CN112206005A

CN112206005A - Ultrasonic echo signal acquisition method and ultrasonic diagnostic equipment

Info

Publication number: CN112206005A
Application number: CN202011080470.5A
Authority: CN
Inventors: 牛洋洋
Original assignee: Shenzhen Shuliantianxia Intelligent Technology Co Ltd
Current assignee: Shenzhen Shuliantianxia Intelligent Technology Co Ltd
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2021-01-12

Abstract

The embodiment of the invention discloses an ultrasonic echo signal acquisition method and ultrasonic diagnostic equipment, wherein the method is applied to an ultrasonic probe, an attitude measurement unit is arranged in the ultrasonic probe, and the method comprises the following steps: the method comprises the steps of respectively obtaining ultrasonic echo signals received by an ultrasonic probe under different postures and posture information of the ultrasonic probe detected by a posture measuring unit, determining preset posture information of the ultrasonic probe and a preset posture information range corresponding to the preset posture information in different posture information corresponding to different time points, obtaining current posture information of the ultrasonic probe, outputting an adjusting signal according to the current posture information and the preset posture information range if the current posture information is not in the preset posture information range, obtaining the ultrasonic echo signal corresponding to the current posture information if the current posture information is in the preset posture information range, and using the ultrasonic echo signal to determine blood flow speed. By the mode, the precision of the acquired ultrasonic echo signal is high.

Description

Ultrasonic echo signal acquisition method and ultrasonic diagnostic equipment

Technical Field

The invention relates to the technical field of detection, in particular to an ultrasonic echo signal acquisition method and ultrasonic diagnostic equipment.

Background

The ultrasonic diagnosis equipment is based on an ultrasonic blood flow imaging technology developed by a Doppler technology, a probe vertically transmits ultrasonic waves for multiple times, the blood flow moving speed of the position is calculated by utilizing the signal phase difference between different echoes of the same position, and the speed and the direction of the blood flow are displayed through an ultrasonic blood flow image.

At present, when medical personnel use an ultrasonic probe for detection, due to the flexibility of human tissues and the curve-shaped structure of blood vessels, the angle of the ultrasonic probe is generally required to be adjusted for many times, so that ultrasonic waves emitted by the ultrasonic probe can vertically irradiate into the blood vessels, the obtained reflected signals are strongest, and the clearest blood vessel image is obtained.

However, as shown in fig. 1, when a medical staff uses an ultrasound probe 1 for detection, the operation of the conventional ultrasound diagnostic apparatus is complicated due to the directionality of ultrasound waves, and only medical staff trained professionally can apply the ultrasound apparatus well, that is, when non-medical staff uses the ultrasound diagnostic apparatus, problems such as low detection precision and inaccurate detection result exist, which is not favorable for popularization and use of the ultrasound diagnostic apparatus in a home scene.

Disclosure of Invention

The embodiment of the invention aims to provide an ultrasonic echo signal acquisition method and an ultrasonic diagnostic device, which can enable the accuracy of the acquired ultrasonic echo signal to be higher.

In order to achieve the above object, in a first aspect, the present invention provides an ultrasonic echo signal acquisition method, which is applied to an ultrasonic diagnostic apparatus including an ultrasonic probe in which an attitude measurement unit is provided, the method including:

respectively acquiring ultrasonic echo signals received by the ultrasonic probe under different postures and posture information of the ultrasonic probe detected by the posture measuring unit, wherein the ultrasonic echo signals are echo signals of ultrasonic signals generated by the ultrasonic probe when the ultrasonic probe is used for detecting a part to be detected through which blood flows;

determining preset attitude information of the ultrasonic probe in different attitude information corresponding to different time points based on the ultrasonic echo signal;

determining a preset attitude information range corresponding to the preset attitude information based on the preset attitude information;

acquiring current attitude information of the ultrasonic probe detected by the attitude measuring unit;

if the current attitude information is not in the preset attitude information range, outputting an adjusting signal according to the current attitude information and the preset attitude information range, wherein the adjusting signal is used for adjusting the current attitude information;

and if the current attitude information is within the preset attitude information range, acquiring an ultrasonic echo signal corresponding to the current attitude information, wherein the ultrasonic echo signal is used for determining the blood flow velocity.

In an optional manner, the determining preset posture information of the ultrasound probe in different posture information corresponding to different time points based on the ultrasound echo signal includes:

carrying out short-time Fourier transform on the ultrasonic echo signal to obtain a blood flow power spectrum waveform;

and determining preset posture information of the ultrasonic probe in different posture information corresponding to different time points based on the blood flow power spectrum waveform.

In an optional manner, the determining preset posture information of the ultrasound probe in different posture information corresponding to different time points based on the blood flow power spectrum waveform includes:

acquiring the number of rotation turns of the ultrasonic probe in a preset time period when the ultrasonic probe rotates by taking a vertical axis where the part to be detected is located as a rotating axis, wherein the vertical axis is vertical to the blood flow direction of the part to be detected;

calculating the rotation time length of the ultrasonic probe for one rotation based on the preset time length and the number of rotations;

dividing the preset time into a plurality of time periods based on the rotation time;

acquiring the maximum value of the blood flow power spectrum waveform in each time period;

acquiring attitude information corresponding to the time point corresponding to each maximum value;

and determining preset attitude information of the ultrasonic probe based on the attitude information corresponding to the time point corresponding to each maximum value.

In an optional manner, the determining preset posture information of the ultrasound probe based on the posture information corresponding to the time point corresponding to each maximum value includes:

calculating the average value of each azimuth in the attitude information corresponding to the time point corresponding to all the maximum values;

and determining preset posture information of the ultrasonic probe based on the average value of all the positions.

determining the posture information corresponding to the corresponding time point when the blood flow power spectrum waveform is zero;

determining a first included angle between the ultrasonic probe and the horizontal position based on the posture information corresponding to the time point corresponding to the zero value;

and determining the preset posture information of the ultrasonic probe based on the first included angle and a preset included angle between the ultrasonic probe and the detected part of the user.

In an optional manner, the determining the preset posture information of the ultrasound probe based on the first included angle and the preset included angle includes:

calculating the sum of the first included angle and a preset included angle, and recording the sum as a second included angle;

calculating the difference value between the second included angle and the right angle;

and determining preset posture information of the ultrasonic probe based on the difference.

