Current time-domain methods for assessing tissue motion by analysis from reflected ultrasound echoes-a review

Towards ultrasound cardiac image segmentation based on the radiofrequency signal

In echocardiography, the radio-frequency (RF) image is a rich source of information about the investigated tissues. Nevertheless, very few works are dedicated to boundary detection based on the RF image, as opposed to envelope image. In this paper, we investigate the feasibility and limitations of boundary detection in echocardiographic images based on the RF signal. We introduce two types of RF-derived parameters: spectral autoregressive parameters and velocity-based parameters, and we propose a discontinuity adaptive framework to perform the detection task. In classical echographic cardiac acquisitions, we show that it is possible to use the spectral contents for boundary detection, and that improvement can be expected with respect to traditional methods. Using the system approach, we study on simulations how the spectral contents can be used for boundary detection. We subsequently perform boundary detection in high frame rate simulated and in vivo cardiac sequences using the variance of velocity, obtaining very promising results. Our work opens the perspective of a RF-based framework for ultrasound cardiac image segmentation and tracking.

A new non-invasive ultrasonic method for simultaneous measurements of longitudinal and radial arterial wall movements: first in vivo trial

During recent years, the radial movement of the arterial wall has been extensively studied, and measurements of the radial movement are now an important tool in cardiovascular research for characterizing the mechanical properties of the arterial wall. In contrast, the longitudinal movement of vessels has gained little or no attention as it has been presumed that this movement is negligible. With modern high-resolution ultrasound, it can, however, be seen that the intima-media complex of the arterial wall moves not only in the radial direction, but also in the longitudinal direction during pulse-wave propagation. This paper describes a new non-invasive ultrasonic method that is able to measure simultaneously two dimensionally arterial vessel wall movements. The method is demonstrated in a limited in vivo trial. Results from the in vivo trial show that, apart from the well-known radial movement, there is a distinct longitudinal movement in the human common carotid artery with, in this case, the intima-media complex moving substantially as compared with the region of the tunica adventitia. Two-dimensional evaluation of the vessel-wall movements, taking not only the radial movement, but also the longitudinal movement into account, may provide novel information of importance in the evaluation of vessel-wall function.

Estimates of echo correlation and measurement bias in acoustic radiation force impulse imaging

Acoustic radiation force impulse (ARFI) imaging is a novel imaging modality in which pulses from a diagnostic ultrasound scanner are used to displace tissue and track its motion. The region displaced has lateral and elevational dimensions of similar scale to the ultrasound beams used to track the motion. Therefore, there is a range of tissue displacements present within the tracking beam, leading to decorrelation of the echo signal. Expressions are derived for the expected value of the displacement estimate and the cross-correlation at the expected displacement. Numerical simulations confirm the analytical model.

A novel ultrasound indentation system for measuring biomechanical properties of in vivo soft tissue

Technologies for soft tissue analysis are advancing at a rapid place. For instance, elastography, which provides soft tissue strain images, is starting to be tried in clinical practice as a tool for diagnosing cancer. Soft tissue deformation modeling and analysis is also an active area of research that has application in surgery planning and treatment. Typically, quantitative soft tissue analysis uses nominal values of soft tissue biomechanical properties. However, in practice, soft tissue properties can vary significantly between individuals. Hence, for soft tissue methodologies to reach their full potential as patient-specific techniques, there is a need to develop ways to efficiently measure soft tissue mechanical properties in vivo. This paper describes a prototype real-time ultrasound (US) indentation test system developed to meet this need. The system is based on the integration of a force sensor and an optical tracking system with a commercial US machine integrated with a suite of analysis methodologies. In a study on a single-layer phantom, we used the system to compare various methods of estimating linear elastic properties (via a theoretical approximation, 2-D finite element analysis, 3-D finite element analysis and a standard material-testing method). In a second study on a three-layer gelatin phantom, we describe a new finite-element-based inverse solution for recovering the Young's moduli of each layer to show how the system can estimate properties of internal components of soft tissue. Finally, we show how the system can be used to derive a modified quasilinear viscoelastic (QVL) model on real breast tissue.

Implementation issues in ultrasonic flow imaging

This article addresses several implementation issues in ultrasonic flow imaging. We discuss frequency-dependent scattering and attenuation, use of interpolation for computation intensive methods and implications of the use of chirps to increase bandwidth. We also discuss wall filtering issues; our observations show that the butterfly search estimator may be capable of detecting flow in the vicinity of strong stationary scatterers (clutter) without additional processing such as wall-filtering. Illustrative examples are given for simulated and experimental data.

Carotid artery wall motion estimated from B-mode ultrasound using region tracking and block matching

The motion of the carotid atheromatous plaque relative to the adjacent wall may be related to the risk of cerebral events. A quantitative method for motion estimation was applied to analyse arterial wall movement from sequences of 2-D B-mode ultrasound (US) images. Image speckle patterns were tracked between successive frames using the correlation coefficient as the matching criterion. The size of the selected region-of-interest (ROI) was shown to affect the motion analysis results; an optimal size of 3.2 x 2.5 mm(2) was suggested for tracking a region at the wall-lumen interface and of 6.3 x 2.5 mm(2) for one within the tissue. The results showed expected cyclical motion in the radial direction and some axial movement of the arterial wall. The method can be used to study further the axial motion of the carotid artery wall and plaque and, thus, provide useful insight into the mechanisms of atherosclerosis.

Ultrafast compound imaging for 2-D motion vector estimation: application to transient elastography

This paper describes a new technique for two-dimensional (2-D) imaging of the motion vector at a very high frame rate with ultrasound. Its potential is experimentally demonstrated for transient elastography. But, beyond this application, it also could be promising for color flow and reflectivity imaging. To date, only axial displacements induced in human tissues by low-frequency vibrators were measured during transient elastography. The proposed technique allows us to follow both axial and lateral displacements during the shear wave propagation and thus should improve Young's modulus image reconstruction. The process is a combination of several ideas well-known in ultrasonic imaging: ultra-fast imaging, multisynthetic aperture beamforming, 1-D speckle tracking, and compound imaging. Classical beamforming in the transmit mode is replaced here by a single plane wave insonification increasing the frame rate by at least a factor of 128. The beamforming is achieved only in the receive mode on two independent subapertures. Comparison of successive frames by a classical 1-D speckle tracking algorithm allows estimation of displacements along two different directions linked to the subapertures beams. The variance of the estimates is finally improved by tilting the emitting plane wave at each insonification, thus allowing reception of successive decorrelated speckle patterns.

