1. A handheld device comprising:
at least one sensor for determining rotation of said handheld device about a first axis and generating a first output associated therewith and for determining rotation of said handheld device about a second axis and generating a second output associated therewith;
an accelerometer for determining an acceleration of said handheld device and outputting an acceleration output associated therewith; and
a processing unit for receiving said first and second outputs and said acceleration output and for:
(a) determining an orientation of the handheld device relative to an absolute reference, said orientation being determined based upon the acceleration output,
(b) processing at least one of said first output and said second output using said determined orientation; and
(c) determining an unintended motion associated with the handheld device; and
(d) processing at least one of the first output and the second output to compensate for the unintended motion.
2. The handheld device of claim 1, wherein the absolute reference is gravity.
3. The handheld device of claim 1, wherein the unintended motion is hand tremor.
4. The handheld device of claim 1, wherein the unintended motion is associated with a press of a button disposed on the handheld device.
5. The handheld device of claim 1, wherein the processing unit is further configured to convert said first and second outputs from a body frame of reference associated with said handheld device into a user’s frame of reference in order to remove the effects of said determined orientation.
6. The handheld device of claim 5, wherein said user’s frame of reference is associated with a television screen.
7. The handheld device of claim 5, wherein said step of converting further comprises the step of:
rotating said first and second rotational outputs into said user’s frame of reference by calculating:
\u2003
R
=
cos
\u2062
\u2062
\u03b8
sin
\u2062
\u2062
\u03b8
–
sin
\u2062
\u2062
\u03b8
cos
\u2062
\u2062
\u03b8
\xb7
\u03b1
\u2062
\u2062
y
\u03b1
\u2062
\u2062
z
wherein \u03b8 is said determined orientation, ay is said first output and az is said second output.
8. The handheld device of claim 1, wherein said determined orientation is a tilt of the handheld device.
9. A method comprising:
determining rotation of a handheld device about a first axis and generating a first output associated therewith and determining rotation of said handheld device about a second axis and generating a second output associated therewith;
determining an acceleration of said handheld device and outputting an acceleration output associated therewith; and
receiving, by a processing unit, said first and second outputs and said acceleration output and:
(a) determining an orientation of the handheld device relative to an absolute reference, said orientation being determined based upon the acceleration output,
(b) processing at least one of said first output and said second output using said determined orientation; and
(c) determining an unintended motion associated with the handheld device; and
(d) processing at least one of the first output and the second output to compensate for the unintended motion.
10. The method of claim 9, wherein the absolute reference is gravity.
11. The method of claim 9, wherein the unintended motion is hand tremor.
12. The method of claim 9, wherein the unintended motion is associated with a press of a button disposed on the handheld device.
13. The method of claim 9, further comprising:
converting said first and second outputs from a body frame of reference associated with said handheld device into a user’s frame of reference in order to remove the effects of said determined orientation.
14. The method of claim 13, wherein said user’s frame of reference is associated with a television screen.
15. The method of claim 13, wherein said step of converting further comprises the step of:
rotating said first and second rotational outputs into said user’s frame of reference by calculating:
\u2003
R
=
cos
\u2062
\u2062
\u03b8
sin
\u2062
\u2062
\u03b8
–
sin
\u2062
\u2062
\u03b8
cos
\u2062
\u2062
\u03b8
\xb7
\u03b1
\u2062
\u2062
y
\u03b1
\u2062
\u2062
z
wherein \u03b8 is said determined orientation, \u03b1y is said first output and \u03b1z is said second output.
16. The method of claim 9, wherein said determined orientation is a tilt of the handheld device.
17. A non-transitory computer-readable medium having program instructions stored thereon, which program instructions, when executed by a processor perform the method comprising:
determining rotation of a handheld device about a first axis and generating a first output associated therewith and determining rotation of said handheld device about a second axis and generating a second output associated therewith;
determining an acceleration of said handheld device and outputting an acceleration output associated therewith; and
receiving, by a processing unit, said first and second outputs and said acceleration output and:
(a) determining an orientation of the handheld device relative to an absolute reference, said orientation being determined based upon the acceleration output,
(b) processing at least one of said first output and said second output using said determined orientation; and
(c) determining an unintended motion associated with the handheld device; and
(d) processing at least one of the first output and the second output to compensate for the unintended motion.
18. The non-transitory computer-readable medium of claim 17, wherein the absolute reference is gravity.
19. The non-transitory computer-readable medium of claim 17, wherein the unintended motion is hand tremor.
20. The non-transitory computer-readable medium of claim 17, wherein the unintended motion is associated with a press of a button disposed on the handheld device.
21. The non-transitory computer-readable medium of claim 17, further comprising:
converting said first and second outputs from a body frame of reference associated with said handheld device into a user’s frame of reference in order to remove the effects of said determined orientation.
22. The non-transitory computer-readable medium of claim 21, wherein said user’s frame of reference is associated with a television screen.
