CN114026602A - Ultrasound imaging method, system and computer readable storage medium - Google Patents

Ultrasound imaging method, system and computer readable storage medium Download PDF

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Publication number
CN114026602A
CN114026602A CN201980097856.6A CN201980097856A CN114026602A CN 114026602 A CN114026602 A CN 114026602A CN 201980097856 A CN201980097856 A CN 201980097856A CN 114026602 A CN114026602 A CN 114026602A
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China
Prior art keywords
transducer
region
interest
ultrasonic
probe
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CN201980097856.6A
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Chinese (zh)
Inventor
李双双
周建桥
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Shenzhen Mindray Bio Medical Electronics Co Ltd
Ruinjin Hospital Affiliated to Shanghai Jiaotong University School of Medicine Co Ltd
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Shenzhen Mindray Bio Medical Electronics Co Ltd
Ruinjin Hospital Affiliated to Shanghai Jiaotong University School of Medicine Co Ltd
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Publication of CN114026602A publication Critical patent/CN114026602A/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G06T15/10—Geometric effects
    • G06T15/20—Perspective computation

Abstract

An ultrasound imaging method, system and computer readable storage medium. The method comprises the following steps: controlling a full-volume probe in a first imaging mode to emit first ultrasonic waves at a first preset position so as to acquire three-dimensional volume data (200) of a tested tissue; determining a region of interest (202) of the tissue under test based on the three-dimensional volume data; controlling the full-volume probe in a second imaging mode to emit second ultrasonic waves (204) to the region of interest of the tested tissue at a second preset position; physiological state information of a region of interest of the tissue under test is determined based on the second ultrasound waves (206). The method can apply the non-planar tissue full-volume imaging system to other imaging modes to detect the physiological state information of the tested tissue, and can also increase the application range of the non-planar tissue full-volume imaging system.

Description

Ultrasound imaging method, system and computer readable storage medium Technical Field
The present application relates to the medical field, and in particular, to an ultrasound imaging method, system, and computer-readable storage medium.
Background
In full volume imaging, since the structure of tissue such as the human breast is not planar, and full volume imaging must be coupled with the human tissue, the probe tends to tightly compress the breast tissue to deform during imaging in order to obtain full volume information. However, after the compression, the elasticity of the tissue is changed, and the blood supply inside the tissue may become abnormal. Thus, when acquiring volume information of non-planar tissue, the system cannot acquire physiological state information that the tissue can extract in other imaging modes such as blood flow, elasticity, and the like.
Disclosure of Invention
An ultrasound imaging method, system, and computer-readable storage medium are provided.
In a first aspect, an embodiment of the present application provides an ultrasound imaging method, which is applied to an ultrasound imaging system, where the ultrasound imaging system includes an ultrasound probe, and the ultrasound imaging method includes:
the ultrasonic probe in the first imaging mode is controlled to transmit first ultrasonic waves to the tested tissue at a first preset position, and first ultrasonic echo data are obtained after the first ultrasonic echo returned by the tested tissue is received and converted;
acquiring three-dimensional volume data of the tissue under test based on the first ultrasound echo data;
determining a region of interest of the tissue under test based on the three-dimensional volume data;
controlling the ultrasonic probe to move from the first preset position to a second preset position, wherein a first distance of the first preset position relative to a reference position of the tested tissue is smaller than a second distance of the second preset position relative to the reference position of the tested tissue;
controlling the ultrasonic probe in a second imaging mode to emit second ultrasonic waves to the region of interest of the tested tissue, and converting second ultrasonic echoes returned by the tested tissue to obtain second ultrasonic echo data;
determining physiological state information of the region of interest based on the second ultrasound echo data.
A second aspect of the embodiments provides an ultrasound imaging method applied to an ultrasound imaging system including an ultrasound probe, the ultrasound imaging method including:
acquiring three-dimensional volume data of a tested tissue, which is acquired by the ultrasonic probe in a first imaging mode at a first preset position;
determining a region of interest of the tissue under test based on the three-dimensional volume data of the tissue under test;
controlling the ultrasonic probe to move from a first preset position to a second preset position, wherein a first distance of the first preset position relative to a reference position of the tested tissue is smaller than a second distance of the second preset position relative to the reference position of the tested tissue;
controlling the ultrasonic probe in a second imaging mode to transmit ultrasonic waves to the region of interest of the tested tissue at the second preset position, and converting the ultrasonic echoes returned by the tested tissue to obtain ultrasonic echo data;
determining physiological state information of the region of interest based on the ultrasound echo data.
A third aspect of the embodiments of the present application provides an ultrasound imaging system comprising:
the full-volume probe selectively works in a first imaging mode or a second imaging mode;
the processor is connected with the full-volume probe and used for controlling the full-volume probe in the first imaging mode to transmit first ultrasonic waves to a tested tissue and converting first ultrasonic echoes returned by the tested tissue to obtain first ultrasonic echo data; the processor acquires three-dimensional volume data of the tested tissue based on the first ultrasonic echo data and determines a region of interest of the tested tissue based on the three-dimensional volume data; the processor is used for controlling the full-volume probe in the second imaging mode to transmit second ultrasonic waves to the region of interest of the tested tissue, and converting second ultrasonic echoes returned by the tested tissue to obtain second ultrasonic echo data; the processor also determines physiological state information of the region of interest based on the second ultrasound echo data.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium for storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform some or all of the steps as described in any one of the methods of the first aspect of embodiments of the present application.
The embodiment of the application provides an ultrasonic imaging method, an ultrasonic imaging system and a computer readable storage medium, wherein an interested area in three-dimensional volume data of a tested tissue is obtained at a first preset position in a first imaging mode, physiological state information of the interested area of the tested tissue is obtained at a second preset position in a second imaging mode, and then the full-volume imaging system of a non-planar tissue can be applied to other imaging modes to detect the physiological state information of the tested tissue, and the application range of the full-volume imaging system of the non-planar tissue can be enlarged.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic system configuration diagram of an ultrasound imaging system in an embodiment of the present application.
Fig. 2 is a flowchart illustrating steps of an ultrasound imaging method according to an embodiment of the present application.
FIG. 3 is a schematic view of a tissue under test in different imaging modes according to an embodiment of the present invention.
FIG. 4 is a schematic diagram of a probe according to an embodiment of the present application.
Fig. 5 is a schematic diagram of an array element arrangement of a first type of transducer in an embodiment of the present application.
Fig. 6 is a schematic diagram of an array element arrangement for a second type of transducer in an embodiment of the present application.
Fig. 7 is a schematic view of a region of interest in an embodiment of the present application.
Fig. 8 is a schematic view of a region of interest in a further embodiment of the present application.
Fig. 9 is a block diagram schematic diagram of an ultrasound imaging system according to yet another embodiment of the present application.
Fig. 10 is a schematic structural diagram of an ultrasound breast machine according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. The described embodiments are only some embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
It should be noted that for simplicity of description, the following method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts, as some steps may occur in other orders or concurrently depending on the application.