Echocardiographic strain and strain-rate imaging: a new tool to study regional myocardial function

Ultrasonic imaging is the noninvasive clinical imaging modality of choice for diagnosing heart disease. At present, two-dimensional ultrasonic grayscale images provide a relatively cheap, fast, bedside method to study the morphology of the heart. Several methods have been proposed to assess myocardial function. These have been based on either grayscale or motion (velocity) information measured in real-time. However, the quantitative assessment of regional myocardial function remains an important goal in clinical cardiology. To do this, ultrasonic strain and strain-rate imaging have been introduced. In the clinical setting, these techniques currently only allow one component of the true three-dimensional deformation to be measured. Clinical, multidimensional strain (rate) information can currently thus only be obtained by combining data acquired using different transducer positions. Nevertheless, given the appropriate postprocessing, the clinical value of these techniques has already been shown. Moreover, multidimensional strain and strain-rate estimation of the heart in vivo by means of a single ultrasound acquisition has been shown to be feasible. In this paper, the new techniques of ultrasonic strain rate and strain imaging of the heart are reviewed in terms of definitions, data acquisition, strain-rate estimation, postprocessing, and parameter extraction. Their clinical validation and relevance will be discussed using clinical examples on relevant cardiac pathology. Based on these examples, suggestions are made for future developments of these techniques.

Myocardial elastography--a feasibility study in vivo

Early detection of cardiovascular diseases has been a very active research area in the medical imaging field. Assessment of the local and global mechanical functions is one of the major goals of accurate diagnosis. In this study, we investigated the feasibility of elastography for estimation and imaging of the local cardiac muscle displacement and strain in a human heart in vivo. In its noninvasive applications, elastography has been typically used to determine local tissue strain through the use of externally applied compression. For our study, we utilized the cardiac muscle motion during a cardiac cycle as the mechanical stimulus, and acquired successive radiofrequency (RF) data frames of the septal and posterior walls over a few cardiac cycles in parasternal and apical views, respectively. High-quality ciné-loop elastograms were obtained due to high frame rates and the resulting low decorrelation noise. Furthermore, the strain contrast was higher in the parasternal case, when only the posterior wall was imaged, and strain estimation was more robust in the apical view. High repeatability of the results was observed through elastographic measurements over several cardiac cycles. Finally, an M-mode version of elastography was used to follow part of the interventricular septum or the posterior wall over the course of two cardiac cycles. Not only do these preliminary results show that elastography is feasible in cardiac applications in vivo, but also that it can provide new information regarding cardiac motion and mechanical function. Future prospects include assessment of the role of elastography in detection of ischemia and infarction.

Ultrasonic wave speed measurement using the time-delay profile of rf-backscattered signals: simulation and experimental results

Conventional methods determine the ultrasonic wave speed measuring the medium path length propagated by a pulsed wave and the corresponding time-of-flight. In this work, the wave speed is determined without the need of the path length. A transmit transducer sends a pulsed wave into the medium (wave speed constant along the beam axis) and the backscattered signal is collected by a hydrophone placed at two distinct positions near the transmitted beam. The time-delay profile, between gated windows of the two rf-signals received by the hydrophone, is determined using a cross-correlation method. Also, a theoretical time-delay profile is determined considering the wave speed as a parameter. The estimated wave speed is obtained upon minimization of the rms error between theoretical and experimental time-delay profiles. A PZT conically focused transmitting transducer with center frequency of 3.3 MHz, focal depth of 30 mm, and beam full width (-3 dB) of 2 mm at the focus was used together with a PZT hydrophone (0.8 mm of aperture). The method was applied to three phantoms (wave speed of 1220, 1540, and 1720 m/s) and, in vitro, to fresh bovine liver sample, immersed in a temperature-controlled water bath. The results present a relative speed error less than 3% when compared with the sound speed obtained by a conventional method.

Two-dimensional ultrasonic strain rate measurement of the human heart in vivo

A study is presented in which the feasibility of two-dimensional strain rate estimation of the human heart in vivo has been demonstrated. To do this, ultrasonic B-mode data were captured at a high temporal resolution of 3.8 ms and processed off-line. The motion of the RF signal patterns within the two-dimensional sector image was tracked and used as the basis for strain rate estimation. Both axial and lateral motion and strain rate estimates showed a good agreement with the results obtained by more established, one-dimensional techniques.

Ultrasound processing and computing: review and future directions

Since the introduction of medical ultrasound in the 1950s, modern diagnostic ultrasound has progressed to see many major diagnostic tools come into widespread clinical use, such as B-mode imaging, color-flow imaging, and spectral Doppler. New applications, such as panoramic imaging, three-dimensional imaging, and quantitative imaging, are now beginning to be offered on some commercial ultrasound machines and are expected to grow in popularity. In this review, we focus on the various algorithms, their processing requirements, and the challenges of these ultrasound modes. Whereas the older, mature B and color-flow modes could be systolically implemented using hardwired components and boards, new applications, such as three-dimensional imaging and image feature extraction, are being implemented more by using programmable processors. This trend toward programmable ultrasound machines will continue, because the programmable approach offers the advantages of quick implementation of new applications without any additional hardware and the flexibility to adapt to the changing requirements of these dynamic new applications.

