• 专利附录
  • 专利说明
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  • 类似技术
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    • 专利摘要:
    The sparse tracking (30) used in acoustic radiation force impulse imaging. Tracking (30) is sparse. Displacements are measured (26) only once or sometimes for each reception line. Although this may result in insufficient information to determine the displacement phase shift and / or the maximum displacement over time, resulting displacement samples for different reception lines as a function of time can be used together to estimate ( 34) the speed, such as by a Transform (40) of Radon. The estimate may be less prone to noise due to the sparse nature of the displacement samples using compression detection (36).
    公开号:FR3031448A1
    申请号:FR1600058
    申请日:2016-01-12
    公开日:2016-07-15
    发明作者:Yassin Labyed；David P Duncan；Stephen J Hsu；Seungsoo Kim；Liexiang Fan
    申请人:Siemens Medical Solutions USA Inc；
    IPC主号:
    专利说明:

    [0001] FOLLOW-UP IN RADIATION FORCE PULSE ACOUSTIC IMAGING The present embodiments relate to acoustic radiation force impulse imaging (ARFI). For example, by emitting an ARFI excitation pulse, ultrasound can be used to move tissue directly by producing a shear or longitudinal wave. The resulting displacement of the wave produced by the excitation pulse can be measured using a subsequent ultrasound tracking or scanning. To determine the speed of the shear wave produced in the tissues, displacements are estimated over time for each location. The maximum displacement over time and / or the relative phase shift in the time profiles of displacement between locations is found. The number of locations that can be tracked simultaneously depends on the maximum number of simultaneous receive beams provided by the system beamformer. To increase the size of the tracked area, multiple simultaneous receive beams are needed (eg a new, more expensive, system is used) or repeated repetitions are used tracking locations. Pulse pulses or ARFI pulses for sampling further excitation are repeated to measure displacement at different locations laterally apart from each other. Depending on the size of the tracked area and the number of simultaneous receiving beams used in tracking, many ARFI thrust transmissions may be required. However, repetition of ARFI pulses can cause undesired heating of the transducer and introduce delays in the scan.
    [0002] As an introduction, the preferred embodiments described below include methods, instructions, and systems for sparse tracking in acoustic radiation force pulse imaging. Follow-up is sparse. Displacements are measured once or sometimes for each receiving line. Although this may result in insufficient information to determine the phase shift of the displacement and / or the maximum displacement over time, the resulting displacement samples for different reception lines as a function of time can be used together to estimate speed, such as with a Radon Transform. The estimate may be less prone to noise due to scattering of displacement samples using compression detection. In a first aspect, a method is provided for sparse tracking in acoustic radiation force pulse imaging. An ultrasonic scanner emits an acoustic radiation force pulse into tissue of a patient along a first line. The ultrasonic scanner tracks a wave produced in response to the transmit with four or less four receive beams along each of a plurality of tracking lines spaced from the first line. The displacement for each line of the tracking lines is determined. Displacements are a sampling of sparse displacement of the tracking lines. The sparse displacement samples are processed using a compression detection reconstruction algorithm to produce the significant Fourier coefficients of the 2D Fourier Transform of the displacement map (lateral position vs. slow time). The Inverse Fourier Transform is applied to the Fourier coefficients to reconstruct the fully sampled displacement map. The results of the inverse Fourier transformation are transformed Radon. A speed of the wave is calculated from the results of the Radon Transform. An image of the speed is produced. In a second aspect, a non-transitory computer readable storage medium has stored therein data representing instructions executable by a programmed processor for sparse tracking in acoustic radiation force pulse imaging. The storage medium includes instructions for measuring, using ultrasonic scanning, displacements in response to a single excitation pulse, the displacements being measured at random locations over time; determining a velocity of a wave produced by the single excitation pulse from the displacements; and output the speed. In a third aspect, a system is provided for sparse tracking in acoustic radiation force impulse imaging. A transmit beamformer is configured to produce an excitation pulse, and a receive beamformer is configured to sparsely track displacements in response to the excitation pulse. The sparingly tracked movements are distributed per receiving line over the sampling time, so that no movement is provided for more than half or more than 1/4 of the times for each of the receive lines. . A processor is configured to estimate the speed from the sparse trackings. A display device may be operated to display the speed. The present invention is defined by the following claims and nothing in the description should be construed as a limitation to the claims. Other aspects and advantages of the invention are described below in connection with description of the preferred embodiments and may be claimed later independently or in combination.
    [0003] The components and figures are not necessarily to scale, the emphasis being put instead on the illustration of the principles of the invention. In addition, in the figures, like reference numerals denote corresponding parts in all the different views. Figure 1 illustrates a technique for completely sampling a shift per receive line and time; Fig. 2 is an exemplary distribution of line and time displacement for the complete sampling of Fig. 1; Fig. 3 is a flowchart of one embodiment of a method for sparse tracking in acoustic radiation force pulse imaging; Figure 4 illustrates an exemplary technique for sparsely sampling a reception line and time travel; Figure 5 illustrates a region of the reception line and the time slot for randomly limited sparse sampling; Fig. 6 is an exemplary distribution of sparse sampling for travel by reception line and time; Fig. 7 shows an exemplary Radon Transform of Fig. 2, and Fig. 8 shows an exemplary Radon Transform of Fig. 6; Fig. 9 shows a two-dimensional Fourier spectrum as an example of the complete sampling of Fig. 2, and Fig. 10 shows a two-dimensional Fourier spectrum as an example of the sparse sampling of the Figure 4; Fig. 11 is a reconstructed two-dimensional Fourier spectrum as an example from the sparse sampling of Fig. 4 using compression detection; Fig. 12 is an exemplary inverse Fourier Transform of Fig. 11; Fig. 13 is an exemplary Radon Transform of Fig. 12; FIG. 14 is a curve giving the shear rate as a function of a number of sweeps or over time using a Radon Transform on sparse displacements without compression detection, on sparse displacements with compression detection and on sampled movements in a complete way; Figure 15 is a sparse displacement sample as a three-dimensional example; and Fig. 16 is an embodiment of a system for acquiring control for sparse tracking in acoustic radiation force pulse imaging. ARFI sparse tracking at random locations with a speed estimate sensitively detected is provided. Displacements over a large imaging area are followed by cleverly spreading tracking locations in a sparse manner. Fewer simultaneous receive beams and potentially fewer ARFI pulse transmissions may be required using sparse sampling of the displacement rather than full sampling.
