Rapid wideband characterization of viscoelastic material properties by Bessel function-based time harmonic ultrasound elastography (B-THE).

Elastography is an emerging diagnostic technique that uses conventional imaging modalities such as sonography or magnetic resonance imaging to quantify tissue stiffness. However, different elastography methods provide different stiffness values, which require calibration using well-characterized phantoms or tissue samples. A comprehensive, fast, and cost-effective elastography technique for phantoms or tissue samples is still lacking. Therefore, we propose ultrasound Bessel-fit-based time harmonic elastography (B-THE) as a novel tool to provide rapid feedback on stiffness-related shear wave speed (SWS) and viscosity-related wave penetration rate (PR) over a wide range of harmonic vibration frequencies. The method relies on external induction and B-mode capture of cylindrical shear waves that satisfy the Bessel wave equation for efficient fit-based parameter recovery. B-THE was demonstrated in polyacrylamide phantoms in the frequency range of 20-200 Hz and was cross-validated by magnetic resonance elastography (MRE) using clinical 3-T MRI and compact 0.5-T tabletop MRI scanners. Frequency-independent material parameters were derived from rheological models and validated by numerical simulations. B-THE quantified frequency-resolved SWS and PR 13 to 176 times faster than more expensive clinical MRE and tabletop MRE and have a good accuracy (relative deviation to reference: 6 %, 10 % and 4 % respectively). Simulations of liver-mimicking material phantoms showed that a simultaneous fit of SWS and PR based on the fractional Maxwell rheological model outperformed a fit on PR solely. B-THE provides a comprehensive and fast elastography technique for the quantitative characterization of the viscoelastic behavior of soft tissue mimicking materials.

Dual-modal Photoacoustic and Ultrasound Imaging: from preclinical to clinical applications.

Photoacoustic imaging is a novel biomedical imaging modality that has emerged over the recent decades. Due to the conversion of optical energy into the acoustic wave, photoacoustic imaging offers high-resolution imaging in depth beyond the optical diffusion limit. Photoacoustic imaging is frequently used in conjunction with ultrasound as a hybrid modality. The combination enables the acquisition of both optical and acoustic contrasts of tissue, providing functional, structural, molecular, and vascular information within the same field of view. In this review, we first described the principles of various photoacoustic and ultrasound imaging techniques and then classified the dual-modal imaging systems based on their preclinical and clinical imaging applications. The advantages of dual-modal imaging were thoroughly analyzed. Finally, the review ends with a critical discussion of existing developments and a look toward the future.

Pressure-enhanced sensing of tissue oxygenation via endogenous porphyrin: Implications for dynamic visualization of cancer in surgery.

Fluorescence guidance is routinely used in surgery to enhance perfusion contrast in multiple types of diseases. Pressure-enhanced sensing of tissue oxygenation (PRESTO) via fluorescence is a technique extensively analyzed here, that uses an FDA-approved human precursor molecule, 5-aminolevulinic acid (ALA), to stimulate a unique delayed fluorescence signal that is representative of tissue hypoxia. The ALA precontrast agent is metabolized in most tissues into a red fluorescent molecule, protoporphyrin IX (PpIX), which has both prompt fluorescence, indicative of the concentration, and a delayed fluorescence, that is amplified in low tissue oxygen situations. Applied pressure from palpation induces transient capillary stasis and a resulting transient PRESTO contrast, dominant when there is near hypoxia. This study examined the kinetics and behavior of this effect in both normal and tumor tissues, with a prolonged high PRESTO contrast (contrast to background of 7.3) across 5 tumor models, due to sluggish capillaries and inhibited vasodynamics. This tissue function imaging approach is a fundamentally unique tool for real-time palpation-induced tissue response in vivo, relevant for chronic hypoxia, such as vascular diseases or oncologic surgery.

Integrating Learning-based Priors with Physics-based Models in Ultrasound Elasticity Reconstruction.

