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Medical Ultrasound Imaging and Interventional Component (Musiic) Framework for Advanced Ultrasound Image-Guided Therapy

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Medical Ultrasound Imaging and Interventional Component (Musiic) Framework for Advanced Ultrasound Image-Guided Therapy Medical Ultrasound Imaging and Interventional Component (MUSiiC) Framework for Advanced Ultrasound Image-guided Therapy by Hyun Jae Kang A dissertation submitted to Johns Hopkins University in conformity with the requirements for the degree of Doctor of Philosophy Baltimore, Maryland July, 2015 © 2015 Hyun Jae Kang All Rights Reserved Abstract Medical ultrasound (US) imaging is a popular and convenient medical imaging modality thanks to its mobility, non-ionizing radiation, ease-of-use, and real-time data acquisition. Conventional US brightness mode (B-Mode) is one type of diagnostic medical imaging modality that represents tissue morphology by collecting and displaying the intensity information of a reflected acoustic wave. Moreover, US B-Mode imaging is frequently integrated with tracking systems and robotic systems in image-guided therapy (IGT) systems. Recently, these systems have also begun to incorporate advanced US imaging such as US elasticity imaging, photoacoustic imaging, and thermal imaging. Several software frameworks and toolkits have been developed for US imaging research and the integration of US data acquisition, processing and display with existing IGT systems. However, there is no software framework or toolkit that supports advanced US imaging research and advanced US IGT systems by providing low-level US data (channel data or radio-frequency (RF) data) essential for advanced US imaging. In this dissertation, we propose a new medical US imaging and interventional component framework for advanced US image-guided therapy based on network- distributed modularity, real-time computation and communication, and open-interface design specifications. Consequently, the framework can provide a modular research environment by supporting communication interfaces between heterogeneous systems to allow for flexible interventional US imaging research, and easy reconfiguration of an entire interventional US imaging system by adding or removing devices or equipment specific to each therapy. In addition, our proposed framework offers real-time synchronization between data from multiple data acquisition devices for advanced ii interventional US imaging research and integration of the US imaging system with other IGT systems. Moreover, we can easily implement and test new advanced ultrasound imaging techniques inside the proposed framework in real-time because our software framework is designed and optimized for advanced ultrasound research. The system’s flexibility, real-time performance, and open-interface are demonstrated and evaluated through performing experimental tests for several applications. Advisor: Emad M. Boctor, Ph. D. Assistant Professor, Radiology and Radiological Science, Department of Computer Science/Electrical and Computer Engineering and Director, Medical Ultrasound Imaging and Intervention Collaboration (MUSiiC) Research Laboratory The Johns Hopkins University Readers: Russell H. Taylor, Ph. D. JOHN C. MALONE Professor, Department of Computer Science Director, Engineering Research Center for Computer-Integrated Surgical System and Technology (CISST-ERC) The Johns Hopkins University Peter Kazanzides, Ph. D. Research Professor, Department of Computer Science Chief Systems and Robotic Engineer, Engineering Research Center for Computer-Integrated Surgical System and Technology (CISST-ERC) The Johns Hopkins University iii Acknowledgements I am grateful to my advisor, Dr. Emad M. Boctor for providing me with the opportunity to work in his lab and it has been an honor to have started my professional career as a computer scientist with him. He has been a great advisor and mentor and I have learned so much under his guidance. Without his guidance and persistent help, this dissertation would not have been possible. I am sincerely appreciative for all he has done. I would also like to thank Dr. Russell H. Taylor and Dr. Peter Kazanzides for their support and for serving on my thesis committee. Their persistence and dedication for graduate education inspired me to learn about the knowledge of computer science. I never would have accomplished this goal and pursued a Ph. D., if it was not for the mentorship and guidance of Dr. Russell H. Taylor and Dr. Peter Kazanzides. I want to extend a special thanks to all current and former MUSiiC lab members. Particular thanks to Dr. Philipp J. Stolka, MD. Daniel A. Carnegie, Dr. Hassan Rivaz, Dr. Pezhman Foroughi, Dr. Ioana Fleming, Dr. Nathanael Kuo, Dr. Xiaoyu Guo, Dr. Muyinatu A. Lediju Bell, Dr. Behnoosh Tavakoli and Dr. Lei Chen who played fundamental roles in developing my science and engineering knowledge. I would like to specifically thank to Nishikant