Physics of Ultrasound

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Physics of Ultrasound

© All Rights Reserved

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Ultrasound

Krystal Kerney

Kyle Fontaine

Ryan O’Flaherty

Basics of Ultrasound

• Ultrasound is sound with frequencies higher than about 20

kHz

• For medical ultrasound, systems operate at much higher

frequencies, typically 1 – 10 MHz

• Propagation of ultrasound waves are defined by the theory of

acoustics

• Ultrasound moves in a wavelike fashion by expansion and

compression of the medium through which it travels

• Ultrasound waves travel at different speeds depending on

material

• Ultrasound waves can be absorbed, refracted, focused, reflected,

and scattered.

Basics of Ultrasound

• Process Overview

• Transducer (electrical signal a acoustic signal) generates pulses

of ultrasound and sends them into patient

• Organ boundaries and complex tissues produces echoes

(reflection or scattering) which are detected by the transducer

• Echoes displayed on a grayscale anatomical image

• Each point in the image corresponds to an anatomical location of an

echo-generating structure

• Brightness corresponds to echo strength

Wave Equation

• Acoustic wave

• Pressure wave that propagates through material via compression and

expansion

• Compress a small volume of tissue

• Releasing it causes it to expand past equilibrium

• Surrounding tissues are compressed, sequence starts again

• In soft tissue, particles oscillate in same direction as wave

• This is a longitudinal wave

• Speed of sound (c) waves is dependent on compressibility (k) and

density (ρ)

1

• 𝑐=

𝑘ρ

• Table 10.1

• Tissue ≈ 1540 m/s

• Air ≈ 330 m/s

Wave Equation

• Acoustic wave can be described as spatially dependent, time-

varying pressure function

• Acoustic Pressure P ( x , y , z , t )

• For longitudinal waves: P = Zv

• Z = cρ, characteristic impedance

• v, particle speed, generally NOT equivalent to speed of sound (c)

• Acoustic pressure (P = Zv) analogous to electrical circuits (V = IR)

• Acoustic pressure waves must satisfy the following 3-D wave equation

1 𝜕2 𝑃

• 𝛻2𝑃= 2 22

𝑐 𝜕 𝑡

• Where 𝛻 2 is the 3-D Laplacian operator

𝜕2 𝜕2 𝜕2

• 𝛻2 = + 𝜕𝑦 2 +

𝜕𝑥 2 𝜕𝑧 2

Wave Equation – Plane Waves

• Aforementioned equation is hard to solve, simplify by considering 2

special cases

• Plane Waves

• Spherical Waves

• Plane waves vary only in one spatial direction and time

• Consider a plane wave moving in the +z or –z direction

• P(z,t)=P(x,y,z,t)

• Plugging this into the 3-D wave equation yields the 1-D wave

equation

𝜕2 𝑃 1 𝜕2 𝑃

• 𝜕𝑧 2

= 𝑐 2 𝜕𝑡 2

• General Solution : 𝑃 𝑧, 𝑡 = ∅𝑓 𝑡 − 𝑐 −1 𝑧 + ∅𝑏 𝑡 + 𝑐 −1 𝑧

• ∅𝑓 is a forward traveling wave, ∅𝑏 is a backward traveling wave

• Later we will approximate acoustic waves from certain transducers as

plane waves

Wave Equation – Plane Waves

• An important aside…

• The sinusoidal function satisfies the 1-D wave equation

• 𝑃 𝑧, 𝑡 = cos 𝑘 𝑧 − 𝑐𝑡

• Hold z fixed, pressure around a fixed particle varies sinusoidally with

radial frequency of 𝜔 = kc

𝜔 𝑘𝑐

• f= = with units of cycles per second or Hz

2𝜋 2𝜋

• Hold t fixed, the pressure at a particular time varies sinusoidally with

radial spatial frequency k, the wave number

2𝜋

• Wavelength λ = with units of length

𝑘

• Alternate form yields important relationship between wavelength,

𝑐

speed of sound, and frequency λ =

𝑓

Wave Equation – Spherical

Waves

• Spherical waves depend on only time and the radius from the source

of disturbance.

