System and method for ultrasound simulation
Ultrasound (US) simulation systems and methods are provided, which utilize computer tomography (CT) data to generate US simulation images, offline or online. Systems and methods repeatedly derive and display consecutive US simulation images that correspond to consecutively-derived corresponding US slices (according to the changing locations and orientations of a dummy US transducer mimicking the US transducer with respect to a physical patient model)—that define geometrically US simulation regions. The US simulation images are at least partly derived from CT data using a CT to US conversion model. Acoustic parameters (e.g., tissue density, acoustic attenuation and impedance) are calculated and integrated per pixel, along beams in the US slice, to form the US image. Additional modelling may be used to calculate reflection and scattering and their effects on the image pixels, and enhancements such as animation and flow data may be added.
1. An ultrasound (US) simulation system comprising:
a physical model of at least one body part of a patient,
a dummy US transducer, and
one or more processors configured to:
repeatedly measure positions and orientations of the dummy US transducer and to consecutively derive corresponding US slices from the measured positions and orientations of the dummy US transducer with respect to the physical model, wherein the consecutive US slices define geometrically corresponding consecutive US simulation regions, and
repeatedly derive consecutive US simulation images that correspond to the consecutive US simulation regions from computer tomography (CT) data relating to the at least one body part using a CT to US conversion model, and to display the derived US simulation images in the corresponding US slices,
wherein the CT to US conversion model comprises acoustic parameters derived from CT tissue characterization data with respect to physical tissue properties along acoustic paths to US image pixels in the derived US slice,
wherein the acoustic parameters comprise tissue density and related sound speeds, acoustic impedances, attenuation coefficients and scatter coefficients, and
wherein the US simulation images are derived by:
calculating, per given pixel, and relative to a tissue type: a relative acoustic impedance reflection, a relative attenuation and a relative scattering, and
integrating, along each beam path in the US simulation image, transmission loss due to the impedance reflections and due to the attenuation, with the reflection and scattering from pixels other than the given pixel.
2. The US simulation system of claim 1 , wherein the dummy US transducer has a 6 DoF (six degrees of freedom) sensor and wherein the US slices are derived from measurements by the 6 DoF sensor with respect to the physical model and with respect to movements of the dummy US transducer.
3. The US simulation system of claim 1 , wherein the US simulation images are mesh-based and comprise a part that is imaged using the CT to US conversion model.
4. The US simulation system of claim 1 , wherein the CT to US conversion model is constructed from CT tissue characterization data offline, prior to displaying the US simulation images.
5. The US simulation system of claim 1 , wherein the CT to US conversion model is constructed from CT data online, on a frame-by-frame basis during the displaying of the US simulation images.
6. The US simulation system of claim 1 , wherein the CT to US conversion model is derived from CT tissue characterization data relating only to live human tissue.
7. The US simulation system of claim 6 , wherein the acoustic parameters comprise acoustic attenuation derived from the CT tissue characterization data using a polynomial model.
8. The US simulation system of claim 7 , wherein the acoustic parameters further comprise acoustic scattering and optionally acoustic reflection.
9. The US simulation system of claim 8 , wherein the acoustic scattering is further modeled using data from US array measurements.
10. The US simulation system of claim 1 , wherein the US simulation images further comprise splines configured to indicate flows therethrough.
11. The US simulation system of claim 1 , wherein the computing device is further configured to indicate at least one anatomical label of at least one biological structure in the US simulation images.
12. The US simulation system of claim 1 , wherein the computing device is further configured to apply time gain compensation to the US simulation images.
13. An ultrasound (US) simulation method comprising:
repeatedly measuring positions and orientations of a dummy US transducer with respect to a physical model of at least one body part of a patient,
consecutively deriving corresponding US slices from the repeatedly measured positions and orientations of the dummy US transducer, wherein the consecutive US slices define geometrically corresponding consecutive US simulation regions,
repeatedly deriving consecutive US simulation images that correspond to the consecutive US simulation regions from computer tomography (CT) data relating to the at least one body part using a CT to US conversion model, and
displaying the derived US simulation images in the corresponding US slices,
wherein the method further comprises constructing the CT to US conversion model by deriving acoustic parameters from the CT data with respect to physical tissue properties along acoustic paths to US image pixels in the derived US slice, and
wherein the deriving of the US simulation images is carried out by:
calculating, per given pixel and relative to a tissue type: a relative acoustic impedance reflection, a relative attenuation and a relative scattering, and
integrating, along each beam path in the US simulation image, transmission loss due to the impedance reflections and due to the attenuation, with the reflection and scattering from pixels other than the given pixel.
14. The US simulation method of claim 13 , wherein the US simulation images are mesh-based and the method further comprises embedding therein at least one image part derived using the CT to US conversion model.
15. The US simulation method of claim 13 , wherein the CT to US conversion model is constructed from CT tissue characterization data offline, prior to displaying the US simulation images.
16. The US simulation method of claim 13 , wherein the CT to US conversion model is constructed from CT data online, on a frame-by-frame basis during the displaying of the US simulation images.
17. The US simulation method of claim 13 , wherein the deriving of the acoustic parameters is carried out from CT data relating only to live human tissue.
18. The US simulation method of claim 17 , wherein the deriving of the acoustic parameters comprises deriving acoustic attenuation from the CT data using a polynomial model.
19. The US simulation method of claim 18 , wherein the deriving of the acoustic parameters comprises deriving acoustic scattering and optionally acoustic reflection from the CT data.
20. The US simulation method of claim 19 , further comprising modelling the acoustic scattering using data from US array measurements.
21. The US simulation method of claim 13 , further comprising using splines to indicate flows through the US simulation images.
22. The US simulation method of claim 13 , further comprising indicating at least one anatomical label of at least one biological structure in the US simulation images.
23. The US simulation method of claim 13 , further comprising applying time gain compensation to the US simulation images.
24. An ultrasound (US) simulation system comprising: a computing device comprising:
a memory; and
a processor configured to:
repeatedly receive positions and orientations of a dummy US transducer with respect to a physical model of at least one body part of a patient,
consecutively derive corresponding US slices from the repeatedly received positions and orientations of the dummy US transducer, wherein the consecutive US slices define geometrically corresponding consecutive US simulation regions, and
repeatedly derive consecutive US simulation images that correspond to the consecutive US simulation regions from computer tomography (CT) data relating to the at least one body part using a CT to US conversion model,
wherein the processor is further configured to construct the CT to US conversion model by deriving acoustic parameters from the CT data with respect to physical tissue properties along acoustic paths to US image pixels in the derived US slice, and
wherein the deriving of the US simulation images is carried out by:
calculating, per given pixel and relative to a tissue type: a relative acoustic impedance reflection, a relative attenuation and a relative scattering, and
integrating, along each beam path in the US simulation image, transmission loss due to the impedance reflections and due to the attenuation, with the reflection and scattering from pixels other than the given pixel.
25. The US simulation system of claim 24 , wherein the deriving of the acoustic parameters is carried out from CT data relating only to live human tissue.