In an optional manner, after outputting an adjustment signal according to the current posture information and the preset posture information, the method further includes:

outputting voice adjustment information according to the adjustment signal;

and if the current attitude information is in the preset attitude information, outputting voice confirmation information.

In a second aspect, an embodiment of the present invention further provides an ultrasonic diagnostic apparatus, including:

the ultrasonic probe is used for generating an ultrasonic signal and receiving an ultrasonic echo signal;

the attitude measurement unit is arranged in the ultrasonic probe and is used for detecting attitude information of the ultrasonic probe;

a control unit for processing the ultrasonic echo signal and the attitude information, the control unit comprising:

at least one processor and a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform a method as described above.

In an optional manner, the apparatus further comprises:

the voice unit is used for outputting corresponding voice information based on the output instruction of the control unit;

and/or the presence of a gas in the gas,

and the LED unit is used for outputting a light prompt based on the output instruction of the control unit.

In a third aspect, the present invention also provides a non-transitory computer-readable storage medium storing computer-executable instructions that, when executed by an ultrasound diagnostic apparatus, cause the ultrasound diagnostic apparatus to perform the method described above.

The embodiment of the invention has the beneficial effects that: the invention provides an ultrasonic echo signal acquisition method and an ultrasonic diagnostic device, wherein the method is applied to an ultrasonic probe, a posture measuring unit is arranged in the ultrasonic probe, firstly, ultrasonic echo signals received by the ultrasonic probe under different postures and posture information of the ultrasonic probe detected by the posture measuring unit are respectively obtained, then, according to the ultrasonic echo signals, the preset posture information of the ultrasonic probe is determined in different posture information corresponding to different time points, the preset posture information range corresponding to the preset posture information is determined based on the preset posture information, then, the current posture information detected by the posture measuring unit is obtained, if the current posture information is not in the preset posture information range, an adjusting signal is output according to the current posture information and the preset posture information range, and the adjusting signal is used for adjusting the current posture information; when the current posture information is in the preset posture information range, the ultrasonic echo signal corresponding to the current posture information is obtained, the preset posture information range is the range of the detection posture with better detection effect, and the detection posture of the ultrasonic diagnostic equipment is matched with the range of the preset detection posture with better detection effect, so that the collected ultrasonic echo signal can more accurately reflect the blood flow speed, the blood flow speed is determined according to the ultrasonic echo signal, the accuracy of the determined blood flow speed is higher, and the result is more accurate.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is a prior art ultrasonic diagnostic apparatus;

fig. 2 is a schematic view of an application scenario provided in the embodiment of the present invention;

fig. 3 is a schematic structural view of an ultrasonic diagnostic apparatus according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a hardware configuration of an ultrasonic diagnostic apparatus according to an embodiment of the present invention;

fig. 5 is a schematic diagram of a hardware configuration of an ultrasonic diagnostic apparatus according to another embodiment of the present invention;

fig. 6 is a schematic circuit diagram of a filter amplifier circuit according to an embodiment of the present invention;

fig. 7 is a schematic circuit structure diagram of a signal excitation unit and a piezoelectric ceramic according to an embodiment of the present invention;

fig. 8 is a schematic circuit diagram of a power supply unit according to an embodiment of the present invention;

fig. 9 is a schematic flow chart of an ultrasonic echo signal acquisition method according to an embodiment of the present invention;

fig. 10a is a schematic flowchart of a method for determining preset posture information according to an embodiment of the present invention;

fig. 10b is a flowchart illustrating a method for determining preset posture information according to another embodiment of the present invention;

FIG. 11 is a schematic view of the rotation of an ultrasound probe provided by an embodiment of the present invention;

fig. 12 is a schematic diagram of included angles between the posture information and the horizontal position and the blood flow velocity according to the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In human body, peripheral arteries including the middle and small arteries of limbs and trunk except heart and brain are important components of arterial circulation system, and the large arteries branch from heart to periphery, and the calibers of blood vessels increase gradually from large to small, and if the branches spread over the whole body, a huge blood vessel network is formed. The peripheral arterial blood vessels can undergo irreversible degeneration with the age, including thickening, hardening, losing elasticity, narrow and small lumens and obstructed blood flow, so that the hemodynamics is obviously changed, local perfusion deficiency, remote ischemia and the like are caused, thereby causing peripheral arterial diseases, clinical manifestations such as lower limb intermittent claudication and the like, vessel occlusion of serious patients, blood circulation obstruction, gangrene and amputation.

Since the hemodynamic changes earlier than the clinical symptoms appear in cardiovascular diseases, especially peripheral arterial diseases, the noninvasive monitoring of peripheral arterial hemodynamics has higher clinical practical value for rapid screening and early diagnosis of peripheral arterial diseases, can obviously improve the detection rate of peripheral arterial diseases when used for routine examination, and is particularly significant for identifying asymptomatic patients.

Therefore, color doppler ultrasound has been widely used in clinical applications for monitoring peripheral arterial hemodynamics, and its basic principle is: firstly, an ultrasonic wave is generated by an ultrasonic transducer transmitting end through an inverse piezoelectric effect under the action of high-frequency voltage, then the ultrasonic wave is scattered when entering a human blood vessel and encountering a scatterer (mainly red blood cell) moving in blood, the red blood cell becomes a new sound source, and finally, a transducer receiving end receives scattered echo and converts the ultrasonic wave into a high-frequency voltage signal through a positive piezoelectric effect. According to the Doppler effect principle, there is a difference between the frequency of the received acoustic signal and the frequency of the transmitted signal, called the Doppler shift f_dAnd is and

wherein f is_dDoppler shift for blood flow signals; v is the mean velocity of blood flow; c is the average propagation speed of the ultrasonic waves in the human soft tissue; f. of₀A frequency at which the transducer emits an ultrasonic signal; theta is an included angle between the ultrasonic probe and the blood flow direction; by + -is meant the direction of blood flow. Therefore, the detection precision of the blood flow speed can be influenced by the included angle between the ultrasonic probe and the blood flow direction.

Based on this, the embodiment of the present application provides an ultrasonic echo signal acquisition method, by which an optimal detection position can be determined, that is, in the detection position, an included angle between an ultrasonic probe and a blood flow direction is a better detection included angle, so that an acquired ultrasonic echo signal can more accurately reflect a blood flow velocity, and thus, when the blood flow velocity is determined by using the ultrasonic echo signal, a more accurate result can be obtained.

