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Chapter 6: Real-Time Image Formation
display
B, M, Doppler image
processingDoppler
processing
digital receive beamformer
beamformercontrol
digital transmit beamformer
high voltage
amplifierDAC
system controlkeyboard
ADCvariable
gain
T/R switch
arraybody
All digital
Generic Ultrasonic Imaging System
• Transmitter:– Arbitrary waveform.– Programmable transmit voltage.– Arbitrary firing sequence.– Programmable apodization, delay control and
frequency control.
Digital Waveform Generator
D/A HV Amp Transducer Array
Control
OR
Transmit Waveform• Characteristics of transmit waveforms.
0 2 4 6 8-6 0
-4 0
-2 0
0
-2 -1 0 1 2-1
0
1
MHz
dBN
orm
aliz
ed
Am
plitu
de
Spectra
Waveforms
µs
Generic Ultrasonic Imaging System
• Receiver:– Programmable apodization, delay control and
frequency control.– Arbitrary receive direction.
• Image processing:– Pre-detection filtering.– Post-detection filtering.
• Full gain correction: TGC, analog and digital.• Scan converter: various scan format.
Generic Receiver
beam former
filtering (pre-detection)
envelope detection
filtering(post-detection)
mapping and other processing
scan conversion
display
adaptive controls
A/D
Pre-detection Filtering
Z
t
X
Pre-detection Filtering• Pulse shaping. (Z)• Temporal filtering. (t)• Beam shaping. (X)
– Selection of frequency range. (Z X)
– Correction of focusing errors. (X X’)B xz T x z Rx z A d( ,) ( , ,)( , ,)()′ = ′ ′∫ ω ω ω ω
|C(x)|
|p(x’,z)|
-a a1
2a
λ/2ax'/z
F.T.
Pulse-echo effective apertures• The pulse-echo beam pattern is the multiplication of the
transmit beam and the receive beam• The pulse-echo effective aperture is the convolution of
transmit and receive apertures
−
= 0
2 112|)(|)( RR
jkx
exCxCFor C.W.
DynTx DynRx
0
0.5
1
0
0.5
1DynRx
1FixedRx
0510
0510
R=Ro
R≠Ro
Post-Detection Filtering
• Data re-sampling (Acoustic Display).• Speckle reduction (incoherent averaging).• Feature enhancement.• Aesthetics.• Post-processing:
– Re-mapping (gray scale and color).– Digital gain.
Envelope Detection
• Demodulation based:
{ }S t At ft Atej ft( ) ( )cos Re ()= =2 0
2 0π π
{ }A t LPFSt f( ) ( )cos= 2 0π
D t absAt( ) ( ())=rf signal
envelop
Envelope Detection
• Hilbert Transform
{ }{ }( )
S tjHT St Ate
D t absSt jHT St
j ft( ) .. ( ) ( )
( ) ( ) .. ( )/
+ ⋅ =
= + ⋅
2
2
2 0π
ff0-f0
ff0
-f0
ff0t
tht
fjfHT
π1)(
)sgn()(
−=
−=
H.T.
Beam Former Design
Implementaiton of Beam Formation
• Delay is simply based on geometry.• Weighting (a.k.a. apodization) strongly
depends on the specific approach.
Beam Formation - Delay
• Delay is based on geometry. For simplicity, a constant sound velocity and straight line propagation are assumed. Multiple reflection is also ignored.
• In diagnostic ultrasound, we are almost always in the near field. Therefore, range focusing is necessary.
Beam Formation - Delay
• Near field / far field crossover occurs when f#=aperture size/wavelength.
• The crossover also corresponds to the point where the phase error across the aperture becomes significant (destructive).
82
2 λ=
Ra
Phased Array Imaging
Rcx
cxRxt ii
irx 2cossin),,(
22 θθθ +−=
Transducer
Delay
Tx
Rx
θ
Rx
SymmetrySymmetry
Dynamic Focusing
• Dynamic-focusing obtains better image quality but implementation is more complicated.
Fix
DynamicDelay
R
Focusing Architecture
summ
ation
1
N
delay line
delay line
delay controller
transducer array
Delay Pattern
Delay
Timen0
k0
τθθ∆=+−= n
Rctx
ctxroundk
s
i
s
in )
2cossin(
22
• Delays are quantized by sampling-period ts.
