CN116867440A

CN116867440A - Ultrasonic imaging method and system for fetal heart

Info

Publication number: CN116867440A
Application number: CN202380009329.1A
Authority: CN
Inventors: 陈子轩; 邹耀贤; 林穆清; 杨俊英; 何绪金
Original assignee: Shenzhen Mindray Bio Medical Electronics Co Ltd; Wuhan Mindray Medical Technology Research Institute Co Ltd
Current assignee: Shenzhen Mindray Bio Medical Electronics Co Ltd; Wuhan Mindray Medical Technology Research Institute Co Ltd
Priority date: 2023-04-21
Filing date: 2023-04-21
Publication date: 2023-10-10
Also published as: WO2024037019A1

Abstract

An ultrasound imaging method and system of fetal heart, comprising: taking delay time length; controlling to perform multiple three-dimensional ultrasonic scanning on the fetal heart to obtain multi-volume three-dimensional ultrasonic data containing multiple cardiac cycles; wherein, each time the three-dimensional ultrasonic scanning is completed, the three-dimensional ultrasonic scanning is performed next time after the delay time length; carrying out data rearrangement on the plurality of volumes of three-dimensional ultrasonic data according to the heart phase sequence to obtain a plurality of volumes of three-dimensional ultrasonic data after data rearrangement; and displaying the fetal heart according to the multi-volume three-dimensional ultrasonic data after the data rearrangement.

Description

Ultrasonic imaging method and system for fetal heart

Technical Field

The invention relates to the field of ultrasonic imaging of fetal hearts, in particular to an ultrasonic imaging method and an ultrasonic imaging system of fetal hearts.

Background

According to the statistics of one clinical study, there are 8 infants with congenital heart disease among 1000 surviving infants, and in cases where the neonate dies due to the deformity, the congenital heart disease accounts for nearly five. Therefore, the occurrence probability of the congenital heart disease is high, and the influence of the occurrence probability is serious, so that fetal heart (fetal heart) examination becomes an important link of prenatal diagnosis. The motion characteristics of the fetal heart make the traditional three-dimensional acquisition mode (free arm 3D, static 3D and volume probe 4D acquisition) difficult to meet the requirements of rapid motion 3D fetal heart data acquisition. However, the traditional two-dimensional ultrasonic examination cannot directly provide the structural form and the positional relationship of the three-dimensional space of the lesion part due to the complexity of the fetal heart structure, so that many potential lesions are difficult to examine in the two-dimensional ultrasonic.

The space-time correlation imaging technology (STIC) is proposed, so that a high spatial resolution profile image can be obtained, and the space-time correlation imaging technology has high time resolution, so that the threshold of a fetal heart scanning technology is reduced, the skill dependence of an operator is reduced, fetal heart examination is more convenient and rapid, and the space-time correlation imaging technology has important significance for observation of a fetal heart complex structure and examination and diagnosis of heart hemodynamics. A step of

The imaging principle of the STIC is that firstly two-dimensional images of a plurality of cardiac cycles are acquired, heart rate is calculated, the two-dimensional images of different heart phase positions are recombined into three-dimensional data according to the heart rate, and finally the recombined three-dimensional data are circularly played according to the heart phase sequence, so that the purpose of displaying a 3D beating heart is achieved. To obtain enough cardiac cycles to improve the resolution of the 3D data after reconstruction, the acquisition time of the STIC is long (e.g., typically about 25 cardiac cycles, about 12 seconds) and is very susceptible to fetal movement during this process, resulting in failure of the acquisition process. In addition, due to the imaging principle, the B, C surface resolution of the reconstructed STIC data is low (as shown in FIG. 1, saw tooth shape exists at the edge), and the low quality data may cause the diagnosis process to ignore some tiny diaphragm lesions, so as to cause misdiagnosis.

How to perform three-dimensional ultrasonic imaging on the fetal heart to realize the beat display of the moving fetal heart is a problem which is constantly researched and improved by the person skilled in the art.

Disclosure of Invention

Based on the foregoing, the present invention generally provides a method and system for ultrasound imaging of a fetal heart, as described in detail below.

According to a first aspect, in one embodiment there is provided a method of ultrasound imaging of a fetal heart, comprising:

acquiring delay time length;

controlling to perform multiple three-dimensional ultrasonic scanning on the fetal heart to obtain multi-volume three-dimensional ultrasonic data containing multiple cardiac cycles; wherein, in the process of carrying out the three-dimensional ultrasonic scanning for a plurality of times: after the three-dimensional ultrasonic scanning is completed once, the three-dimensional ultrasonic scanning is performed next time after the delay time length; and, each of the three-dimensional ultrasound scans includes: transmitting ultrasonic waves to the fetal heart and receiving corresponding ultrasonic wave echoes to obtain a roll of three-dimensional ultrasonic data containing the fetal heart;

carrying out data rearrangement on the plurality of volumes of three-dimensional ultrasonic data according to the heart phase sequence to obtain a plurality of volumes of three-dimensional ultrasonic data after data rearrangement; the data rearrangement at least comprises forward adjustment of the three-dimensional ultrasonic data with partial scanning time sequence at the back and backward adjustment of the three-dimensional ultrasonic data with partial scanning time sequence at the front;

And displaying the fetal heart according to the multi-volume three-dimensional ultrasonic data after the data rearrangement.

According to a second aspect, in one embodiment there is provided a method of ultrasound imaging of a fetal heart, comprising:

controlling to carry out m multiplied by n-1 times of three-dimensional ultrasonic scanning on the tire core to obtain m multiplied by n-1 volumes of three-dimensional ultrasonic data; m and n are integers greater than or equal to 2; wherein, in each cardiac cycle of the first n-1 said fetal heart: performing the three-dimensional ultrasonic scanning for m times to obtain m rolls of three-dimensional ultrasonic data; during the nth cardiac cycle of the fetal heart: performing the three-dimensional ultrasonic scanning for m-1 times to obtain m-1 rolls of three-dimensional ultrasonic data;

carrying out data rearrangement on the three-dimensional ultrasonic data of the m multiplied by n-1 volume according to the heart phase sequence to obtain the three-dimensional ultrasonic data of the m multiplied by n-1 volume after data rearrangement; the data rearrangement at least comprises forward adjustment of the three-dimensional ultrasonic data with partial scanning time sequence at the back and backward adjustment of the three-dimensional ultrasonic data with partial scanning time sequence at the front;

and displaying the fetal heart according to the three-dimensional ultrasonic data of the m multiplied by n-1 volume after data rearrangement.

According to a third aspect, an embodiment provides a method of ultrasound imaging of a fetal heart, comprising:

Acquiring a scanning rule;

multiple times of three-dimensional ultrasonic scanning is conducted on the fetal heart according to the scanning rule, multi-volume three-dimensional ultrasonic data containing multiple cardiac cycles are obtained, and the three-dimensional ultrasonic data of different volumes correspond to different concentric phase positions of the fetal heart; wherein each of the three-dimensional ultrasound scans comprises: transmitting ultrasonic waves to the fetal heart and receiving corresponding ultrasonic wave echoes to obtain a roll of three-dimensional ultrasonic data containing the fetal heart;

carrying out data rearrangement on the plurality of volumes of three-dimensional ultrasonic data according to the heart phase sequence to obtain a plurality of volumes of three-dimensional ultrasonic data after data rearrangement;

According to a fourth aspect, there is provided in one embodiment an ultrasound imaging system comprising:

the ultrasonic probe is used for transmitting ultrasonic waves to the fetal heart and receiving corresponding ultrasonic echo signals;

a transmission and reception control circuit for controlling the ultrasonic probe to perform transmission of ultrasonic waves and reception of ultrasonic echo signals;

a processor configured to perform a method as described in any of the embodiments herein.

Drawings

FIG. 1 is a schematic illustration of an ultrasound image obtained by a spatiotemporal correlated imaging technique;

FIG. 2 is a schematic diagram of the structure of an ultrasound imaging system of an embodiment;

FIG. 3 is a schematic diagram of three-dimensional ultrasound scanning timing for one embodiment;

FIG. 4 is a schematic diagram of an ultrasound imaging method of an embodiment;

FIG. 5 is a schematic diagram of data rearrangement of one embodiment;

FIG. 6 is a schematic diagram of data registration of an embodiment;

FIG. 7 is a schematic diagram of data registration of an embodiment;

FIG. 8 is a schematic diagram of boundary correction according to one embodiment;

FIG. 9 is a flow chart of an ultrasound imaging method of an embodiment;

FIG. 10 is a flow chart of an ultrasound imaging method of an embodiment;

FIG. 11 is a flow chart of setting time resolution in one embodiment;

FIG. 12 is a flow chart of setting a cardiac phase time interval in one embodiment;

fig. 13 is a flow chart of an ultrasound imaging method of an embodiment.

Detailed Description

The application will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, related operations of the present application have not been shown or described in the specification in order to avoid obscuring the core portions of the present application, and may be unnecessary to persons skilled in the art from a detailed description of the related operations, which may be presented in the description and general knowledge of one skilled in the art.

Furthermore, the described features, operations, or characteristics of the description may be combined in any suitable manner in various embodiments. Also, various steps or acts in the method descriptions may be interchanged or modified in a manner apparent to those of ordinary skill in the art. Thus, the various orders in the description and drawings are for clarity of description of only certain embodiments, and are not meant to be required orders unless otherwise indicated.

The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning. The term "coupled" as used herein includes both direct and indirect coupling (coupling), unless otherwise indicated.

Referring to fig. 2, in some embodiments an ultrasound imaging system is provided, the ultrasound imaging system comprising an ultrasound probe 10, transmit and receive control circuitry 20, and a processor 40; an echo processing module 30 and/or a display 50 may also be included in some embodiments, the various components of which are described below.

