U.S. patent application number 15/337188 was filed with the patent office on 2017-02-16 for ultrasound scanning capsule endoscope.
This patent application is currently assigned to Innurvation, Inc.. The applicant listed for this patent is Innurvation, Inc.. Invention is credited to Michael ARNESON, William BANDY, Wayne SHANKS.
Application Number | 20170042506 15/337188 |
Document ID | / |
Family ID | 45973565 |
Filed Date | 2017-02-16 |
United States Patent
Application |
20170042506 |
Kind Code |
A1 |
ARNESON; Michael ; et
al. |
February 16, 2017 |
ULTRASOUND SCANNING CAPSULE ENDOSCOPE
Abstract
The present invention relates to ultrasound imaging on a capsule
endoscope platform. It relates to the generation of a focused
ultrasound acoustic signal and the receiving of echo signals from
the wall of a body lumen with an array of acoustic transducers
wrapped around the circumference of the capsule. It relates to
sending the generated echo image signals to receiver devices
attached or worn on the body. It relates to the generation of
360.degree. overlapping sidewall ultrasound scans of a body lumen,
and image processing techniques to assemble these scans into a high
resolution continuous ultrasound image. Finally, it relates to the
manufacture and assembly of such an ultrasound scanning capsule
endoscope (USCE). The concept is extendable to conventional
endoscopes and catheters.
Inventors: |
ARNESON; Michael;
(Finksburg, MD) ; BANDY; William; (Gambrills,
MD) ; SHANKS; Wayne; (Baltimore, MD) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Innurvation, Inc. |
Glen Burnie |
MD |
US |
|
|
Assignee: |
Innurvation, Inc.
Glen Burnie
MD
|
Family ID: |
45973565 |
Appl. No.: |
15/337188 |
Filed: |
October 28, 2016 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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14147124 |
Jan 3, 2014 |
9480459 |
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15337188 |
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13073424 |
Mar 28, 2011 |
8647259 |
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14147124 |
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61318012 |
Mar 26, 2010 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01S 7/52017 20130101;
G01S 15/8915 20130101; G01S 15/8993 20130101; G01S 7/52065
20130101; G01S 7/003 20130101; A61B 8/4488 20130101; A61B 8/12
20130101; A61B 8/4472 20130101 |
International
Class: |
A61B 8/12 20060101
A61B008/12; G01S 15/89 20060101 G01S015/89; A61B 8/00 20060101
A61B008/00 |
Claims
1. An ultrasound scanning capsule endoscope (USCE), comprising: an
ultrasonic transducer array including a plurality of transducer
elements, the plurality of transducer elements including a first
transducer element and a second transducer element configured to be
fired to provide an ultrasonic signal to intestinal wall tissue of
an animal in a transmit mode, the second transducer element being
configured to be fired after the first transducer element has been
fired; and clock timer circuitry configured to initiate a count in
response to the second transducer element being fired, the count
being related to a distance between the ultrasonic transducer array
and the intestinal wall tissue of the animal, wherein the first
transducer element and the second transducer element are further
configured to switch, upon the clock timer circuitry reaching the
count, from the transmit mode to a receive mode to listen for an
echo signal provided from the intestinal wall tissue of the animal
in response to the ultrasonic signal.
2. The USCE of claim 1, further comprising: a housing having a size
that is ingestible, wherein the ultrasonic transducer array is
arranged around a circumference of the housing.
3. The USCE of claim 2, wherein the ultrasonic transducer array is
configured and arranged within a quadrant from a plurality of
quadrants around the circumference, each of the plurality of
quadrants being configured to simultaneously image one or more
voxels from among a plurality of voxels of the intestinal wall
tissue of the animal.
4. The USCE of claim 3, wherein the second transducer element is
located at an approximate center of the quadrant, and wherein the
first transducer element represents a transducer element from among
the plurality of transducer elements that is furthest away from the
approximate center of the quadrant.
5. The USCE of claim 1, wherein the second transducer element is
located at an approximate center of the ultrasonic transducer
array, and wherein the first transducer element is located a
distance away from the approximate center of the ultrasonic
transducer array.
6. The USCE of claim 5, wherein the first transducer element
represents a transducer element from among the plurality of
transducer elements that is furthest away from the approximate
center of the ultrasonic transducer array.
7. The USCE of claim 1, wherein the count represents a time
required for the ultrasonic signal to travel approximately the
distance between the ultrasonic transducer array and the intestinal
wall tissue of the animal and the echo signal to travel
approximately the distance between the ultrasonic transducer array
and the intestinal wall tissue of the animal.
8. The USCE of claim 1, further comprising: a register, wherein the
clock timer circuitry is further configured to download the count
into the register upon the first transducer element and the second
transducer element detecting the echo signal.
9. The USCE of claim 1, wherein the first transducer element and
the second transducer element are configured to be fired to provide
the ultrasonic signal to image one or more voxels of the intestinal
wall tissue of the animal.
10. The USCE of claim 1, wherein the second transducer element is
fired after the first transducer element to allow the ultrasonic
signal from the first transducer element and the ultrasonic signal
from the second transducer element to converge at a targeted spot
of the intestinal wall tissue of the animal.