Referring to fig. 1, a system structure of an ultrasound imaging system according to an embodiment of the present application is shown. The ultrasound imaging system 10 may include an ultrasound probe 100, a transmitting circuit 102 connected to the ultrasound probe 100, a receiving circuit 104 connected to the ultrasound probe 100, a beam forming module 106, a signal processing module 108, an imaging processing module 110, and a display 112, wherein the receiving circuit 104, the beam forming module 106, the signal processing module 108, the imaging processing module 110, and the display 112 may be electrically connected in sequence.
In this embodiment, the ultrasound imaging system 10 may be an imaging system that supports automated breast full volume imaging (ABVS) of the breast. Figure 10 shows an ultrasound breast machine comprising: the ultrasonic probe comprises a body 11, a cantilever 9, a caster 10 and a probe box 8, wherein the probe box 8 is provided with a movable ultrasonic probe. The upper end of the probe box 8 is arranged on the cantilever 9 through a rotating device and movably arranged on the machine body 11 through the cantilever 9, the lower end of the machine body 11 is provided with a caster 10, and the caster 10 is arranged to facilitate the movement of the whole mammary machine. The ultrasonic probe of the mammary machine can move or swing, thereby realizing the full volume imaging of the mammary gland. Correspondingly, in conjunction with an automatic breast full-volume imaging mode of a breast machine, an ultrasound probe of the breast machine is also commonly referred to as a full-volume probe in the industry.
The ultrasound imaging system of the present embodiment, for example, an ultrasound mammography machine, can acquire a region of interest of a tissue under test 40 (shown in fig. 3) in a first imaging mode, and then detect a portion of the tissue under test contained in the region of interest in a second imaging mode to obtain physiological status information of the region of interest.
Referring to fig. 2, a flowchart of steps of an ultrasound imaging method according to an embodiment of the present application is shown. The ultrasonic imaging method comprises the following steps:
step 200, controlling the ultrasonic probe in the first imaging mode to emit a first ultrasonic wave at a first preset position so as to acquire three-dimensional volume data of the tested tissue.
In this embodiment, the first imaging mode may be a full volume imaging mode. Since tissue under test 40 (shown in FIG. 3) is non-planar, such as tissue under test 40 may be a human breast, probe 100 is required to compress tissue under test 40 while acquiring three-dimensional volumetric data 490 (shown in FIG. 7) of tissue under test 40 so that the morphology of tissue under test 40 remains unchanged during acquisition.
Please refer to fig. 3, which is a schematic diagram illustrating states of a tissue under examination in different imaging modes according to an embodiment of the present invention. It includes a horizontal axis representing preset positions of the probe 100, each preset position representing distance information of the probe 100 relative to a reference position of the measured tissue 40, and a vertical axis representing time during the examination.
For example, in the first imaging mode, at a first preset time T1, the probe 100 can move to a first preset position V1 to press and fix the non-planar tissue under test 40. At this time, the tissue under test 40 is in a compressed state, and the transmission circuit 102 transmits a first ultrasonic wave to the tissue under test 40 through the probe 100. With a delay, the probe 100 receives the first ultrasonic echo reflected from the tissue 40 under test and carrying the information of the subject. The probe 100 may convert this first ultrasound echo into an electrical signal. The receiving circuit 104 receives the electrical signals generated by the probe 100, obtains first ultrasound echo data, and sends the first ultrasound echo data to the beam forming module 106. The beam synthesis module 106 performs beam processing such as focusing delay, weighting, and channel summation on the first ultrasound echo data, and then sends the first ultrasound echo data after beam processing to the signal processing module 108 for related signal processing. The first ultrasonic echo data processed by the signal processing module 108 is sent to the imaging processing module 110, and the imaging processing module 110 performs different processing on the first ultrasonic echo data according to different imaging modes required by a user to obtain tissue image data in different modes, and then performs processing such as log compression, dynamic range adjustment, digital scan conversion and the like to form ultrasonic tissue images in different modes for displaying on the display 112, wherein the ultrasonic tissue images in different modes may include two-dimensional images such as B images or three-dimensional images. In this embodiment, non-planar tissue is tissue that needs to be fixed or compacted when volumetric data of the tissue is acquired.
Fig. 4 is a schematic structural diagram of a probe according to an embodiment of the present application. The probe 100 may include a support assembly 120, a compression plate 140 disposed on an end face of the support assembly 120, and a transducer 130 disposed within the support assembly 120. The support assembly 120 is generally rectangular and has rails 122 disposed on opposite sides thereof, and the transducer 130 is disposed on the rails 122 of the support assembly 120 and is driven by a driving mechanism 806 (shown in fig. 8) to move along the length of the rails 122 (e.g., along the positive direction or the negative direction of the X-axis). For example, at a first time T1, when the probe 100 is pressed against the tissue under test 40 to a first preset position V1, the pressing plate 140 of the probe 100 contacts the tissue under test 40 and presses against the tissue under test 40, and at this time, the tissue under test 40 is in a pressed state, and the driving mechanism 806 controls the transducer 130 to move along the length of the track 122 to acquire three-dimensional volume data 490 of the tissue under test 40.
Fig. 5 is a schematic diagram of an array element arrangement of a first type of transducer according to an embodiment of the present application. In this embodiment, the probe 100 includes a first type transducer having array elements 132 arranged in a wired array (e.g., the transducer 130 includes array elements 132 arranged in a row). When the ultrasound imaging system 10 acquires three-dimensional volume data of the tissue under test 30 through the first type transducer, the whole body of the probe 100 is pressed against the tissue under test 40 and is not moved, and the transducer 130 can move along the length direction of the track 122 at a specific speed under the driving of the driving mechanism 806 to scan the whole probe area, wherein the tissue under test 40 is located in the probe area.
In one embodiment, as transducer 130 is moved in the positive X-axis direction to acquire full volume data of tissue under test 40, transducer 130 may be moved from a first position to a second position to complete full volume imaging of tissue under test 40. After the full volume scan is completed, the transducer 130 may be in the end-of-scan position (e.g., in the second position) or may be returned to the default position (e.g., the first position). Since the transducer 130 with the linear array of elements moves along the length direction of the track 122, the imaging processing module 110 can acquire several frames of two-dimensional B images of the measured tissue 40 corresponding to each position in the length direction of the track 122. The imaging processing module 110 generates a three-dimensional image of a three-dimensional space after performing a three-dimensional reconstruction operation on a plurality of frames of two-dimensional B images, and thus three-dimensional volume data 490 corresponding to the measured tissue 40 can be obtained, where the three-dimensional volume data 490 includes a plurality of volume data. Thus, the imaging processing module 110 can associate each frame of image with a corresponding spatial position according to the sequence of acquiring each frame of image and the moving speed of the probe 100, and each volume of the three-dimensional volume data 490 has a three-dimensional spatial coordinate value in a corresponding coordinate system (such as the xyz three-dimensional coordinate system shown in fig. 7).
