Abstract:
A probe includes an articulating member with at least two vertebrae elements sequentially arranged along a long axis of the elongate ultrasound imaging probe. The articulating member includes pivots located between the at least two vertebrae elements. The pivots are disposed off-center relative to the at least two vertebrae elements. The pivots are spatially oriented to provide a pivot point for a different articulation direction of a vertebra element. The probe further includes a plurality of guides, including at least one guide for each of the respective different pivot directions. The probe further includes an actuator with a set of controls, each control configured to actuate a different pair of the plurality of guides for controlling opposing articulation directions, wherein the actuator reduces stress induced on at least one of a pushed guide or a non-activated guide, wherein the stress is induced in response to the actuator pulling a guide.

Description:
TECHNICAL FIELD 
       [0001]    The following generally relates to ultrasound (US) imaging and more particularly to articulation activation wire stress relief for an ultrasound imaging probe. 
       BACKGROUND 
       [0002]    There are at least two different types of ultrasound imaging probes—flexible and rigid. Flexible ultrasound probes include an articulating portion that is controllably articulated to move the end of the probe head and the transducer array through an angle of, e.g., up to 180° degrees in one to four planes.  FIGS. 1A and 1B  show an example of a flexible probe  100 ; namely, a laparoscopic transducer type 8666, which is a product of BK-Medical ApS, a company of Herlev, Denmark. In  FIG. 1A , an articulating portion  102  is configured to articulate to an up position  104  or a down position  106 . A lever  112  controls up/down articulation. In  FIG. 1B , the articulating portion  102  is further configured to articulate to a left position  108  or a right position  110 . A lever  114  controls left/right articulation. Generally, either the first lever  112  or the second lever  114  is employed during an examination, but not concurrently both of the levers  112  and  114 . 
         [0003]      FIG. 2A  shows the lever  112  attached to a cam  202  and the lever  114  attached to a cam  204 . A first wire  206  is connected between a first side of the cam  202  and a first side of the articulating portion  102 , and a second wire  208  is connected between a second opposing side of the cam  202  and a second opposing side of the articulating portion  102 . A third wire  210  is connected between a first side of the cam  204  and a third side of the articulating portion  102 , and a fourth wire  212  is connected between a second side of the cam  204  and a fourth side of the articulating portion  102 . The lever  112  rotates the cam  202 , and the lever  114  rotates the cam  204 . Rotating one of the cams  202  or  204  causes the corresponding wires to push on one side and pull on the opposing side of the articulating portion  102 , which causes the articulating portion  102  to articulate. The articulating portion  102  includes a plurality of vertebrae  213  separated by pivots  214 . Between neighboring vertebrae  213 , a first pair of pivots  214  is for left/right articulation and a second pair of pivots  214  is for up/down articulation. The pivots  214  are located off center with respect to the articulating portion  102 . 
         [0004]    In  FIG. 2B , the lever  112  is rotated counter-clockwise, which pulls on the wire  206  and pushes on the wire  208  resulting in left articulation. Since the pivots  214  are off center, the pull and push lengths of the wires  206  and  208  are not the same. That is, a push length is longer than a pull length. However, the cam  202  releases only a same length of wire, which is the pull length. As a consequence, a stress is induced in the pushed wire. Rotating the lever  112  clockwise, the lever  114  counter-clockwise, or the lever  114  clockwise likewise induces a stress in the pushed wire.  FIGS. 3A and 3B  show down and up articulation with the lever  114 . Furthermore, both of the wires of the non-activated lever will be likewise stressed. This can be seen in  FIGS. 2B  (wires  210  and  212 ) and  FIGS. 3A and 3B  (wires  206  and  208 ). One approach to mitigate these stresses are to include springs in the wires. Unfortunately, with such an approach, the springs introduce slack in the wires, causing a delay between the articulation expected by the user and the actual articulation. 
       SUMMARY 
       [0005]    Aspects of the application address the above matters, and others. 
