WO2011117724A2 - Apparatus and method for doppler-assisted mimo radar microwave imaging - Google Patents
Apparatus and method for doppler-assisted mimo radar microwave imaging Download PDFInfo
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- WO2011117724A2 WO2011117724A2 PCT/IB2011/000658 IB2011000658W WO2011117724A2 WO 2011117724 A2 WO2011117724 A2 WO 2011117724A2 IB 2011000658 W IB2011000658 W IB 2011000658W WO 2011117724 A2 WO2011117724 A2 WO 2011117724A2
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
- A61B5/0507—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves using microwaves or terahertz waves
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/48—Diagnostic techniques
- A61B8/488—Diagnostic techniques involving Doppler signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration by the use of more than one image, e.g. averaging, subtraction
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/74—Details of notification to user or communication with user or patient ; user input means
- A61B5/742—Details of notification to user or communication with user or patient ; user input means using visual displays
- A61B5/7425—Displaying combinations of multiple images regardless of image source, e.g. displaying a reference anatomical image with a live image
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30048—Heart; Cardiac
Definitions
- the invention relates to an improved method and apparatus for performing Doppler-assisted MIMO-radar based microwave imaging.
- the invention is particularly applicable to detecting malignant tumors in a human body, and, in particular, in a breast.
- Microwave imaging of the human body has developed significantly over the years.
- Breast imaging has been a popular potential application, both in view of its medical and social importance, and in view of the relatively low-loss materials of which a woman's breast is composed.
- Examples of such earlier works are US 4,641,659 which utilizes a single scanning antenna, and US 7,454,242, US 6,421,550 and US 7,164, 105, which utilize arrays of antennas to replace the mechanical scanning and add bistatic measurements in addition to the monostatic reflection measurements.
- Detection and characterization of blood flow in the body is another widely studied subject. Techniques based on ultrasonic Doppler detection of the flow of blood cells are in use. Impedance variations of the human body due to widening and narrowing of the blood vessels according to the cardiac rhythm are used to characterize hemodynamic parameters, for example in US 5,469,859. Use of microwave Doppler detection to estimate
- US published patent application 2004/0015087 describes use of an antenna array for heart size measurement in which each of the antennas is used to obtain a Doppler signal. The signals are then used to form a two-dimensional image by associating the Doppler signal from each antenna with a pixel area in an image. This application does not describe overlaying of Doppler-induced image data with microwave imaging spatial data. Moreover, there is no reconstruction of a spatial image other than the crude representation of the Doppler data for the purpose of heart size measurement.
- the movement can be created by cardiac activity, blood pressure pulsation due to cardiac activity, respiratory activity induced movement, elastic deformation of body tissues, periodic pressure wave in the body, shock pressure wave in the body, displacement of the body, twisting action applied to the body, etc.
- a method is employed to record the multi-antenna response for at least two movement states of the object, and to perform a multi- antenna reconstruction algorithm for each of those states. In the next step, the results of the reconstruction for the different states are compared, and the variations over time are used as an additional discriminating feature when interpreting the reconstruction result.
- the movement states of the object can be created voluntarily, such as by moving or rotating the object, or involuntarily, such as due to cardiac or respiratory function.
- the cardiac or respiratory functions can be monitored in order to assess the time periodicity, and to mark the time instants which correspond to different movement states.
- the periodicity can be monitored directly, such as by ECG for cardiac activity, or indirectly, by looking for periodicity in the responses measured by the multi-antenna system. It is possible to improve the signal-to-noise ratio of the measured responses by averaging the responses corresponding to a given movement state over multiple cycles of the periodic movement.
