CN113576518A

CN113576518A - Performance test method and device for convex array probe

Info

Publication number: CN113576518A
Application number: CN202110764675.3A
Authority: CN
Inventors: 安普岩; 吴楠
Original assignee: Yichao Technology Beijing Co ltd
Current assignee: Yichao Technology Wuhan Co ltd
Priority date: 2021-07-06
Filing date: 2021-07-06
Publication date: 2021-11-02

Abstract

The present disclosure provides a method and a device for testing the performance of a convex array probe, wherein the method comprises the following steps: controlling the convex array probe to perform first motion, and determining the initial posture of the convex array probe according to the parameter value of the target parameter of the ultrasonic signal received by the first target array element in the first motion process of the convex array probe; the initial posture is a posture that the distance between the first target array element and the reflection target is the shortest, and the array element arrangement direction of the convex array probe is parallel to the first plane; controlling the convex array probe to perform second motion at the initial posture, and determining the test pose of the convex array probe according to the parameter value of the target parameter of the ultrasonic signal received by the second target array element in the second motion process of the convex array probe; the test pose is the pose which enables the distance between the second target array element and the reflection target to be consistent and enables the ultrasonic signals emitted by the second target array element to be perpendicular to the tangent plane of the incident position of the second target array element in the reflection target; and carrying out performance test on the convex array probe according to the test pose.

Description

Performance test method and device for convex array probe

Technical Field

The disclosure relates to the technical field of probe testing, and more particularly, to a method and a device for testing the performance of a convex array probe.

Background

The medical ultrasonic probe is a core component of diagnostic ultrasonic equipment, converts an electric signal transmitted by an ultrasonic system into an ultrasonic signal by utilizing a piezoelectric effect and transmits the ultrasonic signal out, and can also convert a returned ultrasonic signal into an electric signal and transmit the electric signal back to the ultrasonic system, thereby imaging on a display. The acoustic performance of an ultrasound probe greatly affects the image quality, and therefore, the detection of the acoustic performance is particularly important.

The surface of the probe comprises a plurality of array elements (the number of the array elements can be 64,128,256 and the like), and each array element can be independently controlled to transmit and receive signals when necessary. The commonly used ultrasonic probes can be classified into linear arrays, phased arrays and convex arrays according to the geometrical shape.

When the acoustic performance of the probe is detected, the probe needs to be fixed by using a clamp with an adjustable position, and the surface of the probe is immersed in a water tank in which a reflection target for reflecting an ultrasonic signal is placed. Before the test, the position and the angle of the probe are continuously adjusted, so that the amplitude of a signal received by each array element of the probe is approximate and maximum, and the flight time is also approximate. The distance between each array element and the reflecting target is required to be consistent, and the transmission direction of the sound wave is perpendicular to the plane of the reflecting target. Therefore, the consistency of each array element in the test can be ensured, and the acoustic performance of the obtained array element can represent the overall performance of the probe.

At present, most of test platforms adopt a manual adjustment mode to adjust the position of an ultrasonic probe relative to a reflection target. The tester needs a certain experience and the manual adjustment takes a long time.

Disclosure of Invention

It is an object of embodiments of the present disclosure to provide a new solution to at least one of the above problems.

According to a first aspect of the present disclosure, a method for testing performance of a convex array probe is provided, including:

controlling the convex array probe to perform first motion, and determining the initial posture of the convex array probe according to the parameter value of the target parameter of the ultrasonic signal received by the first target array element in the first motion process of the convex array probe; the received ultrasonic signals are ultrasonic signals reflected by the reflecting target through the corresponding array elements; the initial posture is a posture that the distance between the first target array element and the reflection target is the shortest, and the array element arrangement direction of the convex array probe is parallel to a first plane;

controlling the convex array probe to perform second motion at the initial posture, and determining the test pose of the convex array probe according to the parameter value of the target parameter of the ultrasonic signal received by a second target array element in the second motion process of the convex array probe; wherein the test pose is a pose which enables the distance between the second target array element and the reflection target to be consistent and enables the ultrasonic signal emitted by the second target array element to be perpendicular to a tangent plane of an incident position of the second target array element in the reflection target;

and according to the test pose, performing performance test on the convex array probe.

Optionally, the controlling the convex array probe to perform the first motion, and determining the initial posture of the convex array probe according to the parameter value of the target parameter of the ultrasonic signal received by the first target array element in the first motion process of the convex array probe includes:

controlling the convex array probe to swing in the second plane according to a first set angle, and acquiring a first parameter value of a target parameter of an ultrasonic signal received by a central array element of the convex array probe in the swinging process of the convex array probe; wherein the second plane is perpendicular to the first plane;

determining a first posture of the convex array probe according to the first parameter value; wherein the first attitude is an attitude such that a distance between the central array element and the reflective target is closest;

controlling the convex array probe to rotate in a third plane according to a second set angle at the first posture, and acquiring a second parameter value of a target parameter of an ultrasonic signal received by array elements at two ends of the convex array probe in the rotating process of the convex array probe; wherein the third plane is perpendicular to the first plane and the second plane;

and determining the initial posture of the convex array probe according to the second parameter value.

