CN113295777A - Method and system for improving harmonic imaging performance based on lens echo - Google Patents
Method and system for improving harmonic imaging performance based on lens echo Download PDFInfo
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Abstract
The invention belongs to the technical field of ultrasonic imaging, and particularly relates to a method for improving harmonic imaging performance based on lens echo, which comprises the following steps: s1, preprocessing the ultrasonic probe; s2, transmitting each array element and each group of transmitting phase waveforms imaged according to ultrasonic pulse codes by operating the ultrasonic equipment, and recording lens echoes; s3, evaluating echo amplitude parameters according to lens echoes through an algorithm, and traversing all array elements and all transmitting phase waveforms of ultrasonic pulse coding imaging to complete a calibration process; s4, reading echo amplitude parameters corresponding to each array element of the ultrasonic probe according to the calibrated transmitting waveform, and controlling transmitting gain parameters by using the echo amplitude parameters to realize a working process; according to the invention, by acquiring the amplitude characteristics of the transmitting signals of different phase codes and accumulating the self-adaptive adjustment coefficients in the operation process, the optimal fundamental wave offset result can be acquired, so that the harmonic wave imaging quality is improved.
Description
Technical Field
The invention belongs to the technical field of ultrasonic imaging, and particularly relates to a method and a system for improving harmonic imaging performance based on lens echo.
Background
The detection of internal structures of objects by ultrasonic imaging is widely used in the fields of medicine, nondestructive inspection, and the like. In the field of medical imaging, ultrasound imaging is widely used for examination of parenchymal organs because of the absence of ionizing lesions. Among various ultrasonic imaging modes, harmonic imaging provides better resolution and is a basic working mode of ultrasonic two-dimensional imaging; one of the main methods for realizing harmonic imaging is to adopt an ultrasonic pulse coding imaging mode, wherein the ultrasonic pulse coding imaging mode is to transmit ultrasonic waves with different phase codes for many times on the same scanning line, and by utilizing the phase correlation characteristic, the fundamental wave component in the imaging signal is removed through the received signal operation (accumulation operation), so that the harmonic signal intensity is improved, and the contrast and the resolution of the image are improved. The most common ultrasonic pulse coding imaging is positive and negative harmonic coding, wherein a pair of signals with opposite phases are respectively transmitted and are respectively marked as + phase and' -phase, received signals are directly added to offset fundamental waves, and only harmonic components are reserved. The principle is as follows:
assuming that the transmission waveform is e (t), the ultrasonic echo signal can be expressed as:
x(t)＝xodd(t)+xeven(t)； (1)
wherein x isodd(t) and xeven(t) represents the fundamental component and harmonic component of the echo signal x (t), respectively,
represents the system response of the ultrasound system to the tissue, namely:
wherein the content of the first and second substances,
and
respectively representing the response of the ultrasound system and the tissue to the transmitted waveform, which is a positive pulse ep(t) time of echo signal xp(t) is:
the emission waveform being negative pulse en(t) time of echo signal xn(t) is:
due to en(t)＝-ep(t), then equation (6) can be written as:
the echo signal x after pulse inversion and superposition can be obtained by the joint type (5) and the formula (6)s(t) is:
the echo signal after pulse inversion superposition does not contain fundamental wave component x any moreodd(t), the harmonic component is 2 times of the original one, thereby improving the contrast of the harmonic image.
As can be seen from equation (4), the ultrasound system responds
The response of the positive and negative pulses determines the echo signal x after pulse inversion superpositionsA fundamental wave component in (t); when the ultrasound is appliedSystem pulse inversion performance satisfaction
When xs(t) the fundamental component is derived from tissue nonlinearities; when the pulse inversion performance of the ultrasonic system is satisfied
When xsThe fundamental component in (t) increases, thereby reducing the harmonic image contrast and resolution.
As shown in fig. 1, a processing flow of an ultrasonic transmitting and receiving link is given, and both ultrasonic transmitting and ultrasonic receiving in an ultrasonic imaging process use an array probe; the specific transmitting process is to drive a plurality of array elements of the ultrasonic transducer with certain amplitude and time delay, the excitation sound wave generated by each array element is superposed in space to obtain a set sound field of the transmitting, and the receiving process is to superpose the received echoes of the array elements according to certain time delay and amplitude to obtain a target echo corresponding to the transmitting.
