CN115444452A

CN115444452A - Three-dimensional shear wave elastic imaging method and ultrasonic imaging system

Info

Publication number: CN115444452A
Application number: CN202211145405.5A
Authority: CN
Inventors: 李双双; 兰帮鑫
Original assignee: Shenzhen Mindray Bio Medical Electronics Co Ltd
Current assignee: Shenzhen Mindray Bio Medical Electronics Co Ltd
Priority date: 2022-09-20
Filing date: 2022-09-20
Publication date: 2022-12-09
Also published as: CN117731327A

Abstract

A three-dimensional shear wave elastography method and an ultrasound imaging system, the method comprising: receiving a motion control command of a volume probe; in response to a motion control command, the array element array is controlled by a motion control mechanism to alternately enter a static state and a motion state on a preset path in the volume probe, and the motion state comprises an accelerated motion state, a uniform motion state and a decelerated motion state which are sequentially carried out; scanning the target tissue in each static state by shear wave elastography to obtain multiframe two-dimensional shear wave elastic data of the target tissue, and scanning the target tissue in each uniform motion state by tissue imaging to obtain multiframe two-dimensional tissue data of the target tissue; and performing three-dimensional reconstruction based on the multiframe two-dimensional shear wave elastic data to obtain three-dimensional shear wave elastic data, and performing three-dimensional reconstruction based on the multiframe two-dimensional organization data to obtain three-dimensional organization data. The invention can realize three-dimensional shear wave elasticity imaging and three-dimensional tissue imaging.

Description

Three-dimensional shear wave elastic imaging method and ultrasonic imaging system

Technical Field

The invention relates to the technical field of ultrasonic imaging, in particular to a three-dimensional shear wave elastography method and an ultrasonic imaging system.

Background

Ultrasound elastography can qualitatively reflect the hardness of a lesion relative to surrounding tissues or quantitatively reflect the hardness of the lesion and surrounding tissues, and has been widely applied to clinical research and diagnosis in recent years. The judgment of the soft and hard degree of the tissue can effectively assist the diagnosis and evaluation of cancer lesion, tumor malignancy and postoperative recovery and the like.

Conventional elastography (push-type elastography) presses tissues through a probe, and calculates displacement and strain of the tissues in real time to reflect elasticity related parameters of the tissues in a Region of Interest (ROI) and image, and indirectly reflects the hardness and hardness degrees of different tissues. However, each operation of pressing the tissue is performed manually, the pressure of the probe is difficult to maintain consistent, the pressing degree and the pressing frequency of different operators are different, and the repeatability and the stability of the conventional elastography are difficult to guarantee.

Shear wave elastography is the excitation of a focused ultrasound beam by a conventional ultrasound probe to create acoustic radiation forces that create a shear wave source within the tissue and produce laterally propagating shear waves. The hardness difference of the tissue is obtained quantitatively and visually by identifying and detecting the shear wave generated in the tissue and the propagation parameters thereof and imaging the parameters. Since the excitation of the shear wave is from the acoustic radiation force generated by the focused ultrasound beam and no longer depends on the pressure applied by the operator, the mode of shear wave elastography is improved in terms of stability and repeatability compared with the conventional elastography. Moreover, the quantitative measurement result of the shear wave also enables the diagnosis of doctors to be more objective.

In the conventional shear wave elastography process, due to the limitation of a conventional ultrasonic probe, a doctor can only focus on one section of a tissue at the same time, and can only perform qualitative hardness and softness analysis on the tissue of the current section. However, in actual clinical practice, it is more desirable for doctors to observe the hardness and hardness information of the whole space dimension of the lesion, so as to have a more integral judgment on the lesion.

Disclosure of Invention

In this summary, concepts in a simplified form are introduced that are further described in the detailed description. The summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

An embodiment of the present invention provides a three-dimensional shear wave elastography method, including:

receiving a motion control command of a volume probe, wherein the volume probe comprises a motion control mechanism and an array element column which are arranged in the volume probe;

responding to the motion control instruction, controlling the array element array to alternately enter a static state and a motion state on a preset path in the volume probe through the motion control mechanism, wherein the motion state comprises an accelerated motion state, a uniform motion state and a decelerated motion state which are sequentially carried out;

generating a shear wave propagating in the target tissue in each static state, controlling the array element array to emit a first ultrasonic wave tracking the shear wave to the target tissue, receiving an echo signal of the first ultrasonic wave, and generating two-dimensional shear wave elastic data corresponding to a multi-frame two-dimensional shear wave elastic image according to the echo signal of the first ultrasonic wave; in each uniform motion state, controlling the array element array to transmit second ultrasonic waves to the target tissue, receiving echo signals of the second ultrasonic waves, and generating two-dimensional tissue data corresponding to multiple frames of two-dimensional tissue images according to the echo signals of the second ultrasonic waves;

performing three-dimensional reconstruction on the basis of the two-dimensional shear wave elastic data corresponding to the multi-frame two-dimensional shear wave elastic image to obtain three-dimensional shear wave elastic data, and performing three-dimensional reconstruction on the basis of the two-dimensional tissue data corresponding to the multi-frame two-dimensional tissue image to obtain three-dimensional tissue data

Displaying an image based on the three-dimensional shear wave elasticity data and the three-dimensional tissue data.

A second aspect of the embodiments of the present invention provides a three-dimensional shear wave elastography method, where the method includes:

responding to the motion control instruction, and controlling the array element array to perform a group of continuous motions on a preset path in the volume probe through the motion control mechanism, wherein the group of continuous motions comprises an accelerated motion, a uniform motion and a decelerated motion which are performed in sequence;

during the uniform motion process, scanning a target tissue for multiple times of shear wave elastic imaging to obtain two-dimensional shear wave elastic data corresponding to multiple frames of two-dimensional shear wave elastic images of the target tissue, and scanning the target tissue for multiple times of tissue imaging to obtain two-dimensional tissue data corresponding to multiple frames of two-dimensional tissue images of the target tissue;

performing three-dimensional reconstruction on the basis of the two-dimensional shear wave elastic data corresponding to the multi-frame two-dimensional shear wave elastic image to obtain three-dimensional shear wave elastic data, and performing three-dimensional reconstruction on the basis of the two-dimensional tissue data corresponding to the multi-frame two-dimensional tissue image to obtain three-dimensional tissue data;

displaying an image obtained based on the three-dimensional shear wave elasticity data and the three-dimensional tissue data;

wherein the scanning of the shear wave elastography comprises: generating shear waves propagating in the target tissue, controlling the array element array to transmit first ultrasonic waves for tracking the shear waves to the target tissue, receiving echo signals of the first ultrasonic waves, and generating the two-dimensional shear wave elastic data according to the echo signals of the first ultrasonic waves; the scanning of the tissue imaging comprises: controlling the array element column to transmit a second ultrasonic wave to the target tissue, receiving an echo signal of the second ultrasonic wave, and generating the two-dimensional tissue data based on the echo signal of the second ultrasonic wave.

A third aspect of the embodiments of the present invention provides a three-dimensional shear wave elastography method, including:

receiving an array element column control instruction of a matrix probe, wherein the matrix probe comprises an array element matrix, the array element matrix comprises a plurality of array element columns, and each array element column comprises a plurality of array elements;

responding to the array element column control instruction, controlling a plurality of array element columns in the array element matrix to be sequentially started according to a preset time sequence, scanning a target tissue for multiple times of shear wave elastic imaging to obtain two-dimensional shear wave elastic data corresponding to multiframe two-dimensional shear wave elastic images of the target tissue, and scanning the target tissue for multiple times of tissue imaging to obtain two-dimensional tissue data corresponding to multiframe two-dimensional tissue images of the target tissue;

wherein the scanning of the shear wave elastography comprises: generating a shear wave propagating in the target tissue, transmitting a first ultrasonic wave tracking the shear wave to the target tissue, receiving an echo signal of the first ultrasonic wave, and generating two-dimensional shear wave elastic data corresponding to one frame of two-dimensional shear wave elastic image based on an echo signal of the second ultrasonic wave; the scanning of the tissue imaging comprises: and transmitting a second ultrasonic wave to the target tissue, receiving an echo signal of the second ultrasonic wave, and generating two-dimensional tissue data corresponding to one frame of two-dimensional tissue image based on the echo signal of the second ultrasonic wave.

