WO2021116326A2 - Procédé ultrasonore pour quantifier l'élasticité non linéaire par ondes de cisaillement d'un milieu, et dispositif pour mettre en oeuvre ce procédé - Google Patents
Procédé ultrasonore pour quantifier l'élasticité non linéaire par ondes de cisaillement d'un milieu, et dispositif pour mettre en oeuvre ce procédé Download PDFInfo
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- WO2021116326A2 WO2021116326A2 PCT/EP2020/085606 EP2020085606W WO2021116326A2 WO 2021116326 A2 WO2021116326 A2 WO 2021116326A2 EP 2020085606 W EP2020085606 W EP 2020085606W WO 2021116326 A2 WO2021116326 A2 WO 2021116326A2
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/085—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
- A61B8/461—Displaying means of special interest
- A61B8/463—Displaying means of special interest characterised by displaying multiple images or images and diagnostic data on one display
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/48—Diagnostic techniques
- A61B8/485—Diagnostic techniques involving measuring strain or elastic properties
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52017—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 particularly adapted to short-range imaging
- G01S7/52019—Details of transmitters
- G01S7/5202—Details of transmitters for pulse systems
- G01S7/52022—Details of transmitters for pulse systems using a sequence of pulses, at least one pulse manipulating the transmissivity or reflexivity of the medium
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52017—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 particularly adapted to short-range imaging
- G01S7/52023—Details of receivers
- G01S7/52036—Details of receivers using analysis of echo signal for target characterisation
- G01S7/52042—Details of receivers using analysis of echo signal for target characterisation determining elastic properties of the propagation medium or of the reflective target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52017—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 particularly adapted to short-range imaging
- G01S7/5205—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52017—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 particularly adapted to short-range imaging
- G01S7/52053—Display arrangements
- G01S7/52057—Cathode ray tube displays
- G01S7/52073—Production of cursor lines, markers or indicia by electronic means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52017—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 particularly adapted to short-range imaging
- G01S7/52079—Constructional features
- G01S7/52084—Constructional features related to particular user interfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5207—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of raw data to produce diagnostic data, e.g. for generating an image
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
- A61B8/5238—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image
- A61B8/5261—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image combining images from different diagnostic modalities, e.g. ultrasound and X-ray
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/54—Control of the diagnostic device
Definitions
- the present invention relates to ultrasonic wave imaging methods and devices for providing images of a viscoelastic medium.
- the purpose of the method is to quantify the non-linearity of the medium, more particularly to detect a soft cancerous region in the medium (that is to say non-indurated compared to non-cancerous medium).
- the present invention relates to an imaging method using ultrasonic waves to observe a diffusing viscoelastic medium which contains particles reflecting said ultrasonic waves.
- Ultrasonic images can be obtained by different methods.
- the images obtained can be of the static elasticity type ("strain” in English), obtained by the means of deformation of the tissues observed, or of the elasticity type by shear waves ("shear wave elastography, SWE" in English language). ).
- the object of the present invention is therefore to improve the detection and diagnosis of non-indurated cancer.
- the present invention provides a method for quantifying the nonlinear elasticity by shear waves of a medium, the method comprising the following steps:
- Soft cancers show similar elasticity to healthy tissue or benign soft lesions in an image SWE standard elastography (without compression). However, it has been discovered that by compressing the tissues (media) during a SWE elastography the elasticity varies differently on healthy tissues and on malignant lesions. NL-SWE imagery aims to qualify and quantify this phenomenon.
- the nonlinearity of the shear modulus of the tissue (“share modulus non linearity” in English) or the nonlinear elastic coefficient of shear or hardening (“stiffening” in English) can be deduced from the “strain” and SWE images.
- the human operator or a machine, or anything that can hold or manipulate an ultrasound probe
- "SWE” and "strain” used to derive a map which represents the nonlinearity of the shear modulus or the rate of hardening of the medium.
- the present invention can solve in particular the following problems, in particular with the objective of extracting the information from the non-linearity:
- the observation of the evolution of real deformation is carried out in real time or in quasi real time.
- the deformation can be carried out in a continuous and progressive manner (that is to say without pause).
- the successively changing deformation is applied by means of an ultrasonic probe by successively compressing or by successively decompressing the medium by the probe, the probe being simultaneously used to collect the temporal succession of data and / or to observe the evolution of real deformation.
- This method may use a motion estimation algorithm, including (but not limited to) a method based on the Doppler effect, speckle tracking, and / or optical fluxes.
- the successive compression and / or the successive decompression is carried out in a continuous and progressive manner.
- compression and / or decompression is continuous movement without pausing or stopping.
- the step of observing the evolution of real deformation comprises collecting a temporal succession of ultrasound data from the medium, in particular to allow deformation calculations, for example collecting a temporal succession of data.
- static elasticity strain
- an estimated real deformation level and a target deformation level are notified on a user interface, in which the estimated real deformation corresponds to the observed deformation, in particular in real time, and the target deformation changes (in particular in a manner continuous and progressive) according to the predetermined deformation sequence, in particular in real time.
- strain level can only be estimated, i.e. this level may have some imprecision.
- the estimated actual strain level and the target strain level are displayed on a screen of the user interface.
- the shear wave elasticity data produced in step (A1) is generated by the following substeps:
- This process can use plane waves but this step can also be carried out by using focused waves.
- the collection of a temporal succession of data and the observation of the successive changes of the deformation are set up by an ultrasound sequence by interposing shear wave elasticity shots and static elasticity shots, and / or said static elasticity data and said shear wave elasticity data are temporally interleaved.
- the method can further comprise step: A1 ′. Collection of a temporal succession of data of static elasticity (As t ) of the medium.