11. An ultrasound scanning capsule endoscope (USCE), comprising: a
first transducer element configured to be fired to provide an
ultrasonic signal in a transmit mode and to listen for an echo
signal provided from intestinal wall tissue of an animal in
response to the ultrasonic signal in a receive mode; and a second
transducer element configured to be fired to provide the ultrasonic
signal in the transmit mode in response to the first transducer
element being fired and to listen for the echo signal provided from
the intestinal wall tissue of the animal in response to the
ultrasonic signal in a receive mode, wherein the first transducer
element and the second transducer element are further configured to
switch from the transmit mode to the receive mode upon reaching a
count related to a distance between the first transducer element or
the second transducer element and the intestinal wall tissue of the
animal.
12. The USCE of claim 11, further comprising: a housing having a
size that is ingestible, wherein the first transducer element and
the second transducer element are arranged around a circumference
of the housing.
13. The USCE of claim 12, wherein the first transducer element and
the second transducer element are configured and arranged within a
quadrant from a plurality of quadrants around the circumference,
each of the plurality of quadrants being configured to
simultaneously image one or more voxels from among a plurality of
voxels of the intestinal wall tissue of the animal.
14. The USCE of claim 13, wherein the second transducer element is
located at an approximate center of the quadrant, and wherein the
first transducer element represents a transducer element from among
the plurality of transducer elements that is furthest away from the
approximate center of the quadrant.
15. The USCE of claim 11, wherein the first transducer element and
the second transducer element are arranged within an ultrasonic
transducer array, wherein the second transducer element is located
at an approximate center of the ultrasonic transducer array, and
wherein the first transducer element is located a distance away
from the approximate center of the ultrasonic transducer array.
16. The USCE of claim 15, wherein the first transducer element
represents a transducer element from among the plurality of
transducer elements that is furthest away from the approximate
center of the ultrasonic transducer array.
17. The USCE of claim 11, wherein the count represents a time
required for the ultrasonic signal to travel approximately the
distance between the first transducer element or the second
transducer element and the intestinal wall tissue of the animal and
the echo signal to travel approximately the distance between the
first transducer element or the second transducer element and the
intestinal wall tissue of the animal.
18. The USCE of claim 11, wherein the first transducer element and
the second transducer element configured to be fired to provide the
ultrasonic signal to image one or more voxels of the intestinal
wall tissue of an animal.
19. The USCE of claim 11, wherein the second transducer element is
fired after the first transducer element to allow the ultrasonic
signal from the first transducer element and the ultrasonic signal
from the second transducer element to converge at a targeted spot
of the intestinal wall tissue of the animal.
20. A method for operating an ultrasound scanning capsule endoscope
(USCE), the method comprising: firing a first transducer element of
an ultrasonic transducer array to provide an ultrasonic signal to
intestinal wall tissue of an animal in a transmit mode; firing a
second transducer element of the ultrasonic transducer array to
provide the ultrasonic signal in the transmit mode in response to
the first transducer element being fired; initiating a count
related to a distance between the ultrasonic transducer array and
the intestinal wall tissue of the animal; switching the first
transducer element and the second transducer element from the
transmit mode to a receive mode upon reaching the count; and
listening, by the first transducer element and the second
transducer element, for an echo signal provided from the intestinal
wall tissue of the animal in response to the ultrasonic signal.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] The present application is a continuation of U.S. patent
application Ser. No. 14/147,124, filed Jan. 3, 2014, which is a
continuation of U.S. patent application Ser. No. 13/073,424, filed
Mar. 28, 2011, which claims the benefit under 35 U.S.C.
.sctn.119(e) to U.S. Provisional Patent Application No. 61/318,012,
filed on Mar. 26, 2010, entitled "Ultrasound Scanning Capsule
Endoscope (USCE)," each of which are incorporated by reference
herein in their entireties.
FIELD OF THE INVENTION
[0002] The present invention relates to ultrasound imaging on a
capsule endoscope platform. It relates to the generation of a
focused ultrasound acoustic signal and the receiving of echo
signals from the wall of a body lumen with an array of acoustic
transducers wrapped around the circumference of the capsule. It
relates to sending the generated echo image signals to receiver
devices attached or worn on the body. It relates to the generation
of 360.degree. overlapping sidewall ultrasound scans of a body
lumen, and image processing techniques to assemble these scans into
a high resolution continuous ultrasound image. Finally, it relates
to the manufacture and assembly of such an ultrasound scanning
capsule endoscope (USCE). The concept is extendable to conventional
endoscopes and catheters.
BACKGROUND OF THE INVENTION
[0003] The population of the United States is aging. The first wave
of the 78 million "Baby Boomers" is beginning to turn 60 years old.
Coinciding with this aging of population is a rising concern
regarding the public health, and a generally more educated patient
in technology awareness. Some conditions, such as cancer, are most
responsive to treatment if caught in the early stages. Cancer, for
example, is best detected in the digestive tract. Given that
cancerous growth can occur in as little as one to two years, it is
essential to detect cancer or cancerous precursors at least
annually, or preferably biannually. Physician and health care
resources are currently already stretched and will fail if the
current technology, process and procedure are not altered to suit
the needs of the baby boomer market of the near future. Time-saving
and simple solutions to diagnostics are needed.
