WO2022073410A1 - 超声波诊断设备、超声探头、图像的生成方法及存储介质 - Google Patents

超声波诊断设备、超声探头、图像的生成方法及存储介质 Download PDF

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Publication number
WO2022073410A1
WO2022073410A1 PCT/CN2021/118113 CN2021118113W WO2022073410A1 WO 2022073410 A1 WO2022073410 A1 WO 2022073410A1 CN 2021118113 W CN2021118113 W CN 2021118113W WO 2022073410 A1 WO2022073410 A1 WO 2022073410A1
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Prior art keywords
ultrasonic
probe
image
pose
data
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PCT/CN2021/118113
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English (en)
French (fr)
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骆磊
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达闼机器人有限公司
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Priority to JP2021576881A priority Critical patent/JP2023501848A/ja
Priority to EP21820075.6A priority patent/EP4008265A4/en
Priority to US17/562,885 priority patent/US20220125411A1/en
Publication of WO2022073410A1 publication Critical patent/WO2022073410A1/zh

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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
    • A61B8/13—Tomography
    • A61B8/14—Echo-tomography
    • A61B8/145—Echo-tomography characterised by scanning multiple planes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A61B8/4254—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors mounted on the probe
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
    • A61B8/461—Displaying means of special interest
    • A61B8/466—Displaying means of special interest adapted to display 3D data
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/48—Diagnostic techniques
    • A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/5207—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of raw data to produce diagnostic data, e.g. for generating an image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/54—Control of the diagnostic device
    • G06T3/14—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10132—Ultrasound image
    • G06T2207/10136—3D ultrasound image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30168—Image quality inspection

Definitions

  • the present application relates to the field of ultrasonic technology, and in particular, to an ultrasonic diagnostic device, an ultrasonic probe, an image generation method and a storage medium.
  • the collected images are 2D ultrasonic slice data
  • the professional doctor makes a diagnosis based on the 2D ultrasonic slice images
  • the saved data is also one or several 2D ultrasonic slice images.
  • the human body is a three-dimensional individual.
  • professional doctors can obtain 2D ultrasound slice images that can best reflect the disease through manipulation and experience, not all doctors can find the most ideal 2D ultrasound slice images in the ultrasound examination operation.
  • doctors in towns and villages may seldom or never use ultrasonic diagnostic equipment. If they need to obtain 2D ultrasonic slice images that accurately reflect the lesions, it will take a long time to train each organ. It is difficult to just provide remote guidance.
  • the method allows it to obtain the correct 2D ultrasound slice images, which makes it difficult to realize the remote diagnosis scene of ultrasound, and has not been able to be promoted on a large scale.
  • the purpose of some embodiments of the present application is to provide an ultrasonic diagnostic equipment, an ultrasonic probe, an image generation method and a storage medium, so that users can obtain ultrasonic images that accurately reflect the lesions without professional knowledge, and reduce the difficulty of using the ultrasonic diagnostic equipment .
  • the embodiment of the present application provides an ultrasonic diagnostic device, including: an ultrasonic probe and a main control component connected to the ultrasonic probe; the ultrasonic probe includes a probe body and a pose detection component disposed in the probe body, the The pose detection component is used to obtain the pose data of the ultrasonic probe in real time, and the probe body is used to continuously scan the detection object to obtain the corresponding ultrasonic image; and transmit the ultrasonic image and the corresponding pose data to the main control component; the main control component is used for splicing the continuous ultrasonic images according to the pose data to generate an ultrasonic stereoscopic image of the detection object.
  • the embodiment of the present application also provides an ultrasonic probe, including: a probe body and a pose detection component; the pose detection component is used to acquire the pose data of the ultrasonic probe in real time; the probe body is used to continuously scan the detection object, and obtain and The ultrasonic image corresponding to the pose data; and the ultrasonic image and the corresponding pose data are transmitted to the main control component, and the main control component is used for splicing the continuous ultrasonic images according to the pose data to generate The ultrasonic stereo image of the detection object.