Axial strain imaging of intravascular data: results on polyvinyl alcohol cryogel phantoms and carotid artery

Mapping the local elastic properties of an atherosclerotic artery is of major interest for predicting the disease evolution or an intervention outcome. These properties can be investigated by elastography, which estimates the strain distribution within a medium in response to a stress. But because diseased arteries are highly heterogeneous, a small global deformation may result in high local strains in the softest regions. For those reasons, we use in this paper the strain estimation method we recently developed to compute elastograms of original vessel-mimicking cryogel phantoms and a fresh excised human carotid artery. This adaptive method has been effectively proved to be accurate in a wider range of strains (0-7%) than commonly used gradient-based methods, and very adapted for investigating highly heterogeneous tissues. Resulting elastograms cover a wider range of strains (0-3.5%) than all previously reported intravascular elastograms, improving the discrimination between healthy and diseased regions.

The use of cross-correlation analysis between high-frequency ultrasound images to measure longitudinal median nerve movement

Impaired nerve movement can lead to nerve injury (e.g., carpal tunnel syndrome). A noninvasive method to measure nerve movement in longitudinal section would enable an extensive analysis of nerve entrapment syndromes. A method has been developed using cross-correlation between successive high-frequency ultrasound (US) images to measure longitudinal movement of nerve and muscle. Control "phantom" experiments demonstrated the accuracy and reliability of this method at velocities of 1-10 mm/s. Increasing the frame interval between the compared frames enabled the accurate calculation of slower velocities. The correlation algorithm successfully measured relative movement when the US transducer was moved 1-3 mm over the surface of the forearm. Median nerve movement was repeatedly measured in the forearm during 30 degrees passive wrist extension in three subjects (range 2.63-4.12 mm) and index finger extension in seven subjects (range 1.59-4.48 mm). Median nerve movement values were consistent with those from cadaver studies.

Model-based estimation of ultrasonic echoes. Part I: analysis and algorithms

The patterns of ultrasonic backscattered echoes represent valuable information pertaining to the geometric shape, size, and orientation of the reflectors as well as the microstructure of the propagation path. Accurate estimation of the ultrasonic echo pattern is essential in determining the object/propagation path properties. In this study, we model ultrasonic backscattered echoes in terms of superimposed Gaussian echoes corrupted by noise. Each Gaussian echo in the model is a nonlinear function of a set of parameters: echo bandwidth, arrival time, center frequency, amplitude, and phase. These parameters are sensitive to the echo shape and can be linked to the physical properties of reflectors and frequency characteristics of the propagation path. We address the estimation of these parameters using the maximum likelihood estimation (MLE) principle, assuming that all of the parameters describing the shape of the echo are unknown but deterministic. In cases for which noise is characterized as white Gaussian, the MLE problem simplifies to a least squares (LS) estimation problem. The iterative LS optimization algorithms when applied to superimposed echoes suffer from the problem of convergence and exponential growth in computation as the number of echoes increases. In this investigation, we have developed expectation maximization (EM)-based algorithms to estimate ultrasonic signals in terms of Gaussian echoes. The EM algorithms translate the complicated superimposed echoes estimation into isolated echo estimations, providing computational versatility. The algorithm outperforms the LS methods in terms of independence to the initial guess and convergence to the optimal solution, and it resolves closely spaced overlapping echoes.

A new ultrasound contrast imaging approach based on the combination of multiple imaging pulses and a separate release burst

A new ultrasound contrast imaging technique is described that optimally employs the rupture of the contrast agent. It is based on a combination of multiple high frequency, broadband, imaging pulses and a separate release burst. The imaging pulses are used to survey the target before and after the rupture and release of free gas bubbles. In this way, both processes (imaging and release) can be optimized separately. The presence of the contrast agent is simply detected by correlating or subtracting the signal responses of the imaging pulses. Because the time delay between the imaging pulses can be very short, the subtraction is less affected by tissue motion and can be done in real time. In vitro measurements showed that by using a release burst, the detection sensitivity increased 12 to 43 dB for different types of contrast agents. In the presence of a moving phantom, the increase in sensitivity was 22 dB. This new method is very sensitive for contrast agent detection in fundamental imaging mode and, therefore, non-linear propagation effects do not limit the maximum obtainable agent-to-tissue ratio. However, because of the inherent destruction of the contrast agent, it has to operate in an intermittent way. Through experiments, we have demonstrated the potential of the method to achieve simultaneous high sensitivity for contrast detection, i.e., high agent-to-tissue ratio, and high spatial resolution performance for different types of contrast agents.

2-D motion estimation using two parallel receive beams

We describe a method for estimating 2-D target motion using ultrasound. The method is based on previous ensemble tracking techniques, which required at least four parallel receive beams and 2-D pattern matching. In contrast, the method described requires only two parallel receive beams and 1-D pattern matching. Two 1-D searches are performed, one in each lateral direction. The direction yielding the best match indicates the lateral direction of motion. Interpolation provides sub-pixel magnitude resolution. We compared the two beam method with the four beam method using a translating speckle target at three different parallel beam steering angles and transducer angles of 0, 45, and 90 degrees. The largest differences were found at 90 degrees, where the two beam method was generally more accurate and precise than the four beam method and also less prone to directional errors at small translations. We also examined the performance of both methods in a laminar flow phantom. Results indicated that the two beam method was more accurate in measuring the flow angle when the flow velocity was small. Computer simulations supported the experimental findings. The poorer performance of the four beam method was attributed to differences in correlation among the parallel beams. Specifically, center beams 2 and 3 correlated better with each other than with the outer beams. Because the four beam method used a comparison of a kernel region in beam pair 2-3 with two different beam pairs 1-2 and 3-4, the 2-to-1 and 3-to-4 components of this comparison increased the incidence of directional errors, especially at small translations. The two beam method used a comparison between only two beams and so was not subject to this source of error. Finally, the two beam method did not require amplitude normalization, as was necessary for the four beam method, when the two beams were chosen symmetric to the transmit axis. We conclude that two beam ensemble tracking can accurately estimate motion using only two parallel receive beams.