[0004] The current population desires speedy testing and fast
answers to their health questions. Many current testing and
monitoring systems are limited by old technology and processes that
takes days if not weeks for results. These test methods if not
inconvenient and potentially embarrassing are at least in most
cases intrinsically painful or risky to patients.
[0005] Thus, what is needed are diagnostic devices, services and
processes that are simple, convenient, relatively inexpensive,
comfortable, take less time, directly detect specific compounds or
indicators to disease, and have more applications.
BRIEF DESCRIPTION OF THE DRAWINGS/FIGURES
[0006] The accompanying drawings illustrate the present invention
and, together with the description, further serve to explain the
principles of the invention and to enable one skilled in the
pertinent art to make and use the invention.
[0007] FIG. 1 is a drawing of the USCE in the intestinal tract.
[0008] FIG. 2 is a drawing of the acoustic transducer array
encircling the capsule endoscope.
[0009] FIG. 3 shows the construction of a section of the transducer
array.
[0010] FIG. 4 illustrates the acoustic signal divergence angle from
a single acoustic transducer element.
[0011] FIG. 5 shows the maximum phased array size around the
capsule circumference.
[0012] FIG. 6 illustrates the concept behind the array grating
lobes.
[0013] FIG. 7 shows the effective array aperture for the curved
array for a particular focal distance.
[0014] FIG. 8a shows a phased array configured to provide a focused
acoustic beam for a simulation of the focused acoustic beam at a
focal distance 5 mm away from the array surface.
[0015] FIG. 8b is a graph of the resulting acoustic power at the
focal point in the direction of the circumference and along the
axial direction.
[0016] FIG. 8c is a three-dimensional presentation of the acoustic
power, along with a top-down view.
[0017] FIG. 9a shows a phased array configured to provide a focused
acoustic beam for a simulation of the focused acoustic beam at a
focal distance 1 mm away from the array surface.
[0018] FIG. 9b is a graph of the resulting acoustic power at the
focal point in the direction of the circumference and along the
axial direction.
[0019] FIG. 9c is a three-dimensional presentation of the acoustic
power, along with a top-down view.
[0020] FIG. 10a shows a phased array configured to provide a
focused acoustic beam for a simulation of the focused acoustic beam
at a focal distance 10 mm away from the array surface.
[0021] FIG. 10b is a graph of the resulting acoustic power at the
focal point in the direction of the circumference and along the
axial direction.
[0022] FIG. 10c is a three-dimensional presentation of the acoustic
power, along with a top-down view.
DETAILED DESCRIPTION OF THE INVENTION
Introduction
[0023] Novel approaches to small bowel capsule endoscopy that uses
an optical train to capture 3600 overlapping sidewall scans of the
small bowel, and image processing techniques to assemble these
scans into a high resolution continuous image have been developed.
This Optical Scanning Capsule Endoscope (OSCE) is a revolutionary
step forward providing for 100% coverage of the intestinal tract
including the small and large bowels. The image assembly techniques
are not specific to optical images, which provide the opportunity
to replace the optical imaging hardware with ultrasound imaging. An
Ultrasound Scanning Capsule Endoscope (USCE) is envisioned which
would use ultrasound imaging elements in an annular (ring-like)
array around the circumference of the capsule to produce an image
of reflected acoustic energy from the body lumen wall, and would
use the same signal processing algorithms to assemble sequential
ring scan frames into a single continuous image of the colon.
Because the ultrasound signal would be reflected from the interface
between the colonic contents and the colon tissue itself, it may
not be necessary to prep the patient for this procedure. This
sidewall ring scanning approach, when extended to ultrasound
imaging rather than optical imaging, could enable prep-less imaging
of the colon for Colorectal Cancer screening.
[0024] The OSCE technology platform effectively implements a 256 to
512 by 16 to 32 element wide optical scanning array around the
circumference of a nominally 11 millimeter diameter capsule. It
operates at up to 60 frames per second to accommodate rapid
peristalsis movement (up to 5 cm per second) and tumbling. Optical
flow algorithms, similar to those used in optical mice for
computers, are used to track capsule movement. This movement
information is used to vary the scan rate to minimize scan
redundancy when stationary. Stitching algorithms, similar to those
commercially available, are used to construct a single image of the
entire intestine, which can be viewed and manipulated much like
Google maps. The scan data is transmitted from the capsule to
on-body sensors using the acoustic data communication technology
described herein.
[0025] The USCE will be implemented by replacing the optical
scanning array with an ultrasound scanning array. This scanning
array swap will be built on top of the technology platform
developed for the OSCE. The proposed USCE technical approach is
described in detail below.