Ultrasound elastography images which enable quantitative visualization of tissue stiffness can be reconstructed by solving an inverse problem. Classical model-based methods are usually formulated in terms of constrained optimization problems. To stabilize the elasticity reconstructions, regularization techniques such as Tikhonov method are used with the cost of promoting smoothness and blurriness in the reconstructed images. Thus, incorporating a suitable regularizer is essential for reducing the elasticity reconstruction artifacts while finding the most suitable one is challenging. In this work, we present a new statistical representation of the physical imaging model which incorporates effective signal-dependent colored noise modeling. Moreover, we develop a learning-based integrated statistical framework which combines a physical model with learning-based priors. We use a dataset of simulated phantoms with various elasticity distributions and geometric patterns to train a denoising regularizer as the learning-based prior. We use fixed-point approaches and variants of gradient descent for solving the integrated optimization task following learning-based plug-and-play (PnP) prior and regularization by denoising (RED) paradigms. Finally, we evaluate the performance of the proposed approaches in terms of relative mean square error (RMSE) with nearly 20% improvement for both piece-wise smooth simulated phantoms and experimental phantoms compared to the classical model-based methods and 12% improvement for both spatially-varying breast-mimicking simulated phantoms and an experimental breast phantom, demonstrating the potential clinical relevance of our work. Moreover, the qualitative comparisons of reconstructed images demonstrate the robust performance of the proposed methods even for complex elasticity structures that might be encountered in clinical settings.

2-D Slicewise Waveform Inversion of Sound Speed and Acoustic Attenuation for Ring Array Ultrasound Tomography Based on a Block LU Solver.

Ultrasound tomography is an emerging imaging modality that uses the transmission of ultrasound through tissue to reconstruct images of its mechanical properties. Initially, ray-based methods were used to reconstruct these images, but their inability to account for diffraction often resulted in poor resolution. Waveform inversion overcame this limitation, providing high-resolution images of the tissue. Most clinical implementations, often directed at breast cancer imaging, currently rely on a frequency-domain waveform inversion to reduce computation time. For ring arrays, ray tomography was long considered a necessary step prior to waveform inversion in order to avoid cycle skipping. However, in this paper, we demonstrate that frequency-domain waveform inversion can reliably reconstruct high-resolution images of sound speed and attenuation without relying on ray tomography to provide an initial model. We provide a detailed description of our frequency-domain waveform inversion algorithm with open-source code and data that we make publicly available.

Brain elastography in aging relates to fluid/solid trendlines.

The relatively new tools of brain elastography have established a general trendline for healthy, aging adult humans, whereby the brain's viscoelastic properties 'soften' over many decades. Earlier studies of the aging brain have demonstrated a wide spectrum of changes in morphology and composition towards the later decades of lifespan. This leads to a major question of causal mechanisms: of the many changes documented in structure and composition of the aging brain, which ones drive the long term trendline for viscoelastic properties of grey matter and white matter? The issue is important for illuminating which factors brain elastography is sensitive to, defining its unique role for study of the brain and clinical diagnoses of neurological disease and injury. We address these issues by examining trendlines in aging from our elastography data, also utilizing data from an earlier landmark study of brain composition, and from a biophysics model that captures the multiscale biphasic (fluid/solid) structure of the brain. Taken together, these imply that long term changes in extracellular water in the glymphatic system of the brain along with a decline in the extracellular matrix have a profound effect on the measured viscoelastic properties. Specifically, the trendlines indicate that water tends to replace solid fraction as a function of age, then grey matter stiffness decreases inversely as water fraction squared, whereas white matter stiffness declines inversely as water fraction to the 2/3 power, a behavior consistent with the cylindrical shape of the axons. These unique behaviors point to elastography of the brain as an important macroscopic measure of underlying microscopic structural change, with direct implications for clinical studies of aging, disease, and injury.

Probing Tissue Viscoelasticity With STL Ultrasound Shearwave Spectroscopy Using Cole-Cole Diagrams.