Optionally, the target parameter comprises a time of flight,

the determining the first posture of the convex array probe according to the first parameter value comprises:

and determining the attitude when the flight time of the ultrasonic signal received by the central array element is minimum in the swinging process of the convex array probe as the first attitude.

Optionally, the target parameter further includes an amplitude value,

the determining the initial posture of the convex array probe according to the second parameter value comprises:

and determining the maximum attitude and the shortest flight time of the ultrasonic signals received by the array elements at the two ends in the rotating process of the convex array probe as the initial attitude.

Optionally, the controlling the convex array probe to perform the second motion at the initial posture, and determining the test position of the convex array probe according to the parameter value of the target parameter of the ultrasonic signal received by the second target array element in the second motion process of the convex array probe includes:

controlling the convex array probe to perform first movement along a first direction according to a first set step length in a first translation range by the initial posture, and acquiring a third parameter value of a target parameter of an ultrasonic signal received by array elements at two ends of the convex array probe in the first movement process of the convex array probe; wherein the first direction is perpendicular to the second plane;

determining a first pose of the convex array probe according to the third parameter value; the first pose is a pose which enables the distances between the two end array elements and the reflection target to be consistent, and ultrasonic signals emitted by the two end array elements are perpendicular to a tangent plane of an incident position of the two end array elements in the reflection target;

controlling the convex array probe to perform second movement along a second direction according to a second set step length in a second translation range at the first pose, and acquiring a fourth parameter value of a target parameter of an ultrasonic signal received by a central array element and two end array elements of the convex array probe in the second movement process of the convex array probe; wherein the second direction is perpendicular to the third plane;

and determining the test pose according to the fourth parameter value.

Optionally, the controlling the convex array probe to perform the first movement along the first direction according to the first set step length in the first translation range with the initial posture includes:

controlling the convex array probe to translate along the first direction according to the first set step length in the first translation range in the initial posture;

and after the convex array probe is translated for each time, controlling the convex array probe to swing in the first plane according to a third set angle.

Optionally, the target parameters include amplitude and time of flight,

the determining the first position of the convex array probe according to the third parameter value comprises:

and determining the position and the attitude of the difference between the amplitudes of the ultrasonic signals received by the array elements at the two ends, which is less than or equal to a first threshold value and the difference between the flight times, which is less than or equal to a second threshold value, as the first pose in the first moving process of the convex array probe.

Optionally, the target parameters include amplitude and time of flight,

the determining the test pose according to the fourth parameter value comprises:

and determining the position and the attitude of the central array element and the two end array elements which have the maximum amplitude and the difference between the amplitudes which is less than or equal to a third threshold value and the difference between the flight times which is less than or equal to a fourth threshold value in the second moving process of the convex array probe as the test pose.

According to a second aspect of the present disclosure, there is provided a performance testing apparatus for a convex array probe, comprising:

the first control module is used for controlling the convex array probe to perform first motion, and determining the initial posture of the convex array probe according to the parameter value of the target parameter of the ultrasonic signal received by the first target array element in the first motion process of the convex array probe; the received ultrasonic signals are ultrasonic signals reflected by the reflecting target through the corresponding array elements; the initial posture is a posture that the distance between the first target array element and the reflection target is the shortest, and the array element arrangement direction of the convex array probe is parallel to a first plane;

the second control module is used for controlling the convex array probe to perform second motion at the initial posture, and determining the test pose of the convex array probe according to the parameter value of the target parameter of the ultrasonic signal received by the second target array element in the second motion process of the convex array probe; wherein the test pose is a pose which enables the distance between the second target array element and the reflection target to be consistent and enables the ultrasonic signal emitted by the second target array element to be perpendicular to a tangent plane of an incident position of the second target array element in the reflection target;

and the performance testing module is used for carrying out performance testing on the convex array probe according to the testing pose.

According to a third aspect of the present disclosure, there is provided a performance testing apparatus for a convex array probe, comprising a processor and a memory for storing an executable computer program for controlling the processor to perform the method according to the first aspect of the present disclosure.

The method has the beneficial effects that the convex array probe is controlled to perform the first motion through the method of the embodiment, and the initial posture of the convex array probe is determined according to the parameter value of the target parameter of the ultrasonic signal received by the first target array element in the first motion process of the convex array probe; then controlling the convex array probe to perform second motion at the initial attitude, and determining the test pose of the convex array probe according to the parameter value of the target parameter of the ultrasonic signal received by a second target array element in the second motion process of the convex array probe; the method can automatically determine the test pose of the convex array probe without manual adjustment, so that the finally obtained test pose is higher in accuracy, the determination time of the test position is saved, and the time and labor cost are reduced.

Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a block diagram of one example of a hardware configuration of a performance device that may be used to implement a convex array probe of an embodiment of the present disclosure.

Fig. 2 is a block schematic diagram of a performance testing system for a convex array probe according to an embodiment of the present disclosure.

FIG. 3 is a schematic diagram of the position of a convex array probe relative to a reflective target according to an embodiment of the present disclosure.

Fig. 4 is a schematic flow chart of a method for testing the performance of a convex array probe according to an embodiment of the present disclosure.

Fig. 5 is a schematic diagram of a convex array probe according to an embodiment of the present disclosure.

Fig. 6 is a schematic flow chart illustrating an example of a method for testing the performance of a convex array probe according to an embodiment of the present disclosure.

Fig. 7 is a block schematic diagram of a performance testing apparatus for a convex array probe according to a second embodiment of the present disclosure.

Fig. 8 is a block schematic diagram of a performance testing apparatus of a convex array probe according to a third embodiment of the present disclosure.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

< hardware configuration >

Fig. 1 is a block diagram showing a hardware configuration of a performance test apparatus 1000 of a convex array probe that can implement an embodiment of the present disclosure.

As shown in fig. 1, the performance testing apparatus 1000 of the convex array probe may include a processor 1100, a memory 1200, an interface device 1300, a communication device 1400, a display device 1500, an input device 1600, a speaker 1700, a microphone 1800, and the like. The processor 1100 may be a central processing unit CPU, a microprocessor MCU, or the like. The memory 1200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device 1300 includes, for example, any type of USB interface, headphone interface, or the like. The communication device 1400 is capable of wired or wireless communication, for example, and may specifically include Wifi communication, bluetooth communication, 2G/3G/4G/5G communication, and the like. The display device 1500 is, for example, a liquid crystal display panel, a touch panel, or the like. The input device 1600 may include, for example, a touch screen, a keyboard, a somatosensory input, and the like. A user can input/output voice information through the speaker 1700 and the microphone 1800.

In the embodiment of the present disclosure, the performance test 1000 of the convex array probe may communicate with a server or an upper computer through the communication device 1400.

The apparatus for performance testing of a convex array probe shown in fig. 1 is illustrative only and is not intended to imply any limitation on the disclosure, its application, or uses. In an embodiment of the present disclosure, the memory 1200 of the apparatus 1000 for testing performance of a convex array probe is configured to store instructions for controlling the processor 1100 to operate to perform any one of the methods provided by the embodiments of the present disclosure. It should be understood by those skilled in the art that although a plurality of devices are shown in fig. 1 for the performance testing device 1000 of the convex array probe, the present disclosure may only refer to some of the devices, for example, the performance testing device 1000 of the convex array probe only refers to the processor 1100 and the storage device 1200. The skilled person can design the instructions according to the disclosed solution of the present disclosure. How the instructions control the operation of the processor is well known in the art and will not be described in detail herein.

< method examples >

In this embodiment, a method for testing performance of a convex array probe is provided. The method can be implemented by a performance testing device of the convex array probe. The performance testing apparatus of the convex array probe can be the performance testing apparatus 1000 of the convex array probe shown in fig. 1.

The embodiment also provides a performance testing system of a convex array probe, as shown in fig. 2, the performance testing system 2000 of the convex array probe may include a performance testing apparatus 1000, a fixture 2100 for holding the convex array probe 3000, a motor module 2200 for controlling the fixture to move with the convex array probe held by the fixture, a driving module 2300 for driving a motor in the motor module 2200, a pulse transmitting and receiving module 2400, and a reflective target 2500 for reflecting an ultrasonic signal transmitted by the convex array probe 3000, where the motor module 2200 may include a plurality of stepping motors and/or servo motors.

Reflective target 2500 can be mounted in a sink containing water that rests on a horizontal table. The reflective target is an object formed by digging a part of cylindrical surface on one surface of a stainless steel cuboid according to a certain radian, as shown in fig. 3. The reflective target is capable of effectively reflecting an ultrasonic signal.

In this embodiment, before the method of this embodiment is performed, it is necessary to manually fix the convex array probe on the fixture and roughly adjust the convex array probe to an appropriate pose with respect to the reflective target, i.e., no visual deviation. Specifically, the proper position of the convex array probe relative to the reflective target may be a position in which the distances between the array elements of the convex array probe relative to the curved surface of the reflective target are substantially the same.

