Providing tactile feedback regarding acoustic contact between a transducer sensing area of probe 22, 922 and the anatomy or object being examined is just one example of providing tactile feedback regarding the relationship between the ultrasound system 20, 920 and the anatomy or object being examined. In other implementations, systems 20, 920 provide tactile feedback regarding the relationship between ultrasound system 20, 920 and a target portion of the anatomy or object being examined. For purposes of this disclosure, a “parameter” of the ultrasound probe comprises of the current operational parameter setting under which an ultrasound system is operating, a performance level or levels currently being attained by the ultrasound system and/or a relationship of the ultrasound system and an anatomy/object being examined. A “parameter(s) may comprise (1) a static parameter describing the (physical) probe characteristics, such as the frequency range or (2) a parameter deduced/generated/estimated by processing the ultrasound signals received by the ultrasound probe.
System 1120 further comprises controller 1124. Controller 1124 is similar to controller 24 except that controller 1124 comprises memory 1134 which includes software, code, circuitry or other program logic to direct processor 32 to operate in an additional mode in which system 1120 provides tactile feedback regarding the relationship between system 1120 and a target portion of an anatomy or object being examined. In the example illustrated, memory 1134 comprises program logic to direct processor 32 to carry out method 1200 outlined in
As indicated by block 1204 of method 1200 of
Although tactile indicator 30 is schematically illustrated as comprising a two-dimensional array or grid of nine tactile indicator portions 1137A-1137I which are each individually mapped to corresponding portions 1147A-1147I, respectively, of image 1140, in other implementations, tactile indicator 30 is partitioned into other layouts having a greater or fewer number of such tactile indicator portions, wherein image 1140 is also partitioned into a corresponding number and arrangement of image portions. Although tactile indicator 30 and image 1140 are both illustrated as being partitioned into a two-dimensional rectangular grid having rows and columns, in other implementations, tactile indicator 30 and image 1140 are partitioned into corresponding other layouts, such as a center tactile indicator and image portion and a series of rings of indicator portions and image portions extending about the center region.
As indicated by block 1206 in
In one implementation, the target and its location are input by the caretaker. In another implementation, the target and its location or determined or identified by controller 1124 based upon digital analysis of the current scan image 1140. In one implementation, the target and its location are stationary or static, such as when the target 1150 comprises a particular anatomy or image plane to be scanned. In another implementation, the target in its location may be moving or dynamic, such as when the target is a needle, catheter or other structure being tracked.
As further shown by
As indicated by block 1208 in
In another implementation where controller 1124 has acquired location of a plurality of targets within the scan image, controller 1124 actuates tactile indicator 30 between different states based upon a distance or spacing between the plurality of targets, such as the spacing between targets, 1150, 1152, a relative positioning (above, below, to the right, to the left) of the two targets 1150, 1152 and/or the degree to which the two targets are centered opposite the transducer sensing area 26. For example, in one implementation, controller 1124 actuates one or more of portions 1137 of tactile indicator 30 between different tactile states (different vibration levels, different temperatures and/or different heights and the like) as the two targets 1150, 1152 become closer to one another, become farther apart from one another, become aligned, contact one another or are collectively centered opposite transducer sensor area 26.
In yet another implementation, controller 1124 differently actuates a selected one of portions or a selected set of portions 1137 of tactile indicator 30 based upon which portion 1147 of image 1140 contains the target, such as target 1150. In such an implementation, controller 1124 identifies which of portions 1147 target 1150 is located. Controller 1124 then outputs control signals actuating the corresponding portion of tactile indicator 32 a different tactile state as compared to surrounding portions of tactile indicator 30. In the example illustrated in
In modes of operation where a plurality of target locations have been acquired, controller 1124 identifies or determines which of portions 1147 contain the plurality of targets and outputs control signals actuating the corresponding tactile indicator portions 1137 to different tactile states as compared to surrounding portions 1137 that are assigned to image portions 1147 that do not contain targets. In the example illustrated in
In one mode of operation, those portions 1137 of tactile indicator 30 corresponding to image portions 1147 containing targets are actuated to a same tactile state. In another mode of operation, different portions 1137 of tactile indicator 30 corresponding to different image portions 1147 containing different targets are actuated to different tactile states. For example, in one implementation, controller 1124 actuates tactile indicator portion 1137C to a first tactile state different than surrounding tactile states, as indicated by stippling, and actuates tactile indicator portion 1137H to a second state also different than surrounding tactile states, but also different than the tactile state of portion 1137C. As a result, in such a mode of operation, system 1120 provides tactile feedback to the person handling or manipulating probe 22 so as to identify and distinguish between each of the multiple targets within the current scan image 1140.
In one implementation, system 1120 provides tactile feedback regarding positioning of a first target, an inserted needle, with respect to a second target, the current image or scan plane. In another implementation, system 1120 provides tactile feedback regarding the positioning of the first target, an inserted needle, with respect to a second target, a desired ultrasound imaging or scan plane. For example, such tactile feedback may indicate the degree to which the needle is aligned with or in proximity to the desired ultrasound imaging plane. In yet another implementation, system 1120 provides tactile feedback regarding the positioning of a first target, the current scan plane, relative to the positioning of a second target, the desired scan plane. Such tactile feedback may indicate the degree to which the current scan plane is aligned with or corresponds with the desired scan plane. Such feedback may be beneficial in auto scan plane detection applications.
In some implementations, systems 20, 920 and 1120 operate in additional selectable modes, wherein tactile indicator 30 is actuated to one or more different tactile states so as to provide the person with tactile feedback regarding how he or she should adjust positioning of the probe. In other words, instead of the tactile feedback indicating the location of a target or the relationship of a target to the current scan plane, systems 20, 9201120 provide tactile feedback which directly instructs or directs the caretaker to manipulate the probe in a certain fashion. For example, in one implementation, such tactile feedback may indicate a direction in which the user should rotate the probe 22, 922 in order to achieve a desired scan plane.
In yet other implementations, systems 20, 920 and 1120 operate in additional selectable modes, wherein tactile indicator 30 is actuated to one or more different tactile states so as to provide the person with tactile feedback regarding current performance parameters being achieved. For example, in one implementation, program logic in memory 1134 directs processor 32 to output control signals actuating one or more of portions 1137 of tactile indicator 30 to different tactile states based upon the current signal-to-noise ratio for an ultrasound scan. In one implementation, signal-to-noise ratio for Doppler may be indicated by the number of portions of tactile indicator 30 but have a particular tactile state, such as a number of tactile portions that are elevated, vibrating, heated or the like. In yet other implementations, tactile indicator 30 is actuated to different tactile states by the caretaker with feedback regarding other performance parameters.
While the preferred embodiments of the subject matter have been illustrated and described, it will be appreciated that various changes can be made therein without departing from the spirit and scope of the disclosure. For example, although different example embodiments may have been described as including one or more features providing one or more benefits, it is contemplated that the described features may be interchanged with one another or alternatively be combined with one another in the described example embodiments or in other alternative embodiments. One of skill in the art will understand that the subject matter of the present disclosure may also be practiced without many of the details described above. Accordingly, it will be intended to include all such alternatives, modifications and variations set forth within the spirit and scope of the appended claims. Further, some well-known structures or functions may not be shown or described in detail because such structures or functions would be known to one skilled in the art. Unless a term is specifically and overtly defined in this specification, the terminology used in the present specification is intended to be interpreted in its broadest reasonable manner, even though may be used conjunction with the description of certain specific embodiments of the present disclosure.