• Can be generated in an isotropic material via a small local

disturbance in pressure

• 𝑟= 𝑥 2 + 𝑦 2 + 𝑧 2 with the source at (0,0,0)

• Realizing that P = ( r , t ) and noting r as a function of x, y, and z, we

can rearrange the 3-D wave equation

1 𝜕2 1 𝜕2 𝑝

• 𝑟𝑝 = , the spherical wave equation

𝑟 𝜕𝑟 2 𝑐 2 𝜕𝑡 2

1 1

• General solution : 𝑃 𝑟, 𝑡 = 𝑟 ∅𝑜 𝑡 − 𝑐 −1 𝑟 + 𝑟 ∅𝑖 𝑡 + 𝑐 −1 𝑟

• Where ∅𝑜 is an outward traveling wave, and ∅𝑖 is an inward traveling

wave (generally inward traveling waves don’t exist)

1

• Hence : 𝑃 𝑟, 𝑡 = 𝑟 ∅𝑜 𝑡 − 𝑐 −1 𝑟

• Similar to forward traveling wave with additional loss factor of 1/r as it

travels radially out and loses amplitude due to increasing surface area

Wave Propagation – Acoustic

Energy and Intensity

• Acoustic waves carry energy with them

• Particles in motion have kinetic energy

• wk = ½ρv2

• Particles prepared to move have potential energy

• wp = ½κp2

• Acoustic energy density is defined by the sum of the kinetic

energy density and the potential energy density

• w = wk + wp

• Acoustic Intensity

• I = pv

• Also called the acoustic energy flux

• Acoustic energy density and acoustic intensity are related via the

equation of energy conservation

𝜕𝐼 𝜕𝑤

• + =0

𝜕𝑥 𝜕𝑡

Wave Propagation – Reflection and

Refraction at Plane Interfaces

• See Figure 10.2

• 𝜃𝑖 = 𝜃𝑟

𝑠𝑖𝑛𝜃𝑖 𝑐1

• = This is called Snell’s Law

𝑠𝑖𝑛𝜃𝑡 𝑐2

𝑐1 𝑠𝑖𝑛𝜃𝑖

• If solving for 𝜃 𝑡 and >1; sin−1 𝜃 does not exist

𝑐2

• Conclude that all energy is reflected

• If 𝑐2 > 𝑐1 all incident angles above critical angle 𝜃𝑐 will result

in total reflection

𝑐

• 𝜃𝑐 = sin−1 ( 1) for 𝑐2 > 𝑐1

𝑐2

Wave Propagation – Transmission

and Reflection Coefficients

• Since incident, reflected, and transmitted waves all meet at

the interface, the tangential particle motion caused by the

incident wave must coincide with the sum of the tangential

particle motions of transmitted and reflected waves

• 𝑣𝑖 cos 𝜃𝑖 = 𝑣𝑟 cos 𝜃𝑟 + 𝑣𝑡 cos 𝜃𝑡

• If you plug in for acoustic pressure and acoustic intensity and

consider that pressure is continuous across the interface you can

find:

• Pressure reflectivity, and intensity reflectivity

𝑃𝑟 𝑍2 cos 𝜃𝑖 −𝑍1 cos 𝜃𝑡 𝐼𝑟 𝑍2 cos 𝜃𝑖 −𝑍1 cos 𝜃𝑡 2

• 𝑅= = , 𝑅𝐼 = =

𝑃𝑖 𝑍2 cos 𝜃𝑖 +𝑍1 cos 𝜃𝑡 𝐼𝑖 𝑍2 cos 𝜃𝑖 +𝑍1 cos 𝜃𝑡

𝑃𝑡 2𝑍2 cos 𝜃𝑖 𝐼𝑡 4𝑍1 𝑍2 cos 𝜃𝑖 2

• T= = , 𝑇𝐼 = =

𝑃𝑖 𝑍2 cos 𝜃𝑖 +𝑍1 cos 𝜃𝑡 𝐼𝑖 𝑍2 cos 𝜃𝑖 +𝑍1 cos 𝜃𝑡 2

Wave Propagation – Attenuation

• Attenuation – accounts for loss of wave amplitude due to all

mechanisms, including absorption, scattering, and mode

conversion.

• Absorption is the process by which wave energy is converted to

thermal energy then dissipated into the medium.