The performance testing device 1000 can control the pulse transmitting and receiving module 2400 to transmit an ultrasonic signal through any one of the array elements of the convex array probe, the ultrasonic signal is reflected back to the array element through the reflection target, the pulse transmitting and receiving module 2400 provides the ultrasonic signal received by the array element to the performance testing device 1000, and the performance testing device 1000 controls the driving module 2300 according to the sound wave signal received by the array element, so that the driving motor module 2100 of the driving module 2300 controls the clamp to carry the convex array probe clamped by the clamp to perform corresponding movement.

According to fig. 4, the method of the present embodiment may include the following steps S4100 to S4300:

step S4100, controlling the convex array probe to perform a first motion, and determining an initial posture of the convex array probe according to a parameter value of a target parameter of the ultrasonic signal received by the first target array element of the convex array probe in the first motion process.

In this embodiment, the ultrasonic signal received by the first target array element is an ultrasonic signal reflected by the reflecting target after being transmitted to the reflecting target through the first target array element.

The first target array element in this embodiment may include a central array element and two end array elements of the convex array probe. The central array element can be any array element arranged at the central position of the convex array probe. The two end array elements can be two array elements which are respectively arranged at two ends of the convex array probe and are in symmetrical positions.

In one example, the array elements in the convex array probe may be arranged as shown in fig. 5. The cross-sectional view of the convex array probe taken along the section a-a in fig. 5 shows the arrangement structure of each array element in the convex array probe.

As shown in fig. 5, N array elements in the convex array probe are arranged in sequence, and then the ith array element and the (N + 1-i) th array element may be two end array elements of the convex array probe; wherein i is a positive integer less than N/2. Under the condition that N is an odd number, the (N +1)/2 th array element is the central array element of the convex array probe; in the case that N is an even number, the (N +1)/2 th array element or the (N-1)/2 th array element can be the central array element of the convex array probe.

The initial posture in this embodiment may be a posture in which the distance between the first target array element and the reflective target is the closest, and the array element arrangement direction of the convex array probe is parallel to the first plane. The array element arrangement direction of the convex array probe can be the direction indicated by the arrow in fig. 5.

In this embodiment, a spatial rectangular coordinate system may be constructed in advance, as shown in fig. 3. The first plane may be an XZ plane, i.e. the plane in which the X-axis and the Z-axis lie, as in the coordinate system of fig. 3.

The target parameter in this embodiment may be an amplitude and/or a time of flight. The time of flight may be the time from the transmission of the ultrasonic signal by the corresponding array element of the convex array probe to the reception of the ultrasonic signal reflected by the reflective target by the corresponding array element, that is, the time of the ultrasonic signal going back and forth between the convex array probe and the reflective target.

In an embodiment of the present disclosure, the controlling the convex array probe to perform the first motion, and determining the initial posture of the convex array probe according to the parameter value of the target parameter of the ultrasonic signal received by the first target array element during the first motion of the convex array probe may include steps S4110 to S4140 as shown below:

step S4110, controlling the convex array probe to swing in the second plane according to a first set angle, and acquiring a first parameter value of a target parameter of an ultrasonic signal received by a central array element of the convex array probe in the swinging process of the convex array probe.

Wherein the second plane is perpendicular to the first plane. In the coordinate system as shown in fig. 3, the second plane may be a YZ plane, i.e. a plane in which the Y-axis and the Z-axis lie.

The convex probe oscillates in a second plane, that is, the oscillating direction of the convex probe is parallel to the second plane, and the convex probe oscillates back and forth in the coordinate system shown in fig. 3.

In this embodiment, the first setting angle may be set in advance according to an application scenario or a specific requirement, for example, the first setting angle may be 1 degree. Then, the first parameter value of the target parameter of the ultrasonic signal received by the central array element is acquired every 1 degree of the swing of the convex array probe in the second plane.

In one embodiment of the present disclosure, the convex array probe may be controlled to swing within a first set swing range, which may be set in advance according to an application scenario or specific requirements, for example, the first set swing range may be [ -10 °, 10 ° ].

Step S4120, determining a first posture of the convex array probe according to the first parameter value.

Wherein the first posture is a posture which enables the distance between the central array element and the reflecting target to be nearest.

In one embodiment of the present disclosure, the target parameter comprises a time of flight, and then, according to the first parameter value, determining the first attitude of the convex array probe may be determining, as the first attitude, an attitude at which the time of flight of the ultrasonic signal received by the central array element is the smallest during the oscillation of the convex array probe.

Step S4130, controlling the convex array probe to rotate in the third plane according to the second set angle at the first posture, and acquiring a second parameter value of the target parameter of the ultrasonic signal received by the array elements at the two ends of the convex array probe in the rotating process of the convex array probe.

Wherein the third plane is perpendicular to the first plane and the second plane. In the coordinate system as shown in fig. 3, the second plane may be a YX plane, i.e. a plane in which the Y-axis and the X-axis lie.

The convex probe is rotated in a third plane, i.e. the direction of rotation of the convex probe is parallel to the third plane, and in the coordinate system as shown in fig. 3, the convex probe may be rotated in the direction indicated by the arrow.

