Outline. Fundamentals of ultrasound Focusing in ultrasound Ultrasonic blood flow estimation Nonlinear ultrasonics

Transcription

1 生醫超音波技術 台大電機系李百祺

2 Outline Fundamentals of ultrasound Focusing in ultrasound Ultrasonic blood flow estimation Nonlinear ultrasonics

3 What is ultrasound?

4 Characteristics of Ultrasound A mechanical wave: Characterized by pressure, particle velocity and displacement. Density change of the propagating medium. But it is still a wave, i.e., there is reflection, refraction, scattering, diffraction, attenuation etc.

5 Basics of Acoustic Waves Longitudinal Wave:

6 Basics of Acoustic Waves Shear Wave:

7 Characteristics of Ultrasound A mechanical wave: Characterized by pressure, particle velocity and displacement. Density change of the propagating medium. But it is still a wave, i.e., there is reflection, refraction, scattering, diffraction, attenuation etc.

8 Sound Velocity and Density Change B ( x ) = c0 + (1 + ) u( x) 2A Phase velocity Nonlinearity Particle velocity Finite Amplitude Distortion

9 When Peak Pressure Is Very High Shock Wave

10 Characteristics of Ultrasound A mechanical wave: Characterized by pressure, particle velocity and displacement. Density change of the propagating medium. But it is still a wave, i.e., there is reflection, refraction, scattering, diffraction, attenuation etc.

11 Reflection Low Density to High Density High Density to Low Density

12 Refraction

13 Acoustic Scattering

14 Diffraction

15 Characteristics of Ultrasound Sound wave with frequencies higher than the audible range (>20-25kHz): Typical frequency range for biomedical applications: MHz. c=f λ. Sound (propagation) speed in soft tissues are around 1500m/sec. It becomes higher in hard tissues (e.g., bone).

16

17 Characteristics of Ultrasound Affected by the elastic properties of the propagating medium: Various modes of propagation. Hooke slaw: T=eS (tensor form in 3D). c = B / ρ Characteri stic impedance : Z 0 = ρc

18

19 Bio-Effects Heating Cavitation

20 Ultrasound Heating Bio-transfer equation:

21 Bio-Effects Heating Cavitation

22 Cavitation Formation and behavior of gas bubbles in acoustic fields. Transient cavitation: sudden growth and collapse of bubbles, resulting shock waves and very high temperatures.

23 Other Acoustic Phenomena Radiation force. Sonoluminescence. etc.

24 Radiation Force An ultrasonic wave exerts a static force on an interface or in a medium where there is a decrease in power in the wave propagation direction.

25 Other Acoustic Phenomena Radiation force. Sonoluminescence. etc.

26 Sonoluminescence Weak emission of light observable when high intensity ultrasound passing through a medium containing dissolved gases.

27 ,etc.

28 What can ultrasound do in medicine and biology?

29 Ultrasound in Medicine and Biology Diagnostics (as a wave): Imaging. Blood flow measurements. Bone density (indirect). etc.

30 Ultrasonic Imaging

31 Ultrasound in Medicine and Biology Therapeutics: Heat generation: Hyperthermia. HIFU. Shock wave Lithotripsy. etc.

32 Hyperthermia is a method of treating cancerous tissue by elevating the tissue temperature to 42.5 C or above, and maintaining this for minutes. Hyperthermia

33 Hyperthermia

34 HIFU High Intensity Focused Ultrasound. In the focal point, the sudden and intense absorption of the ultrasound beam creates a sudden elevation of the temperature (from 85 to 100 C) which destroys the cells located in the targeted zone.

35 HIFU for Prostate Cancer

36 Image Guided HIFU

37 Ultrasound in Medicine and Biology Therapeutics: Heat generation: Hyperthermia. HIFU. Shock wave Lithotripsy. etc.

38 Extracorporeal Lithotripsy The use of shock waves to destroy stones in the body.

39 Extracorporeal Lithotripsy

40 Ultrasound in Medicine and Biology Sonoluminescence. Radiation force. Cavitation. Cosmetics. etc.

41 Bio-Effects and Safety Requirements

42 Basics Safety regulations. Physical parameters vs. Bio-effects. Measurement techniques. Dose: Energy absorption in tissue. Temperature rise, cell damage. Dosimetry: measurements of such effects. Exposure: Characteristics of ultrasound field. Pressure, intensity, power. Exposimetry: measurements of temporal/spatial characterisitics.

43 Bio-Effects Temperature rise and cell damage (cavitation). FDA Track I: Pre-amendments. I SPTA (720 mw/cm 2 ) and I SPPA (190 W/cm 2 ). FDA Track III: TI (Thermal Index) and MI (Mechanical Index). ALARA (as low as reasonably achievable).

