CN107997783A - A kind of self-adapting ultrasonic beam synthetic method and system based on ultrasonic wave directionality - Google Patents
A kind of self-adapting ultrasonic beam synthetic method and system based on ultrasonic wave directionality Download PDFInfo
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- CN107997783A CN107997783A CN201711230929.3A CN201711230929A CN107997783A CN 107997783 A CN107997783 A CN 107997783A CN 201711230929 A CN201711230929 A CN 201711230929A CN 107997783 A CN107997783 A CN 107997783A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5269—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving detection or reduction of artifacts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5207—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of raw data to produce diagnostic data, e.g. for generating an image
Abstract
The invention discloses a kind of self-adapting ultrasonic beam synthetic method and system based on ultrasonic wave directionality, can eliminate the influence of mirror-reflection generation, reduces imaging operation complexity, and improve imaging efficiency and image quality.This method includes：Repeated ultrasonic ripple transmitting is carried out, obtains first passage data；Carry out first time Beam synthesis；To the signal of first time Beam synthesis, signal demodulation, envelope detected, scan transformation and post processing of image are performed successively, generate the first image；Edge extraction is carried out, obtains the orientation of image border；Mirror-reflection identification is carried out, obtains locus and the direction angle information of mirror-reflection pixel；Obtain second channel data；Second of Beam synthesis is carried out based on second channel data；To the signal of second of Beam synthesis, the second image is generated, and stores or show the second generated image.
Description
Technical field
The present invention relates to ultrasound imaging, more particularly to a kind of adaptive ultrasound based on ultrasonic wave directionality
Beam synthesizing method and system.
Background technology
In medical ultrasound imaging system, image is shown to the end from ultrasonic probe transmitting ultrasonic wave, to pass through transmitting
Receiving circuit, analog signal to digital signal convert, Beam synthesis, signal baseband processing, after digital scan convertor and image
The links such as processing.Wherein, the Beam synthesis quality height of ultrasonic image-forming system has vital shadow to being ultimately imaged effect
Ring.The main processing ways of Beam synthesis are carried out to channel data includes traditional hardware Beam synthesis and with general processor energy
The software Beam synthesis that power develops and rises, its correlation technique being related to have electron focusing and scanning line traffic control, and apodization, becomes aperture
Deng.Either hardware or software Beam synthesis, its purpose are provided to obtain the ultrasonic beam with good directive property.
The reflection of ultrasonic wave mainly has two major class of diffusing reflection and mirror-reflection.Diffusing reflection can be produced without directive property and respectively to
The reflective-mode of the same sex, different directions are easy to cancel each other, and traditional Beam synthesis is all based on isotropism in transmitting with reception
The hypothesis of reflection.But as shown in Figure 1, mirror-reflection can occur for the interface in different medium, according to reflexive property, reflection
Angle is equal to incidence angle, and such reflection has very strong directive property.Often use and become for the highly directive that mirror-reflection produces
The mode of mark is suppressed, and this can not be inherently eliminated the influence that mirror-reflection is brought.Therefore, have a common boundary between different medium
Face, organizational boundary, puncture needle and other places for causing mirror-reflection can all be very difficult to observe, especially in incidence wave beam angle
When degree is very big.
The conventional method for solving edge blurry is to realize that edge strengthens by space combination and post processing of image.Its is hollow
Between synthesis need to carry out the transmitting of multiple and different angles and receive Beam synthesis, the data after Beam synthesis are converted into envelope number
According to or view data sums up or weighted sum, but due to the use of the transmitting of N number of direction frame per second can be made to reduce N times, therefore space
Angle number can be extremely restricted used in synthesis, be typically only 3 or 5.Meanwhile traditional hardware Beam synthesis usually lacks
Weary flexibility, receiving angle can be also restricted, what a certain frame angle was also usually fixed, and it is in love to be flexibly applicable in institute
Condition, can not also be completely eliminated the influence (being synthesized unless there are many different angles) that mirror-reflection is brought, after its image
The edge enhancement method of processing is to be based on picture structure in itself, while institutional framework edge is strengthened, also tends to produce artifact
Raw false edge is also strengthened.