To facilitate understanding of the present application, a description will be given of an application scenario to which the present application may be applied, and referring to fig. 2, fig. 2 is an exemplary ultrasound diagnostic apparatus for detecting blood flow velocity according to an embodiment of the present invention, and the ultrasound diagnostic apparatus may be in any suitable product form, for example, the ultrasound diagnostic apparatus may be a cylindrical structure with a detection function, and meanwhile, the ultrasound diagnostic apparatus may also be disposed in a household apparatus or a medical apparatus for detecting blood flow velocity, for example, fig. 2 exemplarily shows an embodiment in which the ultrasound diagnostic apparatus 100 is disposed on a massage chair.

In concrete implementation, please refer to fig. 3 together, when a user places a hand on the ultrasonic diagnostic apparatus 100, the ultrasonic probe 10 inside the ultrasonic diagnostic apparatus 100 starts to start detection, at this time, the piezoelectric ceramic 11 in the ultrasonic probe 10 can send out an ultrasonic signal, when the ultrasonic signal hits an obstacle (i.e. a part to be detected where blood of the user flows) in the air during propagation, the ultrasonic signal returns immediately and generates an echo signal, the echo signal is received by the piezoelectric ceramic 11, the piezoelectric ceramic 11 can generate an echo electric signal, and the blood flow velocity can be obtained by analyzing the echo electric signal; meanwhile, the posture measuring unit 30 in the ultrasonic probe 10 can detect the posture information of the ultrasonic probe 10 at the time point in real time, that is, the posture information corresponding to the echo electric signal or the blood flow velocity.

By changing the relative angle between the part to be detected of the user and the ultrasonic probe 10, for example, by rotating the ultrasonic probe 10 by one turn relative to the part to be detected of the user, echo electrical signals or blood flow velocity in different postures can be obtained. Therefore, the ultrasonic diagnostic apparatus 100 can determine a better reference measurement attitude based on the obtained echo electric signals in different attitudes and their corresponding attitude information.

Then, if the relative angle between the part to be detected of the user and the ultrasonic probe 10 is changed again, in the process of adjusting the ultrasonic probe 10, when the detected current posture information is in the range corresponding to the reference measurement posture, the user can be prompted to fixedly keep the current posture so as to perform detection under the current posture, then, the ultrasonic diagnostic device 100 can also feed back the detection result to the user, for example, the detection result can be uploaded to the cloud through a WiFi module, and the user can use the APP on the mobile phone to check the relevant information of the blood flow speed. In other embodiments, the ultrasonic diagnostic apparatus 100 may also exist in other product forms, such as a belt-like structure having a blood flow velocity detection function. Of course, the ultrasonic diagnostic apparatus 100 may be present in a separate product form without being attached to the belt-like structure, in which case it is simply placed on the portion to be detected of the human body when it is used to detect the blood flow velocity of the human body.

As shown in fig. 4, the ultrasonic diagnostic apparatus 100 includes an ultrasonic probe 10, a control unit 20, and an attitude measurement unit 30.

The control Unit 20 may be a Micro Controller Unit (MCU) or a Digital Signal Processing (DSP) controller.

The control unit 20 includes at least one processor 21 and a memory 22, where the memory 22 may be built in the control unit 20 or external to the control unit 20, and the memory 22 may be a remotely located memory and connected to the control unit 20 through a network.

Memory 22, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The memory 22 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 22 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 22 may optionally include memory located remotely from the processor 22, which may be connected to the terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The processor 21 executes various functions of the terminal and processes data by running or executing software programs and/or modules stored in the memory 22 and calling data stored in the memory 22, so as to perform overall monitoring on the terminal, for example, implement the ultrasonic echo signal acquisition method according to any embodiment of the present invention.

The number of the processors 21 may be one or more, and one processor 21 is illustrated in fig. 4 as an example. The processor 21 and the memory 22 may be connected by a bus or other means. The processor 21 may include a Central Processing Unit (CPU), Digital Signal Processor (DSP), Application Specific Integrated Circuit (ASIC), controller, Field Programmable Gate Array (FPGA) device, or the like. The processor 21 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

The control unit 20 outputs a control signal to control the ultrasonic probe 10 to generate an ultrasonic signal, and when the ultrasonic signal hits an obstacle (i.e., a detected part of a user), the ultrasonic signal returns to generate an ultrasonic echo signal, and the ultrasonic probe 10 can receive the ultrasonic echo signal and transmit the ultrasonic echo signal to the control unit 20.

The posture measuring unit 30 is disposed in the ultrasound probe 10, and the posture measuring unit 30 is used for detecting posture information of the ultrasound probe 10.

The attitude measurement unit 30 is a high-performance three-dimensional motion attitude measurement system based on the MEMS technology, and includes motion sensors such as a three-axis gyroscope, a three-axis accelerometer, and a three-axis electronic compass, and obtains data such as a three-dimensional attitude and an orientation compensated by temperature through an embedded low-power ARM processor, and outputs zero-drift three-dimensional attitude orientation data expressed by a quaternion and an euler angle in real time by using a quaternion-based three-dimensional algorithm and a special data fusion technology, so that the attitude measurement unit 30 can detect three-dimensional attitude orientation information of the ultrasonic probe 10 in real time and transmit the detected three-dimensional attitude orientation information to the control unit 20, and then the control unit 20 can extract an optimal detection attitude.

Alternatively, as shown in fig. 5, the ultrasonic diagnostic apparatus 100 further includes a signal processing unit 40, the signal processing unit 40 is configured to output an echo electric signal based on the ultrasonic echo signal from the ultrasonic probe 10, output a signal containing blood flow information, and transmit the signal to the control unit 20, and the control unit 20 is configured to determine the blood flow velocity based on the signal containing blood flow information.

The signal processing unit 40 includes a signal demodulation circuit 41 and a filtering and amplifying circuit 42, and the filtering and amplifying circuit 42 is connected to the signal demodulation circuit 41 and the control unit 20, respectively.