Thresholds for visual detection of Young's modulus contrast in simulated ultrasound image movies

Elasticity imaging (EI) is being developed to allow the evaluation of the mechanical properties of soft tissue, but these properties are already assessed in routine ultrasound breast examination using a method that involves the subjective interpretation of tissue motion seen in real-time B-mode image movies during palpation. We refer to this method as relative motion assessment (RMA). The purpose of this study was to begin a process of learning about the usefulness and limitations of RMA relative to the emerging method of elasticity imaging. Perception experiments were performed to measure Young's modulus contrast thresholds for positive contrast lesions under controlled conditions that could subsequently be repeated to evaluate elasticity imaging for the same task. Observer ability to grade relative lesion contrast using RMA was also assessed. Simulated sequences of B-scans of tissue moving in response to an applied force were generated and used in a two-alternative forced-choice (2-AFC) experiment to measure contrast thresholds for the detection of disc-shaped elastic lesions by RMA in the absence of ultrasound echo contrast. Results were obtained for four observers at a lesion area of about 77 speckle cells and for five observers at lesion areas of about 42 and 139 speckle cells. Young's modulus contrast thresholds were found to decrease with increasing lesion size and were well within the range of contrast values that have been measured for breast tumours in vitro. It was also found that observers were quite skilled at using RMA to grade the relative strain contrast of lesions. The nonlinear relationship between the object contrast (Young's modulus contrast) and the image contrast (strain contrast) prevented observers from detecting very small lesions with 100% accuracy, no matter how high the object contrast. A preliminary comparison of the results for RMA with published thresholds for elastography indicated that elastography is likely to offer great benefit in reducing modulus contrast thresholds, but further study is required to confirm this.

Non-invasive quantitative reconstruction of tissue elasticity using an iterative forward approach

A novel iterative approach is presented to estimate Young's modulus in homogeneous soft tissues using vibration sonoelastography. A low-frequency (below 100 Hz) external vibration is applied and three or more consecutive frames of B-scan image data are recorded. The internal vibrational motion of the soft tissue structures is calculated from 2D displacements between pairs of consecutive frames, which are estimated using a mesh-based speckle tracking method. An iterative forward finite element approach has been developed to reconstruct Young's modulus from the measured vibrational motion. This is accomplished by subdividing the 2D image domain into sample blocks in which Young's modulus is assumed to be constant. Because the finite element equations are internally consistent, boundary values other than displacement are not required. The sensitivity of the results to Poisson's ratio and the damping coefficient (viscosity) is investigated. The approach is verified using simulated displacement data and using data from tissue-mimicking phantoms.

A novel interpolation strategy for estimating subsample speckle motion

Multidimensional, high-resolution ultrasonic imaging of rapidly moving tissue is primarily limited by sparse sampling in the lateral dimension. In order to achieve acceptable spatial resolution and velocity quantization, interpolation of laterally sampled data is necessary. We present a novel method for estimating lateral subsample speckle motion and compare it with traditional interpolation methods. This method, called grid slopes, requires no a priori knowledge and can be applied to data with as few as two samples in the lateral dimension. Computer simulations were performed to compare grid slopes with two conventional interpolation schemes, parabolic fit and cubic spline. Results of computer simulations show that parabolic fit and cubic spline performed poorly at translations greater than 0.5 samples, and translations less than 0.5 samples were subject to an estimation bias. Grid slopes accurately estimated translations between 0 and 1 samples without estimation bias at high signal-to-noise ratios. Given that the grid slopes interpolation technique performs well at high signal-to-noise ratios, one pertinent clinical application might be tissue motion tracking.

Ultrasonic quantification of osseous displacements resulting from skin surface indentation loading of bovine para-spinal tissue

OBJECTIVE

To validate an ultrasound-based technique which quantifies uni-planar subcutaneous displacement of an osseous object resulting from an externally applied load.

BACKGROUND

Many spinal conditions are thought to be characterized by aberrant vertebral displacements yet the invasive nature of many investigative techniques has left the clinical significance of this relation incompletely understood.

METHOD

Six bovine bone/paravertebral tissue preparations were indented by one of two ultrasonic transducers (5 and 7 MHz) fitted to an electromechanical actuator. The resulting osseous displacement along the principal indentation axis was calculated by subtracting the change in transducer/bone distance between ultrasonic images collected at tissue contact and maximal load from the change in actuator displacement. A dial gauge contacting the bone was used as a displacement criterion measure.

RESULTS

Using the 7 MHz transducer, the mean error of the technique was 6.74% (SD=3.98) while the mean error associated with the 5 MHz transducer was 12.73% (SD=7.49).

CONCLUSIONS

This non-invasive technique is capable of quantifying subcutaneous uni-planar bone displacement with an accuracy comparable to similar invasive techniques over a comparable displacement range. RelevanceThis non-invasive technique may be beneficial in assessing the significance of vertebral displacements in conditions such as hypermobility and osteoarthritis, as well as in studies of manipulative therapy.

Axial strain imaging using a local estimation of the scaling factor from RF ultrasound signals

The main signal-processing techniques used in elastography compute strains as the displacement derivative. They perform well for very low deformations, but suffer rapidly from decorrelation noise. Aiming to increase the range of accurate strain measurements, we developed an adaptive method based on the estimation of strains as local scaling factors. Its adaptability makes this method appropriate for computing scaling factors resulting from larger strains or a wide spread of strain variations. First, segments corresponding to the same part of tissue are adaptively selected in the rest and stressed state echo signals. Then, local scaling factors are estimated by iteratively varying their values until reaching the zero of the phase of the complex cross-correlation function. Results from simulation and from experimental data are presented. They show how this adaptive method can track various local deformations and its accuracy for strain up to 7%.

