WO2020082219A1

WO2020082219A1 - Ultrasonic imaging method and system

Info

Publication number: WO2020082219A1
Application number: PCT/CN2018/111284
Authority: WO
Inventors: 丛龙飞; 王超; 周腾鹤
Original assignee: 深圳迈瑞生物医疗电子股份有限公司; 深圳迈瑞科技有限公司
Priority date: 2018-10-22
Filing date: 2018-10-22
Publication date: 2020-04-30
Also published as: CN113316418A

Abstract

A method and a device for displaying a motion trajectory of an ultrasonic probe, and a computer storage medium, said method comprising: emitting an ultrasonic wave to a target tissue by means of the ultrasonic probe (101); receiving an ultrasonic echo returned from the target tissue; determining an ultrasonic image of the target tissue according to the ultrasonic echo; acquiring, from a positioning device (102), motion data of the ultrasonic probe (101); generating the motion trajectory of the ultrasonic probe (101) according to the motion data; and displaying the ultrasonic image and the motion trajectory.

Description

Ultrasound imaging method and system

Technical field

The present application relates to the positioning technology of ultrasonic probes, in particular to an ultrasonic imaging method and system.

Background technique

At present, after using an ultrasound probe to transmit an ultrasound signal to a target tissue, an echo signal can be received, and ultrasound data can be generated based on the echo signal. When the ultrasound data is video data, if the ultrasound data is played, only the relative time position of the current frame in the entire piece of video data can be displayed through the playback progress bar, and the spatial position information of the ultrasound probe in acquiring the video data cannot be provided.

Summary of the invention

To solve the above technical problems, embodiments of the present application provide an ultrasound imaging method and system.

An embodiment of the present application provides an ultrasound imaging method. The method is applied to an ultrasound imaging system. The ultrasound imaging system includes an ultrasound probe. The ultrasound probe is provided with a positioning device. The method includes:

Using the ultrasound probe to transmit ultrasound to the target tissue;

Receiving the ultrasound echo returned from the target tissue;

Determining an ultrasound image of the target tissue according to the ultrasound echo;

Acquiring motion data of the ultrasound probe from the positioning device;

Generating a movement trajectory of the ultrasound probe according to the movement data;

Display the ultrasound image and the movement trajectory.

An embodiment of the present application also provides an ultrasound imaging system, wherein the ultrasound imaging system includes an ultrasound probe, a display, and a processor; the ultrasound probe is provided with a positioning device,

The ultrasonic probe is used to transmit ultrasonic waves to target tissues and receive ultrasonic echoes returned from the target tissues;

The processor is configured to determine an ultrasound image of the target tissue according to the ultrasound echo; obtain motion data of the ultrasound probe from the positioning device; and generate a movement trajectory of the ultrasound probe according to the motion data;

The display is used to display the ultrasound image and the movement track.

The technical solution provided by the embodiment of the present application uses the ultrasonic probe to transmit ultrasonic waves to the target tissue; receives the ultrasonic echo returned from the target tissue; determines the ultrasonic image of the target tissue according to the ultrasonic echo; from the The positioning device acquires the motion data of the ultrasound probe; generates a motion trajectory of the ultrasound probe according to the motion data; and displays the ultrasound image and the motion trajectory.

With the solution provided by the embodiment of the present application, the ultrasound probe can be used to scan the target tissue to obtain the ultrasound image and the movement data of the ultrasound probe. Then, the ultrasound image and the movement trajectory can be displayed. Spatial location information when the target tissue is scanned.

BRIEF DESCRIPTION

1 is a block diagram of a system structure for implementing an ultrasound imaging method according to an embodiment of the present application;

2 is a flowchart of an ultrasound imaging method according to an embodiment of this application;

3 is a schematic diagram of coordinate transformation involved in an embodiment of the present application;

4 is a schematic diagram of marking direction information on a motion track curve in an embodiment of the present application;

FIG. 5 is a schematic diagram of displacements marked at fixed intervals on a motion track according to an embodiment of the present application;

6 is a schematic structural diagram of an ultrasound imaging system according to an embodiment of the present application.

detailed description

In order to understand the features and technical contents of the embodiments of the present application in more detail, the implementation of the embodiments of the present application is described in detail below in conjunction with the drawings. The accompanying drawings are for reference only and are not intended to limit the embodiments of the present application.