In this embodiment, the second setting angle may be set in advance according to an application scenario or a specific requirement, for example, the second setting angle may be 1 degree. Then, the convex array probe may obtain a second parameter value of the target parameter of the ultrasonic signal received by the two end array elements every 1 degree of rotation in the third plane.

In one embodiment of the present disclosure, the convex array probe may be controlled to rotate within a set rotation range, which may be set in advance according to an application scenario or a specific requirement, for example, the set rotation range may be [ -180 °, 180 ° ].

And step S4140, determining the initial posture of the convex array probe according to the second parameter value.

In one embodiment of the present disclosure, the target parameter further includes an amplitude value, and then, according to the second parameter value, determining the initial pose of the convex array probe may be: and determining the attitude when the amplitude of the ultrasonic signals received by the array elements at the two ends is maximum and the flight time is shortest in the rotating process of the convex array probe as the initial attitude.

Under the condition that the convex array probe is in the initial posture, the amplitude of the received ultrasonic signal is the largest and the flight time is the shortest for each of the array elements at the two ends.

And step S4200, controlling the convex array probe to perform a second motion at the initial posture, and determining the test pose of the convex array probe according to the parameter value of the target parameter of the ultrasonic signal received by the second target array element in the second motion process of the convex array probe.

The pose in the present embodiment may include a position and a posture.

In this embodiment, the second target array element may comprise a central array element and two end array elements of the convex array probe.

Furthermore, the central array elements contained in the first target array element and the second target array element may be the same or different; the two end array elements included in the first target array element and the second target array element may be the same or different, and are not limited herein.

In this embodiment, the test pose may be a pose in which the distance between the second target array element and the reflective target is consistent, and the ultrasonic signal emitted by the second target array element is perpendicular to the tangent plane of the incident position in the reflective target.

Specifically, the incident position of the ultrasonic signal in the reflecting target is a position in the curved surface of the reflecting target, and the ultrasonic signal is perpendicular to the tangent plane of the incident position, that is, the propagation direction of the ultrasonic signal is perpendicular to the tangent plane of the incident position.

In an embodiment of the present disclosure, the controlling the convex array probe to perform the second motion at the initial pose, and determining the test pose of the convex array probe according to the parameter value of the target parameter of the ultrasonic signal received by the second target array element during the second motion of the convex array probe may include steps S4210 to S4240 as follows:

step S4210, controlling the convex array probe to perform first movement along the first direction according to a first set step length in a first translation range in an initial posture, and acquiring a third parameter value of a target parameter of the ultrasonic signal received by the array elements at two ends of the convex array probe in the first movement process of the convex array probe.

Wherein the first direction is perpendicular to the second plane, in the coordinate system as shown in fig. 3, the first direction may be a direction parallel to the X-axis.

In an embodiment of the present disclosure, controlling the convex array probe to perform the first movement along the first direction in the first translational range according to the first set step size at the initial posture may include steps S4211 to S4212 as follows:

step S4211, controlling the convex array probe to translate along the first direction according to the first set step length in the first translation range in the initial posture.

In this embodiment, the first setting step may be set in advance according to an application scenario or a specific requirement, for example, the first setting step may be 1 mm.

In one example, the position where the convex array probe is located after the convex array probe performs step S4100 may be used as the origin of the preset spatial rectangular coordinate system.

Further, the first set translation range may be set in advance according to an application scenario or a specific requirement, for example, the first set translation range may be [ -1mm, 1mm ]. Since the first direction is the direction of the X-axis in the coordinate system as shown in fig. 3, it may be that the convex array probe is controlled to translate between the coordinate point (-1,0,0) and the coordinate point (1,0, 0). Then, during the translation of the convex array probe in the first direction, the coordinates of the resting position of the convex array probe may include (-1,0,0), (0,0,0), (1,0, 0).

And step S4212, after the convex array probe translates each time, controlling the convex array probe to swing in the first plane according to a third set angle.

Step S4212 is executed once for each first set step length of the convex array probe moving along the first direction, that is, the convex array probe is controlled to swing in the first plane according to the third set angle at each stop position.

The convex array probe swings in a first plane, that is, the swinging direction of the convex array probe is parallel to the first plane, and the convex array probe swings left and right in a coordinate system as shown in fig. 3.

In this embodiment, the third setting angle may be set in advance according to an application scenario or a specific requirement, and for example, the third setting angle may be 1 degree. Then, a third parameter value of the target parameter of the ultrasonic signal received by the central array element may be acquired for every 1 degree swing of the convex array probe at each dwell position in the first plane.

In one embodiment of the present disclosure, the convex array probe may be controlled to swing within a second set swing range, which may be set in advance according to an application scenario or specific requirements, for example, the second set swing range may be [ -10 °, 10 ° ].

