CN112716526B - Control method and device of ultrasonic probe, storage medium and ultrasonic equipment - Google Patents

Abstract

The application discloses a control method and device of an ultrasonic probe, a storage medium and ultrasonic equipment, wherein the control method comprises the steps of controlling the ultrasonic probe to scan along a preset scanning path; when a switching instruction is received, determining a target scanning mode corresponding to the switching instruction; and controlling the ultrasonic probe to scan along the scanning path according to the target scanning mode. According to the method and the device, the ultrasonic probe is automatically controlled to switch the scanning mode according to the switching instruction in the scanning process, and the ultrasonic probe is controlled to scan according to the switched target scanning mode, so that the automatic switching of the scanning mode of the ultrasonic probe is realized, manual adjustment of an operator is not needed, and the scanning efficiency of the ultrasonic probe can be improved.

Description

Control method and device of ultrasonic probe, storage medium and ultrasonic equipment

Technical Field

The present disclosure relates to the field of ultrasound technologies, and in particular, to a method and an apparatus for controlling an ultrasound probe, a storage medium, and an ultrasound device.

Background

For the ultrasonic image acquisition of the blood vessels of the limbs, a plurality of ultrasonic observation points are usually required to be arranged on a scanning path on the skin of the limbs, when an ultrasonic probe moves to the corresponding observation point, an ultrasonic image is acquired, the image of each observation point is sent to an upper computer, and the upper computer synthesizes the scanning images of the plurality of observation points on the scanning path to form the whole blood vessel image of the region to be observed of the limbs of the patient. However, in the ultrasonic scanning process, the mechanical arm movement needs to be stopped and the scanning mode of the ultrasonic probe needs to be manually adjusted by an operator, so that the acquisition efficiency of the ultrasonic image is affected.

Disclosure of Invention

The technical problem to be solved by the application is to provide a control method and device of an ultrasonic probe, a storage medium and ultrasonic equipment aiming at the defects of the prior art.

In order to solve the above technical problem, a first aspect of embodiments of the present application provides a control method of an ultrasound probe, the method including:

controlling an ultrasonic probe to scan along a preset scanning path;

when a switching instruction is received, determining a target scanning mode corresponding to the switching instruction, wherein the target scanning mode is a transverse cutting mode or a longitudinal cutting mode;

and controlling the ultrasonic probe to scan along the scanning path according to the target scanning mode.

The method for controlling the ultrasonic probe, wherein when receiving a switching instruction, determining a target scanning mode corresponding to the switching instruction specifically comprises the following steps:

when a switching instruction is received, acquiring a reference scanning mode of the ultrasonic probe configuration;

and determining a target scanning mode corresponding to the switching instruction according to the reference scanning mode, wherein the target scanning mode is different from the reference scanning mode.

The method for controlling the ultrasonic probe, wherein the controlling the ultrasonic probe to scan along the scan path according to the target scan mode specifically comprises:

Determining a scanning position of the ultrasonic probe when a switching instruction is received;

controlling the ultrasonic probe to rotate at the scanning position so as to switch the ultrasonic probe to a target scanning mode;

and controlling the ultrasonic probe to scan along the scanning path by taking the scanning position as a starting point.

The method for controlling the ultrasonic probe, wherein the target control mode is a transverse mode, and the controlling the ultrasonic probe to rotate at the scanning position so as to switch the ultrasonic probe to the target scanning mode specifically comprises the following steps:

controlling the ultrasonic probe to rotate at the scanning position, and monitoring the position relation of the width projection of the ultrasonic probe on a preset plane and the path projection of an inspection path corresponding to the scanning path on the preset plane, wherein the inspection path is positioned in a target blood vessel in a target part corresponding to the scanning path;

and when the width projection is perpendicular to the path projection, judging that the ultrasonic probe is switched to a transverse cutting mode, and stopping controlling the ultrasonic probe to rotate at a scanning position.

The control method of the ultrasonic probe, wherein the target control mode is a longitudinal cutting mode, and the controlling the ultrasonic probe to rotate at the scanning position so as to switch the ultrasonic probe to the target scanning mode specifically comprises the following steps:

Controlling the ultrasonic probe to rotate at the scanning position, and monitoring the position relation of the width projection of the ultrasonic probe on a preset plane and the path projection of an inspection path corresponding to the scanning path on the preset plane, wherein the inspection path is positioned in a target blood vessel in a target part corresponding to the scanning path;

and when the width projection is overlapped with the path projection, judging that the ultrasonic probe is switched to a longitudinal cutting mode, and stopping controlling the ultrasonic probe to rotate at a scanning position.

The ultrasonic probe control method comprises the step that the ultrasonic wave emitting direction is perpendicular to the preset plane.

The control method of the ultrasonic probe, wherein the construction process of the scanning path specifically comprises the following steps:

acquiring three-dimensional data corresponding to a target position, wherein the target position comprises a target blood vessel;

determining a moving track corresponding to a target blood vessel based on the three-dimensional data, wherein the moving track is included in the three-dimensional data and is positioned on the outer surface of a target part;

and acquiring a target image of the target part, and matching the moving track to the target part based on the target image so as to obtain a scanning path.

A second aspect of the embodiments of the present application provides a control device for an ultrasound probe, the control device including:

the first control module is used for controlling the ultrasonic probe to scan along a preset scanning path;

the device comprises a determining module, a judging module and a judging module, wherein the determining module is used for determining a target scanning mode corresponding to a switching instruction when the switching instruction is received, wherein the target scanning mode is a transverse cutting mode or a longitudinal cutting mode;

and the second control module is used for controlling the ultrasonic probe to scan along the scanning path according to the target scanning mode.

A third aspect of the embodiments provides a computer-readable storage medium storing one or more programs executable by one or more processors to implement steps in a method of controlling an ultrasound probe as described in any one of the above.

A fourth aspect of the present embodiment provides an ultrasound apparatus, including: a processor, a memory, and a communication bus; the memory has stored thereon a computer readable program executable by the processor;

the communication bus realizes connection communication between the processor and the memory;

The processor, when executing the computer readable program, implements the steps in the method of controlling an ultrasound probe as described in any one of the above.