Angle matching in intravascular elastography

Intravascular elastography is a new technique to obtain mechanical properties of the vessel wall and plaque. Mechanical information of vascular tissue is important for characterisation of different plaque components, detection of plaque vulnerability and thus choosing the proper interventional technique. The feasibility of the technique is investigated using phantoms and diseased human arteries. These studies demonstrated that elastography reveals information that is unavailable or inconclusive from the echogram alone. The technique is based on the principle that tissue strain is directly related to its mechanical properties. In intravascular elastography, the tissue is compressed using different intravascular pressures. The strain is determined using cross-correlation techniques of the radio frequency (r.f.) signals. Reliable strain estimates are only obtained when signals of corresponding tissue are correlated. Owing to catheter motion, off-centre position and non-uniform rotation of the intravascular transducer, the r.f. traces at low and at high pressure may be misaligned. Four algorithms are tested to track the corresponding ultrasound signals. Three methods (l1norm, l2norm and cross-correlation) are applied on the r.f. signal and one (l1norm) on the envelope (speckle tracking). Simulations are performed to obtain a data set with a priori knowledge of the scattering particles positions in the tissue at high and low pressure. Different positions of the catheter in the lumen, compression levels of the material and signal-to-noise ratios (SNRs) are investigated. Finally, these findings are corroborated with a phantom experiment in a water tank. From the simulations, it can be concluded that the speckle tracking algorithm has the best performance, under all circumstances. The performance decreases with larger eccentricity of the catheter and larger compression of the material. The SNR is only of minor influence. The speckle tracking algorithm has also the best performance in the phantom experiment. The performance of the speckle tracking algorithm is better than the three r.f.-based algorithms. For intravascular elastography, implementation of this method may improve the quality of the elastogram.

Speckle tracking for multi-dimensional flow estimation

Speckle tracking methods overcome the major limitations of current Doppler methods for flow imaging and quantification: angle dependence and aliasing. In this paper, we review the development of speckle tracking, with particular attention to the advantages and limitations of two-dimensional algorithms that use a single transducer aperture. Ensemble tracking, a recent speckle tracking method based upon parallel receive processing, is described. Experimental results with ensemble tracking indicate the ability to measure laminar flow in a phantom at a beam-vessel angle of 60 degrees, which had not been possible with previous 2D speckle tracking methods. Finally, important areas for future research in speckle tracking are briefly summarized.

Estimation of the correlation amplitude of RF signals in small cutaneous vessels

Time domain correlation technique is a widely used method for blood flow velocity measurement. The time shift between a pair of windowed ultrasonic echoes is estimated by searching the temporal position of the maximum of the interpolated normalized correlation function. Between two consecutive echoes, the acoustical footprint of a group of scatterers, which are transported with the flow, moves and is deformed. This implies a decreasing of the amplitude of the normalized correlation coefficient. In the case of microcirculation (low flow rate, low SNR), the amplitude of the correlation peak can be used to detect the presence of blood flow and to discriminate false and true detections (reliability index). We have numerically evaluated the statistical performances of the cross-correlation algorithm used as a correlation peak amplitude estimator in severe conditions (short correlation window length, low SNR). These theoretical results have been compared with in vitro experimentation on a 100-/spl mu/m-diameter microcirculatory phantom and with in vivo experimentation on a 180-/spl mu/m-diameter vessel of a human leg carrying erysipelas.

Blood speed imaging with an intraluminal array

In applications in which Doppler processing is not possible, such as side-looking intravascular imaging systems, decorrelation methods can be used to estimate blood speed. Here, a method is presented measuring relative blood speed using an FIR filter bank to estimate temporal decorrelation rates. It can be implemented in a modern commercially available ultrasound imaging system with no additional hardware. Both simulations and experiments using an intraluminal scanner appropriate for coronary artery applications have tested the system. In this study, the FIR filter bank is contrasted with previous methods, and its utility is further demonstrated with real-time color flow images from a pig model.

Rotary encoding for intravascular ultrasonic imaging systems

Images produced with an intravascular ultrasound system (IVUS) can be distorted because of uncertainty in the instantaneous angular position of a rotating ultrasonic transducer. A rotary encoder placed in proximity to the transducer is required to detect the problem; however, size constraints make a conventional electromechanical or optomechanical encoder difficult to implement. Measurements that test the feasibility of a software-derived encoder, based of the rate of decorrelation of ultrasonic RF lines with angle, are reported. Provided that the instantaneous angular velocity of the transducer can be measured, adjustments can be made to the pulse rate of the transducer, which would eliminate the image distortion.

Advances in ultrasound biomicroscopy

The visualisation of living tissues at microscopic resolution is attracting attention in several fields. In medicine, the goals are to image healthy and diseased tissue with the aim of providing information previously only available from biopsy samples. In basic biology, the goal may be to image biological models of human disease or to conduct longitudinal studies of small-animal development. High-frequency ultrasonic imaging (ultrasound biomicroscopy) offers unique advantages for these applications. In this paper, the development of ultrasound biomicroscopy is reviewed. Aspects of transducer development, systems design and tissue properties are presented to provide a foundation for medical and biological applications. The majority of applications appear to be developing in the 40-60-MHz frequency range, where resolution on the order of 50 microm can be achieved. Doppler processing in this frequency range is beginning to emerge and some examples of current achievements will be highlighted. The current state of the art is reviewed for medical applications in ophthalmology, intravascular ultrasound, dermatology, and cartilage imaging. Ultrasound biomicroscopic studies of mouse embryonic development and tumour biology are presented. Speculation on the continuing evolution of ultrasound biomicroscopy will be discussed.

Measurement of tissue motion

A number of ultrasonic methods are available for the detection of tissue motion as it occurs physiologically in the body. The detection of echoes from within the body in less than 1 ms after the initial transmission of ultrasound and the Doppler effect have enabled a range of instrumentation to be developed. The subject owes a great deal to advances in transducer design, electronics and computer technology. Over many years fast B-mode imaging and M-mode traces of boundary position versus time have been the main clinical tools. Currently new sophisticated detection and imaging techniques are being produced based on the Doppler effect and on tracking motion in tissue images. The measurement of several velocity components is permitting velocity vectors to be determined more completely, adding to accuracy. Not surprisingly, cardiology is the main field of application but there are other areas of interest, e.g. vascular, musculo-skeletal and foetal function studies.