Referring to fig. 6, a schematic diagram of an array element arrangement of a second type of transducer according to an embodiment of the present application is shown. In this embodiment, the probe 100 includes a second type of transducer having array elements 132 arranged in a matrix (e.g., the transducer 130 includes array elements 132 arranged in an area array having a plurality of rows and columns). When the ultrasonic imaging system 10 acquires three-dimensional volume data of the measured tissue 40 through the second type transducer, the probe 100 may control the excitation delay of each array element 132 in the transducer 130 to generate a first ultrasonic wave, and may move the position of the transducer 130 in the length direction of the track 122 to acquire three-dimensional volume data of the measured tissue 40. Since the transducer 130 with the array elements arranged in the matrix is moving along the length direction of the track 122, the imaging processing module 110 may acquire several frames of two-dimensional B images or three-dimensional images of the measured tissue 40 corresponding to each position in the length direction of the track 122, where the two-dimensional B images may be acquired when a part of the array elements in the second type transducer transmits the first ultrasonic waves. Therefore, the imaging processing module 110 may generate a three-dimensional image of a stereoscopic space after three-dimensionally reconstructing the frames of two-dimensional B images, or synthesize the three-dimensional images corresponding to the positions to obtain three-dimensional volume data 490 of the measured tissue 40, where the three-dimensional volume data 490 also includes a plurality of volume data. Therefore, the imaging processing module 110 can associate each frame of image with a spatial position one-to-one according to the sequence of acquiring each frame of image and the moving speed of the probe 100, that is, each volume of the three-dimensional volume data has a three-dimensional spatial coordinate value in a corresponding coordinate system (such as the xyz three-dimensional coordinate system shown in fig. 7). In one embodiment, the first ultrasound waves with different deflection angles are generated by controlling the excitation delays of the array elements 132 in the transducer 130, so that the second type transducer can acquire volumetric data of the tissue under test 40 without moving on the track 122 or moving within a partial range of the track 122 if the second type transducer generates the first ultrasound waves with different deflection angles to cover the entire space occupied by the tissue under test 40 or a portion (non-tangential) of the tissue under test 40.
A region of interest of the tissue under test is determined based on the three-dimensional volume data, step 202.
In one embodiment, the region of interest of the tissue under test 40 may be determined manually by the user or automatically.
Referring to fig. 7, a schematic diagram of a region of interest is shown in an embodiment of the present application. In the manual mode, the imaging processing module 110 may receive an input operation from a user through the input interface and determine a region of interest of the tissue under test 40 based on the input operation. For example, the imaging processing module 110 may control the first sectional image 400 corresponding to the predetermined position in the three-dimensional volume data 490 to be displayed on the display 112. When the user determines that the first tangential image 400 includes the focus of interest, the user may identify the first tangential image 400, such as by mouse-drawing the selection area 410, and thus the imaging processing module 110 may receive an input operation from the user to mouse-draw the region of interest. Further, the imaging processing module 110 determines the volume data contained in the selected region 410 as the region of interest. In other embodiments, the user may also select a selection area containing any position in the first tangential image 400 as the region of interest.
Referring to fig. 8, a schematic diagram of a region of interest according to another embodiment of the present application is shown. In an automated manner, the imaging processing module 110 may determine a target region in the three-dimensional volumetric data 490 that includes the lesion based on the processing model and determine the target region as the region of interest. The imaging processing module 110 may control the slicing operation on the three-dimensional volume data 490 to obtain a first preset number of slice images, and determine a second preset number of slice images of a target region including a lesion in the first preset number based on the processing model, where the second preset number of slice images have corresponding priorities. For example, the imaging processing module 110 may perform a slicing operation on the three-dimensional volume data 490 parallel to the XZ plane to obtain the second sectional image 402, the third sectional image 404 and the fourth sectional image 406.
The imaging processing module 110 may further select a target region included in the slice image with the highest priority in the second preset number as the region of interest according to a preset rule.
In an embodiment, the imaging processing module 110 may determine a second preset number of slice images of the target region including the lesion in the first preset number based on the image segmentation model, or the imaging processing module 110 may determine a second preset number of slice images of the target region including the lesion in the first preset number based on the learning model. The image segmentation model may include one or more of a parametric active contour model (Snake), a Graph Cut model (Graph Cut), a level set model (LevelSet), and a random walk (randomwalk) model, the learning model may include one or more of KNN (K-Nearest Neighbor algorithm), SVM (Support Vector machine), a random forest, and a neural network, and a specific processing model may refer to a related technology.
In this embodiment, the imaging processing module 110 determines that the second sectional image 402 includes a target region 412 of the lesion, the third sectional image 404 includes a target region 414 of the lesion, and the fourth sectional image 406 does not include the lesion. Therefore, the second predetermined number of slice images includes the second slice image 402 and the third slice image 404. Since each image in the second predetermined number of slice images includes the target region of the lesion, the imaging processing module 110 may determine the priority of each image according to predetermined rules such as the size of the target region of each image in the second predetermined number of slice images including the lesion, the sharpness of the target region including the lesion, and the like, or the priority of each slice image according to predetermined rules such as the area of the target region including the lesion, the corresponding first weight, the sharpness of the target region including the lesion, and the corresponding second weight. For example, the imaging processing module 110 may determine that the priority of the sectional image having the largest area of the target region including the lesion is the highest, or the priority of the sectional image having the largest definition of the target region including the lesion is the highest, or the priority of the largest sum of the first product of the area S1 and the corresponding first weight W1 of the target region including the lesion and the second product of the definition P1 and the corresponding second weight W2 of the target region including the lesion (i.e., S1W 1+ P1W 2) is the highest. As shown in fig. 8, the area of the target region 412 in the second sectional image 402 is larger than the area of the target region 414 in the third sectional image 404, so that the imaging processing module 110 can determine the region of interest in the three-dimensional volume data 490 as the volume data corresponding to the target region 412 in the second sectional image 402. In addition, the imaging processing module 110 may also determine the priority of each sectional image according to the feature information of the lesion, for example, the priority may be determined according to the blood flow abundance of the lesion, the edge integrity of the lesion, and other lesion features.
And 204, controlling the ultrasonic probe in the second imaging mode to emit second ultrasonic waves to the region of interest of the tested tissue at a second preset position.
When three-dimensional volume data of the tissue under test 40 is acquired, the elasticity of the tissue under test 40 is changed and the blood supply inside the tissue under test 40 may become abnormal because the tissue under test 40 is in a compressed state. Therefore, when acquiring the physiological state information of the tissue under test 40, the tissue under test 40 needs to be placed in a non-compressed state. Referring to fig. 3 again, the ultrasound imaging system 10 may control the probe 100 to move from the first preset position V1 to the second preset position V2 at the second preset time T2, or the user manually adjusts the probe 100 from the first preset position V1 to the second preset position V2 at the second preset time T2. In this embodiment, the probe 100 is moved from the first predetermined position V1 to the second predetermined position V2 in a direction away from the tissue under test 40, so as to make the tissue under test 40 in a non-compressed state, wherein a first distance of the first predetermined position relative to a reference position of the tissue under test 40 is smaller than a second distance of the second predetermined position relative to the reference position of the tissue under test 40, and the reference position may be a position on the tissue under test 40. Taking the breast as an example, the reference position may be the position of the breast proximate to the chest cavity.
