A new time-domain narrowband velocity estimation technique for Doppler ultrasound flow imaging. II. Comparative performance assessment

For pt.I see ibid., vol.45, no.4, pp.939-54 (1998). The statistical performance of the new 2-D narrowband time-domain root-MUSIC blood velocity estimator described previously is evaluated using both simulated and flow phantom wideband (50% fractional bandwidth) ultrasonic data. Comparisons are made with the standard 1-D Kasai estimator and two other wideband strategies: the time domain correlator and the wideband point maximum likelihood estimator. A special case of the root-MUSIC, the "spatial" Kasai, is also considered. Simulation and flow phantom results indicate that the root-MUSIC blood velocity estimator displays a superior ability to reconstruct spatial blood velocity information under a wide range of operating conditions. The root-MUSIC mode velocity estimator can be extended to effectively remove the clutter component from the sample volume data. A bimodal velocity estimator is formed by processing the signal subspace spanned by the eigenvectors corresponding to the two largest eigenvalues of the Doppler correlation matrix. To test this scheme, in vivo common carotid flow complex Doppler data was obtained from a commercially available color flow imaging system. Velocity estimates were made using a reduced form of this data corresponding to higher frame rates. The extended root-MUSIC approach was found to produce superior results when compared to both 1- and 2-D Kasai-type estimators that used initialized clutter filters. The results obtained using simulated, flow phantom, and in vivo data suggest that increased sensitivity as well as effective clutter suppression can be achieved using the root-MUSIC technique, and this may be particularly important for wideband high frame rate imaging applications.     

Spectral Doppler estimation utilizing 2-D spatial information and adaptive signal processing

The trade-off between temporal and spectral resolution in conventional pulsed wave (PW) Doppler may limit duplex/triplex quality and the depiction of rapid flow events. It is therefore desirable to reduce the required observation window (OW) of the Doppler signal while preserving the frequency resolution. This work investigates how the required observation time can be reduced by adaptive spectral estimation utilizing 2-D spatial information obtained by parallel receive beamforming. Four adaptive estimation techniques were investigated, the power spectral Capon (PSC) method, the amplitude and phase estimation (APES) technique, multiple signal classification (MUSIC), and a projection-based version of the Capon technique. By averaging radially and laterally, the required covariance matrix could successfully be estimated without temporal averaging. Useful PW spectra of high resolution and contrast could be generated from ensembles corresponding to those used in color flow imaging (CFI; OW = 10). For a given OW, the frequency resolution could be increased compared with the Welch approach, in cases in which the transit time was higher or comparable to the observation time. In such cases, using short or long pulses with unfocused or focused transmit, an increase in temporal resolution of up to 4 to 6 times could be obtained in in vivo examples. It was further shown that by using adaptive signal processing, velocity spectra may be generated without high-pass filtering the Doppler signal. With the proposed approach, spectra retrospectively calculated from CFI may become useful for unfocused as well as focused imaging. This application may provide new clinical information by inspection of velocity spectra simultaneously from several spatial locations.     

Blood flow images by a SAW-based multigate Doppler system

Multigate operation of an ultrasound pulsed Doppler flowmeter, providing Doppler frequency detection in a number of adjacent sample volumes, is capable of displaying the instantaneous blood velocity distribution along the cross section of a sonified vessel. Real-time serial Doppler processing of 32 range cells has been implemented in a novel system using fast spectral analysis based on surface-acoustic wave (SAW) dispersive filters. The basic architecture and first in vitro experiments were reported previously. The in vivo application of the system is described here, and images of human carotid artery and jugular vein are presented. Appropriate display formats are introduced to use the great amount of information known on spatial and temporal behavior of flow profiles. Digital postprocessing of spectral Doppler data allows velocity profiles to be displayed at selected times to correlate spatial and temporal evolution. A color code can be used to represent different velocity strengths. The potential application of the system to two-dimensional (2-D) flow imaging is discussed.     