The ultrasound probe 10 is used for transmitting ultrasound waves to a region of interest, such as a fetal heart, and receiving corresponding ultrasound echo signals to obtain ultrasound data, such as two-dimensional ultrasound data or three-dimensional ultrasound data. In some embodiments, the ultrasound probe 10 includes a plurality of array elements for performing interconversion of electrical pulse signals and ultrasound waves, thereby performing transmission of ultrasound waves to a region of interest and receiving corresponding ultrasound echo signals. The array elements may emit ultrasonic waves according to an excitation electrical signal or may convert received ultrasonic waves into an electrical signal. Each array element may thus be used to transmit ultrasound waves to biological tissue in the region of interest, as well as to receive ultrasound echoes returned through the tissue. In the ultrasonic detection, the transmitting sequence and the receiving sequence can control which array elements are used for transmitting ultrasonic waves and which array elements are used for receiving ultrasonic waves, or control the time slots of the array elements to be used for transmitting ultrasonic waves or receiving ultrasonic echoes. All array elements participating in ultrasonic wave transmission can be excited by the electric signals at the same time, so that ultrasonic waves are transmitted at the same time; or the array elements participating in the ultrasonic wave transmission can be excited by a plurality of electric signals with a certain time interval, so that the ultrasonic wave with a certain time interval can be continuously transmitted.

In some embodiments, the ultrasound probe 10 may be a volumetric probe. In some embodiments, the ultrasound probe 10 may be an area array probe.

The transmission and reception control circuit 20 is used to control the ultrasonic probe 10 to perform transmission of ultrasonic waves and reception of ultrasonic echo signals. For example, the transmission and reception control circuit 20 is used to control the ultrasound probe 10 to transmit ultrasound waves to the region of interest on the one hand, and to control the ultrasound probe 10 to receive ultrasound echo signals reflected by the ultrasound waves through the region of interest on the other hand. In some embodiments, the transmit and receive control circuit 20 is configured to generate a transmit sequence and a receive sequence and output the transmit sequence to the ultrasound probe 10. The transmit sequence is used to control the transmission of ultrasound waves to biological tissue 60 by some or all of the plurality of elements in ultrasound probe 10, and the parameters of the transmit sequence include the number of elements used for transmission and the ultrasound wave transmission parameters (e.g., amplitude, frequency, number of waves transmitted, transmission interval, transmission angle, wave pattern, and/or focus position, etc.). The receiving sequence is used for controlling part or all of the plurality of array elements to receive the echo of the ultrasonic wave after being organized, and the parameters of the receiving sequence comprise the number of array elements for receiving and the receiving parameters (such as receiving angle, depth and the like) of the echo. The ultrasound echo is used differently or the image generated from the ultrasound echo is different, so are the ultrasound parameters in the transmit sequence and the echo parameters in the receive sequence.

The echo processing module 30 is configured to process the ultrasonic echo signal received by the ultrasonic probe 10, for example, perform filtering, amplifying, beam forming, and the like on the ultrasonic echo signal, so as to obtain ultrasonic echo data. In a specific embodiment, the echo processing module 30 may output the ultrasonic echo data to the processor 40, or may store the ultrasonic echo data in a memory, and when an operation based on the ultrasonic echo data is required, the processor 40 reads the ultrasonic echo data from the memory. Those skilled in the art will appreciate that in some embodiments, the echo processing module 30 may be omitted when filtering, amplifying, beam forming, etc., of the ultrasound echo signals is not required.

The processor 40 is configured to acquire ultrasound echo data or signals and to use correlation algorithms to obtain desired parameters or images. The processor 40 in some embodiments of the invention includes, but is not limited to, a central processing unit (Central Processing Unit, CPU), a micro control unit (Micro Controller Unit, MCU), a Field programmable gate array (Field-Programmable Gate Array, FPGA), and Digital Signal Processing (DSP) to interpret computer instructions and process data in computer software. In some embodiments, the processor 40 is configured to execute each computer application in the non-transitory computer-readable storage medium, thereby causing the sample analysis device to perform a corresponding detection procedure.

The display 50 may be used to display information such as parameters and images calculated by the processor 40. Those skilled in the art will appreciate that in some embodiments, the ultrasound imaging system itself may not incorporate a display module, but rather may be connected to a computer device (e.g., a computer) through which information is displayed via the display module (e.g., a display screen) of the computer device.

The above are some illustrations of ultrasound imaging systems.

In some embodiments, processor 40 obtains a scan rule; and the processor 40 performs multiple three-dimensional ultrasonic scanning on the fetal heart according to the scanning rule control, and obtains multi-volume three-dimensional ultrasonic data containing multiple cardiac cycles, so that the three-dimensional ultrasonic data of different volumes correspond to different concentric phase positions of the fetal heart; wherein each three-dimensional ultrasound scan comprises: transmitting ultrasonic waves to the fetal heart and receiving corresponding ultrasonic wave echoes to obtain a roll of three-dimensional ultrasonic data containing the fetal heart; in some embodiments, each volume of three-dimensional ultrasound data contains a complete fetal heart. The processor 40 rearranges the data of the plurality of volumes of three-dimensional ultrasonic data according to the heart phase sequence to obtain the rearranged plurality of volumes of three-dimensional ultrasonic data; processor 40 controls display 50 for fetal heart display based on the plurality of volumes of three-dimensional ultrasound data after data rearrangement.

It is understood that performing a plurality of three-dimensional ultrasound scans of the fetal heart to obtain multi-volume three-dimensional ultrasound data comprising a plurality of cardiac cycles refers to performing a plurality of three-dimensional ultrasound scans of the fetal heart to obtain multi-volume three-dimensional ultrasound data comprising data of a plurality of cardiac cycles.

In some embodiments, the scan rule includes: in the process of carrying out the three-dimensional ultrasonic scanning for a plurality of times, each time the three-dimensional ultrasonic scanning is completed, the three-dimensional ultrasonic scanning is carried out for the next time after the same delay time length. For example, N1 three-dimensional ultrasonic scans are performed in total, and in the process of performing the N1 three-dimensional ultrasonic scans, each time the three-dimensional ultrasonic scan is completed, the next three-dimensional ultrasonic scan is performed after the same delay time length; in other words, after the 1 st three-dimensional ultrasonic scanning is completed, the 2 nd three-dimensional ultrasonic scanning is performed after a delay time period; after the 2 nd three-dimensional ultrasonic scanning is completed, the 3 rd three-dimensional ultrasonic scanning is performed after the same delay time, and the process is performed until the N1 st three-dimensional ultrasonic scanning is performed after the same delay time after the N1 st three-dimensional ultrasonic scanning is completed.

Referring to fig. 3, as described above, a volume of three-dimensional ultrasonic data is obtained by one three-dimensional ultrasonic scan, where one three-dimensional ultrasonic scan includes transmitting ultrasonic waves and receiving corresponding ultrasonic echoes, so that after one three-dimensional ultrasonic scan is completed, the next three-dimensional ultrasonic scan is performed after a delay time, which means that: after the ultrasonic wave is transmitted and the corresponding ultrasonic wave is received after the previous three-dimensional ultrasonic scanning is completed, the time node is used for timing, and after the delay time length is elapsed, the next three-dimensional ultrasonic scanning is started.

In some embodiments, the delay period is calculated based on a heart rate of the fetal heart, a base zero-delay roll rate, and a first parameter. The base zero-delay roll rate is herein the roll rate of the first three-dimensional ultrasound scan of the plurality of three-dimensional ultrasound scans performed. In some embodiments, the first parameter comprises a temporal resolution or cardiac phase time interval. The central phase time interval is the time interval between the cardiac phase positions corresponding to two adjacent rolls of three-dimensional ultrasonic data in the rolls of three-dimensional ultrasonic data after data rearrangement.

Thus, in some embodiments, processor 40 obtains the delay period; the processor 40 controls the multiple three-dimensional ultrasonic scanning to the fetal heart to acquire multi-volume three-dimensional ultrasonic data comprising multiple cardiac cycles; wherein, during the performing of the plurality of three-dimensional ultrasound scans: after the delay time is longer, the next three-dimensional ultrasonic scanning is performed; and, each three-dimensional ultrasound scan includes: transmitting ultrasonic waves to the fetal heart and receiving corresponding ultrasonic wave echoes to obtain a roll of three-dimensional ultrasonic data containing the fetal heart; in some embodiments, each volume of three-dimensional ultrasound data contains a complete fetal heart. The processor 40 rearranges the data of the plurality of volumes of three-dimensional ultrasonic data according to the heart phase sequence to obtain the rearranged plurality of volumes of three-dimensional ultrasonic data; processor 40 controls display 50 for fetal heart display based on the plurality of volumes of three-dimensional ultrasound data after data rearrangement.

In some embodiments, the delay time is such that the acquired volumes of three-dimensional ultrasound data correspond to different concentric phase positions of the fetal heart.

In some embodiments, the delay time is such that the acquired volumes of three-dimensional ultrasound data correspond to different cardiac phase positions of the tire core, and the distances between adjacent cardiac phase positions are equal.

In some embodiments, the delay duration multiplies the cardiac phase time interval by 1, where the cardiac phase time interval is a time interval between cardiac phase positions corresponding to two adjacent volumes of three-dimensional ultrasound data in the plurality of volumes of three-dimensional ultrasound data after data rearrangement.

In some embodiments, the processor 40 obtains the heart rate of the fetal heart and calculates the delay period based on the heart rate, the base zero-delay volume rate, and the first parameter. The base zero-delay roll rate is herein the roll rate of the first three-dimensional ultrasound scan of the plurality of three-dimensional ultrasound scans performed. In some embodiments, the first parameter comprises a temporal resolution or cardiac phase time interval. The central phase time interval is the time interval between the cardiac phase positions corresponding to two adjacent rolls of three-dimensional ultrasonic data in the rolls of three-dimensional ultrasonic data after data rearrangement.

In some embodiments, processor 40 calculates the delay time period from the heart rate, the base zero-delay volume rate, and the first parameter, including:

Wherein DT represents the delay time period, BVR represents the basic zero-delay roll rate, TS represents the time resolution, FR represents the heart rate of the fetal heart, and floor represents the rounding down operation.