  • the embodiment of the present application also provides an image generation method, which is applied to ultrasonic diagnostic equipment, including: when detecting that the ultrasonic probe is running, acquiring pose data including the ultrasonic probe and an ultrasonic image corresponding to the pose data in real time; Pose data, stitching consecutive ultrasonic images to generate ultrasonic stereoscopic images of the detection object.
  • Embodiments of the present application further provide a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, a method for generating an ultrasonic image is implemented.
  • the ultrasonic probe includes a probe body and a pose detection component disposed in the probe body.
  • the pose detection component can acquire the pose of the probe body in real time.
  • the probe body is used to continuously scan the detection object, and the main control
  • the component can acquire the pose data of the probe body and the corresponding ultrasonic images in real time, so that the continuously acquired ultrasonic images can be spliced according to the pose data to form a three-dimensional ultrasonic image; since the generated ultrasonic three-dimensional image is a three-dimensional ultrasonic image
  • the three-dimensional image can show more details of the detection object, which improves the accuracy of the detection object generated by the ultrasonic diagnostic equipment; the user can view the ultrasonic three-dimensional image as needed without the need for the user to have professional ultrasonic operation knowledge, which improves the accuracy of the detection object.
  • FIG. 1 is a structural block diagram of an ultrasonic diagnostic apparatus provided in a first embodiment of the present application
  • FIG. 2 is a schematic diagram of an ultrasonic probe in an ultrasonic diagnostic apparatus provided according to a second embodiment of the present application;
  • FIG. 3 is a structural block diagram of a main control component provided according to a second embodiment of the present application.
  • FIG. 4 is a schematic diagram of a moving direction of an ultrasonic probe according to a second embodiment of the present application.
  • FIG. 5 is a schematic diagram of an ultrasonic image arrangement according to a second embodiment of the present application.
  • FIG. 6 is a schematic diagram of another ultrasonic image arrangement according to the second embodiment of the present application.
  • FIG. 7 is a schematic diagram of an ultrasonic stereoscopic image provided according to the second embodiment of the present application.
  • FIG. 8 is a structural block diagram of an ultrasonic diagnostic apparatus provided according to a second embodiment of the present application.
  • FIG. 9 is a schematic diagram of an ultrasound image of a specified slice provided in the second embodiment of the present application.
  • FIG. 10 is a structural block diagram of a main control component provided in the third embodiment of the present application.
  • FIG. 11 is a schematic diagram of an ultrasonic image arrangement according to the third embodiment of the present application.
  • Fig. 12 is a structural block diagram of an ultrasonic probe according to the fourth embodiment of the present application.
  • FIG. 13 is a flowchart of a method for generating an ultrasonic image provided in the fifth embodiment of the present application.
  • the first embodiment of the present application relates to an ultrasonic diagnostic device.
  • the ultrasonic diagnostic device 10 includes: an ultrasonic probe 101 and a main control assembly 102 connected to the ultrasonic probe 101 ; the ultrasonic probe 101 includes a probe body 1011 and is disposed in the probe body 1011
  • the pose detection component 1012 is used to obtain the pose data of the probe body 1011 in real time, and the probe body 1011 is used to continuously scan the detection object to obtain the corresponding ultrasonic image;
  • the pose data is transmitted to the main control component 1012; the main control component 1012 is used for splicing continuous ultrasonic images to generate an ultrasonic stereoscopic image of the detection object according to the pose data.
  • the ultrasonic probe includes a probe body and a pose detection component disposed in the probe body.
  • the pose detection component can acquire the pose of the probe body in real time.
  • the probe body is used to continuously scan the detection object, and the main control
  • the component can acquire the pose data of the probe body and the corresponding ultrasonic images in real time, so that the continuously acquired ultrasonic images can be spliced according to the pose data to form a three-dimensional ultrasonic image; since the generated ultrasonic three-dimensional image is a three-dimensional ultrasonic image
  • the three-dimensional image can show more details of the detection object, which improves the accuracy of the detection object generated by the ultrasonic diagnostic equipment; the user can view the ultrasonic three-dimensional image as needed without the need for the user to have professional ultrasonic operation knowledge, which improves the accuracy of the detection object.