The imaging mechanism of ultrasonic pulse coding imaging is similar to positive and negative harmonic coding, and the transmitting waveform for different orders is eiAnd (t), the echo signal cancels the fundamental component thereof through accumulation operation, and the harmonic component is reserved.
When the array probe is adopted, the transmitted wave is contributed by all array elements participating in transmission, and the value of each point is represented by the formula (9):
wherein alpha isjIs the transmit gain, T, of each channelijRepresenting the transmit gain, V, of the jth array element for the ith point positionTIs the total transmit voltage; t isij、VTThe amplitude of the signal before accumulation is affected.
As shown in FIG. 2, a schematic diagram of the ultrasound transmission section is given, the most common bi-directional switch drive of the ultrasound transmission section, specifically by using a switchDriving a PN MOSFET switch tube, if the internal resistance of the N-MOSFET is RNInternal resistance of P-MOSFET is RPThe impedance of the probe array element is RE(ii) a Taking the positive and negative harmonic coding method as an example,
the emission amplitude of "+ phase" is:
V+＝RE/(RN+RE)*VE(10)
the emission amplitude of the "-phase" is:
V-＝RE/(RP+RE)*VE(11)
obviously, if R isNAnd RPNot equal, at the same VEThe lower transmit waveform amplitude is different; due to the limitation of manufacturing process, R of different array elements on one probeEIs different and R isEVariations can occur throughout the life of the probe and these can lead to difficulties in pre-compensating for variations in impedance across different elements, as well as across the life of the same element.
Positive and negative harmonic coding is taken as an example to explain the influence of the factors on harmonic imaging, and for positive and negative harmonic coding imaging, the plus phase and the minus phase are directly added in an accumulation operation stage; the same V can be obtained from the formulas (10) and (11)EUnder the condition that the emission voltages V + and V-applied to the array elements are different, V + and V-directly affect TijThe magnitude of (d); the ultrasonic receiving echo signals and the transmitting signals are directly correlated, so that the + phase and the phase cannot be counteracted after the accumulation operation, and the harmonic imaging quality is directly reduced.
In addition, since the external part of the general lens is contacted with the object to be measured through the coupling agent, no obvious lens echo is generated due to the fact that the impedance of the acoustic lens is relatively close to the impedance of the object to be measured. In general, the transmission waveform is determined by the characteristics of the system transmission driving circuit, the transmission waveform, the transmission voltage and the characteristics of the probe array element, and the reasons directly cause the reduction of harmonic imaging quality. Therefore, it is necessary to improve it to overcome the disadvantages in practical applications.
Disclosure of Invention
Based on the above-mentioned shortcomings and drawbacks of the prior art, it is an object of the present invention to at least solve one or more of the above-mentioned problems of the prior art, in other words, to provide a method and system for improving harmonic imaging performance based on lens echo, which meets one or more of the above-mentioned needs.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for improving harmonic imaging performance based on lens echo comprises the following steps:
s1, preprocessing the ultrasonic probe;
s2, transmitting each array element and each group of transmitting phase waveforms imaged according to ultrasonic pulse codes by operating the ultrasonic equipment, and recording lens echoes;
s3, evaluating echo amplitude parameters according to lens echoes through an algorithm, and traversing all array elements and all transmitting phase waveforms of ultrasonic pulse coding imaging to complete a calibration process;
and S4, reading the echo amplitude parameter corresponding to each array element of the ultrasonic probe according to the calibrated transmitting waveform, and controlling the transmitting gain parameter by using the echo amplitude parameter so as to realize the working process.
As a preferable scheme, the preprocessing of the ultrasonic probe in the step S1 specifically includes: and connecting a probe connector with the transducer, connecting the probe connector with the ultrasonic probe, and cleaning the surface of the transducer to be calibrated.
Preferably, the step S2 includes:
s21, reading the ith group of emission pulse waveforms of ultrasonic pulse code imaging, wherein i is 1-2;
s22, utilizing the ith group of transmitted pulse waveforms to independently transmit and excite each array element of the ultrasonic probe;
and S23, recording the received echo, determining the position of the lens echo according to the parameters of the ultrasonic probe, and extracting the lens echo.