In some embodiments, processor 40 controls display 50 to generate a setup interface for setting the time resolution; in response to the setting instruction, the processor 40 sets the time resolution. For example, the user sets the time resolution on the setting interface through an input tool such as a mouse or a keyboard, or the like.

where DT represents the delay time, BVR represents the base zero-delay roll rate, TI represents the heart phase time interval, FR represents the heart rate of the fetal heart, and floor represents the rounding down operation.

In some embodiments, processor 40 controls display 50 to generate a setup interface for setting the cardiac phase time interval; in response to the set instruction, the processor 40 sets the cardiac phase time interval. For example, the user sets the cardiac phase time interval on the setting interface through an input tool such as a mouse or a keyboard, or the like.

It should be noted that, the heart rate of the fetal heart refers to the number of beats (such as running out per minute) of the fetal heart in a unit time, which may be obtained by multiple methods, such as a fetal heart signal monitoring method, ultrasonic doppler or M-ultrasonic measurement of a fetal heart rate chart. Fetal heart signal monitoring is usually carried out by extracting and separating fetal electrocardiosignals from maternal abdomen mixed electrocardiosignals and calculating fetal heart rate according to the separated fetal electrocardiosignals; the separation algorithm comprises an adaptive filtering algorithm, a template subtraction, blind signal analysis and the like. The method based on ultrasonic Doppler mainly uses Doppler effect; since the fetal heart movement is periodic, the echo frequency shift signal is also periodic, and the heart rate of the fetus can be calculated by processing the frequency shift signal. The M-ary is to automatically move and scan the echo signal from left to right by utilizing the periodicity of the heart beat to display the time position curve image of the periodic heart beat, so that the fetal heart rate can be further calculated by utilizing the time position relation.

The formula herein refers to each physical quantity, wherein the unit of heart rate is the number of times per minute, the unit of heart phase time interval is the number of seconds, the unit of volume rate (including the base zero delay volume rate) is the volume per second, and the unit of time resolution is the volume per cardiac cycle.

A principle description and derivation of how the delay time is calculated is provided below.

Referring to fig. 4, it can be seen that by setting a reasonable delay time, the volume rate (i.e. how many volumes can be scanned for 1 second) can be changed, so that each volume obtained in the scanning process exactly corresponds to a different cardiac phase position of the fetal heart, and the time interval between rearranged data is multiplied by a preset time resolution to be 1, so that exactly equidistant positions corresponding to different centers of a complete cardiac cycle are filled. Therefore, the core of the algorithm is realized by establishing an equation of time resolution, and assuming that the preset time resolution is represented by TS, the heart rate is represented by FR, the basic zero-delay roll rate is represented by BVR, and the relation between the heart phase time interval TI and the time resolution TS is TS=60/FR/TI; meanwhile, the time resolution can be expressed as TS=1/(BVR×TI) ×m-1 by basic zero delay scanning volume rate and cardiac phase time interval calculation; wherein m represents that the scanning process divides a complete cardiac cycle into m parts, corresponding to the number of scans in a single cardiac cycle according to the volume rate, so m must be an integer, thereby obtaining the calculation formula of m:

m 1＝floor((TS+1)×BVR×TI)

Wherein floor is a down or tail-biting rounding operation (e.g., 2 after 2.5 rounding), whereby the integer m1 can be obtained. Based on the above, the actual roll rate AVR after the delay is increased can be obtained as:

avr=m1/(ts+1)/ti=floor ((ts+1) ×bvr×ti)/(ts+1)/TI; wherein ts=60/FR/TI;

the basic zero delay volume rate and the actual volume rate can be obtained:

delay dt=1/AVR-1/BVR.

The above is a description and a derivation of calculating the delay time length in principle.

As described above, the processor 40 controls the multiple three-dimensional ultrasonic scans of the fetal heart to obtain multiple volumes of three-dimensional ultrasonic data; in some embodiments, the number of three-dimensional ultrasound scans is m n-1; in some embodiments, the number of volumes of the multi-volume three-dimensional ultrasound data is mxn-1.

In some embodiments:

m＝floor[(TS+1_×BVR×60÷FR÷TS]；

BVR represents base zero latency roll rate; FR represents the heart rate of the fetal heart; TS represents time resolution; floor represents a rounding down operation.

In some embodiments:

m＝floor[(60÷FR÷TI+1)×BVR×TI]；

BVR represents base zero latency roll rate; TI represents the cardiac phase interval; FR denotes the heart rate of the fetal heart, floor denotes the rounding down operation.

After the multi-volume three-dimensional ultrasound data is acquired, a data rearrangement is required. In some embodiments, the data rearrangement includes at least a forward adjustment of the three-dimensional ultrasound data with a partial scan timing followed by a backward adjustment. It should be noted that, referring to fig. 5, assuming that there are three volumes of three-dimensional ultrasound data A, B and C in sequential scanning order, if the three-dimensional ultrasound data are rearranged to obtain A, C and B, it may be considered that the three-dimensional ultrasound data with the partial scanning time sequence at the back is adjusted forward, and the three-dimensional ultrasound data with the partial scanning time sequence at the front is adjusted backward, for example, the three-dimensional ultrasound number C is adjusted forward, and the three-dimensional ultrasound number B is adjusted backward.

In some embodiments, the processor 40 performs data reordering including: the (i-1) th volume of the three-dimensional ultrasonic data in the m multiplied by n-1 volume of the three-dimensional ultrasonic data before data rearrangement is set as the (j-1) th volume of the three-dimensional ultrasonic data after data rearrangement; i and j are positive integers, and i is less than or equal to n and j is less than or equal to m. The three-dimensional ultrasonic data before data rearrangement are arranged according to the scanning time sequence, namely according to the time sequence of the corresponding three-dimensional ultrasonic scanning, and the three-dimensional ultrasonic data after data rearrangement are arranged according to the heart phase sequence.

In some embodiments, the processor 40 performs data reordering including: dividing m multiplied by n-1 volume of three-dimensional ultrasonic data before data rearrangement into n parts according to the time sequence of corresponding three-dimensional ultrasonic scanning, wherein the 1 st to n-1 st parts respectively contain m volumes of the three-dimensional ultrasonic data, and the n parts contain m-1 volumes of the three-dimensional ultrasonic data; setting the j-th volume of three-dimensional ultrasonic data in any i-th part of m multiplied by n-1 volumes of three-dimensional ultrasonic data before data rearrangement as the (j-1) multiplied by n+i volumes of three-dimensional ultrasonic data after data rearrangement; i and j are positive integers, and i is less than or equal to n and j is less than or equal to m.

In some embodiments, the processor 40 performs data reordering including: dividing m multiplied by n-1 volume of three-dimensional ultrasonic data before data rearrangement into n parts according to the time sequence of corresponding three-dimensional ultrasonic scanning, wherein the 1 st to n-1 st parts respectively contain m volumes of the three-dimensional ultrasonic data, and the n parts contain m-1 volumes of the three-dimensional ultrasonic data; setting the respective jth volumes of the three-dimensional ultrasonic data in the 1 st to nth parts before data rearrangement as the 1 st to nth volumes of the three-dimensional ultrasonic data in the jth part after data rearrangement, respectively, wherein j is a positive integer smaller than m; and respectively setting the three-dimensional ultrasonic data of the respective m volumes in the 1 st to n-1 st parts before data rearrangement as the three-dimensional ultrasonic data of the respective 1 st to n-1 st volumes in the m th parts after data rearrangement.

In some embodiments, the plurality of volumes of three-dimensional ultrasound data after data rearrangement correspond equidistantly to different cardiac phase positions of a complete cardiac cycle.

In some embodiments, the processor 40 also obtains a total scan time; after the total scan time is reached, the processor 40 controls to stop performing the three-dimensional ultrasonic scan; alternatively, processor 40 generates a prompt to stop the three-dimensional ultrasound scan based on the total scan time.

In some embodiments, the total scan time is:

T＝60÷FR÷TI÷AVR；

wherein T represents the total scan time; FR represents the heart rate of the fetal heart; TI represents the cardiac phase interval; BVR represents base zero latency roll rate; floor represents a rounding down operation.

In some embodiments, the total scan time is:

T＝TS÷AVR；

wherein T represents the total scan time; TS represents time resolution; FR represents the heart rate of the fetal heart; BVR represents base zero latency roll rate; floor represents a rounding down operation.

In some embodiments, the processor 40 further obtains the number of three-dimensional ultrasonic scans, and after the number of three-dimensional ultrasonic scans is performed, the processor 40 controls to stop performing the three-dimensional ultrasonic scans; alternatively, processor 40 generates a prompt to stop the three-dimensional ultrasound scan based on the number of three-dimensional ultrasound scans. In some embodiments, the number of three-dimensional ultrasound scans is m n-1.

It will be appreciated that the total number of scans referred to in some embodiments, although being mxn-1, refers to the number of scans associated with the inventive arrangements; in practice, the scan may be performed a greater number of times for various reasons, for example, in the above-described m x n-1 pass, several scans may be inserted before it, or several scans may be inserted after it, but since the scans and the data obtained by the scans are not relevant to the present application, the present application does not mention the scans.

In some embodiments, after the data is rearranged, the processor 40 may also perform data registration and/or boundary correction on the rearranged multi-volume three-dimensional ultrasound data.

Because fetal movement is unavoidable in the data acquisition process, and data is rearranged, continuity among rearranged data is possibly lost, so that the rearranged data is circularly played and has a jumping sensation, and the jumping sensation of the fetal heart is not reflected. In some embodiments, processor 40 may perform registration based on the 3D data; in some embodiments, processor 40 may register based on the 3D data of the two-dimensional plane, as described below.

As shown in fig. 6, the 3D data-based registration is a direct search in a three-dimensional space, and the direct registration of two 3D data is realized, which can be generally classified into a conventional algorithm, a registration algorithm based on deep learning, and a hybrid algorithm.