The beneficial effects are that: compared with the prior art, the application provides a control method and device of an ultrasonic probe, a storage medium and ultrasonic equipment, wherein the control method comprises the steps of controlling the ultrasonic probe to scan along a preset scanning path; when a switching instruction is received, determining a target scanning mode corresponding to the switching instruction; and controlling the ultrasonic probe to scan along the scanning path according to the target scanning mode. According to the method and the device, the ultrasonic probe is automatically controlled to switch the scanning mode according to the switching instruction in the scanning process, and the ultrasonic probe is controlled to scan according to the switched target scanning mode, so that the automatic switching of the scanning mode of the ultrasonic probe is realized, manual adjustment of an operator is not needed, and the scanning efficiency of the ultrasonic probe can be improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without creative effort for a person of ordinary skill in the art.

Fig. 1 is a flowchart of a control method of an ultrasonic probe provided in the present application.

Fig. 2 is a flowchart illustrating a control method of an ultrasonic probe provided in the present application.

Fig. 3 is an exemplary diagram of three-dimensional data in the control method of the ultrasonic probe provided in the present application.

Fig. 4 is an exemplary diagram of a cut-out view in the control method of the ultrasonic probe provided in the present application.

Fig. 5 is a partial enlarged view of a cut-out view in the control method of the ultrasonic probe provided in the present application.

Fig. 6 is a schematic diagram of an inspection path in the control method of the ultrasonic probe provided in the present application.

Fig. 7 is a schematic diagram of a movement track in the control method of the ultrasonic probe provided by the application.

Fig. 8 is a schematic diagram of a target image in the control method of the ultrasonic probe provided in the present application.

Fig. 9 is a schematic diagram of a projection image in the control method of the ultrasonic probe provided in the present application.

Fig. 10 is a schematic diagram of a moving track matching process in the control method of the ultrasonic probe provided in the present application.

Fig. 11 is a schematic diagram of a preset plane in the control method of the ultrasonic probe provided by the application.

Fig. 12 is a schematic view of a preset plane in the control method of the ultrasonic probe provided in the present application.

Fig. 13 is a schematic view of a preset plane in the control method of the ultrasonic probe provided by the application.

Fig. 14 is a schematic diagram of a positional relationship between an ultrasonic probe and an inspection path when the ultrasonic probe is in a cross-cut state in the control method of an ultrasonic probe provided in the present application.

Fig. 15 is a schematic diagram of a positional relationship between an ultrasonic probe and an inspection path when the ultrasonic probe is in a slit state in the control method of an ultrasonic probe provided in the present application.

Fig. 16 is a schematic view of a probe imaging region when an ultrasonic probe is in a transected state in the control method of the ultrasonic probe provided in the present application.

Fig. 17 is a schematic view of a probe imaging region when an ultrasonic probe is in a slit state in the control method of the ultrasonic probe provided in the present application.

Fig. 18 is a schematic structural diagram of a control device of an ultrasonic probe provided in the present application.

Fig. 19 is a schematic structural diagram of an ultrasonic apparatus provided herein.

Detailed Description

The present application provides a control method and apparatus for an ultrasonic probe, a storage medium and an ultrasonic device, and for making the purposes, technical solutions and effects of the present application clearer and more specific, the present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein includes all or any element and all combination of one or more of the associated listed items.

It will be understood by those skilled in the art that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs unless defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein. Furthermore, it should be understood that the sequence number and the size of each step in the present embodiment do not mean the sequence of execution sequence, and the execution sequence of each process is determined by the function and the internal logic thereof, and should not constitute any limitation on the implementation process of the embodiment of the present application.

The inventor finds that for ultrasonic image acquisition of limb blood vessels, a plurality of ultrasonic observation points are usually required to be arranged on a scanning path on limb skin, when an ultrasonic probe moves to a corresponding observation point, an ultrasonic image is acquired, images of the observation points are sent to an upper computer, and the upper computer synthesizes the scanned images of the plurality of observation points on the scanning path to form an entire blood vessel image of a region to be observed of the limb of a patient. However, in the ultrasonic scanning process, the mechanical arm movement needs to be stopped and the scanning mode of the ultrasonic probe needs to be manually adjusted by an operator, so that the acquisition efficiency of the ultrasonic image is affected.

In order to solve the above-mentioned problem, in the embodiment of the present application, the ultrasonic probe is controlled to scan along a preset scan path; when a switching instruction is received, determining a target scanning mode corresponding to the switching instruction; and controlling the ultrasonic probe to scan along the scanning path according to the target scanning mode. According to the method and the device, the ultrasonic probe is automatically controlled to switch the scanning mode according to the switching instruction in the scanning process, and the ultrasonic probe is controlled to scan according to the switched target scanning mode, so that the automatic switching of the scanning mode of the ultrasonic probe is realized, manual adjustment of an operator is not needed, and the scanning efficiency of the ultrasonic probe can be improved.

The application will be further described by the description of embodiments with reference to the accompanying drawings.

The present embodiment provides a control method of an ultrasonic probe, as shown in fig. 1 and 2, the method includes:

s10, controlling the ultrasonic probe to scan along a preset scanning path.

Specifically, the ultrasonic probe may be a linear array probe, a fan probe, a convex arc probe, or the like. The ultrasonic probe can be assembled on the mechanical arm, the ultrasonic probe is driven to move through the mechanical arm, in other words, the ultrasonic probe is controlled to scan along a preset scanning path, in other words, the ultrasonic probe is driven to move along the preset scanning path through the mechanical arm, and in the process that the ultrasonic probe is driven to move along the preset scanning path by the mechanical arm, the ultrasonic probe can acquire an ultrasonic image of a scanning position. For example, the scanning part is a leg blood vessel, and then the mechanical arm drives the ultrasonic probe to move along the surface of the leg and collect the leg blood vessel.

The scanning path is a moving path for the ultrasonic probe to move along the skin surface of the target part, is configured in a mechanical arm for controlling the ultrasonic probe, and can scan an ultrasonic image of a target blood vessel by driving the probe to move along the scanning path on the target part by the mechanical arm. In this embodiment, the scan path is determined based on an inspection path, where the inspection path is located in a target blood vessel, and the inspection path includes a plurality of target positioning points, and the scan path includes a plurality of scan positions, where the plurality of target positioning points are in one-to-one correspondence with the plurality of scan positions. It will be appreciated that the examination path is a trace line extending through the target vessel, the trace line extending along the direction of extension of the target vessel, and any point on the trace line being located within the target vessel.