23. The non-transitory computer-readable medium of claim 21, wherein said step of converting further comprises the step of:
rotating said first and second rotational outputs into said user’s frame of reference by calculating:
\u2003
R
=
cos
\u2062
\u2062
\u03b8
sin
\u2062
\u2062
\u03b8
–
sin
\u2062
\u2062
\u03b8
cos
\u2062
\u2062
\u03b8
\xb7
\u03b1
\u2062
\u2062
y
\u03b1
\u2062
\u2062
z
wherein \u03b8 is said determined orientation, \u03b1y is said first output and \u03b1z is said second output.
24. The non-transitory computer-readable medium of claim 17, wherein said determined orientation is a tilt of the handheld device.
25. A system comprising:
(a) a handheld device including:
at least one sensor for determining rotation of said handheld device about a first axis and generating a first output associated therewith and for determining rotation of said handheld device about a second axis and generating a second output associated therewith; and
an accelerometer for determining an acceleration of said handheld device and outputting an acceleration output associated therewith;
(b) a processing unit for receiving said first and second outputs and said acceleration output and for:
determining an orientation of the handheld device relative to an absolute reference, said orientation being determined based upon the acceleration output,
processing at least one of said first output and said second output using said determined orientation; and
determining an unintended motion associated with the handheld device; and
processing at least one of the first output and the second output to remove compensate for the unintended motion.
26. The system of claim 25, wherein the absolute reference is gravity.
27. The system of claim 25, wherein the unintended motion is hand tremor.
28. The system of claim 25, wherein the unintended motion is associated with a press of a button disposed on the handheld device.
29. The system of claim 25, wherein the processing unit is further configured to convert said first and second outputs from a body frame of reference associated with said handheld device into a user’s frame of reference in order to remove the effects of said determined orientation.
30. The system of claim 29, wherein said user’s frame of reference is associated with a television screen.
31. The system of claim 29, wherein said step of converting further comprises the step of:
rotating said first and second rotational outputs into said user’s frame of reference by calculating:
\u2003
R
=
cos
\u2062
\u2062
\u03b8
sin
\u2062
\u2062
\u03b8
–
sin
\u2062
\u2062
\u03b8
cos
\u2062
\u2062
\u03b8
\xb7
\u03b1
\u2062
\u2062
y
\u03b1
\u2062
\u2062
z
wherein \u03b8 is said determined orientation, \u03b1y is said first output and \u03b1z is said second output.
32. The system of claim 25, wherein said determined orientation is a tilt of the handheld device.
33. A method for using a handheld device comprising the steps of:
detecting movement of said handheld device using an accelerometer and at least one other sensor;
determining an orientation in which said handheld device is held;
compensating said at least one other sensor’s detected movement based on said determined orientation by performing a two-dimensional rotational transform on said at least one other sensor’s detected movement to generate an output which is substantially independent of said orientation;
determining unintended movement of the handheld device; and
processing said at least one other sensor’s detected movement to compensate for the unintended movement.
34. The method of claim 33, wherein the unintended movement is associated with hand tremor.
35. The method of claim 33, wherein the unintended movement is associated with a press of a button disposed on the handheld device.
36. The method of claim 33, further comprising:
converting said at least one other sensor’s detected movement from a body frame of reference associated with said handheld device into a user’s frame of reference in order to remove the effects of said determined orientation.
37. The method of claim 36, wherein said user’s frame of reference is associated with a television screen.
38. The method of claim 36, wherein said step of converting further comprises the step of:
rotating said at least one sensor’s detected movement into said user’s frame of reference by calculating:
\u2003
R
=
cos
\u2062
\u2062
\u03b8
sin
\u2062
\u2062
\u03b8
–
sin
\u2062
\u2062
\u03b8
cos
\u2062
\u2062
\u03b8
\xb7
\u03b1
\u2062
\u2062
y
\u03b1
\u2062
\u2062
z
wherein \u03b8 is said determined orientation, \u03b1y is a first output associated with the at least one sensor and \u03b1z is a second output associated with the at least one sensor.
39. The method of claim 33, wherein said determined orientation is a tilt of the handheld device.
40. A handheld device comprising:
a sensor for generating a first output associated with motion of said handheld device;
an accelerometer for detecting acceleration of said handheld device and outputting at least one second output; and
a processing unit for receiving and processing said first output from said sensor and said at least one second output from said accelerometer, said processing including:
determining an orientation in which said handheld device is held using said at least one second output; and
compensating said first output based on said determined orientation by performing a two-dimensional rotational transform on said first output to generate an output which is substantially independent of said orientation, wherein the processing unit also includes determining unintended movement of the handheld device and processing said first output to compensate for the unintended movement.
41. The handheld device of claim 40, wherein the unintended movement is associated with hand tremor.
42. The handheld device of claim 40, wherein the unintended movement is associated with a press of a button disposed on the handheld device.
43. The handheld device of claim 40, wherein the processing unit further operates
converting said first output from a body frame of reference associated with said handheld device into a user’s frame of reference in order to remove the effects of said determined orientation.