    [0004] When using only sparsely tracked data, conventional time-peak displacement algorithms for estimating a shear rate have poor performance. There may not be enough displacement sampling over time for a given location to estimate the maximum displacement or shift in the displacement profile accurately. With sparsely sampled displacements, an estimate of the Radon Transform shear rate can be used to find the velocity. Other reception line slope versus time calculations can be used. Errors in the speed estimates can still occur. To limit errors due to sparse sampling, the sparingly monitored data is combined with a compression detection reconstruction. For ultrasound systems having limited simultaneous receive beam capacity or to estimate velocities in multiple planes (eg, azimuth and elevation sampling), multiple ARFI transmissions may be reduced or avoided to estimate the speed. Figures 1 and 2 represent displacement sampling in a conventional ARFI imagery. Estimated displacements over a large region with a system that has a limited beamforming speed require repeated ARFI flares or pulses. Figure 1 shows a region of interest 5 in the form of the hatched box. Four simultaneous receive beams along four receive lines are shown in the box. After transmitting an ARFI excitation pulse, multiple scans of the same four lines are made to track the displacement at the four locations over time. For the time scan, the same group of receive lines are scanned over a time interval, for example for more than 7 ms. For each ARFI thrust or pulse, only a limited number of locations are tracked during N slow-time samples. Taking into account the region of interest of FIG. 1, seven repetitions of the ARFI excitation pulse and the displacement tracking in response to seven respective different sets of reception lines are made. After all echoes from the side locations within the desired region have been acquired, the raw data is passed through a motion estimation process, providing a shift for each of the times and locations. The result is a displacement profile for each receiving line location over time. Figure 2 shows the displacement information. The x-axis is the slow time or sampling rate for the displacement, and the y-axis is the lateral position or reception line. The color or clarity is the amplitude of the displacement. For a given reception line (for example a 3 mm reception line), a displacement for 7 ms is measured. In this example, about five moves are measured in sequence every millisecond. Since four simultaneous reception beams are used, the slow time displacements for four lateral positions are acquired at the same times. For other receiving lines, the ARFI excitation pulse sequence and the displacement tracking over the 7 ms is repeated. In the conventional art, the maximum displacement over time is found for each lateral position. Given the distance from the ARFI focus and the maximum travel time created by the wave, a velocity of the wave propagating to that location is calculated. A speed is determined for each location. Speeds can be displayed as spatial information or combined (e.g., averaged) to represent a velocity in that area. In the representation of FIG. 2, the slope of the line (for example the upward displacement flange) is directly proportional to the estimate of the shear rate. This process of maximum displacement, although direct, may require many tracking locations and therefore many ARFI flare-ups or pulses as shown in Figure 1. The result is an increased risk of transducer and patient warm-up, more time cooling between ARFI excitation pulses, and a longer estimation process due to the cooling time and / or for the complete sampling of the displacement. Fig. 3 shows an embodiment of a method for sparse tracking in acoustic radiation force pulse imaging. Rather than completely sampling displacement in terms of location and time, sparse sampling in terms of location and / or time is used. Using Radon Transform, line matching and slope computation, or other process, the velocity is estimated from the sparsely sampled displacements.
    [0005] The process is carried out by the system of FIG. 16 or a different system. For example, any ultrasound scanner known today or to be developed later performs step 26. A processor, controller, or image processor of the ultrasound scanner performs steps 34 and 44 Alternatively, a processor of a computer or a workstation separate from or remote from the ultrasound scanner performs steps 34 and 44. Transmitting beam formers, memories, detectors, and / or other devices can be used to acquire the data, perform one or more of the steps and / or output data. The processor may control the devices to perform the method of Figure 3.
    [0006] The steps described below are for shear wave velocity estimation. Shear waves propagate laterally, so that lateral estimates at a given depth or in a depth range are used. In other embodiments, the velocity of a longitudinal wave or other wave is estimated. Displacement sampling may be spatially sparse in depth rather than in lateral directions or in addition to lateral directions. Any of the wave characteristic estimates, such as elasticity, shear wave or other characteristics induced by ARFI can use the sparse displacement sampling of the method. Speed is used as the feature, but other features performing tissue parameterization in response to the acoustically induced wave can be estimated. Additional, different, or less steps may be provided. For example, the method is performed without outputting the speed at step 44. As another example, steps 36 to 42 represent an exemplary sequence for determining the speed of step 34. Other steps or sub-steps may be used to determine the speed from sparse displacement sampling. For example, the Radon Transform of step 40 is provided without the compression detection of step 36 and the inverse Fourier Transform of step 38. As another example, step 42 is performed by line adaptation and slope calculation without any of steps 36 to 40. In other examples, filtering or other data processing is applied to the displacements.
    [0007] The steps are performed in the order described or shown, but may be performed in other orders. For example, step 28 represents the transmission of a single excitation pulse. Step 28, and steps 30 and 32 in response, may be repeated to measure the sparse distribution more densely for a region of interest or for a larger region of interest. This repetition takes place before the determination of step 34. In step 26, the ultrasound scanner measures the echoes for displacements in response to a single excitation pulse. Measurements for more locations than simultaneous ultrasonic scanner beamforming capability are performed in response to the single excitation pulse in sparse sampling of the displacements. Using the sparse displacement measurement, displacements on a larger lateral region or on several lateral locations can be measured in response to a single excitation pulse, compared to what would be the case if a complete temporal sampling of the displacement was used. The region may further be extended by repeated measurements in response to one or more other excitation pulses.
    [0008] Displacements are measured by performing steps 28 to 32. In step 28, an ARFI push is emitted by the ultrasound scanner into tissue of a patient. The transmission is a focused emission beam at a depth or range of depths.
    [0009] The emitted beam ARFI is emitted along a transmission scan line. The focal depth is on the transmit scan line. FIG. 4 shows the ARFI emission as an excitation pulse with a beamwidth representation. The narrow portion is the focal region. An array of elements in an ultrasound transducer emits the converted ARFI beam from the electrical waveforms. The acoustic energy is emitted to the tissue of a patient. The acoustic waveform is emitted to produce a shear wave, longitudinal wave, or other waveform as a constraint for moving tissue. The excitation is an ultrasound excitation pulse. The acoustic energy is focused to apply enough energy to produce one or more waves propagating through the tissues from the focal location. The acoustic waveform can itself move the tissues. Other sources of stress can be used.