In one implementation manner of this embodiment, the acquiring the scan path of the target blood vessel specifically includes:

s11, acquiring three-dimensional data corresponding to a target part, wherein the target part comprises a target blood vessel;

s12, determining an inspection path corresponding to the target blood vessel based on the three-dimensional data;

s13, acquiring a target image of the target part, and matching the inspection path to the target part based on the target image so as to obtain a scanning path.

Specifically, in the step S11, the target site includes a target blood vessel, which is a blood vessel to be scanned, in other words, the scanning path planned in the present embodiment is used for scanning the target blood vessel. In one implementation, the target vessel may be a limb vessel, for example, as shown in fig. 3, the leg is the target site and the leg vessel is the target vessel. The three-dimensional data comprises target three-dimensional data of a target position, and the target three-dimensional data comprises three-dimensional data of a target blood vessel, wherein the three-dimensional data can be three-dimensional image data, such as a 3D-DSA blood vessel three-dimensional image, a 3D-CT blood vessel image, an MRA blood vessel image and the like, and can also be a three-dimensional structure model, such as a three-dimensional structure model of a scanned blood vessel established by an ultrasonic image obtained by scanning of a mechanical arm ultrasonic system.

Further, in the step S12, the determining, based on the three-dimensional data, an inspection path corresponding to the target blood vessel specifically includes:

slicing the three-dimensional data according to a preset direction to obtain a plurality of section views;

obtaining respective corresponding target positioning points of each section chart, wherein the target positioning points are pipe diameter center points of target blood vessels;

and determining an inspection path corresponding to the target blood vessel based on the acquired plurality of target positioning points.

Specifically, the preset direction may be determined according to a blood vessel trend of the target blood vessel, and the preset direction may be the same as or opposite to the blood flow direction in the target blood vessel. Each of the plurality of cut-planes is contained within the three-dimensional data, each cut-plane includes a cross-section of the target vessel, and any two adjacent cut-planes of the plurality of cut-planes are equidistant in the three-dimensional image data, e.g., 1mm,2mm,3mm, 5mm, etc. In an implementation manner of this embodiment, the three-dimensional data is in a cylindrical shape, the three-dimensional data extends along a preset direction, and correspondingly, slicing the three-dimensional data according to the preset direction may specifically be to equally divide the three-dimensional data into a plurality of data segments according to the preset direction, and for each data segment, selecting a section with the opposite extension of the data segment towards the preset direction as a section map, so as to obtain a plurality of section maps, for example, as shown in fig. 4. Of course, in practical application, a tangential plane with the opposite extension of the data segment away from the preset direction may be selected as the tangential plane, etc.

Illustrating: the target blood vessel is a leg blood vessel, the trend of the leg blood vessel is from a near-heart end to a far-heart end, the near-heart end is one end close to the root of the thigh, and the far-heart end is one end close to the foot; the preset direction is the direction from the near-heart end to the far-heart end, three-dimensional data are equally divided into a plurality of data segments with the length of 3mm according to the direction from the near-heart end to the far-heart end, the side face of each data segment facing the near-heart end is selected, and the selected side face is used as a section diagram to obtain the section diagram corresponding to each data segment.

The target positioning point is contained in the self-corresponding tangent plane graph, and the target positioning point is contained in the image area corresponding to the target blood vessel. In an implementation manner of this embodiment, the obtaining the target positioning points corresponding to each of the tangent planes specifically includes:

for each section, acquiring an image area corresponding to a target blood vessel in the section;

and determining a pipe diameter center point of the target blood vessel according to the acquired image area, and taking the pipe diameter center point as a target positioning point corresponding to the tangent plane graph.

Specifically, the image area is an area where the target blood vessel is located in the blood vessel section in the section chart, wherein the image area can be obtained through an image recognition mode, for example, through a pre-trained recognition model, or through a traditional image recognition method, or through an edge recognition mode (for example, a roberts operator, a Prewitt operator, a sobel operator, a canny operator, a Laplacian operator and the like) and the like. In addition, after the image area is acquired, determining the area of the image area and determining the pipe diameter center point of the target blood vessel based on the area, wherein the pipe diameter center point is contained in the image area. In other words, after the image area is acquired, a target positioning point is selected in the image area, the target positioning point being a pipe diameter center point of the target blood vessel, and after a plurality of target positioning points are acquired, the plurality of target positioning points are connected to form an inspection path passing through the target blood vessel, for example, as shown in fig. 6, a black line segment in fig. 6 is an inspection path.

Further, in the step S13, the target image is obtained by photographing the target portion through an image capturing device, where the target image carries depth information. For example, the image capturing device is a depth camera, and the target image is a target image obtained by capturing the target image by the depth camera. The scanning path is a movement path corresponding to the skin surface of the target part, and the probe is driven by the mechanical arm to move along the scanning path on the target part, so that an ultrasonic image of the target blood vessel can be scanned. In one implementation of this embodiment, the image content included in the target image is included in the reference sub-data, in other words, the reference sub-data includes image features in the target image, so that the reference sub-data and the target image may be feature-matched to map the movement track onto the target image to obtain the scan path.

Based on this, the acquiring a target image of the target site, and matching the inspection path to the target site based on the target image, to obtain a scan path specifically includes:

determining a moving track corresponding to the checking path, and acquiring a target image of the target part, wherein the target image comprises depth information;

Selecting candidate part contours of the target part from the target image;

determining a candidate path corresponding to the moving track based on the candidate part contour, wherein the candidate path is positioned on the candidate part contour;

and taking the candidate path as a scanning path corresponding to the target blood vessel.

Specifically, the movement track is a virtual scan path corresponding to the target blood vessel, as shown in fig. 7, and the movement track is included in the three-dimensional data and located on the outer surface of the target site, in other words, the movement track is a virtual scan path formed in the three-dimensional data, and in the three-dimensional data, each scan position in the movement track is located on the outer surface of the target site.

In an implementation manner of this embodiment, the determining a movement track corresponding to the inspection path specifically includes:

for each target positioning point, selecting a track point from the position profile of the target position;

and taking the obtained connecting lines of the track points as the moving tracks corresponding to the target blood vessels.

