Diagnostic medical ultrasound systems and methods utilizing estimation of 3-dimensional rigid body transformation

An ultrasound system for medical imaging or therapy comprising:

• a memory operative to store first and second ultrasonic data sets, each of which comprises a plurality of ultrasonic data, each of said data sets having an arrangement characteristic among each of said plurality of ultrasonic data, said arrangement characteristic comprising distances, lengths and angles between two or more of said plurality of ultrasonic data;
• a processor coupled with said memory and operative to receive said data sets from said memory and compute a transformation from said first data set to said second data set which preserves said arrangement characteristic of said first data set while approximating said arrangement characteristic of said first data set to said arrangement characteristic of said second data set, wherein said transformation is a rotation group, special orthogonal group of order 3 transformation selected from the group consisting of quaternion and orthonormal matrix.

An ultrasound system for medical imaging or therapy comprising:

• means to store ultrasonic data into first and second data sets, each of said one or more data sets having an arrangement characteristic, said arrangement characteristic comprising distances, lengths and angles between two or more of said ultrasonic data;
• means to process said first and second data sets from said means to store and compute a transformation from said first data set to said second data set which preserves said arrangement characteristic of said first data set while approximating said arrangement characteristic of said second data set, wherein said transformation is a rotation group, special orthogonal group of order 3 transformation selected from the group consisting of quaternion and orthonormal matrix.

An ultrasound system for medical imaging or therapy comprising:

• a memory operative to store first and second ultrasonic data sets, each of which comprises a plurality of ultrasonic data, each of said data sets having an arrangement characteristic among each of said plurality of ultrasonic data, said arrangement characteristic comprising distances, lengths and angles between one or more of said plurality of ultrasonic data;
• a processor coupled with said memory and operative to receive said data sets from said memory and compute a rotation group, special orthogonal group of order 3 transformation from said first data set to said second data set which preserves said arrangement characteristic of said first data set while approximating said arrangement characteristic of said first data set to said arrangement characteristic of said second data set.

An ultrasound system for medical imaging or therapy comprising:

• means to store ultrasonic data into first and second data sets, each of said one or more data sets having an arrangement characteristic, said arrangement characteristic comprising distances, lengths and angles between one or more of said ultrasonic data;
• means to process said first and second data sets from said means to store to compute a rotation group, special orthogonal group of order 3 transformation from said first data set to said second data set which preserves said arrangement characteristic of said first data set while approximating said arrangement characteristic of said second data set.