WO2020061877A1 - 一种空间复合方法及系统、计算机可读存储介质 - Google Patents

一种空间复合方法及系统、计算机可读存储介质 Download PDF

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Publication number
WO2020061877A1
WO2020061877A1 PCT/CN2018/107839 CN2018107839W WO2020061877A1 WO 2020061877 A1 WO2020061877 A1 WO 2020061877A1 CN 2018107839 W CN2018107839 W CN 2018107839W WO 2020061877 A1 WO2020061877 A1 WO 2020061877A1
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Prior art keywords
preset
transmission
sound field
spatial
angles
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PCT/CN2018/107839
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English (en)
French (fr)
Inventor
杨波
张立国
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Shenzhen Mindray Bio Medical Electronics Co Ltd
Shenzhen Mindray Scientific Co Ltd
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Shenzhen Mindray Bio Medical Electronics Co Ltd
Shenzhen Mindray Scientific Co Ltd
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Application filed by Shenzhen Mindray Bio Medical Electronics Co Ltd, Shenzhen Mindray Scientific Co Ltd filed Critical Shenzhen Mindray Bio Medical Electronics Co Ltd
Priority to CN201880097453.7A priority Critical patent/CN112672693B/zh
Priority to PCT/CN2018/107839 priority patent/WO2020061877A1/zh
Publication of WO2020061877A1 publication Critical patent/WO2020061877A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves

Definitions

  • the present application relates to the field of ultrasound imaging, and in particular, to a spatial composite method and system, and a computer-readable storage medium.
  • speckle noise may be generated in the ultrasound image.
  • the most common method is a spatial recombination method, which uses the superposition of echo signals from multiple angles to eliminate speckle noise.
  • the spatial scanning method based on line scanning has a low frame rate. Spatial recombination methods based on frame scanning can produce motion artifacts, which can result in blurred ultrasound images.
  • the present application provides a spatial composite method and system, and a computer-readable storage medium, which can enhance the sharpness of an ultrasound image when the frame rate is increased.
  • This application provides a spatial composite method, which includes:
  • each transmission beam corresponds to at least two reception beams with different reception angles
  • the present application also provides a space composite system, where the space composite system includes:
  • a transmit / receive sequence controller that excites the ultrasound probe to transmit a transmit beam at least once to a target object, and receives a receive beam returned from the target object in response to the transmit beam, wherein, Each transmission beam corresponds to at least two reception beams with different reception angles;
  • a processor that performs spatial recombination according to the received beam.
  • the present application also provides a computer-readable storage medium on which a computer program is stored, which is applied to a space composite system.
  • a computer program is stored on a computer-readable storage medium on which a computer program is stored, which is applied to a space composite system.
  • the computer program is executed by a processor, the method for space composite according to any one of the foregoing is implemented.
  • the present application provides a spatial composite method and system, and a computer-readable storage medium.
  • the method includes transmitting at least one transmit beam to a target object, and receiving a receive beam returned from the target object in response to the transmit beam.
  • the transmitting beam corresponds to at least two receiving beams with different receiving angles, and spatial recombination is performed according to the receiving beams.
  • the space composite system transmits at least one transmit beam, and receives the receive beams of at least two receive angles in response to the transmit beam.
  • the receive beams are transmitted at one receive angle, which reduces The number of shots of the space composite system to the target object during composite imaging is reduced.
  • the time for spatial recombination is reduced, thereby increasing the frame rate of the spatial recombination.
  • the scanning interval is reduced, which improves the clarity of the ultrasound image while increasing the frame rate. degree.
  • FIG. 1 is a schematic structural diagram of a spatial composite system according to an embodiment of the present application
  • FIG. 2 is a first flowchart of a spatial composite method according to an embodiment of the present application
  • FIG. 3 is a schematic diagram of an exemplary preset emission sound field provided by an embodiment of the present application.
  • FIG. 4 is an exemplary ultrasound emission focusing diagram provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of an exemplary line array transmitting multiple receive beams at multiple angles according to an embodiment of the present application
  • FIG. 6 is a schematic diagram of an exemplary line array that transmits multiple angle receive beams at one time according to an embodiment of the present application
  • FIG. 7 is an exemplary schematic diagram of a full-frame imaging of a linear array that transmits multiple angle receiving beams at a time according to an embodiment of the present application
  • FIG. 8 is a second flowchart of a spatial composite method according to an embodiment of the present application.
  • FIG. 9 (a) is a schematic diagram of an exemplary convex array that transmits multiple angle receive beams at one time according to an embodiment of the present application.
  • FIG. 9 (b) is an exemplary phased array diagram of transmitting multiple angle receiving beams at one time according to an embodiment of the present application.
  • FIG. 1 is a schematic structural block diagram of a spatial composite system 10 in an embodiment of the present application.
  • the spatial composite system 10 may include an ultrasound probe 100, a transmission / reception selection switch 101, a transmission / reception sequence controller 102, a processor 103, and a display 104.
  • the transmitting / receiving sequence controller 102 can excite the ultrasonic probe 100 to transmit ultrasonic waves to a target object to form a transmitting beam, where the target object can be any human or animal tissue or organ for detection. It can be understood that the ultrasound probe 100 transmits a transmission beam to the target object at least once, wherein each transmission beam corresponds to at least two reception beams with different reception angles.
  • the transmitting / receiving sequence controller 102 may also control the ultrasound probe 100 to receive the ultrasound echo returned from the target object, thereby obtaining a receiving beam. It can be understood that the ultrasound probe 100 receives a receiving beam returned from the target object in response to the transmission beam.
  • the processor 103 processes the received beam to obtain an ultrasound image of the target object, that is, spatially composes the received beams according to the received multiple receiving angles to eliminate speckle noise in the image. In some possible implementation methods, The processor 103 spatially recombines the received reception beams and forms an ultrasound image.
  • the ultrasound images obtained by the processor 103 may be stored in the memory 105, and these ultrasound images may be displayed on the display 104.
  • the display 104 of the aforementioned space composite system 10 may be a touch display screen, a liquid crystal display screen, etc., or may be an independent display device such as a liquid crystal display, a television, etc. which are independent of the space composite system 10, or Display for electronic devices such as mobile phones and tablets.
  • the memory 105 of the aforementioned space composite system 10 may be a flash memory card, a solid state memory, a hard disk, or the like.