The traditional 3D registration algorithm mainly uses image gray level or characteristic information to register through a certain similarity measure. The feature extraction method comprises the following steps: SIFT extracts a local feature descriptor with scale invariance; harris extracts significant corner points in the image; the HOG realizes the extraction of the characteristics through the directional gradient histogram; and the SURF realizes the extraction of the feature points through the Hessian matrix and the scale space. The similarity measurement method mainly comprises absolute square error (SSD), mutual Information (MI), normalized Mutual Information (NMI), normalized Cross Correlation (NCC), structural Similarity (SSIM) and the like. In addition, there are other conventional registration algorithms. The Demons algorithm calculates the coordinate offset of each point by utilizing the gradient of the reference image and the gray difference value of the reference image and the floating image based on the optical flow theory, and iterates according to the offset, so as to realize 3D data registration; the ICP algorithm firstly extracts characteristic points from the 3D data to be changed into three-dimensional point cloud data, and then realizes the alignment of two three-dimensional point clouds through the algorithm of nearest point searching and iteration, so as to register the 3D data.

The 3D data registration algorithm based on deep learning can be divided into two types, wherein the first type is input into two 3D data, and the first type is output into a three-dimensional rigid transformation matrix of the two 3D data; the second type is input as two 3D data (floating data and reference data) and output as floating data aligned with the reference data. Taking a first type of registration algorithm as an example, by constructing a training sample library and utilizing a regression strategy to realize estimation of three-dimensional transformation parameters, two different 3D data are aligned, and registration of the 3D data is realized. The method mainly comprises the following steps:

step 1: building a training sample library:

given one 3D data and initializing three-dimensional transformation parameters, rigid transformation (translation and rotation in three directions, 6 parameters in total) of the 3D data is realized by changing the three-dimensional rigid transformation parameters. The training sample library can be composed of two 3D data before and after transformation and three-dimensional rigid transformation parameters, and the two 3D data before and after transformation have a one-to-one correspondence with the transformation parameters, so that the constraint relation between the samples and the labels in the deep learning algorithm is satisfied. The three-dimensional rigid transformation parameters are output tag values.

Step 2: network design and training steps:

after a training sample library is built, a network model is designed, and three-dimensional rigid transformation parameters are fitted in a regression mode. The design of the network mainly comprises a convolution layer, a pooling layer, an excitation layer, a splicing layer, a full connection layer and a set loss function, and features in the training sample are learned by combining and stacking the layers. And inputting the designed network model to any two 3D data in the training sample library, and outputting the estimated value of the three-dimensional rigid transformation parameter. The loss function of the model is generally composed of two parts, wherein one part is the loss function formed by utilizing the difference between an estimated value and a true value, and an L1 norm, an L2 norm and the like are commonly used as the loss function; and secondly, performing three-dimensional rigid transformation on the second 3D data by using the estimated value, comparing the output with the first input 3D data, and forming another loss function by the difference between the two 3D data, wherein SSD, L1 norm, L2 norm, NC, SSIM and the like are commonly used as the loss function. The model parameters are optimized by giving the two different weight relations of the loss functions, so that the network is trained. A common network model is AlexNet, VGGNet, googLeNet, mobileNet, SYMNet, STN, which includes, but is not limited to, the network model structure and loss function described above.

Step 3: an reasoning step:

in the reasoning stage, two 3D data to be registered are input into the network trained by Step 2, three-dimensional rigidity transformation parameters can be obtained in real time, the obtained three-dimensional rigidity transformation parameters act on the first 3D data and transform the first 3D data, the first 3D data and the second 3D data are subjected to the two-dimensional rigidity transformation parameters, and therefore registration of the two 3D data is achieved.

The second category of deep learning based 3D data registration algorithms is similar to the above steps. Firstly, a training sample library is constructed, then a regression network model is designed, the model input is two pieces of 3D data (floating data and fixed data), the output is the floating data aligned and registered with the fixed data, and the model is optimized through a loss function so as to train the network. In the reasoning stage, the floating 3D data and the fixed 3D data are input, so that the registered floating 3D data can be obtained in real time, and the registration of the two 3D data is realized.

The 3D data hybrid registration algorithm is mainly different from the traditional algorithm, and the deep learning algorithm is combined with the traditional algorithm. Firstly, reducing the dimension of 3D data and extracting features by a deep learning algorithm, and realizing similarity comparison of feature layers by utilizing the extracted features and combining with similarity evaluation criteria of a traditional algorithm, such as MI, SSIM, NCC and the like, thereby realizing registration. The main algorithms for extracting features by deep learning include AlexNet, ZFNet, VGGNet, googLeNet, etc., and the algorithms based on deep learning for extracting features include, but are not limited to, the above-mentioned feature extraction algorithms.

The 3D data registration method based on the two-dimensional plane is mainly based on the two-dimensional layer for registration, and three-dimensional registration is realized by registering the two-dimensional planes with different angles. Taking the example shown in fig. 7, the registration of the entire 3D data is achieved by registering the 3D fetal heart data center a-plane and the center B-plane. The gray dotted line in the figure is the intersection line of A, B planes, the intersection line is taken as a central line, features are extracted from two planes of A, B respectively, the A plane is aligned firstly, two-dimensional rigid transformation parameters in the x and z directions are obtained, then the B plane is aligned on the basis of the alignment of the A plane, two-dimensional rigid transformation parameters in the y and z directions are obtained, and the registration of two 3D data is realized through repeated iteration of the process.

The two-dimensional plane registration algorithm can be divided into a traditional algorithm, a registration algorithm based on deep learning and a hybrid algorithm, and is similar to the three-dimensional data registration algorithm, and the difference is that two-dimensional rigid transformation parameters (translation in two directions and rotation in one direction, which are 3 parameters in total) are obtained by the two-dimensional plane. In addition to the registration methods already described, registration may be achieved by other methods. The block registration algorithm obtains the mapping relation of the center positions of a plurality of image blocks by carrying out similarity matching on each image block, and then fits two-dimensional rigid transformation parameters according to a least square method, so that image registration is realized; the pyramid algorithm starts coarse registration from the low-resolution image by constructing two-dimensional images with different scales, gradually improves the resolution of the image and improves the registration precision step by step, and the purpose of registering two-dimensional images is achieved.

There may be an obvious translational or rotational relationship between the plurality of 3D data after data registration, which results in inconsistent boundaries of the plurality of 3D data, and thus different boundaries between the reconstructed volume data. In order to make the translated volume data consistent, it is necessary to remove part of the boundary. As shown in fig. 8, taking two 3D data after registration as an example, a large cube represents the original 3D data size, a small cube represents the overlapping area of the two 3D data after registration, and according to the three-dimensional transformation parameter matrix obtained in the registration process, two offsets x in the x, y and z directions can be obtained _bias 、y _bias 、z _bias 、x _bias ’、y _bias ' and z _bias And', clipping the non-overlapped area in the 3D data, and only reserving the image data in the small cube area. The principle is applied to a plurality of 3D data, overlapping areas of the plurality of 3D data are reserved, other areas are cut, and boundary correction of the plurality of 3D data is achieved.

In some embodiments, processor 40 controls display 50 to display the tire core, including: three-dimensional ultrasound data images of one cardiac cycle are sequentially displayed in cardiac phase order.

From the perspective of the cardiac cycle, in some embodiments, processor 40 controls the m n-1 three-dimensional ultrasound scans to the fetal heart to obtain m n-1 volumes of three-dimensional ultrasound data; m and n are integers greater than or equal to 2; wherein, in each cardiac cycle of the first n-1 said fetal heart: performing the three-dimensional ultrasonic scanning for m times to obtain m rolls of three-dimensional ultrasonic data; during the nth cardiac cycle of the fetal heart: and carrying out three-dimensional ultrasonic scanning for m-1 times to obtain m-1 volumes of three-dimensional ultrasonic data. In some embodiments, each three-dimensional ultrasound scan includes: transmitting ultrasonic waves to the fetal heart and receiving corresponding ultrasonic wave echoes to obtain a roll of three-dimensional ultrasonic data containing the fetal heart; in some embodiments, each volume of three-dimensional ultrasound data contains a complete fetal heart. The processor 40 rearranges the data of the m multiplied by n-1 volume of three-dimensional ultrasonic data according to the heart phase sequence to obtain m multiplied by n-1 volume of three-dimensional ultrasonic data after data rearrangement; the processor 40 controls the display 50 to display the fetal heart according to the m x n-1 volume of three-dimensional ultrasonic data after data rearrangement.

In some embodiments, the data rearrangement includes at least a forward adjustment of the three-dimensional ultrasound data with a partial scan timing followed by a backward adjustment.

In some embodiments, the data rearranged m x n-1 volume of three-dimensional ultrasound data equidistantly corresponds to different cardiac phase positions of a complete cardiac cycle.

In some embodiments, the processor 40 performs data rearrangement on the m×n-1 volume of the three-dimensional ultrasound data according to the cardiac phase sequence to obtain the m×n-1 volume of the three-dimensional ultrasound data after data rearrangement, including: in the case where the data rearranged m×n-1 volume of the three-dimensional ultrasound data is divided into m parts in the heart phase order, the 1 st to m-1 st parts respectively contain n volumes of the three-dimensional ultrasound data, and the m-th part contains n-1 volumes of the three-dimensional ultrasound data; m volumes of the three-dimensional ultrasonic data obtained by m times of the three-dimensional ultrasonic scanning performed by the fetal heart in any ith cardiac cycle of the previous n-1 cardiac cycles are set as ith volumes of the three-dimensional ultrasonic data of each of 1 st to m th parts in m x n-1 volumes of the three-dimensional ultrasonic data after data rearrangement; the i is a positive integer, and is smaller than or equal to n-1; and in the nth cardiac cycle of the fetal heart, setting m-1 volumes of the three-dimensional ultrasonic data obtained by m-1 times of three-dimensional ultrasonic scanning performed by the fetal heart as the nth volumes of the three-dimensional ultrasonic data of each of the 1 st to m-1 st parts in the m x n-1 volumes of the three-dimensional ultrasonic data after data rearrangement.

In some embodiments, the processor 40 performs data rearrangement on the m×n-1 volume of the three-dimensional ultrasound data according to the cardiac phase sequence to obtain the m×n-1 volume of the three-dimensional ultrasound data after data rearrangement, including: the three-dimensional ultrasonic data of the (i-1) th volume x m+j in the three-dimensional ultrasonic data of the m x n-1 volume before data rearrangement is set as the three-dimensional ultrasonic data of the (j-1) th volume x n+i after data rearrangement; and i and j are positive integers, i is smaller than or equal to n, and j is smaller than or equal to m.