  • the second embodiment of the present application relates to an ultrasonic diagnostic apparatus.
  • This embodiment is a specific introduction to the ultrasonic diagnostic apparatus in the first embodiment.
  • the ultrasonic diagnostic equipment will be described below in conjunction with accompanying drawings 1 and 2 .
  • the ultrasonic diagnostic apparatus 10 includes a probe body 1011 and a main control assembly 102 connected to the probe body 1011 .
  • the structure of the probe body 1011 is shown in FIG. 2 , and includes a probe body 1011 and a pose detection component 1012 disposed in the probe body 1011 .
  • the pose detection component 1012 may be a motion sensor, and the motion sensor may be arranged at a position close to the scanning surface of the probe body 1011.
  • a processor may also be arranged in the probe body 101, such as 1013 in FIG. 2, using to acquire the pose data collected by the motion sensor, and transmit the pose data to the main control component 102 .
  • the probe body 1011 may include: a two-dimensional probe or a three-dimensional probe, the probe of the probe body 1011 is shown as 1011-1 in FIG. 2 ; the main control assembly 102 is not shown in FIG. 2 , the main control assembly 102
  • a processor may be included, eg, a computer device.
  • the operation process of the ultrasonic diagnostic equipment is as follows: when the probe body 1011 is activated, the posture detection component 1012 located in the probe body 1011 is also activated synchronously, and the posture detection component 1012 starts to detect the posture data of the probe body 1011;
  • the pose data is transmitted to the probe main body 1011, and the probe main body 1011 transmits the pose data to the main control component 102;
  • the probe main body 1011 continuously scans the detection object to obtain continuous ultrasonic images, which are transmitted to the main control in real time component 102 .
  • the probe body 1011 and the pose detection component 1012 can be started synchronously by setting a synchronization clock.
  • the user can place the ultrasonic probe 101 on the to-be-measured part of the test object, and when the probe body 1011 touches the test object, it can send a prompt message that the probe body 1011 is activated to the processor in the probe body 1011.
  • the pose detection component 1012 can be started to obtain the pose data of the probe body 1011 in real time; the acquisition frequency of the pose detection component 1012 can be set. The higher the frequency, the more accurate the ultrasonic stereo image generated subsequently.
  • a time label representing the scanning time can be added to each ultrasonic image.
  • a time label representing the time to obtain the pose can be added to each pose data;
  • the pose data of the probe body 1011 corresponding to the ultrasonic image is obtained by searching for the same time with the time tag.
  • the main control component 102 includes an image arranging unit 1021 and a splicing unit 1022; the image arranging unit 1021 is configured to perform the following arrangement processing on each pose data and the corresponding ultrasonic data: according to the pose data, obtain the probe body at The probe position and probe angle in the preset three-dimensional space coordinate system; according to the probe angle, the ultrasonic image corresponding to the probe angle is placed on the probe position; the splicing unit is used to splicing the arranged ultrasonic images to form an ultrasonic stereo image .
  • the structural block diagram of the main control component 102 is shown in FIG. 3 .
  • the image arranging unit 1021 also includes a position acquisition subunit and an angle acquisition subunit; the position acquisition subunit is used to process each pose data as follows: when the position change of the probe body is detected, according to the pose data of the current frame and its corresponding position and orientation data.
  • the pose data of the previous frame is used to obtain the relative position data of the current probe body relative to the previous frame of the probe body; the probe position corresponding to the current frame is determined according to the relative position data and the probe position corresponding to the previous frame.