Traditional hardware Beam synthesis is limited by circuit design, such as FPGA, can not use relatively complicated letter
Number Processing Algorithm carries out echo-signal on source effective noise and suppresses and accurate transmitting collectiong focusing and signal correction.
Also, conventional hardware Beam synthesis needs predefined transmitting and receives delay curve, can not realize transmitting point-by-point focusing, more without
Method realizes the adaptive adjustment of Beam synthesis.Minute surface occurs by different medium or in certain angle interface for ultrasonic wave
The caused image blur of reflection and tissue are difficult to identification problem, can only often be improved by space combination and post processing of image,
Or require doctor to observe from different perspectives and allow incidence angle to reduce as far as possible.
Existing related software beam synthesizing technology mainly using the retroactive method repeatedly launched, is obtained by preserving repeatedly transmitting
Channel data, reuse software and synthesized (use certain weighting), to mirror-reflection the problem of is often connect using control
Receive apodization mode, however, its can not still solve tissue different orientation generation strong mirror-reflection caused by image blur and
Tissue is difficult to identification problem, and doctor needs to be observed due to obscuring not caused by mirror-reflection with different cut-in angles in imaging
Clear region, causes imaging operation complicated, image quality and imaging efficiency are relatively low.
The content of the invention
An object of the present invention at least that, for how overcoming the above-mentioned problems of the prior art, there is provided a kind of
Self-adapting ultrasonic beam synthetic method and system based on ultrasonic wave directionality, can eliminate the influence of mirror-reflection generation, make
Ultrasonic imaging is obtained no longer by tissue specular reflections effect, reduces imaging operation complexity, and improve imaging efficiency and image quality.
To achieve these goals, the technical solution adopted by the present invention includes following aspects.
A kind of self-adapting ultrasonic beam synthetic method based on ultrasonic wave directionality, it includes：
Repeated ultrasonic ripple transmitting is carried out, first passage data are obtained according to corresponding multiple echo-signals；To the of acquisition
One channel data carries out first time Beam synthesis；To the signal of first time Beam synthesis, signal demodulation, envelope inspection are performed successively
Survey, scan transformation and post processing of image, generate the first image；
When the first image needs to refine, Edge extraction is carried out to it, obtains the orientation of image border；Based on image
The orientation at edge carries out mirror-reflection identification, obtains locus and the direction angle information of mirror-reflection pixel；It is anti-according to minute surface
The locus of image element and direction angle information, carry out first passage data adaptive apodization and time-delay calculation, obtain second
Channel data；
Second of Beam synthesis is carried out based on second channel data；To the signal of second of Beam synthesis, letter is performed successively
Number demodulation, envelope detected, scan transformation and post processing of image, generate the second image, and store or the second figure that display is generated
Picture.
Preferably, the locus of the focus point of each transmitting in the repeated ultrasonic ripple transmitting or part transmitting is
Optional position on destination organization.
Preferably, attribute during progress first time Beam synthesis based on current probe array element and the tissue site institute applied
Definite apodization and time delay carry out channel data Beam synthesis.
Preferably, the carry out Edge extraction, obtaining the orientation of image border includes：Using laplacian pyramid
Or wavelet pyramid conversion carries out Multi scale graphical analysis, and image is identified on default scale by structure matrix
The orientation at edge.
Preferably, the apodization includes：According to apodization letters such as Hamming functions, Hanning functions, Blackman functions
One of number or more persons carry out apodization to first passage data.
Preferably, second of Beam synthesis includes：Select the space bit of multiple locus and mirror-reflection pixel
Put the corresponding multiple channel datas of adjacent but different deflection pixel and corresponding time delay carry out retroactive method transmitting point-by-point focusing,
Obtain second of Beam synthesis signal.
Preferably, pixel adjacent from the locus of mirror-reflection pixel but different deflection, refer to reflected beam with
The pixel that probe array element face is intersected；The quantity of selected multiple channel datas is less than the half of emitting times.
Preferably, the method is further included：Used apodization and time delay storage during second channel data will be obtained
For prior information.
Preferably, the first time Beam synthesis includes：Prior information is obtained, and is carried out according to apodization therein and time delay
First time Beam synthesis.
