BK ultrasound systems

Supported hardware devices

• BK ProFocus, FlexFocus, and various other BK ultrasound imaging devices.
• Image acquisition is available through both the OEM interface (TCP/IP) and CameraLink interface (high-speed interface for RF data acquisition).
• Link to manufacturer's website: http://www.bkmed.com/systems_en.htm

Supported platforms

• Windows 32 bits
• Windows 64 bits
• This device is not included in any of the standard packages, as it requires license from BK.
• If the license is obtained from BK then Plus have to be built with PLUS_USE_BKPROFOCUS_VIDEO and optionally with PLUS_USE_BKPROFOCUS_CAMERALINK configuration options enabled as described at https://github.com/PlusToolkit/PlusBuild/blob/master/Docs/BuildInstructionsWindows.md.
• The device is tested on Windows, but may also work on other platforms.

Installation

• Turn off "CRC Check" and "Require Acknowledge" on the BK scanner
• To use ContinuousStreamingEnabled: lock image size on the BK scanner (customize dialog -> Split/Size -> check "Lock Image Size" checkbox)
• Limitation of B-mode image acquisition through the OEM interface: the application crashes on disconnect (see #753)
• RF acquisition through TeledyneDalsa CameraLink interface card is supported, using Sapera API.
  • B-mode acquisition (using the internal RF->B-mode conversion algorithm) is available for the BK 8848 transducer (http://www.bkmed.com/8848_en.htm).
  • Need to install the DALSA Sapera package, otherwise the applications will not start because of missing the SapClassBasic72.dll. This dll can only be used with 64-bit Plus build on 64-bit OS and 32-bit Plus build on a 32-bit OS. Therefore the bitness of the Plus package shall match the bitness of the operating system.

Device configuration settings

OEM interface

• 
  Type = "BkProFocusOem"
  
• 
  AcquisitionRate. Image retrieval may slow down the exam software, so keep the frame rate low by default
  

  Default = "1"
• 
  LocalTimeOffsetSec
  

  Default = "0"
• 
  IniFileName. INI file name. Is the name of the BK ini file that stores connection and acquisition settings. If a relative path is specified then it is relative to the device set configuration directory. See an example INI file below.
  
• 
  ContinuousStreamingEnabled Uses continuous image streaming for significantly faster image transfer.
  

  Default = "FALSE"
  • TRUE: Use fast image transfer useing GRAB_FRAME command. This feature may require additional license from BK and locking image size on the BK scanner (see in Installation section).
  • FALSE: Request transfer of each frame. The responsiveness of the BK scanner software may be impacted if images are acquired continuously at a frame rate higher than a few frames per second.
• 
  DataSources Exactly one DataSource child element is required.
  
  • 
    DataSource
    
    • 
      PortUsImageOrientation
      
    • 
      ImageType
      

      Default = "BRIGHTNESS"
    • 
      BufferSize
      

      Default = "150"
    • 
      AveragedItemsForFiltering
      

      Default = "20"
    • 
      ClipRectangleOrigin
      

      Default = "0 0 0"
    • 
      ClipRectangleSize
      

      Default = "0 0 0"

RF acquisition through the CameraLink interface

• 
  Type = "BkProFocus"
  
• 
  AcquisitionRate
  

  Default = "125"
• 
  LocalTimeOffsetSec
  

  Default = "0"
• 
  IniFileName INI file name of the BK ini file that stores connection and acquisition settings. If a relative path is specified then it is relative to the device set configuration directory. See an example INI file below.
  
• 
  ImagingMode Set what kind of images are sent to the video source. The default is RF mode, when the raw RF data is recorded. Applications (e.g., fCal) may still be able to show a B-mode image for monitoring the acquisition by performing the brightness conversion and scan conversion internally. Other imaging modes are not yet supported.
  