Specifically, the part outline of the target part refers to an outline area of the target part in the three-dimensional data, and the part outline is an image area corresponding to the skin surface of the target part. The track point is selected from the part outline of the target part, so that the track point is one image point in the image area corresponding to the skin surface of the target part. In one implementation, after the trajectory point is selected, a distance from the trajectory point to the target anchor point may be determined, wherein the distance from the trajectory point to the target anchor point includes a distance from the trajectory point to a wall of the target vessel and a vessel radius of the target vessel. For example, as shown in fig. 5, the distance from the track point to the target positioning point=the vessel radius of the target vessel+the distance from the track point to the vessel wall of the target vessel.

In one implementation of this embodiment, when the ultrasound device is used to scan the target site, the target site needs to be fixed, so that one side of the target site contacts the fixed table, and each track point selected according to the target positioning point is located on the same side of the target vessel. In addition, because human tissues such as bones and muscles exist between the skin of the target part and the target blood vessel, the bones can block the ultrasonic waves sent by the ultrasonic probe, so that the ultrasonic probe cannot collect the target blood vessel, when the outline of the part of the target part selects the track point, the connecting line between the track point and the target positioning point does not comprise the image point in the image area corresponding to the bones, and therefore, no bone tissues exist between the track point and the target positioning point.

In a specific implementation manner of this embodiment, when selecting a track point, a plane where a target blood vessel is located may be acquired first, three-dimensional data is divided into two sub-data based on the plane, an image point with the smallest non-bone blocking distance to the target locating point is selected from a part profile included in the sub-data, and the selected image point is used as the track point. In other words, the distance between the track point and the target positioning point is the minimum distance without bone obstruction between the target positioning point and the reference part contour, wherein the reference part contour is the part contour in the target sub-data, and the target sub-data is one of two sub-data obtained by dividing the three-dimensional data based on the plane. It will be appreciated that for any candidate image point in the reference part contour, the distance between the candidate image point and the target anchor point is greater than or equal to the distance between the trajectory point and the target anchor point, wherein the candidate image point is an image point in the part contour that is free of bone obstruction with the target anchor point.

In one implementation manner of this embodiment, the target image is a gray scale image, and the target image carries image information of a target portion and depth information, where the target image may be an image of the target image acquired by a depth camera. The candidate part contour refers to the part edge of the target part in the target image, and the candidate part contour can be obtained through an edge recognition mode, for example, a sobel operator is adopted to recognize the part edge of the target part, and the like.

After the candidate part outline is obtained, the three-dimensional data is projected according to the shooting direction of the target image to obtain a projection image, and the target image is matched with the projection image to align the target image with the projection image. In one implementation, as shown in fig. 8, 9 and 10, the matching method may employ determining a plurality of candidate cross sections corresponding to the target portion according to the candidate portion profile, and determining a plurality of candidate cross sections corresponding to the target portion according to the projection profile; connecting the contours of the adjacent two of the plurality of candidate cross sections along the candidate part to form a plurality of candidate quadrilaterals, and connecting the contours of the adjacent two of the plurality of projection cross sections along the projection part to form a plurality of projection quadrilaterals; and finally, matching each candidate quadrangle with a plurality of projection quadrangles to align the target image with the projection image. After the target image is aligned with the projection image, matching the moving track to a scanning path corresponding to the target blood vessel.

In one implementation of the present implementation, after the acquiring the target image of the target site and matching the inspection path to the target site based on the target image to obtain the scan path, the method further includes:

the control mechanical arm drives the ultrasonic probe to scan the blood vessel to be scanned according to the scanning path so as to obtain a scanning image;

determining the vessel diameter of the target vessel and the reference distance based on the scanning image;

and adjusting the scanning path according to the vessel diameter and the minimum distance, and taking the adjusted scanning path as a scanning path corresponding to the target vessel.

Specifically, the scanning image is an ultrasonic image acquired by the mechanical arm driving the ultrasonic probe to move on the surface of the skin according to a scanning path, and the scanning position on the scanning path corresponding to the scanning image corresponds to a track point on a moving track, so that the scanning image corresponds to a target positioning point. Therefore, after the scanned image is acquired, the target positioning point corresponding to the scanned image is used for adjusting the scanning position corresponding to the scanned image so as to adjust the scanning path. The reference distance is the distance between the target blood vessel and the skin surface, wherein the vessel diameter of the target blood vessel is the vessel diameter in the ultrasonic central line transmitting direction, and the reference distance is the distance between the vessel in the ultrasonic central line transmitting direction and the skin surface in the target image.

In one implementation manner of this embodiment, the adjusting the scan path according to the vessel diameter and the minimum distance specifically includes:

if the sum of the vessel diameter and the reference distance is smaller than a preset distance, the ultrasonic probe is moved along an ultrasonic transmitting central line in a direction away from the surface of the skin, wherein the preset distance is the minimum distance between a target positioning point corresponding to a track point corresponding to the scanning image and the part outline of the target part without bone obstruction;

and acquiring the position information of the ultrasonic probe after movement, and updating the track point corresponding to the scanning image by adopting the position information so as to adjust the scanning path.

Specifically, the preset distance is the distance between the target positioning point and the track point corresponding to the target positioning point in the moving track, in other words, the preset distance is the sum of the vessel diameter and the distance from the vessel to the skin, which are determined when the scanning path is planned. When the sum of the vessel diameter and the reference distance is smaller than the preset distance, the mechanical arm is adjusted to move the target distance away from the skin in the direction of the ultrasonic emission center line, wherein the target distance is the difference value between the preset distance and the reference distance, and the reference distance is the sum of the vessel diameter and the reference distance. In addition, when the mechanical arm moves, if the target distance is smaller than the movement precision of the mechanical arm probe, the mechanical arm does not move, and the tissue inspection path and the mechanical arm scanning path do not need to be updated. If the target distance is greater than the movement precision of the mechanical arm probe, planning the target distance as an integer step of the target distance/the movement precision of the mechanical arm probe, and controlling the mechanical arm to move according to the step. After the mechanical arm finishes moving, acquiring the position information of the ultrasonic probe after moving, and updating the track point corresponding to the scanning image by adopting the position information so as to adjust the scanning path. In this way, the actual distance between the target blood vessel and the skin surface, which is determined by acquiring the ultrasonic image, is used for updating the skin surface scanning path, so that the accuracy of the scanning path can be improved.

S20, when a switching instruction is received, determining a target scanning mode corresponding to the switching instruction.