When the tissue 40 is not in a compressed state, it indicates that the probe 100 is in contact with the tissue 40 or that the pressure between the probe 100 and the tissue 40 is within a predetermined range. For example, during adjustment, due to movement of the probe 100, it may be necessary to fill a coupling agent between the probe 100 and the tissue 40 to be tested to ensure that the probe 100 is in good contact with the body surface of the tissue 40 to be tested. In one embodiment, the probe 100 is moved away from the body surface of the tissue 40 being measured, and sufficient coupling agent or other solid coupling material is filled between the probe 100 and the tissue 40 being measured, so as to ensure a non-tight contact between the probe 100 and the tissue 40 being measured.
In this embodiment, after determining the region of interest of the tissue under test 40, the imaging processing module 110 determines the target position on the track 122 for the transducer 130 based on the region of interest of the tissue under test 40, and the drive mechanism 806 controls the transducer 130 to move to the target position. When the transducer 130 moves to the target position, the ultrasound imaging system 10 may control the probe 100 to move to the second preset position V2. In other embodiments, the ultrasonic imaging system 10 can also control the probe 100 to move to the second preset position V2 and then control the transducer 130 to move to the target position on the track 122 by the driving mechanism 806.
In one embodiment, when the transducer 130 of the probe 100 is a first type transducer:
since each volume datum in the three-dimensional volume data 490 has a corresponding spatial three-dimensional coordinate value, when the transducer 130 moves along the length of the track 122 (e.g., the transducer 130 moves from the o point to the positive X-axis in fig. 7), the transducer 130 also has a corresponding coordinate value at each position on the track 122, i.e., each volume datum has corresponding position information of the transducer 130 on the track 122. Therefore, when determining the volume data contained in the region of interest in the sectional image, the imaging processing module 110 may determine the target position of the transducer 130 on the track 122 according to the volume data of the region of interest of the measured tissue 40, and then may control the transducer 130 to move to the target position through the driving mechanism 806.
In one embodiment, the imaging processing module 110 may determine that the target position of the transducer 130 on the track 122 is a value based on the region of interest of the tissue under test 40. For example, referring to fig. 7 again, if the coordinate value of the centroid of the region of interest in the first sectional image 400 is (x1, y1, z1), since the first sectional image 400 is perpendicular to the moving direction of the transducer 130, the target position of the transducer 130 corresponding to the region of interest in the first sectional image 400 on the track 122 is a value, and for example, the position information of the transducer 130 corresponding to the centroid of the region of interest in the first sectional image 400 on the track 122 can be represented as (x1,0, 0). After the drive mechanism 806 drives the transducer 130 to the target position (x1,0,0), the ultrasound imaging system 10 controls the probe 100 to move to the second preset position V2 (e.g., to the second preset position V2 along the direction opposite to the z-axis), and controls the probe 100 to emit a second ultrasound wave to the region of interest (e.g., the selected region 410) of the tissue under test 40.
In one embodiment, the imaging processing module 110 may determine a target position of the transducer 130 on the track 122 as a range of values based on the region of interest of the tissue under test 40. The imaging processing module 110 may acquire a first position of the volume data contained in the region of interest in the moving direction of the transducer 130 and acquire a second position of the volume data contained in the region of interest in the moving direction of the transducer 130; thereafter, the imaging processing module 110 may determine the first position, the second position, or any position between the first position and the second position on the track 122 as the target position. For example, referring back to fig. 8, since the second sectional image 402 is parallel to the moving direction of the transducer 130, the target position of the transducer 130 on the track 122 determined by the imaging processing module 110 according to the region of interest of the measured tissue 40 can be a range value. If the coordinate values of the volume data at the upper right corner of the target region 412 in the second sectional image 402 are (x2, y2, z2) and the coordinate values of the volume data at the upper left corner of the target region 412 are (x3, y3, z3), the position information of the transducer 130 corresponding to the region of interest in the second sectional image 402 on the track 122 can be represented as a first position (x2,0,0) to a second position (x3,0, 0). Thus, the drive mechanism 806 may drive the transducer 130 to move to any position between the first position and the second position to a target position, such as a target position (x4,0,0), where x4 may be a value in a range of not less than x2 and not more than x 3. After the driving mechanism 806 drives the transducer 130 to the target position (x4,0,0), the ultrasound imaging system 10 controls the probe 100 to move to the second preset position V2 (e.g., to the second preset position V2 along the direction opposite to the z-axis), and controls the probe 100 to emit a second ultrasound wave to the region of interest (e.g., the selected region 410) of the tissue under test 40.
In one embodiment, when the transducer 130 of the probe 100 is a second type of transducer:
since the second type transducer has array elements 132 arranged in a matrix, the transmit circuit 102 causes the probe 100 to generate ultrasonic waves with a corresponding deflection angle by controlling the excitation delays of the array elements of the transducer 130. Therefore, after determining the coordinate value or coordinate value range of the region of interest in the sectional image, the transmitting circuit 102 may generate the second ultrasonic wave having the corresponding deflection angle by setting different excitation delays. For example, when probe 100 is moved to second predetermined position V2, imaging processing module 110 may determine the relative position of the region of interest in tissue under test 40 and transducer 130, and control the excitation delays of the elements of transducer 130 based on the relative position to generate second ultrasonic waves having corresponding deflection angles so that the second ultrasonic waves may cover the region of interest in tissue under test 40. In one embodiment, the imaging processing module 110 may obtain first coordinate values of the region of interest in a predetermined spatial coordinate system, determine second coordinate values of the transducer 130 when the probe 100 is moved to the second predetermined position V2, and determine the relative position of the region of interest in the measured tissue 40 and the transducer 130 based on the first coordinate values and the second coordinate values. Wherein the second coordinate value of the transducer 130 when the probe 100 moves to the second preset position V2 can be determined by a position sensor (e.g., an acceleration sensor). After determining the relative position of the region of interest in the tissue under test 40 to the transducer 130, the transmit circuitry 102 may determine the excitation delay of the array elements of the transducer 130 based on the relative position to generate the second ultrasound wave.
In this embodiment, after acquiring the three-dimensional volume data 490 of the measured tissue 40, the transducer 130 is located at the end position in the first imaging mode, and when the target position corresponding to the region of interest is determined, the transducer 130 is controlled to move to the target position based on the movement operation of the user when the transducer is moved from the end position to the target position; or to control the movement of the transducer 130 to the target position based on the driving operation of the driving mechanism 806.