    [0010] 3031448 The focal region wave or waves and / or in other focal lengths. The waves 5 multiple directions. 12 propagate laterally, axially shearing are produced at the directions from the region can propagate as the waves decrease in amplitude as the waves propagate through the tissue. To produce the wave, power excitations or high amplitude are desired. For example, the excitation has a mechanical index that is close to 1.9 without exceeding it at any of the focal or focal locations and / or in the field of view. To be moderate and take into account the probe variation, a mechanical index of 1.7 or another level can be used as the upper limit. Higher powers (e.g., MI greater than 1.9) or lower can be used. The excitation pulse is emitted with waveforms having any number of cycles. In one embodiment, most or all waveforms for an emission event have 100 to 2000 cycles. The number of cycles is ten, one hundred, one thousand or more for the continuously transmitted waveforms applied to the network elements for the excitation pulse. Unlike imaging pulses that are 1 to 25 cycles, the ARFI excitation pulse has a greater number of cycles to produce sufficient stress to cause the wave to move the tissue with sufficient amplitude to detect it. In step 30, the wave produced is followed. The wave 30 is produced in response to the ARFI broadcast. The response of the tissues is a function of the wave created by the ARFI beam and the characteristics of the tissue. The wave is tracked at any location. For a shear wave, the wave is tracked at laterally spaced locations of the same depth or range of depths. Tracking detects waveform results rather than accurately identifying where the wave is located at a given time.
    [0011] Follow-up is done by ultrasound scanning. A B-mode scan or other scan along one or more receive lines is performed for tracking. The displacement indicates the wave, so that no movement indicates an absence of the wave and a displacement indicates a tissue effect caused by the wave. As the wave passes to a given location, the tissue moves in a quantity or distance that increases to a peak amount and then decreases as the tissue returns to rest. Tracking can detect the effects of the wave at any stage (i.e. no wave, increasing, maximum or decreasing displacement). The fabric is scanned several times to determine the displacement, such as sweeping a region at least twice. To determine the instantaneous displacement, a sample echo return is compared to a reference. The displacement is provided as a difference or offset from the reference scan (first scan) and a measurement and subsequent scan (displacement measurement). The tissue is scanned using any imaging modality capable of scanning for movement during tissue response to the excitation waveform, such as during or after application of the ARFI excitation pulse.
    [0012] For ultrasound scanning, the wave is detected at locations adjacent to the focal region and / or away from the focal region for the ARFI excitation pulse. Figure 4 shows the region for tracking as a dotted region. The displacements are sampled at various reception lines, eight of which are shown as parallel vertical lines. Non-parallel and / or non-vertical receive lines may be used. Any number of side locations can be used, such as twenty-eight. To detect the displacement, the ultrasound energy is emitted to the tissue undergoing movement, and energy reflections are received. To detect the tissue response to the waves in a region of interest, emissions are made to the region and detection is made in the region. These other transmissions are for wave detection or displacement rather than for waveform or displacement. The transmission for the detection may have a lower power and / or short pulses (for example 1 to 5 carrier cycles). The transmission for detection may have a wider beam profile along at least one dimension, such as laterally, to simultaneously form reception samples along a plurality of scanning lines (for example receiving beams simultaneously along four or more receiving lines). Receiving beamformers have limited capabilities for simultaneous receive beam formation, such as a multiple of two or more. For example, only four or less than four simultaneous receive beams can be trained for tracking. Figure 4 shows two sets of such receive lines. The tracking transmissions and the corresponding receiving beams are sequentially performed to the two different sets of locations shown in Figure 4 and possibly other locations. Some beamformers 3031448 may be capable of only two or one transmit beam receiving beam in the tracking. For a given receiving event (i.e. receiving echoes in response to a given transmission for tracking), N receive beams are formed. A region of interest is tracked to detect the wave. The region of interest has any dimension. For example, the wave is detected along various depths of one or more lines in ARFI imaging. As another example, the displacements are tracked at each of a plurality of laterally spaced locations for a limited depth in the shear wave imagery. In full sampling, the transmission and reception for detection or tracking is performed several times for each receive line to determine the change due to displacement over time. Any transmission and reception sequence can be used. For sparse sampling, the number of scans for a given scan line or set of simultaneous receive beams is limited in time and / or space. For example, a reference scan of all receive lines in the region of interest is performed prior to the ARFI broadcast of step 28. After the ARFI broadcast of step 28, N groups or tracking sets different simultaneous reception lines are used. N is a multiple of two or more of the number of simultaneous receive beams of which the receive beamformer is capable. In the example of FIG. 4, the receiver beamformer receives four simultaneous reception beams. The region of interest, at a desired resolution, provides eight or more laterally spaced locations for tracking, such as a 28-line receive track. Receiving or tracking operations take place for more than four receive lines in response to a given ARFI broadcast. As a result, temporal sampling for displacement at a given location is less, since at least one transmit and receive event for tracking takes place at another location, which is not in the beam group. or in the number of beams of the receive beam former. At any of the lateral locations or a subset of side locations larger than a concurrent beamformer capability, the resulting samples for the displacement calculation are sparse in time and / or location. Each location is sampled a smaller number of times. For example, each location is sampled just once in addition to a reference. In other examples, each location is sampled two or more times, but less than half, less than 3/4, less than 20 1/4, or another ratio of the number of transmit / receive event tracking possible over the slow period of time (eg over 7 ms). Sparse tracking speeds up the process by gathering information for more locations than what could be tracked by a given beamformer with full sampling. More or all of the region of interest can be monitored at the same density of sampling locations, but with less time resolution at each location. For example, the receiving beamformer is capable of N simultaneous receive beams (e.g., 4). Acoustic echoes for N displacements are measured by reception event for N tracking lines. This measurement is repeated for other groups of N tracking lines rather than for the same group of tracking lines, at least for one or more times during the passage of the produced wave in response to a given ARFI broadcast. XN 5 receive lines are measured in response to a single pulse excitation, where X is two or more. Rather than just measuring the same N lines in response to an excitation pulse, all lines or XN lines are measured, resulting in fewer samples for each side location. An acoustic feedback for measuring displacements is not measured for at least some of the reception lines at full sampling, for more than half of the complete sampling, or even more than once during the passage of time. shear wave. Depending on the sampling configuration, there may be no displacement measurements made during the passage of the wave for one or more locations. Any sampling configuration providing the sparse measurements may be used. For example, side locations are measured in groups of N from left to right or vice versa. Figure 4 shows a sample for each of two different groups of N rows (eg 4 simultaneous receive beams). Rather than repeat sampling along the same lines for each ARFI excitation pulse, sampling is done along different receive lines over time for a given ARFI excitation pulse. This configuration can be repeated if there is enough time. Alternatively, each group of N side locations is measured more than once before moving to the next group. More complex configurations may be used, such as measuring along certain lines or side locations more frequently (eg closer to the ARFI focus) and / or measuring on the basis of expected wave propagation.