  • An embodiment of the present application further provides a computer-readable storage medium.
  • the computer-readable storage medium stores a plurality of program instructions. After the plurality of program instructions are called and executed by the processor 103, the space in the embodiments of the present application can be executed. Some or all of the steps in the composite method or any combination of the steps.
  • the computer-readable storage medium may be the memory 105, which may be a non-volatile storage medium such as a flash memory card, a solid state memory, a hard disk, and the like.
  • the processor 105 of the aforementioned spatial composite system 10 may be implemented by software, hardware, firmware, or a combination thereof. Circuits, single or multiple application-specific integrated circuits (ASICs), single or Multiple general-purpose integrated circuits, a single or multiple microprocessors, a single or multiple programmable logic devices, or a combination of the foregoing circuits or devices, or other suitable circuits or devices, so that the processor 105 can perform the foregoing implementations The corresponding steps of the spatial composite method in the example.
  • ASICs application-specific integrated circuits
  • ASICs application-specific integrated circuits
  • microprocessors single or multiple programmable logic devices
  • a combination of the foregoing circuits or devices or other suitable circuits or devices
  • an embodiment of the present application provides a spatial composite method.
  • the method may include:
  • a spatial recombination method provided in the embodiment of the present application is applicable to a scenario in which multiple beams in multiple angular directions are transmitted and received at a time, where the plurality includes two or more, that is, one transmit beam is transmitted and received Receive beams of at least two receive angles.
  • the transmitting / receiving sequence control 102 in the spatial composite system 10 excites the ultrasonic probe 100 to transmit at least one transmit beam to a target object, wherein the type of the ultrasonic probe 100 may be a linear array probe or a convex array or a phased array.
  • Non-linear array probes such as controlled arrays are specifically selected according to actual conditions, and the embodiments of the present application do not specifically limit them.
  • the ultrasound probe 100 may be a multi-element probe, and the spatial composite system 10 performs transmission of a transmission beam and reception of a reception beam through different array elements.
  • the processor 103 in the spatial composite system 10 obtains a preset number of spatial composite angles and a preset transmitted sound field width, wherein the preset transmitted sound field has a narrow sound field at the focal area position and a wide sound field at the non-focal area position.
  • the processor 103 determines the number of transmission times of the transmission beam according to the preset number of spatial composite angles and the width of the preset transmission sound field.
  • the ultrasonic probe 100 in the spatial composite system 10 transmits at least one transmission beam to the target object according to the number of transmissions. process.
  • the processor 103 in the spatial composite system 10 determines the width of the preset transmission sound field according to the transmission aperture and the preset focus position of the ultrasound probe 100, where the preset focus position may be a point or may be For one area, when the preset focus position is one area, the preset focus position is equivalent to the focus area.
  • the processor 103 in the spatial composite system 10 determines the number of receiving angles corresponding to one transmit beam according to a preset transmission sound field width, and according to a ratio between the preset number of spatial composite angles and the number of receiving angles. Determine the number of transmissions of the transmission beam.
  • one transmission process forms a preset transmission sound field; when the processor 103 in the space composite system 10 determines to perform multiple transmission processes At this time, multiple transmission processes form multiple preset transmission sound fields, or multiple preset transmission sound fields are regarded as one large preset transmission sound field, which is specifically selected according to actual conditions, and is not specifically limited in the embodiment of the present application.
  • the preset emission sound field satisfies the characteristics of converging in the focal region and diverging in the non-focal region. As shown in FIG. 3, the acoustic field is narrow in the focal region and the acoustic field is wide in the non-focal region.
  • the focus of the ultrasonic transmission is to control the transmission delay so that all the transmitting array elements are focused in one area.
  • all the array elements are focused at one point, and each array element is based on the distance to the focal area.
  • Transmit beams are issued at different times. Among them, the ones that are far away from the focal area are emitted first and the ones that are close to the focal area are emitted later. At this time, a focus result is formed at the focal area position.
  • the spatial composite system obtains the focal area position and transmits the beam The characteristics of focusing at the focal position and diverging at the non-focal position satisfy the sound field characteristics of the preset emission sound field.
  • a scanning spatial recombination requires nine angles of receiving beams.
  • the spatial recombination system performs three transmission processes, and each transmitting process receives three angles of receiving beams, so that three transmissions form nine spatial recombinations.
  • Angle data For example, Angle data.
  • the space composite system uses a linear array probe to transmit in three times, and each transmission forms 3 receiving beams, each receiving beam having a different angle, thus forming a receiving beam of 9 angles.
  • the scanning method here can be based on line scanning, that is, transmitting 123 alternate scanning, scanning from the left to the right, that is, three transmissions. In this way, data of 9 different angles are formed, and the data of 9 angles are used for spatial compounding. Eliminate speckle noise.
  • the data required for one or more frames of ultrasound images are formed by alternately transmitting 1 2 3 multiple times; or based on the frame scan, first press 1 to transmit a frame to form 3 reception angles, and then press 2 to transmit a frame to receive 3 Three angles, and then press 3 to send a frame to receive three angles.
  • the data of 9 different angles formed in this way can be spatially compounded.
  • Ultrasound imaging can also be performed, that is, the data required to synthesize one or more ultrasound images, and so on. .
  • each transmitting beam corresponds to at least two receiving beams with different receiving angles.
  • the space recombination system controls the transmission of the transmission beam at least once to form a preset transmission sound field
  • the space recombination system controls the reception of the reception beam in response to the transmission beam, and uses the received reception beam for space recombination.
  • the processor 103 in the spatial composite system 10 receives the response beam of the transmission beam in a delayed manner based on the reception delay, converges the reception beam at the focal area position, and diverges at the non-focal area position, so that the receiving beam is at
  • the beam width at the focal region position is smaller than the beam width at the non-focal region position, or the receiving beams from multiple different receiving angles are directly received, so that the convergence occurs at any position, or no convergence occurs, which is not specifically limited here.
  • the transmitting / receiving sequence controller 102 in the space composite system 10 receives the receiving beams returned from the target object in response to the transmitting beam through N times, wherein the number of transmission times of the transmitting beams is N, N Is an integer greater than 0.