Specifically, the switching instruction is used for switching the scanning mode of the ultrasonic probe, where the switching instruction may be implemented through a switching key configured on the ultrasonic probe, or may be triggered by a control host connected to the ultrasonic probe (for example, the control host is provided with the switching key, or the control host is provided with a virtual switching key, or the control host is provided with a mode control icon, etc.), or may be sent to the control host through an external device, etc. In one implementation of this embodiment, the ultrasound probe is connected to the mechanical arm, both the ultrasound probe and the mechanical arm are connected to the control host, a switching key is provided on the control host, and the control host forms a switching instruction when the switching key is triggered, so as to switch the scan model of the ultrasound probe based on the control instruction.

In an implementation manner of this embodiment, when a switching instruction is received, determining a target scan mode corresponding to the switching instruction specifically includes:

when a switching instruction is received, acquiring a reference scanning mode of the ultrasonic probe configuration;

And determining a target scanning mode corresponding to the switching instruction according to the reference scanning mode, wherein the target scanning mode is different from the reference scanning mode.

Specifically, the reference scanning mode of the ultrasonic probe configuration refers to a scanning model of the ultrasonic configuration at the current moment, wherein the ultrasonic mode of the ultrasonic probe configuration comprises a plurality of candidate scanning modes, and the reference scanning mode is contained in the plurality of candidate scanning modes. It will be appreciated that the ultrasound device is configured with a number of candidate scan patterns, the reference scan pattern is contained within the number of candidate scan patterns, and the reference scan pattern is the scan pattern employed by the ultrasound probe upon receipt of the switch instruction. In one implementation of this embodiment, the number of candidate scan modes of the ultrasound probe configuration includes a transection mode and a slitter mode, and the reference scan model is included in the transection mode and the slitter mode, e.g., the reference scan model is the transection mode, and, for example, the reference scan model is the slitter mode. Wherein, the relative position relation between the ultrasonic probe and the target part in the transverse cutting mode is different from that between the ultrasonic probe and the target part in the longitudinal cutting mode.

The target scan pattern includes a number of candidate scan patterns and is different from the reference scan pattern. In this embodiment, the plurality of candidate scan patterns includes a transection pattern and a slitter pattern, such that when the reference scan pattern is the transection pattern, the target scan pattern is the slitter pattern; conversely, when the reference scan model is in the slitting mode, the target scan mode is in the transection mode. Therefore, after the reference scanning mode is acquired, the target scanning mode can be rapidly determined, so that the switching from the transverse cutting mode to the longitudinal cutting mode and the switching from the longitudinal cutting mode to the transverse cutting mode can be realized through one control key.

S30, controlling the ultrasonic probe to scan along the scanning path according to the target scanning mode.

Specifically, the scanning along the scanning path according to the target scanning mode refers to switching the ultrasonic probe to the target scanning mode, controlling the ultrasonic probe to scan the target part according to the target scanning mode after the ultrasonic probe is switched to the target scanning mode, and moving the ultrasonic probe along the scanning path in the process of scanning the target part. In this embodiment, the plurality of candidate scan modes of the ultrasound probe configuration include a transection mode and a longitudinal cutting mode, and the relative positional relationship of the ultrasound probe and the target site in the transection mode and the ultrasound probe and the target site in the longitudinal cutting mode are different. Therefore, in the process of controlling the ultrasonic probe to scan along the scanning path according to the target scanning mode, the relative position relationship between the ultrasonic probe and the target part needs to be adjusted so that the relative position relationship between the ultrasonic probe and the target position is the same as the relative position relationship required by the target scanning mode.

Based on this, in one implementation of the present embodiment, the controlling the ultrasound probe to scan along the scan path according to the target scan mode specifically includes:

determining a scanning position of the ultrasonic probe when a switching instruction is received;

controlling the ultrasonic probe to rotate at the scanning position so as to switch the ultrasonic probe to a target scanning mode;

and controlling the ultrasonic probe to scan along the scanning path by taking the scanning position as a starting point.

Specifically, the scanning position is located on the scanning path, and the scanning position is an intersecting position of the ultrasonic probe and the scanning path when the switching instruction is received, where when the phase position of the ultrasonic probe and the scanning path is a curve segment, the scanning position may be a scanning position closest to a center point of a scanning surface of the ultrasonic probe on the curve segment. In addition, the ultrasonic probe is connected with the mechanical arm, and the ultrasonic probe is driven to rotate at the scanning position by the mechanical arm so as to adjust the relative position relation between the ultrasonic probe and the target part and adjust the scanning mode of the ultrasonic probe.

In one implementation manner of this embodiment, the target control mode is a transverse mode, and the controlling the rotation of the ultrasound probe at the scanning position to switch the ultrasound probe to the target scanning mode specifically includes:

Controlling the ultrasonic probe to rotate at the scanning position, and monitoring the position relation of the projection of the width of the ultrasonic probe on a preset plane and the projection of the path of the inspection path corresponding to the scanning path on the preset plane;

and when the width projection is perpendicular to the path projection, judging that the ultrasonic probe is switched to a transverse cutting mode, and stopping controlling the ultrasonic probe to rotate at a scanning position.

Specifically, the preset plane may be preset, the ultrasonic wave emission direction is perpendicular to the preset plane, and the preset plane is located on a side of the target portion away from the ultrasonic probe, for example, as shown in fig. 11, 12 and 13, the preset plane is perpendicular to the ultrasonic wave emission direction of the ultrasonic probe, and the width direction of the ultrasonic probe is projected to the preset plane along the ultrasonic wave emission direction. The width projection refers to projection of the broad side of the ultrasonic probe on the preset plane, and the path projection is projection of an inspection path corresponding to the scanning path on the preset plane, wherein the inspection path corresponds to the scanning path one by one, the inspection path is positioned in a target blood vessel in the target part, the scanning path is positioned on the surface of the target part, and the target blood vessel is the part to be scanned. In this embodiment, the inspection path is the inspection path in the above-mentioned scanning path acquisition process, and the scanning path is a path formed by mapping the detection path to the target site.