Key Design Considerations:
[0026] There are several key design trade-offs that need to be
considered to optimize the performance of the ultrasound scanner
involving frequency of operation, acoustic element size and surface
area, array size, transmit and receive power, battery current, and
desired "image" voxel size, which is the spot size of the focused
acoustic energy on the intestinal wall. FIG. 1 is an illustration
of the USCE in the intestinal tract, showing how the focused
acoustic energy impinges on the intestinal wall and is reflected
back to the capsule. FIG. 2 illustrates the transducer array
wrapped around the circumference of the capsule. The acoustic
transducers could be implemented with PZT elements, but other
technologies could also be employed. FIG. 3 shows a section of the
array, illustrating its cross section. For the following
discussion, the term "phased array" signifies the part of the total
array that is energized for the generation of a focused acoustic
signal at a spot on the intestinal wall.
[0027] The smallest spot size, S.sub.p, defined as the diameter of
the focused energy between first zeros, that acoustic energy may be
focused to is given by:
S.sub.p=2.lamda.l.sub.f/L, (1)
where L is the side dimension of the phased array, and l.sub.f is
the focal length, given by the distance, d, from the array center
to the intestinal wall. The wavelength of the sinusoidal acoustic
signal is .lamda.=c/f where c=1540 meters/sec is the speed of sound
in the aqueous environment of the intestinal track, and f is the
signal frequency.
[0028] The depth of focus, F.sub.d is then given by:
F.sub.d=S.sub.p.sup.2/(2.lamda.). (2)
For a given focal length, the spot size is determined by .lamda.
and L, both of which have practical limits. The wavelength is
limited by signal attenuation and L is limited by the curvature of
the capsule. The term l.sub.f/L is the f-number which in practice
is hard to get much smaller than unity, which limits the spot size
to somewhat less than 2.lamda., to no smaller than .lamda.. The
depth of focus increases as spot size increases, and some cases it
may be desirable to increase the depth of focus at the expense of
increased spot size, such as for when d is not well known. The
optimization of .lamda. and L for array performance are next
considered.
[0029] For optimal operation, the operational frequency needs to be
chosen so that its wavelength, .lamda., is a multiple of the
center-to-center transducer element spacing, D. Hence, .lamda.=mD,
where m=1 or 2 for this example implementation, although other
values could be used and still fall under the scope of this
invention. For a given D, m=1 would appear to provide for the
smallest spot size from equation (1). But the focused array
dimension, L, is constrained by the signal divergence angle,
.THETA., from the acoustic transducer elements, as shown in FIG. 4
and given by:
.THETA.=sin.sup.-1(K.lamda./D), (3)
where K=0.433 for the half power point of the signal.
[0030] For .lamda.=2D, the acoustic signal half power point occurs
at .THETA.=60.degree.. For .lamda.=D, .THETA.=26.degree.. The
resulting difference in array size between these two angles is
significant because of the surface curvature around the
circumference of the capsule. Because of this curvature, the
circumference transducer elements will have an angle between the
elements, as shown on FIG. 2, given by:
.PHI.=360.degree./N (4)
where N is the number of acoustic transducer elements around the
circumference. The maximum array size for the circumference
transducer elements is limited by the resultant curvature angle of
the edge elements relative to the image spot. For .lamda.=2D, this
will be the .THETA.=60.degree. divergence angle. The maximum
focused array size is achieved in the limit of a very large imaging
distance (going theoretically to infinity) between the intestinal
wall and the center of the acoustic transducer element array where
the array around the circumference would be a full third of the
circumference (120.degree.). However, the effective array aperture
is the planar projection of this are as shown in FIG. 5:
L.sub.max=2r sin(.THETA.)=2rK.lamda./D, from equation (3) above,
and (5)
where r is the radius of curvature of the capsule. For
.THETA.=60.degree. provided by .lamda.=2D, L.sub.max2=4rK. For
.THETA.=26.degree. provided by .lamda.=D, L.sub.max1=2rK, which is
half the value of L.sub.max2. Therefore, either case for .lamda.
provides for the same spot size from equation (1) in the
theoretical limit of infinite image distance. Using L.sub.max in
equation (1) shows that for L near L.sub.max the spot size in the
circumference direction increases linearly with d=1f:
S plimit = Dl f rK . ( 6 ) ##EQU00001##
[0031] The array size in the axial direction is also constrained by
the divergence angle through the relation:
L.sub.axial=2l.sub.f tan(.THETA.). (7)
For .THETA.=60.degree., provided by .lamda.=2D, L.sub.axial=3.5
l.sub.f, for which the f-number=l.sub.f/L.sub.axial=0.29. The spot
size in the axial direction is then:
S paxial = 4 D 3.5 = 1.15 D . ( 8 ) ##EQU00002##
Because the f-number is much less than one, this spot size is
probably not practically achievable. For .THETA.=26.degree.,
provided by .lamda.=D, L.sub.axial=l.sub.f, for which the
f-number=1 and the spot size in the axial direction is:
S.sub.paxial=2D. (9)
[0032] Another key design consideration is the resulting signal
pattern projected by the array. Of particular interest is what is
termed the "grating" pattern, determined by:
.PSI..sub.gn=sin.sup.-1(n.lamda./D) (10)
where the center to center spacing of the transducer elements, D,
is shown in FIG. 6 and n=n=.+-.1, 2, 3, etc. for the grating lobes.