  • the processor 103 in the spatial recombination system 10 performs spatial recombination according to the received beams received N times. For example, once a transmission beam is received at nine reception angles, the nine beam reception beams can be directly used for spatial recombination. As another example, for three transmissions, each transmission receives three reception beams at three reception angles. After three transmissions, it receives nine reception beams at different reception angles, and then uses the nine reception beams at different reception angles received after three transmissions.
  • spatially composited data is used to form an ultrasound image, which may specifically be a frame scanning method. After scanning multiple frames and then synthesizing one frame, an ultrasound image is obtained, and so on. It can also be a line scan method. After satisfying the required receiving angle, a frame of image is obtained after scanning many times, and so on.
  • the space composite system uses a linear array probe for one transmission.
  • three angle beams are received, including four beams to the left, four beams to the center, and four beams to the right. And every three beams in different directions are converged at the focus position. In this way, after transmitting once, 12 beams at three angles are formed.
  • FIG. 7 is a schematic diagram of the imaging of a linear array probe receiving a plurality of directional angle beams at a time, wherein the linear array and the line spacing are 0.2 mm, and each transmission receives the receiving beams in three directional angles. It is -6 degrees, 0 degrees, and 6 degrees respectively. 192 receive lines are received in each direction, and the transmission focus is at 20mm. The receiving beams in these three directions are narrow in the focal area and wide in the non-focal area. The receiving beam not only meets the preset sound field characteristics, but also presents the effect of spatial recombination. It can be seen from FIG.
  • the coherence between the receiving beams is weak due to the same transmission, resulting in a weak spatial recombination effect.
  • the receiving beam Due to the non-coincident transmission, the receiving beam The strong coherence between them results in a strong spatial recombination effect.
  • the spatial composite system 10 After the transmit / receive sequence in the spatial composite system 10 controls the reception of the receive beam in response to the transmit beam, the spatial composite system performs spatial composite processing based on the received receive beam, and can also perform spatial composite processing through the received receive beam. After getting ultrasound images.
  • the processor 103 in the spatial composite system 10 performs spatial composite processing on a received beam to obtain a final ultrasound image.
  • the processor 103 in the spatial composite system 10 transmits the received reception beam to a beam combiner, and the beam combiner performs beam synthesis on the received beam to obtain multi-angle imaging data, and finally combines the multi-angle imaging data to obtain The final imaging data, which forms the ultrasound image.
  • the spatial composite system 10 transmits the transmit beam to the target object at least once
  • the spatial composite system receives the receive beam returned from the target object in response to the transmit beam, and each transmit beam corresponds to at least two receptions with different receiving angles. Beams, so that the spatial composite system can receive multi-angle receive beams after at least one transmission, thereby reducing the number of times the spatial composite system scans the target object at various angles, thereby increasing the time of spatial composite and reducing the scanning interval Time makes it possible to increase the clarity of the ultrasound image while increasing the frame rate.
  • An embodiment of the present application provides a spatial composite method. As shown in FIG. 8, the method may include:
  • the spatial composite system obtains a preset number of spatial composite angles and a preset transmitted sound field width.
  • the method for spatial recombination provided in the embodiments of the present application is applicable to a scenario in which spatial recombination of receiving beams in multiple receiving angle directions is transmitted at one time.
  • the processor 103 in the spatial composite system 10 determines the number of angles required for spatial composite, that is, the preset number of spatial composite angles.
  • the processor 103 in the spatial composite system 10 determines the width of the preset transmission sound field according to the transmission aperture and the preset focus position of the ultrasound probe 100, where the preset focus position may be a point or may be For an area, when the preset focus position is an area, the preset focus position is equivalent to the focal area position.
  • the space composite system determines the number of receiving angles corresponding to one transmit beam according to a preset width of the transmitted sound field.
  • the spatial composite system After the spatial composite system obtains the preset number of spatial composite angles and the preset width of the transmitted sound field, the spatial composite system needs to determine the number of receive angles corresponding to one transmission beam according to the preset width of the transmitted sound field.
  • the processor 103 in the spatial composite system 10 determines the number of receiving angles corresponding to one transmit beam according to a preset width of a transmitted sound field.
  • the spatial composite system determines the number of transmissions of the transmitting beam according to a ratio of the preset number of spatial composite angles and the number of receiving angles.
  • the spatial composite system 10 determines the number of receiving angles corresponding to one transmit beam, the spatial composite system determines the number of transmissions of the transmit beam according to a ratio of the preset number of spatial composite angles and the number of receive angles.
  • the processor 103 in the spatial composite system 10 calculates a ratio between the preset number of spatial composite angles and the number of reception angles. If the ratio is an integer, the number of integer transmissions is exactly performed; if the ratio is a decimal number, the transmission is performed The number of times is rounded up to the decimal, and each transmission angle can be user-defined or the device default.
  • the number of preset spatial composite angles is 5, the number of received angles at a time is 3, and the ratio of the number of preset spatial composite angles to the number of received angles is 1.67, and the processor 103 in the spatial composite system 10 determines
  • the number of transmissions is 2, and the transmission angle is that one transmission corresponds to receiving the receiving beams at 3 angles, and the other transmission corresponds to receiving the receiving beams at 2 angles.
  • the space composite system obtains a preset focus position of a preset emission sound field.
  • the space composite system After the space composite system determines the number of transmissions of the transmission beam, the space composite system obtains a preset focus position of a preset transmission sound field.
  • a user determines a preset focus position corresponding to the current round of spatial recombination, and the processor 103 in the space recombination system 10 obtains a preset focus position of a preset emission sound field predetermined by the user.
  • the space composite system determines a transmission delay according to a preset focus position.
  • the space composite system After the space composite system obtains the preset focus position of the preset transmission sound field, the space composite system determines the transmission delay according to the preset focus position.
  • the type of the ultrasound probe 100 in the space composite system 10 may be a linear array probe or a non-linear array probe such as a convex array or a phased array, which is specifically selected according to actual conditions, and is not described in the embodiment of the present application. Specific limitations.
  • the ultrasound probe 100 may be a multi-element probe, and the space composite system 10 performs a transmission process of a transmission beam through different elements.
  • the processor 103 in the spatial composite system 10 determines the transmission delay of each array element in the ultrasound probe 100 according to a preset focus position, so that each array element performs delayed transmission according to the transmission delay at least One transmission beam.
  • the multi-angle receiving beam can meet the sound field characteristics, that is, the beam width received at the focus position is narrow, and the beam width received at the non-focus area is wide.
