# US 10,368,834 B2 · Bone surface image reconstruction using ultrasound > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,368,834 B2 - Document ID: US10368834B2 - Status: Granted - Kind: B2 - Application number: 14/113,672 - Filed: 2012-04-25 - Published: 2014-02-13 - Granted: 2019-08-06 - Earliest claimed: 2011-04-26 - Assignees: University of Virginia Patent Foundation - Applicants: F. William Mauldin, Jr.; John A. Hossack; Kevin Owen - Inventors: F. William Mauldin, Jr.; John A. Hossack; Kevin Owen - Web page: https://patentgrep.com/patent/US10368834B2 ## CPC - A61B 8/0875: {for diagnosis of bone} - A61B 8/4254: {using sensors mounted on the probe} - A61B 8/4455: {Features of the external shape of the probe, e.g. ergonomic aspects} - A61B 8/4466: {involving deflection of the probe} - A61B 8/4483: {characterised by features of the ultrasound transducer} - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - G01S 7/52073: {Production of cursor lines, markers or indicia by electronic means} - G01S 7/5208: {with integration of processing functions inside probe or scanhead} - G01S 15/60: wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track - G01S 15/8915: {using a transducer array} - A61B 8/0841: {for locating instruments} - A61B 8/4245: {involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient} - A61B 8/4433: {involving a docking unit} - A61B 8/466: {adapted to display 3D data} - A61B 8/483: {involving the acquisition of a 3D volume of data} - A61B 2017/3413: {guided by ultrasound} - A61B 2034/2048: {using an accelerometer or inertia sensor} - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2034/2055: {Optical tracking systems} - A61B 2090/378: {using ultrasound} - A61B 2090/3937: {Visible markers} - G01S 15/899: {Combination of imaging systems with ancillary equipment} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - 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 ## Abstract An ultrasonic transducer element can configured to generate ultrasonic energy directed into tissue of a subject and configured to receive a portion of the ultrasonic energy reflected by a target located within the tissue. The ultrasonic transducer can include a surface configured to provide or receive the ultrasonic energy, the surface including an area of greater than or equal to about 4λ2, or the ultrasonic transducer element can be included in an array having a spacing between at least two adjacent ultrasound elements of less than or equal to about ½λ, and the array comprising an aperture that is at least approximately symmetrical in two axes. A three-dimensional representation of one or more of a location, shape, or orientation of at least a portion of the target can be presented via the display. ## Claims ### Claim 1 An apparatus, comprising: an ultrasonic transducer element configured to generate ultrasonic energy to be directed into tissue of a subject and configured to receive a portion of the ultrasonic energy reflected by a target comprising bone, the ultrasonic transducer element comprising a surface configured to provide and receive the ultrasonic energy, the surface including an area of greater than or equal to 4λ2, where λ is an acoustic wavelength corresponding to a center frequency of the generated ultrasonic energy, the surface symmetrical in two axes; a processor circuit that controls the ultrasonic transducer element to generate and receive ultrasonic energy, and configured to obtain information indicative of the ultrasonic energy reflected by the target, the information including echo data; and a position tracking circuit that provides information indicative of a motion of the ultrasonic transducer element; and a display configured to present information about one or more of a location, orientation, or shape of the target, the information about the location, orientation, or shape determined by the processor circuit using the obtained information indicative of the ultrasonic energy reflected by the target and the information indicative of the motion of the ultrasonic transducer element; an elongated housing including at least one of a needle guide or a guide for a marking instrument, wherein at least one of the needle guide or the guide for a marking instrument is located proximal to a perimeter of the display; wherein the processor circuit estimates one or more of a location, a shape, or an orientation of the bone by fitting the echo data to a system model describing hypothetical echoes from different bone surfaces corresponding to at least one hypothetical target, the system model generated without requiring ionizing radiation exposure to said subject; and wherein the processor circuit controls the display to present the estimated location, shape, or orientation of the bone relative to the needle guide or the guide for the marking instrument. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the display is parallel to a tissue surface; and wherein the information determined by the processor circuit includes providing a spatially-registered three-dimensional representation of at least a portion of the target for presentation via the display. ### Claim 3 (depends on 1) The apparatus of claim 1 wherein the housing includes the processor circuit, the position tracking circuit, and the display; and wherein the ultrasonic transducer is located on or within the housing. ### Claim 4 (depends on 3) The apparatus of claim 3, wherein the housing includes at least two fixed alignment indicia at locations specified to align the apparatus with a specified region, the specified region determined at least in part using information about one or more of the location, orientation, or shape of the bone relative to the display. ### Claim 5 (depends on 4) The apparatus of claim 4, wherein at least one of the needle guide or the guide for a marking instrument is aligned at least in part using at least one of the fixed alignment indicia. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the processor is configured to generate an image for presentation via the display including a displayed alignment indicium. ### Claim 7 (depends on 6) The apparatus of claim 6, wherein the apparatus is configured to provide an indication that the apparatus is aligned with a specified region when the displayed alignment indicium is in a specified location relative to at least one fixed alignment indicium, the specified region determined at least in part using information about the location of the bone within the tissue relative to a surface of the tissue region. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein the processor circuit is configured to identify, via the display, the estimate of one or more of the location, orientation, or shape of the bone. ### Claim 9 (depends on 1) The apparatus of claim 1, comprising one or more of an optical imaging sensor or an accelerometer; and wherein the position tracking circuit is configured to determine the information indicative of a motion of the ultrasonic transducer element using information obtained via one or more of the optical imaging sensor or the accelerometer, and information about the received ultrasonic energy. ### Claim 10 (depends on 1) The apparatus of claim 1, wherein the position tracking circuit is configured to estimate one or more of an out-of plane or in-plane motion of the ultrasonic transducer element at least in part using information obtained via the correlation between two or more ultrasonic echo signals received during a specified interval. ### Claim 11 (depends on 1) The apparatus of claim 1, wherein the echo data includes a parameterized version of the echo data. ### Claim 12 (depends on 11) The apparatus of claim 11, wherein the system model includes a parametric model that includes at least a portion of a spinal anatomy. ### Claim 13 (depends on 1) The apparatus of claim 1, wherein the processor circuit fits the echo data to the system model by determining a maximum likelihood estimate using a priori information concerning spinal anatomy statistics. ### Claim 14 (depends on 1) The apparatus of claim 1, wherein the system model includes a linear observation model of the at least one hypothetical target. ### Claim 15 (depends on 1) The apparatus of claim 1, wherein the system model includes include a series of hypothetical sub-units of the bone. ### Claim 16 (depends on 1) The apparatus of claim 1, wherein the system model includes an active shape model of the at least one hypothetical target. ### Claim 17 (depends on 1) The apparatus of claim 1, wherein the system model includes a statistical shape model of the at least one hypothetical target. ### Claim 18 (depends on 1) The apparatus of claim 1, wherein the at least one hypothetical target includes a plurality of hypothetical targets. ### Claim 19 A method, comprising: generating ultrasonic energy to be directed into tissue of a subject and receiving a portion of the ultrasonic energy reflected by a target comprising bone using an apparatus having an ultrasonic transducer element comprising a surface configured to provide and receive the ultrasonic energy, the surface including an area of greater than or equal to 4λ2, where λ is an acoustic wavelength corresponding to a center frequency of the generated ultrasonic energy, the surface symmetrical in two axes, and wherein the apparatus includes a processor; with said apparatus, obtaining information indicative of the ultrasonic energy reflected by the target, the information including echo data; with said apparatus, determining information indicative of a motion of the ultrasonic transducer element; with said apparatus, presenting an image including a displayed alignment indicium of one or more of a location, orientation, or shape of the target, the displayed alignment indicium of the location, orientation, or shape determined using the obtained information indicative of the ultrasonic energy reflected by the target and the information indicative of the motion of the ultrasonic transducer element; with said apparatus, providing an indication that the apparatus is aligned with a specified region when the displayed alignment indicium is in a specified location relative to one or more of a marking instrument guide or a needle guide, the marking instrument guide and the needle guide disposed proximal to a perimeter of a display, the display disposed in a housing of the apparatus; with said apparatus, estimating one or more of a location, a shape, or an orientation of the bone by fitting the echo data to a system model describing hypothetical echoes from different bone surfaces corresponding to at least one hypothetical target, the system model generated without requiring ionizing radiation exposure to said subject; and with said apparatus, presenting the estimated location, shape, or orientation of the bone relative to the needle guide or the guide for the marking instrument. ### Claim 20 (depends on 19) The method of claim 19, comprising presenting a spatially-registered three-dimensional representation of at least a portion of the target for presentation via a display, the display oriented parallel to a tissue surface when the ultrasonic transducer element contacts the tissue surface, the apparatus including the display. ### Claim 21 (depends on 19) The method of claim 19, wherein the echo data includes a parameterized version of the echo data. ### Claim 22 (depends on 21) The method of claim 21, wherein the system model includes a parametric model that includes at least a portion of a spinal anatomy. ### Claim 23 (depends on 19) The method of claim 19, wherein the processor circuit fits the echo data to the system model by determining a maximum likelihood estimate using a priori information concerning spinal anatomy statistics. ### Claim 24 (depends on 19) The method of claim 19, wherein the system model includes a linear observation model of the at least one hypothetical target. ### Claim 25 (depends on 19) The method of claim 19, wherein the system model includes include a series of hypothetical sub-units of the bone. ### Claim 26 (depends on 19) The method of claim 19, wherein the system model includes an active shape model of the at least one hypothetical target. ### Claim 27 (depends on 19) The method of claim 19, wherein the system model includes a statistical shape model of the at least one hypothetical target.