Abstract:
A method for generating an ultrasound image includes receiving an image frame comprising consecutive ultrasound scan lines obtained using a rotating ultrasound imaging arrangement and determining at least a first cross-correlation value and a second cross-correlation value for each of a plurality of the scan lines. For each individual scan line of the plurality of scan lines, the first cross-correlation value comprises a cross-correlation coefficient between a first subframe comprising a plurality of consecutive scan lines including the individual scan line and a second subframe comprising a plurality of scan lines shifted from the first subframe by a first integer value. The second correlation value comprising a cross-correlation coefficient between the first subframe and a third subframe comprising a plurality scan lines shifted from the first subframe by a second integer value that is different from the first integer value. The method further includes evaluating, individually for multiple scan lines of the plurality of scan lines, whether the scan line being evaluated exhibits non-uniform rotation distortion using at least one of the first and second correlation values for the scan line being evaluated. A correction for non-uniform rotation distortion is applied using at least one of the first and second correlation values for at least one of the plurality of scan lines. An ultrasound image is generated using at least the plurality of scan lines with the applied correction and the ultrasound image is displayed.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    This application is a continuation of U.S. patent application Ser. No. 13/239,160 filed Sep. 21, 2011, which issued as U.S. Pat. No. 8,956,299 on Feb. 17, 2015, and which claims the benefit under 35 U.S.C. §119(e) of U.S. Provisional Patent Application Ser. No. 61/407,854 filed on Oct. 28, 2010, both of which are incorporated herein by reference. 
     