And step S4220, determining the first pose of the convex array probe according to the third parameter value.

The first pose is a pose which enables the distances between the array elements at the two ends and the reflecting target to be consistent, and ultrasonic signals emitted by the array elements at the two ends are perpendicular to a tangent plane of an incident position of the ultrasonic signals in the reflecting target.

In one embodiment of the present disclosure, the target parameters may include amplitude and time of flight, and determining the first attitude of the convex array probe from the third parameter values then comprises: and determining the position and the posture of the ultrasonic signals received by the array elements at the two ends, wherein the difference between the amplitudes of the ultrasonic signals is smaller than or equal to a first threshold value and the difference between the flight times is smaller than or equal to a second threshold value in the first moving process of the convex array probe, and taking the position and the posture as a first pose.

The first threshold and the second threshold may be respectively set in advance according to an application scenario or specific requirements, and under the condition that a difference between amplitudes of the ultrasonic signals received by the array elements at the two ends is less than or equal to the first threshold and a difference between flight times is less than or equal to the second threshold, the distances from the array elements at the two ends to the reflection target may be considered to be consistent.

And step S4230, controlling the convex array probe to perform second movement along a second direction within a second translation range according to a second set step length at the first pose, and acquiring a fourth parameter value of the target parameter of the ultrasonic signal received by the central array element and the array elements at two ends of the convex array probe in the second movement process of the convex array probe.

Wherein the second direction is perpendicular to the third plane. In the coordinate system as shown in fig. 3, the second direction may be a direction parallel to the Z-axis.

In this embodiment, the second setting step may be set in advance according to an application scenario or a specific requirement, for example, the second setting step may be 1 mm.

In one example, the convex array probe can be controlled to perform the second movement along the second direction within the second translation range according to the second set step length under the condition that the convex array probe is in the first pose. With the convex probe in the first pose, the coordinates of the convex probe may be represented as (X,0, 0).

Further, the second set translation range may be set in advance according to an application scenario or a specific requirement, for example, the second set translation range may be [ -30mm, 5mm ]. Since the second direction is the direction of the Z-axis in the coordinate system as shown in fig. 3, it may be possible to control the convex probe to translate between coordinate points (X,0, -30) to (X,0, 5).

In this embodiment, a fourth parameter value of the target parameter of the ultrasonic signal received by the central array element and the two end array elements may be obtained every 1mm of second movement of the convex array probe along the second direction.

And step S4240, determining the test pose of the convex array probe according to the fourth parameter value.

In one embodiment of the present disclosure, the target parameters include amplitude and time of flight, and then determining the test pose from the fourth parameter values may include: and determining the position and the posture of the ultrasonic signals received by the central array element and the array elements at the two ends in the second moving process of the convex array probe, wherein the amplitude is the largest, the difference between the amplitudes is less than or equal to a third threshold value, and the difference between the flight times is less than or equal to a fourth threshold value, and taking the position and the posture as a test posture.

The third threshold and the fourth threshold may be respectively set in advance according to an application scenario or a specific requirement, a difference between amplitudes of the ultrasonic signals received by the two end array elements is smaller than or equal to the third threshold, and under a condition that a difference between flight times is smaller than or equal to the fourth threshold, distances between the two end array elements and the central array element from the reflection target may be considered to be the same, and the ultrasonic signals transmitted by the two end array elements and the central array element are perpendicular to a tangent plane of an incident position of the ultrasonic signals in the reflection target.

And step S4300, performing performance test on the convex array probe according to the test pose.

In the embodiment of the disclosure, the convex array probe can be controlled to be in the test pose, and then the performance of the convex array probe in the test pose is tested.

By the method of the embodiment, the convex array probe is controlled to perform first motion, and the initial posture of the convex array probe is determined according to the parameter value of the target parameter of the ultrasonic signal received by the first target array element in the first motion process of the convex array probe; then controlling the convex array probe to perform second motion at the initial attitude, and determining the test pose of the convex array probe according to the parameter value of the target parameter of the ultrasonic signal received by a second target array element in the second motion process of the convex array probe; the method can automatically determine the test pose of the convex array probe without manual adjustment, so that the finally obtained test pose is higher in accuracy, the determination time of the test position is saved, and the time and labor cost are reduced.

< example 1>

Fig. 6 is a flowchart of an example of a method for testing performance of a convex array probe according to an embodiment of the present disclosure.

As shown in fig. 6, the method may include:

and step S6001, controlling the convex array probe to swing in the second plane according to a first set angle, and acquiring a first parameter value of a target parameter of the ultrasonic signal received by the central array element of the convex array probe in the swinging process of the convex array probe.

And step S6002, determining a first posture of the convex array probe according to the first parameter value.

And step S6003, controlling the convex array probe to rotate in a third plane according to a second set angle at the first posture, and acquiring a second parameter value of the target parameter of the ultrasonic signal received by the array elements at the two ends of the convex array probe in the rotating process of the convex array probe.

