Ultrasound bone registration with learning-based segmentation and sound speed calibration

Patent metadata

Field	Value
Publication number	US-12220281-B2
Application number	US-202318205734-A
Country	US
Kind code	B2
Filing date	Jun 5, 2023
Priority date	Aug 16, 2017
Publication date	Feb 11, 2025
Grant date	Feb 11, 2025

Abstract

Systems and methods for calibrating ultrasound imaging directed towards a bone region. An ultrasound imaging device generates a first steered frame and a second steered frame, wherein the first steered frame and the second steered frame are directed towards the bone region at different angles from one another and are superimposed with one another. Parameters of each of the first steered frame and the second steered frame are applied to a cost function that outputs an estimated propagation speed of ultrasound waves to the bone region for optimizing an appearance of the first steered frame and the second steered frame. The ultrasound imaging device is calibrated based on the estimated propagation speed.

First claim

What is claimed is:

1. An ultrasound imaging system comprising:
an ultrasound imaging device comprising a transducer configured to generate ultrasound imaging of a bone region by propagation of ultrasound waves to the bone region; and
one or more controllers coupled to the ultrasound imaging device and being configured to:
generate, with the ultrasound imaging device, a first steered frame and a second steered frame, wherein the first steered frame and the second steered frame are directed towards the bone region at different angles from one another and are superimposed with one another, and wherein each of the first steered frame and the second steered frame include pixel intensities of the bone region;
apply the pixel intensities of each of the first steered frame and the second steered frame to a cost function that is configured to: minimize differences in the pixel intensities between the first steered frame and the second steered frame, using propagation speed as an input parameter; and output an estimated propagation speed of ultrasound waves to the bone region that optimizes an appearance of the first steered frame and the second steered frame; and
calibrate the ultrasound imaging device based on the estimated propagation speed.

2. The ultrasound imaging system of claim 1 , wherein the one or more controllers are further configured to:
generate, with the ultrasound imaging device, a third frame that is angled between the first and second steered frames, wherein the third frame includes pixel intensities of the bone region; and
further apply the pixel intensities of the third frame to the cost function.

3. The ultrasound imaging system of claim 2 , wherein:
the cost function is further configured to minimize differences in pixel intensities between (1) the first steered frame and the third frame and (2) the second steered frame and the third frame, using propagation speed as the input parameter.

4. The ultrasound imaging system of claim 2 , wherein the one or more controllers further implement the cost function by being configured to:
compute a first difference between the pixel intensities of the first steered frame and the third frame;
compute a second difference between the pixel intensities of the second steered frame and the third frame;
compute a sum of the first difference and second difference;
optimize the sum to minimize the cost function; and
output the estimated propagation speed based on the optimized sum.

5. The ultrasound imaging system of claim 2 , wherein the third frame is angled perpendicular to the bone region.

6. The ultrasound imaging system of claim 1 , wherein the one or more controllers are further configured to mask a non-bone region prior to application of the pixel intensities of the first steered frame and the second steered frame to the cost function.

7. A method of operating an ultrasound imaging system, the ultrasound imaging system comprising an ultrasound imaging device including a transducer configured to generate ultrasound imaging of a bone region by propagation of ultrasound waves to the bone region, and one or more controllers coupled to the ultrasound imaging device, the method comprising the one or more controllers:
generating, with the ultrasound imaging device, a first steered frame and a second steered frame, wherein the first steered frame and the second steered frame are directed towards the bone region at different angles from one another and are superimposed with one another, and wherein each of the first steered frame and the second steered frame include pixel intensities of the bone region;
applying the pixel intensities of each of the first steered frame and the second steered frame to a cost function that: minimizes differences in the pixel intensities between the first steered frame and the second steered frame, using propagation speed as an input parameter; and outputs an estimated propagation speed of ultrasound waves to the bone region for optimizing an appearance of the first steered frame and the second steered frame; and
calibrating the ultrasound imaging device based on the estimated propagation speed.

8. The method of claim 7 , comprising the one or more controllers:
generating, with the ultrasound imaging device, a third frame that is angled between the first and second steered frames, wherein the third frame includes pixel intensities of the bone region; and
further applying the pixel intensities of the third frame to the cost function.

9. The method of claim 8 , further comprising the one or more controllers implementing the cost function for outputting the estimated propagation speed by minimizing differences in the pixel intensities between (1) the first steered frame and the third frame and (2) the second steered frame and the third frame, using propagation speed as the input parameter.

10. The method of claim 8 , comprising the one or more controllers implementing the cost function by:
computing a first difference between the pixel intensities of the first steered frame and the third frame;
computing a second difference between the pixel intensities of the second steered frame and the third frame;
computing a sum of the first difference and second difference;
optimizing the sum to minimize the cost function; and
outputting the estimated propagation speed based on the optimized sum.

11. The method of claim 7 , comprising the one or more controllers masking a non-bone region prior to applying the pixel intensities of each of the first steered frame and the second steered frame to the cost function.

12. A computer-implemented method for calibrating ultrasound imaging directed towards a bone region, the method comprising:
generating, with the ultrasound imaging, a first steered frame and a second steered frame, wherein the first steered frame and the second steered frame are directed towards the bone region at different angles from one another and are superimposed with one another, and wherein each of the first steered frame and the second steered frame include pixel intensities of the bone region;
applying the pixel intensities of each of the first steered frame and the second steered frame to a cost function that: minimizes differences in the pixel intensities between the first steered frame and the second steered frame, using propagation speed as an input parameter; and outputs an estimated propagation speed of ultrasound waves to the bone region for optimizing an appearance of the first steered frame and the second steered frame; and
calibrating the ultrasound imaging based on the estimated propagation speed.

13. The method of claim 12 , further comprising:
identifying, from the ultrasound imaging, a third frame that is angled between the first and second steered frames, wherein the third frame includes pixel intensities of the bone region; and
further applying the pixel intensities of the third frame to the cost function.

14. The method of claim 13 , comprising the cost function outputting the estimated propagation speed by further minimizing differences in the pixel intensities between (1) the first steered frame and the third frame and (2) the second steered frame and the third frame, using propagation speed as the input parameter.

Assignees

• Mako Surgical Corp

Inventors

• Moctezuma De La Barrera José Luis
• Salehi Mehrdad
• Prevost Raphael
• Wein Wolfgang

Classifications

• A61B8/58

  Testing, adjusting or calibrating the diagnostic device · CPC title

• A61B8/5238

  for combining image data of patient, e.g. merging several images from different acquisition modes into one image · CPC title

• A61B8/5223

  for extracting a diagnostic or physiological parameter from medical diagnostic data (for algorithms to analyse biomedical images G06T7/0012) · CPC title

• A61B8/4416

  related to combined acquisition of different diagnostic modalities, e.g. combination of ultrasound and X-ray acquisitions · CPC title

• A61B8/0875

  for diagnosis of bone · CPC title