A fourth aspect of the embodiments of the present invention provides an ultrasound imaging system, including:

the volume probe comprises a motion control mechanism and an array element array which are arranged in the volume probe, and the motion control mechanism is used for controlling the array element array to move;

the transmitting circuit is used for exciting the array element column to transmit ultrasonic waves to target tissues;

the receiving circuit is used for controlling the array element array to receive the echo of the ultrasonic wave to obtain an echo signal of the ultrasonic wave;

a processor for performing the three-dimensional shear wave elastography method as described above, resulting in three-dimensional shear wave elasticity data and three-dimensional tissue data;

a display for displaying an image derived based on the three-dimensional shear wave elasticity data and the three-dimensional tissue data.

A fifth aspect of an embodiment of the present invention provides an ultrasound imaging system, including:

the matrix probe comprises an array element matrix, the array element matrix comprises a plurality of array element columns, and each array element column comprises a plurality of array elements;

the transmitting circuit is used for exciting array element columns in the array element matrix to transmit ultrasonic waves to target tissues;

a display for displaying an image based on the three-dimensional shear wave elasticity data and the three-dimensional tissue data.

The three-dimensional shear wave elastography method and the ultrasonic imaging system of the embodiment of the invention use the volume probe or the matrix probe, and realize the three-dimensional tissue imaging and the three-dimensional shear wave elastography of the three-dimensional space dimension of the whole target tissue by controlling the array element column motion in the volume probe or controlling the plurality of array element columns in the matrix probe to be opened in sequence according to the preset time sequence, thereby enabling a doctor to observe the hardness information of the space dimension of the whole target tissue and judge the state of the target tissue more integrally.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings, like reference numbers generally represent like parts or steps.

FIG. 1 shows a block diagram of an ultrasound imaging system according to one embodiment of the present invention;

FIG. 2 shows a schematic flow diagram of a method of three-dimensional shear wave elastography according to an embodiment of the present invention;

FIG. 3 illustrates a map of the motion and scanning of a volume probe according to one embodiment of the present invention;

FIG. 4 shows a schematic diagram of a plurality of two-dimensional tissue images and a plurality of two-dimensional shear wave elasticity images generated during three-dimensional shear wave elasticity imaging, according to one embodiment of the present invention;

fig. 5 shows a schematic diagram of control line array translation within a volume probe according to one embodiment of the present invention;

FIG. 6 shows a schematic diagram of controlling rotation of a convex array within a volume probe, according to one embodiment of the invention;

7A, 7B, and 7C illustrate schematic diagrams showing a three-dimensional overlay image according to one embodiment of the present invention;

FIG. 8 shows a schematic flow diagram of a method of three-dimensional shear wave elastography according to another embodiment of the present invention;

FIG. 9 shows a map of the motion and scanning of a volume probe according to another embodiment of the invention;

FIG. 10 shows a schematic flow diagram of a method of three-dimensional shear wave elastography according to another embodiment of the present invention;

figure 11 shows a diagram of the correspondence of the array element columns of a matrix probe with a two-dimensional tissue image and a two-dimensional shear wave elasticity image, in accordance with one embodiment of the present invention;

fig. 12 shows a block diagram of an ultrasound imaging system according to another embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of embodiments of the invention and not all embodiments of the invention, with the understanding that the invention is not limited to the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention described herein without inventive step, shall fall within the scope of protection of the invention.

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

It is to be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.

In order to provide a thorough understanding of the present invention, a detailed structure will be set forth in the following description in order to explain the present invention. Alternative embodiments of the invention are described in detail below, however, the invention may be practiced in other embodiments that depart from these specific details.

Next, an ultrasound imaging system according to an embodiment of the present invention is first described with reference to fig. 1, and fig. 1 shows a schematic structural block diagram of an ultrasound imaging system 100 according to an embodiment of the present invention.

As shown in fig. 1, the ultrasound imaging system 100 includes a volume probe 110, transmit circuitry 112, receive circuitry 114, a processor 116, and a display 118. Further, the ultrasound imaging system may further include a transmit/receive selection switch 120 and a beam forming module 122, and the transmit circuit 112 and the receive circuit 114 may be connected with the volume probe 110 through the transmit/receive selection switch 120.

The volume probe 110 includes a motion control mechanism and an array of elements disposed therein, the motion control mechanism being configured to control movement of the array of elements, the movement being in the form of translation or rotation. The array element array is composed of a plurality of array elements, and the array element array can be a linear array or a convex array. The array elements are used for transmitting ultrasonic waves according to the excitation electric signals or converting the received ultrasonic waves into the electric signals, so that each array element can be used for realizing the mutual conversion of electric pulse signals and ultrasonic waves, further realizing the transmission of the ultrasonic waves to the target tissues of the tested object and also receiving ultrasonic wave echoes reflected back by the tissues. When ultrasonic detection is carried out, which array elements are used for transmitting ultrasonic waves and which array elements are used for receiving the ultrasonic waves can be controlled through a transmitting sequence and a receiving sequence, or the time slots of the array elements are controlled to be used for transmitting the ultrasonic waves or receiving echoes of the ultrasonic waves. The array elements participating in ultrasonic wave transmission can be simultaneously excited by the electric signals, so that the ultrasonic waves are transmitted simultaneously; alternatively, the array elements participating in the ultrasonic beam transmission may be excited by several electrical signals with certain time intervals, so as to continuously transmit ultrasonic waves with certain time intervals.

During ultrasound imaging, the processor 116 controls the transmit circuitry 112 to send delay focused transmit pulses to the volume probe 110 through the transmit/receive select switch 120. The volume probe 110 is excited by the transmit pulse to transmit an ultrasonic beam to the tissue of the target region of the object to be measured, and receives an ultrasonic echo with tissue information reflected from the tissue of the target region after a certain time delay, and converts the ultrasonic echo back into an electrical signal again. The receiving circuit 114 receives the electrical signals generated by the volume probe 110, obtains the ultrasound echo signals, and sends the ultrasound echo signals to the beam forming module 122, and the beam forming module 122 performs processing such as focusing delay, weighting, and channel summation on the ultrasound echo data, and then sends the ultrasound echo data to the processor 116. The processor 116 performs signal detection, signal enhancement, data conversion, logarithmic compression, and the like on the ultrasonic echo signals to form an ultrasonic image. The ultrasound images obtained by the processor 116 may be displayed on the display 118 or may be stored in the memory 124.

Alternatively, the processor 116 may be implemented as software, hardware, firmware, or any combination thereof, and may use a single or multiple Application Specific Integrated Circuits (ASICs), a single or multiple general purpose Integrated circuits, a single or multiple microprocessors, a single or multiple programmable logic devices, or any combination of the foregoing, or other suitable circuits or devices. Also, the processor 116 may control other components in the ultrasound imaging system 100 to perform the respective steps of the methods in the various embodiments herein.

The display 118 is connected with the processor 116, and the display 118 may be a touch display screen, a liquid crystal display screen, or the like; alternatively, the display 118 may be a separate display, such as a liquid crystal display, a television, or the like, separate from the ultrasound imaging system 100; alternatively, the display 118 may be a display screen of an electronic device such as a smartphone, tablet, etc. The number of the display 118 may be one or more.

The display 118 may display the ultrasound image obtained by the processor 116. In addition, the display 118 can provide a graphical interface for human-computer interaction for the user while displaying the ultrasound image, and one or more controlled objects are provided on the graphical interface, so that the user can input operation instructions by using the human-computer interaction device to control the controlled objects, thereby executing corresponding control operations. For example, an icon is displayed on the graphical interface, and the icon can be operated by the man-machine interaction device to execute a specific function, such as drawing a region-of-interest box on the ultrasonic image.

Optionally, the ultrasound imaging system 100 may further include a human-computer interaction device other than the display 118, which is connected to the processor 116, for example, the processor 116 may be connected to the human-computer interaction device through an external input/output port, which may be a wireless communication module, a wired communication module, or a combination thereof. The external input/output port may also be implemented based on USB, bus protocols such as CAN, and/or wired network protocols, etc.