The three-dimensional ultrasonic data before data rearrangement are arranged according to the scanning time sequence, namely according to the time sequence of the corresponding three-dimensional ultrasonic scanning, and the three-dimensional ultrasonic data after data rearrangement are arranged according to the heart phase sequence.

In some embodiments, the processor 40 performs data rearrangement on the m×n-1 volume of the three-dimensional ultrasound data according to the cardiac phase sequence to obtain the m×n-1 volume of the three-dimensional ultrasound data after data rearrangement, including: dividing m multiplied by n-1 rolls of three-dimensional ultrasonic data before data rearrangement into n parts according to the time sequence of corresponding three-dimensional ultrasonic scanning, wherein the 1 st to n-1 th parts respectively contain m rolls of the three-dimensional ultrasonic data, and the n part contains m-1 rolls of the three-dimensional ultrasonic data; setting the j-th volume of three-dimensional ultrasonic data in any i-th part of m multiplied by n-1 volumes of the three-dimensional ultrasonic data before data rearrangement as the (j-1) multiplied by n+i volumes of the three-dimensional ultrasonic data after data rearrangement; and i and j are positive integers, i is smaller than or equal to n, and j is smaller than or equal to m.

In some embodiments, the processor 40 performs data rearrangement on the m×n-1 volume of the three-dimensional ultrasound data according to the cardiac phase sequence to obtain the m×n-1 volume of the three-dimensional ultrasound data after data rearrangement, including: dividing m multiplied by n-1 rolls of three-dimensional ultrasonic data before data rearrangement into n parts according to the time sequence of corresponding three-dimensional ultrasonic scanning, wherein the 1 st to n-1 th parts respectively contain m rolls of the three-dimensional ultrasonic data, and the n part contains m-1 rolls of the three-dimensional ultrasonic data; setting the respective jth volumes of the three-dimensional ultrasonic data in the 1 st to nth parts before data rearrangement as the 1 st to nth volumes of the three-dimensional ultrasonic data in the jth part after data rearrangement, respectively, wherein j is a positive integer smaller than m; and respectively setting the three-dimensional ultrasonic data of the respective m volumes in the 1 st to n-1 st parts before data rearrangement as the three-dimensional ultrasonic data of the respective 1 st to n-1 st volumes in the m th parts after data rearrangement.

In some embodiments:

m＝floor[(TS+1)×BVR×60÷FR÷TS]；

In some embodiments:

m＝floor[(60÷FR÷TI+1)×BVR×TI]；

In some embodiments, processor 40 also obtains a delay time period; during the process of carrying out m x n-1 times of three-dimensional ultrasonic scanning: and after the three-dimensional ultrasonic scanning is completed once, the three-dimensional ultrasonic scanning is performed next time after the delay time length.

In some embodiments, the delay time is such that the m x n-1 volume of three-dimensional ultrasound data acquired corresponds to different concentric phase positions of the fetal heart.

In some embodiments, the delay duration is such that the m x n-1 volume of three-dimensional ultrasound data acquired corresponds to different cardiac phase positions of the tire core, and the distances between adjacent cardiac phase positions are equal.

In some embodiments, the delay duration is such that the cardiac interval and the time resolution are multiplied by 1.

In some embodiments, the value of TI may be 0.01 to 0.03 seconds.

In some embodiments, the total scan time is:

T＝60÷FR÷TI÷AVR；

In some embodiments, the total scan time is:

T＝TS÷AVR；

In some embodiments, after the data is rearranged, the processor 40 may also perform data registration and/or boundary correction on the rearranged multi-volume three-dimensional ultrasound data. For example, the processor 40 performs data registration and/or boundary correction on the data rearranged m×n-1 volume of the three-dimensional ultrasonic data to obtain processed m×n-1 volume of the three-dimensional ultrasonic data; processor 40 controls display 50 to display the fetal heart based on the processed m x n-1 volume of the three-dimensional ultrasound data.

How to perform data registration and boundary correction is described above, and is not described here.

Some embodiments of the protocol can significantly reduce acquisition time (e.g., only 3 to 4 seconds) and reduce the impact of fetal movement on the final imaging result.

Some embodiments also disclose an ultrasound imaging method.

Referring to fig. 9, the ultrasound imaging method of some embodiments includes the following steps:

step 100: a scanning rule is obtained.

Step 110: multiple times of three-dimensional ultrasonic scanning is conducted on the fetal heart according to the scanning rule, multi-volume three-dimensional ultrasonic data containing multiple cardiac cycles are obtained, and the three-dimensional ultrasonic data of different volumes correspond to different concentric phase positions of the fetal heart; wherein each of the three-dimensional ultrasound scans comprises: and transmitting ultrasonic waves to the fetal heart and receiving corresponding ultrasonic wave echoes to obtain a roll of three-dimensional ultrasonic data containing the fetal heart. In some embodiments, each volume of three-dimensional ultrasound data contains a complete fetal heart.

Step 120: and carrying out data rearrangement on the plurality of volumes of three-dimensional ultrasonic data according to the heart phase sequence to obtain the plurality of volumes of three-dimensional ultrasonic data after data rearrangement.

Step 130: and displaying the fetal heart according to the multi-volume three-dimensional ultrasonic data after the data rearrangement.

Referring to fig. 10, the ultrasound imaging method of some embodiments includes the following steps:

step 101: the delay time period is acquired.

Step 111: controlling to perform multiple three-dimensional ultrasonic scanning on the fetal heart to obtain multi-volume three-dimensional ultrasonic data containing multiple cardiac cycles; wherein, in the process of carrying out the three-dimensional ultrasonic scanning for a plurality of times: after the three-dimensional ultrasonic scanning is completed once, the three-dimensional ultrasonic scanning is performed next time after the delay time length; and, each of the three-dimensional ultrasound scans includes: and transmitting ultrasonic waves to the fetal heart and receiving corresponding ultrasonic wave echoes to obtain a roll of three-dimensional ultrasonic data containing the fetal heart. In some embodiments, each volume of three-dimensional ultrasound data contains a complete fetal heart.

In some embodiments, step 101 obtains a heart rate of the fetal heart and calculates the delay time period based on the heart rate, the base zero delay volume rate, and the first parameter. The base zero-delay roll rate is herein the roll rate of the first three-dimensional ultrasound scan of the plurality of three-dimensional ultrasound scans performed. In some embodiments, the first parameter comprises a temporal resolution or cardiac phase time interval. The central phase time interval is the time interval between the cardiac phase positions corresponding to two adjacent rolls of three-dimensional ultrasonic data in the rolls of three-dimensional ultrasonic data after data rearrangement.

In some embodiments, step 101 calculates a delay time period according to the heart rate, the base zero-delay volume rate, and the first parameter, including:

In some embodiments, referring to fig. 11, the ultrasound imaging method further includes:

step 102: and generating a setting interface, wherein the setting interface is used for setting the time resolution.

Step 103: in response to the setting instruction, the time resolution is set. For example, the user sets the time resolution on the setting interface through an input tool such as a mouse or a keyboard, or the like.

/>

In some embodiments, referring to fig. 12, the ultrasound imaging method further includes:

step 104: generating a setting interface, wherein the setting interface is used for setting the cardiac phase time interval.

Step 105: in response to the set instruction, the cardiac phase time interval is set. For example, the user sets the cardiac phase time interval on the setting interface through an input tool such as a mouse or a keyboard, or the like.

In some embodiments, the number of three-dimensional ultrasound scans is m n-1.

In some embodiments, the number of rolls of the multi-roll three-dimensional ultrasound data is m x n-1.

In some embodiments:

m＝floor[(TS+1)×BVR×60÷FR÷TS]；

In some embodiments:

m＝floor[(60÷FR÷TI+1)×BVR×TI]；

After the multi-volume three-dimensional ultrasound data is acquired, a data rearrangement is required. In some embodiments, the step 120 of data rearrangement includes at least adjusting the three-dimensional ultrasound data with the partial scan sequence in the backward direction and adjusting the three-dimensional ultrasound data with the partial scan sequence in the forward direction.

In some embodiments, step 120 of reordering the data comprises: the (i-1) th volume of the three-dimensional ultrasonic data in the m multiplied by n-1 volume of the three-dimensional ultrasonic data before data rearrangement is set as the (j-1) th volume of the three-dimensional ultrasonic data after data rearrangement; i and j are positive integers, and i is less than or equal to n and j is less than or equal to m. The three-dimensional ultrasonic data before data rearrangement are arranged according to the scanning time sequence, namely according to the time sequence of the corresponding three-dimensional ultrasonic scanning, and the three-dimensional ultrasonic data after data rearrangement are arranged according to the heart phase sequence.

In some embodiments, step 120 of reordering the data comprises: dividing m multiplied by n-1 volume of three-dimensional ultrasonic data before data rearrangement into n parts according to the time sequence of corresponding three-dimensional ultrasonic scanning, wherein the 1 st to n-1 st parts respectively contain m volumes of the three-dimensional ultrasonic data, and the n parts contain m-1 volumes of the three-dimensional ultrasonic data; setting the j-th volume of three-dimensional ultrasonic data in any i-th part of m multiplied by n-1 volumes of three-dimensional ultrasonic data before data rearrangement as the (j-1) multiplied by n+i volumes of three-dimensional ultrasonic data after data rearrangement; i and j are positive integers, and i is less than or equal to n and j is less than or equal to m.

In some embodiments, step 120 of reordering the data comprises: dividing m multiplied by n-1 volume of three-dimensional ultrasonic data before data rearrangement into n parts according to the time sequence of corresponding three-dimensional ultrasonic scanning, wherein the 1 st to n-1 st parts respectively contain m volumes of the three-dimensional ultrasonic data, and the n parts contain m-1 volumes of the three-dimensional ultrasonic data; setting the respective jth volumes of the three-dimensional ultrasonic data in the 1 st to nth parts before data rearrangement as the 1 st to nth volumes of the three-dimensional ultrasonic data in the jth part after data rearrangement, respectively, wherein j is a positive integer smaller than m; and respectively setting the three-dimensional ultrasonic data of the respective m volumes in the 1 st to n-1 st parts before data rearrangement as the three-dimensional ultrasonic data of the respective 1 st to n-1 st volumes in the m th parts after data rearrangement.