  • the angle acquisition sub-unit is used to process each pose data as follows: when the angle change of the ultrasonic probe is detected, the current probe body relative to the previous frame is obtained according to the pose data of the current frame and the pose data of the previous frame The relative angle data of the probe body; according to the relative angle data and the corresponding probe angle in the previous frame, determine the probe angle corresponding to the current frame.
  • the pose detection component 1012 may include a motion sensor, a gravity sensor, a geomagnetic sensor, and the like.
  • the pose data of the probe body 1011 collected by the pose detection component includes: position coordinates and angular coordinates moved relative to the probe body reference system.
  • the three-dimensional space coordinate system can be preset, and any position in the three-dimensional space coordinate system can be taken as the initial probe position corresponding to the probe body 1011 in the three-dimensional space coordinate system, or any angle can be taken as the preset three-dimensional space.
  • the initial probe angle in the coordinate system can be preset, and any position in the three-dimensional space coordinate system can be taken as the initial probe position corresponding to the probe body 1011 in the three-dimensional space coordinate system, or any angle can be taken as the preset three-dimensional space.
  • the probe body 1011 Through the initial position of the probe body 1011 relative to the probe body reference frame and the set initial probe position, and the initial angle of the probe body 1011 relative to the probe body reference frame and the set initial probe angle, the probe body The pose data under the reference frame is transformed into the preset three-dimensional space coordinate system.
  • the relative position change of the probe body 1011 can be obtained through the difference between the pose data of the current frame and the pose data of the previous moment.
  • the probe position of the probe body in the current frame can be determined; similarly, the angle change of the probe body 1011 can also be obtained, and the probe angle of the probe body in the previous frame can be determined according to the relative angle change and the probe angle of the probe body in the previous frame.
  • the probe angle of the probe body can be determined through the difference between the pose data of the current frame and the pose data of the previous moment.
  • the probe position of the probe body in the current frame can be determined; similarly, the angle change of the probe body 1011 can also be obtained, and the probe angle of the probe body in the previous frame can be determined according to the relative angle change and the probe angle of the probe body in the previous frame. The probe angle of the probe body.
  • the probe position of the initial probe body is set to (x0, y0, z0)
  • the probe angle of the probe body of the initial frame t0 is set to ( ⁇ 0, ⁇ 0, ⁇ 0)
  • the pose data under t0 includes: the initial position coordinates (x0', y0', z0') and the initial angle ( ⁇ 0', ⁇ 0', ⁇ 0') relative to the probe body coordinate system; that is, (x0 ', y0', z0') corresponds to (x0, y0, z0) in the three-dimensional space coordinate system, and ( ⁇ 0', ⁇ 0', ⁇ 0') corresponds to ( ⁇ 0, ⁇ 0, ⁇ 0) in the three-dimensional space coordinate system.
  • the probe position of the probe body in frame t1 is (x0+ ⁇ x,y0+ ⁇ y, z0+ ⁇ z); in the same way, the relative change of the probe angle between the t1 frame and the t0 frame can be obtained, and the corresponding probe angle in the t1 frame can be determined.
  • the probe body continuously scans the detection object, and places each ultrasonic image at the probe position corresponding to the three-dimensional space coordinate system according to the probe angle of the ultrasonic probe. For each ultrasound image in the system, an ultrasound stereo image is generated.
  • the main body of the probe can scan the legs of the human body according to the moving direction B as shown in Figure 4, and the legs of the human body are the detection objects.
  • the main body of the probe is a 2D probe
  • the following arrangement processing is performed for each ultrasonic image:
  • the ultrasound image is placed at the corresponding probe location.
  • an ultrasound image arrangement as shown in FIG. 5 is formed.
  • Each ultrasound image is a tomogram of the leg.
  • the slice interval will also be different.
  • the sampling frequency of the main body of the probe is high, which can form an ultrasonic image arrangement diagram with a very small actual interval.