The human-computer interaction device may include an input device for detecting input information of a user, for example, control instructions for the transmission/reception timing of the ultrasonic waves, operation input instructions for drawing points, lines, frames, or the like on the ultrasonic images, or other instruction types. The input device may include one or more of a combination of a keyboard, mouse, scroll wheel, trackball, mobile input device (e.g., mobile device with touch screen display, cell phone, etc.), multi-function knob, and the like. The human-computer interaction device may also include an output device such as a printer.

The ultrasound imaging system 100 may also include a memory 124 for storing instructions executed by the processor, storing received ultrasound echoes, storing ultrasound images, and so forth. The memory may be a flash memory card, solid state memory, hard disk, etc. Which may be volatile memory and/or non-volatile memory, removable memory and/or non-removable memory, etc.

It should be understood that the components included in the ultrasound imaging system 100 shown in fig. 1 are merely illustrative and that more or fewer components may be included. The invention is not limited in this regard.

In the following, a three-dimensional shear wave elastography method according to an embodiment of the invention will be described with reference to fig. 2, which may be implemented in the ultrasound imaging system 100 described above. FIG. 2 is a schematic flow diagram of a three-dimensional shear wave elastography method 200 of an embodiment of the present invention.

As shown in fig. 2, a three-dimensional shear wave elastography method 200 of an embodiment of the present invention includes the steps of:

in step S210, receiving a motion control command of a volume probe, where the volume probe includes a motion control mechanism and an array element column arranged in the volume probe;

in step S220, in response to the motion control command, the motion control mechanism controls the array element array to alternately enter a static state and a motion state on a preset path in the volume probe, where the motion state includes an accelerated motion state, a uniform motion state and a decelerated motion state which are performed in sequence;

in step S230, in each of the static states, generating a shear wave propagating in the target tissue, controlling the array element array to emit a first ultrasonic wave for tracking the shear wave to the target tissue, receiving an echo signal of the first ultrasonic wave, and generating two-dimensional shear wave elasticity data corresponding to multiple frames of two-dimensional shear wave elasticity images according to the echo signal of the first ultrasonic wave; in each uniform motion state, controlling the array element array to transmit second ultrasonic waves to the target tissue, receiving echo signals of the second ultrasonic waves, and generating two-dimensional tissue data corresponding to multiple frames of two-dimensional tissue images according to the echo signals of the second ultrasonic waves;

in step S240, performing three-dimensional reconstruction based on the two-dimensional shear wave elastic data corresponding to the multi-frame two-dimensional shear wave elastic image to obtain three-dimensional shear wave elastic data, and performing three-dimensional reconstruction based on the two-dimensional tissue data corresponding to the multi-frame two-dimensional tissue image to obtain three-dimensional tissue data;

in step S250, an image obtained based on the three-dimensional shear wave elastic data and the three-dimensional tissue data is displayed.

The three-dimensional shear wave elastography method 200 of the embodiment of the invention controls the array element column of the volume probe to alternately enter a static state and a motion state through the motion control mechanism, collects two-dimensional tissue data in the motion state, and collects elastic data in the static state, thereby realizing three-dimensional tissue imaging and three-dimensional shear wave elastography of the whole target tissue in three-dimensional space dimension, enabling a doctor to observe the hardness information and the tissue structure information of the three-dimensional space dimension of the whole target tissue, and obtaining more integral judgment on the target tissue.

As shown in fig. 3, during the imaging process, the coordination manner of the motion and scanning of the array element column in the volume probe is as follows: the array element array enters a motion state for multiple times under the control of the motion control mechanism, and a static state is kept for a period of time between every two adjacent motion states. Because the array element array alternately enters the motion state and the static state on the preset path, the array element array is positioned at different positions on the preset path in the two adjacent static states, so that the array element array can perform shear wave elastic imaging on the target tissue at different positions, two-dimensional shear wave elastic data corresponding to a plurality of different sections of the target tissue are obtained, and accordingly, three-dimensional reconstruction can be performed and three-dimensional shear wave elastic data can be obtained. Similarly, in the two adjacent motion states, the array element array also moves in different ranges on the preset path, so that two-dimensional tissue data corresponding to a plurality of different sections of the target tissue are obtained, and accordingly, three-dimensional reconstruction can be performed and three-dimensional tissue data can be obtained. Figure 4 shows a plurality of two-dimensional tissue data and a plurality of two-dimensional shear wave elasticity data acquired by an array element column of a volumetric probe.

In each static state of the array element array, scanning of shear wave elastic imaging can be performed once to obtain two-dimensional shear wave elastic data corresponding to one frame of two-dimensional shear wave elastic image. Wherein the duration of each quiescent state may be equal. Because the shear wave elastography is carried out under the static state of the array element array, the imaging effect of the shear wave elastography can be prevented from being influenced by the motion of the array element array. Specifically, when scanning of shear wave elastography is carried out, a focused ultrasonic beam is excited through a volume probe to form an acoustic radiation force, a shear wave source is formed in target tissues, and a shear wave which propagates transversely is generated. Then, transmitting a first ultrasonic wave to the target tissue to track the propagation process of the shear wave; an echo of the first ultrasonic wave is received to obtain an echo signal of the first ultrasonic wave. The shear wave generated inside the target tissue and its propagation parameters (for example, propagation velocity, young's modulus, etc., which can be calculated from the propagation velocity and tissue density) can be identified and detected based on the echo signal of the first ultrasonic wave, and two-dimensional shear wave elasticity data that can quantitatively and visually represent the difference in the stiffness of the tissue can be obtained.

Each motion state comprises an accelerated motion state, a uniform motion state and a decelerated motion state which are sequentially performed, and scanning of tissue imaging is performed in the uniform motion state. And in each uniform motion state of the array element row, scanning of the tissue imaging can be carried out at least once to obtain at least one two-dimensional tissue data. Wherein the duration of each motion state may be equal. During scanning of tissue imaging, the ultrasound imaging system controls the array element array to emit a second ultrasonic wave to a target tissue, receives an echo of the second ultrasonic wave to obtain an echo signal of the second ultrasonic wave, and performs processing such as logarithmic compression, dynamic range adjustment, digital scan conversion and the like on the echo signal to generate tissue data for representing a morphological structure of the target tissue, where the tissue data may also be referred to as a grayscale image or a B image.

In some embodiments, the array elements of the volume probe are linear arrays, and the linear arrays can be controlled to translate or swing in the volume probe through the motion control mechanism. As shown in fig. 5, a plurality of array elements in the linear array are arranged in a straight line, and the array elements can be controlled by a built-in motion control mechanism to translate or swing, so as to obtain two-dimensional tissue data or two-dimensional shear wave elastic data corresponding to different sections. The preset path of the array element column motion can be a translation path or a swing path.

Or the array element array of the volume probe can also be a convex array, and the array can be controlled to swing or rotate in the volume probe through the motion control mechanism so as to obtain two-dimensional tissue data or two-dimensional shear wave elastic data corresponding to different spatial angles. As shown in fig. 6, at the initial position of the convex array, two-dimensional shear wave elastic data and two-dimensional tissue data corresponding to the initial scanning plane can be obtained, and in the process that the convex array rotates under the control of the motion control mechanism, the scanning plane rotates as shown by an arrow, so that two-dimensional tissue data or two-dimensional shear wave elastic data corresponding to each scanning plane corresponding to the whole three-dimensional scanning range can be obtained.

After the two-dimensional tissue data corresponding to the multiple frames of two-dimensional tissue images are obtained, the three-dimensional spatial relationship of the two-dimensional tissue data corresponding to the multiple frames of two-dimensional tissue images can be integrated, and partial or all image post-processing steps such as denoising, smoothing, enhancing and the like are carried out to obtain the three-dimensional tissue data. Similarly, after the two-dimensional shear wave elastic data corresponding to the multi-frame two-dimensional shear wave elastic image is obtained, the three-dimensional spatial relationship of the two-dimensional shear wave elastic data corresponding to the multi-frame two-dimensional shear wave elastic image can be integrated, and partial or all image post-processing steps such as denoising, smoothing and enhancing are performed to obtain the three-dimensional shear wave elastic data. After the three-dimensional shear wave elastic data and the three-dimensional tissue data are obtained, an image obtained based on the three-dimensional shear wave elastic data and the three-dimensional tissue data can be displayed in a visual manner.

