Ultrasound simulation methods
Inventors
BEUDEKER, Erika • FIERZ, Basil • Martin, Sebastian • O'Brien, Carolyn • TUCHSCHMID, STEFAN • MAKHINYA, Maxim • GOKSEL, Orcun
Assignees
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Publication Number
US-10453360-B2
Publication Date
2019-10-22
Expiration Date
Abstract
An ultrasound simulation method for rendering an ultrasound image of an anatomy model, comprises acquiring, with at least one model sensor, a position and/or orientation of the model; acquiring, with at least one probe replicate sensor, a position and/or orientation of an ultrasound imaging probe replicate, the ultrasound imaging probe replicate interacting with low friction with at least one anatomy model surface, the model surface being deformed by the pressure of the ultrasound imaging probe replicate; aligning a VR/AR model to the tracked position and orientation of the anatomy model and the ultrasound imaging probe replicate; interpolating a 2D ultrasound slice by sampling through a standard reconstructed 3D ultrasound volume, as a function of the tracked position and orientation of the anatomy model and the ultrasound imaging probe replicate.
Core Innovation
The disclosed ultrasound simulation method renders an ultrasound image of an anatomy model on a display by tracking both the anatomy model and an ultrasound imaging probe replicate. The method acquires a position and orientation of an anatomy model with at least one anatomy model sensor, and acquires a position and orientation of an ultrasound imaging probe replicate with at least one probe replicate sensor. The ultrasound imaging probe replicate is adapted to interact with low friction with at least one deformable anatomy model surface without requiring the use of ultrasound gel, and the anatomy model surface is deformed under pressure of the ultrasound imaging probe replicate.
The method aligns a virtual reality/augmented reality (VR/AR) model to the acquired positions and orientations of the anatomy model and the ultrasound imaging probe replicate. It measures a deformation depth as the distance between the ultrasound imaging probe replicate surface position and the initial anatomy model surface position before deformation. The method then identifies at least one anatomy element in a two dimensional (2D) ultrasound slice to be sampled through a standard reconstructed three dimensional (3D) ultrasound volume.
For the identified anatomy element, the method identifies a deformation property and interpolates the anatomy element area in the 2D ultrasound slice by sampling through the standard reconstructed 3D ultrasound volume as a function of the measured deformation depth and the identified anatomy element deformation property. Finally, the method renders the 2D ultrasound slice comprising the interpolated anatomy element on a display. The disclosed content further discusses rendering ultrasound simulation images for VR/AR tool elements that do not deform, blending or overlaying such images with the 2D ultrasound slice, fading of the simulated ultrasound image based on tracked position and orientation, shield-shadow effects from metallic tools, and associating multiple reconstructed 3D ultrasound volumes for larger field of view using volume stitching.
Claims Coverage
The relevant independent claim is clm-00001, which specifies an ultrasound simulation rendering method using gel-free low-friction probe replicate tracking, deformation depth measurement, anatomy-element-specific deformation property identification, and interpolation of a 2D ultrasound slice sampled through a reconstructed 3D ultrasound volume. The provided refinements further address deformation properties, multiple 3D volumes, tracked non-deforming tool elements with blending/fading, and additional rendering effects tied to tracked poses.
Gel-free low-friction probe replicate interacting with deformable anatomy surface
Acquiring, with at least one probe replicate sensor, a position and orientation of an ultrasound imaging probe replicate, the ultrasound imaging probe replicate being adapted to interact with low friction with at least one deformable anatomy model surface without requiring the use of ultrasound gel, the anatomy model surface being deformed under the pressure of the ultrasound imaging probe replicate.
Deformation depth measurement from probe-induced surface deformation
Measuring a deformation depth as the distance between the ultrasound imaging probe replicate surface position and the initial anatomy model surface position before anatomy model surface deformation.
Anatomy-element-specific deformation property for deforming ultrasound slice interpolation
Identifying at least one anatomy element in a two dimensional (2D) ultrasound slice to be sampled through a standard reconstructed three dimensional (3D) ultrasound volume and identifying a deformation property for the anatomy element.
Interpolating the 2D ultrasound slice by sampling through a reconstructed 3D ultrasound volume as a function of deformation depth
Interpolating the anatomy element area in the 2D ultrasound slice by sampling through a standard reconstructed 3D ultrasound volume, as a function of the measured deformation depth and the identified anatomy element deformation property, and rendering on a display the 2D ultrasound slice comprising the interpolated anatomy element.
Predefined stiffness parameter as deformation property
The deformation property of the anatomy element is defined by a pre-defined stiffness parameter.
Sampling through combined reconstructed 3D ultrasound volumes for interpolation
Attaching at least two 3D ultrasound volumes to the anatomy model’s position and orientation and interpolating the 2D ultrasound slice by sampling through the combined ultrasound based on the tracked position and orientation and a probe replicate.
Tracked non-deforming VR/AR tool elements with blended ultrasound simulation imagery
Acquiring the non-deforming tool’s position and orientation, aligning VR/AR models to tracked positions and orientations of the anatomy model and ultrasound probe replicate, generating ultrasound simulation images for tool elements that do not deform, blending the simulation with a 2D ultrasound slice, and rendering the blended image to a display.
Fading simulated ultrasound image based on tracked positions and orientations
Calculating how a simulated ultrasound image fades based on the tracked position and orientation of an anatomy model and an ultrasound probe replicate, and rendering the resulting faded simulated ultrasound image on a display.
Across the independent claim and the provided refinements, the core coverage centers on deformation-aware ultrasound image rendering using gel-free low-friction probe replicate tracking, deformation depth measurement, anatomy-element-specific deformation properties, and interpolation of a 2D slice from a reconstructed 3D ultrasound volume. The provided refinements further narrow deformation properties, constrain interpolation using multiple reconstructed 3D volumes, and extend rendering to tracked non-deforming tool elements with blending/fading and additional visual effects such as shield-shadow effects.
Stated Advantages
Provides ultrasound simulation rendering without requiring the use of ultrasound gel.
Generates deformation depth-dependent ultrasound imagery by interpolating the 2D ultrasound slice using measured deformation depth and an anatomy element deformation property.
Supports inclusion of static/non-deforming VR/AR tool elements through ultrasound overlay/blending.
Implements visual realism effects such as fading of simulated ultrasound images and shield-shadow effects for metallic tools.
Supports larger field of view by volume stitching of reconstructed 3D ultrasound volumes.
Documented Applications
IVF embryo transfer training using ultrasound simulation and tracked probe interaction with a deformable model [procedural detail omitted for safety].
Medical VR/AR training in which an ultrasound probe replicate and anatomy model are tracked to render deformation-aware ultrasound images [procedural detail omitted for safety].
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