  • each frame of ultrasonic image has a certain width
  • each frame of ultrasonic image after scanning is a cube slice of a certain width, which is a three-dimensional slice of the leg, as shown in Figure 6. Since each acquisition has width information, if the probe body 1011 moves slowly, there will be overlapping parts of the images in two adjacent samplings, and the data of the overlapping parts should be exactly the same; therefore, after splicing each ultrasonic image, we get A three-dimensional semi-transparent dense point cloud image forms three-dimensional point cloud data, and the ultrasonic three-dimensional image of the leg is obtained as shown in Figure 7.
  • the ultrasonic diagnostic apparatus 10 further includes: a display 103 connected to the main control component 102; the display 103 is used to display an ultrasonic stereoscopic image; the main control component 102 is further used for displaying an instruction indicating to display an ultrasonic image of a specified slice when an instruction is detected.
  • the ultrasonic stereoscopic image is cut to generate an ultrasonic image of a designated slice and transmit it to the display 103 , and the structure of the ultrasonic diagnostic apparatus may also be as shown in FIG. 8 .
  • the display 103 may be an ordinary display or a holographic image display, and the display may display the stereoscopic ultrasonic stereoscopic image. If the user needs to observe the ultrasonic image of the designated slice, the information of the designated slice can be input through the input device. After receiving the instruction, the main control component 102 will cut the ultrasonic stereo image, generate the ultrasonic image of the designated slice, and transmit it to the The display 103 displays the ultrasound image of the designated slice, and the designated slice is slice 1 and slice 2 as shown in FIG. 9 .
  • a third embodiment of the present application relates to an ultrasonic diagnostic apparatus.
  • This embodiment is an improvement to the first embodiment or the second embodiment.
  • the main improvement lies in that the main control component 102 of this embodiment further includes: a first overlap detection unit 1023 .
  • the structural block diagram of the main control component 102 is shown in FIG. 10 .
  • the first overlapping detection unit 1023 is configured to perform the following processing on the arranged ultrasonic images: detect whether there is an overlapping image between the current ultrasonic image and the ultrasonic image of the previous frame; if so, re-acquire the ultrasonic image of the current frame, or, The ultrasound image of the current frame is updated according to the overlapping image.
  • the ultrasonic image array obtained by arranging according to the angle of the probe will appear tilted relative to other ultrasonic images, such as ultrasonic image E and ultrasonic image F shown in FIG. 11 .
  • the tilt phenomenon of the ultrasonic image is detected by the first overlapping detection unit. If the tilted image as shown in FIG. 11 appears, then the ultrasonic image E must overlap with the ultrasonic images of the two frames before and after.
  • Each ultrasonic image is detected: detect whether there is an overlapping image between the current ultrasonic image and the ultrasonic image of the previous frame; if so, re-acquire the ultrasonic image of the current frame, or, according to the overlapping image, update the ultrasonic image of the current frame .
  • the ultrasonic image of the current frame is an oblique image. If the scanning frequency of the probe body is higher than the preset frequency, the oblique ultrasonic image can not be processed. If the scanning frequency is lower than the preset frequency, it can be instructed to increase Scanning frequency scans the specified scan area again, and acquires the ultrasound image of the current frame again.
  • the designated scanning area may also be an organ to be tested, and the image of the designated scanning area may be an image of an organ corresponding to the detection object, and the organ image may be projected at the position of the organ to be tested of the detection object.
  • An algorithm can also be used to generate new information after the operation as the ultrasonic image of the frame according to the information of the overlapping images.
  • the ultrasound image of the initial frame can be a normal image by default.
  • the main control component 102 further includes: a second overlapping detection unit 1024: the second overlapping detection unit 1024 is used to detect that the coverage area formed by all the acquired ultrasonic images and the preset designated scanning area are detected after the probe body finishes scanning. The overlapped portion of the ultrasound image is smaller than the designated scanning area, outputting first error indication information; and/or, if it is detected that there is a blurred image in the ultrasonic image, outputting second error indication information.