44. The handheld device of claim 43, wherein said user’s frame of reference is associated with a television screen.
45. The handheld device of claim 43, wherein said step of converting further comprises the step of:
rotating said first output into said user’s frame of reference by calculating:
\u2003
R
=
cos
\u2062
\u2062
\u03b8
sin
\u2062
\u2062
\u03b8
–
sin
\u2062
\u2062
\u03b8
cos
\u2062
\u2062
\u03b8
\xb7
\u03b1
\u2062
\u2062
y
\u03b1
\u2062
\u2062
z
wherein \u03b8 is said determined orientation, \u03b1y is a part of the first output associated with the sensor and \u03b1z is a part of the first output associated with the sensor.
46. The method of claim 40, wherein said determined orientation is a tilt of the handheld device.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A device for ultrasound imaging, the device comprising:
an ultrasound head; and
an electrical stimulator positioned proximal to the ultrasound head, wherein the electrical stimulator is configured to apply an electrical pulse of less than about 100 Vcm.
2. The device of claim 1, wherein the electrical stimulator comprises at least a first electrode configured to contact a tissue near the ultrasound head, when the device is in use on an endoscope.
3. The device of claim 2, wherein the first electrode comprises an electrically conductive elastomer.
4. The device of claim 3, wherein the electrically conductive elastomer comprises at least one of a doped silicone or a fluorosilicone rubber.
5. The device of claim 2, wherein the electrode comprises a balloon.
6. The device of claim 5, wherein the electrode comprises an electrically conductive elastomer.
7. The device of claim 6, wherein the balloon further comprises an electrically insulating elastomer.
8. The device of claim 7, wherein the electrically insulating elastomer is positioned inside the electrically conductive elastomer.
9. The device of claim 8, wherein the ultrasound head is positioned internal to the electrically conductive elastomer.
10. The device of claim 1, wherein the electrical stimulator comprises a monopolar arrangement.
11. (canceled)
12. The device of claim 1, wherein the ultrasound head and the electrical stimulator are on a same probe.
13. The device of claim 1, further comprising a computer configured to receive a signal from the ultrasound head.
14. The device of claim 1, further comprising a timing system configured to coordinate 1) an ultrasound signal with, 2) an excitation signal from the electrical stimulator.
15. A system for electric stimulation enhanced ultrasound imaging, the system comprising:
an ultrasound unit;
an electrical stimulator; and
a controller, configured to apply an electric pulse of less than about 100 Vcm through the electrical stimulator.
16. The system of claim 15, further comprising a data acquisition unit in communication with the ultrasound unit, wherein the data acquisition unit is configured to record ultrasound images received from the ultrasound unit and record a time of imaging of the ultrasound images.
17. The system of claim 15, wherein the ultrasound unit comprises an ultrasound transducer.
18. The system of claim 17, wherein the ultrasound transducer and the electrical stimulator are located next to one another.
19. (canceled)
20. (canceled)
21. The system of claim 15, wherein the electrical stimulator comprises a balloon.
22. The system of claim 21, wherein the balloon comprises an electrically conductive elastomer.
23. (canceled)
24. (canceled)
25. (canceled)
26. A method for electric stimulation enhanced ultrasound imaging, the method comprising:
applying an electrical stimulation of less than about 100 Vcm to one or more regions of interest; and
determining a change in an ultrasound signal caused by applying the electrical stimulation.
27. The method of claim 26, wherein determining the change in the ultrasound signal comprises determining an ultrasound signal before electrical stimulation and determining an ultrasound signal after electrical stimulation.
28. (canceled)
29. (canceled)
30. The method of claim 26, wherein applying the electrical stimulation comprises applying at least one pulse of electricity in an area undergoing ultrasound imaging.
31. The method of claim 30, wherein applying the electrical stimulation comprises applying a train of electrical pulses.
32. (canceled)
33. (canceled)
34. (canceled)
35. (canceled)
36. The method of claim 26, wherein determining the change in the ultrasound signal is performed on a computer.
37. (canceled)
38. The method of claim 26, wherein at least one of an initial value of electrical stimulation to be applied, a final value of electrical stimulation to be applied, and a time between subsequent applications of electrical stimulation is pre-programmed into a computer that controls applying the electrical stimulation.
39. The method of claim 26, further comprising recording one or more of 1) a value of electrical stimulation applied that caused a non-zero change in the ultrasound signal, 2) the non-zero change in the ultrasound signal, and 3) a combination of the value of electrical stimulation applied that caused the non-zero change in the ultrasound signal and the non-zero change in the ultrasound signal.
40. The method of claim 39, further comprising comparing one or more of 1) the value of electrical stimulation applied that caused a non-zero change in the ultrasound signal, 2) the non-zero change in the ultrasound signal, and 3) the combination of the value of electrical stimulation applied that caused the non-zero change in the ultrasound signal and the non-zero change in the ultrasound signal, with a pre-existing database results derived from one or more positive controls for a known tissue sample.
41. A method for electrical stimulation and ultrasound imaging, the method comprising:
(a) acquiring an ultrasound image of one or more regions of interest;
(b) applying a pulse of electrical stimulation to the one or more regions of interest; and
(c) acquiring an ultrasound image of the one or more regions of interest during application of the pulse of electrical stimulation.