The block diagram of a system for implementing the ultrasound imaging method according to an embodiment of the present application is exemplarily described below with reference to FIG. 1. Referring to FIG. 1, a communication connection between an ultrasound probe 101 and an ultrasound device 103 is shown. The ultrasound probe 101 is provided with a positioning device 102 for positioning the ultrasound probe. The ultrasound probe 101 and the positioning device 102 are detachably connected or fixedly connected. In practical applications, the ultrasound probe 101 transmits an ultrasound signal to a target tissue (such as a certain examination part of the human body), and after receiving the ultrasound echo corresponding to the ultrasound signal, forwards the ultrasound echo to the ultrasound device 103; The device 103 can obtain the ultrasound data of the target tissue according to the ultrasound echo, and can generate an ultrasound image based on the ultrasound data; during the scanning of the target tissue by the ultrasound probe 101, the positioning device can collect the movement data of the ultrasound probe in real time, The collected motion data is sent to the displacement calculation device 104, and the displacement calculation device 104 obtains the position information of the ultrasound probe at any time when scanning the target tissue according to the motion data, and the displacement calculation device 104 will obtain the position The information is output to the trajectory reconstruction device 105 for reconstructing the motion trajectory of the ultrasound probe, and the trajectory reconstruction device 105 outputs the reconstructed motion trajectory to the display device 106 for display. In addition, the ultrasound apparatus 103 may send the ultrasound image to the display device 106 for display.

Here, the positioning device 102 may be at least one of an inertial navigation device, an optical navigation device, and a magnetic navigation device. Of course, it may also be another navigation device, which is not specifically limited here; when the positioning device 102 is an inertial navigation device, positioning The device 102 includes an inertial measurement unit (Inertial Measurement Unit, IMU); the motion data of the ultrasound probe may include acceleration data and angular velocity data of the ultrasound probe at any time when scanning the target tissue.

In practical applications, the ultrasound device 103, the displacement calculation device 104 and the trajectory reconstruction device 105 can all be implemented by a processor. The above processors can be application specific integrated circuits (Application Specific Integrated Circuit, ASIC), DSP, digital signal processing device (Digital Signal Processing Device, DSPD), programmable logic device (Programmable Logic Device, PLD), FPGA, CPU, control At least one of a controller, a microcontroller, and a microprocessor.

The embodiments of the present application can be applied to the scenario of reconstructing the movement trajectory of the ultrasound probe. The reconstruction principle of the movement trajectory of the ultrasound probe is: during the ultrasound scanning process through a spatial positioning device (usually a positioning device bound to the probe) Real-time tracking of the dynamics, while acquiring ultrasound data, record the acceleration data and angular velocity data of the ultrasound probe in real time, through reasonable calculation of these recorded data, determine the relative displacement and rotation angle of the ultrasound probe at that time, so as to realize the ultrasound probe Reconstruction of movement trajectory.

2 is a flowchart of an ultrasound imaging method according to an embodiment of the present application, wherein the method is applied to an ultrasound imaging system, the ultrasound imaging system includes an ultrasound probe, and the ultrasound probe is provided with a positioning device, as shown in FIG. 2, The process can include the following steps:

Step 201: Use the ultrasonic probe to transmit ultrasonic waves to the target tissue; receive the ultrasonic echo returned from the target tissue.

Here, the target tissue may be a human body part, for example, any tissue organ of the human body to be examined and the like.

Step 202: Determine an ultrasound image of the target tissue according to the ultrasound echo.

In practical applications, after receiving the ultrasound echo, the ultrasound probe can send the ultrasound echo to the ultrasound device. The ultrasound device can obtain ultrasound data of the target tissue according to the ultrasound echo, and can determine the ultrasound image of the target tissue according to the ultrasound data . In one example, the ultrasound data is video data formed by continuously playing a plurality of two-dimensional ultrasound images.

Step 203: Acquire motion data of the ultrasound probe from the positioning device.

Here, the motion data of the ultrasound probe may include acceleration data and angular velocity data of the ultrasound probe when scanning the target tissue; in practical applications, the positioning device may include an accelerometer or a gyroscope. The acceleration data when scanning the target tissue. When the gyroscope is working, the angular velocity data of the ultrasound probe when scanning the target tissue can be obtained. Of course, the positioning device can also include other sensors, such as a magnetometer, etc. At least one sensor determines acceleration data and angular velocity data of the ultrasound probe when scanning the target tissue.

Here, the positioning device may send the collected motion data of the ultrasound probe to the displacement calculation device through the ultrasound device.

Step 204: Generate a motion trajectory of the ultrasound probe according to the motion data.

Here, the motion trajectory includes direction information and position information. The motion trajectory when the ultrasound probe scans the target tissue may be a three-dimensional motion trajectory or a two-dimensional motion trajectory; the displayed motion trajectory may be reflected by a progress bar.