When the transducer 130 is controlled to move to the target position based on the movement operation of the user, in order to facilitate the user to determine whether the current position of the movement has reached the target position during the movement of the user, the transmitting circuit 102 may control the transducer 130 to transmit the first ultrasonic wave, and the imaging processing module 110 may acquire and display an ultrasonic image of the current position of the transducer 130 during the movement in real time. In this way, the user can determine whether the current position of the movement has reached the target position according to the ultrasound image displayed on the display 112. In one embodiment, the imaging processing module 110 determines distance information between the current position of the transducer 130 and the target position based on the ultrasound image of the current position and the three-dimensional volume data of the measured tissue 40, and controls output of prompt information corresponding to the distance information. For example, the imaging processing module 110 may match the ultrasound image of the current location with the three-dimensional volume data of the tissue under test to determine associated volume data of the three-dimensional volume data corresponding to the ultrasound image of the current location. The matching of the ultrasonic image of the current position and the three-dimensional volume data of the tested tissue can be realized by a spot tracking mode or other matching modes. Because the associated volumetric data has corresponding spatial coordinate values, the imaging processing module 110 may determine a current position of the transducer 130 on the track 122 corresponding to the associated volumetric data and determine distance information based on a difference between the current position and the target position. The display 112 may display the determined distance information. The distance information may be a positive or negative number. For example, for FIG. 7, when the distance information is a positive number, it indicates that the user may move transducer 130 in the positive direction along the X-axis; when the distance information is negative, it indicates that the user may move the transducer 130 in a negative direction along the X-axis.
When the movement of the transducer 130 to the target position is controlled based on the driving operation of the driving mechanism 806, the driving mechanism 806 may drive the transducer 130 to move directly to the target position since the target position is determined. In one embodiment, drive mechanism 806 also drives transducer 130 to a position near the target position, after which the position of transducer 130 is fine-tuned by the user. During the fine adjustment, the transmitting circuit 102 may control the transducer 130 to transmit the first ultrasonic wave, and the imaging processing module 110 may obtain and display an ultrasonic image of the current position of the transducer 130 during the fine adjustment in real time, so as to facilitate a user to determine whether the fine-adjusted current position is suitable.
In this embodiment, in the moving process of the probe 100 from the first preset position V1 to the second preset position V2, the imaging processing module 110 may also display the two-dimensional image of the current tangent plane in real time through the display 112, so as to facilitate the user to determine whether the adjustment meets the requirement. After the probe 100 is adjusted, the region of interest may shift slightly due to the tissue 40 being measured being pressed to relaxed, at this time, the user may also manually fine-tune and control the transducer 130 to move in a small range near the original position, during the moving process, the transmitting circuit 102 may control the transducer 130 to transmit the first ultrasonic wave, the imaging processing module 110 may acquire the three-dimensional ultrasonic image of the transducer 130 during the moving process, and the imaging processing module 110 may display the three-dimensional ultrasonic image obtained by the transducer 130 during the moving process, so that the user may find the region of interest more accurately from the displayed three-dimensional ultrasonic image, and further determine the best position of the transducer 130 according to the image displayed by the display 112. In an embodiment, after the probe is moved to the second preset position V2, the probe 100 is controlled to perform the first imaging mode imaging on a sub-region range (three-dimensional volume range) with the position of the region of interest as a reference point, so as to obtain three-dimensional volume data of the sub-region range. The shifted position of the region of interest within the sub-region is then further confirmed based on the three-dimensional volume data. The specific determination method may be manually specified by the user, or may be automatically determined by referring to the method described above, and the transducer is correspondingly moved according to the shifted position of the region of interest, so that the probe 100 can subsequently perform the second imaging mode imaging based on the accurate positioning of the region of interest. Thereafter, the imaging processing module 112 can perform other mode imaging on the region of interest based on the second ultrasound waves to obtain the desired physiological information.
At step 206, physiological state information of the region of interest of the tissue under test is determined based on the second ultrasound waves.
In this embodiment, the first imaging mode is a B imaging mode, the second imaging mode is selected from one or more of a color blood flow imaging mode, a color doppler imaging mode, a contrast imaging mode, a push-type elastography mode, a shear wave elastography mode, and a vector blood flow imaging mode, and various second imaging modes can be implemented based on related technologies. In this way, at the second preset position V2, the transmitting circuit 102 may control the probe 100 to transmit the second ultrasonic wave to the region of interest of the measured tissue 40, and convert the second ultrasonic echo returned or reflected by the measured tissue 40 to obtain the second ultrasonic echo data, thereby obtaining the physiological status information of the region of interest of the measured tissue.
In this embodiment, during the movement of the probe 100 from the first preset position V1 to the second preset position V2, the region of interest may be slightly displaced as the tissue 40 being tested is relaxed from the compressed state. To ensure that the displaced probe 100 can continue to image the region of interest in the second imaging mode, the probe 100 can be controlled to image the region of interest in the second imaging mode within a range of sub-regions (three-dimensional volume range) that are ensured to contain the region of interest, with the position of the region of interest as a reference point. In performing a second imaging mode of imaging within the three-dimensional volume, the driving mechanism 806 can also control the transducer 130 to move within a small three-dimensional volume (covering a small region of interest) to perform multi-mode imaging within the sub-area near the target location, so as to obtain various image data within the sub-area and corresponding physiological status information obtained therefrom. Since the sub-area range can cover the initially determined region of interest, the obtained physiological state information in the sub-area range also includes the physiological state information of the region of interest.
Thus, the ultrasound imaging system 10 provides a multi-modality system: after the full volume imaging mode of tissue under test 40 is completed in the first imaging mode, measurement of other physiological state information of tissue under test 40, including but not limited to blood flow distribution information, blood flow velocity information, tissue stiffness information, and/or contrast information, may be completed in the second imaging mode.
The ultrasonic imaging method obtains the interested region in the three-dimensional volume data of the tested tissue at the first preset position in the first imaging mode, and obtains the physiological state information of the interested region of the tested tissue at the second preset position in the second imaging mode, so that the full-volume imaging system of the non-planar tissue can be applied to other imaging modes to detect the physiological state information of the tested tissue, and the application range of the full-volume imaging system of the non-planar tissue can be enlarged.
Referring to fig. 9, a block diagram of an ultrasound imaging system according to yet another embodiment of the present application is shown. As shown in fig. 9, the ultrasound imaging system 80 may apply the above embodiments, and the ultrasound imaging system 80 provided in the present application is described below, the ultrasound imaging system 80 may include a processor 800, a storage device 802, a probe 100, a control circuit 804, a display 112, and a computer program (instructions) stored in the storage device 802 and executable on the processor 800, and the ultrasound imaging system 80 may further include other hardware components, such as a communication device, a key, a keyboard, and the like, which are not described herein again. The processor 800 may exchange data with the probe 100, the control circuit 804, the memory device 802, and the display 112 via signal lines 808.