- step A3 the real strain can be deduced by the static elasticity (As t ).
- This static elasticity can be a Langragian static elasticity (As t ).
- the temporal succession of static elasticity data (As t ) can comprise a temporal succession of static elasticity values (As t ).
- the temporal succession of shear wave elasticity data (Et) comprises a temporal succession of shear wave elasticity values (Et),
- a total static elasticity (s t ) can be determined as a function of an integration of the values of static elasticity (As t ).
- the actual strain can be determined as a function of G total static elasticity (s t ) determined.
- the method may further comprise step: A6. Determination of a quality parameter as a function of at least one of the following parameters: shear wave elasticity (Et), static elasticity (As t ) and total static elasticity (s t ).
- Et shear wave elasticity
- As t static elasticity
- s t total static elasticity
- the quality parameter can be determined based on a comparison of a current value (s t ) and a previous value (e ⁇ ) of the total static elasticity.
- the quality result can be a Boolean variable.
- the quality parameter can be determined based on whether the current value (s t ) exceeds the previous value (e ⁇ ) of the total static elasticity increased or decreased by a first difference threshold.
- This predefined difference threshold can be fixed or according to a predefined function.
- the quality parameter can be determined based on a minimum time, during which the estimated actual strain level (represented by the total static elasticity (s t )) matches the target strain level (e.g. with a tolerance predefined).
- the quality parameter can be determined based on whether an entropy of the current values of shear wave elasticity (Et), and / or static elasticity (Ae t ) lie within a range predefined. As long as the determined quality parameter exceeds a first minimum quality threshold, in step B. the current values of the shear wave elasticity (Et *), and the total static elasticity (e) can be used for quantify the nonlinear elasticity of the medium. Therefore, only values of an acceptable quality level can be used. On the other hand, the unqualified values can be used as comparison values in the next cycle t + 1.
- the determined quality parameter does not exceed the minimum quality threshold, there are optional actions: the current values of the shear wave elasticity (Et), and of the total static elasticity (e t ) do not are not used to quantify the nonlinear elasticity of the medium, and / or feedback information representing the determined quality parameter is presented to a user of the probe, and / or the process is optionally repeated in a next cycle (t + 1).
- the predetermined sequence of deformations can be adapted according to the quality parameter.
- the predetermined strain sequence can be interrupted or paused, if the determined quality parameter does not exceed the minimum quality threshold.
- the predetermined sequence of deformations can be predefined but can also optionally depend on the quality of the acquired data.
- the method may further comprise the step: C. Determining visual information representing the level of nonlinear elasticity of the medium comprising at least one of: an image, a score, and / or a symbol showing the level of nonlinear elasticity of the medium.
- the method may further include the step: D. Presenting feedback information to a user of the probe, including at least one of: actual strain, quality parameter, and visual information.
- Steps A1. to B. or A1. to C. or A1. to D. can be repeated, and / orsteps A1. to B. or A1. to C. or A1. to D. may be repeated until one of the following conditions is satisfied: the determined quality parameter does not exceed a second minimum quality threshold which is less than the first minimum quality threshold, and / or, a maximum number of iterations has been performed, and / or a maximum process time has elapsed, and / or a minimum number of quantifications of the nonlinear elasticity of the medium has been performed.
- the method can comprise several cycles t, during which the determined values are updated and / or refined.
- the method may further comprise step C. of determining an image and / or a score and / or a symbol showing the level of nonlinear elasticity of the medium.
- the score and / or symbol can be an icon, a value versus a threshold, sentences, a table of values, etc.
- the method can further comprise the following steps:
- the B-mode data, the static elasticity data, and the shear wave elasticity data are temporally interleaved.
- steps (A1) to (A3) or (A1) to (A5) or (A1) to (D) are performed simultaneously, and / or steps (A1) to (A3) or (A1) to (A5) or (A1) to (D) are performed in real time or in near real time.
- the value of a shear wave nonlinearity parameter is determined by performing a linear regression adjustment according to the equation:
- E (t) is the elasticity at each moment of deformation during the evolution of deformation
- Eo is the elasticity at a first instant (tO)
- e is the strain
- A is the shear nonlinearity parameter.
- the method further comprises a step (0) prior to step (A1), in which at least one ultrasound or MRI (magnetic resonance imaging) or mammography image or shear wave elasticity image of the body. medium is determined, without applying a deformation according to a predetermined deformation sequence, and this step makes it possible to determine an area of interest (ROI region of interest) for which the nonlinear elasticity is quantified according to steps (A1) to (B).
- a confidence map comprising reliability levels is displayed in parallel with the display of the nonlinear elasticity image, in order in particular to allow the practitioner to know the assessed level of confidence of each of the points of. the "result" image presented.
- This confidence map can be a map (or an image) that indicates the level of confidence of each part of the image showing the level of nonlinear elasticity of the medium.
- the level of reliability can be deduced for example from statistics resulting from the result of the linear regression and / or can take into account the characteristics of the newly real applied to the tissues (uniform speed, uniaxial movement, etc.).
- This map can be implemented by means of matrices, images, color codes, and / or table.
- a nonlinear elasticity value against a predefined reference value is displayed.
- This predefined reference value can be a predefined value in the scientific literature and / or can be calculated for this same patient during a previous examination, or the result of statistical calculations and optionally displayed graphically.
- the value can be displayed instead of or in addition to the nonlinear elasticity value (eg for each pixel or group of pixels).
- the display of the predefined value can advantageously allow a reliable analysis and / or diagnosis, for example of a soft cancerous medium and / or indicate the type of cancer observed.