The locations of the grating lobes are for the following
parameters: [0033] (a) .lamda.=2D, .PSI..sub.gn=N/A (no grating
lobe) [0034] (b) .lamda.=D, .PSI..sub.gn=.+-.63.degree. For choice
(a) above only the center beam is present with no grating lobes to
confuse or complicate receiving an unambiguous ultrasound echo
signal. Hence, the optimal design choice for the acoustic
transducer array is .lamda.=2D.
[0035] An example implementation is to implement N=512 transducer
elements around a capsule diameter of 11 mm requiring a
center-to-center spacing of D=67.5 microns for adjacent elements. A
10% overhead for spacing between elements gives a net transducer
element size of 60 microns on a side, with 3.25 microns between
elements. The wavelength is .lamda.=2D=135 microns, which provides
for a frequency of 11.4 MHz and a divergence angle of
.fwdarw.=60.degree.. Other design selections would fall under the
scope of this invention. The maximum theoretical focused array size
is considered to be one third of the circumference
(2.THETA.=120.degree.) for an arc length of 11.5 mm, which
accommodates 170 elements. The planar projection is L.sub.max=9.5
mm. The array dimension in the axial direction is given by
L.sub.axial=3.5 l.sub.f. However, a practical focused array size
may be smaller than this because of the tradeoff between spot size
and operational complexity. Smaller arrays are simpler to
implement, but the resulting spot size will be larger. Here, the
practical array size will be limited to 32 transducer elements in
the axial direction.
Scanner Operation:
[0036] The phased array is set in the transmit configuration to
launch a brief pulse focused to the minimum spot size at the
targeted l.sub.f value, which could be the previously measured
value for that voxel. The signal is focused by driving each element
in the array with the appropriate timing so that the resulting wave
front converges at the targeted spot. This is done with
conventional approaches used in medical ultrasound imaging systems,
except that the curvature of the array around the circumference
needs to be accommodated in the signal timing to each element.
Since the spot is not scanned, but is fixed to coincide with a
point above the center of the array, the timing circuits are
simplified by the array quadrant symmetry. So the number of timing
circuits will be 1/4 of the total number of transducer elements in
the array. The timing circuits are further simplified by using one
counter for the timer, with taps off the counter at the appropriate
points for the correct timing of each transducer element in
symmetric positions in all four quadrants. So four transducer
elements are driven from each counter tap. The circuitry is further
simplified by eliminating the 11.4 MHz oscillator circuit to drive
the transducer elements for a short pulse, but by rather inducing
resonant oscillation at 11.4 MHz with a brief impulse to the
transducer elements. However, using an oscillator to drive the
transducer elements would fall under the scope of the invention.
The counter taps are programmable with algorithms that take the
previous measurement data to set the appropriate timing taps for
the next measurement.
[0037] Once the pulse has been launched, the array is configured
into the receive mode, to listen for the signal echoes. In
conventional medical ultrasound, the same phase array timing is
used in the receive mode as for the pulse transmit mode. This
approach is very complex, and requires a separate "front end" at
each transducer element to detect a very weak return signal.
However, because the transmit array provides a very well defined
spot signal with no grating lobes, the receive array can be greatly
simplified to just a small array of transducer elements at the
center of the larger transmit array.
[0038] Medical ultrasound imaging receives multiple echo signals to
re-construct a depth image of the object. Here, the USCE will be
limited by the bandwidth of the communication channel to how much
data can be acquired and sent.
[0039] The scanning operation is achieved by pulsing a single or
multiple phased arrays configured around the circumference of the
capsule. Once the echo signal is captured, a switching array
configures the array elements for the next phased array, one
element over around the circumference from the previous. In this
way, one or multiple voxels around the array circumference are
imaged at a time in sequence until all the circumference voxels
have been imaged and the surface around the pill has been mapped.
Then the process repeats using previously obtained data to set the
arrays for the next data acquisitions. This process occurs very
rapidly, resulting in a high net scan, or frame rate, whereby the
capsule moves only a fraction of a voxel during peristalsis or
tumbling, allowing for image stitching to capture a continuous,
scanned image, as the capsule moves through the intestinal
tract.
[0040] This scanning process measures a limited range of echo
return times around expected echo times at the beam focus. The
reflecting surface distance from the array is extracted from the
dominant echo return time. This extracted surface distance is used
as the focal distance for the next shifted voxel "probe". In this
way the acoustic focus will closely follow the intestinal surface.
An initial voxel scan will be need to gain the surface "lock",
after which the scanning will be rapid.
[0041] An example of the above is provided for a distance of d=5 mm
of the intestinal wall from the center of the transducer array. As
discussed above, the array size, L, is limited by the curvature of
the capsule, as shown in FIG. 7. The array size is given by:
L=2r sin(.beta.), where from the law of cosines (11)
.beta. = tan - 1 ( .866 .5 + r x ) , and ( 12 ) x = - r 2 [ 1 - 1 +
4 d 2 r 2 ( 1 + 2 r d ) ] , ( 13 ) ##EQU00003##
where r is the capsule radius. For d=5 mm, L=6 mm, and the selected
phased array has 94 circumference transducer elements on a side.