The specific display mode may be various. As a display mode, referring to fig. 7A, two-dimensional shear wave elasticity data corresponding to a sagittal plane, a coronal plane, and a cross section of the target tissue may be extracted from the three-dimensional shear wave elasticity data, and two-dimensional tissue data corresponding to a sagittal plane, a coronal plane, and a cross section of the target tissue may be extracted from the three-dimensional tissue data; according to the two-dimensional shear wave elastic data corresponding to the sagittal plane, the coronal plane and the cross section of the target tissue and the two-dimensional tissue data corresponding to the sagittal plane, the coronal plane and the cross section of the target tissue, a two-dimensional multi-modal image corresponding to the sagittal plane, a two-dimensional multi-modal image corresponding to the coronal plane and a two-dimensional multi-modal image corresponding to the cross section are obtained, wherein the two-dimensional multi-modal image comprises a two-dimensional tissue image and a two-dimensional shear wave elastic image superposed on the two-dimensional tissue image. In addition, a three-dimensional space schematic diagram can be generated according to the two-dimensional multi-modal image corresponding to the sagittal plane, the two-dimensional multi-modal image corresponding to the coronal plane and the two-dimensional multi-modal image corresponding to the cross section, the three-dimensional space schematic diagram is displayed, and three-dimensional space positions corresponding to the two-dimensional multi-modal images of the sagittal plane, the coronal plane and the cross section are displayed in the three-dimensional space schematic diagram.

The two-dimensional shear wave elastic image can be colorized and transparentized and can be superposed and displayed on a two-dimensional tissue image to obtain a two-dimensional multi-modal image. In the display mode shown in fig. 7A, a total of four images are displayed, wherein the images corresponding to the upper left, the upper right and the lower left are two-dimensional multi-modal images corresponding to the sagittal plane, the coronal plane and the cross section of the target tissue, respectively, and the image corresponding to the lower right is a three-dimensional spatial position diagram of the two-dimensional multi-modal images corresponding to the sagittal plane, the coronal plane and the cross section.

On the basis of displaying the two-dimensional multi-modal images corresponding to the sagittal plane, the coronal plane and the cross section, the positions corresponding to the sagittal plane, the coronal plane and the cross section can be adjusted according to the received operation instruction, and the two-dimensional multi-modal images and the three-dimensional space schematic diagram corresponding to the sagittal plane, the coronal plane or the cross section are updated and displayed according to the adjusted positions of the sagittal plane, the coronal plane or the cross section. The user can adjust the spatial position of each two-dimensional multi-modal image along the normal of each two-dimensional multi-modal image in turn to observe the tissue structure characteristics and the elasticity characteristics of the target tissue at different positions.

As another display mode, referring to fig. 7B, an image obtained based on three-dimensional shear wave elastic data and three-dimensional tissue data may be displayed in a two-dimensional tomographic imaging mode. Specifically, first, similarly to the display manner as shown in fig. 7A, two-dimensional shear wave elasticity data corresponding to the sagittal plane, coronal plane, and cross section of the target tissue are respectively extracted from the three-dimensional shear wave elasticity data, and two-dimensional tissue data corresponding to the sagittal plane, coronal plane, and cross section of the target tissue are respectively extracted from the three-dimensional tissue data; and obtaining and displaying a two-dimensional multi-modal image corresponding to the sagittal plane, a two-dimensional multi-modal image corresponding to the coronal plane and a two-dimensional multi-modal image corresponding to the cross section according to the two-dimensional shear wave elastic data corresponding to the sagittal plane, the coronal plane and the cross section of the target tissue and the two-dimensional tissue data corresponding to the sagittal plane, the coronal plane and the cross section of the target tissue, wherein the two-dimensional multi-modal image comprises the two-dimensional tissue image and the two-dimensional shear wave elastic image superposed on the two-dimensional tissue image.

Then, a plurality of reference lines for performing two-dimensional tomographic imaging in parallel with each other may be determined on the two-dimensional multi-modal image corresponding to the sagittal plane, the two-dimensional multi-modal image corresponding to the coronal plane, or the two-dimensional multi-modal image corresponding to the cross-sectional plane. Wherein, a plurality of reference lines can be arranged at equal intervals and can be arranged at the position of the focus area, thereby observing the focus comprehensively. After the reference lines are determined, two-dimensional tomographic imaging is performed on the three-dimensional shear wave data and the three-dimensional tissue data based on a plurality of reference lines parallel to each other, resulting in two-dimensional tomographic saliency corresponding to the plurality of reference lines, illustratively each two-dimensional tomographic image including a two-dimensional shear wave tomographic image and a two-dimensional tissue tomographic image superimposed on each other. As shown in fig. 7B, the two-dimensional tomographic image and the two-dimensional multi-modal image corresponding to the sagittal plane, coronal plane, and cross-sectional plane can be displayed on the same screen.

When a plurality of reference lines are set, the positions of the reference lines in the two-dimensional multi-modal image can be automatically determined according to the tissue structure characteristics or the elastic characteristics in the two-dimensional multi-modal image, and the positions of the reference lines in the two-dimensional multi-modal image can also be determined according to the received operation instruction. For example, a distribution range of the plurality of reference lines may be determined according to an operation instruction of a user, and the plurality of reference lines may be automatically set at equal intervals within the distribution range.

Referring to fig. 7C, in another display mode, the three-dimensional shear wave elastic data and the three-dimensional tissue data may be rendered to obtain a mixed rendered image with a stereoscopic effect, and the mixed rendered image may be displayed. The mixed rendering image has the characteristics of being more intuitive and easier to understand. The part corresponding to the three-dimensional shear wave elasticity data in the mixed rendering image is a color image, and the part corresponding to the three-dimensional tissue data is a gray image.

Illustratively, when rendering is performed on the three-dimensional shear wave elastic data and the three-dimensional tissue data to obtain a hybrid rendered image, the three-dimensional shear wave elastic data and the three-dimensional tissue data may be rendered respectively, and rendering results obtained after the rendering are fused to obtain the hybrid rendered image. Or, rendering the three-dimensional shear wave elastic data and the three-dimensional tissue data simultaneously to obtain a hybrid rendering image.

The method comprises the following steps of rendering three-dimensional shear wave elastic data and three-dimensional tissue data respectively, fusing rendering results obtained after rendering respectively, and obtaining a mixed rendering image, wherein the rendering steps comprise: rendering the three-dimensional shear wave elastic data to obtain a first rendered image, and acquiring a color value and a spatial depth value of each pixel in the first rendered image, wherein the first rendered image can be a two-dimensional image with a three-dimensional display effect. Rendering the three-dimensional tissue data to obtain a second rendered image, and acquiring a color value and a spatial depth value of each pixel in the second rendered image, wherein the second rendered image can be a two-dimensional image with a three-dimensional display effect. Determining respective weights of each pixel in the first rendered image and the corresponding pixel in the second rendered image when color values are fused based on the spatial depth value of each pixel in the first rendered image and the spatial depth value of the corresponding pixel in the second rendered image; and calculating the color value of each pixel in the mixed rendering image based on respective weights of each pixel in the first rendering image and the corresponding pixel in the second rendering image when the color values are fused, and mapping the calculated color values into the mixed rendering image.

For example, the rendering mode for rendering the three-dimensional shear wave elasticity data may be surface rendering or volume rendering, and similarly, the rendering mode for rendering the three-dimensional tissue data may be surface rendering or volume rendering. The surface rendering method can include extracting isosurface (i.e., surface profile) information in three-dimensional data, and then performing stereo rendering by combining with an illumination model, wherein the illumination model includes ambient light, scattered light, highlight and the like. The volume rendering is mainly a ray tracing algorithm, in one example of the volume rendering, a plurality of rays penetrating through three-dimensional shear wave elastic data or three-dimensional tissue data are emitted based on a sight line direction, each ray is advanced according to a fixed step length, the volume data on a ray path are sampled, the opacity of each sampling point is determined according to the gray value of each sampling point, the opacity of each sampling point on each ray path is accumulated to obtain accumulated opacity, finally, the accumulated opacity on each ray path is mapped into a color value through a mapping table of the accumulated opacity and the color, the color value is mapped onto a pixel of a two-dimensional image, the color value of the pixel corresponding to each ray path is obtained in such a way, and a rendered image can be obtained.