In one implementation manner of this embodiment, a three-dimensional data model is preset to be built, where the three-dimensional data model is a three-dimensional data model corresponding to the target site, and an inspection path located in the target blood vessel is displayed in the three-dimensional data model, and the ultrasonic probe, the preset plane, and a width projection of the ultrasonic probe on the preset plane, and a path projection of the inspection path on the preset plane. When the ultrasonic probe moves, the ultrasonic probe in the three-dimensional data model moves synchronously and corresponds to the ultrasonic probe, in other words, the three-dimensional data model reflects the relative position relation between the ultrasonic probe and the target part in real time. Therefore, when the ultrasonic probe is controlled to rotate at the scanning position, the three-dimensional data model can determine the position relation of the width projection of the ultrasonic probe on a preset plane and the path projection of the inspection path corresponding to the scanning path on the preset plane, and when the width projection is perpendicular to the path projection, the ultrasonic probe is in a transverse mode, and the switching of the scanning mode of the ultrasonic probe is completed at the moment. Furthermore, it should be noted that, the positional relationship between the projection of the width of the ultrasonic probe on the preset plane and the projection of the inspection path corresponding to the scanning path on the preset plane may also be monitored by other means, which will not be described here.

In one implementation manner of this embodiment, the target control mode is a longitudinal cutting mode, and the controlling the rotation of the ultrasonic probe at the scanning position to switch the ultrasonic probe to the target scanning mode specifically includes:

controlling the ultrasonic probe to rotate at the scanning position, and monitoring the position relation of the projection of the width of the ultrasonic probe on a preset plane and the projection of the path of the inspection path corresponding to the scanning path on the preset plane;

and when the width projection is overlapped with the path projection, judging that the ultrasonic probe is switched to a longitudinal cutting mode, and stopping controlling the ultrasonic probe to rotate at a scanning position.

Specifically, when the target control mode is a slitter mode, monitoring whether a position relationship of a width projection of the ultrasonic probe on a preset plane and a path projection of an inspection path corresponding to the scanning path on the preset plane is an overlapping relationship, wherein overlapping refers to that a projection line segment of a center line of the ultrasonic probe in the width direction on the preset plane overlaps with a partial region of the path projection of the inspection path on the preset plane, and a midpoint of the projection line segment is located on the partial region of the path projection.

In one implementation of this embodiment, after the scan mode switching of the ultrasound probe is completed, the target focus of the ultrasound probe may be adjusted to improve the sharpness of the ultrasound image acquired by the ultrasound probe. Correspondingly, after the ultrasonic probe is controlled to scan along the scanning path according to the target scanning mode, the method further comprises:

acquiring a scanning image of a target blood vessel;

determining a target scanning point corresponding to a scanning image based on a scanning path, wherein the target scanning point is contained in a scanning point covered by an ultrasonic probe when the scanning image is acquired;

and determining a target focus based on the target scanning point, and taking the target focus as the scanning focus of the scanning point corresponding to the scanning image.

Specifically, the target scanning point is a scanning point corresponding to a scanning image, and the target scanning point is contained in a scanning point covered by an ultrasonic probe when the scanning image is acquired. It is understood that the target scan points are scan points of scan points covered by the ultrasound probe when acquiring the scan image, and the number of target scan points may be determined according to the scan mode in which the ultrasound probe is located when acquiring the scan image. The target focus is a focus configured by the ultrasonic equipment, when the ultrasonic equipment acquires an ultrasonic image based on the target focus, the focus area of the ultrasonic probe covers a blood vessel image area, wherein the target focus corresponding to the transverse cutting mode of the ultrasonic probe is different from the target focus corresponding to the longitudinal cutting mode of the ultrasonic probe, and the range of the target blood vessel area carried by the ultrasonic image acquired when the ultrasonic probe is in the transverse cutting mode is different from the range of the target blood vessel area carried by the ultrasonic image acquired when the ultrasonic probe is in the longitudinal cutting mode.

Based on this, in one implementation manner of this embodiment, the determining, based on the scan path, the target scan point body corresponding to the scan image includes:

when the ultrasonic probe is in a transverse cutting mode, determining scanning points covered by the ultrasonic probe when the scanning image is acquired, and taking the determined scanning points as target scanning points;

when the ultrasonic probe is in a longitudinal cutting mode, a plurality of scanning points covered by the ultrasonic probe when the scanning image is acquired are determined, a first scanning point corresponding to the maximum scanning depth and a second scanning point corresponding to the minimum scanning depth are selected from the scanning points, and the first scanning point and the second scanning point are used as target scanning points, wherein the scanning depth is the distance between a target positioning point in an inspection path corresponding to the scanning points and the skin of the target part.

Specifically, the scan path includes a plurality of scan points, each of the plurality of scan points corresponds to one of the target anchor points in the inspection path, and the scan points in the scan path correspond one-to-one with the target anchor points in the inspection path. The inspection path is located within the target vessel relative to the scan path, the scan path being located at a surface of the target site, wherein the target vessel is located within the target site.

In one implementation manner of the embodiment, when the mode in which the ultrasonic probe is located is a transverse mode, the ultrasonic probe covers one scanning point, and then the scanning point covered by the ultrasonic probe is taken as a target scanning point; when the ultrasonic probe is in a longitudinal cutting mode, the ultrasonic probe covers a plurality of candidate scanning points, and each candidate scanning point in the plurality of candidate scanning points corresponds to one candidate target positioning point; for each candidate target positioning point, determining a candidate distance between the candidate target positioning point and the skin of the target part, and taking the candidate distance as a scanning depth corresponding to the candidate target positioning point; and selecting the maximum scanning depth and the minimum scanning depth from the acquired scanning depths, taking the candidate scanning point corresponding to the maximum scanning depth as a first scanning point, taking the candidate scanning point corresponding to the minimum scanning depth as a second scanning point, and finally taking the first scanning point and the second scanning point as target scanning points.

In one implementation of this embodiment, the determining the target focus based on the target scan point specifically includes

When the ultrasonic probe is in a transverse cutting mode, taking the scanning depth corresponding to the target scanning point as a target focus;

When the ultrasonic probe is in a longitudinal cutting mode, if the depth difference value of the first scanning depth corresponding to the first scanning point and the second scanning depth corresponding to the second scanning point is smaller than or equal to a preset threshold value, taking the average value of the first scanning depth and the second scanning depth as a target focus; and if the depth difference value is larger than a preset threshold value, determining a first focus and a second focus based on the depth difference value, and taking the first focus and the second focus as target focuses.