Specifically, the signal demodulation circuit 41 is configured to demodulate an echo signal of the ultrasonic signal to obtain a signal containing blood flow information, and the filtering and amplifying circuit 42 is configured to amplify and filter the signal containing blood flow information and transmit the signal to the control unit 20.

In an embodiment, the signal demodulation circuit 41 may use the multiplication circuit chip MC1596 to implement multiplication demodulation, that is, the signal demodulation circuit can demodulate the echo signal of the ultrasonic wave received by the ultrasonic probe 10, so as to obtain a doppler shift signal containing the blood flow velocity.

The filtering and amplifying circuit 42 amplifies and filters the demodulated signal, and selects a 0-2000HZ filtering frequency passband to perform filtering, thereby improving the signal-to-noise ratio of the signal. Illustratively, the filtering and amplifying circuit 42 is formed by selecting three comparators, wherein the comparator U1 is formed into a gain adjustable circuit 421, and the gain adjustable circuit 421 is used for performing amplification processing on a signal containing blood flow information; the comparator U2 and the comparator U3 form a second-order low-pass filter circuit 422, and the second-order low-pass filter circuit 422 is configured to filter the amplified signal containing the blood flow information.

Referring to fig. 6 IN conjunction with fig. 5, the comparator U1 constitutes the GAIN adjustable circuit 421, the demodulated signal is input from the unidirectional input terminal of the comparator U1 through the connection IN1, and the input signal of the inverting input terminal of the comparator U1 is determined by the MOS transistor Q2 and the MOS transistor Q3, so that the on and off of the MOS transistor Q2 and the MOS transistor Q3 are controlled by the different signals input through the port GAIN1 and the port GAIN2, so that the GAIN of the signal at the output terminal of the comparator U1 can be adjusted, and therefore, the phenomenon that the amplitude of the signal at the output terminal of the comparator U1 is too small or too large to affect the detection result, for example, the phenomenon that the amplitude of the signal at the output terminal of the comparator U1 is too large to cause the top clipping distortion, can be avoided. The comparator U2 and the comparator U3 form a second-order low-pass filter circuit 422, the second-order low-pass filter circuit 422 with a cut-off frequency of 2000HZ filters the signal after gain adjustment to obtain a signal containing blood flow information, then the control unit 20 can perform AD sampling on the demodulated echo signal, the sampling frequency can be set to 4KHz, and the sampled data is subjected to algorithm processing to calculate blood flow dynamics parameters such as blood flow velocity.

In another embodiment, referring to fig. 5 again, the ultrasonic diagnostic apparatus 100 further includes a signal excitation unit 50, the signal excitation unit 50 is respectively connected to the ultrasonic probe 10 and the control unit 20, and the signal excitation unit 50 is configured to output an excitation signal based on a control signal of the control unit 20, so that the ultrasonic probe 10 generates an ultrasonic signal.

For example, referring to fig. 7 in conjunction with fig. 5, the signal excitation unit 50 is turned on and off through the MOS transistor Q1 to generate an excitation signal to the piezoelectric ceramic T1 in the ultrasound probe 10.

A control signal output end of the control unit 20 is connected to one end of a first capacitor C1 through an input end I1, the other end of a first capacitor C1 is connected to a gate of a MOS transistor Q1, an anode of a first diode D1 is connected to a gate of a MOS transistor Q1, a cathode of a first diode D1 is connected to a source of the MOS transistor Q1 and a working power supply V1, a first resistor R1 is connected in parallel to the first diode D1, a second capacitor C2 is connected in parallel to a third capacitor C3, one end of a second capacitor C2 is connected to the working power supply V1, the other end of the second capacitor is grounded, a drain of the MOS transistor Q1 is connected to one end of a piezoelectric ceramic T1, and the other end of the piezoelectric ceramic T1 is grounded.

Specifically, the first capacitor C1 is used for filtering out the tip pulse in the control signal; the first resistor R1 can make a voltage difference between the gate and the source of the MOS transistor Q1, thereby realizing the conduction of the MOS transistor Q1; the first diode D1 is used to prevent the breakdown between the gate and the source of the MOS transistor Q1 due to the excessive voltage, and thus, the MOS transistor Q1 is protected; due to the characteristics of the capacitors of the ac-dc resistance, the second capacitor C2 and the third capacitor C3 are both used for passing the ac power of the working power supply V1, and therefore the current flowing to the MOS transistor Q1 is the dc current in the working power supply V1.

In practical application, the control unit 20 outputs a control signal to the gate of the MOS transistor Q1 through the input terminal I1, the MOS transistor Q1 is a P-channel MOS transistor, and when the control signal is at a high level, the current voltage value Vgs of the gate-source electrode of the MOS transistor Q1 is greater than the turn-on voltage value Vgs (th) of the gate-source electrode of the MOS transistor Q1, and the MOS transistor Q1 is in a cut-off state; conversely, when the excitation signal is low, Vgs < Vgs (th), the MOS transistor Q1 is turned on. When the control signal is a low-level signal, the MOS transistor Q1 is turned on, the operating power supply V1 is connected to the piezoelectric ceramic T1 through the source and the drain of the MOS transistor Q1, so that the piezoelectric ceramic T1 has an electrical signal input, the piezoelectric ceramic T1 can generate an ultrasonic wave, otherwise, when the control signal is a high-level signal, the MOS transistor Q1 is turned off, the connection between the operating power supply V1 and the piezoelectric ceramic T1 is broken, the piezoelectric ceramic T1 cannot generate an ultrasonic wave signal, and the frequency of the ultrasonic wave signal generated by the piezoelectric ceramic T1 corresponds to the frequency of the control signal.

In one embodiment, referring to fig. 5 again, the ultrasonic diagnostic apparatus 100 further includes a voice unit 60a, the voice unit 60a is connected to the control unit 20, and the voice unit 60a is configured to output corresponding voice information based on an output instruction of the control unit 20.

For example, when the current posture information matches the determined optimal detection posture, the voice unit 60a outputs an instruction as a posture confirmation instruction to prompt the user to keep the current posture for detection; when the current posture information does not match the determined optimum detection posture, the voice unit 60a outputs an instruction as a posture adjustment instruction for prompting the user to adjust the angle between the ultrasonic probe 10 and the detected part of the user.