Preferably, the step S3 specifically includes:
calculating the waveform of the lens echo within the unit time range to obtain the echo amplitude parameter of each array element of the current waveform; and obtaining echo amplitude parameters of all array elements of the current waveform by traversing all array elements of ultrasonic pulse coding imaging and all transmitting phase waveforms.
Preferably, the algorithmic evaluation includes a maximum method and an integral method.
Preferably, in step S4, the sum of echo amplitude parameters encoded for each ultrasound pulse corresponding to all array elements currently transmitted is calculated, that is:
wherein f is an echo lens parameter; j is 1-M, and M is the number of array elements currently participating in transmission; fSum1Corresponding to a "+ phase" ultrasound echo; fSum2Corresponding to a "-phase" ultrasound echo.
Preferably, the transmission gain parameters include transmission voltage, transmission gain of each channel of the ultrasonic probe, and transmission gain of the array elements corresponding to different position points.
The invention also provides a system for improving the harmonic imaging performance based on the lens echo, which comprises the following components:
the pretreatment module is used for pretreating the ultrasonic probe;
the calibration module is used for transmitting each array element and each group of transmitting phase waveforms imaged according to the ultrasonic pulse codes by operating the ultrasonic equipment and recording lens echoes; evaluating echo amplitude parameters through an algorithm according to lens echoes, and traversing all array elements and all transmitting phase waveforms of ultrasonic pulse coding imaging to finish a calibration process;
and the working module is used for reading the echo amplitude parameter corresponding to each array element of the ultrasonic probe according to the calibrated transmitting waveform and controlling the transmitting gain parameter by using the echo amplitude parameter so as to realize the working process.
Preferably, the working module includes a calculating module, and the calculating module is configured to calculate a sum of echo amplitude parameters encoded for each ultrasonic pulse corresponding to all currently transmitted array elements, that is:
wherein f is an echo lens parameter; j is 1-M, and M is the number of array elements currently participating in transmission; fSum1Corresponding to a "+ phase" ultrasound echo; fSum2Corresponding to a "-phase" ultrasound echo.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, by acquiring the amplitude characteristics of the transmitting signals of different phase codes and accumulating the self-adaptive adjustment coefficients in the operation process, the optimal fundamental wave offset result can be acquired, so that the harmonic wave imaging quality is improved.
The invention realizes that the receiving echoes of different phases meet the offset condition by acquiring the information of the transmitting signal of one channel array element driven by the current transmitting circuit under different excitation conditions, extracting the corresponding parameter by using the information and adjusting the transmitting voltage or the gain parameter of the receiving channel through feedback.
Drawings
FIG. 1 is a flow chart of the process of an ultrasonic transmit receive chain in the background of the invention;
FIG. 2 is a schematic diagram of an ultrasound transmission portion of the background of the invention;
FIG. 3 is a flowchart illustrating steps of a method for improving harmonic imaging performance based on lens echo according to a first embodiment of the present invention;
FIG. 4 is a schematic structural component of a transducer of the present invention;
FIG. 5 is a schematic diagram of the forward and backward harmonic encoding single array element receiving echo of the present invention;
fig. 6 is a flowchart illustrating a calibration process and a working process of a method for improving harmonic imaging performance based on lens echo according to a first embodiment of the present invention;
FIG. 7 is a flowchart illustrating calibration of a method for improving harmonic imaging performance based on lens echo according to a first embodiment of the present invention;
fig. 8 is a structural diagram of a system for improving harmonic imaging performance based on lens echo according to a second embodiment of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention, the following description will explain the embodiments of the present invention with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
The first embodiment is as follows:
as shown in fig. 3, the present embodiment provides a method for improving harmonic imaging performance based on lens echo, including the following steps:
s1, preprocessing the ultrasonic probe;
s2, transmitting each array element and each group of transmitting phase waveforms imaged according to ultrasonic pulse codes by operating the ultrasonic equipment, and recording lens echoes;
s3, evaluating echo amplitude parameters through an algorithm, and traversing all array elements and all transmitting phase waveforms of ultrasonic pulse coding imaging to complete a calibration process;
and S4, reading the echo amplitude parameter corresponding to each array element of the ultrasonic probe according to the calibrated transmitting waveform, and controlling the transmitting gain parameter by using the echo amplitude parameter so as to realize the working process.