A kind of self-adapting ultrasonic beam synthesis system based on ultrasonic wave directionality, its by comprising probe array element, ripple
Beam synthesizer, echo signal processing device, scan converter, image processor, image quality evaluation module, Edge extraction mould
Block, mirror-reflection identification module, launch setup module, memory and display to perform any of the above-described method.
In conclusion by adopting the above-described technical solution, the present invention at least has the advantages that：
By calculating the direction in space angle information of each position, adaptive ripple is carried out to mirror-reflection using channel data
Shu Hecheng, so as to eliminate the influence of mirror-reflection generation, can arbitrarily meet transmitting and the recipient of each pixel actual orientation
To angle, that is to say, that can allow Beam synthesis adaptively meet different tissues position orientation, such as cardiac muscle often with incidence wave
There are certain angle, and diverse location angle is different, can realize that wave beam closes by way of feedback disclosed in this invention
Into when adaptive direction composition, allow different parts to be attained by more preferably Beam synthesis effect so that ultrasonic imaging no longer by
Specular reflections effect is organized, reduces imaging operation complexity, and improve imaging efficiency and image quality.
Brief description of the drawings
Fig. 1 is the schematic diagram of different incidence angles.
Fig. 2 is the stream of the self-adapting ultrasonic beam synthetic method according to an embodiment of the invention based on ultrasonic wave directionality
Cheng Tu.
Fig. 3 is apodization center according to an embodiment of the invention schematic diagram.
Fig. 4 is the self-adapting ultrasonic beam synthetic method according to another embodiment of the present invention based on ultrasonic wave directionality
Flow chart.
Fig. 5 is the knot of the self-adapting ultrasonic beam synthesis system according to an embodiment of the invention based on ultrasonic wave directionality
Structure schematic diagram.
Embodiment
With reference to the accompanying drawings and embodiments, the present invention will be described in further detail, so that the purpose of the present invention, technology
Scheme and advantage are more clearly understood.It should be appreciated that specific embodiment described herein is only to explain the present invention, and do not have to
It is of the invention in limiting.
Beam synthesizing method according to embodiments of the present invention and system, its direction in space angle by calculating each position
Information, carries out adaptive beam synthesis to mirror-reflection using channel data, reaches and eliminate the influence that mirror-reflection produces so that
Ultrasonic imaging can not no longer be observed by tissue specular reflections effect, and doctor need not be observed with different cut-in angles due to mirror
Face is smudgy caused by reflecting, and greatly simplifies the imaging operation of doctor.
Fig. 2 shows the self-adapting ultrasonic beam synthetic method according to an embodiment of the invention based on ultrasonic wave directionality
Flow chart.Part or all of step during its following steps for including is rapid can perform individually or parallel, and step is compiled
Number it is only used for identifying each step, is not limited to the execution order and/or number of each step.
Step 101：Repeated ultrasonic ripple transmitting is carried out, first passage data are obtained according to corresponding multiple echo-signals
For example, can be configured according to different application, certain amount probe array element is set to carry out in ultrasonic image-forming system more
The ultrasonic wave of secondary different locus and angle is launched.Wherein, it is different from focusing of the conventional ultrasound imaging system in transmitting
Point generally requires selection user's area-of-interest, and the focus point launched described in the present embodiment can arbitrarily be set, because it is used
Retroactive method launches point-by-point focusing, so the locus of focus point can arbitrarily be chosen on the target tissue.However, it is preferred to also may be used
To be user's area-of-interest.Also, it can apply amplitude to each array element according to the first apodizing function when launching ultrasonic wave to swash
Encourage signal.
For example, L*M sampled data can be obtained for M passage, each L sampled point of passage, an echo-signal.It is logical
Track data includes the sampled data of the echo-signal that each channel reception arrives after launching every time, such as n times are launched, M passage, often
A L sampled point of channel reception, a frame scan just obtain N*M*L sampled data.Wherein, port number M not more than pops one's head in
The channel number of array element, can use according to application selection 1 to the value between the channel number popped one's head in, preferably full tunnel.Sampling
Point quantity L is by systematic sampling rate Fs, velocity of sound C and scan depths d carry out definite, i.e. L=2dFs/ C, different system are also possible to deposit
In necessarily scanning switching delay, such as systematic sampling rate is 60MHZ, scan depths 10cm, velocity of sound 1540m/s, without considering system
Delay, L is about 7790 points.