For the implementation of this step, the displacement calculation device may determine the linear acceleration and the quaternion based on the acceleration data and the angular velocity data, where the linear acceleration does not include gravity acceleration; then, the displacement calculation device may determine the linear acceleration and the quaternion The position information of the ultrasound probe; the direction information of the ultrasound probe is determined according to the quaternion; further, the movement trajectory of the ultrasound probe is generated according to the position information and the direction information of the ultrasound probe.

In specific implementation, the displacement calculation device can calculate the quaternion based on the angular velocity data of the ultrasound probe when scanning the target tissue, and obtain the rotation matrix according to the quaternion, and then, according to the rotation matrix, place the ultrasound probe on the target The acceleration data when the tissue is scanned is converted to the world coordinate system, and combined with the quaternion, the linear acceleration of the ultrasound probe in the world coordinate system can be obtained; then the linear acceleration in the world coordinate system is quadratic integrated to obtain the ultrasound probe in Location information when scanning the target tissue. Specifically, after the displacement calculation device obtains the linear acceleration of the ultrasound probe in the world coordinate system, the linear acceleration in the world coordinate system is integrated to obtain the velocity data of the ultrasound probe when scanning the target tissue; The velocity data of the ultrasound probe when scanning the target tissue is integrated to obtain the position information of the ultrasound probe when scanning the target tissue.

Here, in order to obtain the acceleration data and angular velocity data of the ultrasound probe when scanning the target tissue, in practical applications, when the ultrasound probe is used to scan the target tissue, the positioning device can collect the acceleration data and angular velocity of the body coordinates Data, then, based on the collected acceleration data and angular velocity data in the body coordinates, calculate and output the acceleration data and angular velocity data in the world coordinate system.

Here, the body coordinate system is a three-dimensional orthogonal rectangular coordinate system that is fixed on the positioning device and follows the right-hand rule. In one example, the origin of the body coordinate system is located at the center of gravity of the positioning device.

In order to facilitate processing, it is usually necessary to convert the acceleration data in the body coordinate system to the world coordinate system. FIG. 3 is a schematic diagram of coordinate transformation involved in an embodiment of the present application. In FIG. 3, in the ultrasound image space, a three-dimensional ultrasound image can be constructed Three-dimensional orthogonal rectangular coordinate system. In the three-dimensional orthogonal rectangular coordinate system, the three axes are respectively represented as X _US , Y _US and Z _US ; in the positioning device space, the above-mentioned body coordinate system can be constructed, the three of the body coordinate system The three axes can be expressed as X _Sensor , Y _Sensor and Z _Sensor , and the three axes of the world coordinate system are expressed as X _Sec , Y _Sec and Z _{Sec respectively} ; the acceleration data in the body coordinate system is converted to the world coordinate system, the coordinates used The conversion formula can be expressed as:

A _n = C · A _b

Wherein, A _n is an acceleration data in the world coordinate system, A _b is the acceleration data under the body frame, C is the rotation matrix, quaternion rotation matrix can be a time corresponding to the output derived by the positioning means.

In summary, in the actual implementation, in the displacement calculation device, firstly, the rotation matrix C at the corresponding time can be obtained according to the quaternion at any time obtained by the displacement calculation device, and then, according to the rotation matrix, the body coordinates at the corresponding time The acceleration data in the three-axis direction of the system is converted to the world coordinate system, and the linear acceleration is determined according to the acceleration data and the angular velocity data; by quadratic integration of the linear acceleration in the world coordinate system, the ultrasound probe is in the world coordinate system at the corresponding time Location information.

In the embodiment of the present application, the direction information of the ultrasound probe may be the relative rotation angle of the ultrasound probe. For an implementation manner of determining the direction information of the ultrasound probe, for example, the displacement calculation device generates a quaternion based on acceleration data and angular velocity data; displacement The computing device can obtain the direction information of the ultrasound probe when scanning the target tissue according to the received quaternion.

It is understandable that the reproduction of the ultrasound probe direction information helps the user to associate the current image data with the corresponding probe scanning direction. When the ultrasound probe is used to scan the target tissue, the ultrasound probe direction information is reproduced Helps to find lesions.

In actual implementation, after determining the quaternion, the displacement calculation device can calculate the Euler angle of the ultrasonic probe relative to the world coordinate system at the current time according to the quaternion, and calculate the direction of the ultrasonic probe at the current time by the obtained Euler angle information. The Euler angle of the ultrasonic probe relative to the world coordinate system can be calculated by the following formula:

Among them, φ, θ, ψ are the angles of rotation of the ultrasonic probe around the world coordinate system X, Y, Z axis, q ₀ , q ₁ , q ₂ and q ₃ are determined quaternions. The above formula can be used to calculate the attitude change of the ultrasound probe relative to the world coordinate system at any time.