  • the space composite system controls the transmission of at least one transmission beam according to the transmission delay to form a predetermined transmission sound field, wherein the predetermined transmission sound field has the characteristics of a narrow sound field at the focal region and a wide sound field at the non-focal region.
  • the space composite system After the space composite system determines the transmission delay, the space composite system controls the transmission of the transmission beam at least once according to the transmission delay to form a preset transmission sound field.
  • the processor 103 in the spatial composite system 10 controls each array element to perform a transmission process of a transmission beam according to a corresponding transmission delay, so that the transmission beam satisfies characteristic.
  • the preset emission sound field satisfies the characteristics of convergence at the focal area position and divergence at the non-focal area position. As shown in FIG. 3, the sound field at the focal area position is narrow and the sound field at the non-focal area position is wide.
  • one transmission process forms a preset transmission sound field; when the processor 103 in the space composite system 10 determines to perform multiple transmission processes At this time, multiple transmission processes form multiple preset transmission sound fields, or multiple preset transmission sound fields are regarded as one large preset transmission sound field, which is specifically selected according to actual conditions, and is not specifically limited in the embodiment of the present application.
  • the focus of the ultrasonic transmission is to control the transmission delay so that all the transmitting array elements are focused in one area.
  • all the array elements are focused at one point, and each array element is based on the distance to the focal area.
  • the transmitting beams are emitted at different times. Among them, the ones that are far away from the focal area are emitted first, and the ones that are close to the focal area are emitted later. At this time, a focusing result is formed at the focal area position.
  • the spatial composite system obtains the focal area position and transmits the beam. The characteristics of focusing at the focal position and diverging at the non-focal position satisfy the sound field characteristics of the preset emission sound field.
  • the processor 103 in the space composite system 10 controls transmission N according to the transmission delay. Secondary transmit beam, receiving multiple receive beams with different receiving angles N times.
  • the space composite system uses a linear array probe to transmit in three times, and each transmission forms 3 receiving beams, each receiving beam having a different angle, thus forming a receiving beam of 9 angles.
  • the scanning method here can be based on line scanning, that is, transmitting 123 alternate scanning, scanning from the left to the right, that is, three transmissions, so that the data of 9 different angles is formed, and the data of 9 angles is used for spatial compounding. Eliminate speckle noise.
  • the data required for one or more frames of ultrasound images are formed by alternately transmitting 1 2 3 multiple times; or based on the frame scan, first press 1 to transmit a frame to form 3 reception angles, and then press 2 to transmit a frame to receive 3 Three angles, and then press 3 to send a frame to receive three angles.
  • the data of 9 different angles formed in this way can be spatially compounded.
  • Ultrasound imaging can also be performed, that is, the data required to synthesize one or more ultrasound images, and so on. .
  • each scan obtains the reception beams of 9 reception angles
  • spatial recombination is performed on the reception beams of the nine reception angles obtained by the first three scans
  • spatial recombination is performed on the reception beams of the nine reception angles obtained by the third three scans, and so on.
  • one frame image for ultrasound imaging is obtained through 100 scans, that is, each reception angle corresponds to 50 scans.
  • each scan obtains a receiving beam with 9 receiving angles, and spatially combines the received receiving beams with 9 receiving angles.
  • a frame image for ultrasound imaging is obtained, that is, each receiving angle corresponds to scanning 50 times, and so on.
  • the spatial composite system receives a receiving beam returned from the target object in response to the transmitting beam, wherein each transmitting beam corresponds to at least two receiving beams with different receiving angles.
  • the space composite system After the space composite system transmits at least one transmit beam, the space composite system receives a receive beam in response to the transmit beam.
  • the spatial recombination system performs spatial recombination according to the received beam.
  • the spatial composite system After the spatial composite system receives the receive beam in response to the transmit beam, the spatial composite system performs spatial recombination based on the received beam.
  • the space composite system is transmitting at least one beam, and the space composite system receives a response beam that is in response to the transmission beam, wherein each transmission beam corresponds to at least two reception beams with different receiving angles, so that the space composite system is After transmitting, the multi-angle receive beam can be received, thereby reducing the number of times the spatial composite system scans the target object at various angles, thereby increasing the time of spatial composite and reducing the interval between scans, so that while increasing the frame rate Enhanced clarity of ultrasound images.
  • the space composite system forms a preset transmission sound field when transmitting at least one transmission beam.
  • the preset transmission sound field has the characteristics of a narrow sound field at the focal area and a wide sound field at the non-focal area.
  • the space composite system Control the receiving beam of the response transmitting beam so that the receiving beam meets the characteristics of a preset transmitting sound field, so that the spatial composite system can receive a multi-angle receiving beam after at least one transmission, thereby forming an entire frame image, reducing the The number of times the target object is scanned at various angles, thereby increasing the time of spatial recombination and reducing the scanning interval time, so as to increase the frame rate and enhance the clarity of the ultrasound image.