- the present invention also relates to an ultrasonic method for quantifying the nonlinear elasticity by shear waves of a medium using an imaging device (1) comprising an ultrasonic probe (6), a microcomputer (4). , and optionally a user interface, the method comprising the following steps:
- NL-SWE nonlinear elasticity by shear waves
- Each of these images can be of two-dimensional or 3D type.
- a step of adjusting the parameters of the predetermined deformation sequence for example according to the clinical case (size of the patient, size of the organ considered, in particular when it comes to breast tissue, depth of lesion observed, tissue density, etc.) can be used.
- a step of adjusting the parameters of the display for example according to the preferences of the user (superimposition with other B mode images, etc.), change of units, change of color code, etc.
- a user or an articulated arm or any other operator can do it continuously, without pause.
- the probe can collect, during each of the collection steps of the process, ultrasound data to which a method for estimating the temperature can be applied.
- movement (speckle tracking on B Mode or Doppler effect) in order to extract information relating to the deformation and / or in order to readjust the ultrasound data collected.
- the predetermined deformation sequence includes an optionally automatic stopping sub-step before the quantization step. This provides in particular the advantage for the operator of being notified, for example, that the acquisition session has ended because there is sufficient data collected.
- the method may further comprise, in particular before the activation of the first mode:
- the present invention provides a method for determining a non-indurated cancerous medium compared to the non-cancerous medium (a non-indurated malignant lesion compared to a benign lesion) using the method as recited above, in which the non-indurated cancerous medium (non-indurated malignant lesion) is detected according to its level of non-linear elasticity.
- the present invention provides a method for determining a non-indurated cancerous medium in comparison with the non-cancerous medium using the method as set out above, in which the medium studied is biological mammary and / or axillary tissue.
- the present disclosure also relates to an imaging device comprising an ultrasound probe and a microcomputer suitable for implementing the method for quantifying the nonlinear elasticity of a medium as mentioned above.
- Figure 1 is a schematic view of an ultrasound imaging device according to one embodiment of the invention.
- FIGS. 2A, 2B and 2C schematically show an example of the method according to the present invention, in particular of an application in the middle of a successively changing schematic deformation.
- FIG. 3A-3C Figures 3A, 3B and 3C schematically illustrate the screen of a user interface of the device when applying a method according to the present disclosure.
- FIG. 4 Figure 4 schematically illustrates a flowchart of an improved method according to the present disclosure.
- the imaging device 1 shown in FIG. 1 is intended to provide images of a viscoelastic medium 2 which is scattering with respect to the ultrasonic compression waves, and which may for example be a living body, for example a part of the body. body of a patient (breast, liver, abdomen, ...), in the case of medical applications.
- This imaging device 1 is also able to study the propagation of elastic shear waves to provide images of elasticity of the medium 2.
- the images in the middle are produced for example by means of a microcomputer 4 (comprising at least one input interface 4b such as a keyboard or the like, and an output interface 4a such as a screen or the like) or any other electronic central unit, which sends into the medium 2, from its outer surface 3, ultrasonic compression waves which interact with the particles diffusers 5 contained in the medium 2, which particles are reflective for the ultrasonic waves of compression.
- the particles 5 can be formed by any heterogeneity of the medium 2, and in particular, when it comes to a medical application, by collagen particles present in human tissues (these particles form on the echographic images points known as the term "speckle").
- an ultrasonic probe 6 is used placed against the outer surface 3 of the observed medium 2.
- This probe sends, along a Z axis, pulses of ultrasonic compression waves of the type of. those commonly used in echography, at a frequency of for example between 0.5 and 100 MHz and preferably between 0.5 and 15 MHz, for example of the order of 4 MHz.
- the ultrasonic probe 6 consists of an array of n ultrasonic transducers T1, T2, ..., Ti, ..., Tn, n being an integer greater than or at least equal to 1.
- the probe in question may also be a two-dimensional array (plane or not. ) transducers.
- the transducers T1, T2, ... Tn can be controlled independently of each other by the microcomputer 4, possibly by means of a central unit CPU which is contained for example in an electronic bay 7 connected by a cable. flexible to probe 6.
- the T1-Tn transducers can thus selectively emit:
- a "plane” compression ultrasonic wave ie in this case a wave whose wavefront is rectilinear in the X, Z plane
- any other type of unfocused wave illuminating the whole of the field of observation in the medium 2, for example a wave generated by causing random acoustic signals to be emitted by the various transducers T1-Tn,
- the imaging device 1 and the method according to the present invention perform a quantification of the nonlinear elasticity by shear waves of a medium.
- NL-SWE Non-Linear Shear Wave Elasticity
- the NL-SWE mode method uses an ultrasonic method to determine the elasticity of the medium by shear waves (SWE).
- this method (ie the respective data collection or the "scan") is combined simultaneously and / or inserted with an ultrasonic method to observe in real time or in near real time the evolution of the deformation.
- the SWE and strain processes can be based on plane ultrasonic waves, while the B-mode process can be based on non-plane ultrasonic waves.
- the probe can also be equipped with a pressure sensor which makes it possible to observe (or follow) the evolution of the deformation of the medium.
- FIGS. 2A to 2C illustrate an example of the method according to the present invention, in particular of an application of a successively changing schematic deformation in the medium.
- FIGS. 2A to 2C show the evolution of deformation of the medium, caused by an application of a successively changing deformation to the medium.
- the imaging device 1 performs a quantification of the nonlinear elasticity by shear waves of the medium according to the present invention.
- the process can last a few seconds, for example between 5-1 Os. This time is useful to collect enough data during the evolution of deformation of the medium (ie to sufficiently quantify the nonlinear elasticity by shear waves of a medium during this evolution). A countdown can be notified to the user, so that they are ready to exercise the tissue deformation through the probe or any other means.
