A freehand 3D ultrasound carotid scanning system for point-of-care ultrasonography

Abstract

Stroke is a leading cause of morbidity and mortality throughout the world. Three-dimensional ultrasound (3DUS) imaging was shown to be more sensitive to treatment effect and more accurate in stratifying stroke risk than two-dimensional ultrasound (2DUS) imaging. Point-of-care ultrasound screening (POCUS) is important for patients with limited mobility and at times when the patients have limited access to the ultrasound scanning room, such as in the COVID-19 era. We used an optical tracking system to track the 3D position and orientation of the 2DUS frames acquired by a commercial wireless ultrasound system and subsequently reconstructed a 3DUS image from these frames. The tracking requires spatial and temporal calibrations. Spatial calibration is required to determine the spatial relationship between the 2DUS machine and the tracking system. Spatial calibration was achieved by localizing the landmarks with known coordinates in a custom-designed Z-fiducial phantom in an 2DUS image. Temporal calibration is needed to synchronize the clock of the wireless ultrasound system and the optical tracking system so that position and orientation detected by the optical tracking system can be registered to the corresponding 2DUS frame. Temporal calibration was achieved by initiating the scanning by an abrupt motion that can be readily detected in both systems. This abrupt motion establishes a common reference time point, thereby synchronizing the clock in both systems. We demonstrated that the system can be used to visualize the three-dimensional structure of a carotid phantom. The error rate of the measurements is 2.3%. Upon in-vivo validation, this system will allow POCUS carotid scanning in clinical research and practices.