The Processor 800 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor 800 is the control center for the ultrasound imaging system 80 and connects the various parts of the overall ultrasound imaging system 80 using various interfaces and lines. In this embodiment, the processor 800 may be used to implement all functions of the image processing module 110, or may be integrated with the functions of the beam forming module 106 and the signal processing module 108, and specific functions may refer to and be combined with the foregoing embodiments.
The control circuit 804 may include the functions of the transmitting circuit 102, the receiving circuit 104, the beam forming module 106 and/or the signal processing module 108 in the above embodiments (i.e., the beam forming module 106 and the signal processing module 108 may be independent circuits), and specific functions may be referred to and combined with the above embodiments.
The memory device 802 may be used to store the computer programs and/or modules, and the processor 800 may implement the various functions of the ultrasound imaging method described above by running or executing the computer programs and/or modules stored in the memory device 802 and calling up the data stored in the memory device 802. The storage device 802 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like. In addition, the storage device 802 may include a high-speed random access memory device, and may also include a non-volatile storage device such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one piece of magnetic disk storage, a Flash memory device, or other volatile solid state storage.
The probe 100 may include a driving mechanism 806 and the transducer 130, the driving mechanism 806 may be a motor, and the driving mechanism 806 receives driving information from the processor 800 to control the transducer 130 to move along the length of the track 122 to acquire three-dimensional volume data of the measured tissue 40.
The display 112 may display a User Interface (UI), a Graphical User Interface (GUI), a sectional image of the tissue 40 under test, the ultrasound imaging system 80 may also serve as an input device and an output device, and the display 112 may include at least one of a Liquid Crystal Display (LCD), a thin film transistor LCD (TFT-LCD), an Organic Light Emitting Diode (OLED) touch display, a flexible touch display, a three-dimensional (3D) touch display, and the like.
The processor 800 runs a program corresponding to the executable program code by reading the executable program code stored in the storage device 802 for performing the ultrasonic sound imaging method in any of the previous embodiments.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims (53)

  1. An ultrasonic imaging method is applied to an ultrasonic imaging system, and is characterized in that the ultrasonic imaging system comprises an ultrasonic probe, and the ultrasonic imaging method comprises the following steps:
    the ultrasonic probe in the first imaging mode is controlled to transmit first ultrasonic waves to the tested tissue at a first preset position, and first ultrasonic echo data are obtained after the first ultrasonic echo returned by the tested tissue is received and converted;
    acquiring three-dimensional volume data of the tissue under test based on the first ultrasound echo data;
    determining a region of interest of the tissue under test based on the three-dimensional volume data;
    controlling the ultrasonic probe to move from the first preset position to a second preset position, wherein a first distance of the first preset position relative to a reference position of the tested tissue is smaller than a second distance of the second preset position relative to the reference position of the tested tissue;
    controlling the ultrasonic probe in a second imaging mode to emit second ultrasonic waves to the region of interest of the tested tissue, and converting second ultrasonic echoes returned by the tested tissue to obtain second ultrasonic echo data;
    determining physiological state information of the region of interest based on the second ultrasound echo data.
  2. The ultrasound imaging method of claim 1, wherein said controlling said ultrasound probe to move from said first preset position to a second preset position comprises:
    controlling the ultrasonic probe to move to the second preset position in a direction away from the tested tissue so that the tested tissue is in a non-compressed state;
    the ultrasonic probe under the second imaging mode is controlled to transmit second ultrasonic waves to the region of interest of the tested tissue, and the method comprises the following steps:
    when the tested tissue is in the non-compressed state, the ultrasonic probe at the second preset position is controlled to transmit the second ultrasonic wave to the region of interest of the tested tissue.
  3. The ultrasonic imaging method of claim 2, wherein the ultrasonic probe is in contact with the tissue under test and the pressure between the ultrasonic probe and the tissue under test is within a preset range when the tissue under test is in a non-compressed state.
  4. The ultrasonic imaging method of claim 3, wherein the ultrasonic probe and the tissue to be measured further comprise a liquid coupling agent or a solid coupling material.
  5. The method of claim 2, wherein said controlling the ultrasound probe to move in a direction away from the tissue under test to the second predetermined position comprises:
    controlling the ultrasonic probe at the first preset position to move to the second preset position in a direction away from the tested tissue.
  6. The method of ultrasonic imaging of claim 2, wherein the probe comprises a support assembly and a transducer disposed within the support assembly, the support assembly comprising a rail, the transducer being disposed on the rail of the support assembly; the controlling the ultrasonic probe to move from the first preset position to a second preset position comprises:
    determining a target position of the transducer on the track according to the region of interest of the tested tissue;
    after controlling the transducer to move to the target position, controlling the ultrasonic probe to move from the first preset position to a second preset position; alternatively, the first and second electrodes may be,
    after the ultrasonic probe is controlled to move from the first preset position to the second preset position, determining a target position of the transducer on the track according to the region of interest of the tested tissue;
    controlling the transducer to move to the target location.
  7. The method of ultrasound imaging according to claim 6, wherein the three-dimensional volumetric data includes volumetric data, each volumetric data having positional information of the corresponding transducer on the trajectory, the determining a target position of the transducer on the trajectory from the region of interest of the tissue under test comprising:
    acquiring position information corresponding to volume data contained in the region of interest;
    and determining the target position of the transducer on the track according to the position information of the volume data contained in the region of interest.
  8. The method of ultrasonic imaging according to claim 7, wherein said determining a target position where the transducer is located on the trajectory from position information of the volume data contained in the region of interest comprises:
    acquiring a first position of volume data contained in the region of interest in a direction of movement of the transducer;
    acquiring a second position of the volume data contained in the region of interest in the direction of movement of the transducer;
    determining a first position, a second position, or any position between the first position and the second position on the track as the target position.
  9. The method of ultrasonic imaging of claim 6, wherein the ultrasonic probe includes a drive mechanism, the controlling the movement of the transducer to the target location comprising:
    controlling the transducer to move to the target position based on a movement operation of a user; or
    Controlling the transducer to move to the target position based on a driving operation of the driving mechanism.
  10. The ultrasound imaging method of claim 9, wherein the user-based movement operation controlling the transducer to move to the target location comprises:
    in the process of moving the transducer to the target position based on the moving operation of the user, the transducer is controlled to emit the first ultrasonic wave, and an ultrasonic image of the current position of the transducer in the moving process is acquired and displayed in real time.
  11. The method of ultrasound imaging according to claim 10, wherein said acquiring and displaying in real time an ultrasound image of a current position of said transducer during movement further comprises:
    determining distance information between the current position of the transducer and the target position based on the ultrasound image of the current position and the three-dimensional volume data of the measured tissue;
    and controlling to output prompt information corresponding to the distance information.
  12. The ultrasonic imaging method of claim 9, wherein said controlling the movement of the transducer to the target position based on the driving operation of the driving mechanism comprises:
    and controlling the driving mechanism to drive the transducer to move to the target position.