44 Bio-Effects Thermal index (TI): TIS, TIB, TIC. Analytical. Mechanical Index (MI): Experimental. TI Destruction of bubble with different sizes at various frequencies. MI W W P o deg 03. f c

45 Imaging and Focusing

46

47

48

49 Real-Time Imaging

50

51

52

53 ransesophageal Echocardiogram (TEE)

54

55

56

57 Clinical Applications (From OB/GYN, vascular, cardiac, transcranial, abdominal, musculoskeletal, endo-vaginal, endo-rectal, ocular, intra-vascular, etc.

58 Characteristics of Diagnostic Ultrasound Non-invasive. Safe (under regulations). Real-time. Reflection mode (similar to RADAR). Blood flow imaging. Access. Portable. Body type dependent.

59 Function Modes A-mode (A-scan, 1D). B-mode (Gray scale, 2D). 3D ultrasound. M-mode (motion) Color Doppler (2D, blood flow). Spectral Doppler (localized, blood flow). Audio Doppler.

60 A-Scan (Amplitude, 1D)

61 B-Scan (Brightness, 2D)

62 2D Scan Formats linear sector curved linear easy access limited view limited access wide view easy access wide view

63 3D Ultrasound

64 M-Mode (Motion)

65 Transducers: Generation and Detection of Sound Waves

66 Ultrasonic Array Transducers (From

67 Transducer Energy conversion: electrical mechanical. Generation and detection (speaker and microphone). Medical ultrasound: same device in MHz range. Piezoelectricity: electrical polarization mechanical strain. PZT, PVDF and composite materials are commonly used.

68 Anisotropy Piezoelectricity Poling Curie temperature: C.

69 Piezoelectricity P P+ P a2 a1 a2+ a2 a1+ a1 L L dipole strength of unit cell P = volume of unit cell P PS es q( a2 a1) 2 L ( a2+ a1) e: Piezoelectric stress constant

70 Detection of Ultrasound Reciprocal to generation. impinging wave electrode piezoelectric medium z=0 z=l L V ( t ) = E ( z, t ) dz 0 electrode V(t) surface area A

71 Design Considerations Bandwidth and sensitivity. PZT body Ring down backing PZT body PZT backing body matching layer

72 Acoustic Lens Fixed geometric elevational focusing.

73 1-D and 2-D Arrays

74 Focusing and Diffraction

75 B-mode Imaging 取自 rf signal envelop

76 Linear Scanning

77 Beam Formation Using Arrays Focusing:

78 Curved Linear Scanning

79 Sector Steering

80 How is the resolution determined?

81 ocusing Beam Formation Transducer To form a beam of sound wave such that only the objects along the beam direction are illuminated and possibly detected. Mainlobe Sidelobe

82 y Nomenclature beam pattern z Good Focusing x Poor Focusing x: Lateral, azimuthal, scan y: Elevational, non-scan z: Axial, range, depth Beam pattern Radiation pattern Diffraction pattern Focusing pattern

83 Pulsed Wave (PW) vs. Continuous Wave (CW)

84 Radiation Pattern

85 How to focus?

86 Beamforming Manipulation of transmit and receive apertures. Trade-off between performance/cost to achieve: Steer and focus the transmit beam. Dynamically steer and focus the receive beam. Provide accurate delay and apodization. Provide dynamic receive control.

87 Focusing Single Zone Focusing Multi-Zone Focusing Dynamic Focusing

88 Imaging Model ransmitter transducer propagation in the body transducer receiver display A-scan: 2βz R( x, y, z ) e 2z V ( t ) = k B( x, y, z ) p( t ) dx dy dz z c B-scan: 2z S ( x, t ) = k R( x, y, z ) B( x x, y, z ) p( t )dx dy dz c Scanning Convolution (Correlation vs. Convolution)

89 Imaging Model 2z 2z 2z p ( t ) = A( t )cos( 2πf0 ( t )) c c c Ideally, S ( x, t ) = R( x, y0, ct / 2) In practice, B( ) : A( ) : determined by diffraction determined by transducer bandwidth

90 Unfocused Focused Focused at ½ range Focused with twice the aperture

91 Axial Intensity Unfocused Focused Focused at ½ range Focused with 2X aperture

92 Implementation of Focusing Using Arrays

93 Beam Formation Using Arrays N i = 1 O( t ) = S ( t ( x, R, )) i τ i θ Delay and Sum

94 Propagating Delays τ( x, R, θ) = i ( 2 ( x Rsinθ) R cos θ) 2 2 i + c 1/ 2 2 R x i = c R In Fresnel region 2 2 R x x x i i i 2 τ( xi, R, θ) 1 + sinθ sin θ 2 2 c 2R R 2R R x = 1 sinθ + c R 2x i sinθ R x 2 R x sinθ x cos θ cos θ = + 2 2R c c 2Rc i i i i 1/ 2 Effective aperture size: 2a 2a cosθ