Missing Samples
TimeTime
DelayDelay DelayDelay--Change Change
BeamformerBeamformer
t2
Human Human BodyBody
t1
Beam Formation ∆τ ∆τ∆τ
delay controller
input
output
n t n tx
c t ti( ) ( )cos
1 2
2 2
21 2
11 1
− = = −
θτ∆
n tx
c
x
c ti i( )sin cos
≈ − +θ
τθ
τ∆ ∆
2 2
2
Beam Formation - Delay
• The sampling frequency for fine focusing quality needs to be over 32*f0(>> Nyquist).
• Interpolation is essential in a digital system and can be done in RF, IF or BB.
∆∆τ θπ
= ≤2
1
320 0f f
2 32 1125π/ .≈ o
Delay Quantization
• The delay quantization error can be viewed as the phase error of the phasors.
∑−
=
=1
0)cos(
N
nnA φ
∑−
=
=
1
0
22
2N
nA nd
dAφσφ
σ
Delay Quantization
21sin2 =φ
12
222 φσσ φφ
∆==
n
NN
A241
24
22 <∆⇒<
∆⋅= φφσ
• N=128, 16 quantization steps per cycles are required.• In general, 32 and 64 times the center frequency is used.
Beam Formation - Delay
element i ADC interpolation digital delay summ
atio n
• RF beamformer requires either a clock well over 100MHz, or a large number of real-time computations.
• BB beamformer processes data at a low clock frequency at the price of complex signal processing.
Beam Formation - RF
• Interpolation by 2:
Z-1
Z-1
MU
X
1/2
Beam Formation - RF
• General filtering architecture (interpolation by m):
Delay
Filter 1
Filter 2
Filter m-1
MU
X
Fine delay control
FIFO
Coarse delay control
Autonomous Delay ControlAutonomous vs. Centralized
A=n0+1−φ∆n=1j=1
A<=0?
A=A+∆n+n0j=j+1
A=A+j−φ∆n=∆n+1 N bump
n0 n1
Beam Formation - BB
A(t-τ)cos2πf0(t-τ)
A(t-τ)cos2πf0(t-τ)e-j2πfdt
magnitude
ff0-fd-f0-fd
ff0-fd
LPF(A(t-τ)cos2πf0(t-τ)e-j2πfdt)
ff0-f0
rf
baseband
Beam Formation - BB
{ }
( )
I LPFAt f t ft
LPFA t
f ft f f f t f
A tf ft f
d
d d d d
d d
= − −
=−
− − − + + − +
=−
− − −
( )cos ( )cos
( )cos(( )( ) )cos(( )( ) )
( )cos(( )( ) )
τ π τ π
τ π τ τ π τ τ
τ π τ τ
2 2
22 2
22
0
0 0
0
{ }
( )
Q LPF At f t ft
LPFA t
f ft f f f t f
A tf ft f
d
d d d d
d d
= − − −
=−
− − − − + − +
=−
− − −
( )cos ( )sin
( )sin(( )( ) )sin(( )( ) )
( )sin(( )( ) )
τ π τ π
τ π τ τ π τ τ
τ π τ τ
2 2
22 2
22
0
0 0
0
Beam Formation - BBelement i A DC demod/
LPFtime delay/
phase rotation
I Q
I
Q
BBtA t
e ej ft j fd( )( ) ( )=− − −τ π τ π τ
22 2∆
O tA t
e ei i
i
Nj ft jfi i d i i( )
( ) ( ) ( )=− + ′
=
− + ′ − −∑τ τ π τ τ π τ θ
21
2 2∆
Beam Formation - BBelement i A DC demod/
LPFtime delay/
phase rotation
I Q
I
Q
∆∆∆ ∆
τ θπ
= ≤2
1
32f f
• The coarse time delay is applied at a low clock frequency, the fine phase needs to be rotated accurately (e.g., by CORDIC).
∆Σ-Based Beamformers
Why ∆Σ ?