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Abstract

本申请实施例公开了一种空间复合方法及系统、计算机可读存储介质，能够在帧率提高时增强超声图像的清晰度。该方法可以包括：向目标对象发射至少一次发射波束；接收从目标对象返回的响应于发射波束的接收波束，其中，每次发射波束对应至少两个不同接收角度的接收波束；根据接收波束进行空间复合。

Description

一种空间复合方法及系统、计算机可读存储介质 技术领域
本申请涉及超声成像领域，尤其涉及一种空间复合方法及系统、计算机可读存储介质。
背景技术
在超声成像过程中，可能会导致超声图像产生斑点噪声，为了消除斑点噪声，最常规的方式是空间复合方法，即利用多个角度的回波信号的叠加，消除斑点噪声。
目前，基于线扫描的空间复合方法，帧率低。基于帧扫描的空间复合方法，会产生运动伪像，从而导致超声图像模糊。
发明内容
为解决上述技术问题，本申请提供一种空间复合方法及系统、计算机可读存储介质，能够在帧率提高时增强超声图像的清晰度。
本申请提供一种空间复合方法，所述方法包括：
向目标对象发射至少一次发射波束；
接收从所述目标对象返回的响应于所述发射波束的接收波束，其中，每次发射波束对应至少两个不同接收角度的接收波束；
根据所述接收波束进行空间复合。
本申请还提供一种空间复合系统，所述空间复合系统包括：
超声探头；
发射/接收序列控制器，所述发射/接收序列控制器激励所述超声探头向目标对象发射至少一次发射波束，以及接收从所述目标对象返回的响应于所述发射波束的接收波束，其中，每次发射波束对应至少两个不同 接收角度的接收波束；
处理器，所述处理器根据所述接收波束进行空间复合。
本申请还提供一种计算机可读存储介质，其上存储有计算机程序，应用于空间复合系统，该计算机程序被处理器执行时实现如上述任一项所述的空间复合的方法。
本申请提供一种空间复合方法及系统、计算机可读存储介质，该方法包括：向目标对象发射至少一次发射波束，接收从该目标对象返回的响应于该发射波束的接收波束，其中，每次发射波束对应至少两个不同接收角度的接收波束，根据该接收波束进行空间复合。采用上述方案，空间复合系统发射至少一次发射波束，接收响应于该发射波束的至少两个接收角度的接收波束，与现有技术中一次发射，只接收到一个接收角度的接收波束相比，减小了空间复合系统在复合成像时对目标对象的发射次数。与现有技术中的线扫描的方式相比，减少了空间复合的时间，从而提高了空间复合的帧率。与现有技术中的帧扫描的方式相比，由于是直接对获取的多个不同角度的接收波束进行复合，从而降低了扫描的间隔时间，使得在提高帧率的同时增强了超声图像的清晰度。
附图说明
图1为本申请实施例提供的一种空间复合系统的结构示意图；
图2为本申请实施例提供的一种空间复合方法的流程图一；
图3为本申请实施例提供的一种示例性的预设发射声场示意图；
图4为本申请实施例提供的一种示例性的超声发射聚焦示意图；
图5为本申请实施例提供的一种示例性的多次发射多个角度接收波束的线阵示意图；
图6为本申请实施例提供的一种示例性的一次发射多个角度接收波束的线阵示意图；
图7为本申请实施例提供的一种示例性的一次发射多个角度接收波束的线阵整帧成像示意图；
图8为本申请实施例提供的一种空间复合方法的流程图二；
图9(a)为本申请实施例提供的一种示例性的一次发射多个角度接收波束的凸阵示意图；
图9(b)为本申请实施例提供的一种示例性的一次发射多个角度接收波束的相控阵示意图。
具体实施方式
为了能够更加详尽地了解本申请实施例的特点与技术内容，下面结合附图对本申请实施例的实现进行详细阐述，所附附图仅供参考说明之用，并非用来限定本申请实施例。
图1为本申请实施例中的空间复合系统10的结构框图示意图。该空间复合系统10可以包括超声探头100、发射/接收选择开关101、发射/接收序列控制器102、处理器103和显示器104。发射/接收序列控制器102可以激励超声探头100向目标对象发射超声波，形成发射波束，其中，该目标对象可以是人，动物的任意组织或者器官等用于检测的对象。可以理解的是，超声探头100向目标对象发射至少一次发射波束，其中，每次发射波束对应至少两个不同接收角度的接收波束。发射/接收序列控制器102还可以控制超声探头100接收从目标对象返回的超声回波，从而获得接收波束，可以理解的是，超声探头100接收从目标对象返回的响应于发射波束的接收波束。处理器103对该接收波束进行处理，以获得目标对象的超声图像，即根据接收到的多个接收角度的接收波束进行空间复合，以消除图像中的斑点噪声，在一些可能实现的方式中，处理器103将接收到的接收波束进行空间复合，并形成超声图像。处理器103获得的超声图像可以存储于存储器105中，这些超声图像可以在显示器104上显示。
本申请实施例中，前述的空间复合系统10的显示器104可为触摸显示屏、液晶显示屏等，也可以是独立于空间复合系统10之外的液晶显示器、电视机等独立显示设备，也可为手机、平板电脑等电子设备上的显示屏。
本申请实施例中，前述的空间复合系统10的存储器105可为闪存卡、固态存储器、硬盘等。
本申请实施例还提供一种计算机可读存储介质，该计算机可读存储介质存储有多条程序指令，该多条程序指令被处理器103调用执行后，可执行本申请各个实施例中的空间复合方法中的部分步骤或全部步骤或其中步骤的任意组合。
一个实施例中，该计算机可读存储介质可为存储器105，其可以是闪存卡、固态存储器、硬盘等非易失性存储介质。
本申请实施例中，前述的空间复合系统10的处理器105可以通过软件、硬件、固件或者其组合实现，可以使用电路、单个或多个专用集成电路(application specific integrated circuits，ASIC)、单个或多个通用集成电路、单个或多个微处理器、单个或多个可编程逻辑器件、或者前述电路或器件的组合、或者其他适合的电路或器件，从而使得该处理器105可以执行前述各个实施例中的空间复合方法的相应步骤。
下面介绍对本申请中的空间复合方法进行详细描述，如图2所示，本申请实施例提供一种空间复合方法，该方法可以包括：
S101、向目标对象发射至少一次发射波束。
本申请实施例提供的一种空间复合方法适用于一次发射接收多个角度方向的接收波束的空间复合的场景下，其中，该多个包括两个或者两个以上，即发射一次发射波束，接收至少两个接收角度的接收波束。