Specifically, the preprocessing of the ultrasound probe in step S1 includes: and connecting a probe connector with the transducer, connecting the probe connector with the ultrasonic probe, and cleaning the surface of the transducer to be calibrated.
As shown in fig. 4, in the array element structure of the ultrasound probe in this embodiment, a piezoelectric wafer is used as a center, a plurality of matching layers are arranged upward, and a lens (acoustic lens) is arranged on the outermost surface of the array element structure, so that an acoustic focusing effect is achieved. Because the outside of the general lens is contacted with the object to be measured through the coupling agent, the impedance of the acoustic lens is relatively close to the impedance of the object to be measured, no obvious lens echo can be generated, when the outside of the lens is directly air, the obvious lens echo can be generated due to the large difference between the acoustic impedance of the lens and the acoustic impedance of the air, the lens echo is a waveform reflected by a transmitting waveform at a lens/air interface, and is directly related to the transmitting waveform, so the characteristic of the transmitting waveform is directly reflected; since the geometry of the probe does not change after production, the lens echo always appears at a fixed (delayed) position in the received waveform.
As shown in FIG. 5, given that under the positive and negative harmonic coding imaging conditions, for the received echo signals of "+ phase" and "-phase", the signal of the lens echo part in the figure can be obtained through time shift.
As shown in fig. 6, when the ultrasound machine is started, it is first determined whether a calibration condition is satisfied, specifically: calculating the current time and the time interval T of the last calibration, and executing the calibration process when the T is greater than the calibration time interval set by the probe model; otherwise, entering the working process.
The calibration process is specifically as follows: firstly, setting a current encoding harmonic working mode as a positive and negative harmonic encoding mode, and reading an ith group of emission pulse waveforms of ultrasonic pulse encoding imaging, wherein i is 1-2; traversing by adopting a mode of firstly array element direction and then waveform direction: transmitting excitation independently for each array element from the first array element to the last array element of the probe by using the ith group of transmission pulse waveforms; recording and receiving the echo, determining the position of the lens echo according to the geometric parameters of the probe, and extracting the lens echo.
Performing algorithm evaluation on the waveform of the lens echo within a unit time range to obtain an echo amplitude parameter of each array element of the current waveform; and obtaining echo amplitude parameters of all array elements of the current waveform by traversing all array elements of ultrasonic pulse coding imaging and all transmitting phase waveforms.
The echo amplitude parameter refers to a parameter f which is obtained by calculating an echo waveform and can reflect the echo amplitude, the algorithm evaluation method can adopt a maximum value method, an integration method and other characteristic parameters in a certain time range, the time range usually adopts a first period, namely a first waveform zero-crossing point is found from the position of a lens echo, a second zero-crossing point is found from the point, and the range between the two zero-crossing points is the time range calculated by the algorithm.
Specifically, a lens echo signal is set to a sequence of n sampling points as Si，i＝1～n；
If the maximum method is used, f is calculated as follows:
f＝max(abs(Si)，i＝1～n)，i＝1～n； (12)
wherein abs (·) represents an absolute value; max (. cndot.) represents taking the maximum value for the sequence.
If the integration method is used, f is calculated as follows:
after the verification is finished, the amplitude parameters of each array element for each group of emission waveform lens echoes are obtained, and then the working process is started.
In the embodiment, a maximum value method is selected for calculation, and a maximum value is obtained for a signal in a first wave range of the lens echo according to a formula (12) to obtain an echo amplitude parameter; saving the value to a memory area (EEPROM) internal to the probe; and traversing each group of pulse waveforms of the ultrasonic pulse code imaging.
As shown in FIG. 7, the procedure of calibrating the direction of the array element before the direction of the transmission phase waveform is shown, and the 1 st group of transmission phase waveforms T is selected first1Then select the 1 st array element E1By controlling T for the transmitting circuit1Drive E1Recording lens echoes and calculating echo amplitude parameters; and traversing all array elements and all transmitting phase waveforms in sequence, thereby completing the standard process. The directions of traversing all array elements and the directions of all transmitting phase waveforms can be changed in sequence, and the calibration process is not influenced.
The working process is as follows: the working process is the process of the ultrasound executing the normal imaging function, and the corresponding parameters are adjusted by using the information recorded in the calibration process.