Further, an automatic adjustment mode may be set, for example, a motor lifting device connected to the ultrasound probe 10 is provided, when the ultrasound probe 10 needs to perform posture adjustment, the posture of the ultrasound probe 10 may be adjusted by driving the motor lifting device, and when the posture information matches the determined optimal detection posture, the driving of the motor lifting device is stopped, so that the ultrasound probe 10 maintains the current posture for detection.

Optionally, the ultrasonic diagnostic apparatus 100 further includes an LED unit 60b, the LED unit 60b is connected to the control unit 20, and the LED unit 60b is configured to output a corresponding light prompt based on an output instruction of the control unit 20.

For example, when the current posture information matches the determined optimum detection posture, and the output command is a posture confirmation command at this time, the LED unit 60b becomes a normally on state according to the posture confirmation command of the control unit 20 to prompt the user to keep the current posture for detection; when the current posture information does not match the determined optimal detection posture, the LED unit 60b is in a normally off state, and at this time, the user needs to continuously adjust the angle between the ultrasonic probe 10 and the detected part of the user until the LED unit 60b is turned on. Also, an auto-adjusting mode may be set, and the control process is similar to that when the voice unit 60a is used, which is within the scope easily understood by those skilled in the art and will not be described herein.

It should be understood that the ultrasonic diagnostic apparatus 100 may include both the voice unit 60a and the LED unit 60b, and only one of the voice unit 60a or the LED unit 60b may be selected for cost saving.

Optionally, the ultrasonic diagnostic apparatus 100 further includes a storage unit 70, the storage unit 70 is connected to the control unit 20, and the storage unit 70 is configured to store data received by the control unit 20.

For example, when the control unit 20 receives the signal containing the blood flow information from the signal processing unit 60, the data related to the signal containing the blood flow information may be stored in the storage unit 70, and then the data may be analyzed, so that the data may be prevented from being lost due to a sudden power failure or the like.

Optionally, the ultrasonic diagnostic apparatus 100 further includes a communication unit 80, the communication unit 80 is connected to the control unit 20, and the communication unit 80 is configured to implement data communication between the control unit 20 and the terminal.

The communication unit 80 may be a unit capable of implementing wireless communication, for example, WIFI, bluetooth, NFC, or a coil carrier is used. The data can be directly transmitted to the terminal through the communication unit 80 and displayed by the terminal, so that the specific detection result can be intuitively known.

It should be understood that in this application, a terminal may be referred to as a smart terminal device, a terminal apparatus, an electronic device, or the like. The electronic device may also be referred to as a User Equipment (UE), a Mobile Station (MS), a Mobile Terminal (MT), etc. For example, a handheld device, an in-vehicle device, or an in-vehicle device having a wireless connection function. The electronic device may also include, but is not limited to, a portable electronic device that carries an android, Microsoft, or other operating system. The portable electronic device may also be a device such as a laptop computer (laptop) with a touch sensitive surface (e.g., a touch panel), etc. Currently, some examples of terminals are: a mobile phone (mobile phone), a tablet computer, a notebook computer, a palm top computer, a Mobile Internet Device (MID), a wearable device, a Virtual Reality (VR) device, an Augmented Reality (AR) device, a wireless terminal in industrial control (industrial control), a wireless terminal in self driving (self driving), a wireless terminal in remote surgery (remote medical supply), a wireless terminal in smart grid (smart grid), a wireless terminal in transportation safety (smart security), a wireless terminal in city (smart city), a wireless terminal in home (smart home), and the like.

Optionally, the ultrasonic diagnostic apparatus 100 further includes a power supply unit 90, the power supply unit 90 being connected to each unit in the ultrasonic diagnostic apparatus 100, the power supply unit 90 being configured to supply an operating voltage to each unit in the ultrasonic diagnostic apparatus 100.

The power supply unit 90 is connected to the control unit 20, the signal excitation unit 50, the signal processing unit 60, the storage unit 70, and the communication unit 80, and the power supply unit 90 can convert an externally input power supply into a stable voltage required by each unit, so as to realize stable operation of each unit.

In one embodiment, as shown in fig. 8, the power supply unit 90 is composed of a rechargeable battery 91, a voltage conversion circuit 92, and a charging circuit 93, the rechargeable battery 91 being used to supply an operating voltage to each unit in the ultrasonic diagnostic apparatus 100 through the voltage conversion circuit 92, and to obtain a charging voltage through the charging circuit 93.

That is, the voltage conversion circuit 92 is used to convert the voltage provided by the rechargeable battery 91 into the voltage required by the normal operation of each unit in the ultrasonic diagnostic apparatus 100, and the rechargeable circuit 93 inputs a voltage of 5V through the USB port to charge the rechargeable battery 91, or charges the rechargeable battery 91 by wireless charging.

It is to be noted that the hardware configuration of the ultrasonic diagnostic apparatus 100 shown in fig. 4 or 5 is merely an example, and the ultrasonic diagnostic apparatus 100 may have more or less components than those shown in the drawings, may combine two or more components, or may have a different component configuration, and the various components shown in the drawings may be implemented in hardware, software, or a combination of hardware and software including one or more signal processing and/or application specific integrated circuits. For example, the communication unit 80 may be one of the functional units of the control unit 20, or may be integrated in the control unit 20, and the control unit 20 may employ an Apollo microcontroller of Ambiq Micro.

Fig. 9 is a schematic flowchart of an ultrasound echo signal acquisition method according to an embodiment of the present invention, which may be executed by the ultrasound diagnostic apparatus shown in fig. 2, 3, 4, or 5, as shown in fig. 9, and the method includes:

901: the method comprises the steps of respectively acquiring ultrasonic echo signals received by the ultrasonic probe under different postures and posture information of the ultrasonic probe detected by the posture measuring unit, wherein the ultrasonic echo signals are echo signals of ultrasonic signals generated by the ultrasonic probe when the ultrasonic probe is used for detecting a part to be detected through which blood flows.

The ultrasonic echo signal acquisition method according to the embodiment of the present invention may be used for other diagnostic apparatuses or medical apparatuses, in addition to the ultrasonic diagnostic apparatus shown in fig. 2, 3, 4, or 5. When the piezoelectric ceramic in the ultrasonic probe is in an electric field, the piezoelectric ceramic deforms under the action of the electric field force, and the inverse piezoelectric effect of the ultrasonic probe is utilized, namely the process of transmitting ultrasonic waves is realized; when the ultrasonic wave detects that the defect causes the defect vibration, one part of the defect returns along the original path, and the ultrasonic wave has certain energy and then acts on the piezoelectric ceramic to enable the piezoelectric ceramic to generate an alternating electric field under the action of alternating tension and pressure, the positive piezoelectric effect of the ultrasonic probe is utilized, namely the process of receiving the ultrasonic wave is realized.

