A Real-Time and Interactive Freehand Three-Dimensional Ultrasound Imaging System

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1 ISSN CODEN RUXUEW Journal of Software Vol17 Supplement November 2006 pp by Journal of Software All rights reserved Tel/Fax: ( ) 2 ( ) A Real- Interactive Freehand Three-Dimensional Ultrasound Imaging System DAI Ya-Kang 12 TIAN Jie 12+ XUE Jian 12 1 (Medical Image rocessing Group Key Laboratory of Complex Systems and Intelligence Science Institute of Automation The Chinese Academy of Sciences Beijing China) 2 (Graduate School The Chinese Academy of Sciences Beijing China) + Corresponding author: hn: Fax: tian@ieeeorg Dai YK Tian J Xue J A real-time and interactive freehand three-dimensional ultrasound imaging system Journal of Software (Suppl): Abstract: Conventional freehand three-dimensional (3-D) ultrasound imaging systems cannot achieve real-time and interactive reconstruction The overall design idea 3-D reconstruction method and hardware/software system structure of the developed real-time and interactive freehand 3-D ultrasound imaging system which is called RIF-3DUSIS is introduced in this article The characteristics of RIF-3DUSIS are as follows: (1) acquisition 3-D reconstruction and interactive manipulation of the reconstructed volume model in real time during scanning process; (2) While scanning not only displaying reconstructed volume dynamically to provide visual feedback but also updating display of reconstructed ratio sequentially to conduct reconstruction plan quantitatively; (3) Showing instruction information before each operation step so as to instruct operator s work Experimental results indicate the effectiveness of real-time reconstruction and the flexibility of dynamic interaction of RIF-3DUSIS Key words: : 3-D ultrasound imaging; freehand; reconstruction; real-time; dynamic interaction RIF-3DUSIS(real-time and interactive freehand three-dimensional ultrasound imaging system) RIF-3DUSIS :(1) ;(2) ;(3) RIF-3DUSIS Supported by the National Natural Science Foundation of China under Grant No ( ); the National Outstanding Youth Foundation of China under Grant No ( ); the National High-Tech Research and Development lan of China under Grant No2004AA ( (863)); the Beijing Natural Science Foundation of China under Grant Nos ( ) Received ; Accepted

2 : 29 : ; ; ; B [1] [2] 3 [1] B [3] Fraunhofer IGD Invivo ScanNt [4] (University of Cambridge) Stradx [5] Stradx B [6] [7] 3 RIF-3DUSIS RIF-3DUSIS 1 3 [8] 1 5 Transmitter( ) Receiver( ) 6 B B RVS(reconstruction volume space) ROI(region of interest) (regular volume data set) ROI B B B RVS [67]

3 30 Journal of Software Vol17 Supplement November 2006 Scanning Reconstruction volume space Visualization of regular volume data set Receiver robe Target object y z x Transmitter B-Scam image Ear Fig1 Whole process of freehand 3-D ultrasound 1 RIF-3DUSIS RIF-3DUSIS 2 RIF-3DUSIS RIF-3DUSIS :(1) ;(2) ;(3) 3 21 RIF-3DUSIS B B ( r )RIF-3DUSIS RIF-3DUSIS 22 RIF-3DUSIS RIF-3DUSIS RIF-3DUSIS RIF-3DUSIS

4 : RIF-3DUSIS RIF-3DUSIS RIF-3DUSIS RIF-3DUSIS 3 RIF-3DUSIS RIF-3DUSIS ( B ) RIF-3DUSIS RVS (volume sampling) 31 RIF-3DUSIS 2 RIF-3DUSIS voxel(volume pixel) RVS RIF-3DUSIS (pixel) RVS 32 RVS RIF-3DUSIS Coordinate 2-D images RVS Volume sampling Volume data set transformation Fig2 Framework of 3-D reconstruction 2 32 RIF-3DUSIS 4 3 B X Y B Z 0R T 6 C RVS C RVS 3 3 B C 3 3 [8] : T [ x y C X C T R = T T T X T R X = s µ s ν 0 1] sx s ν µ R T R y (1)

5 32 Journal of Software Vol17 Supplement November 2006 R T T C C X T TR C R T J T I cosα cosβ = sinα cos β sin β 0 cosα sin β sinγ sinα cosγ sinα sin β sinγ + cosα cosγ cosβ sinγ 0 T TR C TT C TT cosα sin β cosγ + sinα sinγ sinα sin β cosγ cosα sinγ cosβ cosγ I J x y z α β γ I J 6 0 x y z 1 [8] : (2) Fig3 Coordinate system of 3-D reconstruction 33 3 (1) C R T [9 11] C TT T C T R B B T TR [12] 3 4 N : Time stream image position position position position position Circular buffer Fig4 Marching process 4 (1) N 0 n N 1; n