- Microwave imaging of breast cancer is based on the differences in conductivity between malignant and benign tumors. Since the tissues' characteristics are changing according to body condition (time in month, age, etc.), it is necessary to look at other attributes in order to improve the probability of detection. Since malignant tumors build many blood vessels around them due to their fast growth they create higher Doppler effect while being illuminated with a radar beam. In contrast, the outer parts of the breast, and in particular the skin layer, are likely to remain stationary and exhibit little or no movement if mechanically stabilized, and are likely to cancel out during the stage of differential processing. The tumor regions are likely to exhibit time variations which are detectable by differential processing.
- a method for enhanced microwave imaging of an object comprises: a) collecting microwave responses for multiple combinations of transmit antennas, receive antennas, and object movement states;
- the invention also contemplates a computer program product comprising a computer readable medium embodying program instructions executable by a computer to implement the recited method.
- apparatus for enhanced microwave imaging of an object comprises:
- a data processor converting collected signals from the antenna array into a set of responses characterizing the object in at least two object movement states, reconstructing an image of the object from the set of responses collected for said at least two object movement states, generating a differential image representative of movement of the object from the reconstructed image for each of said at least two object movement states, and overlaying a reconstructed image for at least one of said object movement states with the differential image to obtain a composite image of the object.
- a Doppler assisted MIMO radar system for microwave imaging of an object comprises:
- Figure 1 shows a Block-level view of a MIMO-based and Doppler-based microwave imaging system according to the present invention
- Figure 2 shows a MIMO-Doppler-microwave-imaging system applied to imaging of a woman's breast
- Figure 3 shows a MIMO-Doppler-microwave imaging system applied to imaging of a woman's breast, where the Doppler processing is assisted by a cardiac activity monitoring;
- Figure 4 shows a MIMO-Doppler-microwave imaging system applied to imaging of a woman's breast, where the Doppler processing is assisted by a respiratory activity monitoring;
- Figure 5 shows a MIMO-Doppler-microwave imaging system applied to imaging of a woman's breast, where the Doppler-generating motion is induced by an external actuator;
- Figure 6 illustrates, in a flowchart form, the steps of processing the microwave imaging data to extract the image and Doppler (differential image) information.
- High resolution Doppler-assisted MIMO radar for detection of breast cancer and other malignant tumors can be achieved as described hereinafter.
- MIMO (multiple-input multiple-output) radar will achieve high resolution tomography.
- Each one of the range cells analyzed by the radar will also include the average Doppler information that is related to that cell. Since malignant tumor grows faster compared to cells around it, the blood flow into the tumor cell is higher thus creating higher Doppler coming from the area of interest.
- This Doppler signal is analyzed and a Doppler map is created. This map is aligned with the electrical conductivity or permittivity map from the MIMO radar and where correlation is found the area is marked.
- a "MIMO radar" system 100 is composed of an antenna array 102, a transmit-receive subsystem 104, a data acquisition subsystem 106, a data processing unit 108, and a console 110.
- the antenna array is composed of multiple antennas 102a-102e, typically between few and few tens (for example 30) antennas.
- the antennas can be of many types known in the art, such as printed antennas, waveguide antennas, dipole antennas or "Vivaldi” broadband antennas.
- the antenna array can be linear or two-dimensional, flat or conformal to the region of interest.
- the transmit-receive subsystem 104 is responsible for generation of the microwave signals, coupling them to the antennas 102a-102e, reception of the microwave signals from the antennas and converting them into a form suitable for acquisition.
- the signals can be pulse signals, stepped-frequency signals and the like.
- the generation circuitry can involve oscillators, synthesizers, mixers, or it can be based on pulse oriented circuits such as logic gates or step-recovery diodes.
- the conversion process can include down conversion, sampling, and the like. The conversion process typically includes averaging in the form of low-pass filtering, to improve the signal-to-noise ratios and to allow for lower sampling rates.
- the transmit-receive subsystem can perform transmission and reception with multiple antennas at a time or select one transmit and one receive antenna at a time, according to a tradeoff between complexity and acquisition time.
- the data acquisition subsystem 106 collects and digitizes the signals from the transmit-receive subsystem while tagging the signals according to the antenna combination used and the time at which the signals were collected.