  13. The method of ultrasonic imaging according to claim 12, wherein said controlling the drive mechanism to drive the transducer to move to the target location comprises:
    controlling the driving mechanism to drive the transducer to move to the target position at the end position in the first imaging mode.
  14. The ultrasonic imaging method of claim 9, after said controlling the transducer to move to the target position based on the driving operation of the driving mechanism, further comprising:
    performing a fine-tuning operation of the position of the transducer located at the target position based on a moving operation of a user.
  15. The ultrasonic imaging method of claim 2, wherein the probe comprises a support assembly and a transducer disposed in the support assembly, the transducer comprising a plurality of array elements arranged in an area array; the control unit controls the full-volume probe in the second imaging mode to transmit second ultrasonic waves to the region of interest of the tested tissue, and comprises:
    determining a relative position of the region of interest and the transducer;
    controlling the excitation delays of the array elements of the transducer based on the relative positions to generate the second ultrasonic waves with corresponding deflection angles.
  16. The method of ultrasonic imaging according to claim 15, wherein the three-dimensional volumetric data comprises volumetric data, each volumetric data having coordinate values corresponding to a predetermined spatial coordinate system, the determining the relative position of the region of interest and the transducer comprising:
    acquiring a first coordinate value of the region of interest in the preset space coordinate system;
    determining a second coordinate value of the transducer when the probe moves to the second preset position;
    determining the relative position based on the first coordinate value and the second coordinate value.
  17. The method of ultrasonic imaging according to claim 1, wherein controlling the ultrasonic probe to move from the first preset position to a second preset position further comprises:
    controlling the ultrasonic probe at the second preset position to transmit a first ultrasonic wave to a sub-area range of the tested tissue containing the region of interest in the first imaging mode, and acquiring three-dimensional volume data of the sub-area range of the tested tissue;
    determining a post-displacement position of the region of interest within the sub-region extent based on the three-dimensional volume data of the sub-region extent; and
    and controlling the ultrasonic probe in the second imaging mode to transmit second ultrasonic waves to the region of interest at the shifted position, and determining physiological state information of the region of interest at the shifted position.
  18. The method of ultrasonic imaging according to claim 1, wherein controlling the ultrasonic probe to move from the first preset position to a second preset position further comprises:
    controlling the ultrasonic probe at a second preset position to emit second ultrasonic waves to a sub-area range of the tested tissue containing the region of interest in the second imaging mode, and acquiring physiological state information of the sub-area range of the tested tissue; wherein, the physiological state information of the sub-region range of the tested tissue comprises the physiological state information of the interested region.
  19. The ultrasound imaging method of claim 1, wherein the ultrasound imaging system includes an input interface, the determining the region of interest of the tissue under test based on the three-dimensional volume data comprising:
    receiving input operation of a user through the input interface;
    determining the region of interest based on the input operation; or
    Determining a target region containing a lesion in the three-dimensional volume data based on a processing model;
    and determining the target area as the region of interest.
  20. The ultrasound imaging method of claim 19, wherein the ultrasound imaging system includes a display, the determining the region of interest based on the input operation includes:
    controlling a section image corresponding to a preset position in the three-dimensional volume data to be displayed in the display;
    receiving a selection area selected by a user in the section image;
    and determining the volume data contained in the selected area as the region of interest.
  21. The method of ultrasound imaging according to claim 19, wherein said determining a target region containing a lesion in said three-dimensional volumetric data based on a treatment model comprises:
    controlling the three-dimensional volume data to be sliced to obtain a first preset number of section images;
    determining a second preset number of section images of the target area containing the focus in the first preset number based on the processing model;
    the determining that the target region is the region of interest includes:
    and selecting the target area contained in the section image with the highest priority in the second preset number as the region of interest according to a preset rule.
  22. The ultrasound imaging method of claim 21, wherein the predetermined rules include one or more of a size of a target region containing a lesion or a sharpness of the target region containing a lesion.
  23. The method of claim 21, wherein determining a second predetermined number of slice images of a target region of the first predetermined number containing a lesion based on the processing model comprises:
    determining a second preset number of section images of the target area containing the focus in the first preset number based on an image segmentation model; or;
    and determining a second preset number of section images of the target area containing the focus in the first preset number based on a learning model.
  24. The ultrasonic imaging method of claim 1, wherein the ultrasonic probe comprises a linear array of transducers or a matrix arrangement of transducers.
  25. The ultrasound imaging method of any of claims 1 to 24, wherein the first imaging mode is a B imaging mode and the second imaging mode is selected from one or more of a color flow imaging mode, a color doppler imaging mode, a contrast imaging mode, a push elastography mode, a shear wave elastography mode, and a vector flow imaging mode.
  26. A method of ultrasound imaging according to any of claims 1-25, wherein the physiological state information comprises blood flow distribution information, blood flow velocity information, tissue stiffness information and/or contrast information.
  27. An ultrasonic imaging method is applied to an ultrasonic imaging system, and is characterized in that the ultrasonic imaging system comprises an ultrasonic probe, and the ultrasonic imaging method comprises the following steps:
    acquiring three-dimensional volume data of a tested tissue, which is acquired by the ultrasonic probe in a first imaging mode at a first preset position;
    determining a region of interest of the tissue under test based on the three-dimensional volume data of the tissue under test;
    controlling the ultrasonic probe to move from a first preset position to a second preset position, wherein a first distance of the first preset position relative to a reference position of the tested tissue is smaller than a second distance of the second preset position relative to the reference position of the tested tissue;
    controlling the ultrasonic probe in a second imaging mode to transmit ultrasonic waves to the region of interest of the tested tissue at the second preset position, and converting the ultrasonic echoes returned by the tested tissue to obtain ultrasonic echo data;
    determining physiological state information of the region of interest based on the ultrasound echo data.
  28. An ultrasound imaging system, comprising:
    the full-volume probe selectively works in a first imaging mode or a second imaging mode;
    the processor is connected with the full-volume probe and used for controlling the full-volume probe in the first imaging mode to transmit first ultrasonic waves to a tested tissue and converting first ultrasonic echoes returned by the tested tissue to obtain first ultrasonic echo data; the processor acquires three-dimensional volume data of the tested tissue based on the first ultrasonic echo data and determines a region of interest of the tested tissue based on the three-dimensional volume data; the processor is used for controlling the full-volume probe in the second imaging mode to transmit second ultrasonic waves to the region of interest of the tested tissue, and converting second ultrasonic echoes returned by the tested tissue to obtain second ultrasonic echo data; the processor also determines physiological state information of the region of interest based on the second ultrasound echo data.
  29. The ultrasound imaging system of claim 28, wherein a first preset position of the full-volume probe relative to a reference position of the tissue under test in the first imaging mode is less than a second preset position of the full-volume probe relative to the reference position of the tissue under test in the second imaging mode.