- FIG. 2A represents a use of the imaging device 1 at an instant t0 of the method, the probe 6 exerting a low or zero external pressure P on the external surface 3.
- the external surface 3 remains substantially horizontal (in the X direction).
- the image of the medium lo comprises for example an inclusion 2i at a depth Z1 with respect to the external surface 3.
- the ultrasonic method for quantifying the nonlinear elasticity by shear waves of the medium started.
- FIG. 2B represents a use of the imaging device 1 at an instant t1 of the method, and with an external pressure (or constraint) P 'exerted, greater than P, which deforms the external surface 3 in the direction Z towards the interior. of the medium 2. Therefore, the deformation of the medium has been successively changed.
- FIG. 2C is shown a use of the imaging device 1 at a time t2 of the process, with an external pressure P "even higher than P" exerted at t1.
- the successive compression as illustrated in Figures 2A to 2C, can be performed continuously and gradually. This is possible by observing the evolution of real deformation in real time or in near real time. Alternatively, a successive decompression can be applied to the tissues composing the medium.
- the evolution of the deformation shown in FIGS. 2A to 2C is not random, but is predetermined by a predefined sequence of deformation.
- this sequence can be illustrated for example graphically to the user on the screen 4a of a user interface of the device 1, thus allowing the user to apply the correct pressure at each moment of the process.
- a display of a cursor indicating the pressure to be exerted as well as the applied pressure measured on the same graph or vibrations in the probe to indicate to the user whether he is following the predefined sequence.
- the application of the deformation is automated, for example by using a robotic arm which moves the probe in an automated fashion according to the predetermined sequence.
- FIGS. 3A to 3C illustrate an example of a screen 4a of a user interface of the device during a method according to the present disclosure.
- FIGS. 3A to 3C can correspond to the time instants t0-t2 of FIGS. 2A to 2C.
- Screen 4a can show a field 41 to illustrate at least one ultrasound image.
- this image can be an image of a zone of interest of the medium (for example an image of elasticity by shear waves (SWE)) which was taken before starting the process, that is to say before tO.
- SWE shear waves
- field 41 can show an image showing the level of nonlinear elasticity of the medium according to the present invention.
- the screen 4a further shows a field 42.
- This field 42 displays during the process the actual estimated actual strain level (for example with a cross or point O) and the target strain level (for example with a ball or circle C ).
- the estimated real deformation O corresponds to the deformation currently observed, in particular in real time
- the target deformation C changes successively according to the predetermined deformation sequence, in particular in real time.
- the target C can evolve successively in the field 42 during the process, in order to show at each moment the evolution of the predetermined deformation sequence and therefore guide the user.
- Figure 3A may correspond to the state of Figure 2A and therefore to the time instant t0. Therefore, the probe 6 exerting little or no external pressure P on the external surface 3. Therefore, the actual estimated actual strain level O and the current target strain level C are both zero.
- FIG. 3B can correspond to the state of FIG. 2B and therefore to the time instant t1. Therefore the probe 6 exerting an external pressure P increased on the surface external 3.
- the current estimated actual strain level O is lower than the current target strain level C. That is, the user is guided by the target C in order to further increase the pressure.
- Figure 3C may correspond to the state of Figure 2C and therefore to the time instant t2. Therefore, the probe 6 exerting an external pressure P "even higher than P" at t1. Since t2 corresponds to the end of the predetermined strain sequence, the actual estimated actual strain level O and the current target strain level C are both at the maximum of the predetermined strain sequence.
- the imagery is stopped or "frozen” at the time instant t2. This advantageously allows the user to focus on the predefined strain sequence up to t2, without having to stop imaging manually.
- the device 1 quantifies the nonlinear elasticity of the medium, which is calculated as a function of the temporal succession of data and the evolution of deformation observed during the period t0 at t2.
- the user interface can instantly display an image of the nonlinear elasticity of the medium, which is determined based on the quantized nonlinear elasticity.
- the device 1 can record the temporal succession of data (or images) collected during the period t0 to t2. This step may include predefined calculations and measurements of the data.
- the screen 4a can display on the user interface the temporal succession of images.
- the device After displaying the image, you can have a step of adjusting the display parameters, according to the user's preferences (superimposition with other B mode images, etc.), changing the units , change of color code. For example one can change between a display without units, which is easier to interpret and a display with units (eg kPa), which can be advantageous to be used with scientific literature to interpret the values.
- These analyzes can be performed through statistical algorithms anywhere medium, eg artificial intelligence.
- the device may involve a second mode of ultrasound imaging, and / or shear wave elasticity imaging (SWE), and / or mammography.
- SWE shear wave elasticity imaging
- This mode can therefore be activated before using NL-SWE mode or during a prior independent session.
- the device can determine at least one shear wave elasticity image of the medium by applying shear waves to the medium, without applying a strain according to a predetermined strain sequence.
- the image can be saved, optionally including predefined calculations and measurements of the image.
- the user can determine an area of interest (ROI region of interest) in the image to image the nonlinear elasticity of the area according to the first NL-SWE mode.
- ROI region of interest area of interest
- FIG. 4 schematically illustrates a flowchart of an improved method according to the present disclosure. This method comprises in particular a quality criterion of the data collected.
- the process can be repeated for a plurality of cycles t. Therefore, the process can last for a variable time including the plurality of cycles t. This variable time or duration and / or the number of cycles can be predefined and adapted according to the quality of the data acquired (as described below).
- the process can be repeated until one of the following conditions is satisfied: the determined quality parameter does not exceed a second minimum quality threshold which is less than the first minimum quality threshold, and / or, a maximum number of d 'iterations have been performed, and / or a minimum number of nonlinear elasticity quantification of the medium has been performed.