  • the ultrasound probe ends scanning Before splicing each ultrasonic image, it can be detected whether the overlapping part of the coverage area formed by all ultrasonic images and the designated scanning area is smaller than the designated scanning area. In addition, it is also possible to detect whether there is a blurred image in the acquired ultrasonic image, and if so, output second error indication information.
  • the first error indication information is used to indicate that there is a missing area; the second error indication information is used to indicate that there is a blurred image.
  • the output method may be voice output.
  • the fourth embodiment of the present application relates to an ultrasonic probe.
  • the structural block diagram of the ultrasonic probe 101 is shown in FIG. 12 , including: a probe body 1011 and a pose detection component 1012 ; the pose detection component 1012 is used to obtain the position of the probe body 1011 in real time. Attitude data; the main body of the probe is used to continuously scan the detection object to obtain ultrasound images corresponding to the pose data; and transmit the ultrasound images and the corresponding pose data to the main control component, which is used by the main control component 1012 to determine the pose according to the pose data. data, stitching consecutive ultrasonic images to generate ultrasonic stereoscopic images of the inspection object.
  • the fifth embodiment of the present application relates to a method for generating an ultrasonic image, which is applied to ultrasonic diagnostic equipment, and the process is shown in FIG. 13 :
  • Step 501 When the operation of the ultrasound probe is detected, acquire pose data including the ultrasound probe and an ultrasound image corresponding to the pose data in real time.
  • the pose detection component located in the probe body is also activated synchronously, and the pose detection component starts to detect the pose data of the probe body; the pose data can be transmitted to the probe body, and the The main body of the probe transmits the pose data to the main control component; the main body of the probe continuously scans the detection object to obtain continuous ultrasonic images, which are transmitted to the main control component in real time.
  • the probe body and the pose detection component can be started synchronously by setting the synchronization clock.
  • the user can place the ultrasonic probe on the to-be-measured part of the test object, and when the probe body touches the test object, it can send a prompt message that the probe body is activated to the processor in the probe body, and the prompt message is obtained in the probe body.
  • the pose detection component can be activated to acquire the pose data of the probe body in real time; the acquisition frequency of the pose detection component can be set, and the higher the frequency, the more accurate the subsequently generated ultrasonic stereo images.
  • the pose data of the probe body collected by the pose detection component includes: position coordinates moved relative to the probe body reference system and angular coordinates relative to the probe body reference system.
  • Step 502 According to the pose data, splicing consecutive ultrasonic images to generate an ultrasonic stereoscopic image of the detection object.
  • the probe position and the probe angle of the probe body in the preset three-dimensional space coordinate system are obtained; according to the probe angle, the ultrasonic image corresponding to the probe angle is placed on the probe position; the splicing unit is used to The arranged ultrasonic images are spliced to form an ultrasonic stereo image.
  • Acquiring the position of the probe specifically includes: when a change in the position of the probe body is detected, obtaining the relative position data of the current probe body relative to the probe body of the previous frame according to the pose data of the current frame and the pose data of the previous frame; according to the relative position The data and the probe position corresponding to the previous frame are used to determine the probe position corresponding to the current frame.
  • the process of acquiring the probe angle includes: when the angle change of the ultrasonic probe is detected, according to the pose data of the current frame and the pose data of the previous frame, the relative angle data of the current probe body relative to the probe body of the previous frame is obtained; The angle data and the corresponding probe angle in the previous frame determine the probe angle corresponding to the current frame.
  • the main body of the probe continuously scans the detection object, and each ultrasonic image is placed in the three-dimensional space coordinate system according to the probe position of the ultrasonic probe. For each ultrasound image, an ultrasound stereo image is generated.
  • the main control component in the ultrasonic diagnostic equipment may include a memory and a processor, and a memory connected in communication with the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by at least one processor.
  • a processor executes to enable at least one processor to execute the above-described method of generating an ultrasound image.
  • the memory and the processor are connected by a bus.
  • the bus may include any number of interconnected buses and bridges.
  • the bus links one or more processors and various circuits of the memory together.