    
     TECHNICAL FIELD 
       [0002]    The present invention is directed to the area of imaging systems that are insertable into a patient and methods of making and using the imaging systems. The present invention is also directed to methods and imaging systems for reducing the effects of non-uniform rotation distortion in ultrasound images. 
       BACKGROUND 
       [0003]    Ultrasound devices insertable into patients have proven diagnostic capabilities for a variety of diseases and disorders. For example, intravascular ultrasound (“IVUS”) imaging systems have been used as an imaging modality for diagnosing blocked blood vessels and providing information to aid medical practitioners in selecting and placing stents and other devices to restore or increase blood flow. IVUS imaging systems have been used to diagnose atheromatous plaque build-up at particular locations within blood vessels. IVUS imaging systems can be used to determine the existence of an intravascular obstruction or stenosis, as well as the nature and degree of the obstruction or stenosis. IVUS imaging systems can be used to visualize segments of a vascular system that may be difficult to visualize using other intravascular imaging techniques, such as angiography, due to, for example, movement (e.g., a beating heart) or obstruction by one or more structures (e.g., one or more blood vessels not desired to be imaged). IVUS imaging systems can be used to monitor or assess ongoing intravascular treatments, such as angiography and stent placement in real (or almost real) time. Moreover, IVUS imaging systems can be used to monitor one or more heart chambers. 
         [0004]    IVUS imaging systems have been developed to provide a diagnostic tool for visualizing a variety is diseases or disorders. An IVUS imaging system can include a control module (with a pulse generator, an image processor, and a monitor), a catheter, and one or more transducers disposed in the catheter. The transducer-containing catheter can be positioned in a lumen or cavity within, or in proximity to, a region to be imaged, such as a blood vessel wall or patient tissue in proximity to a blood vessel wall. The pulse generator in the control module generates electrical pulses that are delivered to the one or more transducers and transformed to acoustic pulses that are transmitted through patient tissue. Reflected pulses of the transmitted acoustic pulses are absorbed by the one or more transducers and transformed to electric pulses. The transformed electric pulses are delivered to the image processor and converted to an image displayable on the monitor. In many imaging systems the transducer rotates in order to image the entire vessel. Non-uniform rotation of the transducer may distort the images. 
       BRIEF SUMMARY 
       [0005]    One embodiment is a method for generating an ultrasound image. The method including receiving an image frame comprising consecutive ultrasound scan lines obtained using a rotating ultrasound imaging arrangement and determining at least a first cross-correlation value and a second cross-correlation value for each of a plurality of the scan lines. For each individual scan line of the plurality of scan lines, the first cross-correlation value comprises a cross-correlation coefficient between a first subframe comprising a plurality of consecutive scan lines including the individual scan line and a second subframe comprising a plurality of scan lines shifted from the first subframe by a first integer value. The second correlation value comprising a cross-correlation coefficient between the first subframe and a third subframe comprising a plurality scan lines shifted from the first subframe by a second integer value that is different from the first integer value. The method further includes evaluating, individually for multiple scan lines of the plurality of scan lines, whether the scan line being evaluated exhibits non-uniform rotation distortion using at least one of the first and second correlation values for the scan line being evaluated. A correction for non-uniform rotation distortion is applied using at least one of the first and second correlation values for at least one of the plurality of scan lines. An ultrasound image is generated using at least the plurality of scan lines with the applied correction and the ultrasound image is displayed. 
         [0006]    Another embodiment is a computer-readable medium having processor-executable instructions for generating an ultrasound image. The processor-executable instructions when installed onto a device enable the device to perform actions including receiving imaging data comprises consecutive ultrasound scan lines obtained using a rotating ultrasound imaging arrangement; determining at least a first cross-correlation value and a second cross-correlation value for each of a plurality of the scan lines, wherein, for each individual scan line of the plurality of scan lines, the first cross-correlation value comprising a cross-correlation coefficient between a first subframe comprising a plurality of consecutive scan lines including the individual scan line and a second subframe comprising a plurality of scan lines shifted from the first subframe by a first integer value, the second correlation value comprising a cross-correlation coefficient between the first subframe and a third subframe comprising a plurality scan lines shifted from the first subframe by a second integer value that is different from the first integer value; evaluating, individually for multiple scan lines of the plurality of scan lines, whether the scan line being evaluated exhibits non-uniform rotation distortion using at least one of the first and second correlation values for the scan line being evaluated; applying a correction for non-uniform rotation distortion using at least one of the first and second correlation values for at least one of the plurality of scan lines; generating an ultrasound image using at least the plurality of scan lines with the applied correction; and displaying the ultrasound image. 
         [0007]    Yet another embodiment is a system for generating ultrasound images. The system includes a catheter and an ultrasound imaging core insertable into the catheter. The ultrasound imaging core includes at least one transducer and is configured and arranged for rotation of at least a portion of the ultrasound imaging core to provide a plurality of radial scan lines. The system also includes a processor that is coupleable to the ultrasound imaging core and is capable of executing processor-readable instructions that enable actions, including: receiving the plurality of scan lines obtained using the ultrasound imaging core; determining at least a first cross-correlation value and a second cross-correlation value for each of a plurality of the scan lines, wherein, for each individual scan line of the plurality of scan lines, the first cross-correlation value comprising a cross-correlation coefficient between a first subframe comprising a plurality of consecutive scan lines including the individual scan line and a second subframe comprising a plurality of scan lines shifted from the first subframe by a first integer value, the second correlation value comprising a cross-correlation coefficient between the first subframe and a third subframe comprising a plurality scan lines shifted from the first subframe by a second integer value that is different from the first integer value; evaluating, individually for multiple scan lines of the plurality of scan lines, whether the scan line being evaluated exhibits non-uniform rotation distortion using at least one of the first and second correlation values for the scan line being evaluated; applying a correction for non-uniform rotation distortion using at least one of the first and second correlation values for at least one of the plurality of scan lines; generating an ultrasound image using at least the plurality of scan lines with the applied correction; and displaying the ultrasound image. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0008]    Non-limiting and non-exhaustive embodiments of the present invention are described with reference to the following drawings. In the drawings, like reference numerals refer to like parts throughout the various figures unless otherwise specified. 
           [0009]    For a better understanding of the present invention, reference will be made to the following Detailed Description, which is to be read in association with the accompanying drawings, wherein: 
           [0010]      FIG. 1  is a schematic view of one embodiment of an ultrasound imaging system suitable for insertion into a patient, according to the invention; 
           [0011]      FIG. 2  is a schematic side view of one embodiment of a catheter suitable for use with the ultrasound imaging system of  FIG. 1 , according to the invention; 
           [0012]      FIG. 3  is a schematic longitudinal cross-sectional view of one embodiment of a distal end of the catheter of  FIG. 2  with an imaging core disposed in a lumen defined in a sheath, according to the invention; 
           [0013]      FIG. 4  is a schematic diagram illustrating spacing of scan lines; 
           [0014]      FIG. 5  is a schematic block diagram illustrating one embodiment of a method for at least partially correcting for non-uniform rotation distortion, according to the invention; 
           [0015]      FIG. 6  is a graph of cross-correlation values and one embodiment of a scan line correction for a set of scan lines, according to the invention; and 
           [0016]      FIG. 7  is a schematic block diagram illustrating one embodiment of a method for classifying the amount of correction to be applied to a set of imaging data. 
       
    
    