    [0013] In one embodiment, the scan pattern of the receive lines or side locations is random. Slow time samples are randomly ranked along the receiving lines in the region of interest. Displacements are measured at random locations over time. Tracking with the receiving beams is randomly distributed along the tracking lines. The random placement is N groups of adjacent receive lines. Alternatively, each side location is randomly sampled without N grouping, such as simultaneously receiving echoes along N lines that may or may not be adjacent due to random placement and repetition along the line. other lines randomly assigned. Random assignment can be created on the fly or when scanning takes place. Alternatively, the random assignment is performed once and is used for each implementation. A predetermined randomly assigned sample is used.
    [0014] In alternative embodiments, a non-random assignment is used. Random assignment for sparse sampling of displacements speeds up the estimation of speed because it is sparse. Randomness may even better provide velocity estimation using a Radon Transform or other estimates based on angle. Lateral tracking locations are randomly assigned for tracking from a single ARFI thrust (i.e., all slow-time samples during a single push are laterally distributed in a pseudo-random). For configured or random sampling, the 5 side locations sampled at any time can be limited. For example, pseudo-random sampling is provided. The tracking beam locations for each slow time are randomly sub-sampled using a uniform distribution, but are also constrained to be within a potential shear velocity "cone". The shear rate that may exist in soft tissues or a different tissue domain is limited. The cone is defined by the minimum and maximum possible shear rates. Sampling is limited to be within this range of speeds. The velocity is mapped with respect to the distance of a lateral location with respect to time from the production of the shear wave by the ARFI. Figure 5 shows a cone (for example two red lines) representing the minimum time to reach each location and the maximum time to reach each location. This cone is shown in the complete sampling of Figure 2, but can be applied to sparse sampling. Sampling is limited to lie within this likely shear cone. Any movement outside the cone is likely to be noise rather than shearing. The tracking scans take place over a time domain in which the desired waveform (i.e., a shear wave) can pass through the tissue. The cone may be defined on the basis of the probable human tissues. Alternatively, the cone is based on an application. For example, a liver application may provide a different domain or cone than an application of a muscle, since the shear propagates in the different bound tissues and / or types of lesions found in these tissues at different rates. For a given tissue or application, the range as a function of the time at which the wave will pass locations is set.
    [0015] Figure 6 shows the random results with a receiving beamformer capable of only one receiving beam at one time. Sampling is restricted by the cone of possibility, but is otherwise random within these limits. The random format can be selected as one that is more evenly distributed than other random formats. For each sampling instant after a single ARFI thrust, only one side location is sampled due to a beamformer event limiting beam or the use of the beamformer with one beam per event. For side locations 2.5 to 7 mm from the ARFI, any number of samples may be provided because of randomness. In the example of Figure 6, most of the side locations are sampled only for a moment. Some are sampled at two instants (for example 5 mm and 6.16 mm), some at three times (for example 6 mm and 6.6 mm), some at four times (for example 6.66 mm and 6.82 mm). mm), and some are not sampled at all (eg 2.66 mm and 4.5 mm). The increasing number of samples for lateral locations ever further is due to the cone shape or diverging limitation making the additional locations available for sampling over a larger time domain. Comparing Figure 2 to Figure 6, there are fewer samples acquired for the sparse sampling of Figure 6. In Figure 2, there are 28 side locations, each sampled completely 33 times during the 7 ms, providing 924 samples of the reception echoes in the trace. For the sparse sampling of Figure 6, there are 33 samples, one for each instant. In other embodiments, there may be more or fewer samples. For example, by forming parallel receive beams with four simultaneous beams, there may be 132 samples with four samples for each instant. 132 is still much smaller than the 924 samples and still allows tracking over the larger area in response to an ARFI excitation pulse rather than seven.
    [0016] Figure 6 shows two-dimensional sampling, lateral position (eg azimuth) and time. In other embodiments, sampling is provided on additional dimensions. For example, the tracking lines are distributed for both the azimuth and the elevation relative to the transducer. In another example, the process is repeated at different depths, providing four-dimensional tracking (eg azimuth, elevation, depth, and time).
    [0017] Referring back to FIG. 3, the samples are used to determine the displacement in step 32. The displacement at each of the locations for any time for which an echo is sampled is determined. For shear wave imagery, the displacement at the depth or depth range along each tracking line is determined. The displacement is calculated from the ultrasound scan data. The fabric moves between two sweeps. A reference scan is performed before the ARFI broadcast of step 28 and / or after the produced wave is passed to the location. The data of the sample scan or the reference scan is translated or shifted one, two or three dimensions relative to the data in the other scan. For each possible relative position, a similarity amount is calculated for the data around a location. The amount of similarity is determined by correlation, such as cross-correlation. A minimum sum of absolute differences or other functions may be used. The spatial offset with the sufficient or highest correlation indicates the amount of displacement for a given location. In other embodiments, a phase shift of data received from different times is calculated. The phase shift indicates in still other modes representing a line (by the amount of displacement, axial sample data) at different times are correlated to determine an offset for each depth of a plurality of depths along the line. of the line. A single ARFI excitation pulse is used to estimate the displacements for all locations. Figure 6 represents an estimate for all locations in a region of 2.5 to 7 mm of interest at a given depth. The excitation pulse and tracking can be repeated for different depths. To monitor a larger lateral region, excitation pulses and tracking are repeated for other locations. Figure 6 shows displacements in the form of colors for different locations and times. The blue background represents locations and times without sample, so that there is no corresponding displacement. The colors of the other locations indicate a quantity of displacement. Because of the sampling timing that is not specific for an unknown instant of maximum displacement, the sampled displacements may or may not be associated with a maximum displacement created by the traveling wave in the tissue. Due to sparse sampling, full-resolution, 3/4 or even half-time profile displacement is not provided for any of the locations. In Figure 6, the sparse displacements are provided as one for each receive beam with N shifts per receive event (i.e., in Figure 6, N = 1). Since the displacement profile as a function of time for each location has a low resolution (e.g., 0 to 4 samples in the example of Fig. 4), use the displacement profile over time to calculate the speed for that location. is not reliable.