When the piezoelectric ceramic ultrasonic probe is used for ultrasonic diagnostic equipment, electric energy can be input into the ultrasonic probe firstly, the piezoelectric ceramic in the ultrasonic probe generates an ultrasonic signal under the action of alternating electric field force, the ultrasonic signal returns after contacting with an obstacle and is an ultrasonic echo signal, the ultrasonic echo signal acts on the ultrasonic probe, and the ultrasonic probe outputs a corresponding electric signal under the action of alternating tensile force and pressure. Meanwhile, the attitude measurement unit can measure the attitude information of the ultrasonic probe in real time, and the attitude information of the ultrasonic probe, namely the direction and the position of the ultrasonic probe relative to the horizon, is used for subsequently adjusting the attitude of the ultrasonic probe to obtain the optimal detection attitude.

902: and determining preset attitude information of the ultrasonic probe in different attitude information corresponding to different time points based on the ultrasonic echo signal.

903: and determining a preset attitude information range corresponding to the preset attitude information based on the preset attitude information.

904: and acquiring current attitude information detected by the attitude measurement unit.

In this embodiment, the posture information is recorded as g ═ R P Y ], where R, P, Y is three specific orientations of the posture information g, and R, P, Y corresponds to specific orientation data on the Roll axis, the pitch axis, and the yaw axis of the posture measurement unit, respectively, where the yaw axis is an axis in the vertical direction, the Roll axis and the pitch axis are axes in the horizontal direction, and the Roll axis, the pitch axis, and the yaw axis are perpendicular to each other.

Then, according to the received ultrasonic echo signals corresponding to a plurality of time points, preset posture information of the ultrasonic probe can be extracted from a plurality of pieces of posture information that have been acquired, and further, a corresponding preset posture information range can be set according to the extracted preset posture information, for example, the preset posture information is g0 ═ R0P 0Y 0], and then the preset information range can be set to g0 ± X0 ═ R0 ± X1P 0 ± X2Y 0 ± X2, and X1, X2 and X3 are ranges in which corresponding specific azimuth data can fluctuate, and ± respectively represent forward fluctuation and reverse fluctuation.

It should be understood that X1, X2 and X3 may be set to the same value or different values, and the specific values may be set differently according to the user's needs, which is not limited herein.

When the current posture information of the ultrasonic probe is in the preset posture information range, the blood flow speed detected by the ultrasonic probe is more accurate, and the preset posture information position is matched with the optimal posture detection range.

In an embodiment, the ultrasonic echo signal is subjected to short-time fourier transform to obtain a blood flow power spectrum waveform, and then preset posture information of the ultrasonic probe is determined in different posture information corresponding to different time points based on the blood flow power spectrum waveform and the posture information, wherein the short-time fourier transform adopts a sliding window mechanism, the size and the step length of a window are set, the window is made to slide on a time domain signal, the short-time fourier transform of each window is respectively calculated to form frequency domain signals corresponding to different time windows, and the frequency domain signals are spliced to form data with frequency changing along with time, namely the blood flow power spectrum waveform.

Further, in an embodiment, as shown in fig. 10a, fig. 10a is a specific implementation of determining preset posture information of an ultrasound probe, including:

9021 a: and acquiring the number of rotation turns of the ultrasonic probe in a preset time period when the ultrasonic probe rotates by taking a vertical axis where the part to be detected as a rotating axis, wherein the vertical axis is vertical to the blood flow direction of the part to be detected.

9022 a: and calculating the rotation time length of the ultrasonic probe for one circle based on the preset time length and the number of turns.

Referring to fig. 11, assuming that the contact position between the ultrasonic probe 10 and the part to be detected of the user is N points, the vertical axis passing through the N points is taken as a rotation axis, i.e., the s axis of the curve is taken as a rotation axis, the s axis is perpendicular to the blood flow direction a of the part to be detected, the ultrasonic probe 10 can rotate along the s axis, and the rotation direction can be counterclockwise as shown by an arrow, so that the posture measuring unit can detect posture information of different positions of the ultrasonic probe during the rotation of the ultrasonic probe. It is understood that in other embodiments, the ultrasound probe may be rotated clockwise.

In fig. 11, the blood flow direction a is a horizontal direction, and therefore the s-axis is a rotation axis in the vertical direction, but in other embodiments, if the blood flow direction a is at an angle to the horizontal direction, the s-axis is also at an angle to the vertical direction so as to keep the s-axis perpendicular to the blood flow direction a.

When ultrasonic echo signal acquisition is carried out, a rotation time needs to be set firstly, namely, the preset time length is preset, in the rotation time, the ultrasonic probe is controlled to rotate along the S axis in a manual control or automatic control mode, for example, the ultrasonic probe can be connected with the motor in an automatic control mode, namely, the vertical axis where the rotating shaft of the motor is located is the rotating shaft S axis, the rotation of the rotating shaft of the motor drives the automatic rotation of the ultrasonic probe, after the rotation is stopped, the actual number of rotation turns of the ultrasonic probe is read, and the rotation time length of the ultrasonic probe in one rotation turn can be calculated according to the ratio of the rotation time of the ultrasonic probe to the number of rotation turns.

For example, the total time length of each rotation is set to 9 seconds, when the ultrasound probe starts to rotate, the timer is started at the same time, when the time reaches 9 seconds, the rotation of the ultrasound probe is stopped, the actual number of rotations of the ultrasound probe is obtained, and if the actual number of rotations of the ultrasound probe is 3 rotations, the time of each rotation of the ultrasound probe is 9/3-3 seconds.

9023 a: dividing the preset time period into a plurality of time periods based on the rotation time period.

9024 a: and acquiring the maximum value of the blood flow power spectrum waveform in each time period.