本申请实施例中，空间复合系统10中的发射/接收序列控制102激励超声探头100向目标对象发射至少一次发射波束，其中，该超声探头100的类型可以为线阵探头或者是凸阵、相控阵等非线阵探头，具体的根据实际 情况进行选择，本申请实施例不做具体的限定。
本申请实施例中，超声探头100可以是多阵元探头，空间复合系统10通过不同阵元进行发射波束的发射和接收波束的接收过程。
本申请实施例中，空间复合系统10中的处理器103获取预设空间复合角度个数和预设发射声场的宽度，其中，预设发射声场具有焦区位置声场窄，非焦区位置声场宽的特征，处理器103根据预设空间复合角度个数和预设发射声场的宽度确定发射波束的发射次数，空间复合系统10中的超声探头100根据发射次数向目标对象进行至少一次发射波束的发射过程。
本申请实施例中，空间复合系统10中的处理器103根据超声探头100的发射孔径和预设聚焦位置确定出预设发射声场的宽度，其中，预设聚焦位置可以为一个点，也可以为一个区域，当预设聚焦位置为一个区域时，预设聚焦位置等同于焦区。
本申请实施例中，空间复合系统10中的处理器103根据预设发射声场的宽度确定出一次发射波束对应的接收角度个数，并根据预设空间复合角度个数和接收角度个数的比值确定发射波束的发射次数。
需要说明的是，当空间复合系统10中的处理器103确定出进行一次发射过程时，一次发射过程形成一个预设发射声场；当空间复合系统10中的处理器103确定出进行多次发射过程时，多次发射过程形成多个预设发射声场，或者将多个预设发射声场看作一个大的预设发射声场，具体的根据实际情况进行选择，本申请实施例不做具体的限定。
本申请实施例中，预设发射声场满足在焦区位置汇聚，在非焦区位置发散的特性，如图3所示，在焦区位置声场窄，在非焦区位置声场宽。
本申请实施例中，超声发射聚焦是通过控制发射延时，来使得所有发射阵元聚焦于一个区域内，如图4所示，所有阵元聚焦于一点，各个阵元根据到焦区的距离先后不同时刻发出发射波束，其中，距离焦区远的先发出，距离焦区近的后发出，此时，在焦区位置就形成了一个聚焦的结果， 空间复合系统获取焦区位置，发射波束在焦区位置聚焦、在非焦区位置发散的特性，满足预设发射声场的声场特性。
示例性的，一次扫描空间复合需要9个角度的接收波束，空间复合系统进行三次发射过程，每次发射过程都会接收3个角度的接收波束，从而使得3次发射就形成了空间复合的9个角度的数据。
示例性的，如图5所示，空间复合系统采用线阵探头分三次发射，每次发射形成3根接收波束，每根接收波束的角度不同，这样就形成了9个角度的接收波束。这里的扫描方法可以是基于线扫描，即发射①②③交替扫描，从左边扫到右边，即进行三次发射，这样，形成9个不同角度的数据，并将9个角度的数据用于空间复合，以消除斑点噪声。以此类推，通过多次发射①②③交替扫描，形成一帧或者多帧超声图像所需的数据；或者基于帧扫描，先按①发射一帧形成3个接收角度，再按②发射一帧接收3个角度，再按③发射一帧接收3个角度，这样形成的9个不同角度的数据进行空间复合，还可以进行超声成像，即合成一帧或者多帧超声图像所需的数据，以此类推。
S102、接收从目标对象返回的响应于发射波束的接收波束，其中，每次发射波束对应至少两个不同接收角度的接收波束。
当空间复合系统控制发射至少一次发射波束以形成预设发射声场之后，空间复合系统就要控制接收响应于发射波束的接收波束，并将接收到的接收波束用于空间复合。
本申请实施例中，空间复合系统10中的处理器103基于接收时延，延时接收响应发射波束的接收波束，将接收波束在焦区位置汇聚，在非焦区位置发散，使得接收波束在焦区位置的波束宽度小于在非焦区位置的波束宽度，或者直接接收来自多个不同接收角度的接收波束，使得其在任意位置发生汇聚，或者没有发生汇聚，此处不做具体限定。具体接收过程中，空间复合系统10中的发射/接收序列控制器102通过N次接收从所述目标 对象返回的响应于所述发射波束的接收波束，其中，发射波束的发射次数为N，N为大于0的整数。空间复合系统10中的处理器103根据N次接收的所述接收波束进行空间复合。例如，一次发射，接收到9个接收角度的接收波束，则可以直接将该9个角度的接收波束用于空间复合。又如，三次发射，每次发射接收到3个接收角度的接收波束，则三次发射后接收到9个接收角度的接收波束，然后将三次发射后接收到的9个不同接收角度的接收波束用于空间复合。因此，根据空间复合所需的接收波束的角度个数，决定采取几次接收的接收波束进行空间复合。在一些可能的实现方式中，利用空间复合的数据形成超声图像，具体可以是帧扫描的方式，扫描多帧后再合成一帧后得到一帧超声图像，以此类推。也可以是线扫描的方式，在满足所需的接收角度后，扫描很多次后得到一帧图像，以此类推。
示例性的，如图6所示，空间复合系统采用一个线阵探头进行一次发射，此时，接收到三个角度的波束，其中偏左四根波束、居中四根波束、偏右四根波束，且每三根不同方向的波束汇聚在聚焦位置，这样，在进行了一次发射之后就形成了三个角度下的12根波束。
示例性的，图7为线阵探头整帧图像按照一次发射多个方向角度波束接收的成像示意图，其中，线阵、线间距为0.2mm，每次发射都接收三个方向角度的接收波束，分别为-6度、0度和6度，每个方向接收192根接收线，发射焦点在20mm处，这三个方向角度的接收波束在焦区位置窄，在非焦区位置宽，此时接收波束既满足了预设发射声场特性，又呈现了空间复合的效果。从图7可以看出，在焦点位置处，由于是同次发射，接收波束之间的相干性较弱，导致空间复合效果较弱；在非焦点位置处，由于是非同次发射，接收波束之间的相干性强，导致空间复合效果较强。
S103、根据接收波束进行空间复合。
当空间复合系统10中的发射/接收序列控制接收响应于发射波束的接收波束之后，空间复合系统就要根据接收到的接收波束进行空间复合处理， 还可以通过接收到的接收波束进行空间复合处理后得到超声图像了。
本申请实施例中，空间复合系统10中的处理器103对接收波束进行空间复合处理，得到最终的超声图像。
具体的，空间复合系统10中的处理器103将接收到的接收波束传输给波束合成器，波束合成器将接收波束进行波束合成，得到多角度成像数据，最后将多角度成像数据复合起来，得到最终的成像数据，这些成像数据组成了超声图像。
可以理解的是，空间复合系统10向目标对象发射至少一次发射波束后，空间复合系统接收从该目标对象返回的响应于发射波束的接收波束，每次发射波束对应至少两个不同接收角度的接收波束，使得空间复合系统在至少一次发射之后就可以接收到多角度接收波束，从而减小了空间复合系统在各个角度下扫描目标对象的次数，从而提高了空间复合的时间、降低了扫描的间隔时间，使得在提高帧率的同时增强了超声图像的清晰度。