OBJECTIVE: Viscoelasticity is mapped by dispersion in shearwave elastography. Incomplete spectral information of shearwaves is therefore used to estimate mechanical stiffness. We propose capturing the "full-waveform-information" of the shear wave spectra to better resolve complex shear modulus µ* (ω). Approach is validated on phantom models, animal tissues, and feasibility demonstrated on human post-delivery placenta. METHODS: We captured robust estimates of µ* in ex-vivo livers subjected to water bath ablation, glutaraldehyde exposure and in the placenta. RESULTS: Complex modulus at 200 Hz is more reflective of tissue stiffness than cross-correlation estimate. Bias increased in phantoms with higher gelatin (G) (0.65: 6% G) and oil (O) (0.58: 6% G and 40% O) concentration, compared to elastic phantoms with low stiffness (0.33: 3% G). Actual tissues also reported higher bias in cross-correlation estimate (rabbit liver: 0.61, porcine liver: 2.20, and human placenta: 0.63). Stiffness is sensitive to ablation temperature, where the overall modulus changed from 3.02 KPa at 16 °C to 2.75 KPa at 56 °C in water bath. With exposure to Glutaraldehyde, the overall modulus increased from 2.37 to 9.03 KPa. Reconstruction errors in the loss modulus decreased by 68% with the power law compared to a Maxwell model in porcine livers with Cole-Cole inverse fitting. CONCLUSION: Omitting Shear wave attenuation leads to bias. Reconstruction of rheological response with a model is sensitive to its architecture and also the framework. SIGNIFICANCE: We use "full spectral information" in ultrasound shear wave elastography to better map µ*(ω) changes in viscoelastic tissues.

Sound Speed Estimation for Distributed Aberration Correction in Laterally Varying Media.

Spatial variation in sound speed causes aberration in medical ultrasound imaging. Although our previous work has examined aberration correction in the presence of a spatially varying sound speed, practical implementations were limited to layered media due to the sound speed estimation process involved. Unfortunately, most models of layered media do not capture the lateral variations in sound speed that have the greatest aberrative effect on the image. Building upon a Fourier split-step migration technique from geophysics, this work introduces an iterative sound speed estimation and distributed aberration correction technique that can model and correct for aberrations resulting from laterally varying media. We first characterize our approach in simulations where the scattering in the media is known a-priori. Phantom and in-vivo experiments further demonstrate the capabilities of the iterative correction technique. As a result of the iterative correction scheme, point target resolution improves by up to a factor of 4 and lesion contrast improves by up to 10.0 dB in the phantom experiments presented.

Shear wave elastography can stratify rectal cancer response to short-course radiation therapy.

Rectal cancer is a deadly disease typically treated using neoadjuvant chemoradiotherapy followed by total mesorectal excision surgery. To reduce the occurrence of mesorectal excision surgery for patients whose tumors regress from the neoadjuvant therapy alone, conventional imaging, such as computed tomography (CT) or magnetic resonance imaging (MRI), is used to assess tumor response to neoadjuvant therapy before surgery. In this work, we hypothesize that shear wave elastography offers valuable insights into tumor response to short-course radiation therapy (SCRT)-information that could help distinguish radiation-responsive from radiation-non-responsive tumors and shed light on changes in the tumor microenvironment that may affect radiation response. To test this hypothesis, we performed elastographic imaging on murine rectal tumors (n = 32) on days 6, 10, 12, 16, 18, 20, 23, and 25 post-tumor cell injection. The study revealed that radiation-responsive and non-radiation-responsive tumors had different mechanical properties. Specifically, radiation-non-responsive tumors showed significantly higher shear wave speed SWS (p < 0.01) than radiation-responsive tumors 11 days after SCRT. Furthermore, there was a significant difference in shear wave attenuation (SWA) (p < 0.01) in radiation-non-responsive tumors 16 days after SCRT compared to SWA measured just one day after SCRT. These results demonstrate the potential of shear wave elastography to provide valuable insights into tumor response to SCRT and aid in exploring the underlying biology that drives tumors' responses to radiation.