     DETAILED DESCRIPTION 
       [0017]    The present invention is directed to the area of imaging systems that are insertable into a patient and methods of making and using the imaging systems. The present invention is also directed to methods and imaging systems for reducing the effects of non-uniform rotation distortion in ultrasound images. 
         [0018]    The methods, systems, and devices described herein may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Accordingly, the methods, systems, and devices described herein may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. The methods described herein can be performed using any type of computing device, such as a computer, that includes a processor or any combination of computing devices where each device performs at least part of the process. 
         [0019]    Suitable computing devices typically include mass memory and typically include communication between devices. The mass memory illustrates a type of computer-readable media, namely computer storage media. Computer storage media may include volatile, nonvolatile, removable, and non-removable media implemented in any method or technology for storage of information, such as computer readable instructions, data structures, program modules, or other data. Examples of computer storage media include RAM, ROM, EEPROM, flash memory, or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computing device. 
         [0020]    Methods of communication between devices or components of a system can include both wired and wireless (e.g., RF, optical, or infrared) communications methods and such methods provide another type of computer readable media; namely communication media. Communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave, data signal, or other transport mechanism and include any information delivery media. The terms “modulated data signal,” and “carrier-wave signal” includes a signal that has one or more of its characteristics set or changed in such a manner as to encode information, instructions, data, and the like, in the signal. By way of example, communication media includes wired media such as twisted pair, coaxial cable, fiber optics, wave guides, and other wired media and wireless media such as acoustic, RF, infrared, and other wireless media. 
         [0021]    Suitable intravascular ultrasound (“IVUS”) imaging systems include, but are not limited to, one or more transducers disposed on a distal end of a catheter configured and arranged for percutaneous insertion into a patient. Examples of IVUS imaging systems with catheters are found in, for example, U.S. Pat. Nos. 7,246,959; 7,306,561; and 6,945,938; as well as U.S. Patent Application Publication Nos. 2006/0100522; 2006/0106320; 2006/0173350; 2006/0253028; 2007/0016054; and 2007/0038111; all of which are incorporated herein by reference. 
         [0022]      FIG. 1  illustrates schematically one embodiment of an IVUS imaging system  100 . The IVUS imaging system  100  includes a catheter  102  that is coupleable to a control module  104 . The control module  104  may include, for example, a processor  106 , a pulse generator  108 , a drive unit  110 , and one or more displays  112 . In at least some embodiments, the pulse generator  108  forms electric pulses that may be input to one or more transducers ( 312  in  FIG. 3 ) disposed in the catheter  102 . 
         [0023]    In at least some embodiments, mechanical energy from the drive unit  110  may be used to drive an imaging core ( 306  in  FIG. 3 ) disposed in the catheter  102 . In at least some embodiments, electric signals transmitted from the one or more transducers ( 312  in  FIG. 3 ) may be input to the processor  106  for processing. In at least some embodiments, the processed electric signals from the one or more transducers ( 312  in  FIG. 3 ) can be displayed as one or more images on the one or more displays  112 . For example, a scan converter can be used to map scan line samples (e.g., radial scan line samples, or the like) to a two-dimensional Cartesian grid to display the one or more images on the one or more displays  112 . 
         [0024]    In at least some embodiments, the processor  106  may also be used to control the functioning of one or more of the other components of the control module  104 . For example, the processor  106  may be used to control at least one of the frequency or duration of the electrical pulses transmitted from the pulse generator  108 , the rotation rate of the imaging core ( 306  in  FIG. 3 ) by the drive unit  110 , the velocity or length of the pullback of the imaging core ( 306  in  FIG. 3 ) by the drive unit  110 , or one or more properties of one or more images formed on the one or more displays  112 . 
         [0025]      FIG. 2  is a schematic side view of one embodiment of the catheter  102  of the IVUS imaging system ( 100  in  FIG. 1 ). The catheter  102  includes an elongated member  202  and a hub  204 . The elongated member  202  includes a proximal end  206  and a distal end  208 . In  FIG. 2 , the proximal end  206  of the elongated member  202  is coupled to the catheter hub  204  and the distal end  208  of the elongated member is configured and arranged for percutaneous insertion into a patient. Optionally, the catheter  102  may define at least one flush port, such as flush port  210 . The flush port  210  may be defined in the hub  204 . The hub  204  may be configured and arranged to couple to the control module ( 104  in  FIG. 1 ). In some embodiments, the elongated member  202  and the hub  204  are formed as a unitary body. In other embodiments, the elongated member  202  and the catheter hub  204  are formed separately and subsequently assembled together. 
         [0026]      FIG. 3  is a schematic perspective view of one embodiment of the distal end  208  of the elongated member  202  of the catheter  102 . The elongated member  202  includes a sheath  302  with a longitudinal axis  303  and a lumen  304 . An imaging core  306  is disposed in the lumen  304 . The imaging core  306  includes an imaging device  308  coupled to a distal end of a driveshaft  310  that is rotatable either manually or using a computer-controlled drive mechanism. One or more transducers  312  may be mounted to the imaging device  308  and employed to transmit and receive acoustic signals. The sheath  302  may be formed from any flexible, biocompatible material suitable for insertion into a patient. Examples of suitable materials include, for example, polyethylene, polyurethane, plastic, spiral-cut stainless steel, nitinol hypotube, and the like or combinations thereof. 