Step 102：First time Beam synthesis is carried out to the first passage data of acquisition
For the first time Beam synthesis of each two field picture, present frame default setting can be based on (for example, being visited according to current
The attribute of head array element and the tissue site applied, identified apodization and time delay) use traditional software Beam synthesis, i.e., not
Based on prior information, the directly sampled data of the echo-signal corresponding to the transmitting to multiple and different angles carries out Beam synthesis.
In other examples, carry out first time Beam synthesis when can also be based on priori minute surface direction angle information and
Corresponding time delay carries out channel data Beam synthesis, will be specifically described hereinafter by other embodiment.Moreover, each frame
First time Beam synthesis mode (prior information based on present frame default setting or former frame) is that engineering is optional, and can be with base
The Beam synthesis mode of different application scene is considered in institutional framework motion conditions, such as is transported for heart, liver, blood vessel etc.
The ultrasonic imaging of dynamic larger tissue, then can be based on present frame default setting, and for mammary gland, kidney, prostate, first shape
Gland etc. moves less tissue, then can be based on the prior information of previous frame image, i.e. second in generation previous frame image
Used apodization and time delay during secondary Beam synthesis.
To the signal of step 102 first time Beam synthesis, the demodulation of step 103 signal, the inspection of step 104 envelope are performed successively
Survey, step 105 scan transformation, step 106 post processing of image, generate the first image.
Step 107：When the first image needs to refine (for example, when meeting default refined processing condition), it is carried out
Edge extraction, obtains the orientation of image border
Wherein, default refined processing condition includes：One, current operation mode can be set as essence in system by user
Change pattern, is equivalent to system and each frame is required for refining in this case；Two, system is detected currently into image quality automatically
Amount, carries out image quality estimation, such as calculates the signal-to-noise ratio (SNR) of orthogonal signalling, the signal-to-noise ratio of image and edge conservation degree etc.,
When image quality is too low, automatically into.
Specifically, Multi scale graphical analysis can be utilized, by structure matrix in default scale (for example, 3 × 3
Structure matrix to 15 × 15) on identify the orientation of image border.Wherein, Multi scale analysis can use image gold word
Tower converts, such as laplacian pyramid or wavelet pyramid etc., preferably wavelet pyramid conversion.
Step 108：Orientation based on image border carries out mirror-reflection identification, obtains the locus of mirror-reflection pixel
With direction angle information
The different characteristic that mirror-reflection and diffusing reflection based on pixel are shown, can identify the side of mirror-reflection pixel
To angle, (the pop one's head in ultrasonic wave of transmitting and the incidence angle of tissue interface, from law of specular reflection, angle of reflection is equal to incidence
Angle).Wherein, this step is not to carry out (being difficult the side of effectively extraction interface on channel data directly against channel data analysis
To angle), but by carrying out information extraction to the image obtained after first time Beam synthesis, obtain and mirror-reflection pixel occurs
In the deflection and spatial positional information of mirror-reflection interface.
Step 109：According to the locus of mirror-reflection pixel and direction angle information, first passage data are carried out adaptive
Apodization and time-delay calculation are answered, obtains second channel data
Wherein, apodization includes carrying out apodization to first passage data according to the second apodizing function.Foregoing first apodizing function
Identical apodizing function or different apodizing function can be used with the second apodizing function, such as Hamming functions,
One of apodizing functions such as Hanning functions, Blackman functions or more persons.
The calculating of apodization center can be completed based on the deflection that previous step obtains using reflection law.Such as Fig. 3
Shown, apodization center is the position intersected with tissue interface normal direction.Fig. 3 show the example of linear array probe,
In other embodiment, the probe of any shape such as convex battle array, phased array, cavity, the four-dimension, rectum can in kind carry out apodization
Center calculation.
The computational methods of time delay can use the time-delay calculation of retroactive method transmitting point-by-point focusing, and according to each mirror-reflection picture
The corresponding locus of element calculates corresponding time delay respectively.