Fine elasticity imaging utilizing the iterative RF-echo phase matching method

To non-invasively quantify elasticity of soft tissue, we previously developed the iterative two-dimensional (2-D) rf-echo phase matching method for accurately measuring a 2-D displacement vector field generated in vivo in soft tissue during acquisition of two successive rf-echo data frames. We also developed a stable method for uniquely reconstructing a shear modulus distribution using strains derived from the measurement data. However, as in our measurement method a displacement is determined by using the phase characteristics of the finite local echo data as the index to iteratively search for the corresponding local data, change of the local phase characteristics due to tissue deformation deteriorates the accuracy of the determination. Thus, we improve the previous method such that, in principle, the displacement can be determined using an infinitesimal phase characteristics. That is, we incorporate an effective mechanism into the previous iterative phase matching scheme: the local size is made suitably smaller during the iterative phase matching. The demonstrated ability of measurement and reconstruction in simulation, and experiments on in vitro in pork rib and in vivo in breast tissue, shows this refinement allows not only better spatial resolution of the shear modulus image but also improved accuracy, and indicates that the improved method has a high potential to be applied for various soft tissues.

Stable and unbiased flow turbulence estimation from pulse echo ultrasound

A new method for stable and unbiased flow turbulence estimation has been developed for medical ultrasonic color flow imaging. Conventional turbulence estimates from a finite number of transmitted pulses could be biased, unreliable, and erroneous. We found that a conventional method cannot provide quantitative estimates of variance of flow velocity. We propose a new approach for flow turbulence estimation that is based on analysis of the flow velocity vectors. The new method estimates the variance of the flow velocity and provides reliable estimates for flow turbulence. Numerical examples, computer simulations, and experiments using a flow phantom demonstrate that the new method can estimate variance of flow velocity accurately and without bias. This work also reports a complete derivation in the time domain for both unbiased velocity and turbulence estimations. The results include two velocity estimation equations agreeing with the 1-D and 2-D autocorrelation methods derived from the frequency domain. The results indicate that the new method for flow turbulence is particularly useful when the 2-D autocorrelation method is used for color flow imaging. The new method also appears to be able to detect low turbulence; therefore, it may be useful for diagnosing abnormalities such as minor stenoses and valvular jets.

Interpolation methods for time-delay estimation using cross-correlation method for blood velocity measurement

The cross-correlation method (CCM) for blood flow velocity measurement using Doppler ultrasound is based on time delay estimation of echoes from pulse-to-pulse. The sampling frequency of the received signal is usually kept as low as possible in order to reduce computational complexity, and the peak in the correlation function is found by interpolating the correlation function. The parabolic-fit interpolation method introduces a bias at low sampling rate to the ultrasound center frequency ratio. In this study, four different methods are suggested to improve the estimation accuracy: (1) Parabolic interpolation with bias-compensation, derived from a theoretical signal model. (2) Parabolic interpolation combined with linear filter interpolation of the correlation function. (3) Parabolic interpolation to the complex correlation function envelope. (4) Matched filter interpolation applied to the correlation function. The new interpolation methods are analyzed both by computer simulated signals and RF-signals recorded from a patient with time delay larger than 1/f(0), where f(0) is the center frequency. The simulation results show that these methods are more accurate than the parabolic-fit method. From the simulation, the worst estimation accuracy is about 1.25% of 1/f(0) for the parabolic-fit interpolation, and it is improved by the above methods to less than 0.5% of 1/f(0) when the sampling rate is 10 MHz, the center frequency is 2.5 MHz and the bandwidth is 1 MHz. This improvement also can be observed in the experimental data. Furthermore, the matched filter interpolation gives the best performance when signal-to-noise ratio (SNR) is low. This is verified both by simulation and experimentation.

Diffraction field of a low frequency vibrator in soft tissues using transient elastography

For the last 10 years, interest has grown in low frequency shear waves that propagate in the human body. However, the generation of shear waves by acoustic vibrators is a relatively complex problem, and the directivity patterns of shear waves produced by the usual vibrators are more complicated than those obtained for longitudinal ultrasonic transducers. To extract shear modulus parameters from the shear wave propagation in soft tissues, it is important to understand and to optimize the directivity pattern of shear wave vibrators. This paper is devoted to a careful study of the theoretical and the experimental directivity pattern produced by a point source in soft tissues. Both theoretical and experimental measurements show that the directivity pattern of a point source vibrator presents two very strong lobes for an angle around 35 degrees . This paper also points out the impact of the near field in the problem of shear wave generation.

FLASH correlation: a new method for 3-D ultrasound tissue motion tracking and blood velocity estimation

We report a new method for tracking tissue motion and blood flow in three dimensions (3-D) using successive volumetric ultrasound scans. The method is based on combining the concepts of feature tracking and 3-D correlation search to achieve a compromise between accuracy and computational efficiency. This paper introduces the new method and the experimental setup used for its evaluation in a tissue-mimicking material. Results are presented demonstrating that the new method has both satisfactory tracking performance and the potential for practical real-time implementation.

Feature-adaptive motion tracking of ultrasound image sequences using a deformable mesh

By exploiting the correlation of ultrasound speckle patterns that result from scattering by underlying tissue elements, two-dimensional tissue motion theoretically can be recovered by tracking the apparent movement of the associated speckle patterns. Speckle tracking, however, is an ill-posed inverse problem because of temporal decorrelation of the speckle patterns and the inherent low signal-to-noise ratio of medical ultrasonic images. This paper investigates the use of an adaptive deformable mesh for nonrigid tissue motion recovery from ultrasound images. The nodes connecting the mesh elements are allocated adaptively to stable speckle patterns that are less susceptible to temporal decorrelation. We use the approach of finite element analysis in manipulating the irregular mesh elements. A novel deformable block matching algorithm, making use of a Lagrange element for higher-order description of local motion, is proposed to estimate a nonrigid motion vector at each node. In order to ensure that the motion estimates are admissible to a physically plausible solution, the nodal displacements are regularized by minimizing the strain energy associated with the mesh deformations. Experiments based on ultrasound images of a tissue-mimicking phantom and a muscle undergoing contraction, and on computer simulations, have shown that the proposed algorithm can successfully track nonrigid displacement fields.