         [0027]    In a preferred embodiment (as shown in  FIG. 3 ), an array of transducers  312  are mounted to the imaging device  308 . In alternate embodiments, a single transducer may be employed. Any suitable number of transducers  312  can be used. For example, there can be two, three, four, five, six, seven, eight, nine, ten, twelve, fifteen, sixteen, twenty, twenty-five, fifty, one hundred, five hundred, one thousand, or more transducers. As will be recognized, other numbers of transducers may also be used. When a plurality of transducers  312  are employed, the transducers  312  can be configured into any suitable arrangement including, for example, an annular arrangement, a rectangular arrangement, or the like. 
         [0028]    The one or more transducers  312  may be formed from one or more known materials capable of transforming applied electrical pulses to pressure distortions on the surface of the one or more transducers  312 , and vice versa. Examples of suitable materials include piezoelectric ceramic materials, piezocomposite materials, piezoelectric plastics, barium titanates, lead zirconate titanates, lead metaniobates, polyvinylidenefluorides, and the like. Other transducer technologies include composite materials, single-crystal composites, and semiconductor devices (e.g., capacitive micromachined ultrasound transducers (“cMUT”), piezoelectric micromachined ultrasound transducers (“pMUT”), or the like) 
         [0029]    The pressure distortions on the surface of the one or more transducers  312  form acoustic pulses of a frequency based on the resonant frequencies of the one or more transducers  312 . The resonant frequencies of the one or more transducers  312  may be affected by the size, shape, and material used to form the one or more transducers  312 . The one or more transducers  312  may be formed in any shape suitable for positioning within the catheter  102  and for propagating acoustic pulses of a desired frequency in one or more selected directions. For example, transducers may be disc-shaped, block-shaped, rectangular-shaped, oval-shaped, and the like. The one or more transducers may be formed in the desired shape by any process including, for example, dicing, dice and fill, machining, microfabrication, and the like. 
         [0030]    As an example, each of the one or more transducers  312  may include a layer of piezoelectric material sandwiched between a conductive acoustic lens and a conductive backing material formed from an acoustically absorbent material (e.g., an epoxy substrate with tungsten particles). During operation, the piezoelectric layer may be electrically excited by both the backing material and the acoustic lens to cause the emission of acoustic pulses. 
         [0031]    The one or more transducers  312  can be used to form a radial cross-sectional image of a surrounding space. Thus, for example, when the one or more transducers  312  are disposed in the catheter  102  and inserted into a blood vessel of a patient, the one more transducers  312  may be used to form an image of the walls of the blood vessel and tissue surrounding the blood vessel. 
         [0032]    The imaging core  306  is rotated about the longitudinal axis  303  of the catheter  102 . As the imaging core  306  rotates, the one or more transducers  312  emit acoustic signals in different radial directions (i.e., along different radial scan lines). For example, the one or more transducers  312  can emit acoustic signals at regular (or irregular) increments, such as 256 radial scan lines per revolution, or the like. It will be understood that other numbers of radial scan lines can be emitted per revolution, instead. 
         [0033]    When an emitted acoustic pulse with sufficient energy encounters one or more medium boundaries, such as one or more tissue boundaries, a portion of the emitted acoustic pulse is reflected back to the emitting transducer as an echo pulse. Each echo pulse that reaches a transducer with sufficient energy to be detected is transformed to an electrical signal in the receiving transducer. The one or more transformed electrical signals are transmitted to the control module ( 104  in  FIG. 1 ) where the processor  106  processes the electrical-signal characteristics to form a displayable image of the imaged region based, at least in part, on a collection of information from each of the acoustic pulses transmitted and the echo pulses received. In at least some embodiments, the rotation of the imaging core  306  is driven by the drive unit  110  disposed in the control module ( 104  in  FIG. 1 ). In alternate embodiments, the one or more transducers  312  are fixed in place and do not rotate. In which case, the driveshaft  310  may, instead, rotate a mirror that reflects acoustic signals to and from the fixed one or more transducers  312 . 
         [0034]    When the one or more transducers  312  are rotated about the longitudinal axis  303  of the catheter  102  emitting acoustic pulses, a plurality of images can be formed that collectively form a radial cross-sectional image (e.g., a tomographic image) of a portion of the region surrounding the one or more transducers  312 , such as the walls of a blood vessel of interest and tissue surrounding the blood vessel. The radial cross-sectional image can, optionally, be displayed on one or more displays  112 . The at least one of the imaging core  306  can be either manually rotated or rotated using a computer-controlled mechanism. 
         [0035]    The imaging core  306  may also move longitudinally along the blood vessel within which the catheter  102  is inserted so that a plurality of cross-sectional images may be formed along a longitudinal length of the blood vessel. During an imaging procedure the one or more transducers  312  may be retracted (i.e., pulled back) along the longitudinal length of the catheter  102 . The catheter  102  can include at least one telescoping section that can be retracted during pullback of the one or more transducers  312 . In at least some embodiments, the drive unit  110  drives the pullback of the imaging core  306  within the catheter  102 . The drive unit  110  pullback distance of the imaging core can be any suitable distance including, for example, at least 5 cm, 10 cm, 15 cm, 20 cm, 25 cm, or more. The entire catheter  102  can be retracted during an imaging procedure either with or without the imaging core  306  moving longitudinally independently of the catheter  102 . 
         [0036]    When the imaging core  306  is refracted while rotating, the images may collectively form a continuous spiral shape along a blood vessel. A stepper motor may, optionally, be used to pull back the imaging core  306 . The stepper motor can pull back the imaging core  306  a short distance and stop long enough for the one or more transducers  306  to capture an image or series of images before pulling back the imaging core  306  another short distance and again capturing another image or series of images, and so on. 