Stiffness pulsation of the human brain detected by non-invasive time-harmonic elastography.

Introduction: Cerebral pulsation is a vital aspect of cerebral hemodynamics. Changes in arterial pressure in response to cardiac pulsation cause cerebral pulsation, which is related to cerebrovascular compliance and cerebral blood perfusion. Cerebrovascular compliance and blood perfusion influence the mechanical properties of the brain, causing pulsation-induced changes in cerebral stiffness. However, there is currently no imaging technique available that can directly quantify the pulsation of brain stiffness in real time. Methods: Therefore, we developed non-invasive ultrasound time-harmonic elastography (THE) technique for the real-time detection of brain stiffness pulsation. We used state-of-the-art plane-wave imaging for interleaved acquisitions of shear waves at a frequency of 60 Hz to measure stiffness and color flow imaging to measure cerebral blood flow within the middle cerebral artery. In the second experiment, we used cost-effective lineby-line B-mode imaging to measure the same mechanical parameters without flow imaging to facilitate future translation to the clinic. Results: In 10 healthy volunteers, stiffness increased during the passage of the arterial pulse wave from 4.8% ± 1.8% in the temporal parenchyma to 11% ± 5% in the basal cisterns and 13% ± 9% in the brain stem. Brain stiffness peaked in synchrony with cerebral blood flow at approximately 180 ± 30 ms after the cardiac R-wave. Line-by-line THE provided the same stiffness values with similar time resolution as high-end plane-wave THE, demonstrating the robustness of brain stiffness pulsation as an imaging marker. Discussion: Overall, this study sets the background and provides reference values for time-resolved THE in the human brain as a cost-efficient and easy-touse mechanical biomarker associated with cerebrovascular compliance.

Mapping estimates of vascular permeability with a clinical indocyanine green fluorescence imaging system in experimental pancreatic adenocarcinoma tumors.

Significance: Pancreatic cancer tumors are known to be avascular, but their neovascular capillaries are still chaotic leaky vessels. Capillary permeability could have significant value for therapy assessment, and its quantification might be possible with macroscopic imaging of indocyanine green (ICG) kinetics in tissue. Aim: The capacity of using standard fluorescence surgical systems for ICG kinetic imaging as a probe for capillary leakage was evaluated using a clinical surgical fluorescence imaging system, as interpreted through vascular permeability modeling. Approach: Xenograft pancreatic adenocarcinoma models were imaged in mice during bolus injection of ICG to capture the kinetics of uptake. Image analysis included ratiometric data, normalization, and match to theoretical modeling. Kinetic data were converted into the extraction fraction of the capillary leakage. Results: Pancreatic tumors were usually less fluorescent than the surrounding healthy tissues, but still the rate of tumor perfusion could be assessed to quantify capillary extraction. Model simulations showed that flow kinetics stabilized after about 1 min beyond the initial bolus injection and that the relative extraction fraction model estimates matched the experimental data of normalized uptake within the tissue. The kinetics in the time period of 1 to 2 min post-injection provided optimal differential data between AsPC1 and BxPC3 tumors, although high individual variation exists between tumors. Conclusions: ICG kinetic imaging during the initial leakage phase was diagnostic for quantitative vascular permeability within pancreatic tumors. Methods for autogain correction and normalized model-based interpretation allowed for quantification of extraction fraction and difference identification between tumor types in early timepoints.

Artificial intelligence for diffusion MRI-based tissue microstructure estimation in the human brain: an overview.