Reading echo amplitude parameter of each array element of current waveform from memory region (EEPROM) in probe, and controlling gain parameter influencing signal before accumulation operation in variation (9), such as transmission voltage VTEmission gain alpha j of each channel of the ultrasonic probe and emission gain T of array elements corresponding to different position pointsijEtc.; the received echoes corresponding to the respective codes before accumulation satisfy the best fundamental wave cancellation effect by feedback adjustment.
In this embodiment, the transmission gain of each array element is 1, the simplified summation is performed on equation (9), and the sum of echo amplitude parameters corresponding to all currently transmitted array elements and coded for each ultrasonic pulse is calculated as:
wherein j is 1-M, and M is the number of array elements currently participating in transmission; fSum1Corresponding to a "+ phase" ultrasound echo; fSum2Corresponding to the "-phase" ultrasound echo; if the emission voltage of the + phase is VT1Then, the emission voltage of the "-phase" is set to (fSum)1/fSum2)*VT1。
The received echoes corresponding to the respective codes before the accumulation operation satisfy the best fundamental wave cancellation effect through feedback adjustment.
The execution frequency of the calibration process can be determined according to the degree of array element parameter change, so that the amplitude of the transmitted signal of different probes and the amplitude of the transmitted signal of the same probe can meet the requirement of ultrasonic pulse coding imaging in a period of time, and the harmonic imaging quality is improved.
Compared with the prior art, the embodiment has the following beneficial effects:
in the embodiment, parameters influencing the amplitude of the received echo are fed back and adjusted through calibration data obtained in the calibration process so as to improve the harmonic wave imaging quality; by means of regular calibration, the influence of impedance change in the life cycle of the probe is eliminated, and the harmonic imaging performance in the whole life cycle is guaranteed to be unchanged; by calibrating the different probes individually, harmonic imaging can be guaranteed to be unchanged in harmonic imaging performance for each probe.
Example two:
as shown in fig. 8, the present embodiment provides a system for improving harmonic imaging performance based on lens echo, including:
the pretreatment module 11 is used for pretreating the ultrasonic probe;
the calibration module 12 is configured to transmit each array element and each group of transmit phase waveforms imaged according to the ultrasonic pulse code by operating the ultrasonic device, and record a lens echo; evaluating echo amplitude parameters through an algorithm according to lens echoes, and traversing all array elements and all transmitting phase waveforms of ultrasonic pulse coding imaging to finish a calibration process;
and the working module 13 is configured to read an echo amplitude parameter corresponding to each array element of the ultrasonic probe according to the calibrated transmit waveform, and control a transmit gain parameter by using the echo amplitude parameter, so as to implement a working process.
The working module 13 comprises a calculation module for calculating the sum of the echo amplitude parameters coded for each ultrasound pulse corresponding to all the array elements currently transmitted, namely:
wherein f is an echo lens parameter; j is 1-M, and M is the number of array elements currently participating in transmission; fSum1Corresponding to a "+ phase" ultrasound echo; fSum2Corresponding to a "-phase" ultrasound echo.
It should be noted that, the system for improving the harmonic imaging performance based on the lens echo in this embodiment corresponds to the method in the first embodiment, and details are not described herein.
Compared with the prior art, the invention has the following beneficial effects:
the invention realizes that the receiving echoes of different phases meet the offset condition by acquiring the transmitting signal information of one array element channel driven by the current transmitting circuit under different excitation conditions, extracting corresponding parameters by using the information and adjusting the transmitting voltage or the gain parameters of the receiving channel through feedback.
According to the invention, by acquiring the amplitude characteristics of the transmitting signals of different phase codes and accumulating the self-adaptive adjustment coefficients in the operation process, the optimal fundamental wave offset result can be acquired, so that the harmonic wave imaging quality is improved.
The foregoing has outlined rather broadly the preferred embodiments and principles of the present invention and it will be appreciated that those skilled in the art may devise variations of the present invention that are within the spirit and scope of the appended claims.
Claims (9)
1. A method for improving harmonic imaging performance based on lens echo is characterized by comprising the following steps:
s1, preprocessing the ultrasonic probe;
s2, transmitting each array element and each group of transmitting phase waveforms imaged according to ultrasonic pulse codes by operating the ultrasonic equipment, and recording lens echoes;
s3, evaluating echo amplitude parameters according to lens echoes through an algorithm, and traversing all array elements and all transmitting phase waveforms of ultrasonic pulse coding imaging to complete a calibration process;
and S4, reading the echo amplitude parameter corresponding to each array element of the ultrasonic probe according to the calibrated transmitting waveform, and controlling the transmitting gain parameter by using the echo amplitude parameter so as to realize the working process.