A new elastographic method for estimation and imaging of lateral displacements, lateral strains, corrected axial strains and Poisson's ratios in tissues

A major disadvantage of the current practice of elastography is that only the axial component of the strain is estimated. The lateral and elevational components are basically disregarded, yet they corrupt the axial strain estimation by inducing decorrelation noise. In this paper, we describe a new weighted interpolation method operating between neighboring RF A-lines for high precision tracking of the lateral displacement. Due to this high lateral-tracking precision, quality lateral elastograms are generated that display the lateral component of the strain tensor. These precision lateral-displacement estimates allow a fine correction for the lateral decorrelation that corrupts the axial estimation. Finally, by dividing the lateral elastogram by the axial elastogram, we are able to produce a new image that displays the distribution of Poisson's ratios in the tissue. Results are presented from finite-element simulations and phantoms as well as in vitro and in vivo experiments.

3D ultrasound tissue motion tracking using correlation search

Several methods for ultrasound tissue motion tracking and blood velocity estimation have been proposed and clinically applied. While providing valuable information to the clinician that was not obtainable from B-mode anatomical imaging, these methods still suffer from various fundamental and practical limitations that compromise their performance in certain clinical situations. A significant limitation is the inability of most of these methods to estimate the complete 3D motion or velocity vectors. With the introduction of ultrasound volumetric imaging, the need for a method that is capable of obtaining the complete motion vector is even more pressing. In this paper, we investigate the implementation of a correlation search scheme to estimate the 3D motion vectors using successive volumetric ultrasound scans. We present tracking results for motion along different axes and discuss the advantages and limitations of performing the correlation search in 3D.

Multilevel and motion model-based ultrasonic speckle tracking algorithms

A multilevel motion model-based approach to ultrasonic speckle tracking has been developed that addresses the inherent trade-offs associated with traditional single-level block matching (SLBM) methods. The multilevel block matching (MLBM) algorithm uses variable matching block and search window sizes in a coarse-to-fine scheme, preserving the relative immunity to noise associated with the use of a large matching block while preserving the motion field detail associated with the use of a small matching block. To decrease further the sensitivity of the multilevel approach to noise, speckle decorrelation and false matches, a smooth motion model-based block matching (SMBM) algorithm has been implemented that takes into account the spatial inertia of soft tissue elements. The new algorithms were compared to SLBM through a series of experiments involving manual translation of soft tissue phantoms, motion field computer simulations of rotation, compression and shear deformation, and an experiment involving contraction of human forearm muscles. Measures of tracking accuracy included mean squared tracking error, peak signal-to-noise ratio (PSNR) and blinded observations of optical flow. Measures of tracking efficiency included the number of sum squared difference calculations and the computation time. In the phantom translation experiments, the SMBM algorithm successfully matched the accuracy of SLBM using both large and small matching blocks while significantly reducing the number of computations and computation time when a large matching block was used. For the computer simulations, SMBM yielded better tracking accuracies and spatial resolution when compared with SLBM using a large matching block. For the muscle experiment, SMBM outperformed SLBM both in terms of PSNR and observations of optical flow. We believe that the smooth motion model-based MLBM approach represents a meaningful development in ultrasonic soft tissue motion measurement.

Blood flow imaging and volume flow quantitation with intravascular ultrasound

Current intravascular ultrasound techniques produce real-time imaging of a vessel cross-section with a scan plane approximately normal to blood flow. When a cluster of randomly distributed blood particles moves across the ultrasound beam, the received echo signals decorrelate as a function of time. This phenomenon may be used to estimate blood velocities by measuring the decorrelation rate from a sequence of blood scattering signals. A decorrelation-based method for measuring local blood velocity and quantifying volume flow from cross-sectional radio frequency intravascular echo signals was developed. Serial in vitro measurements were performed with a flow phantom to test the principle of the proposed velocity estimation method. An in vivo pig experiment was carried out to study the feasibility of applying this method in clinical settings. Preliminary results of this study indicate that the proposed decorrelation method is able to extract cross-sectional velocity data and volumetric flow both in vitro and in vivo.

Ensemble tracking for 2D vector velocity measurement: Experimental and initial clinical results

We describe a new method, called ensemble tracking, for estimating two-dimensional velocities with ultrasound. Compared to previous speckle tracking techniques, ensemble tracking measures motion over smaller times and distances, increasing maximum velocities and reducing errors due to echo decorrelation. Ensemble tracking uses parallel receive processing, 2D pattern matching, and interpolation of the resulting tracking grid to estimate sub-pixel speckle translations between successive ultrasonic acquisitions. In this study, small translations of a tissue mimicking phantom were quantified at transducer angles of 0 degrees , 45 degrees , and 90 degrees . Measurements over three parallel beam spacings and all transducer angles had mean errors from -4% to +11%, when parallel beam amplitudes were normalized. Such amplitude normalization substantially improved results at 45 degrees and 90 degrees . The amplitude, spacing, and correlation between the parallel beams were quantified, and their effects on the accuracy and precision of estimates are discussed. Finally, initial clinical results demonstrate the ability to track and display blood flow in the carotid artery.

Nonlinear estimation of the lateral displacement using tissue incompressibility

Using the incompressibility property of soft tissue, high quality lateral displacement distributions can be reconstructed from accurate axial displacement measurements and noisy lateral displacement estimates. Previous methods appropriate for small deformations have been extended for high magnitude deformations requiring a nonlinear model. Problems arising in incompressibility processing for large deformations are considered. Applications of nonlinear incompressibility methods to ultrasonic measurements on gel-based, tissue equivalent phantoms are given. Lateral displacement images reconstructed with nonlinear methods are compared to those reconstructed with linear methods for both small and large deformations.