A new wideband spread target maximum likelihood estimator for blood velocity estimation. I. Theory

The derivation and theoretical evaluation of new wideband maximum-likelihood strategies for the estimation of blood velocity using acoustic signals are presented. A model for the received signal from blood scatterers, using a train of short wideband pulses, is described. Evaluation of the autocorrelation of the signal based on this model shows that the magnitude, periodicity, and phase of the autocorrelation are affected by the mean scatterer velocity and the presence of a velocity spread target. New velocity estimators are then derived that exploit the effect of the scatterer velocity on both the signal delay and the shift in frequency. The wideband range spread estimator is derived using a statistical model of the target. Based on the point target assumption, a simpler wideband maximum-likelihood estimator is also obtained. These new estimation strategies are analyzed for their local and global performance. Evaluation of the Cramer-Rao bound shows that the bound on the estimator variance is reduced using these estimators, in comparison with narrowband strategies. In order to study global accuracy, the expected estimator output is evaluated, and it is determined that the width of the mainlobe is reduced. In addition, it is shown that the height of subsidiary velocity peaks is reduced through the use of these new estimators.     

Approximate Cramer-Rao bound on Doppler error in correlation-processing relatively narrowband noise radar

Limitations on accuracy of Doppler estimation in continuous-wave noise radar with correlation processing are studied. Second-order properties of output of the correlation receiver are evaluated and an approximate Cramer-Rao bound on errors of Doppler measurement is derived. The accuracy of Doppler measurements is found to be affected by the following factors: power spectral density of noise signal, frequency response of the low-pass filter in correlator, observation time, velocity of the target and signal to noise ratio. It is shown that the random nature of the transmitted signal induces additional fluctuations at the output of correlator which limit the accuracy even in the infinite signal to noise case. Qualitative extension of the results to a case covering multiple targets and clutter is made. It is argued that the performance will decrease and that increasing transmitted power may not provide significant improvement when clutter is present.     

Optimal velocity estimation in ultrasound color flow imaging in presence of clutter

In color flow imaging (CFI), the rejection of tissue clutter signal is treated separately from blood velocity estimation by high-pass filtering the received Doppler signal. The complete suppression of clutter is then difficult to achieve without affecting the subsequent velocity estimates. In this work, a different approach to velocity estimation is investigated, based on a statistical model of the signal from both clutter and blood. An analytic expression for the Cramer-Rao lower bound (CRLB) is developed, and used to determine the existence of an efficient maximum likelihood estimator (MLE) of blood velocity in CFI when assuming full knowledge of the clutter statistics. We further simulate and compare the performance of the MLE to that of the autocorrelation method (ACM) using finite-impulse response (FIR) and polynomial regression clutter filters. Two signal scenarios are simulated, representing a central and peripheral vessel. Simulations showed that, by including 3-9 (independent) spatial points, the MLE variance approached the CRLB in both scenarios. The ACM was approximately unbiased only for the central scenario in the clutter filter pass band, then with a variance of up to four times the CRLB. The ACM suffered from a severe bias in the filter transition region, and a significant performance gain was achieved here using the MLE. For practical use, the clutter properties must be estimated. We finally replaced the known clutter statistics with an estimate obtained from low-rank approximations of the received sample correlation matrix. Used in the model-based framework, this method came close to the performance of the MLE, and it may be an important step toward a practical model-based estimator, including tissue clutter with optimal performance.     

Single-ensemble-based eigen-processing methods for color flow imaging--Part II. The matrix pencil estimator

Parametric spectral estimators can potentially be used to obtain flow estimates directly from raw slow-time ensembles whose clutter has not been suppressed. We present a new eigen-based parametric flow estimation method called the matrix pencil, whose principles are based on a matrix form under the same name. The presented method models the slow-time signal as a sum of dominant complex sinusoids in the slow-time ensemble, and it computes the principal Doppler frequencies by using a generalized eigen-value problem-formulation and matrix rank reduction principles. Both fixed rank (rank-one, rank-two) and adaptive-rank matrix pencil flow estimators are proposed, and their potential applicability to color flow signal processing is discussed. For the adaptive-rank estimator, the nominal rank was defined as the minimum eigen-structure rank that yields principal frequency estimates with a spread greater than a prescribed bandwidth. In our initial performance evaluation, the fixed-rank matrix pencil estimators were applied to raw color flow data (transmit frequency: 5 MHz; pulse repetition period: 0.175 ms; ensemble size: 14) acquired from a steady flow phantom (70 cm/s at centerline) that was surrounded by rigid-tissue-mimicking material. These fixed-rank estimators produced velocity maps that are well correlated with the theoretical flow profile (correlation coefficient: 0.964 to 0.975). To facilitate further evaluation, the matrix pencil estimators were applied to synthetic slow-time data (transmit frequency: 5 MHz; pulse repetition period: 1.0 ms; ensemble size: 10) modeling flow scenarios without and with tissue motion (up to 1 cm/s). The bias and root-mean-squared error of the estimators were computed as a function of blood-signal-to-noise ratio and blood velocity. The matrix pencil flow estimators showed that they are comparatively less biased than most of the existing frequency-based flow estimators like the lagone autocorrelator.     