Taking the preset time duration of 9 seconds as an example for explanation, 9 seconds can be averagely divided into a plurality of sections, for example, 1 to 3 seconds is a first section, 4 to 6 seconds is a second section, and 7 to 9 seconds is a third section; the sliding window processing may also be applied to 9 seconds, for example, 1 to 3 seconds is a first segment, 2 to 4 seconds is a second segment, and 3 to 5 seconds is a third segment …, and so on, the 9 seconds are divided into multiple segments, or other segmentation methods may be applied, such as dividing into multiple time segments with unequal divisions.

Searching the waveform of the blood flow power spectrum in each time period, for example, in some embodiments, performing numerical query on the waveform of the blood flow power spectrum in each time period from left to right, determining a value as a maximum value when the value is larger than the left end and the right end of the value, and then continuing to perform numerical query on the next time period until the query of the whole waveform of the blood flow power spectrum is completed, so as to obtain all the maximum values in the preset time period.

9025 a: and acquiring attitude information corresponding to the time point corresponding to each maximum value.

9026 a: and determining preset attitude information of the ultrasonic probe based on the attitude information corresponding to the time point corresponding to each maximum value.

Since the power spectrum is defined as the signal power in a unit frequency band, which represents the variation of the signal power with frequency, i.e. the distribution of the signal power in the frequency domain, the maximum value of the blood flow power spectrum waveform is selected and obtained, and the detected result is more accurate when the signal power is maximum. In an embodiment, a maximum value of the blood flow power spectrum waveform in any one rotation duration may be selected optionally, and the posture information corresponding to a time point corresponding to the maximum value is used as the preset posture information.

Further, in order to better avoid the situation that the accidental phenomenon occurs to cause the abnormal detection result, for example, if a large error occurs in the maximum value of the blood flow power spectrum waveform within a certain rotation duration in the detection process, if the posture information corresponding to the time point corresponding to the maximum value is directly adopted as the preset posture information, the detection result will also follow the error.

To address the above, the blood flow power spectrum waveform for all rotation durations may be processed. For example, in another embodiment, a mean processing is adopted, that is, after the posture information corresponding to the time point corresponding to each maximum value is obtained, each corresponding position in the posture information corresponding to the time point corresponding to all the maximum values is respectively averaged, and the preset posture information of the ultrasound probe is determined by the average value.

Similarly, assuming that the total rotation time length is 9 seconds, and the actual number of turns of the ultrasonic probe in 9 seconds is 3 turns, the time of each turn of the ultrasonic probe is 9/3 seconds, the 9 seconds are processed in a sliding window manner, namely the rotation time length of the 9 seconds is divided into (1-3 seconds), (2-4 seconds), (3-5 seconds), (4-6 seconds), (5-7 seconds), (6-8 seconds) and (7-9 seconds), and then the maximum value of the blood flow power spectrum waveform in (1-3 seconds) is extracted and recorded as the maximum value max 1; the maximum value of the blood flow power spectrum waveform in (2-4 seconds) is recorded as maximum value max 2; the maximum values of the blood flow power spectrum waveform in (3-5 seconds) are marked as maximum values max3 …, and the maximum values in (1-3 seconds), (2-4 seconds), (3-5 seconds), (4-6 seconds), (5-7 seconds), (6-8 seconds) and (7-9 seconds) are max1, max2, max3, max4, max5, max6 and max7 respectively.

According to the time point corresponding to the maximum value max1, obtaining the posture information g1 ═ R1P 1Y 1 corresponding to the time point](ii) a According to the time point corresponding to the maximum value max2, obtaining the posture information g2 ═ R2P 2Y 2 corresponding to the time point](ii) a According to the time point corresponding to the maximum value max3, obtaining the posture information g3 ═ R3P 3Y 3 corresponding to the time point]…, obtaining the posture information g7 ═ R7P 7Y 7 at the time point corresponding to the maximum value max7]Averaging the orientation information of the attitude information g1-g7

Can obtain the product

The average value can be calculated

As preset attitude information.

It should be understood that the probability of occurrence of errors may also be reduced by other processing manners, which are not limited herein. For example, a median processing mode may be adopted, after the attitude information corresponding to the time point corresponding to each maximum value is acquired, the magnitudes of all acquired attitude signals are compared, and if the total number of the attitude signals is singular, all values representing the same orientation take a median as one orientation in the preset attitude information; if the total number of the attitude signals is a double number, two values located in the middle are taken from all the values representing the same azimuth, and the average value of the two values is calculated to be used as one azimuth in the preset attitude information.

In another embodiment, referring to fig. 10b, fig. 10b is another specific implementation of determining preset posture information of an ultrasound probe, including:

9021 b: and determining the posture information corresponding to the corresponding time point when the blood flow power spectrum waveform is zero.

9022 b: and determining a first included angle between the ultrasonic probe and the horizontal position based on the attitude information corresponding to the time point corresponding to the zero value.

9023 b: and determining the preset posture information of the ultrasonic probe based on the first included angle and a preset included angle between the ultrasonic probe and the detected part of the user.

According to the formula of the Doppler frequency shift, when the included angle between the ultrasonic probe and the blood flow direction is 90 degrees, the Doppler frequency shift is 0, so that the preset posture information can be determined by utilizing the special condition.

As shown in fig. 12, wherein the dotted line a1 is the direction of blood flow; the straight line L represents the horizontal position; the posture information g0 represents the posture information of the ultrasonic probe when the included angle between the ultrasonic probe and the blood flow direction is 90 degrees, and the posture information corresponding to the corresponding time point when the included angle is zero; the posture information g represents any posture information of the ultrasound probe. The included angle R0 is an included angle between the posture information g0 and the straight line L, i.e., the included angle R0 is a first included angle.

Optionally, the included angle θ is recorded as a preset included angle, and can be obtained from fig. 11: θ ═ 90 ° - (R0-R), that is, R ═ θ + R0-90 °, in the case where the included angle R0 is fixed, the included angle R is determined by the included angle θ, that is, the included angle R is determined by the preset included angle, and the included angle R determines the posture information g of the ultrasound probe, so the posture information g at this time is the preset posture information.

In summary, the sum of the first included angle R0 and the preset included angle θ is calculated first, and then the sum is subtracted by 90 ° to obtain the included angle R, and the corresponding posture information, which is the preset posture information, can be directly found according to the included angle R.