         [0037]    The quality of an image produced at different depths from the one or more transducers  312  may be affected by one or more factors including, for example, bandwidth, transducer focus, beam pattern, as well as the frequency of the acoustic pulse. The frequency of the acoustic pulse output from the one or more transducers  312  may also affect the penetration depth of the acoustic pulse output from the one or more transducers  312 . In general, as the frequency of an acoustic pulse is lowered, the depth of the penetration of the acoustic pulse within patient tissue increases. In at least some embodiments, the IVUS imaging system  100  operates within a frequency range of 5 MHz to 100 MHz. 
         [0038]    One or more conductors  314  can electrically couple the transducers  312  to the control module  104  (see e.g.,  FIG. 1 ). In which case, the one or more conductors  314  may extend along a longitudinal length of the rotatable driveshaft  310 . 
         [0039]    The catheter  102  with one or more transducers  312  mounted to the distal end  208  of the imaging core  308  may be inserted percutaneously into a patient via an accessible blood vessel, such as the femoral artery, femoral vein, or jugular vein, at a site remote from the selected portion of the selected region, such as a blood vessel, to be imaged. The catheter  102  may then be advanced through the blood vessels of the patient to the selected imaging site, such as a portion of a selected blood vessel. 
         [0040]    As indicated above, the transducer(s) or a mirror is typically rotated during operation. As the transducer(s) or mirror rotates, the transducer(s) is pulsed to emit acoustic energy. The transducer(s) then receives the reflected acoustic energy. During this reception period, the transducer(s) or mirror may be stationary or rotating. The received acoustic energy between two pulses can be referred to a as a scan line. Each scan line typically includes a number of points that represent reception of the reflected acoustic energy over time and are generally correlated with depth. In at least some embodiments, the number of scan lines per revolution is at least 64, 100, 128, 200, 256, 300, 400, 500, 512, 1000, or 1028. 
         [0041]    Ideally, the scan lines are spaced an equal distance apart. Equal spacing of the scan lines can be obtained by uniform rotation. If the rotation is non-uniform, then the spacing between the scan lines will also be non-uniform. Such non-uniformity can result in what is often referred to as non-uniform rotation distortion (NURD) and can produce distortion in the ultrasound image.  FIG. 4  schematically illustrates the concept of non-uniform rotation by graphing each scan line, l 1 , l 2 , . . . , l n  versus rotational distance (x-axis). The y-axis corresponds to the sample points for each scan line. In  FIG. 4 , scan lines l 1 , l 2 , and l 3  are equally spaced apart indicating uniform rotation. In contrast, lines l i−1  and l i  are closer together, indicating that the rotational speed of the transducer(s) or mirror may have slowed. Lines l i  and l i+1  and lines l i+3  and l i+4  are further apart indicating that the rotational speed of the transducer(s) or mirror may have increased. 
         [0042]    The scan lines and associated data can be examined and the presence of non-uniform rotation distortion can be observed and at least partially corrected. Although the correction of non-uniform rotation distortion is described herein in the context of ultrasound imaging, it will be understood that this correction can also be applied to other imaging techniques that utilize rotating imaging receivers, such as optical coherence tomography. 
         [0043]      FIG. 5  is a block diagram illustrating schematically one embodiment of a procedure for at least partially correcting non-uniform rotation distortion (NURD). The level of NURD around each scan line L in the image frame can be calculated through cross-correlation values between image subframes. Image subframes are selected from the image frame (box  502 ). As an example, for each image frame F(r,L) that includes L T  scan lines with each scan line containing r T  sample points, image subframes are selected with each subframe including a number Δ L  of consecutive scan lines distributed around, and including, a scan line, L, and a range [r 1 ,r 2 ] of consecutive sample points from each scan line distributed around, and including, a sample point, r. It will be understood that the imaging data in the image frame can be the radio-frequency (RF) data directly from the transducer or data that has been at least partially processed (e.g., data with filtering, amplitude detection, log-compression or other non-linear mapping of amplitudes). The image frames can be averaged over consecutive acquisitions of ultrasound data. 
         [0044]    The total number of scan lines, Δ 1 , in a subframe can be two, three, four, five, six, seven, eight, nine, ten, eleven, twelve, or more. Preferably, the scan lines of the subframe are symmetrically selected about the particular scan line, L, which would result in Δ L  being an odd number (e.g., three, five, seven, nine, eleven, etc.) 
         [0045]    The number of sample points per scan line in the range [r 1 ,r 2 ] of the subframe is preferably at least one-eighth of the total number of sample points in the scan line and can be at least one-quarter, one-half, two-thirds, three-quarters, or even all of the sample points of the scan line. It will be understood that each scan line may have the same number of sample points or may have differing numbers of sample points. 
         [0046]    In some embodiments, the level of NURD is estimated around each scan line in the image frame, therefore all scan lines in an image frame are selected for calculation. Alternatively, the level of NURD is estimated for only a portion of the scan lines (e.g., every other scan line or every third scan line), thus a subset of scan lines are selected for calculation. 
         [0047]    The presence or absence of non-uniform rotation distortion (NURD) is then determined (box  504 ) for each selected scan line from the image frame. This determination includes calculating two or more cross-correlation values between nearby subframes for each selected line. In at least some embodiments, the subframe cross-correlation values are calculated between the subframe that includes the selected scan line and another subframe that may or may not includes that line. 
         [0048]    Each subframe cross-correlation value is calculated between a subframe and another subframe that corresponds to the original subframe shifted by an integer number, δ L , of scan lines. For a particular subframe, each calculated cross-correlation value is for a different value of δ L . The integer number δ L  can be any suitable integer value such as one, two, three, four, five, six, seven, eight, or more and can be positive or negative. 
         [0049]    One example of a cross-correlation value C(L;δ L ) is given by the following equation: 
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                           ∑ 
                           