Artificial intelligence (AI) has made significant advances in the field of diffusion magnetic resonance imaging (dMRI) and other neuroimaging modalities. These techniques have been applied to various areas such as image reconstruction, denoising, detecting and removing artifacts, segmentation, tissue microstructure modeling, brain connectivity analysis, and diagnosis support. State-of-the-art AI algorithms have the potential to leverage optimization techniques in dMRI to advance sensitivity and inference through biophysical models. While the use of AI in brain microstructures has the potential to revolutionize the way we study the brain and understand brain disorders, we need to be aware of the pitfalls and emerging best practices that can further advance this field. Additionally, since dMRI scans rely on sampling of the q-space geometry, it leaves room for creativity in data engineering in such a way that it maximizes the prior inference. Utilization of the inherent geometry has been shown to improve general inference quality and might be more reliable in identifying pathological differences. We acknowledge and classify AI-based approaches for dMRI using these unifying characteristics. This article also highlighted and reviewed general practices and pitfalls involving tissue microstructure estimation through data-driven techniques and provided directions for building on them.

Reverberant magnetic resonance elastographic imaging using a single mechanical driver.

Reverberant elastography provides fast and robust estimates of shear modulus; however, its reliance on multiple mechanical drivers hampers clinical utility. In this work, we hypothesize that for constrained organs such as the brain, reverberant elastography can produce accurate magnetic resonance elastograms with a single mechanical driver. To corroborate this hypothesis, we performed studies on healthy volunteers (n= 3); and a constrained calibrated brain phantom containing spherical inclusions with diameters ranging from 4-18 mm. In both studies (i.e. phantom and clinical), imaging was performed at frequencies of 50 and 70 Hz. We used the accuracy and contrast-to-noise ratio performance metrics to evaluate reverberant elastograms relative to those computed using the established subzone inversion method. Errors incurred in reverberant elastograms varied from 1.3% to 16.6% when imaging at 50 Hz and 3.1% and 16.8% when imaging at 70 Hz. In contrast, errors incurred in subzone elastograms ranged from 1.9% to 13% at 50 Hz and 3.6% to 14.9% at 70 Hz. The contrast-to-noise ratio of reverberant elastograms ranged from 63.1 to 73 dB compared to 65 to 66.2 dB for subzone elastograms. The average global brain shear modulus estimated from reverberant and subzone elastograms was 2.36 ± 0.07 kPa and 2.38 ± 0.11 kPa, respectively, when imaging at 50 Hz and 2.70 ± 0.20 kPa and 2.89 ± 0.60 kPa respectively, when imaging at 70 Hz. The results of this investigation demonstrate that reverberant elastography can produce accurate, high-quality elastograms of the brain with a single mechanical driver.

Functional ultrasound imaging reveals 3D structure of orientation domains in ferret primary visual cortex.

BACKGROUND AND PURPOSE: The sensory cortex is organized into "maps" that represent sensory space across cortical space. In primary visual cortex (V1) of highly visual mammals, multiple visual feature maps are organized into a functional architecture anchored by orientation domains: regions containing neurons preferring the same stimulus orientation. Although the pinwheel-like structure of orientation domains is well-characterized in the superficial cortical layers in dorsal regions of V1, the 3D shape of orientation domains spanning all 6 cortical layers and across dorsal and ventral regions of V1 has never been revealed. METHODS: We utilized an emerging research method in neuroscience, functional ultrasound imaging (fUS), to resolve the 3D structure of orientation domains throughout V1 in anesthetized female ferrets. fUS measures blood flow from which neuronal population activity is inferred with improved spatial resolution over fMRI. RESULTS: fUS activations in response to drifting gratings placed at multiple locations in visual space generated unique activation patterns in V1 and visual thalamus, confirming prior observations that fUS can resolve retinotopy. Iso-orientation domains, determined from clusters of activations driven by large oriented gratings, were cone-shaped and present in both dorsal and ventral regions of V1. The spacing between iso-orientation domains was consistent with spacing measured previously using optical imaging methods. CONCLUSIONS: Orientation domains are cones rather than columns. Their width and intra-domain distances may vary across dorsal and ventral regions of V1. These findings demonstrate the power of fUS at revealing 3D functional architecture in cortical regions not accessible to traditional surface imaging methods.

Separation of mainlobe and sidelobe contributions to B-mode ultrasound images based on the aperture spectrum.