95 Propagating Delays Transmit: τ T ( x, R, θ) i x i sinθ = + c x cos 2 2 i 2Rc θ Receive: τ R ( x, R, θ) i 2R x i sinθ = + c c x cos 2 2 i 2Rc θ

96 Array Sampled Aperture w -a a d 2aw/d sinθ λ/d 0 λ/d λ/w

97 sinθ Array Steering and Grating Lobes 2aw/d λ/d-sinθ 0 sinθ 0 λ/d-sinθ 0 λ/w d primary beam secondary beam 2 λ / d d λ /2

98 Grating Lobes No Grating Lobes With Grating Lobes

99 Beam Sampling sinθ λ 4a

100 Real-Time Image Formation

101 Scan Conversion Acquired data may not be on the display grid. Acquired grid Display grid

102 Scan Conversion sinθ x R y acquired converted

103 Scan Conversion a(i,j) a(i,j+1) p a(i+1,j) a(i+1,j+1) original grid raster grid acquired data display pixel p( m, n) = c c m, n, i+ 1, j+ 1 m, n, i, j a( i, j) + c a( i + 1, j + 1) m, n, i+ 1, j a( i + 1, j) + c m, n, i, j+ 1 a( i, j + 1) +

104 Moiré Pattern

105 Temporal Resolution (Frame Rate) Frame rate=1/frame time. Frame time=number of lines * line time. Line time=(2*maximum depth)/sound velocity. Sound velocity is around 1540 m/s. High frame rate is required for real-time imaging.

106 Temporal Resolution Display standard: NTSC: 30 Hz. PAL: 25 Hz (2:1 interlace). 24 Hz for movie. The actual acoustic frame rate may be higher or lower. But should be high enough to have minimal flickering. Essence of real-time imaging: direct interaction.

107 Temporal Resolution For an actual frame rate lower than 30 Hz, interpolation is used. For an actual frame rate higher than 30 Hz, information can be displayed during playback. Even at 30 Hz, it is still possibly undersampling.

108 Doppler Techniques for Motion Estimation

109 Color Doppler Mode

110

111

112

113 Power Doppler

114

115

116 PW Doppler (Spectral Doppler)

117

118 CW Doppler (Spectral Doppler)

119

120 Doppler Effect

121 Doppler Principles receiver source receiver Relative motion of the source causes a change in received frequency. Blood flow velocity is measured by detecting Doppler frequency shifts.

122 Doppler Equations where f c v s s is is and f is f f d d = f f s s vr + v c v ( vr + v c the carrier frequency, the sound velocity in blood, v d r s s the Doppler frequency shift, s ) are source and receiver velocities.

123 Doppler Ultrasound Primary scattering site: red blood cell. The platelet is too small and the number of leukocytes is not significant. The red blood cell size is around several microns. Thus, scattering and speckle are also present. The red blood cells in a sample volume are assumed to move in unison.

124 Doppler Equations f d = 2vf c s cos θ v c Typical physiological flows (5-10m/sec at most) are much slower than sound velocity in the body (~1500m/sec). Doppler shift is doubled due to round-trip propagation. Only parallel flows can be detected. θ

125 Flow Pattern vs. Velocity Profile ultrasound beam 0 velocity or Doppler shift

126 Flow Pattern vs. Velocity Profile ultrasound beam 0 velocity or Doppler shift

127 Flow Pattern vs. Velocity Profile ultrasound beam 0 velocity or Doppler shift

128 Doppler Spectrum Estimation original Doppler shifted demodulated f s f s +f d f d Short-time Fourier transform (Spectral Doppler). Correlation based estimation (Color Doppler).

129 Continuous Wave (CW) Doppler T R time time velocity

130 CW Doppler CW oscillator filter spectral estimation CW transmitter demodulator amplifier audio conversion signal processing T R speaker display

131 CW Doppler Array CW and AUX CW (half transmit, half receive). Mainly for Cardiology. Good velocity (frequency) resolution. No range resolution. Flows along the same direction are all detected. Frequency downshift due to attenuation can be ignored.

132 CW Doppler Processing original spectrum -f 0 -f d -f 0 f 0 f 0 +f d demodulated -2f 0 -f d f d demodulated and filtered f d

133 CW Doppler Processing Time-interval histogram ppt FFT. Mode-based spectrum estimation (AR), timefrequency analysis. Magnitudes are converted in db and displayed. Post-processing similar to B-mode.