Autocorrelation techniques in color flow imaging: signal model andstatistical properties of the autocorrelation estimates

A review of the scattering theory for moving blood, and a model for the signal in a multigated pulsed wave Doppler system is presented. The model describes the relation between a general time-variable velocity field and the signal correlation in space and time, including the effect of movement of the ultrasonic beam for color flow imaging systems with mechanical scanning. In the case of a constant and rectilinear velocity field, a parametric model for the autocorrelation function is deduced. General formulas for a full second order characterization of the set of autocorrelation estimates, with arbitrary lags in the spatial and temporal directions, are developed. The formulas are applied to the parametric model, and numerical results for the estimator variance are presented. A qualitative evaluation of the theoretical results has been performed by offline-processing of 2-D Doppler signals from a color flow imaging scanner. The benefit of spatial and temporal averaging is demonstrated by using different averaging filters to the same set of recorded data     

Estimation of a dense velocity field based on the statistics of dynamic speckle

This article presents a new technique for flow velocity estimation from ultrasound image sequences. The method is based on the analysis of the temporal statistics of the speckle pattern in motion. We demonstrate that the biased local temporal variance (LTV) of a single pixel within an image of dynamic speckle is related to velocity. This allows us to estimate the total velocity magnitude without the requirement of neither block matching nor autocovariance estimation. A new estimator, asymptotically without bias, called LTV is presented. Results conducted on experimental B mode sequences (40 MHz) of blood mimicking fluid with calibrated velocities are presented. Performances of the estimator are studied and results show good agreement with the statistical model. Magnitude of the 3D velocity vector in the range of 0.1–2 mm/s have been estimated with a standard deviation error of less than 12%. The validity of the method and its limitations are then discussed. © 2010 Wiley Periodicals, Inc. Int J Imaging Syst Technol, 20, 268‐276, 2010     

Estimation of mean frequency and variance of ultrasonic Doppler signal by using second-order autoregressive model

In order to estimate the mean frequency and variance of the diagnostic ultrasound Doppler signal in the presence of clutter noise, a new estimator using a second-order autoregressive (AR) model, called the AR estimator, is proposed. The sampled signal that contains information of both the Doppler signal and clutter is described by the second-order AR model with two poles. The mean frequency and variance of a unidirectional Doppler signal can be estimated, respectively, from the phase and the magnitude of the pole, with larger phase between the two poles. If the clutter is not completely rejected, all conventional estimators, including the autocorrelation (AC) estimator, result in erroneous estimations for the mean frequency and variance of the Doppler signal, whereas the AR estimator gives an accurate estimation. In the absence of clutter, however, the performance of both the AC and AR estimators are similar. If the blood flows in both directions in a sample volume and the clutter is rejected to the extent that it no longer obscures the Doppler signal, the proposed method can estimate simultaneously the mean frequencies and variances of both the forward and reverse blood flows. The performance of the proposed AR estimator was compared with that of the AC estimator by computer simulations and experiments, and it was found that when the number of available sampled data is small, the AR estimator does not require the use of a clutter filter, which simplifies Doppler signal detection.     

Maximum likelihood blood velocity estimator incorporating properties of flow physics

The aspect of correlation among the blood velocities in time and space has not received much attention in previous blood velocity estimators. The theory of fluid mechanics predicts this property of the blood flow. Additionally, most estimators based on a cross-correlation analysis are limited on the maximum velocity detectable. This is due to the occurrence of multiple peaks in the cross-correlation function. In this study a new estimator (CMLE), which is based on correlation (C) properties inherited from fluid flow and maximum likelihood estimation (MLE), is derived and evaluated on a set of simulated and in vivo data from the carotid artery. The estimator is meant for two-dimensional (2-D) color flow imaging. The resulting mathematical relation for the estimator consists of two terms. The first term performs a cross-correlation analysis on the signal segment in the radio frequency (RF)-data under investigation. The flow physic properties are exploited in the second term, as the range of velocity values investigated in the cross-correlation analysis are compared to the velocity estimates in the temporal and spatial neighborhood of the signal segment under investigation. The new estimator has been compared to the cross-correlation (CC) estimator and the previously developed maximum likelihood estimator (MLE). The results show that the CMLE can handle a larger velocity search range and is capable of estimating even low velocity levels from tissue motion. The CC and the MLE produce incorrect velocity estimates due to the multiple peaks, when the velocity search range is increased above the maximum detectable velocity. The root-mean square error (RMS) on the velocity estimates for the simulated data is on the order of 7 cm/s (14%) for the CMLE, and it is comparable to the RMS for the CC and the MLE. When the velocity search range is set to twice the limit of the CC and the MLE, the number of incorrect velocity estimates are 0, 19.1, and 7.2% for the CMLE, CC, and MLE, respectively. The ability to handle a larger search range and estimating low velocity levels was confirmed on in vivo data.     