It should be understood that the value of the preset included angle θ can be set differently according to different application scenarios, and is not limited herein. For example, in order to obtain more accurate ultrasonic echo signals and to make the operation more simple, the preset included angle θ may be set to 45 °, and in other embodiments, in order to detect more accurate ultrasonic echo signals, the preset included angle θ may be further reduced, so as to obtain more accurate blood velocity

The accurate preset posture information can be obtained through the mode of the graph 10a or the graph 10b, so that the final detection result is accurate, the operation is simple, even though personnel without professional training can perform better application, and the user experience is better.

Further, in another embodiment, the preset posture information may be obtained by combining the manners of fig. 10a and fig. 10b, for example, the preset posture information obtained by using the manner of fig. 10a is recorded as first preset posture information, the preset posture information obtained by using the manner of fig. 10b is recorded as second preset posture information, and an average value between the first preset posture information and the second preset posture information is taken as final preset posture information, so that the probability of error occurrence may be further reduced, and the accuracy of detection may be improved. In other embodiments, other combination manners may also be adopted, for example, after the first preset posture information and the second preset posture information are acquired, a large value between the two is taken as final preset posture information, and the like, which is not limited herein.

905: and if the current attitude information is not in the preset attitude information range, outputting an adjusting signal according to the current attitude information and the preset attitude information range, wherein the adjusting signal is used for adjusting the current attitude information.

906: and if the current attitude information is within the preset attitude information range, acquiring an ultrasonic echo signal corresponding to the current attitude information, wherein the ultrasonic echo signal is used for determining the blood flow velocity.

It should be understood that, in practical application, the attitude measurement unit detects the attitude information at a certain frequency, or the controller receives the attitude information detected by the attitude measurement unit at a certain frequency, and in the process of adjusting the ultrasonic probe, although there is an optimal detection attitude, in order to be more convenient for operation and increase operability, the current attitude information is set within a preset attitude information range, so that the operation difficulty is reduced on the basis of ensuring the detection accuracy to a greater extent, and the method is applicable to more users.

And when the current posture information is not in the preset posture information range, outputting an adjusting signal according to the difference value between the current posture information and the upper limit value or the lower limit value of the preset posture information range so as to adjust the ultrasonic probe to gradually move towards the preset position until the ultrasonic probe moves to the vicinity of the preset position, so that the posture information detected by the posture measuring unit stops moving the ultrasonic probe in the preset posture information range, the ultrasonic echo signal can better reflect the blood flow speed at the moment, and relevant data of the blood flow speed can be extracted from the current ultrasonic echo signal and then output for the user to refer.

Further, in an embodiment, after outputting the adjustment signal according to the current posture information and the preset posture information range, the voice adjustment information may be further output according to the adjustment signal, where the voice adjustment information is used to remind the user how to adjust the ultrasonic probe, for example, outputting voice information "the included angle between the current ultrasonic probe and the part to be detected is small, and please adjust in the direction in which the included angle is increased", so that the user may adjust the position of the ultrasonic probe according to the voice adjustment information. And outputting voice confirmation information until the current posture information is within the preset posture information range, and reminding a user to keep the ultrasonic probe fixed at the current posture for detection, so that a relatively accurate detection result can be obtained.

The invention provides an ultrasonic echo signal acquisition method and ultrasonic diagnostic equipment, wherein the ultrasonic echo signal acquisition method is applied to an ultrasonic probe, a posture measurement unit is arranged in the ultrasonic probe, firstly, ultrasonic echo signals received by the ultrasonic probe under different postures are respectively acquired, and the attitude information of the ultrasonic probe detected by the attitude measuring unit, and then according to the ultrasonic echo signal, determining preset attitude information of the ultrasonic probe in different attitude information corresponding to different time points, and acquiring current attitude information detected by an attitude measurement unit, meanwhile, a preset posture information range corresponding to the preset posture information is determined based on the preset posture information, if the current posture information is not in the preset posture information range, outputting an adjusting signal according to the current attitude information and a preset attitude information range, wherein the adjusting signal is used for adjusting the current attitude information; when the current posture information is in the preset posture information range, the ultrasonic echo signal corresponding to the current posture information is obtained, the preset posture information range is the range of the detection posture with better detection effect, and the detection posture of the ultrasonic diagnostic equipment is matched with the range of the preset detection posture with better detection effect, so that the collected ultrasonic echo signal can more accurately reflect the blood flow speed, and more accurate result can be obtained when the ultrasonic echo signal is used for determining the blood flow speed.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An ultrasonic echo signal acquisition method is applied to an ultrasonic diagnostic device, the ultrasonic diagnostic device comprises an ultrasonic probe, an attitude measurement unit is arranged in the ultrasonic probe, and the method comprises the following steps:

2. The method for acquiring an ultrasonic echo signal according to claim 1, wherein the determining preset posture information of the ultrasonic probe in different posture information corresponding to different time points based on the ultrasonic echo signal includes:

3. The method for acquiring an ultrasonic echo signal according to claim 2, wherein the determining preset posture information of the ultrasonic probe in different posture information corresponding to different time points based on the blood flow power spectrum waveform includes:

4. The method for acquiring an ultrasonic echo signal according to claim 3, wherein the determining preset posture information of the ultrasonic probe based on the posture information corresponding to the time point corresponding to each maximum value includes:

5. The method for acquiring an ultrasonic echo signal according to claim 2, wherein the determining preset posture information of the ultrasonic probe in different posture information corresponding to different time points based on the blood flow power spectrum waveform includes:

6. The method for acquiring ultrasonic echo signals according to claim 5, wherein the determining the preset posture information of the ultrasonic probe based on the first included angle and a preset included angle includes:

7. The ultrasonic echo signal acquisition method according to any one of claims 1 to 6, wherein after outputting an adjustment signal according to the current posture information and the preset posture information, the method further comprises:

outputting voice adjustment information according to the adjustment signal;

8. An ultrasonic diagnostic apparatus characterized by comprising:

at least one processor and a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform the method of any of claims 1-7.

9. The ultrasonic diagnostic apparatus according to claim 8, characterized by further comprising:

and/or the presence of a gas in the gas,

10. A non-transitory computer-readable storage medium storing computer-executable instructions that, when executed by an ultrasound diagnostic apparatus, cause the ultrasound diagnostic apparatus to perform the method of any one of claims 1-7.