- the data acquisition subsystem will typically include analog-to-digital (A/D) converters and data buffers, but it may include additional functions such as signal averaging, correlation of waveforms with templates or converting signals between frequency and time domain.
- A/D analog-to-digital
- the data processing unit 108 is responsible for converting the collected signals into responses characterizing the medium under test, and performing the algorithms for converting the sets of responses into image data. In the context of the invention described herein, this unit is responsible for Doppler processing as well.
- the data processing unit is usually implemented as a high-performance computing platform, based either on dedicated Digital Signal Processing (DSP) units, general purpose CPUs, or, according to newer trends, Graphical Processing Units (GPU).
- DSP Digital Signal Processing
- CPUs General purpose CPUs
- GPU Graphical Processing Units
- the acquisition unit and/or processing unit may be connected to other sensors and integrate the data from those sensors to construct the images, as shown in Figures 3-5.
- a final step in the process is making use of the resulting image, either in the form of visualization, display, storage, archiving, or input to feature detection algorithms.
- This step is exemplified in Fig. 1 as console 110.
- the console is typically implemented as a general purpose computer with appropriate application software. According to system type the computer can be stationary, laptop, tablet, palm or industrial ruggedized computer. It should be understood that while Figure 1 illustrates functional decomposition into processing stages, some of those can be implemented on the same hardware (such as a common processing unit) or distributed over multiple and even remote pieces of hardware (such as in the case of multiprocessing or cloud computing).
- FIG. 2 illustrates application of the Doppler assisted MIMO radar system to the examination of a woman's breast.
- the antenna array 102 is coupled to the breast of the subject 120.
- the antennas 102a-102e of the array 102 are situated in a conformal cup-like shape, and an intermediate medium 122 is used to create improved electromagnetic coupling between the antenna radiation and the breast.
- the purpose of the MIMO radar system in such application is typically to search for malignant tumors.
- the microwave transceiver transmits a predesigned signal from one or more of the antennas, and receives the signal from one or more other antennas.
- the signals typically occupy frequencies between about 10 MHz and lOGhz.
- Particular popularity and attention has recently been drawn to the 3.1-10.6 GHz range, which allows license-exempt ultra-wideband (UWB) operation at low signal levels.
- UWB ultra-wideband
- Use of a wide frequency range allows high temporal resolution, facilitating discrimination of features according to their depth (distance from the antennas).
- microwave imaging applications there is a variety of choices in selecting signals for microwave imaging applications, such as frequency-swept waveforms and pulse waveforms.
- signals for microwave imaging applications such as frequency-swept waveforms and pulse waveforms.
- the transfer function of the medium between the transmit antennas and receive antennas is estimated.
- the processing unit then processes these signals to generate an image.
- the image reconstruction algorithms usually start with a collection of responses hj j (t) denoting the impulse response between antenna i and antenna j at time t.
- the estimation of the transfer functions hy(i) involves calibration processes known in the art.
- the microwave circuits used for transmission and reception might have a frequency response which has some variations due to production or over time and temperature, and it is preferable to measure that response and take it into account. Another category of issues is related to the uncertainty in the physical environment.
- the antennas in the array especially those in proximity to each other, have a substantial direct leakage of signal between the antennas, not passing through the medium under test.
- the matching medium (122) in which the antennas are immersed might have variation of properties over time and temperature.
- the interface between the matching medium (122) and the subject/object (120) might generate substantial reflection, depending on the dielectric properties of the object and unknown factors such as inclusion of air bubbles or slight variations in shape.
- the emphasis of present invention is to assist the process of reconstruction and detection by looking at motion-induced variations, assuming that most of the uncertainties in the antennas, in the matching medium and its interface with the object will not vary and will cancel out in the differential analysis.
- a basic algorithm for reconstructing an image from the impulse responses of the medium is called Delay and Sum (DAS), and will be used here as a reference.