And after the first rendering image and the second rendering image are respectively obtained by the random drawing method, the first rendering image and the second rendering image are fused and displayed. For example, respective weights in color value fusion may be determined based on the cumulative opacity value of each pixel in the first rendered image and/or the cumulative opacity value of each pixel in the second rendered image.

In another embodiment, rendering the three-dimensional shear wave elasticity data and the three-dimensional tissue data simultaneously to obtain a hybrid rendered image comprises: simultaneously performing volume rendering on the three-dimensional shear wave elastic data and the three-dimensional tissue data, and acquiring a spatial depth value and a gray value of each sampling point on each ray path in the volume rendering process, wherein the gray value of each sampling point comprises a gray value of the three-dimensional shear wave elastic data at the point and/or a gray value of the three-dimensional tissue data at the point; acquiring a color value of each sampling point on each light path based on the spatial depth value and the gray value of each sampling point on each light path, and determining an accumulated color value on each light path based on the color values of all the sampling points on each light path; a color value for each pixel in the blended rendered image is determined based on the accumulated color values on each ray path, and the calculated color values are mapped into the blended rendered image.

The obtaining a color value of each sampling point based on a spatial depth value and a gray value of each sampling point on each ray path may include: and acquiring the color value of each sampling point on each ray path based on the spatial depth value and the gray value of each sampling point according to a preset three-dimensional color index table. Alternatively, the color value of each sampling point may be obtained based on the spatial depth value and the gray value of each sampling point on each ray path according to a predetermined mapping function. In the embodiment, a ray tracing algorithm is adopted, a plurality of rays penetrating through three-dimensional shear wave elastic data and three-dimensional tissue data are emitted based on a sight line direction, each ray advances according to a fixed step length, volume data on ray paths are sampled, a gray value of the three-dimensional shear wave elastic data and/or a gray value of the three-dimensional tissue data of each sampling point are obtained, a three-dimensional color table is indexed by combining stepping depth information of the current ray to obtain a color value or a color value is obtained according to a preset mapping function, so that a color value of each sampling point is obtained, color values of sampling points on each ray path are accumulated, the accumulated color values are mapped to one pixel of a two-dimensional image, color values of pixels corresponding to all ray paths are obtained in the mode, and a final mixed rendering image can be obtained.

In summary, in the three-dimensional shear wave elastography method 200 according to the embodiment of the present invention, the motion control mechanism controls the array element array of the volume probe to alternately enter the static state and the motion state, the two-dimensional tissue data is collected in the motion state, and the elastic data is collected in the static state, so that the three-dimensional tissue imaging and the three-dimensional shear wave elastography of the whole target tissue are realized in the three-dimensional spatial dimension, so that a doctor can observe the softness information and the tissue structure information of the three-dimensional spatial dimension of the whole target tissue, and obtain a more integral judgment on the target tissue.

Next, a three-dimensional shear wave elastography method according to another embodiment of the present invention will be described with reference to fig. 8, which may also be implemented in the ultrasound imaging system 100 described above. FIG. 8 is a schematic flow chart diagram of a method 800 of three-dimensional shear wave elastography in accordance with an embodiment of the present invention.

As shown in fig. 8, a three-dimensional shear wave elastography method 800 of an embodiment of the invention comprises the steps of:

in step S810, receiving a motion control command of a volume probe, where the volume probe includes a motion control mechanism and an array element column arranged in the volume probe;

in step S820, in response to the motion control command, controlling the array element array to perform a set of continuous motions on a preset path in the volume probe through the motion control mechanism, where the set of continuous motions includes an acceleration motion, a uniform motion, and a deceleration motion, which are performed in sequence;

in step S830, in the process of the uniform motion, performing scanning on a target tissue by multiple shear wave elastography to obtain two-dimensional shear wave elasticity data corresponding to multiple frames of two-dimensional shear wave elasticity images of the target tissue, and performing scanning on the target tissue by multiple tissue imaging to obtain two-dimensional tissue data corresponding to multiple frames of two-dimensional tissue images of the target tissue;

wherein the scanning of the shear wave elastography comprises: generating shear waves propagated in the target tissue, controlling the array element array to transmit first ultrasonic waves for tracking the shear waves to the target tissue, receiving echo signals of the first ultrasonic waves, and generating two-dimensional shear wave elastic data corresponding to one frame of two-dimensional shear wave elastic image according to the echo signals of the first ultrasonic waves; the scanning of the tissue imaging comprises: controlling the array element column to transmit second ultrasonic waves to the target tissue, receiving echo signals of the second ultrasonic waves, and generating two-dimensional tissue data corresponding to one frame of two-dimensional tissue image based on the echo signals of the second ultrasonic waves;

in step S840, performing three-dimensional reconstruction based on the two-dimensional shear wave elastic data corresponding to the multiple frames of two-dimensional shear wave elastic images to obtain three-dimensional shear wave elastic data, and performing three-dimensional reconstruction based on the two-dimensional tissue data corresponding to the multiple frames of two-dimensional tissue images to obtain three-dimensional tissue data;

in step S850, an image obtained based on the three-dimensional shear wave elastic data and the three-dimensional tissue data is displayed.

Similar to the three-dimensional shear wave elastography method 200 described above, the three-dimensional shear wave elastography method 800 of the embodiment of the present invention performs three-dimensional shear wave elastography and three-dimensional tissue imaging by controlling the array element row motion in the volume probe through the motion control mechanism. The array element array of the volume probe can be a linear array, and the linear array can be controlled to translate or swing in the volume probe through a motion control mechanism. Alternatively, the array element array of the volume probe can be a convex array, and the convex array can be controlled to rotate in the volume probe through the motion control mechanism. The difference is that, as shown in fig. 9, in the imaging process of the three-dimensional shear wave elastography method 800, the motion control mechanism controls the array element array to perform a set of continuous motions on a preset path in the volume probe, where the set of continuous motions includes an acceleration motion, a uniform motion, and a deceleration motion that are performed in sequence; the scanning of the shear wave elasticity imaging and the scanning of the tissue imaging both occur in the process of uniform motion.

In one embodiment, the multiple scans of shear wave elastography and the multiple scans of tissue imaging may be performed alternately in an interleaved manner. For example, a scan of shear wave elastography followed by a scan of tissue imaging may be performed, or two or more scans of shear wave elastography followed by one or more scans of tissue imaging may be performed, where there are many similar combinations, and this is only an example.

In one embodiment, during the uniform motion of the array element array, after each scanning of shear wave elastic imaging is performed, at least one scanning of tissue imaging may be performed, that is, one or more two-dimensional tissue images may be spaced between two adjacent two-dimensional shear wave elastic images, and the number of the two-dimensional shear wave elastic images acquired in the whole imaging process is the same as or different from the number of the two-dimensional tissue images. As only the array element array needs to be controlled to carry out a group of continuous motions in the whole imaging process, only the array element array needs to be controlled to carry out accelerated motion, uniform motion and decelerated motion on the set track, and therefore the motion control mechanism is more conveniently controlled. In addition, because only one acceleration and one deceleration are needed, the three-dimensional shear wave elastography and the three-dimensional tissue imaging can be completed in a short time, and the imaging speed is higher. In order to avoid the influence of the array element column motion on the shear wave elastic imaging, the speed of the array element column motion can be set to be not more than a preset threshold value.