         [0006]    In one aspect, an elongate ultrasound imaging probe includes an articulating member. The articulating member includes at least two vertebrae elements sequentially arranged along a long axis of the elongate ultrasound imaging probe. The articulating member further includes a plurality of pivots located between the at least two vertebrae elements. Each of the plurality of pivots is disposed off-center relative to the at least two vertebrae elements. Each of the plurality of pivots is spatially oriented to provide a pivot point for a different articulation direction of a set of different of articulation directions of a vertebra element of the plurality of vertebrae elements. The probe further includes a plurality of guides, including at least one guide for each of the respective different pivot directions. An actuator with a set of controls, each control configured to actuate a different pair of the plurality of guides for controlling opposing articulation directions, wherein the actuator reduces stress induced on at least one of a pushed guide or a non-activated guide, wherein the stress is induced in response to the actuator pulling a guide. 
         [0007]    In another aspect, an elongate ultrasound imaging probe includes a flexor configured to flex a tip of the probe, where the tip of the probe houses a transducer array, a flexor control system configured to control the flexor to flex the tip in one of a plurality of different directions through pulling and pushing on guides affixed to the flexor, and a flexor actuator configured to actuate the flexor control system to selectively pull and push on the guides. 
         [0008]    In another aspect, an ultrasound imaging system includes a probe and a console. The probe includes a probe head with a transducer array, a shaft, an articulating member disposed between the probe head and the shaft, an articulating member actuator configured to control the articulating member through guide wires, wherein the articulating member reduces stress in the guide wires through a structural elements that slack off at least one of a pushed guide wire or a non-activated guide wire in response to at least one pulled guide wire, and a console interface. The console includes ultrasound imaging components and a probe interface. The console and probe interfaces are complementary interfaces, providing an electrical communications path between the probe and the console. 
         [0009]    Those skilled in the art will recognize still other aspects of the present application upon reading and understanding the attached description. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0010]    The application is illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements and in which: 
           [0011]      FIG. 1A  illustrates up/down articulation of a probe head of a prior art ultrasound imaging probe; 
           [0012]      FIG. 1B  illustrates left/right articulation of the probe head of the prior art ultrasound imaging probe of  FIG. 1A ; 
           [0013]      FIG. 2A  illustrates example control of the articulation of the probe of  FIGS. 1A and 2B ; 
           [0014]      FIG. 2B  illustrates left articulation and stress induced on the pushed wire and the non-actuated wires of the probe of  FIGS. 1A and 2B ; 
           [0015]      FIG. 3A  illustrates down articulation and stress induced on the pushed wire and the non-actuated wires of the probe of  FIGS. 1A and 2B ; 
           [0016]      FIG. 3B  illustrates up articulation and stress induced on the pushed wire and the non-actuated wires of the probe of  FIGS. 1A and 2B ; 
           [0017]      FIG. 4  schematically illustrates an example ultrasound imaging system with probe with an articulation sub-system. 
           [0018]      FIG. 5A  illustrates an example of the articulation sub-system. 
           [0019]      FIG. 5B  illustrates the example of the articulation sub-system in use. 
           [0020]      FIG. 5C  illustrates the example of the articulation sub-system in connection with prior art. 
           [0021]      FIG. 6A  illustrates another example of the articulation sub-system. 
           [0022]      FIG. 6B  illustrates the example articulation sub-system of  FIG. 6A  in use. 
       
    
    
     DETAILED DESCRIPTION 
       [0023]      FIG. 4  illustrates an imaging system  402  such as ultrasound imaging system. The imaging system  402  includes an elongate ultrasound probe  404  and a console  406 . The elongate ultrasound probe  404  includes a handle  408 , a shaft (SHFT)  410 , an articulating member  412 , and a probe head  414 . The handle  408 , the shaft  410 , the articulating member  412  and the probe head  414  respectively are arranged with respect to each along a longitudinal axis  415  of the elongate ultrasound probe  404 . 
         [0024]    The probe head  414  includes a first end region  416  and a second end region  418 . In the illustrated embodiment, the probe head  414  also includes a transducer array  420 . In another embodiment, the probe head  414  can also include a biopsy region. The first end region  416  includes the end of the probe  404 . The second end region  418  is affixed to the articulating member  412 . The transducer array  420  includes a one or two dimensional array transducer elements. Suitable configurations include, but are not limited to, linear, curved (e.g., convex), and phased arrays. The transducer array  420  is configured to acquire data for A-mode, B-mode, etc. acquisitions, individually and in combination with color flow, Doppler flow, etc. 