• Scattering is the process by which secondary spherical waves are

generated as the wave propagates.

• Mode conversion is the process by which longitudinal waves are

converted to transverse shear waves (and vice versa).

Wave Propagation - Attenuation

• A forward-traveling plane wave with attenuation:

• 𝑝 𝑧, 𝑡 = 𝐴𝑧 𝑓(𝑡 − 𝑐 −1 𝑧)

• Amplitude decay

• 𝐴𝑧 = 𝐴0 𝑒 −𝜇𝑎 𝑧

• Amplitude attenuation factor

1 𝐴𝑧

• 𝜇𝑎 = − 𝑙𝑛

𝑧 𝐴0

• Phenomelological – agrees well in practice but is not easily

supported by theory

• If given an attenuation coefficent, ∝, convert to 𝜇𝑎 then you

can use the forward-traveling plane wave with attenuation

equation.

• ∝ = 𝑎𝑓 𝑏

Wave Propagation - Attenuation

• When attenuation is only due to the conversion of acoustic

energy to thermal energy, the attenuation coefficient is called

the absorption coefficent.

Wave Propagation - Scattering

• Many targets within the body are significantly smaller than the

acoustic wavelength.

• Under these circumstances, assume that when the target is

excited by an incident acoustic plane wave, it vibrates as a

small spherical body, which gives rise to spherical waves.

• See Figure 10.3

• Small target at (0,0,d) acts as a spherical wave source,

converts a fraction of the incident wave into a spherical wave

• The fraction of the incident wave converted into the spherical

wave is denoted R, and is the reflection coefficient. It is a

property of the individual target and the embedding medium.

• Scattered wave equation

𝑅𝑒 −𝜇𝑎 𝑟 −𝜇𝑎 𝑑 𝑓(𝑡

• 𝑃𝑠 𝑟, 𝑡 = 𝐴 0 𝑒 − 𝑐 −1 𝑑 − 𝑐 −1 𝑟)

𝑟

The Doppler Effect

• Change in frequency of the sound due to the relative motion

of the source and/or receiver

• Example: ambulance

𝑐

• 𝑓𝑇 = 𝑓𝑜 𝑐+𝑣 , but the frequency shift is only dependent on the

component of source velocity in the direction of the observer

𝑐

• 𝑓𝑇 = 𝑓𝑜 𝑐+𝑣 cos 𝜃 where ϴ is angle between the vector pointing from

source to receiver and the vector pointing from source to direction

of motion

The Doppler Effect

• The difference between observed and source frequencies is

the Doppler frequency

• 𝑓𝐷 = 𝑓𝑇 − 𝑓𝑂

𝑣 cos 𝜃 𝑣 cos 𝜃

• Thus, 𝑓𝐷 = 𝑓𝑂 , but because c >> v, 𝑓𝐷 = 𝑓𝑂

𝑐−𝑣 cos 𝜃 𝑐

• Sign of Doppler frequency indicates direction

• + : Source moving towards observer

• - : Source moving away from observer

• Pulse echo mode: Transducer is both source of sound and

receiver of the Doppler-shifted echo returning from the object.

• Sound collected by transducer is received by moving object and

retransmitted by moving object.

The Doppler Effect

• Consider 10.4 (b)

• T is stationary source, O is moving receiver.

𝑐+𝑣 cos 𝜃

• Moving object observes a frequency, 𝑓𝑂 = 𝑓𝑠 [*]

𝑐

• And the corresponding Doppler frequency, 𝑓𝐷 = 𝑓𝑂 − 𝑓𝑆

𝑣 cos 𝜃

• Equivalent to 𝑓𝐷 = 𝑓𝑠

𝑐

• In pulse echo mode, the echo received by T will be shifted by

both the effects of a moving receiver and a moving source

• Essentially 2x the Doppler Frequency than in either case alone

The Doppler Effect

• Transducer T generates wave with frequency fS

• Object O, moving with velocity v at angle 𝜃 relative to u, recieves a

frequency fO.