本申请实施例提供一种空间复合方法，如图8所示，该方法可以包括：
S201、空间复合系统获取预设空间复合角度个数和预设发射声场的宽度。
本申请实施例提供的一种空间复合方法适用于一次发射接收多个接收角度方向的接收波束的空间复合的场景下。
本申请实施例中，空间复合系统10中的处理器103确定空间复合所需的角度个数，即预设空间复合角度个数。
本申请实施例中，空间复合系统10中的处理器103根据超声探头100的发射孔径和预设聚焦位置确定出预设发射声场的宽度，其中，预设聚焦位置可以为一个点，也可以为一个区域，当预设聚焦位置为一个区域时，预设聚焦位置等同于焦区位置。
S202、空间复合系统根据预设发射声场的宽度，确定一次发射波束对应的接收角度个数。
当空间复合系统获取到预设空间复合角度个数和预设发射声场的宽度之后，空间复合系统就要根据预设发射声场的宽度，确定一次发射波束对应的接收角度个数了。
本申请实施例中，空间复合系统10中的处理器103根据预设发射声场的宽度确定出一次发射波束对应的接收角度个数。
S203、空间复合系统根据预设空间复合角度个数和接收角度个数的比值确定发射波束的发射次数。
当空间复合系统10中的处理器103确定一次发射波束对应的接收角度个数之后，空间复合系统就要根据预设空间复合角度个数和接收角度个数的比值确定发射波束的发射次数。
本申请实施例中，空间复合系统10中的处理器103计算预设空间复合角度个数和接收角度个数的比值，如果比值是整数，则刚好进行整数发射次数；如果比值是小数，则发射次数为小数的向上取整，且每次发射角度可以为用户自定义或者设备默认的。
示例性的，预设空间复合角度个数是5，一次接收角度个数是3，预设空间复合角度个数和接收角度个数的比值是1.67，则空间复合系统10中的处理器103确定出发射次数是2，且发射角度为是一次发射对应接收3个角度的接收波束，另一次发射对应接收另2个角度的接收波束。
S204、空间复合系统获取预设发射声场的预设聚焦位置。
当空间复合系统确定发射波束的发射次数之后，空间复合系统获取预设发射声场的预设聚焦位置。
本申请实施例中，用户预先确定本轮空间复合对应的预设聚焦位置，空间复合系统10中的处理器103获取用户预先确定的预设发射声场的预设聚焦位置。
S205、空间复合系统根据预设聚焦位置确定发射时延。
当空间复合系统获取到预设发射声场的预设聚焦位置之后，空间复 合系统就要根据预设聚焦位置确定发射时延了。
本申请实施例中，空间复合系统10中的超声探头100的类型可以为线阵探头或者是凸阵、相控阵等非线阵探头，具体的根据实际情况进行选择，本申请实施例不做具体的限定。
本申请实施例中，超声探头100可以是多阵元探头，空间复合系统10通过不同阵元进行发射波束的发射过程。
本申请实施例中，空间复合系统10中的处理器103根据预设聚焦位置确定超声探头100中的每个阵元的发射时延，以使得每个阵元根据发射时延进行延时发射至少一次发射波束。
示例性的，针对凸阵探头和相控阵同样适用一次发射多个方向角度波束接收，如图9(a)和图9(b)所示，依次发射接收三个角度方向的波束，且形成的多角度接收波束符合声场特性即可，即聚焦位置接收的波束宽度窄、非焦区位置接收的波束宽度宽。
S206、空间复合系统根据发射时延控制发射至少一次发射波束以形成预设发射声场，其中，预设发射声场具有焦区位置声场窄，非焦区位置声场宽的特性。
当空间复合系统确定发射时延之后，空间复合系统就要根据发射时延控制发射至少一次发射波束以形成预设发射声场了。
本申请实施例中，空间复合系统10中的处理器103控制每个阵元根据对应的发射时延进行发射波束的发射过程，使得发射波束满足在焦区位置聚焦、在非焦区位置发散的特性。
本申请实施例中，预设发射声场满足在焦区位置汇聚，在非焦区位置发散的特性，如图3所示，在焦区位置的声场窄，而在非焦区位置的声场宽。
需要说明的是，当空间复合系统10中的处理器103确定出进行一次发射过程时，一次发射过程形成一个预设发射声场；当空间复合系统10中的 处理器103确定出进行多次发射过程时，多次发射过程形成多个预设发射声场，或者将多个预设发射声场看作一个大的预设发射声场，具体的根据实际情况进行选择，本申请实施例不做具体的限定。
本申请实施例中，超声发射聚焦是通过控制发射延时，来使得所有发射阵元聚焦于一个区域内，如图4所示，所有阵元聚焦于一点，各个阵元根据到焦区的距离先后不同时刻发出发射波束，其中，距离焦区远的先发出，距离焦区近的后发出，此时，在焦区位置就形成了一个聚焦的结果，空间复合系统获取焦区位置，发射波束在焦区位置聚焦、在非焦区位置发散的特性，满足预设发射声场的声场特性。
本申请实施例中，若发射波束的发射次数为N，N为大于1的整数，则表征需要进行多次发射过程，此时，空间复合系统10中的处理器103根据发射时延控制发射N次发射波束，以N次接收多个不同接收角度的接收波束。
示例性的，如图5所示，空间复合系统采用线阵探头分三次发射，每次发射形成3根接收波束，每根接收波束的角度不同，这样就形成了9个角度的接收波束。这里的扫描方法可以是基于线扫描，即发射①②③交替扫描，从左边扫到右边，即进行三次发射，这样形成的9个不同角度的数据，并将9个角度的数据用于空间复合，以消除斑点噪声。以此类推，通过多次发射①②③交替扫描，形成一帧或者多帧超声图像所需的数据；或者基于帧扫描，先按①发射一帧形成3个接收角度，再按②发射一帧接收3个角度，再按③发射一帧接收3个角度，这样形成的9个不同角度的数据进行空间复合，还可以进行超声成像，即合成一帧或者多帧超声图像所需的数据，以此类推。
示例性的，以100次扫描为例，且三次扫描得到9个接收角度的接收波束，即一次扫描得到3个接收角度的接收波束。将前三次扫描得到的9个接收角度的接收波束进行空间复合，再三次扫描得到的9个接收角度的 接收波束进行空间复合，以此类推。在超声成像过程中，例如通过100次扫描得到用于超声成像的一帧图像，即每个接收角度对应扫描50次。又如，以50次扫描为例，每次扫描得到9个接收角度的接收波束，将接收到的9个接收角度的接收波束进行空间复合。例如，扫描50次后，得到用于超声成像的一帧图像，即每个接收角度对应扫描50次，以此类推。
S207、空间复合系统接收从目标对象返回的响应于发射波束的接收波束，其中，每次发射波束对应至少两个不同接收角度的接收波束。
当空间复合系统发射至少一次发射波束之后，空间复合系统接收响应于发射波束的接收波束。