Step 102：Second of Beam synthesis is carried out based on second channel data
Specifically, for each pixel for being identified generation mirror-reflection, multiple skies are selected in second channel data
Between position is adjacent from the locus of the pixel but deflection is different corresponding multiple channel datas of pixel and corresponding time delay
Retroactive method transmitting point-by-point focusing is carried out, obtains second of Beam synthesis signal.
Wherein, pixel adjacent from the locus of the pixel but different deflection, refers to reflected beam and probe array element
The intersecting pixel in face (for example, array element plane or curved surface).Can be by calculating whether reflected beam intersects with probe array element face
To participate in synthesis when selecting to participate in the channel data of second of Beam synthesis, such as intersecting, it is not involved in synthesizing when non-intersect.
The quantity of selected multiple channel datas can be with predetermined threshold value (being generally less than N/2, N is emitting times).Transmitting
Times N corresponds to the line number of echo-signal, therefore theoretical optimal emitting times are equal to imaging width (the maximum imaging width of probe) and remove
With ultrasonic beam width.One can be multiplied by the basis of theoretical optimal emitting times in practical application and reference is relevant often
Number, the preferred range of emitting times is, for example, 100~512 in the application of the embodiment of the present invention.
Second of the Beam synthesis signal obtained to step 102, performs the demodulation of step 103 signal, step 104 envelope successively
Detection, step 105 scan transformation, step 106 post processing of image, generate the second image.
Step 111：When the second image need not refine (for example, when being unsatisfactory for default refined processing condition), output
Acquired image
For example, the image of output can be stored or shown.Due to by using steering angle repeatedly transmitting nearby
Obtained channel data is synthesized, and can eliminate the image degradation problems such as the edge blurry of mirror-reflection generation.
Above-described embodiment describes how the embodiment of one two field picture of generation by multiple steps, in various applications, can
Multiple image, and the apodization and time delay that generation previous frame image can be applied are generated further to repeat above steps
Apply in the image generation of a later frame.Fig. 4 show it is according to another embodiment of the present invention based on ultrasonic wave directionality from
Adapt to the flow chart of ultrasonic beam synthetic method.The method difference of itself and previous embodiment is, for mammary gland, kidney
Dirty, prostate, thyroid gland etc. are moved in the imaging applications of less tissue, after performing step 109, used by step 109
Apodizing function and time delay are respectively stored into system storage, and are arranged to prior information.
Before execution step 102 carries out the first time Beam synthesis of next two field picture, step 110 is further included, is deposited from system
Reservoir obtains apodizing function and time delay in prior information.Also, perform step 102 and first subwave is carried out to first passage data
During Shu Hecheng, apodization and time delay in prior information carry out first time Beam synthesis.Also, in a preferred embodiment,
Retroactive method transmitting point-by-point focusing can be used when carrying out first time Beam synthesis.
Fig. 5 shows the self-adapting ultrasonic Shu Hecheng systems according to another embodiment of the present invention based on ultrasonic wave directionality
The structure diagram of system, the system include sequentially connected probe array element, beam synthesizer, echo signal processing device, scanning turn
Parallel operation, image processor, image quality evaluation module, Edge extraction module, mirror-reflection identification module, transmitting set mould
Block, memory and display.
Wherein, array element of popping one's head in is used to launch ultrasonic wave and receives corresponding echo-signal；Beam synthesizer is used for passage
Data carry out Beam synthesis；Echo signal processing device is used to carry out signal demodulation envelope detected to Beam synthesis signal；Scanning
Converter is used to obtain view data according to demodulated signal and envelope；Image processor is used to carry out post processing of image to generate one
Two field picture.
Image quality evaluation module is used to carry out quality evaluation to the image generated, and resolution ratio is reached default requirement
Image send to memory to preserve or send to display and shown, and resolution ratio is not up to the figure of default requirement
As sending to Edge extraction module, Edge extraction is carried out, obtains the orientation of image border.Mirror-reflection identification module
The orientation for being configured to image border carries out mirror-reflection identification, obtains locus and the deflection letter of mirror-reflection pixel
Breath.Transmitting setup module is configured to set the deflection of transmitting according to the locus of mirror-reflection pixel and direction angle information,
Carry out repeated ultrasonic ripple transmitting.
