the design version of the system according to this invention as shown in fig1 includes a freely movable , manually operated ultrasound scanning head 2 , an ultrasound recording i . e . acquisition device 9 , an image processing unit 8 and a positional locating device 10 , serving to acquire three - dimensional ultrasound images of the body 1 . the locating device 10 permits positional and orientational determination of the ultrasound scanning head 2 and thus the determination of the spatial position and orientation of the tomographic ultrasound images . mounted on the ultrasound head 2 are transmitters 4 which emit electromagnetic waves . spatially fixed cameras 6 , for example digital cameras , are provided and serve to capture the said electromagnetic waves emitted by the transmitters 4 . the transmitters 4 are imaged on the ultrasound scanning head 2 . the evaluation unit 7 then computes from these images the position and orientation of the ultrasound scanning head 2 . with the aid of a handle 5 , the operator can freely move the ultrasound scanning head 2 and is thus able to assemble a complete three - dimensional tomographic image of the body 1 as derived from the three - dimensional data record defined in the image processing unit . fig2 shows a design version of the system according to this invention , which includes a freely movable , manually guided ultrasound scanning head 2 , an ultrasound acquisition device 9 , an image processing unit 8 , a positional locating device 10 and a control - point reference field 12 consisting of light - emitting diodes ( leds ), serving to acquire three - dimensional ultrasonographic images of the body 1 . the locating device 10 permits positional and orientational determination of the ultrasound scanning head 2 and thus the determination of the spatial position and orientation of the tomographic ultrasound images . attached to the ultrasound scanning head 2 are transmitters 4 which emit electromagnetic waves . cameras 6 , for example digital cameras , serve to capture the said electromagnetic waves emitted by the transmitters 4 . in this implementation of the invention , the cameras 6 are not spatially fixed , their position 11 being determined by the acquisition and evaluation of the images produced by a spatially fixed control - point reference field 12 . as the two cameras 6 capture the electromagnetic waves emitted by the transmitters 4 , these transmitters 4 are imaged on individual image planes . the evaluation unit 7 then computes from the distorted perspectives of the two images the position and orientation of the ultrasound scanning head 2 . with the aid of a handle 5 , the operator can freely move the ultrasound scanning head 2 and is thus able to assemble a complete three - dimensional tomographic image of the body 1 as derived from the three - dimensional data record defined in the image processing unit . fig3 shows a design version of the system according to this invention , which includes a freely movable , manually guided ultrasound scanning head b , an ultrasound acquisition device 9 , an image processing unit 8 and a positional locating device 10 for the acquisition of ultrasound images a . the positional locating device 10 permits positional and orientational determination of the ultrasound scanning head b and thus the determination of the spatial position and orientation of the tomographic ultrasound images a . connected to the ultrasound scanning head b are fixed transmitters f ; g ; h which emit electromagnetic waves . spatially fixed cameras 6 , for instance digital cameras , are provided for recording the electromagnetic waves emitted by the transmitters f ; g ; h . the cameras 6 capture these electromagnetic waves emitted by the transmitters f ; g ; h and from the images thus acquired the evaluation unit 7 then calculates the position and orientation of the ultrasound scanning head b . with the aid of a handle 5 , the operator can freely move the ultrasound scanning head b and is thus able to assemble a complete three - dimensional tomographic image of the body as derived from the three - dimensional data record defined in the image processing unit . fig4 is intended to explain the photogrammetric method employed using the specific example titled “ reconstruction ( of the coordinates ) from two perspective views with known positions of the image planes relative to each other and with known internal orientation ”, as per jordan / eggert / kneissl , manual of geodetic surveying , 1972 , page 2271 : 146 . 