After obtaining the position information of the ultrasound probe when scanning the target tissue, the displacement calculation device can determine the displacement change amount of the ultrasound probe relative to the initial position at various times when scanning the target tissue according to the initial position of the ultrasound probe (Relative displacement).

In actual implementation, the above-mentioned ultrasound data is usually data in the three-dimensional orthogonal rectangular coordinate system of the ultrasound image space shown in FIG. 3, therefore, in one example, in the displacement calculation device, the three-dimensional The ultrasonic data of the orthogonal rectangular coordinate system is converted to the world coordinate system through coordinate conversion.

The displacement calculation device is the core module for constructing the motion trajectory of the ultrasound probe in the embodiments of the present application. The implementation method of the displacement calculation device directly affects the quality of the reconstruction of the motion trajectory of the ultrasound probe; generally speaking, without human intervention, the linear acceleration can be directly Perform the second integral to calculate the relative displacement of the probe at any time; however, due to the construction principle of the electronic components inside the positioning device, the imperfect manufacturing and debugging process of the electronic components inside the positioning device, and some unknown or uncontrollable random factors For example, the Brownian noise of the elastic system of the positioning device makes the output of the positioning device without noise interference and cumulative errors. Furthermore, the positioning device does not only output non-zero data during the movement of the ultrasound probe. In fact, at any time The data output by the positioning device is basically not zero. The output data of the positioning device usually appears as a broken line oscillating near the actual measured value; if the output data of the positioning device is directly used for subsequent position information calculation without preprocessing, it will result in a position informational There is a serious deviation in the calculation results, which cannot meet the requirements of the ultrasonic probe motion trajectory reconstruction; in order to solve this problem, the usual approach is: in the displacement calculation device, the output data of the positioning device is low-pass filtered, for example, the position information can be performed Before the calculation, the output data of the positioning device is filtered through a Kalman filter or an artificially designed low-pass finite-length unit impulse response (Finite Impulse Response (FIR) filter). It is worth mentioning that even after filtering, it only reduces the error and cannot completely eliminate the adverse effects caused by noise.

Generally speaking, the position information of the ultrasound probe only changes when the ultrasound probe moves, and the default speed is zero at other times, and the displacement remains unchanged. Therefore, the detection of the motion state of the ultrasonic probe has an important influence on the calculation of the position information. The detection of the motion state is judged by the accumulative value of the accelerometer acceleration data in the triaxial direction or the accumulative value of the gyroscope's angular velocity data in the triaxial direction. When the acceleration threshold is fixed, or the accumulative value of the angular velocity data of the gyroscope in the three-axis direction exceeds the set angular velocity threshold, the ultrasonic probe is considered to be in motion at this time, otherwise it is in a stationary state.

Further, in the embodiment of the present application, the displacement calculation device can also perform error compensation on the linear acceleration obtained by the positioning device. The error compensation for the linear acceleration is based on the premise of judging the motion state of the ultrasound probe reasonably. In theory, there can be the following first assumption: at the beginning and end of a continuous movement, the linear acceleration of the ultrasound probe should be zero; according to the first assumption, linear compensation can be applied to the linear acceleration to compensate for the error, That is, at any time during the movement of the ultrasound probe, compensation is performed according to the corresponding ratio, so that the acceleration data after error compensation meets the first assumption.

Assuming that the positioning device is classified as stationary again after movement, the acceleration is A _after , and the duration of the motion is T, then the acceleration error compensation formula can be expressed as follows

Among them, A (t) represents the linear acceleration at time t after error compensation, A (t) represents the linear acceleration at time t without error compensation, and the starting time of the motion of the positioning device is recorded as time 0.

The implementation of error compensation of speed data is similar to that of acceleration data. Specifically, in the displacement calculation device, the speed data during the static state is forcibly changed to zero, and the data during the motion state is linearly compensated; After obtaining the error-compensated velocity data, integrate the error-compensated velocity data to obtain the position information of the ultrasound probe; the position information of the ultrasound probe is the relative displacement of the ultrasound probe relative to the initial time.

Step 205: Display the ultrasound image and the movement track.

In the embodiment of the present application, the ultrasound device may send the ultrasound image to the display device, and the display device may display the ultrasound image of the target tissue while displaying the movement trajectory when the ultrasound probe scans the target tissue.