Purpose: Isolating the mainlobe and sidelobe contribution to the ultrasound image can improve imaging contrast by removing off-axis clutter. Previous work achieves this separation of mainlobe and sidelobe contributions based on the covariance of received signals. However, the formation of a covariance matrix at each imaging point can be computationally burdensome and memory intensive for real-time applications. Our work demonstrates that the mainlobe and sidelobe contributions to the ultrasound image can be isolated based on the receive aperture spectrum, greatly reducing computational and memory requirements. Approach: The separation of mainlobe and sidelobe contributions to the ultrasound image is shown in simulation, in vitro, and in vivo using the aperture spectrum method and multicovariate imaging of subresolution targets (MIST). Contrast, contrast-to-noise-ratio (CNR), and speckle signal-to-noise-ratio are used to compare the aperture spectrum approach with MIST and conventional delay-and-sum (DAS) beamforming. Results: The aperture spectrum approach improves contrast by 1.9 to 6.4 dB beyond MIST and 8.9 to 13.5 dB beyond conventional DAS B-mode imaging. However, the aperture spectrum approach yields speckle texture similar to DAS. As a result, the aperture spectrum-based approach has less CNR than MIST but greater CNR than conventional DAS. The CPU implementation of the aperture spectrum-based approach is shown to reduce computation time by a factor of 9 and memory consumption by a factor of 128 for a 128-element transducer. Conclusions: The mainlobe contribution to the ultrasound image can be isolated based on the receive aperture spectrum, which greatly reduces the computational cost and memory requirement of this approach as compared with MIST.

Volumetric tri-modal imaging with combined photoacoustic, ultrasound, and shear wave elastography.

Photoacoustic imaging is a hybrid imaging approach that combines the advantages of optical and ultrasonic imaging in one modality. However, for comprehensive tissue characterization, optical contrast alone is not always sufficient. In this study, we combined photoacoustic imaging with high-resolution ultrasound and shear wave elastography. The multi-modal system can calculate optical absorption, acoustic reflection, and stiffness volumetrically. We constructed a multi-modal phantom with contrast for each imaging modality to test the system's performance. Experimental results indicate that the system successfully visualizes the embedded structures. We envision that the system will lead to more comprehensive tissue characterization for cancer screening and diagnosis.

Imaging the Local Nonlinear Viscoelastic Properties of Soft Tissues: Initial Validation and Expected Benefits.

Imaging tissue mechanical properties has shown promise in noninvasive assessment of numerous pathologies. Researchers have successfully measured many linear tissue mechanical properties in laboratory and clinical settings. Currently, multiple complex mechanical effects such as frequency-dependence, anisotropy, and nonlinearity are being investigated separately. However, a concurrent assessment of these complex effects may enable more complete characterization of tissue biomechanics and offer improved diagnostic sensitivity. In this work, we report for the first time a method to map the frequency-dependent nonlinear parameters of soft tissues on a local scale. We recently developed a nonlinear elastography model that combines strain measurements from arbitrary tissue compression with radiation-force-based broadband shear wave speed (WS) measurements. Here, we extended this model to incorporate local measurements of frequency-dependent shear modulus. This combined approach provides a local frequency-dependent nonlinear parameter that can be obtained with arbitrary, clinically realizable tissue compression. Initial assessments using simulations and phantoms validate the accuracy of this approach. We also observed improved contrast in nonlinearity parameter at higher frequencies. Results from ex-vivo liver experiments show 32, 25, 34, and 38 dB higher contrast in elastograms than traditional linear elasticity, elastic nonlinearity, viscosity, and strain imaging methods, respectively. A lesion, artificially created by injection of glutaraldehyde into a liver specimen, showed a 59% increase in the frequency-dependent nonlinear parameter and a 17% increase in contrast ratio.

Single-shell NODDI using dictionary-learner-estimated isotropic volume fraction.