         [0025]    The articulating member  412  includes a first end region  422 , a second end region  424  and a flexor  426 . The first end region  416  is affixed to the second end region  418  of the probe head  414 . The second end region  424  is affixed to the shaft  410 . The flexor  426  extends along the longitudinal axis  415 . The flexor  426  is configured to flex the articulating member  412  to various positions, e.g., in one to four planes through angles of up to ninety (90) degrees or more. Examples of suitable positions include up, down, left, right and/or other positions. As described in greater detail below, in one instance, the flexor includes a plurality of vertebrae with pivots there between. 
         [0026]    The shaft  410  includes a first end region  428 , a second end region  430 , and at least a first portion of the flexor control system (FCS)  432 . The first end region  428  is affixed to the second end region  424  of the articulating member  412 . The second end region  430  is affixed to the handle  408 . The flexor control system  426  extends along the longitudinal axis  415 . The flexor control system  426  is configured to push and pull on the flexor  426  to flex the articulating member  412  for up/down and left/fight articulation. As described in greater detail below, in one instance, the flexor control system  432  includes a plurality of guides such as wires that pull and push on the vertebrae, pivoting them on the pivots. 
         [0027]    The handle  408  includes a first end region  434 , a second end region  436 , at least a second portion of the flexor control system  432 , a flexor actuator  438 , and an interface  440 . The first end region  434  is affixed to the second end region  430  of the shaft  410 . The second end region  436  represents the other opposing end of the probe  404 . The flexor actuator  438  is configured to control the flexor control system  432  to control the flexing of the flexor  426 . In one embodiment, the flexor actuator  438  is as shown in  FIGS. 1A and 1B . In another embodiment, the flexor actuator  438  includes a ratchet mechanism on each activation wheel. The ratchet mechanism can be switched on/off in the handle  408 . In yet another embodiment, the flexor actuator  438  includes an electrical based on/off (and copy) button (electrically) on the handle  408 . The interface  440  is configured for connection with a complementary interface of an ultrasound console. 
         [0028]    As described in greater detail below, the flexor actuator  438  is configured to mitigate stress induced in the flexor  426  and the flexor control system  432  by actuation of the flexor actuator  438 . In one instance, this includes stress induced in the pushed wire for up/down articulation, or stress induced in the pushed wire for left/right articulation. In another instance, this includes stress induced in the non-actuated wires. In yet another instance, this includes both the stress induced in the pushed wire and the stress induced in the non-actuated wires. 
         [0029]    It is to be appreciated that the probe  404  can be used for laparoscopic, endoscopic, and/or other applications, and can be used to assist personnel, for example, with an interventional procedure such as a liver, gall bladder, tumor biopsy, etc., guide personnel, for example, with RF ablation, chemical injection, etc. and/or otherwise. As shown, the probe  404  is employed with the console  406 . In other embodiments, the probe  404  can be employed with other consoles. 
         [0030]    The console  406  includes an interface  442 . The interface  442  is complementary to the interface  440  of the probe  404 . In one instance, the interface  440  includes a cable with an electro-mechanical connector and the interface  442  includes an electro-mechanical connector. The interfaces  440  and  442  are configured to mechanically engage each other and establish electrical communication there between, e.g., through pins and sockets and/or otherwise. Alternatively, the interfaces  440  and  442  are wireless interfaces. 
         [0031]    The console  406  includes a transmit circuit  444  that controls the phasing and/or time of actuation of the individual elements of the transducer array  420 , which allows for steering and/or focusing the transmitted beam from predetermined origins along the array and at predetermined angles. 
         [0032]    The console  406  further includes a receive circuit  446  that receives signals indicative of the echoes received by the transducer array  420 . The receive circuit  446  can beamform (e.g., delays and sums) the echoes into a sequence of focused, coherent echo samples along focused scanlines of a scanplane, and/or otherwise process the echoes. 
         [0033]    The console  406  further includes a controller  448  that controls the transmit circuit  444  and/or the receive circuit  446 . Such control may include, but is not limited to, controlling the frame rate, number of scan line groups, transmit angles, transmit energies, transmit frequencies, transmit and/or receive delays, etc. 
         [0034]    The console  406  further includes a scan converter  450  that scan converts the frames of data to generate data for display, for example, by converting the data to the coordinate system of the display. This may include changing the vertical and/or horizontal scan frequency of signal based on the display. Furthermore, the scan converter  450  can be configured to employ analog and/or digital scan converting techniques. 