Here, the display device may have multiple display interfaces, and the interface for displaying the ultrasound image may include an ultrasound image display area and other areas except for the ultrasound image display area; in this way, for the implementation of displaying the movement track, the display device may The motion trajectory is displayed on the image, and the motion trajectory may also be displayed on other areas outside the ultrasound image; for an implementation manner of displaying the motion trajectory on other areas outside the ultrasound image, the display device may be The movement trajectory is displayed on other areas outside the ultrasound image and on the same interface as the ultrasound image; or, the movement trajectory is displayed on other interfaces outside the ultrasound image.

Further, the displacement calculation device may acquire the position information of the ultrasound probe corresponding to the ultrasound image at the first moment, and send the position information of the ultrasound probe corresponding to the ultrasound image at the first moment to the display device, and display The device may mark the position information of the ultrasound probe corresponding to the ultrasound image at the first moment on the movement track.

Here, the first moment may be any moment when the ultrasound probe scans the target tissue; in practical applications, a display window may be established at one corner (for example, the lower right corner) of the interface displaying the ultrasound data of the target tissue and configured to display The above recorded motion trajectory marks the position information of the ultrasound probe corresponding to the ultrasound image at the first moment; the embodiment of the present application can provide the space and movement of the ultrasound probe to the user while retaining the timing information of the ultrasound data Information, so that the user can form a spatial concept of the ultrasound data of the target tissue. By displaying the movement trajectory, it can help the user to intuitively determine and observe the key target area. For example, when the target tissue is a human body part, by displaying the above-mentioned recorded movement trajectory and mark The position information of the ultrasound probe at the first moment can assist the doctor in the screening work of the thyroid, breast, etc., prompting that the current nodular section is in the relative position of the thyroid or breast, such as the left, right, and isthmus of the thyroid , Which can help the doctor as a reminder, To effectively improve the efficiency of doctors.

Further, the displacement calculation device may acquire the direction information of the ultrasound probe corresponding to the ultrasound image at the second time, and send the direction information of the ultrasound probe corresponding to the ultrasound image at the second time to the display device for display The device may mark the direction information of the ultrasound probe corresponding to the ultrasound image at the second moment on the movement track.

Here, the second time may be any time when the ultrasound probe scans the target tissue, and the first time and the second time may be the same or different.

In actual implementation, the display device may mark the direction information of the ultrasound probe on the movement track of the ultrasound probe; or, in other display areas except the display area of the movement track of the ultrasound probe, mark the direction information of the ultrasound probe. Specifically, the motion trace of the ultrasound probe can be displayed as a curve on the interface, the direction information of the ultrasound probe can be marked on the motion trace curve, or can be displayed separately near the motion trace curve.

For the implementation manner of marking the direction information on the movement trajectory curve, the direction information can be marked on the movement trajectory with an indicative icon. The indicative icon is used to indicate the direction information of the ultrasound probe. The indicative icon may include Any of the arrow, pointer, and probe icons. The indicative icon can indicate the direction information of the ultrasound probe by the rotation angle; FIG. 4 is a schematic diagram of marking the direction information on the motion track curve in the embodiment of the present application. As shown in FIG. 4, the indicative icon 41 is Simulated small probe icon.

Further, the displacement calculation device can also obtain the relative displacement of the ultrasound probe at various times and the initial moment when scanning the target tissue; determine the preset displacement interval of the ultrasound probe when scanning the target tissue; according to a fixed preset Displacement interval, the relative displacement is selected in the middle of the relative displacement obtained; the displacement calculation device can send the selected relative displacement to the display device, in the display device, when the ultrasound probe scans the target tissue Mark the above preset displacement interval on the movement track of. In actual implementation, the position corresponding to each selected displacement amount may be marked on the movement track when the ultrasound probe scans the target tissue. In this embodiment of the present application, the position corresponding to each selected displacement amount is not marked. Implementation restrictions.

As can be seen from the above, in the embodiments of the present application, by selecting each displacement amount selected by the mark, it is convenient for the user to view the displacement change of the ultrasound probe at multiple different times.

In other words, for the implementation of selecting the relative displacement, the displacement can be selected and marked at a fixed interval of the ultrasound probe, for example, only at 1cm, 2cm, etc., marks are made on the movement track curve to show the displacement; The fixed interval here can be set according to the total length of the motion trajectory curve. When the total length of the motion trajectory curve is longer, the fixed interval can be set appropriately larger to ensure the tidiness of visual presentation; FIG. 5 shows an example of the present application. Schematic diagram of the displacements marked at fixed intervals on the motion track. In FIG. 5, the numbers with circles in the numbers indicate the displacements marked at fixed intervals. The order of the numbers from small to large indicates the order in which the displacement of the ultrasound probe gradually increases. .