Two-dimensional temperature estimation using diagnostic ultrasound

A two-dimensional temperature estimation method was developed based on the detection of shifts in echo location of backscattered ultrasound from a region of tissue undergoing thermal therapy. The echo shifts are due to the combination of the local temperature dependence of speed of sound and thermal expansion in the heated region. A linear relationship between these shifts and the underlying tissue temperature rise is derived from first principles and experimentally validated. The echo shifts are estimated from the correlation of successive backscattered ultrasound frames, and the axial derivative of the accumulated echo shifts is shown to be proportional to the temperature rise. Sharp lateral gradients in the temperature distribution introduce ripple on the estimates of the echo shifts due to a thermo-acoustic lens effect. This ripple can be effectively reduced by filtering the echo shifts along the axial and lateral directions upon differentiation. However, this is achieved at the expense of spatial resolution. Experimental evaluation of the accuracy (0.5 degrees C) and spatial resolution (2 mm) of the algorithm in tissue mimicking phantoms was conducted using a diagnostic ultrasound imaging scanner and a therapeutic ultrasound unit. The estimated temperature maps were overlaid on the gray-scale ultrasound images to illustrate the applicability of this technique for image guidance of focused ultrasound thermal therapy.

Decorrelation of intravascular echo signals: potentials for blood velocity estimation

When blood particles travel through an intravascular ultrasound imaging plane, the received echo signals decorrelate at a rate that is related to the flow velocity. In this paper, the feasibility of extracting blood velocity from the decorrelation function of radio frequency signals was investigated through theoretical analysis and computer simulation. A computer model based on the impulse response method was developed to generate the ultrasound field of a 30-MHz intravascular transducer. The decorrelation due to the scatterer displacement as well as other nonmotion related decorrelation sources were studied. The computer simulations show that the decorrelation function is linearly related to the lateral displacement. The monotonic relationship between correlation and displacement provides possibilities to estimate flow velocity with decorrelation measurements. Because of the complexity of the beam profile in the near field, assessment of local velocities requires detailed knowledge of the decorrelation at each axial beam position. Sources of signal decorrelation other than the lateral displacement may cause a bias in the decorrelation based velocity measurements. For localized decorrelation estimation, measurement variations in small range windows present a major challenge. An approach based on multiple decorrelation measurements should be adopted in order to reduce the variations. In conclusion, results of this study suggest that it is feasible to measure flow velocity by quantifying the decorrelation of intravascular ultrasound signals from blood.

Developments in cardiovascular ultrasound: Part 1: Signal processing and instrumentation

One of the major contributions to the improvement of spectral Doppler and colour flow imaging instruments has been the development of advanced signal-processing techniques made possible by increasing computing power. Model-based or parametric spectral estimators, time-frequency transforms, station-arising algorithms and spectral width correction techniques have been investigated as possible improvements on the FFT-based estimators currently used for real-time spectral estimation of Doppler signals. In colour flow imaging some improvement on velocity estimation accuracy has been achieved by the use of new algorithms but at the expense of increased computational complexity compared with the conventional autocorrelation method. Polynomial filters have been demonstrated to have some advantages over IIR filters for stationary echo cancellation. Several methods of velocity vector estimation to overcome the problem of angle dependence have been studied, including 2D feature tracking, two and three beam approaches and the use of spectral width in addition to mean frequency. 3D data acquisition and display and Doppler power imaging have also been investigated. The use of harmonic imaging, using the second harmonic generated by encapsulated bubble contrast media, seems promising particularly for imaging slow flow. Parallel image data acquisition using non-sequential scanning or broad beam transmission, followed by simultaneous reception along a number of beams, has been studied to speed up 'real-time' imaging.

Colour ultrasound imaging of blood flow and tissue motion

Recent years have seen the introduction of a high quality imaging modality which uses the Doppler shift for the study of blood flow and tissue motion. Colour ultrasound technology has now reached a level of maturity and it is, therefore, timely to review its features and consider how colour techniques may develop. This review concentrates on autocorrelator based colour systems. Recent developments are described including colour vector Doppler, contrast agents, 3D display, tissue vascularity assessment and volume flow measurement.

Intravascular elasticity imaging using ultrasound: feasibility studies in phantoms

A technique is described for measuring the local hardness of the vessel wall and atheroma using intravascular ultrasound. Strain images were constructed using the relative local displacements, which are estimated from the time shifts between gated echo signals acquired at two levels of intravascular pressure. Time shifts were estimated using one-dimensional correlation with bandlimited interpolation around the peak. Tissue-mimicking phantoms with typical morphology and hardness topology of some atherosclerotic vessels were constructed. Hard and soft regions could be distinguished on the strain image, independently of their contrast in echogenicity. Thus, the potential of ultrasonic hardness imaging to provide information that may be unavailable from the echogram alone was demonstrated. The strain images of the homogeneous and layered phantoms showed some artifacts that need to be corrected for, to obtain images of the modulus of elasticity. For in vitro and in vivo experiments, the spatial resolution of the technique needs to be improved. Furthermore, two-dimensional correlation techniques may be necessary in case of nonradial expansion and an off-centre catheter position.

Color flow mapping

Color flow mapping systems have become widely used in the short time since their development. These systems overlay a pseudo-color velocity map upon the gray-scale two-dimensional image. Between 4 and 16 pulses are directed to each line-of-sight, and this requirement reduces the frame rate in comparison with the gray-scale image. Other limitations of color flow mapping include its ability to estimate only the velocity toward or away from the transducer and an increase in the variance in comparison with spectral Doppler. Potential artifacts include aliased velocities and the detection of flow in hypoechoic or hyperechoic nonvascular structures. Clinical applications include cardiology, studies of the abdominal and peripheral vasculature, evaluation of organ perfusion and the differentiation of tumors. Most current systems use narrowband estimators that examine a fixed sample volume and detect a change in phase between two pulses. Wideband estimators that can track red blood cells in two or three dimensions are under evaluation. Narrowband estimators, including the autocorrelator, the short Fourier transform and second order autoregressive filters, are compared with wideband estimators including cross-correlation, sum-absolute-difference and the wideband maximum likelihood estimator. Because the intensity of blood echoes is far smaller than echoes from surrounding tissue, high pass filters have been developed that can reject the larger signal from tissue using the return from a small number of pulses. Other areas of research include strategies for flow estimation with contrast agents, three-dimensional color flow mapping and power Doppler flow mapping.