Using this value of L in equation (1) provides a theoretical spot
size of 225 microns in the circumference direction, which provides
the projected voxel size on the intestinal wall. The Mathcad
simulation of FIGS. 8a-8c gives a circumference spot size of 242
microns between first zeroes. In the axial direction the number of
transducer elements is 32, for an array dimension of 2 mm, which
provides for a spot size of 625 microns. The Mathcad simulation
gives an axial spot size of 654 microns between first zeroes.
Therefore, the simulations confirm the theoretical predictions.
[0042] The number of such arrays, p, that can be "fired" at a time
spaced equally around the capsule is in this case p=4. So four
acoustic image voxels can be acquired in one transmit pulse period.
Assuming a two wavelength acoustic pulse provides a total pulse
period time of 0.175 usec. The maximum acoustic travel distance is
from the array corners to the focused spot, given by:
d corner = x 2 + ( L axial 2 ) 2 , ( 14 ) ##EQU00004##
which for this example is 0.67 cm, providing for a round trip
distance of 1.34 cm, which takes 8.7 usec. The total voxel
acquisition time is therefore t.sub.a=8.87 usec, which establishes
the maximum voxel acquisition rate of:
R pixel = p t a , ( 15 ) ##EQU00005##
which for this case is 0.45 M voxels/sec. A complete scan of all
the circumference voxels takes:
t scan = Nt a p = N R pixel , ( 16 ) ##EQU00006##
which for this case is 1.135 msec, providing for a scan rate of 881
scans/sec where each scan is comprised of 512 circumference voxels.
During one scan the capsule moves 0.09 of a spot size in the axial
direction at the maximum peristalsis rate of 2 inches/sec. The
resulting voxel overlap between scans allows for image stitching to
provide a continuous scanned image. Note that the above translates
the array one transducer element center-to-center distance, or 67.5
microns, around the circumference for the next transmit pulse and
echo receive cycle, which is 0.25 of the spot size for the
circumference array. If the array is translated two transducer
elements between cycles, or a 0.5 of a circumference spot size,
then the scan rate doubles with the same data output rate, and the
capsule then moves 0.045 of a spot size in the axial direction
between scans, for greater voxel overlap, which enables post image
processing that could increase effective resolution by at least a
factor of two. Conversely, the scan rate can be kept the same to
halve the data rate, which could be an important data bandwidth
consideration.
[0043] The data channel will limit how many return echoes can be
acquired and sent. If just one return echo were acquired, which
would provide a topographical image of the intestinal wall, along
with the echo signal strength, two digitized data values would have
to be sent for each voxel. Assuming 8 bits per data value would
yield a total of 16 bits/voxel times 0.45 Mvoxels/sec=7.2
Mbits/sec, which could be achieved by a variety of approaches and
still fall under the scope of the invention. If data compression
could be used, then for 10.times. data compression the channel
would only have to provide for 0.72 Mbits/sec.
[0044] Prep-less colon applications will most likely require more
echo data to resolve the signal traveling through non-homogeneous
intestinal material. For this application, a higher data rate
communication channel will need to be employed. Each echo time and
signal strength data pair will require 7.2 Mbits/sec of bandwidth.
Ten pairs would require 72 Mbits/sec, which with 10.times. data
compression would require a 7.2 Mbit/sec channel. The actual number
of data pairs required will most likely be less than ten, lessening
the data rate requirements.
[0045] It is instructive to look also at calculations for when the
intestinal wall is closer to the capsule. For a distance of
d=l.sub.f=1 mm of the intestinal wall from the transducer array,
the array size is given by equation (11) to be L=2.45 mm comprising
36 transducer elements on a side. Using these values of L and
l.sub.f in equation (1) provides an f-number of 0.4 and a
theoretical spot size of 110 microns in the circumference
direction. Because the f-number is much less than one, this spot
size may not be realistically achievable. Indeed, the Mathcad
simulation of FIGS. 9a-9c yields a spot size of 145 microns between
first zeroes. In the axial direction the number of transducer
elements is 32, for an array dimension of 2 mm, which provides for
a spot size of 125 microns and an f-number of 0.46. Again, because
the f-number is much less than one, this spot size may not be
realistically achievable. Indeed, the Mathcad simulation of FIG. 9
yields a spot size of 170 microns.
[0046] Eight such arrays can be "fired" at a time equally spaced
around the circumference of the capsule, for p=8. So eight acoustic
image voxels can be acquired in one transmit pulse period.
Repeating the calculations above for this yields t.sub.a=2.76 usec,
which establishes the maximum voxel acquisition rate of
R.sub.voxel=2.9 M voxels/sec and t.sub.scan=0.177 msec, providing
for a scan rate of 5660 scans/sec where each scan is comprised of
512 circumference voxels. During one scan the capsule moves 0.08 of
a spot size width in the axial direction at the maximum peristalsis
rate of 2 inches/sec. This overlap between scans allows for image
stitching to provide a continuous scanned image. As with the
previous discussion, the array can be stepped by two transducer
elements around the circumference to either increase the axial
voxel overlap by a factor of two, or to reduce the scan rate, and,
therefore, reduce the required data rate.