                             
                               L 
                               ′ 
                             
                             = 
                             
                               
                                 - 
                                 
                                   ( 
                                   
                                     
                                       Δ 
                                       L 
                                     
                                     - 
                                     1 
                                   
                                   ) 
                                 
                               
                               / 
                               2 
                             
                           
                           
                             
                               ( 
                               
                                 
                                   Δ 
                                   L 
                                 
                                 - 
                                 1 
                               
                               ) 
                             
                             / 
                             2 
                           
                         
                          
                         
                             
                         
                          
                         
                           
                             ∑ 
                             
                               r 
                               = 
                               
                                 r 
                                 1 
                               
                             
                             
                               r 
                               2 
                             
                           
                            
                           
                               
                           
                            
                           
                             
                               ( 
                               
                                 
                                   F 
                                    
                                   
                                     ( 
                                     
                                       r 
                                       , 
                                       
                                         L 
                                         + 
                                         
                                           δ 
                                           L 
                                         
                                         + 
                                         
                                           L 
                                           ′ 
                                         
                                       
                                     
                                     ) 
                                   
                                 
                                 - 
                                 
                                   
                                     F 
                                     _ 
                                   
                                    
                                   
                                     ( 
                                     
                                       L 
                                       + 
                                       
                                         δ 
                                         L 
                                       
                                     
                                     ) 
                                   
                                 
                               
                               ) 
                             
                             2 
                           
                         
                       
                     
                   
                 
               
             
           
         
       
       
         
           
             
               where 
                
               
                   
               
                
               
                 
                   F 
                   _ 
                 
                  
                 
                   ( 
                   L 
                   ) 
                 
               
             
             = 
             
               
                 1 
                 
                   
                     Δ 
                     L 
                   
                   · 
                   
                     ( 
                     
                       
                         r 
                         2 
                       
                       - 
                       
                         r 
                         1 
                       
                     
                     ) 
                   
                 
               
               · 
               
                 
                   ∑ 
                   
                     
                       L 
                       ′ 
                     
                     = 
                     
                       
                         - 
                         
                           ( 
                           
                             
                               Δ 
                               L 
                             
                             - 
                             1 
                           
                           ) 
                         
                       
                       / 
                       2 
                     
                   
                   
                     
                       ( 
                       
                         
                           Δ 
                           L 
                         
                         - 
                         1 
                       
                       ) 
                     
                     / 
                     2 
                   
                 
                  
                 
                     
                 
                  
                 
                   
                     ∑ 
                     
                       r 
                       = 
                       
                         r 
                         1 
                       
                     
                     
                       r 
                       2 
                     
                   
                    
                   
                       
                   
                    
                   
                     ( 
                     
                       
                         F 
                          
                         
                           ( 
                           
                             r 
                             , 
                             
                               L 
                               + 
                               
                                 L 
                                 ′ 
                               
                             
                           
                           ) 
                         
                       
                       . 
                     