         [0035]    The console  406  further includes a display  452  that visually presents the rendered data. The display  452  can be integrated in the console  406  or separate therefrom and in electrical communication therewith via a wired and/or wireless connection. 
         [0036]    The console  406  further includes a user interface  454  that includes input and/or output devices for interacting with the controller  448  to select a data acquisition mode (e.g., B-mode), initiate scanning, etc. The user interface  454  may include various controls such as buttons, knobs, a keypad, a touch screen, etc. The user interface  454  may also include various types of visual (e.g., LCD, LED, etc.) and/or audible displays. 
         [0037]    It is to be understood that the relative size, shape and position of the components of the system  402  are provided for explanatory purposes and are not limiting. In other embodiments, at least one of the size, shape and position of at least one of the components is different. 
         [0038]      FIG. 5A  schematically illustrates an example of the flexor actuator  438 , the flexor control system  432 , and the flexor  426 . 
         [0039]    This example is configured to compensate for the difference in the push and pull length of the guides. For sake of clarity and brevity, only one of the up/down or the left/right articulation sub-systems is shown. However, it is to be understood that the up/down or the left/right articulation sub-systems include the same components, with one controlling up/down articulation and the other controlling left/right articulation. 
         [0040]    The flexor actuator  438  includes a cam  502 . In this example, the cam  502  is disc shaped with two, or first and second half-circles  504  and  506 . The first half circle  504  has a first radius  508 , and the second half circle  506  has a second radius  510 . The first radius  508  is larger than the second radius  510 . The cam  502  is rotatably affixed at a rotation axis  512  and is configured to rotate about the rotation axis  512 . 
         [0041]    The flexor  426  includes a plurality of vertebrae  514 . Adjacent pairs of the plurality of vertebrae  514  have two pairs of pivots disposed there between. A first pair of pivots  516  is for left/right (or up/down) articulation. A second pair of pivots  518  (one is behind the other) is for the up/down (or left/right) articulation. The pivots  516  and  518  are all located off-center, with the pivots  518  in a direction transverse or perpendicular to the pivots  516 . 
         [0042]    The flexor control system  432  includes guides (e.g., wires, strings, cables, or the like)  520  and  522 . The guide  520  is connected at a perimeter of one of the ends of the larger half circle  504  at a location where the radius transitions from the larger radius  508  to the smaller radius  510 . The guide  522  is connected at a perimeter of the other end of the larger half circle  504 , also at a location where the radius transitions from the larger radius  508  to the smaller radius  510 . The guides  520  and  522  respectively route through the vertebrae  514 , outside of the pivots  516  and  518 . 
         [0043]    The flexor actuator  438  further includes a lever  524 . The lever  524  is stationarily affixed to the cam  502 . The lever  524  represents the lever  512  or  514  of  FIG. 1 . Rotating the lever  512  or  514  rotates the cam  502 . Such rotation may include clockwise and/or counter-clockwise rotation. 
         [0044]    The plurality of vertebrae  514  are aligned parallel to each other. The cam  502  is oriented so that neither guide  520  or  522  is pulled or pushed. The second half circle  506  faces the plurality of vertebrae  514  and the first half circle  504  faces away from the plurality of vertebrae  514 . In this configuration, the articulating member  412  ( FIG. 4 ) and the probe head  414  ( FIG. 4 ) extend straight along the longitudinal axis  415  ( FIG. 4 ), e.g., as shown in  FIG. 4 , and not articulated. 
         [0045]    In  FIG. 5B , the lever  524  is rotated in a first or counter-clockwise direction  526 . This rotates the cam  502  in the first direction  526 . This causes the guide  520  to pull on the plurality of vertebrae  514  on one side of the articulating member  412 , and the guide  522  to push on the plurality of vertebrae  514  on the other side of the articulating member  412 . In this direction, the plurality of vertebrae  514  pivots on the pivots  516  on the one side, which causes the plurality of vertebrae  514  to separate on the other side. 
         [0046]    As shown in  FIG. 5C , the smaller radius  510  of the half circle  506  slacks off the pull guide for the same rotational movement, relative to a configuration in which the cam  502  has only the larger radius  508 , which is shown in  FIG. 5C  in connection with a guide  520 ′ and a second half circle  506 ′. In  FIG. 5C , the guide  520 ′ follows a perimeter of the second half circle  506 ′, whereas the guide  520  follows the perimeter of the second half circle  506 . This slacking off of the pull guide reduces the stress on the pushed guide. Furthermore, unlike a configuration in which the guides  520  and  522  include springs, the probe head  414  articulates when expected to articulate by the user. 