Neurite orientation dispersion and density imaging (NODDI) enables the assessment of intracellular, extracellular, and free water signals from multi-shell diffusion MRI data. It is an insightful approach to characterize brain tissue microstructure. Single-shell reconstruction for NODDI parameters has been discouraged in previous studies caused by failure when fitting, especially for the neurite density index (NDI). Here, we investigated the possibility of creating robust NODDI parameter maps with single-shell data, using the isotropic volume fraction (fISO ) as a prior. Prior estimation was made independent of the NODDI model constraint using a dictionary learning approach. First, we used a stochastic sparse dictionary-based network (DictNet), which is trained with data obtained from in vivo and simulated diffusion MRI data, to predict fISO . In single-shell cases, the mean diffusivity and raw T2 signal with no diffusion weighting (S0 ) was incorporated in the dictionary for the fISO estimation. Then, the NODDI framework was used with the known fISO to estimate the NDI and orientation dispersion index (ODI). The fISO estimated using our model was compared with other fISO estimators in the simulation. Further, using both synthetic data simulation and human data collected on a 3 T scanner (both high-quality HCP and clinical dataset), we compared the performance of our dictionary-based learning prior NODDI (DLpN) with the original NODDI for both single-shell and multi-shell data. Our results suggest that DLpN-derived NDI and ODI parameters for single-shell protocols are comparable with original multi-shell NODDI, and the protocol with b = 2000 s/mm2 performs the best (error ~ 5% in white and gray matter). This may allow NODDI evaluation of studies on single-shell data by multi-shell scanning of two subjects for DictNet fISO training.

Second-Generation Dual Scan Mammoscope With Photoacoustic, Ultrasound, and Elastographic Imaging Capabilities.

We recently developed the photoacoustic dual-scan mammoscope (DSM), a system that images the patient in standing pose analog to X-ray mammography. The system simultaneously acquires three-dimensional photoacoustic and ultrasound (US) images of the mildly compressed breast. Here, we describe a second-generation DSM (DSM-2) system that offers a larger field of view, better system stability, higher ultrasound imaging quality, and the ability to quantify tissue mechanical properties. In the new system, we doubled the field of view through laterally shifted round-trip scanning. This new design allows coverage of the entire breast tissue. We also adapted precisely machined holders for the transducer-fiber bundle sets. The new holder increased the mechanical stability and facilitated image registration from the top and bottom scanners. The quality of the US image is improved by increasing the firing voltage and the number of firing angles. Finally, we incorporated quasi-static ultrasound elastography to allow comprehensive characterization of breast tissue. The performance of the new system was demonstrated through in vivo human imaging experiments. The experimental results confirmed the capability of the DSM-2 system as a powerful tool for breast imaging.

Enabling quantitative robot-assisted compressional elastography via the extended Kalman filter.

Compressional or quasi-static elastography has demonstrated the capability to detect occult cancers in a variety of tissue types, however it has a serious limitation in that the resulting elastograms are generally qualitative whereas other forms of elastography, such as shear-wave, can produce absolute measures of elasticity for histopathological classification. We address this limitation by introducing a stochastic method using an extended Kalman filter and robot-assistance to obtain quantitative elastograms which are resilient to measurement noise and system uncertainty. In this paper, the probabilistic framework is described, which utilizes many ultrasound acquisitions obtained from multiple palpations, to fuse data and uncertainty from a robotic manipulator's joint encoders and force/torque sensor directly into the inverse reconstruction of the elastogram. Quantitative results are demonstrated over homogeneous and inclusion gelatin phantoms using a seven degree of freedom manipulator for a range of initial elasticity assumptions. Results imply resilience to poorly assumed initial conditions as all trials were within 5 kPa of the elasticity measured by a mechanical testing system. Moreover, the presence or absence of an inclusion is clear in all reconstructed elastograms even when artifacts are present in displacement fields, indicating further robustness to measurement noise. The proposed stochastic method allows fusion of data from a robot's sensors directly into compressional elastography image reconstruction which may stabilize optimization and improve accuracy. This approach provides a mathematical framework to readily incorporate measurements from additional sensors in future applications which may extend the capabilities of compressional elastography beyond that of producing quantitative elasticity measurements.