2 reconstruction from two perspective views with known positions of the image planes relative to each other and with known internal orientation : given the respective internal orientation , one knows the visual rays [ o 1 ], [ o 2 ] and their position relative to the image planes . knowing the mutual position of the image planes thus means knowing the mutual position of the visual ray bundles . the known spatial position of π 1 , π 2 , o 1 , o 2 yields the core axis o , the straight line s =( π 1 π 2 ), the epipoles k 1 , k 2 and the perspective allocation of the epipolar ray bundles relative to s . for any image pair p 1 , p 2 tied to corresponding epipolar rays , this will ensure that the visual rays s 1 =[ o 1 p 1 ] and s 2 =[ o 2 p 2 ] will intersect at a spatial point p . one thus knows the position of p in the system of visual ray bundles . to determine the position of p in a given spatial reference system s one must know the position of 1 , 2 within s . if the latter is not readily available , it must be determined per par . 145 . 3 . as an example of an empirical , nonautomatic reconstruction , the following will address the so - called plane - table photogrammetry . a ) in plane - table photogrammetry ( fig4 ) & lt ;( a ), in its simplest representation , with ccd chips to be assigned to the image planes 1 , 2 & gt ; γ is assumed to be a horizontal plane ( planimetric plane ). the image planes π 1 , π 2 are assumed to be vertical , i . e . the main visual rays [ o 1 , h 1 ], [ o 2 , h 2 ] to be horizontal . h 1 , h 2 constitute the image horizontal in π 1 , π 2 . x 1 , z 1 and x 2 , z 2 , respectively , are the image coordinates in 1 and 2 , respectively . the point of origin of each image coordinate system is the main point , the x - axis points extend in the horizontal direction . 1 , 2 are assumed to represent the height of the central points o 1 , o 2 above γ . it is also possible from the coordinates x 1 , x 2 of any given image points p 1 , p 2 to enter into the known planimetric planes π ′ 1 , π ′ 2 the planimetric planes p 1 ′ , p 2 , , identifying the planimetric plane p ′ of the spatial point p to be reconstructed as a cross section of the planimetric visual - ray planes s ′ 1 =[ o ′ 1 p ′ 1 ] and s ′ 1 =[ o ′ 2 p ′ 2 ] ( forward section . while the base line o ′ 1 o ′ 2 is applied at the map scale , the image widths and x - coordinates will be multiplied by a suitable factor in a manner which will allow s ′ 1 , s ′ 2 to be traced with sufficient accuracy . from the similar triangles o 2 pq and o 2 p 2 q 2 one can derive the height ζ 2 of p above the plane [ o 2 h 2 ] via ζ 2 = z 2  o 2 ′  p ′ o 2 ′  p 2 ′ this yields the height ζ of p above γ by way of ζ = 2 + ζ 2 . by means of an analogous calculation of ζ = 1 + ζ 1 one can compensate for any errors . as is shown in fig4 the planimetric planes k ′ 1 , k ′ 2 of the epipoles k 1 , k 2 are determined as intersections i . e . crossover points of the baseline o ′=[ o ′ 1 o ′ 2 ] with π ′ 1 , π ′ 2 , their respective height above γ , meaning their position in π 1 , π 2 , is found by inverting the trapezoid o ′ 1 o ′ 2 o 2 o 1 , dragging along the vertical carrier line for k 1 and k 2 . the epipolar rays are needed for identifying appropriate epipoles in the images of object characteristics . if the image planes π 1 *, π 2 * were to be in some general spatial position , one could easily revert to the case , just discussed , of vertical image planes π 1 , π 2 . one would only have to reproject π 1 * from o 1 to π 1 and π 2 * from o 2 to π 2 . without such reprojection , the total of the points p ′ per fig4 would make up the normal plane of the imaged object on a plane perpendicular to π 1 * and π 2 * and ζ would be the distance between point p and this plane .
this invention concerns a device for recording three - dimensional ultrasound images . the device includes an ultrasound head which can be freely moved by hand , an ultrasound recording apparatus , an image processing system , and a position detection system . the position detection system has an analyzing unit and at least two sensors for detecting electromagnetic waves so that the position and orientation of the ultrasound head and , thus , the position and orientation of the ultrasound section images in space can be determined .