  Default = "RfMode"
  • BMode
  • RfMode Acquire RF mode data. For previewing B-mode images during acquisition, add an RfProcessing child element to the OutputChannel.
• 
  SubscribeScanPlane Enable support for dynamic scan plane switching on 8848 probes ( TRUE or FALSE).
  

  Default = "FALSE"
• 
  DataSources
  • 
    DataSource There must be one child element.
    
    • 
      PortUsImageOrientation
      
    • 
      ImageType
      

      Default = "BRIGHTNESS"
    • 
      BufferSize
      

      Default = "150"
    • 
      AveragedItemsForFiltering
      

      Default = "20"

Example INI file

[OemToolboxConnection]
OemPort =7915
ToolboxPort =5001
ScannerAddress =10.1.1.100



[RESEARCH_INTERFACE]
;; The research interface creates a virtual com port.  It is use to get status and to set some parameters.
;comport = 3
;baud_rate=9600
;comport = -1
;baud_rate = 9600
comport=-1
baud_rate=9600

comport_name =\\.\X64-CL_Express_1_Serial_0
;comport_name =\\.\X64-CL_Express_1_Serial_0
setup_commands=CLE;LID 1;FLT 15;TAF

;; CCF_FILE is a initialization file used by SapAcquisition for initialization.
;; The path can be either relative or absolute
;; By default the configuration file is in the same directory.
ccf_file=IniFile.ccf
baudRate=9600



[Command And Control]
useToolbox=0
useConsole=1
useConsoleLastOkUseCase=0
autoUpdate=0

Example configuration file PlusDeviceSet_fCal_BkProFocus_OpenIGTLinkTracker.xml

<PlusConfiguration version="2.2">

  <DataCollection StartupDelaySec="1.0" >
    <DeviceSet 
      Name="fCal: BK ProFocus US CameraLink + OpenIGTLink tracker connection (Probe, Reference)"
      Description="BK ProFocus ultrasound scanner and OpenIGTLink TRANSFORM messages + fCal 1.2. Plus must be built in 64-bit if the operating system is 64-bit." 
    />

    <Device 
      Id="VideoDevice"
      Type="BkProFocus"
      IniFileName="BkSettings/IniFile.ini"
      AcquisitionRate="30"
      LocalTimeOffsetSec="0"
      ImagingMode="RfMode" >
      <DataSources>
        <DataSource Type="Video" Id="Video" PortUsImageOrientation="FM"  />
      </DataSources>
      <OutputChannels>
        <OutputChannel Id="VideoStream" VideoDataSourceId="Video" >
          <RfProcessing>
            <RfToBrightnessConversion 
              NumberOfHilbertFilterCoeffs="32.0" 
              BrightnessScale="20.0" />
            <ScanConversion 
              TransducerName="BK_8848-axial"
              TransducerGeometry="CURVILINEAR"
              RadiusStartMm="10.0"
              RadiusStopMm="60.0"
              ThetaStartDeg="-70.0"
              ThetaStopDeg="70.0"
              OutputImageSizePixel="600 400"
              TransducerCenterPixel="300 53"
              OutputImageSpacingMmPerPixel="0.15 0.15" /> 
          </RfProcessing>
        </OutputChannel>
      </OutputChannels>
    </Device>

    <Device
      Id="TrackerDevice"
      Type="OpenIGTLinkTracker"
      MessageType="TRANSFORM"
      ServerAddress="127.0.0.1"
      ServerPort="18944"
      IgtlMessageCrcCheckEnabled="true"
      AcquisitionRate="30"
      LocalTimeOffset="0.0"
      ToolReferenceFrame="Tracker" >
      <DataSources>
        <DataSource Type="Tool" Id="Probe" />
        <DataSource Type="Tool" Id="Reference" />
      </DataSources>
      <OutputChannels>
        <OutputChannel Id="TrackerStream">
          <DataSource Id="Probe" />
          <DataSource Id="Reference" />
        </OutputChannel>
      </OutputChannels>
    </Device>
    