After the data rearrangement, the data registration and/or boundary correction can be performed on the multi-volume three-dimensional ultrasonic data after the data rearrangement. Thus, in some embodiments, step 130 performs data registration and/or boundary correction on the data rearranged rolls of the three-dimensional ultrasound data to obtain processed rolls of the three-dimensional ultrasound data; and displaying the fetal heart according to the processed multi-volume three-dimensional ultrasonic data. In some embodiments, step 130 performs a fetal heart display, including: three-dimensional ultrasound data images of one cardiac cycle are sequentially displayed in cardiac phase order.

In some embodiments, step 110 or step 111 also obtains a total scan time; after the total scanning time is reached, step 110 or step 111 controls to stop performing the three-dimensional ultrasonic scanning; alternatively, step 110 or step 111 generates a prompt to stop the three-dimensional ultrasound scan based on the total scan time.

In some embodiments, the total scan time is:

T＝60÷FR÷TI÷AVR；

In some embodiments, the total scan time is:

T＝TS÷AVR；

In some embodiments, step 110 or step 111 further obtains the number of times of three-dimensional ultrasonic scanning, and after the number of times of three-dimensional ultrasonic scanning is performed, step 110 or step 111 controls to stop performing the three-dimensional ultrasonic scanning; alternatively, step 110 or step 111 generates a prompt to stop the three-dimensional ultrasound scanning according to the number of times of the three-dimensional ultrasound scanning. In some embodiments, the number of three-dimensional ultrasound scans is m n-1.

Referring to fig. 13, the ultrasound imaging method of some embodiments includes the following steps:

step 200: controlling to carry out m multiplied by n-1 times of three-dimensional ultrasonic scanning on the fetal heart to obtain m multiplied by n-1 volumes of three-dimensional ultrasonic data; m and n are integers greater than or equal to 2; wherein, in each cardiac cycle of the first n-1 said fetal heart: performing the three-dimensional ultrasonic scanning for m times to obtain m rolls of three-dimensional ultrasonic data; during the nth cardiac cycle of the fetal heart: and carrying out three-dimensional ultrasonic scanning for m-1 times to obtain m-1 volumes of three-dimensional ultrasonic data. In some embodiments, each three-dimensional ultrasound scan includes: transmitting ultrasonic waves to the fetal heart and receiving corresponding ultrasonic wave echoes to obtain a roll of three-dimensional ultrasonic data containing the fetal heart; in some embodiments, each volume of three-dimensional ultrasound data contains a complete fetal heart.

In some embodiments:

m＝floor[(TS+1)×BVR×60÷FR÷TS]；

In some embodiments:

m＝floor[(60÷FR÷TI+1)×BVR×TI]；

In some embodiments, step 200 also obtains a delay time; during the process of carrying out m x n-1 times of three-dimensional ultrasonic scanning: and after the three-dimensional ultrasonic scanning is completed once, the three-dimensional ultrasonic scanning is performed next time after the delay time length.

In some embodiments, step 200 obtains a heart rate of the fetal heart and calculates the delay time period based on the heart rate, the base zero delay volume rate, and the first parameter. The base zero-delay roll rate is herein the roll rate of the first three-dimensional ultrasound scan of the plurality of three-dimensional ultrasound scans performed. In some embodiments, the first parameter comprises a temporal resolution or cardiac phase time interval. The central phase time interval is the time interval between the cardiac phase positions corresponding to two adjacent rolls of three-dimensional ultrasonic data in the rolls of three-dimensional ultrasonic data after data rearrangement.

In some embodiments, step 200 calculates a delay period from the heart rate, the base zero-delay volume rate, and the first parameter, including:

In some embodiments, the value of TI may be 0.01 to 0.03 seconds.

In some embodiments, step 200 also obtains a total scan time; after the total scanning time is reached, step 200 controls to stop the three-dimensional ultrasonic scanning; alternatively, step 200 generates a prompt to stop the three-dimensional ultrasound scan based on the total scan time.

In some embodiments, the total scan time is:

T＝60÷FR÷TI÷AVR；

In some embodiments, the total scan time is:

T＝TS÷AVR；

Step 210: and carrying out data rearrangement on the m multiplied by n-1 volume of three-dimensional ultrasonic data according to the heart phase sequence to obtain m multiplied by n-1 volume of three-dimensional ultrasonic data after data rearrangement. In some embodiments, the data rearrangement includes at least a forward adjustment of the three-dimensional ultrasound data with a partial scan timing followed by a backward adjustment.

In some embodiments, step 210 performs data rearrangement on the m×n-1 volume of the three-dimensional ultrasound data according to a cardiac phase sequence to obtain the m×n-1 volume of the three-dimensional ultrasound data after data rearrangement, including: in the case where the data rearranged m×n-1 volume of the three-dimensional ultrasound data is divided into m parts in the heart phase order, the 1 st to m-1 st parts respectively contain n volumes of the three-dimensional ultrasound data, and the m-th part contains n-1 volumes of the three-dimensional ultrasound data; m volumes of the three-dimensional ultrasonic data obtained by m times of the three-dimensional ultrasonic scanning performed by the fetal heart in any ith cardiac cycle of the previous n-1 cardiac cycles are set as ith volumes of the three-dimensional ultrasonic data of each of 1 st to m th parts in m x n-1 volumes of the three-dimensional ultrasonic data after data rearrangement; the i is a positive integer, and is smaller than or equal to n-1; and in the nth cardiac cycle of the fetal heart, setting m-1 volumes of the three-dimensional ultrasonic data obtained by m-1 times of three-dimensional ultrasonic scanning performed by the fetal heart as the nth volumes of the three-dimensional ultrasonic data of each of the 1 st to m-1 st parts in the m x n-1 volumes of the three-dimensional ultrasonic data after data rearrangement.

In some embodiments, step 210 performs data rearrangement on the m×n-1 volume of the three-dimensional ultrasound data according to a cardiac phase sequence to obtain the m×n-1 volume of the three-dimensional ultrasound data after data rearrangement, including: the three-dimensional ultrasonic data of the (i-1) th volume x m+j in the three-dimensional ultrasonic data of the m x n-1 volume before data rearrangement is set as the three-dimensional ultrasonic data of the (j-1) th volume x n+i after data rearrangement; and i and j are positive integers, i is smaller than or equal to n, and j is smaller than or equal to m.

In some embodiments, step 210 performs data rearrangement on the m×n-1 volume of the three-dimensional ultrasound data according to a cardiac phase sequence to obtain the m×n-1 volume of the three-dimensional ultrasound data after data rearrangement, including: dividing m multiplied by n-1 rolls of three-dimensional ultrasonic data before data rearrangement into n parts according to the time sequence of corresponding three-dimensional ultrasonic scanning, wherein the 1 st to n-1 th parts respectively contain m rolls of the three-dimensional ultrasonic data, and the n part contains m-1 rolls of the three-dimensional ultrasonic data; setting the j-th volume of three-dimensional ultrasonic data in any i-th part of m multiplied by n-1 volumes of the three-dimensional ultrasonic data before data rearrangement as the (j-1) multiplied by n+i volumes of the three-dimensional ultrasonic data after data rearrangement; and i and j are positive integers, i is smaller than or equal to n, and j is smaller than or equal to m.

In some embodiments, step 210 performs data rearrangement on the m×n-1 volume of the three-dimensional ultrasound data according to a cardiac phase sequence to obtain the m×n-1 volume of the three-dimensional ultrasound data after data rearrangement, including: dividing m multiplied by n-1 rolls of three-dimensional ultrasonic data before data rearrangement into n parts according to the time sequence of corresponding three-dimensional ultrasonic scanning, wherein the 1 st to n-1 th parts respectively contain m rolls of the three-dimensional ultrasonic data, and the n part contains m-1 rolls of the three-dimensional ultrasonic data; setting the respective jth volumes of the three-dimensional ultrasonic data in the 1 st to nth parts before data rearrangement as the 1 st to nth volumes of the three-dimensional ultrasonic data in the jth part after data rearrangement, respectively, wherein j is a positive integer smaller than m; and respectively setting the three-dimensional ultrasonic data of the respective m volumes in the 1 st to n-1 st parts before data rearrangement as the three-dimensional ultrasonic data of the respective 1 st to n-1 st volumes in the m th parts after data rearrangement.

Step 220: and displaying the fetal heart according to the m multiplied by n-1 volume of three-dimensional ultrasonic data after data rearrangement. In some embodiments, after the data is rearranged, step 220 may further perform data registration and/or boundary correction on the rearranged multi-volume three-dimensional ultrasound data. For example, step 220 performs data registration and/or boundary correction on the three-dimensional ultrasound data of the m×n-1 volume after data rearrangement to obtain the three-dimensional ultrasound data of the m×n-1 volume after processing; step 220 is to display the fetal heart according to the processed m x n-1 volume of the three-dimensional ultrasonic data.

In some embodiments, step 220 performs a fetal heart display, including: three-dimensional ultrasound data images of one cardiac cycle are sequentially displayed in cardiac phase order.

Reference is made to various exemplary embodiments herein. However, those skilled in the art will recognize that changes and modifications may be made to the exemplary embodiments without departing from the scope herein. For example, the various operational steps and components used to perform the operational steps may be implemented in different ways (e.g., one or more steps may be deleted, modified, or combined into other steps) depending on the particular application or taking into account any number of cost functions associated with the operation of the system.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. Additionally, as will be appreciated by one of skill in the art, the principles herein may be reflected in a computer program product on a computer readable storage medium preloaded with computer readable program code. Any tangible, non-transitory computer readable storage medium may be used, including magnetic storage devices (hard disks, floppy disks, etc.), optical storage devices (CD-to-ROM, DVD, blu-Ray disks, etc.), flash memory, and/or the like. These computer program instructions may be loaded onto a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions which execute on the computer or other programmable data processing apparatus create means for implementing the functions specified. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including means which implement the function specified. The computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified.