    [0018] In step 34 of FIG. 3, the velocity of the wave produced by the single pulse or the few excitation pulses is determined. The speed is determined from the displacements. The speed must be determined without identifying the maximum displacement at any given location. The magnitudes of the displacements are determined without specifically identifying (for example without calculation by a processor) a maximum displacement time for any of the corresponding tracking lines or side locations. Speed estimates with sub-sampled displacements are not performed with conventional time-peak estimation methods, but instead use a transform method. In one embodiment, the transform is a Radon Transform. The Radon Transform is applied to the displacement data as shown in Figure 6. The Radon Transform 10 projects the data along lines at different angles. The projection angle with the highest intensity along the angle indicates the wave. Fig. 7 shows a Radon Transform sinogram of the complete sampling of Fig. 2. Fig. 8 shows the Radon Transform sinograph of the sparse sampling of Fig. 6. The x-axis is the angle projection. For the projection, a sum of the orthogonal displacements at the angle is made, which results in a line of displacement amplitudes along the projection angle. The y-axis is the summed or projected motion along the orthogonal. Each vertical line along the x-axis represents the series projection of the orthogonal displacements at this angle. The speed is determined from the angle.
    [0019] The angle represents a distance as a function of the time of the wave. Other transforms can be used. In other embodiments, line matching is used (e.g. least squares). A straight line is adapted to the displacements as a function of time, such as the adaptation of the line to FIG. 6. The adaptation can be weighted by the amplitudes of the displacements. The amplitudes of the displacements can be adjusted to take into account the wave attenuation as a function of the distance before the displacement weighting adaptation. Once fitted, the line provides a slope or angle used to calculate the speed. As shown both in Figs. 7 and 8, although the projection images are qualitatively similar, the peak intensity angle estimate in the sub-sampled image of Fig. 8 may be more prone to noise because the reduced number of samples tends to spread the projection peak and decrease the overall displacement signal-to-noise ratio (SNR) from the lowered signal levels. To reduce these problems, the movements can be filtered or otherwise treated. Fig. 3 shows an exemplary technique for reducing errors due to under-sampling. Steps 36 and 38 are performed before the Radon Transform is performed in step 40 and the incremental step speed can be used. 20 are performed without example, a step 42 in step 36, 42. Of steps 40 and 42 and 38. As another step 40. compression is at different or less step For example, steps steps 36 is performed without detection of performed on sparse sampled displacements. The data shown in FIG. 6 or other sparse sampling of displacements is subjected to compression detection. In order to improve the SNR signal-to-noise ratio of the shear rate estimates from the subsampled displacements a compression detection technique is used, in which the sparse Fourier character of slow time displacements is accepted. Any compressed detection signal recovery can be used. In one embodiment, orthogonal correspondence tracking 3031448 26 is used. Orthogonal correspondence tracking is a greedy-type recovery algorithm that retrieves only the most significant Fourier coefficients from the sub-sampled spectrum. The number of coefficients to recover is predetermined or selected by the user. Sparse displacement sampling is detected by compression to reconstruct a Fourier spectrum. An example of compression detection is explained with reference to FIGS. 9-11. FIG. 9 shows a two-dimensional Fourier spectrum of the fully sampled displacements as a function of time in FIG. 2. FIG. two dimensions of the sparsely sampled displacements of FIG. 6. Using compression detection of the sparse sampled displacements of FIG. 6, the Fourier spectrum of FIG. 11 is obtained. Figure 11 is a reconstructed two-dimensional Fourier spectrum using compression detection. Most noise from sparse sampling is reduced or eliminated (compare Figures 10 and 11). In step 38, the reconstructed Fourier spectrum is transformed by inverse Fourier. The results or the output of the compression detection are transformed from the frequency domain into the location as a function of the slow time domain. For example, Fig. 12 shows an inverse Fourier Transform as an example of the Fourier spectrum of Fig. 11. The result has three peaks of high amplitude in parallel. Three peaks rather than a peak is the result of discontinuities in the 2D Fourier spectrum, but Radon Transform, line matching, or any other wave detection may still work. In other examples, only one or another number of peaks appears. The spectrum may be smoothed prior to the inverse Fourier transformation to provide a single peak. In step 40, the Radon Transform is applied to the output or results of the Inverse Fourier Transform. Figure 13 shows the sinogram of the Radon Transform. Compared to FIG. 8, the intensity 10 is more focused. Noise effects from sparse sampling of movements are diminished. Other transforms or angle identification techniques may be used. In step 42, the velocity is calculated from the results or output of the Radon Transform. The angle with the maximum intensity in the sinogram of the Radon Transform is identified. The angle indicates the tracking line or lateral location as a function of time. The slope of this angle is proportional to the speed. The slope itself is used as the speed or speed is calculated from the slope. Figure 14 shows a comparison of the shear rate calculation on the basis of a Radon Transform of fully sampled displacements, on the basis of a Radon transform of the sparse sampled displacements without compression detection and on the basis of a Radon transform. the base of a Radon transform of sparsely sampled displacements with compression detection. The full tracking rates have the least variance. The number of x-axis scans is for different sets of data from different locations of the transparency to show the variability. The shear rate from the Radon Transform of sparse displacements without compression detection has the greatest variance. Compression detection decreases the variance in the estimated shear rate. In the example of Figure 14, the speed from full sampling has an average of 1.2495 m / s with a standard deviation of 0.0306. The speed from the sparse sampling without compression detection has an average of 1.2228 m / s with a standard deviation of 0.1903. The speed from the sparse sampling with compression detection has an average of 1.2059 m / s with a standard deviation of 0.0814. Compression detection decreases the variance of the estimates. Other characteristics than the speed can be calculated and / or the speed can be used to calculate another characteristic. For example, a shear modulus or other elastic characteristic is calculated. The velocity can be calculated from samples along different lateral locations along a line, such as locations spaced from each other in the azimuthal direction. In other embodiments, the displacements are sampled at lateral locations both by taking azimuth and elevation to a depth. Figure 15 shows a volume formed from two-dimensional spatial sampling locations (e.g. azimuth and elevation relative to the transducer) and over time (e.g., slow time). The tracking lines are spaced in the azimuthal and elevation directions. Tracking lines are sampled randomly or other sparse sampling techniques are applied. Figure 15 shows a sample not displaced as the background blue level and the displacement samples sparsely obtained as other colors. The added dimension of the tracking breakdown can result in a much larger number of 5 tracking lines. As a result, a given beamformer may be less able to sample completely without ARFI repetition, transducer overheating, and / or patient. Even receive beamformers that can simultaneously form dozens of receive beams (eg 32 to 64 simultaneous receive beams) may not be able to perform full sampling. To sample a large volume, sparse sampling and a corresponding speed estimate may be used. Compared to full sampling, sparse sampling can reduce recovery times while still providing good estimates of shear rates. In step 44 of Figure 3, the speed is outputted. The output is to a memory, a network or a display device. For the display device, the speed or other characteristic of the wave is displayed as a value in digits and / or letters (for example "2.0 m / s"). Alternatively, a graphical representation of the speed or feature is used, such as a pointer to a scale or bar chart. The speed can be displayed as a color or other indexed symbol.