    <Device 
      Id="TrackedVideoDevice" 
      Type="VirtualMixer" >
      <InputChannels>
        <InputChannel Id="TrackerStream" />
        <InputChannel Id="VideoStream" />
      </InputChannels>
      <OutputChannels>
        <OutputChannel Id="TrackedVideoStream"/>
      </OutputChannels>
    </Device>

  </DataCollection>

  <CoordinateDefinitions>
    <Transform From="Phantom" To="Reference"
      Matrix="0.9968 0.0075 -0.0795 -35.6089
              0.0794 0.0055 0.9968 -124.9852
              0.0079 -1.0000 0.0049 -16.7
              0 0 0 1"
      Date="2011.12.01 17:57:00" Error="0.0" />
    <Transform From="StylusTip" To="Stylus"
      Matrix="1 0 0 210.0
              0 1 0 0
              0 0 1 0
              0 0 0 1"
      Date="2011.12.01 17:22:12" />
    <Transform From="Image" To="TransducerOriginPixel"
      Matrix="1 0 0 -410
              0 1 0 5
              0 0 1 0
              0 0 0 1"
      Date="2011.12.06 17:57:00" Error="0.0" />
  </CoordinateDefinitions> 

  <Rendering WorldCoordinateFrame="Reference">
    <DisplayableObject Type="Model" ObjectCoordinateFrame="TransducerOrigin" Id="ProbeModel"
      File="Probe_L14-5_38.stl"
      ModelToObjectTransform="
        -1 0 0 29.7
        0 -1 0 1.5
        0 0 1 -14
        0 0 0 1" />
    <DisplayableObject Type="Model" ObjectCoordinateFrame="StylusTip" Id="StylusModel" File="Stylus_Example.stl" />
  <DisplayableObject Type="Model" ObjectCoordinateFrame="Reference" Id="Volume"/>
    <DisplayableObject Id="PhantomModel" Type="Model" ObjectCoordinateFrame="Phantom"
      Opacity="0.6"
      File="fCal_1.2.stl"
      ModelToObjectTransform="
        1 0 0 -25.0
        0 0 -1 45.0
        0 1 0 -5.0
        0 0 0 1" />
    <DisplayableObject Type="Image" ObjectCoordinateFrame="Image" Id="LiveImage"/>
  </Rendering>

  <Segmentation
    ApproximateSpacingMmPerPixel="0.078"
    MorphologicalOpeningCircleRadiusMm="0.27"
    MorphologicalOpeningBarSizeMm="2.0"
    ClipRectangleOrigin="27 27" 
    ClipRectangleSize="766 562" 
    MaxLinePairDistanceErrorPercent="10"
    AngleToleranceDegrees="10"
    MaxAngleDifferenceDegrees="10"
    MinThetaDegrees="-70"
    MaxThetaDegrees="70"
    MaxLineShiftMm="10.0"
    ThresholdImagePercent="10"
    CollinearPointsMaxDistanceFromLineMm="0.6"
    UseOriginalImageIntensityForDotIntensityScore="FALSE"
    NumberOfMaximumFiducialPointCandidates="20" />