                   
                 
               
             
           
         
       
     
         [0050]    In this instance, the cross-correlation values have been normalized. Alternatively, i) the cross-correlation values are not normalized, ii) the cross-correlation values are calculated without subtracting the mean values (e.g.,  F (L) and  F (L+δ L )), or iii) a combination of i) and ii). 
         [0051]    These cross-correlation values are functions of both the lateral resolution of the imaging system and the rotation distortion. To separate the rotation distortion effects on the cross-correlation values from that of image resolution, the relative cross-correlation values, CR(L;δ L ), can be calculated by normalizing C(L;δ L ) with its average over the whole or a nearby portion of the image frame, 
         [0000]    
       
         
           
             
               CR 
                
               
                 ( 
                 
                   L 
                   ; 
                   
                     δ 
                     L 
                   
                 
                 ) 
               
             
             ≡ 
             
               
                 
                   ( 
                   
                     
                       2 
                        
                       D 
                     
                     + 
                     1 
                   
                   ) 
                 
                 · 
                 
                   C 
                    
                   
                     ( 
                     
                       L 
                       ; 
                       
                         δ 
                         L 
                       
                     
                     ) 
                   
                 
               
               
                 
                   
                     ∑ 
                     
                       
                         L 
                         ′ 
                       
                       = 
                       
                         - 
                         D 
                       
                     
                     D 
                   
                    
                   
                       
                   
                    
                   
                     C 
                      
                     
                       ( 
                       
                         
                           L 
                           + 
                           
                             L 
                             ′ 
                           
                         
                         ; 
                         
                           δ 
                           L 
                         
                       
                       ) 
                     
                   
                 
                 _ 
               
             
           
         
       
     
         [0000]    where 2D+1&lt;L T , the total number of scan lines in the frame or the selected portion of the frame. 
         [0052]    As an example, the cross-correlation values CR(L;1) and CR(L;3) for each selected line can be calculated. Individual scan lines within an image frame can be identified as demonstrating non-uniform rotation distortion based on a selected threshold condition of the subframe cross-correlation values. As an example, a threshold condition could be that non-uniform rotation distortion is indicated if one or more, or if a specific one, of the subframe cross-correlation values are outside of a threshold range. For example, it will be expected that image lines without non-uniform rotation distortion will have CR(L,1)≅=1. Image lines with CR(L;1) outside a threshold range around 1 will indicate the likely presence of non-uniform rotation distortion. For other cross-correlation values (e.g., CR(L;3)) the expected value will likely not be 1, but could be another number (for example, an average or median value for the imaging data). Any suitable threshold range and threshold values can be used and the threshold range may be symmetrical or asymmetrical about the value of expected value (e.g., 1 for CR(L;1). For example, the threshold range may be from 1−t to 1+t where t is any suitable value less than 1. The value t may be at least 0.05, 0.1, 0.15, 0.2, 0.25, or more. 
         [0053]      FIG. 6  is a graph of CR(L;1)  602  and CR(L;3)  604  for one set of data. Also illustrated are threshold values  606 . Values of CR(L;1) outside this range may be considered to indicate non-uniform rotation distortion. Alternative threshold values  606   a  are also illustrated. In some embodiments, one cross-correlation value (e.g. CR(L;1)) is used to determine the likelihood of non-uniform rotation distortion and a second cross-correlation value (e.g., CR(L;3)) is used to confirm that determination. 
         [0054]    In at least some embodiments, only portions of the image frame that are determined to likely demonstrate non-uniform rotation distortion will be corrected. In other embodiments, those portions, as well as adjacent portions of the data, will be corrected. In yet other embodiments, all of the image frame will be corrected. 
         [0055]    In some embodiments, the portion of the image frame that will be corrected can depend on the relative amount of non-uniform rotation distortion (NURD) identified within the image frame.  FIG. 7  illustrates in a block diagram one embodiment of a procedure for determining which portions of the image frame will be corrected. A NURD classifier  702  evaluates the cross-correlation values for the image frames. If there is little or no NURD present in the image frame, then no NURD correction is applied (box  704 ). If it is determined that NURD is likely present in a limited region or regions of frame, the NURD correction is applied to those regions (and optionally to adjacent regions) (box  706 ). If there is extensive NURD in the image frame, then NURD correction is applied to the entire set of frame (box  708 ). It will be understood that the thresholds between the three conditions (e.g., the threshold between when no NURD correction is applied and when NURD correction is applied regionally, or the threshold between when regional NURD correction is applied and when global NURD correction is applied) can be selected to be any suitable values and may depend on the imaging application or setting or may be set by a user. 
         [0056]    Returning to  FIG. 5 , a correction for one or more regions or, in some embodiments, for the entire image frame can be determined (box  506 ).  FIG. 6  illustrates a scan line correction  608  that is applied to only some scan lines. A correction can be calculated for each scan line to be corrected. The correction may be a line spacing correction that interpolates a corrected scan line from lines adjacent the scan line to be corrected. Alternatively, the correction may include a determination of the actual coordinates of one or more of the scan lines. 
         [0057]    One example of a scan line correction, s(L), for a scan line, L, has the following form: 
         [0058]    s(L)=k/CR(L;1) when CR(L;1)≦1; 
         [0059]    s(L)=k/2 when CR(L;1)&gt;1 and C s ≦0; 
         [0060]    s(L)=k/2/(1+C s ) when CR(L;1)&gt;1 and C s &gt;0, where 
         [0061]    k is a scaling constant; 
         [0062]    C s =(C 3thresh −CR(L;3))/(CR(L;3)−CR(L;1)) where C 3thresh  is a threshold level selected for CR(L;3). For example, C 3thresh  can be 1.10, 1.05, 1.00, or 0.95. 
         [0063]    The scaling constant k can be one or may be selected for normalization with respect to the entire set of imaging data or may be selected for normalization with respect to only a portion of the imaging data including the scan line, L. In some embodiments, the scaling constant, k, may be different for each scan line and vary based on the degree to which one or more of the cross-correlation values for that scan line are outside of the threshold range. 
         [0064]    For a smoother frame to frame transition, s(L) can be smoothed over consecutive image frames. For example, for frame n with scan line correction s n (L), the smoothed correction for frame n becomes, 
         [0065]    s′ n (L)=αs n-1 (L)+(1−α)s n (L), where α&lt;1 is a weighting constant. 
         [0000]    In a more general form, 
         [0000]    
       