- step 1 the user positions the probe on the surface of the medium.
- step 2 a scan or imaging mode is activated.
- This mode comprises in particular an imaging of the elasticity by shear waves (SWE) and an imaging of the static elasticity (“strain”), during which the probe applies a deformation according to a predetermined sequence of deformation, by compressing progressively or by gradually decompressing the middle.
- the scan of step 2 can last for the varying time of the process.
- step 3.1 a temporal succession of ultrasound data imaging the shear waves generated in the medium is collected using the probe making it possible to deduce the shear wave elasticity (SWE) E t.
- This step may correspond to step A1 according to the disclosure.
- the Young's modulus E t of the current measurement of the shear wave velocity can be collected.
- step 3.2 a temporal succession of static elasticity data of the medium is collected using the probe making it possible to deduce the static elasticity As t of the medium.
- This step can correspond to step A1 ′ according to the disclosure.
- the instantaneous static (Lagrangian) elasticity As t is deduced by comparing the current and historical images.
- the static elasticity is determined by comparing the values of the current (t) and previous (t-1) RF echoes of the radio-frequency echoes received from the medium.
- the temporal succession of static elasticity data As t can comprise a temporal succession of static elasticity values (in particular one value per cycle t), and / or the temporal succession of shear wave elasticity data Et comprises a succession temporal values of elasticity by shear waves (in particular one value per cycle t).
- step 5 the total static (axial) elasticity s t is calculated by integrating the static elasticity As t. This total static elasticity s t is sent to the qualifier (cf. step 4). This total static elasticity s t is also used to determine the actual strain and / or to update the probe position indicator in step 7 (i.e. the actual estimated actual strain level O in Figs. 3A to 3C). These steps 5 and / or 7 can correspond to step A3 according to the disclosure.
- step 4 the quality of the data collected is quantified.
- a quality parameter is determined.
- the predetermined strain sequence may be adapted depending on the quality parameter, and / or the predetermined strain sequence may be interrupted or paused, if the determined quality parameter does not exceed the minimum quality threshold (i.e. ie a first quality threshold). For example, in case the determined quality parameter does not exceed the minimum quality threshold, the current values are not used and the quality is again measured in a next cycle t + 1 based on future values of the elasticity by shear waves E t + i , the static elasticity àe t + 1 and the total static elasticity e t + 1 .
- the determined quality parameter exceeds the first minimum quality threshold in step 4
- the current values of the shear wave elasticity, and the total static elasticity are declared as qualified values Et * and e t * and these values are used to quantify the nonlinear elasticity of the medium.
- Et * and e t * are used to quantify the nonlinear elasticity of the medium.
- the quality and / or the quality parameter can be presented as an image, a score, and / or a symbol showing the quality level.
- the quality result can be presented as a Boolean value (eg a light with the colors red or green, and optionally with other colors to refine, eg orange, and / or a snowman's head " smiley ”), as a numerical indicator on a scale (eg from 0 to 10), and / or as an indication of a movement to be made with the probe (eg an arrow with a length and / or width adapted according to the quality parameter).
- a Boolean value eg a light with the colors red or green, and optionally with other colors to refine, eg orange, and / or a snowman's head " smiley
- a numerical indicator on a scale eg from 0 to 10
- an indication of a movement to be made with the probe eg an arrow with a length and / or width adapted according to the quality parameter
- step 10 feedback information can be presented to the user depending on the quality parameter (see step 10). For example, in case the quality of the acquired data is not acceptable (e.g. the quality parameter does not exceed a predefined quality threshold) the user is informed to continue the scan and the future data (t + 1) will be tested again.
- steps 4 and / or 9 may correspond to step A6 depending on the disclosure.
- step 6 qualified values of the total static elasticity e t * and the shear wave elasticity (SWE) E are used to calculate the nonlinear shear wave elasticity m N ⁇ , ⁇ (NL-SWE ).
- step 8 the value used to update the nonlinear shear wave elasticity (NL-SWE) information, for example a SWE-NL map.
- This information can also be presented for example as an image, a score, and / or a symbol showing the level of nonlinear elasticity of the medium.
- the update can be performed in real time or near real time during the scan for each cycle t.
- the NL-SWE card can in particular be refined with each value m N ⁇ , ⁇ , that is to say in each cycle t.
- Step 8 can correspond to step C according to the disclosure.
- feedback information is presented to the user of the probe, in particular in real time or near real time during the scan for each cycle t. This information may include the actual strain updated in step 7, the quality parameter updated in step 4, and / or the nonlinear shear wave elasticity information ( NL-SWE) updated in step 8.
- Step 10 may correspond to step D according to the disclosure.
- the quality parameter can be determined based on a comparison of a current value s t and a previous value e ⁇ _ 1 of the total static elasticity.
- the quality parameter can be determined as a function of whether the current value s t exceeds the previous value total static elasticity increased by a first difference threshold.
- the current values of the shear wave elasticity, and the total static elasticity are declared as the qualified values Et * and e * and are used to quantify the nonlinear elasticity of the medium.
- Target C (see fig. 3A to C) can move to an increased strain level.
- This predefined threshold can be set at time t or can be calculated (eg in real time) according to a predefined function.
- the process for quantifying the nonlinear elasticity eg the scan
- the process for quantifying the nonlinear elasticity can be stopped and optionally an error and / or a message that the process is finished can be indicated to the user.
- the user applies a successive compression during the scan.
- a successive decompression during the scan That is to say, before the start of the scan the user applies a compression according to a first level of compression and decompresses afterwards during the scan.
- the method of comparing a current value s t and a previous value e ⁇ , using a threshold, is correspondingly reversed.