相关测速声纳工作原理及海试验证

“波形不变性”原理是相关测速声纳的基本工作原理,利用射线声学方法对此原理进行了论述。分析了相关测速声纳的两种设计思路:时间相关和空间相关。提出了采用空间相关的思路设计相关测速声纳样机的具体方法,包括阵型设计、信号设计和软件工作流程,并分别在西太平洋和中国南海进行了两次试验。将海试数据结果与声多普勒流速剖面仪和差分GPS从速度大小和方向上进行了比较,证明了相关测速的可行性,验证了流混响和底混响的相关理论模型、声纳阵设计以及信号处理方法的正确性。     

The effect of frequency dependent scattering and attenuation on the estimation of blood velocity using ultrasound

A comprehensive theoretical performance comparison of the wideband maximum-likelihood (WMLE) and cross-correlation strategies, previously proposed and evaluated for the estimation of blood velocity using ultrasound is presented. It is based on evaluation of the bias, local and global accuracy, and signal-to-noise ratio (SNR) performance. The results show that the intervening medium does not bias either wideband estimation, due to the effect of tracking the scattering target. The presence of intervening tissue actually improves the global accuracy of both wideband estimators, without a significant change in the local accuracy of either wideband estimator. After the transmission of P pulses, a comparison of the performance of the two strategies shows that the cross-correlation estimator requires P(2 ) correlations to achieve performance similar to that of the WMLE with P operations. In addition, the WMLE can increase the effective SNR in comparison with cross correlation.     

A new estimator for vector velocity estimation

A new estimator for determining the two-dimensional velocity vector using a pulsed ultrasound field is derived. The estimator uses a transversely modulated ultrasound field for probing the moving medium under investigation. A modified autocorrelation approach is used in the velocity estimation. The new estimator automatically compensates for the axial velocity when determining the transverse velocity. The estimation is optimized by using a lag different from one in the estimation process, and noise artifacts are reduced by averaging RF samples. Further, compensation for the axial velocity can be introduced, and the velocity estimation is done at a fixed depth in tissue to reduce the influence of a spatial velocity spread. Examples for different velocity vectors and field conditions are shown using both simple and more complex field simulations. A relative accuracy of 10.1% is obtained for the transverse velocity estimates for a parabolic velocity profile for flow transverse to the ultrasound beam and a SNR of 20 dB using 20 pulse-echo lines. The overall bias in the estimates was -4.3%     

A new wideband spread target maximum likelihood estimator for blood velocity estimation. II. Evaluation of estimator with experimental data

For pt.I see ibid., vol.38, p.1-16, Jan. 1991. The signal models and performance of the estimation strategies described in pt.I are tested with experimental ultrasonic data. The ultrasonic data analyzed verify the theoretical model and predicted performance. The averaged correlation, verified experimentally, confirms that the correlation envelope can be used to estimate the velocity of scatterers and that the shape of the correlation function conveys information regarding the velocity profile within the sample volume. For both the wideband point and range spread estimators, the predicted improvement in velocity resolution and the reduction in height of subsidiary velocity peaks are demonstrated. Through the use of these estimation strategies, information regarding the mean velocity and velocity variation are available for each spatial location within the vessel. This information is presented using a three-dimensional spatial velocity profile display, which appears to offer a number of advantages in the rapid identification of pathology.     