- DAS Delay and Sum
- Image(r) ⁇ ⁇ - hyW/r)) (1) where the summation is over all antenna pairs. Assuming a reflector exists at point r then we expect a positive pulse to exist at position T y (r) in all, or most, pairs, creating high intensity of the reconstructed image at this point.
- This algorithm is well known in the art, and is described here as a baseline for describing possible modifications. It should be understood that known techniques may be used in actual implementations, e.g. to combat noise, imperfections in the antennas and the circuitry, limited bandwidth, etc. Furthermore, the invention is not limited to the use of DAS, and other reconstruction algorithms may be applied as well.
- multiple measurements are carried out in different states of the body.
- the processing unit is connected to a heartbeat detector 130, which synchronizes the system to the heartbeat. It is assumed that the heartbeat rate is steady, and that the object's state (in terms of microware or RF reflections) is approximately constant at each phase in the beat (i.e. at different times having the same location in the cycle), and that small changes, e.g. due to inflation of blood vessels, occur between different phases.
- the signals sent and received by the transceiver may be synchronized to the heartbeat or pulse, or may be sent and received asynchronously, but then sorted according to their phase in the heartbeat cycle.
- the signals sent by the transceiver may be altered between heartbeats, in order to increase the amount of information collected, in view of the fact the sensing of all responses between all pairs of antennas may take a time which is large with respect to the heart cycle (depending on the number of antennas and the bandwidth of the signals).
- the response l ->2 between antenna 1 and 2) and then 2- 3 were measured (followed by other pairs), and therefore the second measurement reflects a time instance which is slightly delayed with respect to the first, in a consequent heartbeat, the pair 2->3 will be measured first and then l->2.
- Another possibility is that one wants to capture the signals at a designated time window which is smaller than a heartbeat cycle, however the total time required to take all measurements is larger than that window. Therefore, in each heartbeat, only some of the measurements will take place. Another option is to repeat the same measurement at the same phase, and average the results, in order to reduce the effects of noise and non-periodic or transient effects.
- different scheduling of measurements inside the heartbeat and between heartbeats may be applied. With correct scheduling, over time, one may obtain the responses of each antenna pair at any given phase in the cycle.
- a differential image reflecting the changes in the body between two phases in the cycle may be generated in several ways.
- an image may be reconstructed for each phase, and the images may be subtracted to obtain a differential image.
- all static elements will cancel out, and only variable elements will be highlighted.
- Another possible way to perform differential processing is to look at the variance or at peak-to-peak range of the values in different images, belonging to the same pixel/voxel. This type of processing is appropriate when there are multiple images (more than two). Yet another possible way is to look at the magnitude and phase of variations, when periodic motion is employed.
- the differential image can involve a collection of all the values collected for each pixel/voxel, for the purpose of animation-like visual representation.
- the examples above are non-limiting, and additional ways of processing the collections of images in order to emphasize the variations between them are possible.
- the image is reconstructed directly from the difference of the signals, by solving a small-perturbation problem.
- s( ⁇ 9) is a vector including all the properties of the body which are relevant to the measurement (e.g. permittivity and conductivity at each point), and some properties of s(ff) are estimated by the reconstruction algorithm.
- the image is reconstructed in two stages.
- the signals from two or more phases are averaged, to obtain an average value of h.
- an image is reconstructed (using any of the known methods), the average state of the body s is estimated, and the gradient VF at point s is calculated.
- This estimation may be carried out by least squares or MMSE estimation, in which case the estimate of s(61 ⁇ 2) - s(9j) may be
- the processing unit is connected to a respiratory monitor (breath sensor) 132, as depicted in Figure 4, and the same processing is applied with respect to breathing cycles, e.g. in order to obtain a differential image of the lungs or chest motion related to breathing.