- the scan can be stopped when a second predefined compression level (lower than the first compression level) has arrived.
- a message indicating that the process is completed can be indicated / presented to the user.
- the first compression level can be freely chosen by the user (i.e.
- the second level of compression can be fixed or can be chosen according to a predefined function, for example according to the first pressure level, and / or according to whether enough data is collected to quantify the nonlinear elasticity.
- the quality parameter can also be determined as a function of a predefined duration, in which the estimated real strain level represented by G total static elasticity s t corresponds to the target strain level, in particular with a predefined tolerance. So, if the location of the probe matches the location of target C (see fig. 3A to C) over time (i.e. a first quality threshold is reached), the current values of the shear wave elasticity, and the total static elasticity are declared as qualified values Et *, e t * and are used to quantify the nonlinear elasticity of the medium. This result can be communicated to the user in step 10, for example by displaying a certain color on the quality indicator. Target C can move to an increased strain level.
- the method for quantifying the nonlinear elasticity can stop and optionally a error and / or a message stating that the process has been completed can be indicated to the user.
- the predefined duration can comprise at least one cycle t and is advantageously shorter than the variable time of the process.
- the predefined duration may be less than one second (eg 30ms to 100ms) and the variable process time may last several seconds. If the predefined duration includes several cycles t, it is possible that during the cycles only steps 1 to 4 are carried out and steps 6 to 10 are carried out only afterwards.
- the predefined duration can be fixed or can be adapted according to a predefined function.
- variable time of the process to quantify the nonlinear elasticity may automatically stop after a maximum limit.
- the observation of the duration of the scan is advantageous, because the medium can be heated by waves. It is therefore desirable to stop the process after a maximum period of time and / or quickly complete the data acquisition.
- the user can freely apply compressions and / or decompressions during the scan.
- the predetermined sequence of deformations can be carried out as one or more levels of compression.
- the method can provide a minimum threshold level and a maximum threshold level.
- the quality parameter can also be determined, if an entropy of the current values is within a predefined range (that is, if this entropy is bounded within a predefined interval, and / or if a first threshold is reached), in particular of the current values of the elasticity by shear waves (Et), and / or of the static elasticity (Ae t ).
- the current values of the shear wave elasticity, and the total static elasticity are declared as qualified values Et * and e t * and used to quantify the nonlinear elasticity of the medium.
- This result can be communicated to the user in step 10, for example by displaying a certain color on the quality indicator.
- Target C can move to an increased strain level.
- the test of option 3 can have the precondition only if the previous value £ t * _ ! does not exceed the current value s t , for example increased by a second difference threshold (that is to say a second quality threshold lower than the first quality threshold is not reached).
- the process for quantifying the nonlinear elasticity eg the scan
- the process for quantifying the nonlinear elasticity can be stopped and optionally an error and / or a message indicating that the process is finished can be notified to the user. Determination of images of the medium l k in "B mode"
- B-mode imaging The process described below is known as "B-mode" imaging.
- the temporal succession of mode B data (or image or image data) can be used to calculate a compensation of movement of the medium relative to the probe during the application of a successively changing deformation (as described above).
- the imaging device To generate an image of the medium (I), the imaging device performs the following steps, for example:
- the microcomputer 4 causes the probe 6 to emit in the viscoelastic medium at least one shot of an unfocused compression ultrasonic wave
- the microcomputer 4 causes the probe 6 to detect and record in time real acoustic signals received from the viscoelastic medium 2, comprising the echoes generated by the unfocused compression ultrasonic wave by interacting with the reflecting particles 5 of the viscoelastic medium
- the unfocused compression ultrasound wave propagates in the medium 2 with a very high propagation speed, for example of the order of 1500 m / s in the human body, and interacts with the reflecting particles 5, which generates echoes or other similar disturbances of the signal, known per se under the name of "speckle noises” in the field of ultrasound.
- These “speckle noises” are picked up by the transducers T 1, ..., Tn during the sub-step (i2), after the firing of an unfocused compression ultrasonic wave.
- the signal si (t) thus captured by each transducer Ti is first of all sampled at high frequency (for example from 30 to 100 MHz) and digitized in real time by a sampler belonging to bay 7 and connected to this transducer, respectively E1, E2, ... In.
- the signal si (t) thus sampled and digitized is then stored, also in real time, in a memory Mi belonging to the bay 7 and specific to the transducer Ti.
- Each memory Mi has for example a capacity of the order of 128 MB, and contains all the signals si (t) received.
- the central processing unit CPU After the storage of all the signals si (t), the central processing unit CPU has these signals reprocessed by a summing circuit S belonging to the bay 7 (or else it carries out this processing itself, or else said processing can be carried out in the microcomputer 4), by a conventional process of forming channels corresponding to the sub-step (i3).
- Signals S (x, z) are thus generated, these signals each corresponding to the image of the field of observation of the medium after the firing of the unfocused ultrasonic wave.
- di (x, z) is the distance between the point of the observation field of coordinates (x, z) and the transducer n ° i, or an approximation of this distance
- V is the average speed of propagation of the ultrasonic acoustic compression waves in the observed viscoelastic medium
- the central unit CPU stores in a central memory M belonging to the bay 7 the image signals S (x, z) correspond to the last shot. These signals can also be stored in the microcomputer 4 so that it itself performs the calculation of the image of the medium (I).
- imaging the medium (I) can be used.
- Any imaging technique that makes it possible to obtain images of the environment can be used.
- a technique will be used which makes it possible to obtain images at a high speed.
- strain static elasticity
- the temporal succession of data (or image or image data) of static elasticity (“strain”) can be used to observe the evolution of the estimated real strain (as described above).