• This frequency was shown before as [*]

• The object reflects or scatters the wave, so it is now a moving source

with frequency fO

• The stationary transducer now receives a frequency fT

2𝑣 cos 𝜃

• 𝑓𝑇 = 1 + 𝑐−𝑣 cos 𝜃 𝑓𝑠

• The Doppler frequency in pulse echo mode will reduce to

2𝑣 cos 𝜃

• 𝑓𝐷 = 𝑓𝑠

𝑐

• Pg. 332, final paragraph

• Doppler shift velocimeter

• |fD| evaluation - Doppler Motion

• fD magnitude and sign - Doppler Imagaing

Beam Pattern Formation

• Simple Field Pattern Model

𝐷2

• Geometric Approximation

4𝜆

𝐷2

• Fresnel Region

𝜆

𝐷2

• Fraunhofer Region >

𝜆

• Wave diameter

𝐷2 λz D2

• 𝑤 𝑧 = {𝐷, 𝑧 < ; ,z >

𝜆 D λ

Beam Pattern Formation

• Diffraction Formulation

• Narrow Bandpulse Model

• 𝑛 𝑡 = 𝑅𝑒{𝑛 𝑡 𝑒 −𝑗2𝜋𝑓0 𝑡 }

• 𝑛 𝑡 = ne t ejθ

• Where ‘n’ is the pressure signal and ‘ne ’ is the envelope (Fig 10.6)

Beam Pattern Formation

• Received Signal with Field Pattern

• See Fig 10.7, assume a spherical scatter at (x,y,z)

• Pressure Summation:

∞ ∞ 𝑠 𝑥0 ,𝑦0 𝑧

• 𝑝 𝑥, 𝑦, 𝑧 = −∞ −∞ 𝑛 𝑡 − 𝑐 −1 𝑟0 𝑑𝑥0 𝑑𝑦0

𝑟02

• Received Electrical Waveform

• 𝑟 𝑥, 𝑦, 𝑧 =

−1 −1 ′

∞ ∞ 𝑠 𝑥0′ ,𝑦0′ 𝑧 ∞ ∞ 𝑠 𝑥0 ,𝑦0 𝑧∗𝑛(𝑡−2𝑐 𝑟0 −𝑐 𝑟0 )

𝐾𝑅(𝑥, 𝑦, 𝑧) −∞ −∞ 2 𝑋 −∞ −∞ 2 𝑑𝑥0 𝑑𝑦0 𝑑𝑋0 𝑑𝑌0

𝑟0′ 𝑟0

• Plane wave Approximation

• Paraxial Approximation

• Fresnel Approximation

• Fraunhofer Approximation

• See Eq. 10.65,.66,.72

Focusing

• Works through:

• Electrical means

• Geometric Adjustment to the transducer crystal

• Applying a lens

• Curved Lenses or Vibrators focus sound in the same way that

convex optical lenses focus light.

• Increased resolution at the focal depth comes at the cost of

range.

Ultrasound Imaging

Systems

Krystal Kerney

Kyle Fontaine

Ryan O’Flaherty

Introduction

• First, do no harm

Instrumentation

• Ultrasound Transducer

• Transducer Materials

• Resonance

• Ultrasound Probes

• Single- Element Probes

• Mechanical Scanners

• Electronic Scanners

Ultrasound Transducers

• Transducer Materials

• Piezoelectric Crystals – translates mechanical strain into electrical

signal and vice versa

Ultrasound Transducers

• Resonance

• Crystals tend to vibrate sinusoidally after initial excitation due to

incoming acoustic waves reflecting off the back end of the crystal

reflected wave interferes constructively with its source.

𝑐𝑇

• 𝑓𝑇 = 𝜆 𝑇 = 2𝑑 𝑇

2𝑑𝑇

• Where:

• 𝑐𝑇 is the speed of sound in the transducer

• 𝑑 𝑇 is the thickness of the transducer

• 𝑓𝑇 is the Fundamental Resonant Frequency

• 𝜆 𝑇 is the wavelength at the FRF

Ultrasound Transducers

• Medical Transducers tend to be ‘shock excited’

• This refers to their output behaving as an impulse

until it loses energy

• This energy is damped away using epoxy backing in the

transducer with a high coefficient of absorption. This

compensates for PZT’s low absorption coefficient and the high

reflectivity between the body and transducer.

• This epoxy must have a similar impedance to PZT in order to

maintain a low coefficient of reflectivity between them.