In practical applications, considering the user's usage habits, the displacement mark of the ultrasound probe and the unmarked switching button can be added in the vicinity of the motion track curve, so that the user can choose whether to enable the displacement mark function of the ultrasound probe.

Further, the displacement calculation device may determine the movement speed information of the ultrasound probe according to the movement data, and may send the movement speed information to the display device; while the display device displays the movement trajectory of the ultrasound probe when scanning the target tissue, You can also display motion speed information.

For an implementation manner in which the display device displays the motion speed information, for example, the display device may display the motion speed information on the motion track, and optionally, the display device may use at least one of colors, shapes, and patterns on the motion track The motion speed information is displayed, that is, different speeds are represented by different colors, patterns, or shapes on the motion trajectory when the ultrasound probe scans the target tissue.

In the embodiments of the present application, different colors, patterns, or shapes are used to represent different speeds, and it can be considered that the speed heat map display function is added, that is, the changes in colors, patterns, or shapes on the motion trajectory curve are used to prompt the user to ultrasound The speed of the probe movement.

For an implementation manner of displaying the motion speed information by a shape on a motion trajectory, in one example, different shapes may be used to represent different motion speed levels, for example, a triangle indicates a lower motion speed, and a parallelogram indicates a higher motion speed .

For an implementation manner of displaying the motion speed information through a pattern on a motion track, in one example, different patterns can be used to represent different levels of motion speed. For example, a box filled with a horizontal line indicates that the motion speed is low, and the The box with a vertical line indicates that the movement speed is high.

For an implementation manner of displaying the motion speed information by color on a motion trajectory, in one example, red may represent the fast motion of the ultrasound probe, green represents the slow motion of the ultrasound probe, and the trajectory curve is represented by red gradually green representing the ultrasound probe The moving speed of the sensor is from fast to slow; in another example, the moving speed of the ultrasonic probe can be obtained according to the following formula and using the RGB three primary color principle to obtain the corresponding color:

B = 0

Among them, R, G and B represent the three color components of red, green and blue respectively, v represents the moving speed of the ultrasonic probe at a certain moment, threshold represents the preset threshold of the gradient, when the moving speed of the ultrasonic probe reaches the threshold At the time, it appears yellow on the motion track, int is the rounding operation, and max and min are the maximum operation and the minimum operation, respectively.

In practical applications, considering the user's usage habits, the display of the movement speed of the ultrasound probe and the hidden switch button can be added in the vicinity of the movement trajectory curve for the user to choose whether to enable the movement speed display function of the ultrasound probe.

In practical applications, step 201 may be implemented by an ultrasound probe, steps 202 to 204 may be implemented using the processor and other devices described above, and step 205 may be implemented using the processor and the display described above.

In summary, in the embodiments of the present application, in order to provide users with more visual information, and also to display various trajectory information as much as possible in a window of limited size, the characteristics of the motion trajectory curve of the ultrasound probe can be Make full use of its color, length and other attributes to present the necessary information to the user. Specifically, a display window can be added to a corner of the interface displaying the ultrasound data, which is configured to display the movement trajectory curve. In this display window, the operation position of the probe can be simulated and reproduced at any time during the scanning process of the ultrasound probe; Further, a playback progress marking point can be added to the motion track curve, which is configured to mark the time point in the ultrasound data corresponding to the point on the motion track at the corresponding moment; The difference between the scheme is that the existing scheme for displaying the time point through the playback progress bar of the ultrasound data itself can only give a progress mark on a fixed-length line segment in the two-dimensional plane, and can only present the user with timing information, and cannot provide information such as Information such as the moving speed of the ultrasonic probe and the position in the three-dimensional space of the ultrasonic probe, and in the embodiments of the present application, the moving speed of the acoustic wave probe and the position in the three-dimensional space of the ultrasonic probe can be displayed by using attributes such as the color and length of the motion track.

To implement the method of the embodiments of the present application, the embodiments of the present application also provide an ultrasound imaging system, wherein the ultrasound imaging system includes an ultrasound probe 101, and the ultrasound probe is provided with a positioning device 102, as shown in FIG. 6, the system Also includes: display 601 and processor 602 ;, display and processor;

The ultrasound probe 101 is configured to transmit ultrasound waves to target tissues and receive ultrasound echoes returned from the target tissues;

The processor 602 is configured to determine an ultrasound image of the target tissue according to the ultrasound echo; obtain motion data of the ultrasound probe from the positioning device; and generate a movement trajectory of the ultrasound probe according to the motion data ;

The display 601 is configured to display the ultrasound image and the movement track.