And step 6004, determining the initial posture of the convex array probe according to the second parameter value.

And step 6005, controlling the convex array probe to translate along the first direction according to the first set step length in the first translation range at the initial posture.

And step S6006, after the convex array probe translates each time, controlling the convex array probe to swing in the first plane according to a third set angle, and acquiring a third parameter value of the target parameter of the ultrasonic signal received by the array elements at the two ends of the convex array probe in the swinging process of the convex array probe.

And step 6007, determining the first pose of the convex array probe according to the third parameter value.

And step S6008, controlling the convex array probe to perform second movement along a second direction within a second translation range according to a second set step length at the first pose, and acquiring a fourth parameter value of the target parameter of the ultrasonic signal received by the central array element and the array elements at the two ends of the convex array probe in the second movement process of the convex array probe.

And step S6009, determining the test pose of the convex array probe according to the fourth parameter value.

And step S6010, performing performance test on the convex array probe according to the test pose.

< first apparatus embodiment >

In this embodiment, a performance testing apparatus 7000 for a convex array probe is provided, as shown in fig. 7, including a first control module 7100, a second control module 7200, and a performance testing module 7300. The first control module 7100 is used for controlling the convex array probe to perform a first motion, and determining the initial attitude of the convex array probe according to the parameter value of the target parameter of the ultrasonic signal received by the first target array element in the first motion process of the convex array probe; the received ultrasonic signals are ultrasonic signals reflected by the reflecting target through the corresponding array elements; the initial posture is a posture that the distance between the first target array element and the reflection target is the shortest, and the array element arrangement direction of the convex array probe is parallel to the first plane; the second control module 7200 is configured to control the convex array probe to perform a second motion at the initial pose, and determine the test pose of the convex array probe according to the parameter value of the target parameter of the ultrasonic signal received by the second target array element of the convex array probe in the second motion process; the test pose is the pose which enables the distance between the second target array element and the reflection target to be consistent and enables the ultrasonic signals emitted by the second target array element to be perpendicular to the tangent plane of the incident position of the second target array element in the reflection target; the performance testing module 7300 is used for performing performance testing on the convex array probe according to the testing pose.

In one embodiment of the disclosure, the first control module 7100 includes:

the first control unit is used for controlling the convex array probe to swing in the second plane according to a first set angle, and acquiring a first parameter value of a target parameter of an ultrasonic signal received by a central array element of the convex array probe in the swinging process of the convex array probe; wherein the second plane is perpendicular to the first plane;

the first attitude determination unit is used for determining the first attitude of the convex array probe according to the first parameter value; wherein the first posture is a posture which enables the distance between the central array element and the reflecting target to be the nearest;

the second control unit is used for controlling the convex array probe to rotate in a third plane according to a second set angle in the first posture, and acquiring a second parameter value of a target parameter of an ultrasonic signal received by array elements at two ends of the convex array probe in the rotating process of the convex array probe; wherein the third plane is perpendicular to the first plane and the second plane;

and the initial attitude determination unit is used for determining the initial attitude of the convex array probe according to the second parameter value.

In an embodiment of the disclosure, the target parameter includes a time of flight, and the first attitude determination unit is specifically configured to: and determining the attitude when the flight time of the ultrasonic signal received by the central array element is minimum in the swinging process of the convex array probe as a first attitude.

In an embodiment of the disclosure, the target parameter further includes a magnitude, and the initial posture determining unit is specifically configured to:

and determining the maximum attitude of the ultrasonic signals received by the array elements at the two ends and the shortest flight time in the rotating process of the convex array probe as the initial attitude.

In one embodiment of the present disclosure, the second control module 7200 includes:

the third control unit is used for controlling the convex array probe to perform first movement along the first direction according to a first set step length in the first translation range in the initial posture so as to acquire a third parameter value of a target parameter of the ultrasonic signal received by the array elements at two ends of the convex array probe in the first movement process of the convex array probe; wherein the first direction is perpendicular to the second plane;

the first pose determining unit is used for determining the first pose of the convex array probe according to the third parameter value; the first pose is a pose which enables the distances between the array elements at the two ends and the reflecting target to be consistent, and ultrasonic signals emitted by the array elements at the two ends are perpendicular to a tangent plane of an incident position of the ultrasonic signals in the reflecting target;

the fourth control unit is used for controlling the convex array probe to perform second movement along a second direction according to a second set step length in a second translation range at the first pose so as to acquire a fourth parameter value of a target parameter of the ultrasonic signal received by a central array element and two end array elements of the convex array probe in the second movement process of the convex array probe; wherein the second direction is perpendicular to the third plane;

and the test pose determining unit is used for determining the test pose according to the fourth parameter value.