- the images of the medium (l k ) can be processed by correlation and advantageously by intercorrelation either two by two, that is to say between an image of the medium of index k (l k ) and the image of the middle of the medium of index k-1 (I M ).
- the intercorrelation can be carried out for example in a specialized electronic circuit DSP belonging to the bay 7, or be programmed in the central unit CPU or in the microcomputer 4.
- an intercorrelation function ⁇ S k -i (x, z), S k (x, z)> is maximized in order to determine the displacement undergone by each particle 5 giving rise to an echo ultrasound.
- a displacement field i.e. a set of displacement vectors or u (x, z, t) in each position (x, z) of the medium 2, which can be denoted Uk (x, z ) by replacing the variable of the temporal instant t by the image index k.
- Uk x, z
- These displacement vectors can possibly be reduced to a single component or to two or three components.
- the field of displacement U k at the image index k is:
- This displacement field (set of displacement vectors) is stored in the memory M or in the microcomputer 4.
- An image of the IUK displacement field can be constructed, and all the images of the IUK displacement field corresponding to the temporal succession of the images of the medium can be viewed, in particular by means of the screen 4a of the microcomputer, for example. , in the form of a slow motion film where the value of the displacements is illustrated by an optical parameter such as a gray level or a chromatic level.
- partial deformation vectors or partial deformation images can be viewed, in particular by means of the screen 4a of the microcomputer, in the form of a slow-motion film.
- the deformation of the medium 2 linked to the variations in the external pressure P exerted on the external surface 3 is a slow, almost uniform elastic deformation. This deformation propagates inside the viscoelastic medium 2, and causes the displacement of the particles 5 and the elements included in the medium 2.
- the external deformation caused by the external pressure P can be considered as causing a movement between an image of the medium of index k (l k ) and a previous image of the medium of index k-1 (l k -i).
- the motion can then be determined by the displacement field (Uk) between an image of the middle of index k and a previous image of the middle of index k-1.
- this movement can be modeled by a geometric transformation T k of index k which represents in a general and simple manner all of the displacements of the displacement field at the step of image index k, Uk (x, z), that is to say with a very small number of parameters, and for example less than ten.
- the geometric transformation T k comprises a translation, as shown between FIG. 2A and FIG. 2B.
- the geometric transformation T k comprises a translation and a homothety. According to a second variant, the geometric transformation T k comprises a translation, a homothety and a rotation.
- the matrix of the geometric transformation is obtained by the matrix product of the matrix B and the inverse of the matrix A:
- a compensation of any type of images from the preceding movements can be carried out by matrix multiplication of the preceding geometric transformations, that is to say by matrix multiplication of the geometric transformations T ,, the index i varying from 1 to k.
- the preceding relations established with 3 points can be generalized to a group of points of the image, the group of points comprising 3, 4, 5 or 6 points of the image.
- the point group consists of between three and ten points of the image.
- a population of three points (of group of points) of the image is advantageously taken, said population comprising a number Ng of groups of points of great value.
- the size of this population the number Ng of point groups is greater than one hundred.
- the parameters of the geometric transformation T k are obtained by median values of the parameters calculated from the population of the groups of points of the image.
- this technique can be applied to an image of the displacement field U k in order to deduce therefrom the movement between an image of the medium of index k and a previous image of the medium of index k-1.
- the selection of points in each group is done randomly in the image. Thanks to this arrangement, it is possible to determine a geometric transformation which represents in a more global and more reliable manner the movement between images.
- the process described below is known as elasticity shear wave imaging of the medium.
- the temporal succession of shear wave elasticity data (or image or image data) can be used to quantify the nonlinear elasticity of the medium (as described above).
- Each intermediate image of the medium is for example generated by the method for determining an image of the medium l k described above, in which at least one shot of an unfocused compression ultrasonic wave is made to be emitted by the probe 6, and one detects and records the received acoustic signals by the probe 6, and these acoustic signals are processed to construct an intermediate image of the medium (llj, k ).
- the focus and timing of the focused ultrasonic wave emitted in step (e1), as well as the timing of unfocused ultrasonic waves emitted in step (e2), are adapted so that unfocused ultrasonic waves arrive in the field of observation during the propagation of the shear wave in this field of observation.
- the shear wave is visible in the intermediate images of the medium ll jk generated.
- the intermediate images of the medium ll jk are processed to calculate a displacement field U j, k , for example by correlation or intercorrelation as previously. For example by intercorrelation between an intermediate image of the medium of index j (ll j, k ) and the intermediate image of the middle of the medium of index j-1 (l j -i , k ).
- the determined displacement vectors can be used to visualize the propagation of the shear wave in the form of a film.
- the microcomputer 4 can advantageously then proceed to a mapping step during which, from the evolution of the movement parameter (displacement or partial deformation) over time in the field of observation, at least one shear wave propagation parameter is calculated, either at certain points of the chosen field of observation, or throughout the entire field of observation. It is then possible to construct an image of elasticity IE k , corresponding to all the parameters of the propagation of the shear wave at the various points of the field of observation.
- This image of elasticity IE k of the medium can be viewed, in particular by means of the screen 4a of the microcomputer where the value of the propagation parameter is illustrated by an optical parameter such as by a gray level or by a chromatic level. .
- the shear wave propagation parameter which is calculated during the mapping step is chosen for example from:
- a shear wave propagation model is used, for example represented by the following propagation equation, to which obey the displacements u generated by the shear waves at each position r in the middle:
- TS is the mechanical relaxation time of the tissues
- cS is the speed of the shear wave, directly related to the Young's modulus E of the tissues by the relation:
- the wave equation can be used in the Fourier domain, for example by averaging the values over a frequency band.