While the principles herein have been shown in various embodiments, many modifications of structure, arrangement, proportions, elements, materials, and components, which are particularly adapted to specific environments and operative requirements, may be used without departing from the principles and scope of the present disclosure. The above modifications and other changes or modifications are intended to be included within the scope of this document.

The foregoing detailed description has been described with reference to various embodiments. However, those skilled in the art will recognize that various modifications and changes may be made without departing from the scope of the present disclosure. Accordingly, the present disclosure is to be considered as illustrative and not restrictive in character, and all such modifications are intended to be included within the scope thereof. Also, advantages, other advantages, and solutions to problems have been described above with regard to various embodiments. The benefits, advantages, solutions to problems, and any element(s) that may cause any benefit, advantage, or solution to occur or become more pronounced are not to be construed as a critical, required, or essential feature. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, system, article, or apparatus. Furthermore, the term "couple" and any other variants thereof are used herein to refer to physical connections, electrical connections, magnetic connections, optical connections, communication connections, functional connections, and/or any other connection.

Those skilled in the art will recognize that many changes may be made to the details of the above-described embodiments without departing from the underlying principles of the invention. Accordingly, the scope of the invention should be determined only by the following claims.

Claims

1. A method of ultrasound imaging of a fetal heart, comprising:

acquiring delay time length;

2. The ultrasound imaging method of claim 1, wherein the acquisition delay period comprises:

acquiring a heart rate of the fetal heart;

calculating the delay time length according to the heart rate, the basic zero delay volume rate and the first parameter; the first parameter includes time resolution or cardiac phase time interval, and the cardiac phase time interval is a time interval between cardiac phase positions corresponding to two adjacent rolls of the three-dimensional ultrasonic data in the plurality of rolls of three-dimensional ultrasonic data after data rearrangement.

3. The ultrasound imaging method of claim 2, wherein the calculating the delay time period from the heart rate, the base zero-delay volume rate, and the first parameter comprises:

wherein DT represents the delay time length, BVR represents the basic zero delay roll rate, TS represents the time resolution, FR represents the heart rate of the fetal heart, and floor represents a down rounding operation.

4. The ultrasound imaging method of claim 2, wherein the calculating the delay time period from the heart rate, the base zero-delay volume rate, and the first parameter comprises:

Wherein DT represents the delay time period, BVR represents the basic zero delay roll rate, TI represents the heart phase time interval, FR represents the heart rate of the fetal heart, and floor represents a rounding down operation.

5. The ultrasound imaging method of claim 2 or 3, further comprising:

generating a setting interface, wherein the setting interface is used for setting the time resolution;

the time resolution is set in response to a setting instruction.

6. The ultrasound imaging method of claim 2 or 4, further comprising:

generating a setting interface, wherein the setting interface is used for setting the cardiac phase time interval;

the cardiac phase time interval is set in response to a set instruction.

7. The ultrasound imaging method of claim 1, wherein the number of times of the plurality of three-dimensional ultrasound scans is mxn-1, and/or the number of volumes of the multi-volume three-dimensional ultrasound data is mxn-1; wherein:

m＝floor[(TS+1)×ByR×60÷FR÷TS]；

BVR represents the basic zero-delay volume rate, which is the volume rate of the first three-dimensional ultrasonic scan in the multiple three-dimensional ultrasonic scans; FR represents the heart rate of the fetal heart; TS represents time resolution; floor represents a rounding down operation.

8. The ultrasound imaging method of claim 1, wherein the number of times of the plurality of three-dimensional ultrasound scans is mxn-1, and/or the number of volumes of the multi-volume three-dimensional ultrasound data is mxn-1; wherein:

m＝floor[(60÷FR÷TI+1)×BVR×TI]:

BVR represents the basic zero-delay volume rate, which is the volume rate of the first three-dimensional ultrasonic scan in the multiple three-dimensional ultrasonic scans; TI represents a cardiac phase time interval, wherein the cardiac phase time interval is a time interval between cardiac phase positions corresponding to two adjacent volumes of three-dimensional ultrasonic data in a plurality of volumes of three-dimensional ultrasonic data after data rearrangement; FR represents the heart rate of the fetal heart, floor represents the rounding down operation.

9. The ultrasound imaging method according to claim 7 or 8, wherein the data rearrangement of the plurality of volumes of the three-dimensional ultrasound data in the cardiac phase sequence to obtain the plurality of volumes of the three-dimensional ultrasound data after the data rearrangement comprises: the three-dimensional ultrasonic data of the (i-1) th volume x m+j in the three-dimensional ultrasonic data of the m x n-1 volume before data rearrangement is set as the three-dimensional ultrasonic data of the (j-1) th volume x n+i after data rearrangement; and i and j are positive integers, i is smaller than or equal to n, and j is smaller than or equal to m.

10. The ultrasound imaging method according to claim 7 or 8, wherein the data rearrangement of the plurality of volumes of the three-dimensional ultrasound data in the cardiac phase sequence to obtain the plurality of volumes of the three-dimensional ultrasound data after the data rearrangement comprises:

dividing m multiplied by n-1 rolls of three-dimensional ultrasonic data before data rearrangement into n parts according to the time sequence of corresponding three-dimensional ultrasonic scanning, wherein the 1 st to n-1 th parts respectively contain m rolls of the three-dimensional ultrasonic data, and the n part contains m-1 rolls of the three-dimensional ultrasonic data;

setting the j-th volume of three-dimensional ultrasonic data in any i-th part of m multiplied by n-1 volumes of the three-dimensional ultrasonic data before data rearrangement as the (j-1) multiplied by n+i volumes of the three-dimensional ultrasonic data after data rearrangement; and i and j are positive integers, i is smaller than or equal to n, and j is smaller than or equal to m.

11. The ultrasound imaging method according to claim 7 or 8, wherein the data rearrangement of the plurality of volumes of the three-dimensional ultrasound data in the cardiac phase sequence to obtain the plurality of volumes of the three-dimensional ultrasound data after the data rearrangement comprises:

Setting the respective jth volumes of the three-dimensional ultrasonic data in the 1 st to nth parts before data rearrangement as the 1 st to nth volumes of the three-dimensional ultrasonic data in the jth part after data rearrangement, respectively, wherein j is a positive integer smaller than m;

and respectively setting the three-dimensional ultrasonic data of the respective m volumes in the 1 st to n-1 st parts before data rearrangement as the three-dimensional ultrasonic data of the respective 1 st to n-1 st volumes in the m th parts after data rearrangement.

12. The ultrasound imaging method of claim 1, wherein the data rearranged rolls of the three-dimensional ultrasound data equidistantly correspond to different cardiac phase positions of a complete cardiac cycle.

13. The ultrasound imaging method of claim 1 or 12, wherein the delay time is such that the volumes of three-dimensional ultrasound data acquired correspond to different cardiac phase positions of the fetal heart.

14. The ultrasound imaging method of claim 1 or 12, wherein the delay time is such that the volumes of three-dimensional ultrasound data acquired correspond to different cardiac phase positions of the fetal heart, and the distances between adjacent cardiac phase positions are equal.

15. The ultrasound imaging method of claim 1, 12, 13 or 14, wherein the delay duration is such that a cardiac phase time interval and a time resolution are multiplied by 1, the cardiac phase time interval being a time interval between cardiac phase positions corresponding to two adjacent volumes of the three-dimensional ultrasound data in the plurality of volumes of the three-dimensional ultrasound data after data rearrangement.

16. The ultrasound imaging method of claim 1, further comprising: acquiring total scanning time;

after the total scanning time is reached, controlling to stop the three-dimensional ultrasonic scanning; or generating a prompt for stopping the three-dimensional ultrasonic scanning according to the total scanning time.

17. The ultrasound imaging method of claim 16, wherein the total scan time is:

T＝60÷FR÷TI÷AVR:

wherein T represents the total scan time; FR represents the heart rate of the fetal heart; TI represents a cardiac phase time interval, wherein the cardiac phase time interval is a time interval between cardiac phase positions corresponding to two adjacent volumes of three-dimensional ultrasonic data in a plurality of volumes of three-dimensional ultrasonic data after data rearrangement; BVR represents the basic zero-delay volume rate, which is the volume rate of the first three-dimensional ultrasonic scan in the multiple three-dimensional ultrasonic scans; floor represents a rounding down operation.

18. The ultrasound imaging method of claim 16, wherein the total scan time is:

T＝TS÷AyR；

wherein T represents the total scan time; TS represents time resolution; FR represents the heart rate of the fetal heart; BVR represents the basic zero-delay volume rate, which is the volume rate of the first three-dimensional ultrasonic scan in the multiple three-dimensional ultrasonic scans; floor represents a rounding down operation.

19. The ultrasound imaging method of claim 7 or 8, further comprising: acquiring the times of the three-dimensional ultrasonic scanning;

after the times of the three-dimensional ultrasonic scanning are finished, controlling to stop the three-dimensional ultrasonic scanning; or generating a note for stopping the three-dimensional ultrasonic scanning according to the times of the three-dimensional ultrasonic scanning.

20. The ultrasound imaging method of claim 1, wherein said displaying of said fetal heart from said data rearranged plurality of volumes of three-dimensional ultrasound data comprises:

carrying out data registration and/or boundary correction on the multi-volume three-dimensional ultrasonic data after data rearrangement to obtain the processed multi-volume three-dimensional ultrasonic data;

and displaying the fetal heart according to the processed multi-volume three-dimensional ultrasonic data.

21. The ultrasound imaging method of claim 1 or 20, wherein said performing said displaying of said fetal heart comprises: three-dimensional ultrasound data images of one cardiac cycle are sequentially displayed in cardiac phase order.

22. The ultrasound imaging method of claim 1, wherein each volume of the three-dimensional ultrasound data comprises a complete fetal heart.