In one embodiment of the present disclosure, controlling the convex array probe to perform the first movement along the first direction in the first translation range according to the first set step size includes:

controlling the convex array probe to translate along a first direction according to a first set step length in a first translation range at an initial posture;

and after the convex array probe translates each time, controlling the convex array probe to swing in the first plane according to a third set angle.

In an embodiment of the disclosure, the target parameter includes an amplitude and a time of flight, and the first pose determination unit is specifically configured to:

and determining the position and the posture of the ultrasonic signals received by the array elements at the two ends, wherein the difference between the amplitudes of the ultrasonic signals is smaller than or equal to a first threshold value and the difference between the flight times is smaller than or equal to a second threshold value in the first moving process of the convex array probe, and taking the position and the posture as a first pose.

In an embodiment of the disclosure, the target parameters include an amplitude and a flight time, and the test pose determining unit is specifically configured to:

and determining the position and the posture of the ultrasonic signals received by the central array element and the array elements at the two ends in the second moving process of the convex array probe, wherein the amplitude is the largest, the difference between the amplitudes is less than or equal to a third threshold value, and the difference between the flight times is less than or equal to a fourth threshold value, and taking the position and the posture as a test posture.

It will be appreciated by those skilled in the art that the apparatus 7000 for performance testing of a convex array probe can be implemented in various ways. For example, the performance testing apparatus 7000 for a convex array probe can be implemented by an instruction configuration processor. For example, the performance testing apparatus 7000 for a convex array probe may be implemented by storing instructions in a ROM and reading the instructions from the ROM into a programmable device when the device is started. For example, the performance testing apparatus 7000 for the convex array probe may be cured into a dedicated device (e.g., ASIC). The performance testing apparatus 7000 of the convex array probe may be divided into units independent of each other, or may be implemented by combining them together. The performance testing apparatus 7000 of the convex array probe may be implemented by one of the various implementations described above, or may be implemented by a combination of two or more of the various implementations described above.

In this embodiment, the performance testing apparatus 7000 of the convex array probe can have various implementation forms, for example, the performance testing apparatus 7000 of the convex array probe can be any functional module running in a software product or an application program providing a control service, or a peripheral insert, a plug-in, a patch, etc. of the software product or the application program, and can also be the software product or the application program itself.

< second apparatus embodiment >

In this embodiment, a performance testing apparatus 8000 for a convex array probe is also provided. The performance testing apparatus 8000 of the convex probe may be the performance testing apparatus 1000 of the convex probe as shown in fig. 1.

As shown in fig. 8, the performance testing apparatus 8000 of the convex array probe may further include a processor 8100 and a memory 8200, the memory 8200 being used for storing executable computer programs; the computer program is for controlling the processor 8100 to perform a method according to any embodiment of the present disclosure.

The above embodiments mainly focus on differences from other embodiments, but it should be clear to those skilled in the art that the above embodiments can be used alone or in combination with each other as needed.

The embodiments in the present disclosure are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments, but it should be clear to those skilled in the art that the embodiments described above can be used alone or in combination with each other as needed. In addition, for the device embodiment, since it corresponds to the method embodiment, the description is relatively simple, and for relevant points, refer to the description of the corresponding parts of the method embodiment. The system embodiments described above are merely illustrative, in that modules illustrated as separate components may or may not be physically separate.

The present disclosure may be an apparatus, method, and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or border servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, pose setting data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, by utilizing pose information of computer-readable program instructions to personalize a custom electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), the electronic circuit can execute the computer-readable program instructions to implement various aspects of the present disclosure.

Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, by software, and by a combination of software and hardware are equivalent.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A method for testing the performance of a convex array probe is characterized by comprising the following steps:

2. The method of claim 1, wherein the controlling the convex array probe to perform the first motion, and wherein determining the initial pose of the convex array probe according to the parameter value of the target parameter of the ultrasonic signal received by the first target array element during the first motion comprises:

3. The method of claim 2, wherein the target parameter comprises a time of flight,

4. The method of claim 3, wherein the target parameter further comprises a magnitude,

5. The method of claim 2, wherein the controlling the convex array probe to perform the second motion at the initial posture, and determining the test position of the convex array probe according to the parameter value of the target parameter of the ultrasonic signal received by the second target array element during the second motion of the convex array probe comprises:

and determining the test pose according to the fourth parameter value.

6. The method of claim 5, wherein said controlling the convex array probe to make a first movement in a first direction in a first set step size within a first translation range at the initial pose comprises:

7. The method of claim 5, wherein the target parameters include amplitude and time of flight,

8. The method of claim 7, the target parameters comprising amplitude and time of flight,

9. A performance testing device of a convex array probe is characterized by comprising:

10. A performance testing apparatus for a convex array probe comprising a processor and a memory for storing an executable computer program for controlling the processor to perform the method of any one of claims 1 to 8.