2. The method for improving harmonic imaging performance based on lens echo according to claim 1, wherein the preprocessing the ultrasound probe in the step S1 specifically comprises: and connecting a probe connector with the transducer, connecting the probe connector with the ultrasonic probe, and cleaning the surface of the transducer to be calibrated.
3. The method for improving harmonic imaging performance based on lens echo according to claim 1, wherein the step S2 includes:
s21, reading the ith group of emission pulse waveforms of ultrasonic pulse code imaging, wherein i is 1-2;
s22, utilizing the ith group of transmitted pulse waveforms to independently transmit and excite each array element of the ultrasonic probe;
and S23, recording the received echo, determining the position of the lens echo according to the parameters of the ultrasonic probe, and extracting the lens echo.
4. The method for improving harmonic imaging performance based on lens echo according to claim 1, wherein the step S3 specifically includes:
calculating the waveform of the lens echo within the unit time range to obtain the echo amplitude parameter of each array element of the current waveform; and obtaining echo amplitude parameters of all array elements of the current waveform by traversing all array elements of ultrasonic pulse coding imaging and all transmitting phase waveforms.
5. The method for improving harmonic imaging performance based on lens echo according to claim 1, wherein the algorithm evaluation comprises a maximum method and an integration method.
6. The method for improving harmonic imaging performance based on lens echo of claim 1, wherein in step S4, the sum of echo amplitude parameters corresponding to all array elements currently transmitted and encoded for each ultrasonic pulse is calculated, that is:
wherein f is an echo lens parameter; j is 1-M, and M is the number of array elements currently participating in transmission; fSum1Corresponding to a "+ phase" ultrasound echo; fSum2Corresponding to a "-phase" ultrasound echo.
7. The method for improving harmonic imaging performance based on lens echo according to claim 1, wherein the transmission gain parameters include transmission voltage, transmission gain of each channel of the ultrasonic probe, and transmission gain of the array elements corresponding to different position points.
8. A system for enhancing harmonic imaging performance based on lens echo, comprising:
the pretreatment module is used for pretreating the ultrasonic probe;
the calibration module is used for transmitting each array element and each group of transmitting phase waveforms imaged according to the ultrasonic pulse codes by operating the ultrasonic equipment and recording lens echoes; evaluating echo amplitude parameters through an algorithm according to lens echoes, and traversing all array elements and all transmitting phase waveforms of ultrasonic pulse coding imaging to finish a calibration process;
and the working module is used for reading the echo amplitude parameter corresponding to each array element of the ultrasonic probe according to the calibrated transmitting waveform and controlling the transmitting gain parameter by using the echo amplitude parameter so as to realize the working process.
9. The lens echo based system for improving harmonic imaging performance according to claim 8, wherein the working module comprises a calculating module for calculating the sum of echo amplitude parameters encoded for each ultrasonic pulse corresponding to all array elements currently transmitted, namely:
wherein f is an echo lens parameter; j is 1-M, and M is the number of array elements currently participating in transmission; fSum1Corresponding to a "+ phase" ultrasound echo; fSum2Corresponding to a "-phase" ultrasound echo.
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| CN112105945A (en) * | 2018-04-24 | 2020-12-18 | 皇家飞利浦有限公司 | Ultrasound imaging system for high resolution broadband harmonic imaging |
| CN108957471A (en) * | 2018-06-22 | 2018-12-07 | 杭州电子科技大学 | Three-dimension measuring system based on FM-CW laser ranging |
| WO2020113397A1 (en) * | 2018-12-04 | 2020-06-11 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic imaging method and ultrasonic imaging system |
| CN109870678A (en) * | 2018-12-06 | 2019-06-11 | 苏州镭图光电科技有限公司 | Laser radar transmission power and the Gain Automatic adjusting method of echo and regulating device |
| CN111175708A (en) * | 2019-12-18 | 2020-05-19 | 南京理工大学 | Automatic gain control system and method for active phase scanning ground reconnaissance radar |
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