• High Delay Resolution -- 32 f0 (requires interpolation)
• Multi-Bit Bus
Current ProblemsCurrent Problems
• High Sampling Rate -- No Interpolation Required
• Single-Bit Bus -- Suitable for Beamformers with Large Channel-Count
∆Σ∆Σ AdvantagesAdvantages
Conventional vs. ∆Σ
Advantages of Over-Sampling
• Noise averaging.• For every doubling of the sampling rate,
it is equivalent to an additional 0.5 bit quantization.
• Less requirements for delay interpolation.• Conventional A/D not ideal for single-bit
applications.
Advantages of ∆Σ Beamformers
• Noise shaping.• Single-bit vs. multi-bits.• Simple delay circuitry.• Integration with A/D and signal processing.• For hand-held or large channel count devices.
Block-Diagram of the ∆Σ ModulatorQuantizer
D/A
_yx Integrator
eLPF ↓ x*
Single-Bit
• Over-Sampling • Noise-Shaping
• Reconstruction
• The SNR of a 32 f0, 2nd-order, low-passed ∆Σ modulator is about 40dB.
Property of a ∆Σ Modulator
0 0.5-60
-40
-20
0
0 0.5-60
-40
-20
0
0 0.1 0.2 0.3 0.4 0.5-60
-40
-20
0dB
Frequency
1 1024-0.5
0
0.5
1 1024-1
0
1
1 256 512 768 1024-0.5
0
0.5
Sample
WaveformWaveform SpectrumSpectrum
xx
yy
x*x*
A Delta-Sigma Beamformer
Σ
Transducer TGC ∆Σ A/DShift-Register
Delay-Controller / MUX
Transducer TGC
Shift-Register
Delay-Controller / MUX
. . .
SingleSingle--BitBit
LPF
∆Σ A/D
• No Interpolation• Single-Bit Bus
A
-70
-60
-50
-40
-30
-20
-10
0B
D C
Results
A. RF
B. Repeat
C. Insert-Zero
D. Sym-Hold
Cross-Section-Views of Peak 3
-20 -10 0 10 20
-80
-60
-40
-20
0RF
dB
-20 -10 0 10 20
-80
-60
-40
-20
0Repeat
dB
-20 -10 0 10 20
-80
-60
-40
-20
0Insert-Zero
dB
Width (mm)-20 -10 0 10 20
-80
-60
-40
-20
0Symmetric-Hold
dB
Width (mm)
Scan Conversion
• Acquired data may not be on the display grid.
Acquired grid
Display grid
Scan Conversion
sinθ
R
x
y
acquired converted
Scan Conversion
original gridraster gridacquired data
display pixel
a(i,j)
a(i,j+1)
a(i+1,j)
a(i+1,j+1)
p
)1,1(
)1,(),1(),(),(
1,1,,
1,,,,1,,,,,
++
+++++=
++
++
jiac
jiacjiacjiacnmp
jinm
jinmjinmjinm
Moiré Pattern
Scan Conversion
original data buffer
interpolation display buffer
addresses and coefficients generation
display
Temporal Resolution (Frame Rate)
• Frame rate=1/Frame time.• Frame time=number of lines * line time.• Line time=(2*maximum depth)/sound
velocity.• Sound velocity is around 1540 m/s.• High frame rate is required for real-time
imaging.
Temporal Resolution
• Display standard: NTSC: 30 Hz. PAL: 25 Hz (2:1 interlace). 24 Hz for movie.
• The actual acoustic frame rate may be higher or lower. But should be high enough to have minimal flickering.
• Essence of real-time imaging: direct interaction.
Temporal Resolution
• For an actual frame rate lower than 30 Hz, interpolation is used.
• For an actual frame rate higher than 30 Hz, information can be displayed during playback.
• Even at 30 Hz, it is still possibly undersampling.
Temporal Resolution
• B-mode vs. Doppler.• Acoustic power: peak vs. average.• Increasing frame rate:
– Smaller depth and width.– Less flow samples.– Wider beam width.– Parallel beam formation.
Parallel Beamformation• Simultaneously receive multiple beams.• Correlation between beams, spatial ambiguity.• Require duplicate hardware (higher cost) or time
sharing (reduced processing time and axial resolution).
r1 r2t
t
r1 r2
Parallel Beamformation
• Simultaneously transmit multiple beams.• Interference between beams, spatial
ambiguity.
t1/r1 t2/r2
t1/r1t2/r2