- the speed of propagation of the shear wave in medium 2 is sufficiently large to consider that there is no variation in the external pressure P exerted on the external surface 3 during this process during which a plurality of d are taken.
- 'images of the medium intended to determine an image of elasticity IE (shear wave propagation parameter).
- these images in the middle are not corrected by the movements in the middle.
- the elasticity image of the medium IE k must be corrected with the movement at the time instant considered or at a close time instant (represented by the index k) in order to be able to be compared with the image of the initial medium lo, or to be able to be compared to the corrected deformation image Iek *
- Eo is the Young's modulus of the linear domain
- e is the strain
- Ds is the variation of local stress, i.e. the partial stress, with As t is the static elasticity quantified at time (t) compared to time (t-At), and therefore De is the variation of local strain, ie the partial strain As t for (D ⁇ ) tending towards zero.
- a nonlinearity parameter of elasticity can for example be the Landau coefficient called the third order shear modulus of elasticity A mentioned in the documents:
- Equation (1) of the latter document can be rewritten in the form of a relation (R1) between the elasticity (Young's modulus) E and the stress s:
- Eo is the Young modulus of the linear domain, i.e. the Young modulus of the material of the medium without compression, therefore the first image of elasticity corrected in the temporal succession of the images s is the stress and by example the uniaxial stress s z in the direction Z, vertical, corresponding substantially to the compression induced by the external pressure exerted by the user of the probe 6, and
- A is the desired nonlinearity parameter.
- Eo is the Young modulus of the linear domain, i.e. the Young modulus of the medium material without compression, therefore the first image of elasticity corrected in the temporal succession of the images ln () is the function of natural logarithm e is the deformation, and
- A is the nonlinearity parameter to be determined.
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AU2020399208A AU2020399208A1 (en) | 2019-12-13 | 2020-12-10 | Ultrasonic method for quantifying the non-linear elasticity of a medium using shear waves, and device for implementing this method |
KR1020227019499A KR20220100624A (ko) | 2019-12-13 | 2020-12-10 | 전단파를 사용하여 매질의 비선형 탄성을 정량화하기 위한 초음파 방법 및 이 방법을 구현하기 위한 장치 |
CN202080082912.1A CN114761827A (zh) | 2019-12-13 | 2020-12-10 | 量化介质的非线性剪切波弹性的超声波方法和用于实施该方法的设备 |
EP20820222.6A EP4073544A2 (fr) | 2019-12-13 | 2020-12-10 | Procédé ultrasonore pour quantifier l'élasticité non linéaire par ondes de cisaillement d'un milieu, et dispositif pour mettre en oeuvre ce procédé |
US17/784,050 US20230026896A1 (en) | 2019-12-13 | 2020-12-10 | Ultrasonic method for quantifying the nonlinear shear wave elasticity of a medium, and device for implementing this method |
JP2022535728A JP7407939B2 (ja) | 2019-12-13 | 2020-12-10 | 媒体の非線形剪断波弾性を定量化する超音波方法、及びこの方法を実施する装置 |
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EP3563769A1 (fr) * | 2018-04-30 | 2019-11-06 | Esaote S.p.A. | Procédé et système à ultrasons pour imagerie d'élasticité d'ondes de cisaillement |
EP3569155B1 (fr) * | 2018-05-16 | 2022-12-14 | Esaote S.p.A. | Procédé et système à ultrasons pour imagerie d'élasticité d'ondes de cisaillement |
FR3095941B1 (fr) * | 2019-05-17 | 2021-04-16 | Supersonic Imagine | Procédé pour déterminer par ultrasons une image corrigée d’un milieu, et dispositif pour mettre en œuvre ce procédé |
EP3977938B1 (fr) * | 2020-10-05 | 2024-07-10 | Esaote S.p.A. | Procédé et système à ultrasons pour imagerie d'élasticité d'ondes de cisaillement |
EP4124302A1 (fr) * | 2021-07-29 | 2023-02-01 | SuperSonic Imagine | Procédé et système à ultrasons pour estimer l'élasticité d'ondes de cisaillement non linéaire d'un support |
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2019
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2020
- 2020-12-10 EP EP20820222.6A patent/EP4073544A2/fr active Pending
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
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EP4124302A1 (fr) | 2021-07-29 | 2023-02-01 | SuperSonic Imagine | Procédé et système à ultrasons pour estimer l'élasticité d'ondes de cisaillement non linéaire d'un support |
JP2023021036A (ja) * | 2021-07-29 | 2023-02-09 | スーパー ソニック イマジン | 媒体の非線形剪断波弾性を推定するための超音波方法及びシステム |
JP7297995B2 (ja) | 2021-07-29 | 2023-06-26 | スーパー ソニック イマジン | 媒体の非線形剪断波弾性を推定するための超音波方法及びシステム |
FR3126615A1 (fr) | 2021-09-09 | 2023-03-10 | Supersonic Imagine | Dispositif pivotant pour une sonde d’échographie |
EP4147646A1 (fr) | 2021-09-09 | 2023-03-15 | Supersonic Imagine | Dispositif pivotant pour une sonde d échographie |
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JP7407939B2 (ja) | 2024-01-04 |
CN114761827A (zh) | 2022-07-15 |
KR20220100624A (ko) | 2022-07-15 |
FR3104736A1 (fr) | 2021-06-18 |
JP2023512404A (ja) | 2023-03-27 |
US20230026896A1 (en) | 2023-01-26 |
WO2021116326A3 (fr) | 2021-08-05 |
FR3104736B1 (fr) | 2022-12-09 |
AU2020399208A1 (en) | 2022-06-30 |
EP4073544A2 (fr) | 2022-10-19 |
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