The detailed description of the above, the only specific embodiment of the invention, rather than limitation of the present invention.Correlation technique
The technical staff in field is not in the case where departing from the principle and scope of the present invention, various replacements, modification and the improvement made
It should all be included in the protection scope of the present invention.
Claims (10)
- A kind of 1. self-adapting ultrasonic beam synthetic method based on ultrasonic wave directionality, it is characterised in that the described method includes：Repeated ultrasonic ripple transmitting is carried out, first passage data are obtained according to corresponding multiple echo-signals；It is logical to the first of acquisition Track data carries out first time Beam synthesis；To the signal of first time Beam synthesis, signal demodulation, envelope detected are performed successively, is swept Conversion and post processing of image are retouched, generates the first image；When the first image needs to refine, Edge extraction is carried out to it, obtains the orientation of image border；Based on image border Orientation carry out mirror-reflection identification, obtain mirror-reflection pixel locus and direction angle information；According to mirror-reflection picture The locus of element and direction angle information, carry out first passage data adaptive apodization and time-delay calculation, obtain second channel Data；Second of Beam synthesis is carried out based on second channel data；To the signal of second of Beam synthesis, signal solution is performed successively Tune, envelope detected, scan transformation and post processing of image, generate the second image, and store or show the second generated image.
- 2. according to the method described in claim 1, it is characterized in that, launching every time in repeated ultrasonic ripple transmitting or portion The locus for distributing the focus point penetrated is the optional position on destination organization.
- 3. according to the method described in claim 1, it is characterized in that, carry out being based on current probe array element during first time Beam synthesis Attribute and the tissue site applied determined by apodization and time delay carry out channel data Beam synthesis.
- 4. according to the method described in claim 1, it is characterized in that, the carry out Edge extraction, obtains image border Orientation includes：Multi scale graphical analysis is carried out using laplacian pyramid or wavelet pyramid conversion, passes through structure Matrix identifies the orientation of image border on default scale.
- 5. according to the method described in claim 1, it is characterized in that, the apodization includes：According to Hamming functions, Hanning One of apodizing functions such as function, Blackman functions or more persons carry out apodization to first passage data.
- 6. according to the method described in claim 1, it is characterized in that, second of Beam synthesis includes：Select multiple spaces Position is adjacent from the locus of mirror-reflection pixel but deflection is different corresponding multiple channel datas of pixel and corresponding Time delay carries out retroactive method transmitting point-by-point focusing, obtains second of Beam synthesis signal.
- 7. according to the method described in claim 6, it is characterized in that, but deflection adjacent with the locus of mirror-reflection pixel Different pixels, refers to the pixel that reflected beam intersects with array element face of popping one's head in；The quantity of selected multiple channel datas is less than the half of emitting times.
- 8. according to the method described in claim 6, it is characterized in that, the method is further included：Second channel number will be obtained According to when used apodization and time delay be stored as prior information.
- 9. according to the method described in claim 8, it is characterized in that, the first time Beam synthesis includes：Obtain prior information, And first time Beam synthesis is carried out according to apodization therein and time delay.
- 10. a kind of self-adapting ultrasonic beam synthesis system based on ultrasonic wave directionality, it is characterised in that the system passes through it Comprising probe array element, beam synthesizer, echo signal processing device, scan converter, image processor, image quality measure mould Block, Edge extraction module, mirror-reflection identification module, transmitting setup module, memory and display carry out perform claim It is required that the method any one of 1 to 9.
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| CN111413416A (en) * | 2020-05-08 | 2020-07-14 | 深圳开立生物医疗科技股份有限公司 | Orthogonal demodulation method, device and system based on local oscillator signal and ultrasonic system |
| CN111882515A (en) * | 2020-09-28 | 2020-11-03 | 深圳华声医疗技术股份有限公司 | Ultrasonic signal processing method, ultrasonic signal processing apparatus, and storage medium |
| CN112386282A (en) * | 2020-11-13 | 2021-02-23 | 声泰特（成都）科技有限公司 | Ultrasonic automatic volume scanning imaging method and system |
| CN117064447A (en) * | 2023-10-13 | 2023-11-17 | 深圳华声医疗技术股份有限公司 | Ultrasonic puncture needle developing method and device, ultrasonic equipment and storage medium |
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