Vector-velocity estimation in swept-scan using a K-space approach

The swept-scan technique (i.e., continuously moving a single-crystal transducer during pulse-echo data acquisition) is used in high-frequency, ultrasonic flow imaging. Relative to the conventional step-scan technique, swept scanning improves the rate of data acquisition and enables near-real-time, high-frequency color flow mapping. However, the continuous transducer movement may have non-negligible effects on accuracy of velocity estimation. This paper introduces a spatial frequency domain (i.e., k-space) approach that quantifies the effects of both lateral and axial motions in a swept scan. It is shown that the k-space representation is equivalent to a Doppler-radio frequency (RF) frequency domain representation, and that transducer movement in the swept-scan technique results in a change in Doppler bandwidth. In addition, a vector velocity estimator is developed based on the proposed k-space approach. Both simulations and flow-phantom experiments were performed to evaluate the performance of the proposed vector velocity estimator. A 45-MHz transducer was scanned at 20 mm/s. The Doppler angle ranged from 29 degrees to 90 degrees, and the flow velocities ranged from 15 to 30 mm/s. The results show that the proposed k-space vector velocity estimator exhibited a mean error of 2.6 degrees for flow-direction estimation, with the standard deviation ranging from 2.2 degrees to 8.2 degrees. In comparison, for the conventional spectral-broadening-based vector velocity estimator ignoring the swept-scan effect, the mean error became 15 degrees and the standard deviations were from 2.7 degrees to 6.6 degrees.     

Angular strain estimation method for elastography

In the conventional cross-correlation-based strain estimation, there is a trade-off between the interpolation accuracy and the computational requirement. On the other hand, the autocorrelation-based method does not need interpolation, but it cannot estimate the wide range of displacements for elastography. We have developed a new strain estimator, called the angular strain estimation method, which does not need any interpolation and can estimate strain without restricting the range of displacements. The new method estimates strain utilizing complex correlation between correlated ultrasound signals from pre-and post-compression frames. From simulation and experiments, we found that the angular strain estimation method improves the accuracy and strain image quality compared to the conventional strain estimator using cross correlation with interpolation. Furthermore, it is computationally efficient and can be readily incorporated in ultrasound machines for rea -time elastography.     

Experimental evaluation of velocity and power estimation forultrasound blood flow imaging, by means of a two-dimensionalautocorrelation approach

This paper evaluates experimentally the performance of a novel axial velocity estimator, the 2D autocorrelator, and its Doppler power estimation counterpart, the 2D zero-lag autocorrelator, in the context of ultrasound color flow mapping. The evaluation also encompasses the well-established 1D autocorrelation technique for velocity estimation and its corresponding power estimator (1D zero-lag autocorrelator), to allow performance comparisons under identical conditions. Clutter-suppressed in vitro data sets from a steady-flow system are used to document the effect of the range gate and ensemble length, noise level and angle of insonation on the precision of the velocity estimates. The same data sets are used to examine issues related to the estimation of the Doppler signal's power. The first-order statistics of power estimates from regions corresponding to flow and noise are determined experimentally and the ability of power-based thresholding to separate flow signals from noise is characterized by means of ROC analysis. In summary, the results of the in vitro evaluation show that the proposed 2D-autocorrelation form of processing is consistently better than the corresponding 1D-autocorrelation techniques, in terms of both velocity and power estimation. Therefore, given their relatively modest implementation requirements, the 2D-autocorrelation algorithms for velocity and power estimation appear to represent a superior, yet realistic, alternative to conventional Doppler processing for color flow mapping     

In vivo validation of a blood vector velocity estimator with MR angiography

Conventional Doppler methods for blood velocity estimation only estimate the velocity component along the ultrasound beam direction. This implies that a Doppler angle under examination close to 90° results in unreliable information about the true blood direction and blood velocity. The novel method transverse oscillation (TO), which combines estimates of the axial and the transverse velocity components in the scan plane, makes it possible to estimate the vector velocity of the blood regardless of the Doppler angle. The present study evaluates the TO method with magnetic resonance phase contrast angiography (MRA) by comparing in vivo measurements of stroke volume. Eleven healthy volunteers were included in this prospective study. From the obtained data sets recorded with the 2 modalities, vector velocity sequences were constructed and stroke volume calculated. Angle of insonation was approximately 90° for TO measurements. The correlation between the stroke volume estimated by TO and MRA was 0.91 (p < 0.01) with the equation for the line of regression: MRA = 1.1?TO-0.4. A Bland-Altman plot was additionally constructed where the mean difference was 0.2 ml with limits of agreement at ?1.4 ml and 1.9 ml. The results indicate that reliable vector velocity estimates can be obtained in vivo using the presented angle-independent 2-D vector velocity method. The TO method can be a useful alternative to conventional Doppler systems by avoiding the angle artifact, thus giving quantitative velocity information.