Specifically, when the ultrasonic probe is in a transverse mode, 1 target scanning points are set, corresponding to the 1 target scanning points, and the scanning depth corresponding to the target scanning points is set as the target focus. For example, as shown in fig. 15, the ultrasound probe is in a transection mode, the target focus is 1, and the imaging region of the ultrasound probe covers the target blood vessel. When the ultrasonic probe is in a longitudinal cutting mode, determining the number of target scanning points based on the first scanning depth and the second scanning depth, wherein when the depth difference value between the first scanning depth corresponding to the first scanning point and the second scanning depth corresponding to the second scanning point is smaller than or equal to a preset threshold value, the number of target focuses is 1; when the depth difference value is larger than a preset threshold value, the number of target focuses is 2; the preset threshold is preset, for example, a focal zone of 1 unit, a focal zone of 1.5 units, a focal zone of 2 units, and the like. In other words, after the first scanning depth and the second scanning depth are acquired, calculating a depth difference between the first scanning depth and the second scanning depth, and comparing the depth difference with a preset threshold; if the depth difference value is smaller than or equal to a preset threshold value, the number of target focuses is 1; and when the depth difference value is larger than a preset threshold value, the target focus number is 2. For example, as shown in fig. 16, the ultrasound probe is in the slitting mode, the target focus is 2, and the imaging area of the ultrasound probe covers the target blood vessel.

Further, when the number of target focuses is 1, the target focuses may be equal to an average of the first scanning depth and the second scanning depth; when the number of target focuses is 2, determining a first focus and a second focus based on the depth difference, and taking the first focus and the second focus as target focuses, for example, the first focus is a second scanning depth+a depth difference between the first scanning depth and the second scanning depth/2+a x unit focus area, and the second focus is a second scanning depth+a depth difference between the first scanning depth and the second scanning depth/2+b x unit focus area, wherein a is greater than b, a is greater than or equal to half of a preset threshold, b is less than half of the preset threshold, for example, a=0.75, b=0.5, and the like.

In one implementation manner of this embodiment, after the determining the target focus based on the target scan point and taking the target focus as the scan focus of the scan point corresponding to the scan image, the method includes:

determining a target TGC group corresponding to the target focus based on a preset TGC reference;

and increasing the target TGC group by a preset gain value, and taking the increased target TGC group as a target TGC group of a scanning point corresponding to the scanning image.

Specifically, the preset TGC standard may be a standard TGC configured before the ultrasonic probe starts scanning, where the preset TGC standard may include 8 to 10 TGC groups, and dynamically match the TGC groups into a depth range acquired by the ultrasonic probe, where each TGC group corresponds to a different depth range, where the TGC groups are used to adjust a time gain corresponding to a scanning depth, and different time gains may be configured for different scanning depths by adjusting the TGC groups, for example, when the scanning depth range is large, since an image of a far end is dark, an image of the far end of ultrasound is increased by setting the TGC group that increases linearly.

The target TGC group is obtained when the mechanical arm performs scanning state switching according to the scanning path, wherein the scanning state switching comprises switching to a transverse cutting mode and switching to a longitudinal cutting mode. When switching to the cross-cut mode (i.e., switching to scan to cross-cut view), after configuring the target focus, determining the target TGC set according to the scan depth corresponding to the target focus, and increasing the target TGC set, for example, increasing the target TCG set by a first preset threshold, for example, 2dB, or the like. When the longitudinal cutting mode is switched (i.e. the scanning longitudinal cutting view is switched) and the scanning longitudinal cutting view is switched, a first target TGC group corresponding to the first focus and a second target TGC group corresponding to the second focus are respectively obtained, and when the first target TGC group and the second target TGC group are respectively increased, for example, the first target TGC group is increased by a second preset threshold value, the second target TGC group is increased by a third preset threshold value, wherein the second preset threshold value is larger than the third preset threshold value, for example, the second preset threshold value is 2dB, and the third preset threshold value is 1 dB. Of course, in practical application, a plurality of first preset thresholds, a plurality of second preset thresholds and a plurality of third preset thresholds may be preset, and the first preset thresholds, or the second preset thresholds, the third preset thresholds, and the like may be selected according to the living habits, the ages, and the characteristics of the operation of the user.

Based on the above-mentioned control method of the ultrasonic probe, the present embodiment provides a control device of the ultrasonic probe, as shown in fig. 18, the control device includes:

the first control module 100 is used for controlling the ultrasonic probe to scan along a preset scanning path;

the determining module 200 is configured to determine, when a switching instruction is received, a target scanning mode corresponding to the switching instruction, where the target scanning mode is a transverse cutting mode or a longitudinal cutting mode;

and the second control module 300 is used for controlling the ultrasonic probe to scan along the scanning path according to the target scanning mode.

In addition, it should be noted that the working process of the control device of the ultrasonic probe according to the embodiment is the same as that of the control method of the ultrasonic probe, and will not be described herein again, and the description of the working process of the control method of the ultrasonic probe may be specifically performed.

Based on the above-described control method of the ultrasound probe, the present embodiment provides a computer-readable storage medium storing one or more programs executable by one or more processors to implement the steps in the control method of the ultrasound probe as described in the above-described embodiments.

Based on the above control method of the ultrasonic probe, the present application also provides an ultrasonic apparatus, as shown in fig. 19, which includes at least one processor (processor) 20; a display screen 21; and a memory (memory) 22, which may also include a communication interface (Communications Interface) 23 and a bus 24. Wherein the processor 20, the display 21, the memory 22 and the communication interface 23 may communicate with each other via a bus 24. The display screen 21 is configured to display a user guidance interface preset in the initial setting mode. The communication interface 23 may transmit information. The processor 20 may invoke logic instructions in the memory 22 to perform the methods of the embodiments described above.

Further, the logic instructions in the memory 22 described above may be implemented in the form of software functional units and stored in a computer readable storage medium when sold or used as a stand alone product.

The memory 22, as a computer readable storage medium, may be configured to store a software program, a computer executable program, such as program instructions or modules corresponding to the methods in the embodiments of the present disclosure. The processor 20 performs functional applications and data processing, i.e. implements the methods of the embodiments described above, by running software programs, instructions or modules stored in the memory 22.

The memory 22 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created according to the use of the terminal device, etc. In addition, the memory 22 may include high-speed random access memory, and may also include nonvolatile memory. For example, a plurality of media capable of storing program codes such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or a transitory storage medium may be used.