• The epoxy finishes damping away the in-transducer wave’s

energy in approximately 3-5 cycles.

Ultrasound Probes

• Single Element Probes

• Simplest assembly of transducer

• Look to Figure 11.5, this illustrates the construction of a single

element probe

• Lens or curved crystal

• Ultrasound beam requires steering

• Modern systems of scanning allow for real-time imaging

Ultrasound Probes

• Mechanical Scanners

• Rocking or rotating a transducer crystal or set of crystals

• Figure 11.6

• Rocker – transducer travels through the same sector in a

repeating fashion, first clockwise then counterclockwise

• Rotating – transducer is switched in as it enters the sector –

always counterclockwise

• Regardless of design, field of view is always shaped like a slice of pie

Ultrasound Probes

• Electronic Scanners

• Arrangement of elements in the assemblies is linear

• Each element is rectangular

• Focused using a lens

• Linear array probe

• Elements have widths on the order of a wavelength and are

electronically grouped together making several elements appear as

one.

• Phased array probe

• Elements have widths of a quarter wavelength and the timing of

firing of the elements are electronically controlled in order to steer

and focus the beam.

Pulse-Echo Imaging

• Two important augmentations to basic imaging

• Phased arrays

• Doppler imaging

• Ideal ultrasound imaging system would reconstruct and

display the spatial distribution of reflectivity

• Not possible!

• Transducer’s impulse response function blurs reflectivity

• Envelope detection creates artifacts called speckles

Pulse-Echo Equation

• General form of equation using Fresnel approximation and

Fraunhofer approximation is shown in equation 11.2

• TGC is time gain compensation to cancel the gain terms in

equation 11.2

• Users can manually adapt the system to more or less gain so

that subtle features can be seen in images.

• Inexpensive ultrasound systems use a simple envelope

detection procedure as shown in figure 11.10

• A-mode signal is equation 11.10, it is the fundamental signal

in all of ultrasound imaging.

Transducer Motion

• To acquire images, the transducer must move

• Consider (x,y) plane

• Assume the transducer energy travels down a cylinder having the

same shape as its’ face

• The envelope equation, when it becomes a function of time and

space can be thought of as an estimate of the reflectivity function

as a function of spatial position

• Look at equation 11.20 and subsequent paragraph

Ultrasound Imaging Modes

• A-Mode Scan

• Amplitude-mode signal

• Transducer is fired rapidly and a succession of signals can be

displayed on an oscilloscope (See figure 11.11).

• The time between successive firings is called repetition time

• Interval should be long enough so that returning echoes have died

out, but fast enough to capture motion

• Useful when looking at heart valve motion

Ultrasound Imaging Modes

• M-Mode Scan

• Using each A-mode signal as a column in an image

• Value of A-mode signal becomes the brightness of the M-mode

image

• Motion is revealed by bright traces moving up and down across

the image as shown in figure 11.12

• Most often used to image motion of heart valves and is therefore

shown along with ECG.

Ultrasound Imaging Modes

• B-Mode Scan

• Created by scanning the transducer beam in a plane

• Example – moving the transducer in the x-direction while beam is

aimed down the z-axis (figure 11.13)

• Succession of A-mode signals are keyed to the x-position of the

transducer.

• Image is created by brightness-modulating a CRT along a column

using the corresponding A-mode signal

• An advantage of manual-scan systems is that you can angle the

transducer to hit the same point of the body from different

directions

• When multiple views of the same tissue are included in a single

B-mode image, it is referred to as compound B-mode scanning

• Disadvantage – suffer from severe artifacts due to refraction

Ultrasound Imaging Modes

• B-mode scanners

• Linear scanner – collection of transducers arranged in a line,

does not require motion. Requires large flat area with which to

maintain contact with the body.

• Abdominal imaging

• Obstetrics

• Mechanical sector scanner – pivots a transducer about an axis

orthogonal to the transducer’s axis.

• Phased array sector-scanner – collection of very small transducer

elements arranged in a line. Smaller than linear scanner.

Advantage is that focus can be varied over time providing a

dynamic focus. Disadvantage is that sidelobes of acoustic energy

are generated and can lead to artifacts.