In some embodiments of the present application, the display 601 is specifically configured to display the movement trajectory on the ultrasound image; or, display the movement trajectory on another area outside the ultrasound image.

In some embodiments of the present application, the display 601 is specifically configured to display the movement trajectory on other areas outside the ultrasound image and the ultrasound image on the same interface; or, outside the ultrasound image The movement track is displayed on the other interface of.

In some embodiments of the present application, wherein the movement trajectory includes direction information and position information.

In some embodiments of the present application, the processor 602 is further configured to acquire position information of the ultrasound probe corresponding to the ultrasound image at the first moment;

The display 601 is further configured to mark the position information on the movement track.

In some embodiments of the present application, the processor 602 is further configured to acquire direction information of the ultrasound probe corresponding to the ultrasound image at the second moment;

The display 601 is further configured to mark the direction information on the movement track.

In some embodiments of the present application, the display 601 is specifically configured to mark the direction information with an indicative icon on the movement track, wherein the indicative icon includes an arrow, a pointer, and a probe Any of the icons.

In some embodiments of the present application, the processor 602 is further configured to obtain a preset displacement interval for the movement of the ultrasound probe;

The display 601 is further configured to mark the preset displacement interval on the motion track.

In some embodiments of the present application, the processor 602 is further configured to determine movement speed information of the ultrasound probe according to the movement data;

The display 601 is further configured to display the movement speed information.

In some embodiments of the present application, the display 601 is specifically configured to display the movement speed information on the movement track.

In some embodiments of the present application, the display 601 is specifically configured to display the motion speed information on the motion track in at least one of colors, shapes, and patterns.

In some embodiments of the present application, the motion data includes acceleration data and angular velocity data.

In some embodiments of the present application, the processor 602 is specifically configured to determine linear acceleration and quaternion based on the acceleration data and the angular velocity data, and determine the linear acceleration and quaternion based on the linear acceleration and the quaternion Position information of the ultrasound probe; determine the direction information of the ultrasound probe according to the quaternion; the linear acceleration does not include the acceleration of gravity.

In some embodiments of the present application, the motion track is a two-dimensional or three-dimensional motion track.

The technical solutions described in the embodiments of the present application may be arbitrarily combined without conflict.

In the several embodiments provided in this application, it should be understood that the disclosed method and smart device may be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the unit is only a division of logical functions. In actual implementation, there may be another division manner, for example, multiple units or components may be combined, or Can be integrated into another system, or some features can be ignored, or not implemented. In addition, the coupling or direct coupling or communication connection between the displayed or discussed components may be through some interfaces, and the indirect coupling or communication connection of the device or unit may be electrical, mechanical, or other forms of.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units; Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, the functional units in the embodiments of the present application may all be integrated into one second processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; The above integrated unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.

The above is only the specific implementation of this application, but the scope of protection of this application is not limited to this, any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in this application. It should be covered by the scope of protection of this application.

Industrial applicability

The technical solution provided by the embodiment of the present application uses the ultrasonic probe to transmit ultrasonic waves to the target tissue; receives the ultrasonic echo returned from the target tissue; determines the ultrasonic image of the target tissue according to the ultrasonic echo; from the The positioning device acquires the motion data of the ultrasound probe; generates a motion trajectory of the ultrasound probe according to the motion data; and displays the ultrasound image and the motion trajectory. With the solution provided by the embodiment of the present application, the ultrasound probe can be used to scan the target tissue to obtain the ultrasound image and the movement data of the ultrasound probe. Then, the ultrasound image and the movement trajectory can be displayed. Spatial location information when the target tissue is scanned.

Claims

An ultrasound imaging method, wherein the method is applied to an ultrasound imaging system, the ultrasound imaging system includes an ultrasound probe, the ultrasound probe is provided with a positioning device, and the method includes:

Using the ultrasound probe to transmit ultrasound to the target tissue;

Receiving the ultrasound echo returned from the target tissue;

Determining an ultrasound image of the target tissue according to the ultrasound echo;

Acquiring motion data of the ultrasound probe from the positioning device;

Generating a movement trajectory of the ultrasound probe according to the movement data;

Display the ultrasound image and the movement trajectory.
The method according to claim 1, wherein the displaying the movement track comprises:

Displaying the movement track on the ultrasound image;

Alternatively, the movement trajectory is displayed on other areas than the ultrasound image.
The method according to claim 2, wherein the displaying the movement trajectory on other regions than the ultrasound image comprises:

Displaying the movement trajectory on other areas outside the ultrasound image and the ultrasound image on the same interface;

Or, display the movement trajectory on other interfaces than the ultrasound image.
The method according to any one of claims 1 to 3, wherein the movement trajectory includes direction information and position information.
The method of claim 4, wherein the method further comprises:

Acquiring the position information of the ultrasound probe corresponding to the ultrasound image at the first moment;

Mark the position information on the motion track.
The method according to claim 4 or 5, wherein the method further comprises:

Acquiring direction information of the ultrasound probe corresponding to the ultrasound image at the second moment;

Mark the direction information on the motion track.
The method according to claim 6, wherein the marking the direction information on the motion track comprises:

The direction information is marked on the motion track by an indicative icon, wherein the indicative icon includes any one of an arrow, a pointer, and a probe icon.
The method of claim 4, wherein the method further comprises:

Acquiring a preset displacement interval for the movement of the ultrasound probe;

Mark the preset displacement interval on the motion track.
The method according to any one of claims 1 to 8, wherein the method further comprises:

Determine the motion speed information of the ultrasound probe according to the motion data;

Display the motion speed information.
The method according to claim 9, wherein the displaying the movement speed information comprises:

The movement speed information is displayed on the movement track.
The method according to claim 10, wherein the displaying the movement speed information on the movement track comprises:

The motion speed information is displayed on the motion track in at least one of color, shape and pattern.
The method according to any one of claims 1 to 11, wherein the motion data includes acceleration data and angular velocity data.
The method according to claim 12, wherein the generating the motion trajectory of the ultrasound probe according to the motion data comprises:

Linear acceleration and quaternion are determined according to the acceleration data and the angular velocity data, wherein the linear acceleration does not include gravity acceleration;

Determining the position information of the ultrasound probe according to the linear acceleration and the quaternion;

The direction information of the ultrasound probe is determined according to the quaternion.
The method according to any one of claims 1 to 13, wherein the motion trajectory is a two-dimensional or three-dimensional motion trajectory.
An ultrasound imaging system, wherein the ultrasound imaging system includes an ultrasound probe, a display, and a processor; the ultrasound probe is provided with a positioning device,

The ultrasound probe is configured to transmit ultrasound waves to target tissues and receive ultrasound echoes returned from the target tissues;

The processor is configured to determine an ultrasound image of the target tissue according to the ultrasound echo; obtain motion data of the ultrasound probe from the positioning device; and generate a movement trajectory of the ultrasound probe according to the motion data;

The display is configured to display the ultrasound image and the movement track.
The system according to claim 15, wherein the display is specifically configured to display the movement trajectory on the ultrasound image; or, display the movement trajectory on another area outside the ultrasound image.
The system according to claim 16, wherein the display is specifically configured to display the movement trajectory on other areas outside the ultrasound image and the ultrasound image on the same interface; or, on the ultrasound image The motion track is displayed on other interfaces.
The system according to any one of claims 15 to 17, wherein the movement trajectory includes direction information and position information.
The system according to claim 18, wherein the processor is further configured to acquire position information of the ultrasound probe corresponding to the ultrasound image at the first moment;

The display is further configured to mark the position information on the movement track.
The system according to claim 18 or 19, wherein the processor is further configured to acquire direction information of the ultrasound probe corresponding to the ultrasound image at the second moment;

The display is further configured to mark the direction information on the movement track.
The system according to claim 20, wherein the display is specifically configured to mark the direction information on the motion track with an indicative icon, wherein the indicative icon includes an arrow, a pointer and Any of the probe icons.
The system according to claim 19, wherein the processor is further configured to obtain a preset displacement interval of the movement of the ultrasound probe;

The display is further configured to mark the preset displacement interval on the motion track.
The system according to any one of claims 15 to 22, wherein the processor is further configured to determine movement speed information of the ultrasound probe according to the movement data;

The display is also configured to display the motion speed information.
The system according to claim 23, wherein the display is specifically configured to display the motion speed information on the motion track.
The system according to claim 24, wherein the display is specifically configured to display the motion speed information on the motion trajectory in at least one of color, shape, and pattern.
The system according to any one of claims 15 to 25, wherein the motion data includes acceleration data and angular velocity data.
The system of claim 26, wherein the processor is specifically configured to determine linear acceleration and quaternion based on the acceleration data and the angular velocity data, and determine Position information of the ultrasound probe; determining direction information of the ultrasound probe according to the quaternion; the linear acceleration does not include acceleration of gravity.
The system according to any one of claims 15 to 27, wherein the movement trajectory is a two-dimensional or three-dimensional movement trajectory.