  <PhantomDefinition>
    <Description
      Name="fCAL"
      Type="Multi-N"
      Version="1.2"
      WiringVersion="1.1"
      Institution="Queen's University PerkLab" />    
    <Geometry>
      <Pattern Type="NWire">
        <Wire Name="1:E2_e2" EndPointFront="20.0 0.0 10.0" EndPointBack="20.0 40.0 10.0" />
        <Wire Name="2:I2_f2" EndPointFront="40.0 0.0 10.0" EndPointBack="25.0 40.0 10.0" />
        <Wire Name="3:J2_j2" EndPointFront="45.0 0.0 10.0" EndPointBack="45.0 40.0 10.0" />
      </Pattern>
      <Pattern Type="NWire">
        <Wire Name="4:E3_e3" EndPointFront="20.0 0.0 5.0" EndPointBack="20.0 40.0 5.0" />
        <Wire Name="5:F3_j3" EndPointFront="25.0 0.0 5.0" EndPointBack="45.0 40.0 5.0" />
        <Wire Name="6:K3_k3" EndPointFront="50.0 0.0 5.0" EndPointBack="50.0 40.0 5.0" />
      </Pattern>
      <Pattern Type="NWire">
        <Wire Name="7:E4_e4" EndPointFront="20.0 0.0 0.0" EndPointBack="20.0 40.0 0.0" />
        <Wire Name="8:J4_f4" EndPointFront="45.0 0.0 0.0" EndPointBack="25.0 40.0 0.0" />
        <Wire Name="9:K4_k4" EndPointFront="50.0 0.0 0.0" EndPointBack="50.0 40.0 0.0" />
      </Pattern>
      <Landmarks>
        <Landmark Name="#1" Position="95.0 5.0 15.0" />
        <Landmark Name="#2" Position="95.0 40.0 15.0" />
        <Landmark Name="#3" Position="95.0 40.0 0.0" />
        <Landmark Name="#4" Position="95.0 0.0 0.0" />        
        <Landmark Name="#5" Position="-25.0 40.0 15.0" />
        <Landmark Name="#6" Position="-25.0 0.0 10.0" />
        <Landmark Name="#7" Position="-25.0 0.0 0.0" />
        <Landmark Name="#8" Position="-25.0 40.0 0.0" />
      </Landmarks>      
    </Geometry>
  </PhantomDefinition>

  <VolumeReconstruction OutputSpacing="0.5 0.5 0.5"
    ClipRectangleOrigin="0 0" ClipRectangleSize="820 616"
    Interpolation="LINEAR" Optimization="FULL" CompoundingMode="MEAN" FillHoles="OFF" />

  <fCal
    PhantomModelId="PhantomModel"
    ReconstructedVolumeId="Volume"
    TransducerModelId="ProbeModel"
    StylusModelId="StylusModel"
    ImageDisplayableObjectId="LiveImage"
    NumberOfCalibrationImagesToAcquire="200"
    NumberOfValidationImagesToAcquire="100"
    NumberOfStylusCalibrationPointsToAcquire="200"
    RecordingIntervalMs="100"
    MaxTimeSpentWithProcessingMs="70"
    ImageCoordinateFrame="Image"
    ProbeCoordinateFrame="Probe"
    ReferenceCoordinateFrame="Reference"
    TransducerOriginCoordinateFrame="TransducerOrigin"
    TransducerOriginPixelCoordinateFrame="TransducerOriginPixel"
    TemporalCalibrationDurationSec="10"
    FixedChannelId="VideoStream" 
    FixedSourceId="Video"
    MovingChannelId="TrackerStream"
    MovingSourceId="ProbeToTracker"
    DefaultSelectedChannelId="TrackedVideoStream" />

  <vtkPlusPivotCalibrationAlgo
    ObjectMarkerCoordinateFrame="Stylus"
    ReferenceCoordinateFrame="Reference"
    ObjectPivotPointCoordinateFrame="StylusTip" />

  <vtkPlusPhantomLandmarkRegistrationAlgo
    PhantomCoordinateFrame="Phantom"
    ReferenceCoordinateFrame="Reference"
    StylusTipCoordinateFrame="StylusTip" />
  
  <vtkPhantomLinearObjectRegistrationAlgo
    PhantomCoordinateFrame="Phantom"
    ReferenceCoordinateFrame="Reference"
    StylusTipCoordinateFrame="StylusTip" />

  <vtkPlusProbeCalibrationAlgo
    ImageCoordinateFrame="Image"
    ProbeCoordinateFrame="Probe"
    PhantomCoordinateFrame="Phantom"
    ReferenceCoordinateFrame="Reference" />

</PlusConfiguration>