Ultrasound Imaging Modes

• Depth of penetration

• Limited by attenuation

−𝐿

• 𝑧 = is total range wave can travel before attenuated below

𝑎𝑓

system threshold

𝐿

• 𝑑𝑝 = , depth of penetration can only be half of the above

2𝑎𝑓

equation (round trip)

• Pulse Repetition Rate

• New pulse generated only after echoes from previous pulse are

gone

2𝑑𝑝

• 𝑇𝑅 ≥ , pulse repetition interval – round trip time to max

𝑐

depth of penetration

1

• 𝑓𝑅 = , pulse repetition rate

𝑇𝑅

Ultrasound Imaging Modes

• B-Mode Image Frame Rate

• If N pulses are required to generate an image Frame rate 𝐹 =

1

𝑇𝑅 𝑁

• Typical frame rates in commercial ultrasound systems around 10-

100 frames/sec

• Low end values create a great deal of flicker, unacceptable

• Scan conversion solves this (converts polar to rectangular) by

reading out data at higher rate.

• Can also reduce field of view to enable increased frame rate

(reduce N)

More on Imaging Modes

• A-mode: A-mode (amplitude mode) is the simplest type of ultrasound. A single

transducer scans a line through the body with the echoes plotted on screen as a

function of depth. Therapeutic ultrasound aimed at a specific tumor or calculus

is also A-mode, to allow for pinpoint accurate focus of the destructive wave

energy.

• B-mode or 2D mode: In B-mode (brightness mode) ultrasound, a linear array of

transducers simultaneously scans a plane through the body that can be viewed

as a two-dimensional image on screen. More commonly known as 2D mode

now.

• C-mode: A C-mode image is formed in a plane normal to a B-mode image. A gate

that selects data from a specific depth from an A-mode line is used; then the

transducer is moved in the 2D plane to sample the entire region at this fixed

depth. When the transducer traverses the area in a spiral, an area of 100 cm2 can

be scanned in around 10 seconds.

• M-mode: In M-mode (motion mode) ultrasound, pulses are emitted in quick

succession – each time, either an A-mode or B-mode image is taken. Over time,

this is analogous to recording a video in ultrasound. As the organ boundaries

that produce reflections move relative to the probe, this can be used to

determine the velocity of specific organ structures.

More on Imaging Modes

• Doppler mode: This mode makes use of the Doppler effect in measuring and

visualizing blood flow

• Color Doppler: Velocity information is presented as a color coded overlay on top

of a B-mode image

• Continuous Doppler: Doppler information is sampled along a line through the

body, and all velocities detected at each time point is presented (on a time line)

• Pulsed wave (PW) Doppler: Doppler information is sampled from only a small

sample volume (defined in 2D image), and presented on a timeline

• Duplex: a common name for the simultaneous presentation of 2D and (usually)

PW Doppler information. (Using modern ultrasound machines color Doppler is

almost always also used, hence the alternative name Triplex.)

• Pulse inversion mode: In this mode two successive pulses with opposite sign are

emitted and then subtracted from each other. This implies that any linearly

responding constituent will disappear while gases with non-linear

compressibility stands out.

• Harmonic mode: In this mode a deep penetrating fundamental frequency is

emitted into the body and a harmonic overtone is detected. In this way depth

penetration can be gained with improved lateral resolution.

Steering and Focusing

• Phased Array

• Steering

• Add a separate delay element to each transducer to steer

acoustic beam

• Firing times for each transducer to generate a plane wave in a

known direction

• Eq. 11.31 and Figures 11.15, 11.16

• Steering + Focusing

• Focusing = Refinement of steering

• Figure 11.17 and Eq. 11.34

• Delays are not multiples of a base delay

• Don’t need to be fire in same order as their geometric order

Beamforming and Dynamic

Focusing

• Beamforming

• Plane wave incident upon the transducer from a direction ϴ will

hit one transducer at the end of the array first and then

successive transducers.

• Delay the received waveforms to coherently sum them the

entire ray is sensitized to direction ϴ

• Device delays are same as the transmit delays for steering + focusing

• Result is increased sensitivity for directions

• Figure 11.18

• Dynamic Focusing

• Manipulates delays on transducer signals such that they have

increased sensitivity to a particular point in space at a particular

time.

• Figure 11.19, Eq. 11.39

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