23. A method of ultrasound imaging of a fetal heart, comprising:

24. The ultrasound imaging method of claim 23, wherein the data-reordering of the m x n-1 volume of the three-dimensional ultrasound data in cardiac phase order to obtain the data-reordered m x n-1 volume of the three-dimensional ultrasound data comprises:

In the case where the data rearranged m×n-1 volume of the three-dimensional ultrasound data is divided into m parts in the heart phase order, the 1 st to m-1 st parts respectively contain n volumes of the three-dimensional ultrasound data, and the m-th part contains n-1 volumes of the three-dimensional ultrasound data;

m volumes of the three-dimensional ultrasonic data obtained by m times of the three-dimensional ultrasonic scanning performed by the fetal heart in any ith cardiac cycle of the previous n-1 cardiac cycles are set as ith volumes of the three-dimensional ultrasonic data of each of 1 st to m th parts in m x n-1 volumes of the three-dimensional ultrasonic data after data rearrangement; the i is a positive integer, and is smaller than or equal to n-1;

and in the nth cardiac cycle of the fetal heart, setting m-1 volumes of the three-dimensional ultrasonic data obtained by m-1 times of three-dimensional ultrasonic scanning performed by the fetal heart as the nth volumes of the three-dimensional ultrasonic data of each of the 1 st to m-1 st parts in the m x n-1 volumes of the three-dimensional ultrasonic data after data rearrangement.

25. The ultrasound imaging method of claim 23, wherein the data-reordering of the m x n-1 volume of the three-dimensional ultrasound data in cardiac phase order to obtain the data-reordered m x n-1 volume of the three-dimensional ultrasound data comprises:

The three-dimensional ultrasonic data of the (i-1) th volume x m+j in the three-dimensional ultrasonic data of the m x n-1 volume before data rearrangement is set as the three-dimensional ultrasonic data of the (j-1) th volume x n+i after data rearrangement; and i and j are positive integers, i is smaller than or equal to n, and j is smaller than or equal to m.

26. The ultrasound imaging method of claim 23, wherein the data-reordering of the m x n-1 volume of the three-dimensional ultrasound data in cardiac phase order to obtain the data-reordered m x n-1 volume of the three-dimensional ultrasound data comprises:

27. The ultrasound imaging method of claim 23, wherein the data-reordering of the m x n-1 volume of the three-dimensional ultrasound data in cardiac phase order to obtain the data-reordered m x n-1 volume of the three-dimensional ultrasound data comprises:

28. The ultrasound imaging method of claim 23, wherein:

m＝floor[(TS+1)×ByR×60÷FR÷TS]；

BVR represents the basic zero-delay volume rate, which is the scanning volume rate of the first three-dimensional ultrasonic scanning in the m multiplied by n-1 three-dimensional ultrasonic scanning; FR represents the heart rate of the fetal heart; TS represents time resolution; floor represents a rounding down operation.

29. The ultrasound imaging method of claim 22, wherein:

m＝floor[(60÷FR÷TI+1)xBVRxTI]:

BVR represents the basic zero-delay volume rate, which is the scanning volume rate of the first three-dimensional ultrasonic scanning in the m multiplied by n-1 three-dimensional ultrasonic scanning; TI represents a cardiac phase time interval, wherein the cardiac phase time interval is the time interval between cardiac phase positions corresponding to two adjacent volumes of three-dimensional ultrasonic data in m multiplied by n-1 volumes of three-dimensional ultrasonic data after data rearrangement; FR represents the heart rate of the fetal heart, floor represents the rounding down operation.

30. The ultrasound imaging method of claim 23, further comprising: acquiring delay time length;

during the process of carrying out m x n-1 times of three-dimensional ultrasonic scanning: and after the three-dimensional ultrasonic scanning is completed once, the three-dimensional ultrasonic scanning is performed next time after the delay time length.

31. The ultrasound imaging method of claim 30, wherein the acquisition delay period comprises:

acquiring a heart rate of the fetal heart;

calculating the delay time length according to the heart rate, the basic zero delay volume rate and the first parameter; the basic zero-delay roll rate is a roll rate of a first three-dimensional ultrasonic scan in the m×n-1 three-dimensional ultrasonic scans, the first parameter comprises a time resolution or a cardiac phase time interval, and the cardiac phase time interval is a time interval between cardiac phase positions corresponding to two adjacent rolls of three-dimensional ultrasonic data in the m×n-1 rolls of data rearranged three-dimensional ultrasonic data.

32. The ultrasound imaging method of claim 31, wherein said calculating said delay period from said heart rate, base zero-delay volume rate, and first parameter comprises:

33. The ultrasound imaging method of claim 31, wherein said calculating said delay period from said heart rate, base zero-delay volume rate, and first parameter comprises:

34. The ultrasound imaging method of claim 30, wherein the delay time is such that the m x n-1 volume of three-dimensional ultrasound data acquired corresponds to different heart phase positions of the fetal heart.

35. The ultrasound imaging method of claim 30, wherein the delay time is such that the m x n-1 volume of three-dimensional ultrasound data acquired corresponds to different cardiac phase positions of the fetal heart and distances between adjacent cardiac phase positions are equal.

36. The ultrasound imaging method of claim 30, 34 or 35, wherein the delay duration is such that the cardiac phase time interval and the time resolution are multiplied by 1.

37. The ultrasound imaging method of claim 23, wherein the data rearranged m x n-1 volume of three-dimensional ultrasound data equidistantly corresponds to different cardiac phase positions of a complete cardiac cycle.

38. The ultrasound imaging method of claim 23, further comprising: acquiring total scanning time;

39. The ultrasound imaging method of claim 38, wherein the total scan time is:

T＝60÷FR÷TI÷AVR:

wherein T represents the total scan time; FR represents the heart rate of the fetal heart; TI represents a cardiac phase time interval, wherein the cardiac phase time interval is the time interval between cardiac phase positions corresponding to two adjacent volumes of three-dimensional ultrasonic data in m multiplied by n-1 volumes of three-dimensional ultrasonic data after data rearrangement; BVR represents the basic zero-delay volume rate, which is the scanning volume rate of the first three-dimensional ultrasonic scanning in the m multiplied by n-1 three-dimensional ultrasonic scanning; floor represents a rounding down operation.

40. The ultrasound imaging method of claim 29, wherein the total scan time is:

T＝TS÷AVR；

wherein T represents the total scan time; TS represents time resolution; FR represents the heart rate of the fetal heart; BVR represents the basic zero-delay volume rate, which is the scanning volume rate of the first three-dimensional ultrasonic scanning in the m multiplied by n-1 three-dimensional ultrasonic scanning; floor represents a rounding down operation.

41. The ultrasound imaging method of claim 23, wherein said displaying of said fetal heart from said data rearranged m x n-1 volume of said three-dimensional ultrasound data comprises:

carrying out data registration and/or boundary correction on the three-dimensional ultrasonic data of the m multiplied by n-1 volume after the data rearrangement to obtain the three-dimensional ultrasonic data of the m multiplied by n-1 volume after the processing;

and displaying the fetal heart according to the processed m multiplied by n-1 volume of the three-dimensional ultrasonic data.

42. The ultrasound imaging method of claim 23 or 41, wherein said performing said displaying of said fetal heart comprises: three-dimensional ultrasound data images of one cardiac cycle are sequentially displayed in cardiac phase order.

43. The ultrasound imaging method of claim 23, wherein each of the three-dimensional ultrasound scans comprises: and transmitting ultrasonic waves to the fetal heart and receiving corresponding ultrasonic wave echoes to obtain a roll of three-dimensional ultrasonic data containing the complete fetal heart.

44. A method of ultrasound imaging of a fetal heart, comprising:

acquiring a scanning rule;

45. The ultrasound imaging method of claim 44, wherein the scan rule comprises: and in the process of carrying out the three-dimensional ultrasonic scanning for a plurality of times, carrying out the next three-dimensional ultrasonic scanning after the same delay time length is passed after each time of completing the three-dimensional ultrasonic scanning.

46. The ultrasound imaging method of claim 45, wherein the delay period is calculated based on a heart rate of the fetal heart, a base zero-delay roll rate, and a first parameter; the basic zero-delay volume rate is the volume rate of the first three-dimensional ultrasonic scanning in the multiple three-dimensional ultrasonic scanning, the first parameter comprises time resolution or cardiac phase time interval, and the cardiac phase time interval is the time interval between cardiac phase positions corresponding to two adjacent volumes of the three-dimensional ultrasonic data in the multiple volumes of data rearranged.

47. The ultrasound imaging method of claim 44, wherein the data rearrangement comprises at least a forward adjustment of the three-dimensional ultrasound data with a partial scan timing followed by a backward adjustment of the three-dimensional ultrasound data with a partial scan timing followed by a forward adjustment.

48. The ultrasound imaging method of claim 44, wherein the number of three-dimensional ultrasound scans is mxn-1 and/or the number of volumes of the multi-volume three-dimensional ultrasound data is mxn-1; wherein:

m＝floor[(TS+1)×ByR×60÷FR÷TS]；

49. The ultrasound imaging method of claim 44, wherein the number of three-dimensional ultrasound scans is mxn-1 and/or the number of volumes of the multi-volume three-dimensional ultrasound data is mxn-1; wherein:

m＝floor[(60÷FR÷TI+1)×BVR×TI]:

50. The ultrasound imaging method of claim 48 or 49, wherein said data reordering of said plurality of volumes of said three-dimensional ultrasound data in cardiac phase order to obtain a plurality of volumes of said three-dimensional ultrasound data after data reordering comprises: the three-dimensional ultrasonic data of the (i-1) th volume x m+j in the three-dimensional ultrasonic data of the m x n-1 volume before data rearrangement is set as the three-dimensional ultrasonic data of the (j-1) th volume x n+i after data rearrangement; and i and j are positive integers, i is smaller than or equal to n, and j is smaller than or equal to m.

51. An ultrasound imaging system, comprising:

a processor for performing the method of any one of claims 1 to 50.

52. A computer readable storage medium comprising a program executable by a processor to implement the method of any one of claims 1 to 50.