  30. The ultrasound imaging system of claim 29, wherein the processor, in controlling the full volume probe in the second imaging mode to transmit a second ultrasound wave to the region of interest of the tissue under test, controls the full volume probe to move in a direction away from the tissue under test to the second preset position such that the tissue under test is in a non-compressed state; when the tested tissue is in the non-compressed state, the processor controls the full-volume probe at the second preset position to transmit second ultrasonic waves to the interested area of the tested tissue.
  31. The ultrasound imaging system of claim 30, wherein the full volume probe is in contact with the tissue under test and the pressure between the transducer and the tissue under test is within a preset range when the tissue under test is in a non-compressed state.
  32. The ultrasonic imaging system of claim 31, wherein the full-volume probe further comprises a liquid coupling agent or a solid coupling material between the full-volume probe and the tissue under test.
  33. The ultrasound imaging system of claim 30, wherein the processor controls the full-volume probe at the first predetermined position to move in a direction away from the tissue under test to the second predetermined position while controlling the full-volume probe to move in a direction away from the tissue under test to the second predetermined position.
  34. The ultrasound imaging system of claim 30, wherein the probe includes a support assembly and a transducer disposed within the support assembly, the support assembly including a track, the transducer being disposed on the track of the support assembly, the processor determining a target location of the transducer on the track based on the region of interest of the tissue under test; the processor is further configured to control the transducer to move to the target position and control the full volume probe to move from the first preset position to a second preset position.
  35. The ultrasound imaging system of claim 34, wherein the three-dimensional volumetric data includes volumetric data, each volumetric data having position information corresponding to the position of the transducer on the trajectory, and wherein the processor is configured to obtain position information corresponding to the volumetric data contained in the region of interest when determining the target position of the transducer on the trajectory based on the region of interest of the tissue under test, the processor further determining the target position of the transducer on the trajectory based on the position information of the volumetric data contained in the region of interest.
  36. The ultrasound imaging system of claim 35, wherein the processor is configured to acquire a first position of the volume data contained in the region of interest in the direction of movement of the transducer and acquire a second position of the volume data contained in the region of interest in the direction of movement of the transducer when determining the target position of the transducer on the track based on the position information of the volume data contained in the region of interest; the processor is further configured to determine a first location, a second location, or any location between the first location and the second location on the track as the target location.
  37. The ultrasound imaging system of claim 34, wherein the full volume probe includes a drive mechanism, the processor controlling the transducer to move to the target location based on a movement operation of a user when controlling the transducer to move to the target location, or the processor controlling the transducer to move to the target location based on a drive operation of the drive mechanism.
  38. The ultrasound imaging system of claim 37, wherein the processor controls the transducer to emit the first ultrasound waves during movement of the transducer to the target position by the user while controlling the transducer to move to the target position based on the movement operation of the user, and acquires and displays an ultrasound image of a current position of the transducer during the movement in real time.
  39. The ultrasound imaging system of claim 38, wherein after acquiring and displaying in real-time ultrasound images of a current position of the transducer during movement, the processor further determines distance information between the current position of the transducer and the target position based on the ultrasound images of the current position and the three-dimensional volume data of the tissue under test; the processor is used for controlling and outputting prompt information corresponding to the distance information.
  40. The ultrasonic imaging system of claim 37, wherein the processor controls the drive mechanism to drive the transducer to move to the target location while controlling the transducer to move to the target location based on the driving operation of the drive mechanism.
  41. The ultrasound imaging system of claim 40, wherein the processor controls the drive mechanism to drive the end position of the transducer in the first imaging mode to move to the target position while controlling the drive mechanism to drive the transducer to move to the target position.
  42. The ultrasonic imaging system of claim 37, wherein the processor further performs a fine adjustment operation of the position of the transducer located at the target position based on the movement operation of the user after controlling the transducer to move to the target position based on the driving operation of the driving mechanism.
  43. The ultrasonic imaging system of claim 28, wherein the probe comprises a support assembly and a transducer disposed in the support assembly, the transducer comprising a plurality of array elements arranged in an area array; when the full volume probe in the second imaging mode is controlled to transmit second ultrasonic waves to the region of interest of the tested tissue, the processor is used for determining the relative position of the region of interest relative to the transducer and controlling the excitation delay of the array elements of the transducer to generate the second ultrasonic waves with corresponding deflection angles based on the relative position.
  44. The ultrasound imaging system of claim 43, wherein the three-dimensional volumetric data includes volumetric data, each volumetric data having coordinate values corresponding to a preset spatial coordinate system, the processor being configured to acquire first coordinate values of the region of interest in the preset spatial coordinate system and determine second coordinate values of the transducer when moving to the second preset position when determining the relative position of the region of interest with respect to the transducer; the processor also determines the relative position based on the first and second coordinate values.
  45. The ultrasound imaging system of claim 28, wherein the ultrasound imaging system includes an input interface through which the processor receives a user input operation when determining a region of interest of the tissue under test based on the three-dimensional volume data, and determines the region of interest based on the input operation; or the processor determines a target region containing the focus in the three-dimensional volume data based on a processing model, and determines the target region as the region of interest.
  46. The ultrasound imaging system of claim 45, wherein the ultrasound imaging system includes a display, and the processor controls a slice image corresponding to a preset position in the three-dimensional volume data to be displayed in the display when the region of interest is determined based on the input operation; the processor is further configured to receive a selection area selected by a user from the section image, and determine volume data included in the selection area as the region of interest.
  47. The ultrasound imaging system of claim 45, wherein the processor controls a slicing operation performed on the three-dimensional volume data to obtain a first predetermined number of slice images when determining a target region containing a lesion in the three-dimensional volume data based on a processing model; the processor determines a second preset number of section images of the target area containing the focus in the first preset number based on the processing model, and selects the section image with the highest priority in the second preset number according to a preset rule.
  48. The ultrasound imaging system of claim 47, wherein the preset rules include one or more of a size of a target region containing a lesion or a definition of a target region containing a lesion.
  49. The ultrasound imaging system of claim 47, wherein, in determining a second predetermined number of sectional images of the target region including the lesion in the first predetermined number based on the processing model, the processor determines a second predetermined number of sectional images of the target region including the lesion in the first predetermined number based on an image segmentation model; or the processor determines a second preset number of section images of the target region containing the focus in the first preset number based on a learning model.
  50. The ultrasound imaging system of claim 28, wherein the full volume probe comprises a linear array of transducers or a matrix array of transducers.
  51. The ultrasonic imaging system of any one of claims 28 to 50, wherein the first imaging mode is a B imaging mode and the second imaging mode is selected from the group consisting of a B imaging mode, a color flow imaging mode, a color Doppler imaging mode, a contrast imaging mode, a push elastography mode, a shear wave elastography mode, and a vector blood flow imaging mode.
  52. The ultrasound imaging system of any of claims 28 to 50, wherein the physiological state information comprises blood flow distribution information, blood flow velocity information, tissue stiffness information, and/or contrast information.
  53. A computer readable storage medium storing computer instructions which, when executed by a processor, implement the ultrasound imaging method of any of claims 1 to 27.
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