After the three-dimensional shear wave elasticity data and the three-dimensional tissue data are obtained, the manner of displaying the three-dimensional shear wave elasticity data and the three-dimensional tissue data is substantially the same as the three-dimensional shear wave elasticity imaging method 200. Specifically, in one example, two-dimensional shear wave elasticity data corresponding to a sagittal plane, a coronal plane, and a cross section of the target tissue may be extracted in the three-dimensional shear wave elasticity data, respectively, and two-dimensional tissue data corresponding to a sagittal plane, a coronal plane, and a cross section of the target tissue may be extracted in the three-dimensional tissue data, respectively; obtaining a two-dimensional multi-modal image corresponding to the sagittal plane, a two-dimensional multi-modal image corresponding to the coronal plane and a two-dimensional multi-modal image corresponding to the cross section according to the two-dimensional shear wave elastic data corresponding to the sagittal plane, the coronal plane and the cross section of the target tissue and the two-dimensional tissue data corresponding to the sagittal plane, the coronal plane and the cross section of the target tissue, wherein the two-dimensional multi-modal image comprises the two-dimensional tissue image and the two-dimensional shear wave elastic image superposed on the two-dimensional tissue image; generating a three-dimensional space schematic diagram according to the two-dimensional multi-modal image corresponding to the sagittal plane, the two-dimensional multi-modal image corresponding to the coronal plane and the two-dimensional multi-modal image corresponding to the cross section; and displaying the two-dimensional multi-modal image corresponding to the sagittal plane, the two-dimensional multi-modal image corresponding to the coronal plane and the two-dimensional multi-modal image corresponding to the cross section, and displaying a three-dimensional space schematic diagram.

In another example, two-dimensional shear wave elasticity data corresponding to a sagittal plane, a coronal plane, and a cross section of the target tissue may be extracted in the three-dimensional shear wave elasticity data, respectively, and two-dimensional tissue data corresponding to a sagittal plane, a coronal plane, and a cross section of the target tissue may be extracted in the three-dimensional tissue data, respectively; obtaining a two-dimensional multi-modal image corresponding to the sagittal plane, a two-dimensional multi-modal image corresponding to the coronal plane and a two-dimensional multi-modal image corresponding to the cross section according to the two-dimensional shear wave elastic data corresponding to the sagittal plane, the coronal plane and the cross section of the target tissue and the two-dimensional tissue data corresponding to the sagittal plane, the coronal plane and the cross section of the target tissue, wherein the two-dimensional multi-modal image comprises the two-dimensional tissue image and the two-dimensional shear wave elastic image superposed on the two-dimensional tissue image; displaying a two-dimensional multi-modal image corresponding to a sagittal plane, a two-dimensional multi-modal image corresponding to a coronal plane and a two-dimensional multi-modal image corresponding to a cross section; determining a plurality of parallel reference lines for performing two-dimensional tomography on a two-dimensional multi-modal image corresponding to a sagittal plane, a two-dimensional multi-modal image corresponding to a coronal plane, or a two-dimensional multi-modal image corresponding to a cross section; and performing two-dimensional tomography on the three-dimensional shear wave data and the three-dimensional tissue data based on a plurality of parallel reference lines to obtain a plurality of two-dimensional tomography images corresponding to the reference lines.

In yet another example, the three-dimensional shear wave elastic data and the three-dimensional tissue data may be rendered to obtain a blended rendered image, and the blended rendered image may be displayed, where a portion of the blended rendered image corresponding to the three-dimensional shear wave elastic data is a color image, and a portion of the blended rendered image corresponding to the three-dimensional tissue data is a grayscale image.

The three-dimensional shear wave elastography method 800 of the embodiment of the present invention has many same or similar details as the three-dimensional shear wave elastography method 200 described above, and specific reference may be made to the above, which is not described herein again. The three-dimensional shear wave elastography method 800 of the embodiment of the invention controls the array element array of the volume probe to perform a group of continuous motions on a preset path through the motion control mechanism, and acquires two-dimensional tissue data and two-dimensional shear wave elastography data in the motion process, thereby realizing three-dimensional tissue imaging and three-dimensional shear wave elastography of the whole target tissue in three-dimensional space dimension.

In the following, a three-dimensional shear wave elastography method 1000 according to another embodiment of the invention, which may be implemented in an ultrasound imaging system 1200 as shown in fig. 12, will be described with reference to fig. 10. As shown in fig. 10, a three-dimensional shear wave elastography method 1000 of an embodiment of the present invention includes the following steps:

in step S1010, receiving an array element column control instruction of a matrix probe, where the matrix probe includes an array element matrix, the array element matrix includes a plurality of array element columns, and each array element column includes a plurality of array elements;

in step S1020, in response to the array element column control instruction, controlling a plurality of array element columns in the array element matrix to be sequentially opened according to a preset time sequence, performing scanning of multiple shear wave elastography on a target tissue to obtain two-dimensional shear wave elasticity data corresponding to multiple frames of two-dimensional shear wave elasticity images of the target tissue, and performing scanning of multiple tissue imaging on the target tissue to obtain two-dimensional tissue data corresponding to multiple frames of two-dimensional tissue images of the target tissue;

wherein the scanning of the shear wave elastography comprises: generating shear waves propagating in the target tissue, transmitting first ultrasonic waves for tracking the shear waves to the target tissue, receiving echo signals of the first ultrasonic waves, and generating two-dimensional shear wave elasticity data corresponding to one frame of two-dimensional shear wave elasticity image based on the echo signals of the second ultrasonic waves; the scanning of the tissue imaging comprises: transmitting a second ultrasonic wave to the target tissue, receiving an echo signal of the second ultrasonic wave, and generating two-dimensional tissue data corresponding to one frame of two-dimensional tissue image based on the echo signal of the second ultrasonic wave;

in step S1030, performing three-dimensional reconstruction based on the two-dimensional shear wave elastic data corresponding to the multiple frames of two-dimensional shear wave elastic images to obtain three-dimensional shear wave elastic data, and performing three-dimensional reconstruction based on the two-dimensional tissue data corresponding to the multiple frames of two-dimensional tissue images to obtain three-dimensional tissue data;

in step S1040, an image obtained based on the three-dimensional shear wave elastic data and the three-dimensional tissue data is displayed.

The three-dimensional shear wave elastography method 1000 of the embodiment of the invention realizes three-dimensional shear wave elastography and three-dimensional tissue imaging based on the matrix probe. As shown in fig. 11, the matrix probe includes a plurality of array element columns, each array element column includes a plurality of array elements, and the positions of different array element columns are different, so that the corresponding scanning planes are also different. The three-dimensional imaging of the matrix probe does not relate to motion control, and the three-dimensional imaging can be realized only by changing or switching the array element columns for scanning according to a certain sequence.

In some embodiments, one array element column may be controlled to be turned on at the same time, so as to perform a scanning of shear wave elastography or a scanning of tissue imaging, and according to the scanning strategy, the plurality of array element columns are turned on at one time according to a preset time sequence, that is, each array element column in the array element matrix is sequentially used, or each array element column with a fixed array element column number is spaced, for scanning, as shown in fig. 11. In other embodiments, at least two adjacent array element columns may also be controlled to be simultaneously turned on at the same time, so as to perform one scanning of shear wave elastography or one scanning of tissue imaging, and a better spatial focusing effect may be obtained by using different delays during scanning.

Illustratively, the same array element column in the array element matrix can be controlled to be repeatedly opened so as to alternately obtain two-dimensional tissue data corresponding to a plurality of frames of two-dimensional tissue images and two-dimensional shear wave elastic data corresponding to a plurality of frames of two-dimensional shear wave elastic images. The first array element array can be controlled to be opened twice to obtain two-dimensional tissue data corresponding to one two-dimensional tissue image and two-dimensional shear wave elastic data corresponding to one two-dimensional shear wave elastic image, the second array element array is controlled to be opened twice to obtain two-dimensional tissue data corresponding to the other two-dimensional tissue image and two-dimensional shear wave elastic data corresponding to the other two-dimensional shear wave elastic image, and the like.

Or different array element columns in the array element matrix can be controlled to be sequentially opened according to a preset time sequence so as to sequentially obtain two-dimensional shear wave elastic data corresponding to the multi-frame two-dimensional shear wave elastic image and two-dimensional tissue data corresponding to the multi-frame two-dimensional tissue image. Specifically, assuming that an array element matrix has N array element rows, 1-N array element rows can be controlled to be opened in sequence to obtain two-dimensional shear wave elastic data corresponding to N frames of two-dimensional shear wave elastic images; and then controlling the 1-N array element arrays to be started in sequence to obtain two-dimensional organization data corresponding to the N frames of two-dimensional organization images. Of course, the opening sequence of the array element arrays is not limited to the two sequences, as long as two-dimensional shear wave elastic data and two-dimensional tissue data corresponding to a plurality of different array element arrays can be obtained, and then three-dimensional shear wave elastic data and three-dimensional tissue data can be obtained through three-dimensional reconstruction. In one embodiment, the number of array element columns used for scanning multiple shear wave elastography images is the same as the number of array element columns used for scanning multiple tissue imaging images.