[0047] Finally, it is useful to examine the case where the focused
spot is further away, at d=1 cm. Now L=7.375 mm with 120
circumference elements and the spot size is 366 microns in the
circumference direction. The axial spot size with 32 elements is
1250 microns. These results are confirmed by the Mathcad
simulations of FIGS. 10a-10c, which gives a circumference spot size
of 364 microns and an axial spot size of 1300 microns. Four such
arrays can be "fired" at a time spaced equally around the capsule
for p=4. So four acoustic image voxels can be acquired in one
transmit pulse period. Repeating the calculations above for this
yields t.sub.a=15.8 usec, which establishes the maximum voxel
acquisition rate of R.sub.voxel=0.25 M voxels/sec and t.sub.scan=2
msec, providing for a scan rate of 494 scans/sec where each scan is
comprised of 512 circumference voxels. During one scan the capsule
moves 0.08 of a spot size in the axial direction at the maximum
peristalsis rate of 2 inches/sec. The resulting voxel overlap
between scans allows for image stitching to provide a continuous
scanned image. Note that the above translates the array one
transducer element center-to-center distance, or 67.5 microns,
around the circumference for the next transmit pulse and echo
receive cycle, which is 0.3 of the spot size for the circumference
array. If the array is translated two transducer elements between
cycles, or a 0.6 of a circumference spot size, then the scan rate
doubles with the same data output rate, and the capsule then moves
0.04 of a spot size in the axial direction between scans, for
greater voxel overlap, which enables post image processing that
could increase effective resolution by at least a factor of two.
Conversely, the scan rate can be kept the same to halve the data
rate, which could be an important data bandwidth consideration.
Timing Considerations:
[0048] The timing of individual transducer elements in the array
needs to be theoretically exact to provide for a converging
acoustic signal wave front at the image point. For the acoustic
signals from each transducer element to arrive at the focused spot
simultaneously, the array elements are fired in order of their
distance away from the array center, with the corner elements of
the array firing first, and the center ones last. For the d=1 mm
example above, the corner elements will need to be fired 0.644 usec
before the center ones. The timing difference between adjacent
transducer elements at and near the array edge is around 61 nsec.
For elements closer to the center, the difference of acoustic
travel distances becomes on the order of 0.5D.sup.2/d between
transducer elements, which for this case is 2.2 micron, or 1.5
nsec, which would require a clock frequency on the order of 670 MHz
to drive a timing counter. The ratio of 0.644 usec/1.5 nsec is 429,
which would require a 9-stage timing counter.
[0049] For the d=5 mm example above, the corner elements will need
to fire 1.1 usec before the center ones. The timing difference
between adjacent transducer elements at and near the array edge is
around 114 nsec. For those at or near the center the timing
difference between adjacent elements is about 0.3 nsec, which would
require a clock frequency of 3.4 GHz to drive a timing counter. The
ratio of 1.1 usec/0.3 nsec is 3367, requiring a 12-stage timing
counter to accommodate.
[0050] An upper bound for the timing difference between corner
elements and the center is for d becoming much larger than r, for
which the array encompasses one third of the capsule circumference,
and the difference in distance traveled to the focused spot becomes
just 1/2 r. In this case 1/2 r, =2.75 mm, for an upper limit of
1.875 usec for when the corner elements need to fire before the
center ones.
[0051] There is a difference in what is theoretically required for
the timing of transducer array elements and what can be practically
achieved. So it is necessary to examine how timing errors between
tranducer elements affects array performance. Mathcad simulations
were performed with phase shifted signals from the transducer
elements to examine spot size vs array size, versus resolution of
both phase and amplitude. The simulations showed excellent spot
focus results for 1-bit resolution of the phase and 2-bits for the
amplitude, as shown in FIGS. 8, 9 and 10. So two-bit resolution in
the phase shift would then be more than adequate. This provides a
.lamda./4=33.75 micron phase resolution, which is equivalent to a
time resolution of about 22 nsec for a clock speed of 45 MHz. As
discussed above, the maximum counter length is 1.875 usec, for a
dynamic range of 1.875 usec/22 nsec=85, requiring a 7 stage
counter. Other design selections would fall under the scope of this
invention.
[0052] The transmit array counter will operate only when the
transmit array is active. For the d=0.5 cm example above, the
counter is active for 1.1 usec, and for d=0.1 cm, 0.64 usec. The
total data acquisition times are 8.87 and 2.76 usec respectively,
providing counter duty cycles of 12.4 and 23.2% respectively. As
will be discussed in a later section, this same counter may also be
employed as a timer for the receive signal.
Array Size Considerations:
[0053] The focused array sizes around the circumference used in the
above examples are limited by capsule curvature. As seen for the
d=1 mm example, the resulting array provided an f-number of 0.4,
which is less than is practically achievable. This provides for the
possibility of reducing the array size to achieve an f-number that
is more practically achievable. For example, an f-number=1 would be
obtained with an array the size of L=l.sub.f, yielding an array
size of L=1 mm. More of this smaller array can be placed around the
capsule, increasing scan rate. Also, the timing with the corner
elements is faster, which further increases the scan rate. The
disadvantage is that actual spot size will increase. This may be
offset by the greater voxel overlap that increased scan rate with
larger spot size will provide, allowing image processing techniques
to recover enhanced resolution. Capsule curvature will limit the
target achievability of L=l.sub.f as d increases. For d greater
than 6.5 mm the array size will be limited by capsule curvature and
the f-number will become greater than one.