    [0020] According to one embodiment, a single speed is determined. A user positions a pointer on an image. In response, the ultrasound scanner outputs a calculated velocity for that point (e.g. the point is used for the ARFI focus and the velocity for a small region near or around the point is calculated). In other embodiments, more than one speed is outputted. The speed at different locations is found. For example, a curve is adapted and the slope of the curve at different locations represents the different speeds. As another example, different measurements are made for different locations. An image of the speed is a device for displaying a single speed or a display of multiple speeds. For speeds measured at different locations, the image may comprise a one, two or three dimensional representation of the speed or feature such as a function of the space or location. For example, the shear rate over an entire region is displayed. Shear rate values modulate colors for pixels in a region following a grayscale modulated B-mode image. The image may represent displacement information, such as shear or modules (e.g., shear modules) for different locations. The display grid may be different from the scanning grid and / or the grid for which the displacements are calculated. The color, clarity, luminance, hue or other pixel characteristic is modulated according to the information derived from the displacements. Figure 16 shows an embodiment of a system 10 for sparse tracking in acoustic radiation force pulse imaging. Ultrasound produces a tissue shift, such as through the creation of a longitudinal wave or shear, and a scan of the data in response to the displacement responsive tissue is used to determine the velocity or other characteristic of the wave in the tissue. To speed up scanning and / or decrease heating, the tissue response can be sparsely sampled. More (e.g., a factor of 2, 3, 4, 5 or more) of laterally spaced locations that there are simultaneous receive beams are sampled in response to a given ARFI excitation pulse. The system 10 is an ultrasound imaging system 10 for medical diagnosis. In alternative embodiments, the system 10 is a personal computer, a workstation, a PACS station or other arrangement at the same location or distributed over a network for a real-time or post-acquisition acquisition image.
    [0021] The system 10 implements the method of Figure 3 or other methods. The system 10 includes a transmit beamformer 12, a transducer 14, a receive beamformer 16, an image processor 18, a display device 20, and a memory 22. Additional components different or less components can be provided. For example, a user input is provided for assisted or manual designation of a region of interest for which the information is to be obtained.
    [0022] The transmit beamformer 12 is an ultrasonic transmitter, a memory, a pulse device, an analog circuit, a digital circuit, or a combination thereof. The transmit beamformer 12 is configured to provide waveforms for a plurality of channels having different or relative amplitudes, delays, and / or phases. The waveforms are produced and applied to a transducer array 14 with any synchronization or pulse repetition frequency.
    [0023] For example, the transmit beamformer 12 produces an excitation pulse to calculate the velocity in a region of interest and produces corresponding emissions to track resulting displacements with the ultrasound. The transmit beamformer 12 connects to the transducer 14, such as through a transmit / receive switch. When transmitting acoustic waves from the transducer 14 in response to the produced waves, one or more beams are formed during a given transmission event. The beams are excitation pulses and / or tracking beams. For tissue displacement scanning, a transmission beam sequence is generated to scan a one, two, or three dimensional region. Sector, Vector (registered trademark), linear or other scan formats can be used. Scanning by the transmit beamformer 12 takes place after transmission of the excitation pulse, but may include scanning for reference frames used in the tracking prior to transmission of the excitation pulse. The same elements of the transducer 14 are used for both scanning and tissue displacement, but different beam elements, transducers, and / or formers can be used. Any configuration can be used to scan lines in the trace, such as a random pattern that adapts to random receive sampling.
    [0024] Transducer 14 is a 1, 1.25, 1.5, 1.75 or 2 dimensional array of piezoelectric or capacitive membrane elements. Transducer 14 includes a plurality of elements for transduction between acoustic and electrical energies. For example, transducer 3031448 is a one-dimensional PZT array that has about 64 to 256 elements. The transducer 14 connects to the transmit beamformer 12 to convert electrical waveforms to acoustic waveforms, and connects to the receive beamformer 16 to convert acoustic echoes to electrical signals. Transducer 14 emits the excitation pulse and tracking beams. The waveforms are focused to a region of tissue or locations of interest to the patient. Acoustic waveforms are produced in response to the application of electrical waveforms to the transducer elements. For ultrasonic scanning to detect displacement, the transducer 14 emits acoustic energy and receives echoes. The reception signals are produced in response to the ultrasound energy (echo) that falls on the transducer elements 14. The receive beamformer 16 has a plurality of channels including amplifiers, delay devices, and / or phase rotators and one or more summers. Each channel connects to one or more transducer elements. The receive beamformer 16 applies relative delays, relative phases, and / or apodization to form one or more receive beams in response to each transmission for detection. A dynamic focus on the reception can be provided. When there is only one depth or range of depths of interest, the dynamic focus may or may not be provided. The receive beamformer 16 outputs data representing locations in the space using the received acoustic signals. Delays and / or relative phasing and summation of the signals from the different elements provide the beam formation. In alternative embodiments, the receive beamformer 16 is a processor for producing samples using Fourier Transforms or other transforms. For parallel receive beam formation, the receive beamformer 16 is configured to include one or more additional sets of corresponding channels and summers. Each channel applies relative delays and / or phase to a beam with the summator. The receive beam former 16 may have any number N of sets of channels and summers, such as N = 1-8, to form a corresponding number of beams simultaneously or in response to a same beam of transmission. monitoring. The receive beamformer 16 may include a filter, such as a filter for isolating the information at a second harmonic or other frequency bands relating to the transmitted frequency band. Such information may more likely include a desired tissue, a contrast agent and / or flow information. The receive beamformer 16 outputs beam summed data representing locations in space. Data for a single location, locations along a line, locations for a zone, or locations for a volume are output. The data can be 30 for different purposes. For example, different scans are performed for mode B detection or tissue detection rather than for longitudinal wave or shear detection. Alternatively, mode B data is also used to determine the displacement created by a longitudinal or shear wave. The receive beamformer 16 is configured to sparsely track movements in response to an excitation pulse. The echoes received by the transducers 14 are beamformed into data samples. These samples can be used to estimate displacements. The receive beamformer 16 is configured to sparsely follow forming reception beams for sparse sampling in time and / or location to estimate displacements at these times and / or locations. The sparse tracking measurements for displacements are distributed per receiving line over a sampling time, so that no displacement is provided for more than half of the sampling times for each of the receive lines in response. to a given excitation pulse. Rather than full sampling over the same time at each location, less than half, for example, only 1 to 25% of locations are sampled at a given time. When parallel receive beamforming is used, the receive beamformer 16 is configured to measure N of displacements at each of the sampling times with the receive lines for displacements which are randomly positioned on XN. lines of reception lines, where X is equal to