It should be noted that the preset time sequence may be sequentially started according to the distribution sequence of the array element columns, or may be sequentially started by setting other sequence rules instead of strictly according to the distribution sequence of the array element columns. For example, in the case of including 5 arrays of array elements, the array elements may be sequentially emitted in 1, 2, 3, 4, 5 arrays of array elements, or sequentially emitted in 2, 1, 4, 3, 5 arrays of array elements, and the combination is many, and this is only for illustration and not for limitation.

In yet another example, the three-dimensional shear wave elastic data and the three-dimensional tissue data may be rendered to obtain a hybrid rendered image, and the hybrid rendered image may be displayed, where a portion of the hybrid rendered image corresponding to the three-dimensional shear wave elastic data is a color image, and a portion of the hybrid rendered image corresponding to the three-dimensional tissue data is a grayscale image.

The three-dimensional shear wave elastography method 1000 of the embodiment of the present invention and the three-dimensional shear wave elastography method 200 described above have many same or similar details, which may be referred to above specifically, and are not described herein again. The three-dimensional shear wave elastography method 1000 of the embodiment of the invention obtains two-dimensional tissue data corresponding to a plurality of frames of two-dimensional tissue images of a target tissue and two-dimensional shear wave elastography data corresponding to a plurality of frames of two-dimensional shear wave elastography images by controlling a plurality of array element arrays in the array element matrix to be opened in sequence, thereby realizing three-dimensional tissue imaging and three-dimensional shear wave elastography of the whole target tissue in three-dimensional space dimension.

The embodiment of the invention also provides an ultrasonic imaging system, which is used for realizing the three-dimensional shear wave elastic imaging method 1000. Referring to fig. 12, the ultrasound imaging system 1200 includes a matrix probe 1210, transmit circuitry 1212, receive circuitry 1214, a processor 1216, and a display 1218, and optionally the ultrasound imaging system 1200 may further include a transmit/receive select switch 1220 and a beam combining module 1222, the transmit circuitry 1212 and the receive circuitry 1214 may be connected to the matrix probe 1210 through the transmit/receive select switch 1220.

The matrix probe 1210 comprises an array element matrix, wherein the array element matrix comprises a plurality of array element columns, and each array element column comprises a plurality of array elements; the transmitting circuit 1212 is configured to excite the array element columns in the array element matrix to transmit ultrasonic waves to a target tissue; the receiving circuit 1214 is used for controlling the array element array to receive the echo of the ultrasonic wave, and obtaining the echo signal of the ultrasonic wave; the processor 1216 is configured to perform the steps of the three-dimensional shear wave elastography method 1000, obtaining three-dimensional shear wave elasticity data and three-dimensional tissue data; the display 1218 is used to display three-dimensional shear wave elastic data and three-dimensional tissue data.

The main functions of the components of the ultrasound imaging system 1200 are described above, except that the probe of the ultrasound imaging system 1200 is a matrix probe, and the probe of the ultrasound imaging system 100 is a volume probe, other components of the ultrasound imaging system 1200 are substantially the same as the ultrasound imaging system 100, and are not described herein again.

Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the foregoing illustrative embodiments are merely exemplary and are not intended to limit the scope of the invention thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be construed to reflect the intent: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Moreover, those skilled in the art will appreciate that although some embodiments described herein include some features included in other embodiments, not others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some of the modules according to embodiments of the present invention. The present invention may also be embodied as apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

The above description is only for the purpose of describing the embodiments of the present invention or the description thereof, and the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and shall cover the scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A method of three-dimensional shear wave elastography, the method comprising:

displaying an image obtained based on the three-dimensional shear wave elasticity data and the three-dimensional tissue data.

2. The method according to claim 1, wherein in each of the static states, two-dimensional shear wave elasticity data corresponding to one frame of two-dimensional shear wave elasticity image is obtained; and obtaining two-dimensional organization data corresponding to at least one frame of two-dimensional organization image under each uniform motion state.

3. The method of claim 1, wherein the array elements of the volume probe are linear arrays, and wherein controlling the array elements to move by the motion control mechanism comprises: and controlling the linear array to translate in the volume probe through the motion control mechanism.

4. The method of claim 1, wherein the array elements of the volume probe are convex, and wherein controlling the array elements to move by the motion control mechanism comprises: and controlling the convex array to swing in the volume probe through the motion control mechanism.

5. The method according to any one of claims 1-4, wherein said displaying an image derived based on said three-dimensional shear wave elasticity data and said three-dimensional tissue data comprises:

extracting two-dimensional shear wave elasticity data corresponding to a sagittal plane, a coronal plane and a cross section of the target tissue from the three-dimensional shear wave elasticity data respectively, and extracting two-dimensional tissue data corresponding to the sagittal plane, the coronal plane and the cross section of the target tissue from the three-dimensional tissue data respectively;

obtaining a two-dimensional multi-modal image corresponding to the sagittal plane, a two-dimensional multi-modal image corresponding to the coronal plane and a two-dimensional multi-modal image corresponding to the cross section according to the two-dimensional shear wave elastic data corresponding to the sagittal plane, the coronal plane and the cross section of the target tissue and the two-dimensional tissue data corresponding to the sagittal plane, the coronal plane and the cross section of the target tissue, wherein the two-dimensional multi-modal image comprises the two-dimensional tissue image and the two-dimensional shear wave elastic image superposed on the two-dimensional tissue image;

generating a three-dimensional space schematic diagram according to the two-dimensional multi-modal image corresponding to the sagittal plane, the two-dimensional multi-modal image corresponding to the coronal plane and the two-dimensional multi-modal image corresponding to the cross section;

and displaying the two-dimensional multi-modal image corresponding to the sagittal plane, the two-dimensional multi-modal image corresponding to the coronal plane and the two-dimensional multi-modal image corresponding to the cross section, and displaying the three-dimensional space schematic diagram.

6. The method of claim 5, further comprising: adjusting the positions corresponding to the sagittal plane, the coronal plane and/or the cross section according to the received operation instructions;

and updating and displaying the two-dimensional multi-modal image corresponding to the sagittal plane, the two-dimensional multi-modal image corresponding to the coronal plane and/or the two-dimensional multi-modal image corresponding to the cross section according to the adjusted positions of the sagittal plane, the coronal plane and/or the cross section, and updating and displaying the three-dimensional space schematic diagram.

7. The method according to any one of claims 1-4, wherein said displaying an image derived based on said three-dimensional shear wave elasticity data and said three-dimensional tissue data comprises:

displaying the two-dimensional multi-modal image corresponding to the sagittal plane, the two-dimensional multi-modal image corresponding to the coronal plane and the two-dimensional multi-modal image corresponding to the cross section;

determining a plurality of parallel reference lines for performing two-dimensional tomography on a two-dimensional multi-modal image corresponding to a sagittal plane, a two-dimensional multi-modal image corresponding to a coronal plane, or a two-dimensional multi-modal image corresponding to a cross section;

performing the two-dimensional tomographic imaging based on the plurality of reference lines determined in parallel on the two-dimensional multi-modal image corresponding to a sagittal plane, the two-dimensional multi-modal image corresponding to a coronal plane, or the two-dimensional multi-modal image corresponding to a cross section, to obtain a plurality of two-dimensional tomographic images corresponding to the plurality of reference lines;

displaying the plurality of two-dimensional tomographic images.

8. The method according to any one of claims 1-4, wherein said displaying an image derived based on said three-dimensional shear wave elasticity data and said three-dimensional tissue data comprises:

rendering the three-dimensional shear wave elastic data and the three-dimensional tissue data to obtain a mixed rendering image, and displaying the mixed rendering image, wherein the part, corresponding to the three-dimensional shear wave elastic data, in the mixed rendering image is a color image, and the part, corresponding to the three-dimensional tissue data, in the mixed rendering image is a gray image.