6 : 33 (2) = n n +1 =N= n n 0 n RIF-3DUSIS 3 : (1) R T [1314] 6 ; T (2) B C(personal computer) ; T I (3) B T 1 T T < T < T I 2 T I T T T T I 34 RIF-3DUSIS RVS RIF-3DUSIS B RT T 6 6 (1) C T R C NN(pixel nearest neighbour) [15] : (1) p C V p ; (2) v C R V v ; (3) p i RVS i R j v j V vj = V pi p i T T 2 4 RIF-3DUSIS Fig5 Regular voxel array 5 RIF-3DUSIS B C

7 34 Journal of Software Vol17 Supplement November RIF-3DUSIS RIF-3DUSIS B C 6 B 6 B B A/D C RIF-3DUSIS C CU 4 24GHz 512M Windows X Video grabber C USB interface USB interface osition sensor Analog output Ultrasound machine robe Receiver Transmitter Fig6 Structure of hardware system 6 RIF-3DUSIS 6 C 25 /s C RIF-3DUSIS C 42 RIF-3DUSIS RIF-3DUSIS MITK(medical imaging toolkit) [1617] RIF-3DUSIS QT [18] B ( MITK Ray Casting [19] ) 5

8 : : (1) ( ) ; (2) ; (3) RIF-3DUSIS 52 Fig7 Experiment environment 7 5% 5% RIF-3DUSIS 8 30%60%85% 92% 9 RIF-3DUSIS 3DMed [20] 10 Reconstructed 30% Reconstructed 60% Reconstructed 85% Reconstructed 92% Fig8 Dynamic visualization of real-time reconstruction 8 Fig9 Real-Time processing and analyzing 9

9 36 Journal of Software Vol17 Supplement November Fig10 rocessing results on 3DMed 10 3DMed RIF-3DUSIS RIF-3DUSIS : RIF-3DUSIS RIF-3DUSIS RIF-3DUSIS RIF-3DUSIS RIF-3DUSIS References: [1] Fenster A 3-Dimensional ultrasound imaging [2] José-Estépar RS Martín-Fernández M Caballero-Martínez Alberola-López C Ruiz-Alzola J A theoretical framework to three-dimensional ultrasound reconstruction from irregularly sampled data Ultrasound in Medicine & Biology (2): [3] Gee A rager R Treece G Berman L Engineering a freehand 3D ultrasound system attern Recognition Letters (4-5): [4] Invivo ScanNt [5] Stradx [6] Welch JN Johnson JA Bax MR Badr R Shahidi R A real-time freehand 3-D ultrasound system for image-guided surgery IEEE Trans on Ultrasonics Symposium 20002: [7] Gobbi DG eters TM Interactive intra-operative 3D ultrasound reconstruction and visualization In: Dohi T Kikinis R eds roc of the MICCAI 2002 Berlin Heidelberg: Springer-Verlag [8] rager RW Rohling RN Gee AH Berman L Rapid calibration for 3-D freehand ultrasound Ultrasound in Medicine & Biology (6): [9] Mercier L Lango T Lindseth F Collins DL A review of calibration techniques for freehand 3-D ultrasound systems Ultrasound in Medicine & Biology (4): [10] agoulatos N Haynor DR and Kim Y A fast calibration method for 3-d tracking of ultrasound images using a special localizer Ultrasound in Medicine & Biology (9):

10 : 37 [11] Rousseau F Hellier Barillot C Confhusius: A robust and fully automatic calibration method for 3-D freehand ultrasound Medical Image Analysis 20059:25 38 [12] rager RW Gee A Berman L Stradx: Real-Time acquisition and visualization of freehand three-dimensional ultrasound Medical Image Analysis 19983(2): [13] Treece GM Gee AH rager RW Cash CJC Berman LH High-Definition freehand 3-D ultrasound Ultrasound in Medicine & Biology (4): [14] Gooding MJ Kennedy SH Noble JA Temporal calibration of freehand three-dimensional ultrasound using image alignment Ultrasound in Medicine & Biology (7): [15] Rohling R Gee A Berman L Three-Dimensional spatial compounding of ultrasound images Medical Image Analysis (3): [16] MITK (Medical Image Toolkit) [17] Zhao MC Tian J Xue J Zhu X He HG Lü K Design and implementation of MITK for 3D medical image processing and analyzing Journal of Software (4): (in Chinese with English abstract) 485htm [18] QT [19] Levoy M Display of surface from volume data IEEE Trans on Computer Graphics and Applications 19888(3):29 37 [20] 3DMed (3-dimensional medical image processing and analyzing system) : [17] MITK (4): (1982 ) (1979 ) (1960 )