Deshmukh, Seth Billings, Alexis Cheng, Haichong Zhang, Fereshteh Aalamifar and Younsu Kim for being my friend/mentor/great lab-mate. Alexis Cheng looked closely at the final version of the thesis for English style and grammar, correcting both and offering suggestions for improvement, Thanks! Special thanks to all of my best friends, Dr. Jin Seob Kim, Nathan Cho, Dr. Min Yang Jung, Dr. Sungmin Kim, Byunggu Ahn, Dr. Jong Hyun Lim, Dr. JeongGil Ko, Dr. Chunwoo Kim, Jaepyeong Cha, Gyeongwoo Cheon, Doyoung Chang, Travis Jin Choi, iv Jung Yoon, Dr. Ben Park, Dr. Ga Young Park and Dr. Moon Chul Jung. I could not have finished my graduate studies without your friendship and support. Finally, I would like to specifically thank Dr. Sunghee Kim, who is my friend/mentor/family for support, encouragement throughout this process. I would not have accomplished this goal without her selfless support. I am very grateful and thankful for all of the support and patience my parents and brother have provided me throughout my education. July, 2015 v Table of Contents Page Number Chapter 1: Introduction 1.1. Motivation ................................................................................................................... 1 1.2. Thesis statement ......................................................................................................... 5 1.3. Contributions ............................................................................................................. 5 1.4. Outline ......................................................................................................................... 9 Chapter 2: Background and Significance 2.1. Medical ultrasound image ....................................................................................... 13 2.1.1. B-mode ultrasound ............................................................................................... 13 2.1.1.1 RF-data acquisition ............................................................................................ 14 2.1.1.2 Envelope detection ............................................................................................. 16 2.1.1.3 Compression and Digital scan conversion ......................................................... 19 2.1.2. Ultrasound elastography ...................................................................................... 22 2.1.3. Photoacoustic imaging ......................................................................................... 25 2.2. Software for image guided therapy (IGT) ............................................................. 29 2.3. Significance ............................................................................................................... 33 Chapter 3: Real-time medical ultrasound imaging and interventional component framework 3.1. Overview ................................................................................................................... 37 vi 3.2. OpenIGTLinkMUSiiC .............................................................................................. 41 3.2.1. New message types in OpenIGTLinkMUSiiC ..................................................... 41 3.2.1.1. New ultrasound messages in OpenIGTLinkMUSiiC ........................................ 42 3.2.1.2. New control messages in OpenIGTLinkMUSiiC .............................................. 44 3.2.2. Real-time US Data-Computation in OpenIGTLinkMUSiiC ................................ 47 3.2.3. Bidirectional communication mechanism in OpenIGTLinkMUSiiC ................... 53 3.2.3.1. Bidirectional Communication Mechanism at software class level. .................. 54 3.2.3.2. Bidirectional Communication Mechanism at application level ........................ 58 3.2.4. Real-time multiple Data Synchronization ............................................................ 64 3.3. MUSiiC Modules ...................................................................................................... 67 3.3.1. RF-Server ............................................................................................................. 68 3.3.2. Tracker-Server ..................................................................................................... 69 3.3.3. B-Mode Module ................................................................................................... 70 3.3.4. Real-time Elasticity module................................................................................. 71 3.3.5. Quality-based Frame chooser .............................................................................. 72 3.3.6. ImageViewer Module .......................................................................................... 73 3.3.7. Data synchronization module (MUSiiC-Sync) ..................................................... 74 3.4. Conclusion ...............................................................................................................
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