Estimate Trajectory of the Ultrasound Scan using Inertia Sensor

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The objectives of this project are to develop and validate tools to use ultrasound for medical imaging by a)developing an algorithm based on an inertia sensor, consisting of a 3 axis-accelerometer, a 3-axis gyroscopeand a 3-axis magnetometer, which is embedded inside the ultrasound probe to estimate the trajectory ofultrasound scan, b) integrating the trajectory information with 2D ultrasound scanned images to reconstruct 3Dimages and c) establishing the accuracy of the 3D reconstructed images. The developed algorithm will providescientific underpinning for Clarius' promotion of their ultrasound system for 3D images reconstruction. Thecurrent ultrasound system from Clarius is a handheld device which uses Wi-Fi Direct and Bluetooth to connectto an iOS or Android smart device to display 2D images. The data from the accelerometer, gyroscope andmagnetometer are sent to the smart device at 60 Hz with 14-bit resolution. Clarius has not yet implemented theinertia sensor data to provide position and orientation information. Integration of the gyroscope measurementsplus the magnetometer data should accurately estimate the orientation. The calculated orientation will becombined with the accelerometer data which subtracts the earth's gravity information and perform a doubleintegration to estimate the position. However, since the inertial measurements are usually noisy and biased, theintegration steps from angular velocity to rotation and from acceleration to position will introduce integrationdrift. To minimize the integration drift, a periodic reset or capturing data in a short period of time may resolvethe drifting problem.