- the processing unit includes algorithms to sort the signals or the reconstructed images or parameters according to their phase in the cycle without the need of designated sensors, by calculating measures for the similarity of the signals or the state parameters, and attributing signals that are similar (by the said measure) to the same phase.
- an external actuator 140 is applied to send sound waves 142 at different frequencies into the patient's body, or induce pressure or movement.
- the actuator can take many different forms, such as a magnetic or a piezoelectric loudspeaker or linear actuator, or a rotation motor with an eccentric weight, or a motor producing a translational or rotational motion.
- the waves can be periodic or shock- wave-like. These waves may be focused at specific points.
- the waves or movement of the actuator may be synchronized with the signals transmitted by the RF transceiver by an actuator driver 144. The aforementioned processing techniques are then used in order to reconstruct differential images depicting the movement of each element.
- the phase and/or frequency modulation of the received signals is used in order to detect the movement of the different tissues due to the sound wave.
- the focus is on identifying different body tissues by their different acoustic properties (such as resonance frequency, propagation loss).
- the reflected signal is assumed to be shifted in time due to a reflector in a specific position, in the presence of a sound wave, the reflected signal is further frequency-modulated by the Doppler effects. Supposing that the position of a given point in the object is varied by a shift of x(t) in a certain direction, and the transmitted signal is s(t), the reflected signal would be
- A is an attenuation (due to path loss)
- To is the average delay
- c is the propagation velocity in the medium
- a is a factor accounting for the angles between the direction of the movement and the incoming and outgoing rays.
- the transmitted waves as well as the acoustic waves are harmonic (sine) waves.
- the received wave is
- /RF, /A are the RF frequency and the acoustic wave frequency respectively, and b is a factor accounting for the amplitude of the resonance (of x(t)), and the previous factor a.
- This is equivalent to a phase modulation by 2K/RF b sin(2nfA t)lc or equivalently a frequency offset of 2 ⁇ /RF f A b cos(2nf A i)lc. If the product of these factors is large enough, this frequency offset can be detected, e.g. by applying a frequency detector, an FM receiver or other equivalent techniques.
- the periodicity of the acoustic waves is large with respect to the maximum RF propagation delay in the medium.
- the RF transceiver is synchronized with the external actuator, and measures the impulse response of the medium at different points in the cycle of the acoustic wave. Then, the algorithms for reconstructing a differential image described above may be applied to these measurements.
- the two signals representing the medium response at two extreme points in the period of the acoustic wave are subtracted, and the DAS (or other reconstruction algorithm) is applied to the subtracted signals. As a result, points where the amplitude of the movement is higher will be highlighted and those which are not in motion will be cancelled out.
- step 200 The processing steps for forming a combined image and differential (Doppler) image are summarized in Figure 6.
- the process starts in step 200 with collecting the response measurements for multiple combinations or transmit and receive antennas, for multiple movement states.
- the response measurements are related to the movement states at which the measurements were taken. For example, if we know that there is a periodic back-and-forth mechanical movement, we might divide the measurements, in step 204, into four sets corresponding to the four quadrants of a cycle.
- step 206 an image is reconstructed from the measurements taken within each set. According to the previous example, we will reconstruct four images each corresponding to a quadrant within the movement cycle.
- Doppler-related information is extracted by looking at the differential between the images in the different movement states.
- the differential image data is then overlaid, in step 210, with the image data, to create a composite image.
- the overlay operation can take different forms, the most basic of which can be associating with each pixel or voxel both the data related to the estimated dielectric properties at that place, and the rate-of-change (Doppler) of those properties.
- Doppler rate-of-change
- Such association of multiple parameters with each pixel/voxel is similar to associating intensity and color information to each pixel in regular visual images.
- the composite image data is stored, analyzed or displayed to the user.
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US20110237939A1 (en) | 2011-09-29 |
US8494615B2 (en) | 2013-07-23 |
BR112012024337A2 (en) | 2017-10-03 |
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