         [0047]    In general, the cam  502  can have any shape just as long as it provides a guide travel difference between the pull and push sides to reduce the push guide stress. For example, in another embodiment, rather than include the smaller radius  510  with side  506 , the cam  502  includes angled sides  702  and  704  as shown in  FIG. 7 . Other configurations are also included herein. 
         [0048]      FIG. 6A  schematically illustrates another example of the flexor actuator  438 . 
         [0049]    This example is configured to compensate for the stress induced in the non-actuated wires. For sake of clarity and brevity, details are shown for only one of the lever/cam/guide sub-systems. However, it is to be understood that both lever/cam/guide sub-systems include the same components and operate the same, with one controlling up/down articulation and the other controlling left/right articulation. 
         [0050]    In this example, the flexor actuator  438  for the left/right articulation includes a circular shaped cam  602  with a sub-cam  604 . The cam  602  is rotabaly affixed at the rotation axis  512  and is configured to rotate about the rotation axis  512 . The flexor  426  for the left/right articulation is substantially similar to that described in  FIGS. 5A and 5B  and thus will not be described in detail again. 
         [0051]    The flexor control system  432  includes a plurality of fixed rotating wheels  606  and a plurality of pivoting rotating wheels  608 . The wheels  606  and  608  are all configured to rotate. The wheels  606  are stationarily fixed. The wheels  608  are attached to free ends of pivot members  610 , which pivot about pivot points  612 . The pivot points  612  are disposed on a translating member  614 , which is configured to translate along a rail  616  between the flexor  426  and the cam  524 . 
         [0052]    The flexor actuator  438  for the up/down articulation includes a similar circular shaped cam  616  with a sub-cam  618 . The cam  616  is rotabaly affixed at a rotation axis  620  and is configured to rotate about the rotation axis  620 . A lever  622  is attached to the cam  616  and configured to rotate the cam  616 . The flexor  426  for the up/down articulation is also substantially similar to that described in  FIGS. 5A and 5B  and thus will not be described in detail again. 
         [0053]    The sub-cam  618  supports a member  624  when the lever  622  is position for no up/down articulation. A translation arm (push)  626  is affixed at one end to the member  624 . The member  624  is movable, e.g., on a track which defines a range of movement. When the cam  616  is turned the member  624  moves up the sub-cam  618  and pushes with the translation arm  626  the translating member  614 , which causes the pivot members  610  to pivot about the pivot points  612 , which will collapse the wheels  608 , reducing the stress in the wires  520 / 522 , as described in greater detail next. 
         [0054]    In  FIG. 6B , the lever  622  is rotated counter-clockwise. This causes down articulation in this example. The member  624  rolls out of the sub-cam  618  and onto the perimeter of the cam  616 . As a consequence, the wire  626  moves towards the wheel  628 , allowing the translating member  614  to translate towards the articulation member  412 . Translation of the translating member  614  results in the pivoting members  610  pivoting towards each other. Such pivoting slacks off the guides  520  and  522  for the left/right articulation. 
         [0055]    In one instance, this mitigates the stress induced on the guides  520  and  522  for the left/right articulation due to the down articulation. The same results when rotating in the opposite direction for up articulation. That is, the translating member  614  will translate, slacking off the guides  520  and  522  for the left/right articulation, mitigating the stress induced on the guides  520  and  522  due to the up articulation. When operating the lever  524 , the corresponding translating member will translate, slacking off the guides and for the up/down articulation, mitigating the stress induced on these guides due to the left and right articulation. 
         [0056]    Another embodiment combines the configurations of  FIGS. 5A or 7 and 6A . For example, with the combined configurations, the embodiment includes two cams,  506  and  616 , with a sub-cam on top of each other, fixed to each other. Other combinations are also contemplated herein. 
         [0057]    The application has been described with reference to various embodiments. Modifications and alterations will occur to others upon reading the application. It is intended that the invention be construed as including all such modifications and alterations, including insofar as they come within the scope of the appended claims and the equivalents thereof.