[0054] As the capsule moves through the intestinal tract, it will
be in positions where the distance, d, from the surface to the
intestinal wall varies around the circumference. This situation
will require dynamic array size configuration around the
circumference as positions change. For example, d may vary from 1
mm on one side of the capsule to 5 mm on the other side. So as the
array is stepped around the circumference as described above, the
array size will vary to accommodate the changing value of d. The
scan rate will also vary to accommodate the changing timing
conditions of the array size. Stepping distance can also vary, as
described above, to increase scan rate to maintain the desired
amount of voxel overlap in the axial direction. This dynamic array
environment will be directed by a central controller, which
controls all aspects of array timing and size.
Receiver Issues:
[0055] As discussed above, in a typical medical ultrasound scanner,
once the timing is established for the transmit elements, the same
timing is used for the receive elements to minimize image
artifacts. Because of the complications of implementing that
approach on a capsule platform, a simpler method is proposed, where
only a block of transducer elements in the center of the array are
is used as the receiver. To insure adequate phase coherence the
block dimension is determined by the edge elements having a
distance difference to the spot of no more than .lamda./10 than the
center elements, which will ensure at least 95% constructive
interference for the elements. For d=1 mm this constrains the block
size to 311 microns on a side in the longitudinal direction, which
accommodate 4.6 transducer elements, which is rounded down to 4.
Around the circumference, the curvature also needs to be
considered, and the array size is limited to 264 microns, which can
accommodate 3.9 transducer elements, which is rounded up to 4.
Therefore, the receive array contains a total of 16 transducer
elements. The considerations for the number of receive array
elements are by way of example only, and other considerations could
yield a different number of receive array elements and still fall
under the scope of the invention.
[0056] The receive array is configured as soon as the signal
transmission cycle is completed and the signal oscillations are
dampened. Upon the last transducer element transmission, which will
be from the center-most elements, a clock timer is initiated, and
the receive array starts listening for the echo signal from the
intestinal wall tissue, distance d away from the array. The echo
time will be that required for the acoustic signal to travel the
round trip distance of 2d. For d=1 mm, this is 1.3 usec. If a
distance resolution is desired equivalent to the depth of focus, 45
microns for this case, then the minimum timer increment would need
to be 30 nsec, requiring the counter to be clocked at 34 MHz. A
6-stage counter would accommodate this count range. These range of
numbers allow the same counter as used for the transmit array
timing to be used for receive array timing. When the echo signal is
detected, the counter downloads the count into a register for
transmission to the external data receiver. Multiple echo detection
would require a smaller time increment and a resultant higher clock
rate for the counter.
Transmit and Receive Array Operation:
[0057] The distance, d, of the focused spot on the intestinal wall
to the array determines the optimal size and timing for both
transmit and receive arrays. Since there is voxel overlap between
scans, the previously measured value of d can be used to set up the
array values for the next scan at the same location. This can be
accomplished either through calculations or look up tables, or a
combination of both. These values are then pre-loaded for immediate
availability for the next scan. These array values would need to be
stored in memory for each of the 512 voxel locations around the
capsule circumference. For the d=1 mm case above, there are
36.times.32=288 transducer elements in each array quadrant, so
512.times.288=147,456 timing data points would need to be stored
for the transmission arrays. An upper limit would be for large
values of d where the effective array size is limited to one third
the circumference of the capsule, which would have a total of
170.times.32=5,440 elements, for 1,360 in each quadrant. Than the
number of timing points to be stored is 696,320.
[0058] For the first scan, there is no previously measured value of
d, and capsule would go into "discover" mode for the first accurate
measurement. One approach is to start with the minimum d value and
step upward until an echo signal is received of the expected
magnitude. This measured value of d would then be used for the next
measurement at that location to hone in on and lock onto an
accurate value.
[0059] The above discusses many design parameters that need to be
optimized for the USCE. The choices for the design parameters
selected above are by way of example only, and other choices would
fall under the scope of the invention. Additionally, the concepts
may be applied to formats other than a capsule, such as for
endoscopes and catheters, for example.
CONCLUSION
[0060] While various embodiments of the present invention have been
described above, it should be understood that they have been
presented by way of example only, and not limitation. It will be
apparent to persons skilled in the relevant art that various
changes in form and detail can be made therein without departing
from the spirit and scope of the invention. Thus, the breadth and
scope of the present invention should not be limited by any of the
above-described exemplary embodiments, but should be defined only
in accordance with the following claims and their equivalents.
[0061] Further, the purpose of the foregoing Abstract is to enable
the U.S. Patent and Trademark Office and the public generally, and
especially the scientists, engineers and practitioners in the art
who are not familiar with patent or legal terms or phraseology, to
determine quickly from a cursory inspection the nature and essence
of the technical disclosure of the application. The Abstract is not
intended to be limiting as to the scope of the present invention in
any way.
* * * * *