two or more. The processor 18 or a separate beamformer control device configures the beamformers 12, 16. By loading values into registers or a table used for operation, the acquisition parameter values used by beamformers 12, 16 for ARFI imaging are set. Any structure or command format can be used to establish the ARFI imaging sequence. The beam formers 12, 16 are arranged to acquire data for ARFI imaging at frame rate and / or resolution. Different values of one or more of the acquisition parameters may result in a different resolution and / or frame rate. The processor 18 is a B-mode detector, a Doppler detector, a pulsed Doppler wave detector, a correlation processor, a Fourier Transform processor, an application specific integrated circuit, a general processor, a processor, a processor. control, an image processor, a field programmable grid array, a digital signal processor, an analog circuit, a digital circuit, combinations thereof or any other known device now or further developed for detecting and processing information from ultrasound samples formed into bundles. In one embodiment, the processor 18 includes one or more detectors and a separate processor. The separate processor is a control processor, a general processor, a digital signal processor, a graphics processing unit, an application specific integrated circuit, a field programmable grid network, a network, a server, a group processors, a data path, combinations thereof or other device known today or later developed to determine a displacement and / or to calculate a speed from displacements. The processor 18 is configured by software and / or hardware to perform the steps. In one embodiment for ARFI imaging, the processor 18 estimates a tissue shift for each side location at no time, at a moment, or at several times in correspondence with the sparse sampling. Data output from the receive beamformer 16 is used to determine the displacement at different times for different locations, but sparsely. Displacements are estimated for different locations at different times relative to the ARFI excitation pulse, rather than at each location at each instant. Displacements can be obtained by correlation or else by otherwise determining the level of similarity between reference data and data obtained to represent the tissue at a given time. The processor 18 is configured to compute tissue characteristics from tissue displacements at different locations over time. For example, a shear rate is calculated from the shifts. In another example, the processor 18 calculates the viscosity and / or the module. The processor 18 can calculate other properties, such as stress or elasticity. The processor 18 is configured to estimate speed or other characteristics from the sparse sampling of the displacements. For example, a slope of a line of detected detours as a function of time is found. A line adaptation can be used. In one embodiment, a Radon transform is used. The slope provides the distance as a function of time, giving the speed. The processor 18 may be configured to decrease the noise in the velocity estimate created by the sparse sampling. For example, the processor 18 performs compression detection on the sparse displacements, transforms the output of the compression detection by Fourier inverse, applies the Radon Transform to the output of the inverse Fourier Transform, and then estimates the velocity from the angle of the maximum in the Radon Transform sinogram. The processor 18 can estimate the speed in response to a single excitation pulse that has more side locations than the receive beamformer 16 is capable of scanning simultaneously. For example, the region may have more locations by a factor of 2, 3, 4, 5, or more than the number of simultaneous receive beams, where the locations are sampled in response to an excitation pulse. In other embodiments, sparse sampling and velocity estimation are performed using multiple excitation pulses, but with sparse sampling. The processor 18 produces and outputs an image or display values configured from the property to the display device. For example, the value of the speed, shear modulus, or other is determined. A text or numeric indication of the property is displayed to the user.
    [0025] A curve of the property over time can be displayed. In one embodiment, the property is displayed according to the location. Values, curves and / or fabric representations can be displayed using the speed at different locations. For a representation of the fabric, the amplitude of the fabric feature modulates the color, hue, clarity, and / or other display characteristics for different pixels representing a tissue region. The processor 18 determines a pixel value (for example RGB) or a scalar value converted to a pixel value. The image is produced as scalar or pixel values.
    [0026] The image may be output to a video processor, a look-up table, a color map, or directly to the display device. The display device 20 is a CRT, LCD, monitor, plasma, projector, printer, or other device for displaying an image or sequence of images. Any display device known today or developed later may be used. The display device 20 may be operated to display an image or a sequence of images. The display device 20 displays two-dimensional or three-dimensional images. The display device 20 displays one or more images representing tissue characteristics or other information derived from the displacements. For example, a speed associated with a location indicated on a two-dimensional image or a three-dimensional B-mode representation is displayed. Alternatively or additionally, the image is a curve. Processor 18, receive beamformer 16, and transmit beamformer 12 operate as a result of instructions stored in memory 22 or other memory. The instructions configure the system to perform the steps of FIG. 3. The instructions configure the processor 18, the receive beamformer 16 and / or the transmit beamformer 12 for operation by being loaded into a receiver. control device, by having a table of values (eg, an elasticity imaging sequence) loaded and / or executed. The transmit beamformer 12 is configured by the instructions to produce an excitation beam and tracking beams. The receive beam trainer 16 is configured by the instruction to acquire data for tracking. The processor 18 is configured to estimate displacements and determine the speed from the sparse displacements. The memory 22 is a non-transient computer readable storage medium. The instructions for carrying out the processes, methods and / or techniques described herein are provided on the computer-readable storage medium or memories, such as a cache, a buffer, a RAM, a removable medium, a hard disk or other storage media that can be read by computer. Computer readable storage media include various types of volatile and nonvolatile storage media. The functions, steps or tasks illustrated in the figures or described herein are executed in response to one or more sets of instructions stored in or on computer readable storage media. Functions, tasks, and steps are independent of the particular type of instruction set, storage media, processors, or processor strategy and may be performed by software, hardware, integrated circuit, micro code, and the like, operating alone or in combination . Similarly, the processor strategies may include a multiprocessor, a multitasking processor, a parallel processor, and the like. In one embodiment, the instructions are stored on a removable media device for playback by remote or local systems. In other embodiments, the instructions are stored at a remote location for transfer over a computer network or telephone lines. In other embodiments, the instructions are stored within a given computer, a CPU, a GPU, or a system. Although the invention has been described above with reference to various embodiments, it goes without saying that many changes and modifications can be made without departing from the scope of protection of the invention. It is therefore the intention of the foregoing detailed description to be considered by way of illustration, rather than limitation, and it is self-evident that the following claims, including all the equivalents, which are intended to define the scope of protection of the present invention. Preferably, the transmitting includes transmitting the focused acoustic radiation force pulse to a depth along the first line, and wherein the tracking includes tracking the wave to the depth on the lines. tracking, the wave having a shear wave. Preferably, tracking includes tracking with receiving beams that are randomly distributed over time along the tracking lines.