         
           
             
               
                 
                   s 
                   n 
                   ′ 
                 
                  
                 
                   ( 
                   L 
                   ) 
                 
               
               = 
               
                 
                   ∑ 
                   
                     
                       n 
                       ′ 
                     
                     = 
                     
                       - 
                       
                         Δ 
                         1 
                       
                     
                   
                   
                     Δ 
                     2 
                   
                 
                  
                 
                     
                 
                  
                 
                   
                     α 
                     
                       n 
                       ′ 
                     
                   
                    
                   
                     
                       s 
                       
                         n 
                         + 
                         
                           n 
                           ′ 
                         
                       
                     
                      
                     
                       ( 
                       L 
                       ) 
                     
                   
                 
               
             
             , 
             
               
                 where 
                  
                 
                     
                 
                  
                 
                   
                     ∑ 
                     
                       n 
                       = 
                       
                         Δ 
                         1 
                       
                     
                     
                       Δ 
                       2 
                     
                   
                    
                   
                       
                   
                    
                   
                     α 
                     n 
                   
                 
               
               = 
               1 
             
           
         
       
     
         [0000]    and Δ 1  and Δ 2  are integers and can be the same or different. 
         [0066]    In another embodiment, a modified scan line correction, s T (L), can be determined for all or some of the scan lines. The modified scan line correction can include the scan line correction, s(L), and a global scan line correction, s g (L), that are combined in a weighted arrangement. 
         [0067]    As an example, 
         [0068]    s T (L)=βs(L)+(1−β)s g (L), where s(L) is calculated as described above; 
         [0069]    s g (L)=k g /C(L;1) when C(L;1)≦1; 
         [0070]    s g (L)=k g /2 when C(L;1)&gt;1 and C s ≦0; 
         [0071]    s g (L)=k g /2/(1+C s ) when C(L;1)&gt;1 and C s &gt;0, where 
         [0072]    k g  is a scaling constant; and 
         [0073]    β is a weighting constant that is between 0 and 1. 
         [0074]    The scan line correction s(L) (or s′(L) or s T (L)) can be made to each scan line that is to be corrected (box  508 ) to give a corrected scan lines/frames (box  510 ). In some embodiments, the scan line correction, s(L) (or s′(L) or s T (L)), can be applied to each scan line for which NURD is likely determined. In other embodiments, the scan line correction, s(L) (or s′(L) or s T (L)), is applied to every scan line. 
         [0075]    The corrected scan lines can then be processed using any know processing method to yield one or more images (e.g., ultrasound images). The corrections to the scan lines should improve the quality of the images. 
         [0076]    It will be understood that each block of the block diagram illustrations, and combinations of blocks in the block diagram illustrations, as well any portion of the systems and methods disclosed herein, can be implemented by computer program instructions. These program instructions may be provided to a processor to produce a machine, such that the instructions, which execute on the processor, create means for implementing the actions specified in the block diagram block or blocks or described for the systems and methods disclosed herein. The computer program instructions may be executed by a processor to cause a series of operational steps to be performed by the processor to produce a computer implemented process. The computer program instructions may also cause at least some of the operational steps to be performed in parallel. Moreover, some of the steps may also be performed across more than one processor, such as might arise in a multi-processor computer system. In addition, one or more processes may also be performed concurrently with other processes, or even in a different sequence than illustrated without departing from the scope or spirit of the invention. 
         [0077]    The computer program instructions can be stored on any suitable computer-readable medium including, but not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computing device. 
         [0078]    The above specification, examples and data provide a description of the manufacture and use of the composition of the invention. Since many embodiments of the invention can be made without departing from the spirit and scope of the invention, the invention also resides in the claims hereinafter appended.