In addition, the specific processes that the storage medium and the plurality of instruction processors in the mobile terminal load and execute are described in detail in the above method, and are not stated here.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims (9)

1. A method of controlling an ultrasound probe, the method comprising:

controlling an ultrasonic probe to scan along a preset scanning path;

when a switching instruction is received, determining a target scanning mode corresponding to the switching instruction, wherein the target scanning mode is a transverse cutting mode or a longitudinal cutting mode;

controlling the ultrasonic probe to scan along the scanning path according to the target scanning mode;

the step of acquiring the scanning path specifically comprises the following steps:

acquiring three-dimensional data corresponding to a target part, wherein the target part comprises a target blood vessel;

determining an inspection path corresponding to the target blood vessel based on the three-dimensional data;

the determining the inspection path corresponding to the target blood vessel based on the three-dimensional data specifically comprises the following steps:

slicing the three-dimensional data according to a preset direction to obtain a plurality of section views;

obtaining respective corresponding target positioning points of each section chart, wherein the target positioning points are pipe diameter center points of target blood vessels;

determining an inspection path corresponding to the target blood vessel based on the acquired plurality of target positioning points;

acquiring a target image of a target part, and matching the inspection path to the target part based on the target image to obtain a scanning path;

The obtaining a target image of the target part, and matching the inspection path to the target part based on the target image, so as to obtain a scanning path specifically includes:

determining a moving track corresponding to the checking path, and acquiring a target image of the target part, wherein the target image comprises depth information;

selecting candidate part contours of the target part from the target image;

determining a candidate path corresponding to the moving track based on the candidate part contour, wherein the candidate path is positioned on the candidate part contour;

taking the candidate path as a scanning path corresponding to the target blood vessel;

the determining the movement track corresponding to the inspection path specifically includes:

for each target positioning point, selecting a track point from the position profile of the target position;

taking the obtained connecting lines of a plurality of track points as the moving tracks corresponding to the target blood vessels;

and selecting a track point from the part outline of the target part, wherein the connecting line between the track point and the target positioning point does not comprise an image point in the image area corresponding to the skeleton.

2. The method according to claim 1, wherein when a switching instruction is received, determining a target scan mode corresponding to the switching instruction specifically includes:

When a switching instruction is received, a reference scanning mode of the ultrasonic probe configuration is obtained, wherein the reference scanning mode is a transverse cutting mode or a longitudinal cutting mode;

and determining a target scanning mode corresponding to the switching instruction according to the reference scanning mode, wherein the target scanning mode is different from the reference scanning mode.

3. The method according to claim 1, wherein the controlling the ultrasonic probe to scan along the scan path in accordance with the target scan pattern specifically comprises:

determining a scanning position of the ultrasonic probe when a switching instruction is received;

controlling the ultrasonic probe to rotate at the scanning position so as to switch the ultrasonic probe to a target scanning mode;

and controlling the ultrasonic probe to scan along the scanning path by taking the scanning position as a starting point.

4. The method according to claim 3, wherein the target scanning mode is a cross-cut mode, and the controlling the ultrasonic probe to rotate at the scanning position to switch the ultrasonic probe to the target scanning mode specifically comprises:

controlling the ultrasonic probe to rotate at the scanning position, and monitoring the position relation of the width projection of the ultrasonic probe on a preset plane and the path projection of an inspection path corresponding to the scanning path on the preset plane, wherein the inspection path is positioned in a target blood vessel in a target part corresponding to the scanning path;

And when the width projection is perpendicular to the path projection, judging that the ultrasonic probe is switched to a transverse cutting mode, and stopping controlling the ultrasonic probe to rotate at a scanning position.

5. The method according to claim 4, wherein the target scanning mode is a slitting mode, and the controlling the ultrasonic probe to rotate at the scanning position to switch the ultrasonic probe to the target scanning mode specifically includes:

and when the width projection is overlapped with the path projection, judging that the ultrasonic probe is switched to a longitudinal cutting mode, and stopping controlling the ultrasonic probe to rotate at a scanning position.

6. The method of controlling an ultrasonic probe according to claim 4, wherein the ultrasonic wave emitting direction is perpendicular to the preset plane.

7. A control device of an ultrasonic probe, characterized in that the control device comprises:

the first control module is used for controlling the ultrasonic probe to scan along a preset scanning path;

the device comprises a determining module, a judging module and a judging module, wherein the determining module is used for determining a target scanning mode corresponding to a switching instruction when the switching instruction is received, wherein the target scanning mode is a transverse cutting mode or a longitudinal cutting mode;

the second control module is used for controlling the ultrasonic probe to scan along the scanning path according to the target scanning mode;

The step of acquiring the scanning path specifically comprises the following steps:

acquiring three-dimensional data corresponding to a target part, wherein the target part comprises a target blood vessel;

determining an inspection path corresponding to the target blood vessel based on the three-dimensional data;

the determining the inspection path corresponding to the target blood vessel based on the three-dimensional data specifically comprises the following steps:

slicing the three-dimensional data according to a preset direction to obtain a plurality of section views;

obtaining respective corresponding target positioning points of each section chart, wherein the target positioning points are pipe diameter center points of target blood vessels;

determining an inspection path corresponding to the target blood vessel based on the acquired plurality of target positioning points;

acquiring a target image of a target part, and matching the inspection path to the target part based on the target image to obtain a scanning path;

the obtaining a target image of the target part, and matching the inspection path to the target part based on the target image, so as to obtain a scanning path specifically includes:

determining a moving track corresponding to the checking path, and acquiring a target image of the target part, wherein the target image comprises depth information;

selecting candidate part contours of the target part from the target image;

Determining a candidate path corresponding to the moving track based on the candidate part contour, wherein the candidate path is positioned on the candidate part contour;

taking the candidate path as a scanning path corresponding to the target blood vessel;

the determining the movement track corresponding to the inspection path specifically includes:

for each target positioning point, selecting a track point from the position profile of the target position;

taking the obtained connecting lines of a plurality of track points as the moving tracks corresponding to the target blood vessels;

and selecting a track point from the part outline of the target part, wherein the connecting line between the track point and the target positioning point does not comprise an image point in the image area corresponding to the skeleton.

8. A computer-readable storage medium storing one or more programs executable by one or more processors to implement the steps in the method of controlling an ultrasound probe according to any one of claims 1-6.

9. A terminal device, comprising: a processor, a memory, and a communication bus;

the memory has stored thereon a computer readable program executable by the processor;

The communication bus realizes connection communication between the processor and the memory;

the processor, when executing the computer readable program, implements the steps in the control method of an ultrasound probe according to any one of claims 1 to 6.