System for acquiring ultrasound images
A system for acquiring ultrasound images of internal organs of a human body, comprises a scanner and at least a minimum number of components in, or associated therewith consisting of: i) an ultrasound probe head; ii) the at least one IMU, which comprises a three-axis accelerometer and a three-axis gyroscope; iii) electronic components for wired or wireless communication with remote terminals, and iv) a power source, wherein the 3-axis gyroscopes and 3-axis accelerometers of the IMU are calibrated by the manufacturer for offset, scale-factor, cross-axis sensitivity and initial orientation; and MEMS IMUs are calibrated by the user.
1 . A system for acquiring ultrasound images of internal organs of a human body, comprising a scanner having an ultrasound probe head, one or more processors, a portable communication device attachable to the scanner, said portable communication device including i) at least one MEMS IMU sensor, which comprises a three-axis accelerometer and a three-axis gyroscope; ii) electronic components for wired or wireless communication with remote terminals, and iii) a power source, wherein the three-axis gyroscopes and three-axis accelerometers of the MEMS IMU are adapted to be calibrated by a user for offset, scale-factor, cross-axis sensitivity and initial orientation; wherein the one or more processors are configured to concurrently receive data collected by the ultrasound probe head and the at least one MEMS IMU sensor; and wherein the one or more processors are configured to perform a one-step calibration, in which only the offset of the gyroscopes is estimated.
2 . The system of claim 1 , wherein the one-step calibration comprises holding the MEMS IMU still for several minutes and recording an output of the MEMS IMU sensors; wherein an average output of the gyroscopes is taken to be their offset and a variance of each MEMS IMU sensor is taken to be its noise.
3 . A system for acquiring ultrasound images of internal organs of a human body, comprising a scanner having an ultrasound probe head, one or more processors, a portable communication device attachable to the scanner, said portable communication device including i) at least one MEMS IMU sensor, which comprises a three-axis accelerometer and a three-axis gyroscope; ii) electronic components for wired or wireless communication with remote terminals, and iii) a power source, wherein the three-axis gyroscopes and three-axis accelerometers of the MEMS IMU are adapted to be calibrated by a user for offset, scale-factor, cross-axis sensitivity and initial orientation; wherein the one or more processors are configured to concurrently receive data collected by the ultrasound probe head and the at least one MEMS IMU sensor, wherein the one or more processors are configured to perform a seven-phase calibration process to calibrate the MEMS IMU.
4 . The system of claim 3 , wherein the seven phases of the calibration process in a coordinate system wherein the positive Z-axis points up, the positive Y-axis points towards the right, and the positive X-axis points forward are:
a. Phase 1: hold the scanner still for T seconds;
b. Phase 2: rotate the scanner around the Y axis such that the rotation is completed, and the scanner is stationary in the new orientation, within T seconds;
c. Phase 3: hold the scanner still for T seconds, then rotate back;
d. Phase 4: rotate the scanner over around X axis within T seconds;
e. Phase 5: hold the scanner still for T seconds, then rotate back;
f. Phase 6: rotate the scanner over around Z axis within T seconds; and
g. Phase 7: hold the scanner still for T seconds, then rotate back.
5 . A system for acquiring ultrasound images of internal organs of a human body, comprising a scanner having an ultrasound probe head, one or more processors, a portable communication device attachable to the scanner, said portable communication device including i) at least one MEMS IMU sensor, which comprises a three-axis accelerometer and a three-axis gyroscope; ii) electronic components for wired or wireless communication with remote terminals, and iii) a power source, wherein the three-axis gyroscopes and three-axis accelerometers of the MEMS IMU are adapted to be calibrated by a user for offset, scale-factor, cross-axis sensitivity and initial orientation; wherein the one or more processors are configured to concurrently receive data collected by the ultrasound probe head and the at least one MEMS IMU sensor, wherein calibrated by a user indicates a three phase calibration process performed for a particular axis selected from the X-axis, Y-axis or Z axis, wherein the three phases of the calibration process in a coordinate system wherein the positive Z-axis points up, the positive Y-axis points towards the right, and the positive X-axis points forward are:
a. Phase 1: hold the scanner still for T seconds;
b. Phase 2: rotate the scanner around the axis such that the rotation is completed, and the scanner is stationary in the new orientation, within T seconds; and
c. Phase 3: hold the scanner still for T seconds, then rotate back.
6 . The system of claim 1 , wherein the electronic components for wired or wireless communication with remote terminals are selected from one or more of USB, Lightning, fiber optic, Wi-Fi, UWB, Bluetooth and IR.
7 . The system of claim 1 , comprising an MEMS IMU-independent component adapted to alert the user in case of insufficient coupling between the apparatus and the body.
8 . The system of claim 1 , comprising an MEMS IMU-independent component adapted to alert the user if the scanning speed is too fast to generate an image of sufficient quality to be displayed on a screen.