这里，本申请实施例的S207的描述与上述实施例中的S102的描述一致，此处不再赘述。
S208、空间复合系统根据接收波束进行空间复合。
当空间复合系统接收响应于发射波束的接收波束之后，空间复合系统就要根据接收波束进行空间复合了。
这里，本申请实施例的S208的描述与上述实施例中的S104的描述一致，此处不再赘述。
可以理解的是，空间复合系统在进行至少一次发射波束，空间复合系统接收响应发射波束的接收波束，其中，每次发射波束对应至少两个不同接收角度的接收波束，使得空间复合系统在至少一次发射之后就可以接收到多角度接收波束，从而减小了空间复合系统在各个角度下扫描目标对象的次数，从而提高了空间复合的时间、降低了扫描的间隔时间，使得在提高帧率的同时增强了超声图像的清晰度。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者系统不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者系统所固有的要素。在没有更多 限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者系统中还存在另外的相同要素。
上述本申请实施例序号仅仅为了描述，不代表实施例的优劣。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端(可以是手机，计算机，服务器，空调器，或者网络设备等)执行本申请各个实施例所述的方法。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，这些均属于本申请的保护之内。
工业实用性
在本申请实施例中，空间复合系统在进行至少一次发射波束的发射时形成预设发射声场，其中，预设发射声场具有焦区位置声场窄，非焦区位置声场宽的特性，空间复合系统控制响应发射波束的接收波束，使得接收波束满足预设发射声场的特性，使得空间复合系统在至少一次发射之后就可以接收到多角度接收波束，从而形成整帧图像，减小了空间复合系统在各个角度下扫描目标对象的次数，从而提高了空间复合的时间、降低了扫描的间隔时间，使得在提高帧率的同时增强了超声图像的清晰度。

Claims (13)

  1. 一种空间复合方法，其特征在于，所述方法包括：
    向目标对象发射至少一次发射波束；
    接收从所述目标对象返回的响应于所述发射波束的接收波束，其中，每次发射波束对应至少两个不同接收角度的接收波束；
    根据所述接收波束进行空间复合。
  2. 根据权利要求1所述的方法，其特征在于，所述向目标对象发射至少一次发射波束之前，所述方法还包括：
    获取预设空间复合角度个数和预设发射声场的宽度，其中，所述预设发射声场具有焦区位置声场窄，非焦区位置声场宽的特性；
    根据所述预设空间复合角度个数和所述预设发射声场的宽度确定所述发射波束的发射次数。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述预设空间复合角度个数和所述预设发射声场的宽度确定所述发射波束的发射次数，包括：
    根据所述预设发射声场的宽度，确定一次发射波束对应的接收角度个数；
    根据所述预设空间复合角度个数和所述接收角度个数的比值确定所述发射波束的发射次数。
  4. 根据权利要求2或3所述的方法，其特征在于，所述向目标对象发射至少一次发射波束，包括：
    获取所述预设发射声场的预设聚焦位置；
    根据所述预设聚焦位置确定发射时延；
    根据所述发射时延发射至少一次发射波束以形成所述预设发射声场。
  5. 根据权利要求2至4任一项所述的方法，其特征在于，所述发射 波束的发射次数为N，N为大于0的整数，所述接收从所述目标对象返回的响应于所述发射波束的接收波束，包括：
    N次接收从所述目标对象返回的响应于所述发射波束的接收波束；
    所述根据所述接收波束进行空间复合，包括：
    根据N次接收的所述接收波束进行空间复合。
  6. 根据权利要求4所述的方法，其特征在于，所述预设聚焦位置为一个点或者一个区域。
  7. 一种空间复合系统，其特征在于，所述空间复合系统包括：
    超声探头；
    发射/接收序列控制器，所述发射/接收序列控制器激励所述超声探头向目标对象发射至少一次发射波束，以及接收从所述目标对象返回的响应于所述发射波束的接收波束，其中，每次发射波束对应至少两个不同接收角度的接收波束；
    处理器，所述处理器根据所述接收波束进行空间复合。
  8. 根据权利要求7所述的空间复合系统，其特征在于，
    所述处理器，还用于获取预设空间复合角度个数和预设发射声场的宽度，其中，所述预设发射声场具有焦区位置声场窄，非焦区位置声场宽的特性；根据所述预设空间复合角度个数和所述预设发射声场的宽度确定所述发射波束的发射次数。
  9. 根据权利要求8所述的空间复合系统，其特征在于，
    所述处理器，还用于根据所述预设发射声场的宽度，确定一次发射波束对应的接收角度个数；根据所述预设空间复合角度个数和所述接收角度个数的比值确定所述发射波束的发射次数。
  10. 根据权利要求8或9所述的空间复合系统，其特征在于，
    所述处理器，还用于获取所述预设发射声场的预设聚焦位置；根据所述预设聚焦位置确定发射时延；
    所述发射/接收序列控制器，还用于根据所述发射时延激励所述超声探头向目标对象发射至少一次发射波束以形成所述预设发射声场。
  11. 根据权利要求8至10任一项所述的空间复合系统，其特征在于，所述发射波束的发射次数为N，N为大于0的整数，
    所述发射/接收序列控制器，还用于N次接收从所述目标对象返回的响应于所述发射波束的接收波束；
    所述处理器，还用于根据N次接收的所述接收波束进行空间复合。
  12. 根据权利要求11所述的空间复合系统，其特征在于，所述预设聚焦位置为一个点或者一个区域。
  13. 一种计算机可读存储介质，其上存储有计算机程序，应用于空间复合系统，其特征在于，该计算机程序被处理器执行时实现如权利要求1-6任一项所述的方法。
PCT/CN2018/107839 2018-09-27 2018-09-27 一种空间复合方法及系统、计算机可读存储介质 Ceased WO2020061877A1 (zh)

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