134 Audio Doppler For typical blood velocities and carrier frequencies, the Doppler shifts from blood happen to be in the human audible range (near DC to 20KHz). Positive shifts in one channel and negative ones in the other. Hilbert transform. Right Clinically useful. Left

135 PW Blood Flow Measurements 取自

136 PW System Diagram CW oscillator W transmitter (gated CW) filter sample&hold demod./lpf gating audio conversion spectral estimation signal processing transducer amplifier speaker display

137 Pulsed Wave (PW) Doppler time PRI

138 Velocity Ambiguity 2f max 1 PRI 2f no aliasing max 4vmaxfs 1 = c PRI v max λ 4 PRI aliasing v max -v max v max

139

140 Range Ambiguity c PRI / 2 PRI T 0 c T 0 / 2 c ( PRI + T ) 0 OR? / 2

141 Pulse Wave (PW) Doppler Pulse-echo method, similar to B-mode. Post-processing similar to CW. Adjustable range resolution (gate). Maximum detectable velocity is λ/(4*pri). Maximum depth is (c*pri)/ point FFT.

142 Color Doppler multiple gates ultiple firings

143 Color Doppler Similar to B-mode, except that each line is fired multiple times (5-15). Correlation processing. Multiple range gates along each line. Real-time two-dimensional flow imaging. Poor velocity (frequency) resolution.

144 Color Doppler Use efficient time domain correlation techniques to calculate flow characteristics. Auto-correlation of the Doppler signal. Commonly derived parameters are mean velocity (including directionality), variance and energy (power). f

145 Color Doppler: Mean Velocity R( t ) S ( t + τ) S ( τ) dτ j t R( t ) ω P ( ω) e dω ω = = ωp ( ω) dω P ( ω) dω ω = θ ( 0 ) θ( T ) θ( 0) θ( T ) = T T

146 Color Doppler: Variance 2 σ = 2 ( ω ω ) P ( ω) dω P ( ω) dω = ω ω AT ( ) A ( 0 ) σ = 2 T T 2 1 R( T ) R ( 0)

147 Color Doppler: Energy E = P( ω) dω = R(0) f

148 Color Doppler Flow parameters are mapped into colors for display (1D or 2D). Choice of map affects the presentation of Color Doppler images.

149 Color Doppler: Signal Processing beam former high pass filter autocorrelator parameter estimator signal and display processor Significant frame rate reduction. Small color boxes are often used to increase frame rate. Sophisticated systems utilize multiple beam formation to further increase frame rate.

150 Doppler: Complications Non-trivial wall filters are required to remove interference from slow-moving objects. Adequate signal processing capabilities and sufficient dynamic range are necessary to detect weak flows. Conflicts with frame rate requirements. Only parallel flow is detectable.

151 Doppler: Tissue Motion Imaging Doppler principles can be used to visualize cardiac motion. Higher signal levels allow simpler wall filters and less number of firing. Suitable for cardiac applications.

152 Doppler Tissue Imaging Heart motion parameters: Velocity: v=dw/dt. Displacement w: temporal integration of v. Strain rate: r=dv/dz. Strain s: temporal integration of r.

153 Doppler Tissue Imaging Integration in time Derivation in space Integration in time

154 Doppler Tissue Imaging

155 Ultrasonic Nonlinear Imaging- Tissue Harmonic Imaging

156 Sound Velocity and Density Change B ( x ) = c0 + (1 + ) u( x) 2A Phase velocity Nonlinearity Particle velocity Finite Amplitude Distortion

157 Non-linear Parameter B/A ( ) ( ) L = = = 2 0 ; ; ρ ρ ρ ρ ρ ρ ρ ρ ρ ρ s s P P P P = ρ ρ ρ ρ ρ ρ B A P P B/A defines non-linearity of the medium. The larger the B/A, the higher the nonlinear response.

158 B/A Parameters: Typical Values Typical values: Water:5.5+/-0.3. Liver: Fat: Muscle: 7.5. B/A imaging may be used for tissue characterization.

159 Tissue Non-linearity Tissue harmonics are virtually zero at the probe face.the intensity continues to increase until attenuation dominates. The higher the intensity is, the more tissue harmonics are generated. Such a mechanism automatically increase the difference between signal and acoustic noise.

160 Comparison of Radiation Patterns Beam Patterns transducer transducer db f 0 f 0 Lateral Position (mm)

161 What If We Use the Second Harmonic Signal for Imaging?

162 Advantages of Tissue Harmonic Imaging Low sidelobes. Better spatial resolution compared to fundamental imaging at the original frequency. Less affected by tissue inhomogeneities better performance on technically difficult bodies.

163 Tissue Harmonic Imaging Performance of ultrasound has been sub-optimal on technically difficult bodies. Most recent new developments have bigger impact on technically satisfactory bodies. Poor image quality leads to uncertainty in diagnosis and costly repeat examinations. Tissue harmonic imaging has been successful on difficult bodies.

164 Reduction of Imaging Artifacts

165 Reduction of Imaging Artifacts