Path tracking in ultrasound system for device tracking

Abstract

A method for determining a projected track of an object ( 230 ) includes measuring movement from frame to frame of a detected object point in a field of view by periodic comparison of positions, extrapolating a locus of periodically detected object points, and qualifying the locus by calculating and applying a threshold to the linearity in a sequence of positions and a threshold to consistency in strength. The method further produces the plurality of ultrasound images by including thereon a rendering of a plurality of lines ( 310 ) as a path track indicator ( 330 ) on one or more ultrasound images ( 305 ) and displaying the projected track of the object when a user moves the tracked object a minimum distance in a region of interest ( 242 ) of a subject ( 240 ). The method also includes utilizing a motion sensor ( 234 ) with a probe ( 205 ) to suppress calculation and display of the projected track.

1 . An ultrasound system comprising:
 an ultrasound probe configured to produce acoustic transmissions and receive acoustic echo data in response to the acoustic transmissions;   a processor coupled to the ultrasound probe, the processor configured to:
 produce a plurality of ultrasound images based on the acoustic echo data, 
 produce a projected track of an object by:
 measuring movement from frame to frame of an object point detected in a field of view by periodic comparison of positions of the object, 
 extrapolating a locus of periodically detected object points, and 
 providing, on the plurality of ultrasound images, a path track indicator, and 
 
 suppress calculation and display of the projected track of the object when the ultrasound probe rotates or translates in space; and 
   a display coupled to the processor, the display configured to display the plurality of ultrasound images, including the projected track of the object, when a user moves the object a minimum distance in a region of interest.   
     
     
         2 . The system of  claim 1 , further comprising a motion sensor in the ultrasound probe, the motion sensor configured to detect a motion of the ultrasound probe that is used by the processor to suppress the calculation and display of the projected track of the object. 
     
     
         3 . The system of  claim 2 , wherein the motion sensor includes an accelerometer and a gyroscope configured to continuously monitor movement of the ultrasound probe. 
     
     
         4 . The system of  claim 1 , wherein the processor is configured to detect a motion of the ultrasound probe from image data and use the detected motion to suppress the calculation and the display of the projected track of the object. 
     
     
         5 . The system of  claim 4 , wherein the processor is configured to detect a motion of the ultrasound probe based on detection of relative movement between the image data and the ultrasound probe on a frame by frame basis. 
     
     
         6 . The system of  claim 1 , wherein the path track indicator comprises a rendering of a plurality of lines and the plurality of lines comprises a pair of reference lines separate from the object and positioned on opposite sides of the object to indicate the projected track of the object. 
     
     
         7 . The system of  claim 6 , wherein the processor is further configured to render a location circle to locate the object in the plurality of ultrasound images and render the pair of reference lines as parallel tangents on opposite sides of the location circle. 
     
     
         8 . The system of  claim 6 , wherein the processor is configured to render the pair of reference lines projected in a direction of a last motion of the location circle. 
     
     
         9 . The system of  claim 6 , wherein the processor is configured to render the pair of reference lines to form a virtual lane that extends up to a boundary of one or more images of the plurality of ultrasound images. 
     
     
         10 . The system of  claim 6 , wherein, when the object is motionless, the processor is configured to display the pair of reference lines for a predetermined period of time for observation by the user. 
     
     
         11 . The system of  claim 1 , wherein the processor is further configured to qualify the locus by calculating and applying a threshold to a linearity in a sequence of positions and a threshold to consistency in strength of the detected object point. 
     
     
         12 . A controller for tracking an object, the controller comprising:
 at least one processor configured to:
 produce a plurality of ultrasound images based on acoustic echo data received by an ultrasound probe, 
 produce a projected track of an object by:
 measuring movement from frame to frame of an object point detected in a field of view by periodic comparison of positions of the object, 
 extrapolating a locus of periodically detected object points, and 
 providing, on the plurality of ultrasound images, a path track indicator, 
 
 display the projected track of the object when a user moves the object a minimum distance in a region of interest; and 
 suppress calculation and display of the projected track of the object when the ultrasound probe rotates or translates in space. 
   
     
     
         13 . The controller of  claim 12 , wherein the path track indicator comprises a rendering of a plurality of lines and the plurality of lines comprises a pair of reference lines separate from the object and positioned on opposite sides of the object to indicate the projected track of the object. 
     
     
         14 . The controller of  claim 13 , wherein the processor is further configured to render a location circle to locate the object in the plurality of ultrasound images and render the pair of reference lines as parallel tangents on opposite sides of the location circle. 
     
     
         15 . The controller of  claim 13 , wherein the processor is configured to render the pair of reference lines projected in a direction of a last motion of the location circle. 
     
     
         16 . The controller of  claim 13 , wherein the processor is configured to render the pair of reference lines to form a virtual lane that extends up to a boundary of one or more images of the plurality of ultrasound images. 
     
     
         17 . The controller of  claim 13 , when the object is motionless, the processor is configured to display the pair of reference lines for a predetermined period of time for observation by the user. 
     
     
         18 . The controller of  claim 12 , wherein the processor is further configured to qualify the locus by calculating and applying a threshold to a linearity in a sequence of positions and a threshold to consistency in strength of the detected object point. 
     
     
         19 . The controller of  claim 12 , wherein the processor is further configured to utilize a motion signal obtained from a motion sensor in the ultrasound probe or motion detected from image data to suppress the calculation and the display of the projected track of the object. 
     
     
         20 . A method for tracking an object, the method comprising:
 producing a plurality of ultrasound images based on the acoustic echo data received by an ultrasound probe,   producing a projected track of an object by:
 measuring movement from frame to frame of an object point detected in a field of view by periodic comparison of positions of the object, 
 extrapolating a locus of periodically detected object points, and 
 providing, on the plurality of ultrasound images, a path track indicator, 
   displaying, on a display, the projected track of the object when a user moves the object a minimum distance in a region of interest; and   suppressing calculation and display of the projected track of the object when the ultrasound probe rotates or translates in space.