9. The method of claim 8, wherein rendering the three-dimensional shear wave elasticity data and the three-dimensional tissue data to obtain a hybrid rendered image comprises:

rendering the three-dimensional shear wave elastic data to obtain a first rendered image, and acquiring a color value and a spatial depth value of each pixel in the first rendered image;

rendering the three-dimensional tissue data to obtain a second rendered image, and acquiring a color value and a spatial depth value of each pixel in the second rendered image;

determining a respective weight of each pixel in the first rendered image when fused with a corresponding pixel in the second rendered image based on a spatial depth value of each pixel in the first rendered image and a spatial depth value of the corresponding pixel in the second rendered image;

and calculating the color value of each pixel in the mixed rendering image based on the respective weight of each pixel in the first rendering image and the corresponding pixel in the second rendering image when the color values are fused, and mapping the calculated color value into the mixed rendering image.

10. The method of claim 8, wherein rendering the three-dimensional shear wave elasticity data and the three-dimensional tissue data resulting in a hybrid rendered image comprises:

simultaneously performing volume rendering on the three-dimensional shear wave elastic data and the three-dimensional tissue data, and acquiring a spatial depth value and a gray value of each sampling point on each ray path in the volume rendering process, wherein the gray value of each sampling point comprises a gray value of the three-dimensional shear wave elastic data at the sampling point and/or a gray value of the three-dimensional tissue data at the sampling point;

acquiring a color value of each sampling point on each light path based on the spatial depth value and the gray value of each sampling point on each light path, and determining an accumulated color value on each light path based on the color values of all the sampling points on each light path;

determining a color value for each pixel in the blended rendered image based on the accumulated color values on each ray path, and mapping the calculated color values into the blended rendered image.

11. A method of three-dimensional shear wave elastography, the method comprising:

during the uniform motion, scanning a target tissue for multiple times of shear wave elasticity imaging to obtain two-dimensional shear wave elasticity data corresponding to multiple frames of two-dimensional shear wave elasticity images of the target tissue, and scanning the target tissue for multiple times of tissue imaging to obtain two-dimensional tissue data corresponding to multiple frames of two-dimensional tissue images of the target tissue;

wherein the scanning of the shear wave elastography comprises: generating shear waves propagated in the target tissue, controlling the array element array to transmit first ultrasonic waves for tracking the shear waves to the target tissue, receiving echo signals of the first ultrasonic waves, and generating two-dimensional shear wave elastic data corresponding to one frame of two-dimensional shear wave elastic image according to the echo signals of the first ultrasonic waves; the scanning of the tissue imaging comprises: and controlling the array element column to transmit second ultrasonic waves to the target tissue, receiving echo signals of the second ultrasonic waves, and generating two-dimensional tissue data corresponding to one frame of two-dimensional tissue image based on the echo signals of the second ultrasonic waves.

12. The method of claim 11, wherein the plurality of scans of shear wave elastography and the plurality of scans of tissue imaging are performed alternately.

13. The method of claim 12, wherein the plurality of scans of shear wave elastography and the plurality of scans of tissue imaging are alternated, comprising: at least one scan of the tissue image is performed after each scan of the shear wave elastography.

14. The method of claim 12, wherein the array elements of the volume probe are linear arrays, and wherein controlling the array elements to move by the motion control mechanism comprises: and controlling the linear array to translate in the volume probe through the motion control mechanism.

15. The method of claim 12, wherein the array elements of the volume probe are convex, and wherein controlling the array elements to move by the motion control mechanism comprises: and controlling the convex array to swing in the volume probe through the motion control mechanism.

16. The method according to any one of claims 12-15, wherein said displaying an image derived based on said three-dimensional shear wave elasticity data and said three-dimensional tissue data comprises:

17. The method of claim 16, further comprising: adjusting the positions corresponding to the sagittal plane, the coronal plane and/or the cross section according to the received operation instructions;

18. The method according to any one of claims 12-15, wherein said displaying an image derived based on said three-dimensional shear wave elasticity data and said three-dimensional tissue data comprises:

displaying the plurality of two-dimensional tomographic images.

19. The method according to any one of claims 12-15, wherein said displaying an image derived based on said three-dimensional shear wave elasticity data and said three-dimensional tissue data comprises:

20. A method of three-dimensional shear wave elastography, the method comprising:

21. The method of claim 20, wherein one array element row is controlled to be turned on at the same time to perform one scan of the shear wave elastography or one scan of the tissue imaging; or at the same time, controlling at least two adjacent array element columns to be opened simultaneously so as to perform scanning of shear wave elastography once or scanning of tissue imaging once.

22. The method according to claim 20, wherein the controlling of the plurality of array element columns in the array element matrix to be sequentially turned on according to a preset time sequence includes performing scanning of multiple shear wave elastography on a target tissue to obtain two-dimensional shear wave elasticity data corresponding to multiple frames of two-dimensional shear wave elasticity images of the target tissue, and performing scanning of multiple tissue imaging on the target tissue to obtain two-dimensional tissue data corresponding to multiple frames of two-dimensional tissue images of the target tissue, and includes:

controlling each array element column in the array element matrix to be opened at least twice so as to alternately perform scanning of shear wave elastic imaging and scanning of tissue imaging on the target tissue to obtain two-dimensional shear wave elastic data corresponding to one two-dimensional shear wave elastic image frame corresponding to each array element column and two-dimensional tissue data corresponding to one two-dimensional tissue image frame, and obtaining two-dimensional shear wave elastic data corresponding to the multi-frame two-dimensional shear wave elastic image and two-dimensional tissue data corresponding to the multi-frame two-dimensional tissue image frame according to the two-dimensional shear wave elastic data corresponding to one two-dimensional shear wave elastic image frame corresponding to each array element column and the two-dimensional tissue data corresponding to one two-dimensional tissue image frame;

or, different array element columns in the array element matrix are controlled to be sequentially opened according to a preset time sequence, scanning of multiple times of shear wave elastography is performed on the target tissue, two-dimensional shear wave elastic data corresponding to multiple frames of two-dimensional shear wave elastic images are obtained, then different array element columns in the array element matrix are controlled to be sequentially opened according to the preset time sequence, scanning of multiple times of tissue imaging is performed on the target tissue, two-dimensional tissue data corresponding to multiple frames of two-dimensional tissue images are obtained, wherein the number of the array element columns used for scanning of the multiple times of shear wave elastography is the same as the number of the array element columns used for scanning of the multiple times of tissue imaging;

or, different array element columns in the array element matrix are controlled to be sequentially opened according to a preset time sequence, the target tissue is scanned for multiple times of tissue imaging, two-dimensional tissue data corresponding to multiple frames of two-dimensional tissue images are obtained, then different array element columns in the array element matrix are controlled to be sequentially opened according to the preset time sequence, the target tissue is scanned for multiple times of shear wave elastic imaging, two-dimensional shear wave elastic data corresponding to multiple frames of two-dimensional shear wave elastic images are obtained, and the number of the array element columns used for scanning the multiple times of shear wave elastic imaging is the same as the number of the array element columns used for scanning the multiple times of tissue imaging.

23. A method according to any one of claims 20 to 22, wherein said displaying an image derived from said three dimensional shear wave elasticity data and said three dimensional tissue data comprises:

24. The method of claim 23, further comprising: adjusting the positions corresponding to the sagittal plane, the coronal plane and/or the cross section according to the received operation instructions;

25. A method according to any one of claims 20 to 22, wherein said displaying an image derived from said three dimensional shear wave elasticity data and said three dimensional tissue data comprises:

displaying the plurality of two-dimensional tomographic images.

26. The method according to any one of claims 20-22, wherein said displaying the image based on the three-dimensional shear wave elastic data and the three-dimensional tissue data comprises:

27. An ultrasound imaging system, characterized in that the ultrasound imaging system comprises:

the receiving circuit is used for controlling the array element column to receive the echo of the ultrasonic wave to obtain an echo signal of the ultrasonic wave;

a processor for performing the three-dimensional shear wave elastography method of any of claims 1-19, resulting in three-dimensional shear wave elasticity data and three-dimensional tissue data;

28. An ultrasound imaging system, characterized in that the ultrasound imaging system comprises:

a processor for performing the three-dimensional shear wave elastography method of any of claims 20-26, resulting in three-dimensional shear wave elasticity data and three-dimensional tissue data;