    [0027] Preferably, the tracking comprises N tracking of the tracking lines, where N is a multiple of two or more simultaneous receive beam capacity of the ultrasound scanner. Preferably, the determination comprises determining an amount of shift of the tissue relative to a reference. Preferably, the tracking includes tracking with simultaneous parallel receive beam formation with N simultaneous reception receive beams, and wherein the determination includes determining the displacements with a receiving beam movement. and N trips per receiving event.
    [0028] Preferably, the determination comprises determining amplitudes of the displacements without specific identification of a maximum displacement at any of the tracking lines. Preferably, the measurement comprises the measurement of N 10 displacements by reception event for N tracking lines, respectively, and the repetition of the measurements for other groups N of the tracking lines. Preferably, the random locations are within a limited region of the tracking lines and the time from the excitation pulse. Preferably, the output transmission comprises displaying a value of the speed for a location selected by the user. Preferably, the processor is configured to estimate the speed by compression detection.
    权利要求:
    Claims (14)
    [0001]
    REVENDICATIONS1. A method for sparse tracking (30) in acoustic radiation force pulse imaging, the method being characterized in that it comprises the steps of: transmitting (28), with an ultrasound scanner, a pulse of acoustic radiation force in tissue of a patient along a first line; Followed (30), with the ultrasound scanner, a wave produced in response to the transmission (28) with four or fewer receiving beams along each of a plurality of remote tracking lines of the First line ; Determining (32) a displacement for each of the tracking lines, the displacements including sparse sampling sampling of the tracking lines; performing (36) compression detection of the sparse displacement sampling; inverse Fourier transformation (38) of the results of the compression detection; transforming (40) Radon with the results of the inverse Fourier transformation (38); A velocity of the wave is calculated (42) from the results of the Radon transformation (40); and producing (44) an image of the speed. 3031448 44
    [0002]
    A method according to claim 1, characterized in that the emission (28) comprises transmitting (28) the focused acoustic radiation force pulse at a depth along the first line, and wherein the tracking (30) comprises tracking (30) the wave at the depth on the tracking lines, the wave having a shear wave.
    [0003]
    Method according to claim 1, characterized in that the tracking (30) comprises tracking (30) with the receiving beams which are randomly distributed in time along the tracking lines.
    [0004]
    A method according to claim 1, characterized in that the tracking (30) comprises tracking (30) over N of the tracking lines, where N is a multiple of two or more of a number of simultaneous receive beam strengths. ultrasound scanner.
    [0005]
    The method of claim 1, characterized in that the determining (32) comprises determining (32) a shift amount of the tissue relative to a reference.
    [0006]
    The method according to claim 1, characterized in that the tracking (30) comprises the tracking (30) with simultaneous parallel receive beam formation with N simultaneous reception receive beam, and wherein the determination ( 32) comprises determining (32) displacements with a reception beam movement and N displacements by reception event. 3031448 45
    [0007]
    The method of claim 1, characterized in that the determining (32) comprises determining (32) magnitudes of the displacements without specific identification of a maximum displacement at any one of the tracking lines.
    [0008]
    8. A non-transitory computer readable storage medium having stored therein data representing instructions that can be executed by a programmed processor (18), for sparse tracking (30) in force impulse imaging. acoustic radiation, the storage medium being characterized in that it comprises instructions for measuring (26), using an ultrasound scanner, displacements in response to a single excitation pulse, the displacements being measured at random locations over time; determining (34) a velocity of a wave produced by the single excitation pulse from the displacements; 20 and outputting (44) the speed.
    [0009]
    A non-transient computer readable storage medium as claimed in claim 8, characterized in that the measurement (26) comprises the measurement (26) of N displacements per reception event for N tracking lines, respectively, and repetition of the measurements (26) for other groups N of the tracking lines. 30
    [0010]
    A non-transitory computer readable storage medium according to claim 8 or 9, characterized in that the random locations are within a limited region of the tracking lines and the time from the excitation pulse. 3031448 46
    [0011]
    11. A non-transient computer readable storage medium according to one of claims 8 to 10, characterized in that the output (44) output comprises displaying a speed value for a location. selected by the user.
    [0012]
    A system for sparse tracking in acoustic radiation force pulse imaging, the system being characterized in that it comprises: a transmit beamformer configured to produce an excitation pulse; a receive beamformer configured to sparsely track movements in response to the excitation pulse, the sparse tracked displacements being distributed per receive line over a sampling time, so that no displacement is provided for more than half of the time for each of the receiving lines; A processor configured to estimate velocity from sparingly tracked movements; and a display device operable to display the speed. 25
    [0013]
    13. A system for sparse tracking (30) in acoustic radiation force pulse imaging, the system characterized by comprising: a transmit beamformer (12) configured to produce a pulse of excitement; A receiving beamformer (16) configured to sparsely follow movements in response to the excitation pulse, the sparse tracked displacements being distributed per reception line over a sampling time, so that 3031448 47 no travel is provided for more than 1/4 of the time for each of the receiving lines; a processor (18) configured to estimate speed from sparingly tracked movements; And a display device (20) operable to display the speed.
    [0014]
    14. System according to claim 13, characterized in that the processor (18) is configured to estimate the speed by compression detection.
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    优先权:
    申请号 | 申请日 | 专利标题
    US14/595127|2015-01-12|
    US14/595,127|US9907539B2|2015-01-12|2015-01-12|Sparse tracking in acoustic radiation force impulse imaging|
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