  • the bus may also link together various other circuits, such as peripherals, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein.
  • the bus interface provides the interface between the bus and the transceiver.
  • a transceiver may be a single element or multiple elements, such as multiple receivers and transmitters, providing a means for communicating with various other devices over a transmission medium.
  • the data processed by the processor is transmitted on the wireless medium through the antenna, and further, the antenna also receives the data and transmits the data to the processor.
  • the processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interface, voltage regulation, power management, and other control functions. Instead, memory may be used to store data used by the processor in performing operations.
  • the sixth embodiment of the present application relates to a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, a method for generating an ultrasonic image is implemented.
  • the program is stored in a storage medium and includes several instructions to make a device (which may be a single-chip microcomputer) , chip, etc.) or a processor (processor) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

Abstract

一种超声波诊断设备、超声探头、图像的生成方法及存储介质。超声波诊断设备(10)，包括：超声探头(101)、以及与超声探头(101)连接的主控组件(102)；超声探头(101)包括探头主体(1011)和位姿检测组件(1012)，位姿检测组件(1012)用于实时获取超声探头(101)的位姿数据，探头主体(1011)用于连续对检测对象进行连续扫描，获取对应的超声波图像；并将超声波图像以及对应的位姿数据传输至主控组件(102)；主控组件(102)用于根据位姿数据，拼接连续的超声波图像以生成检测对象的超声波立体图像。应用该设备使用者无需专业知识也可以获取到准确反映病灶的超声波图像，降低超声诊断设备的使用难度。

Description

超声波诊断设备、超声探头、图像的生成方法及存储介质 技术领域
本申请涉及超声波技术领域，特别涉及一种超声波诊断设备、超声探头、图像的生成方法及存储介质。
背景技术
当前的超声波诊断设备，采集的图像是2D超声波切片数据，专业医生根据此2D超声波切片图像进行诊断，保存的数据也是一个或几个2D超声波切片图像。
然而，人体为一个三维个体，虽然专业的医生通过手法和经验，能够得到最能反映病症的2D超声波切片图像，但并不是所有医生都能在超声检查操作中找到最理想位置的2D超声波切片图像，例如，乡镇的大夫可能很少使用或未使用过超声波诊断设备，若需要获取准确反映病灶的2D超声波切片图像，针对每个器官都需要很长时间的操作手法培训，很难仅仅通过远程指导的方法让其获取到正确的2D超声波切片图像，因此造成了超声的远程诊断场景实现困难，一直无法大规模推广起来。
发明内容
本申请部分实施例的目的在于提供一种超声波诊断设备、超声探头、图像的生成方法及存储介质，使得使用者无需专业知识也可以获取到准确反映病灶的超声波图像，降低超声诊断设备的使用难度。
本申请实施例提供了一种超声波诊断设备，包括：超声探头、以及与所述超声探头连接的主控组件；超声探头包括探头主体和设置于所述探头主体内的位姿检测组件，所述位姿检测组件用于实时获取所述超声探头的位姿数据，所述探头主体用于连续对检测对象进行连续扫描，获取对应的超声波图像；并将所述超声波图像以及对应的位姿数据传输至所述主控组件；主控组件用于根据所述位姿数据，拼接连续的所述超声波图像以生成所述检测对象的超声波立体图像。
本申请实施例还提供了一种超声探头，包括：探头主体和位姿检测组件；位姿检测组件用于实时获取超声探头的位姿数据；探头主体用于对检测对象进行连续扫描，获取与位姿数据对应的超声波图像；并将所述超声波图像以及对应的位姿数据传输至主控组件，由所述主控组件用于根据所述位姿数据，拼接连续的所述超声波图像以生成所述检测对象的超声 波立体图像。
本申请实施例还提供了一种图像的生成方法，应用于超声诊断设备，包括：在检测到超声探头运行时，实时获取包含超声探头的位姿数据以及与位姿数据对应的超声波图像；根据位姿数据，拼接连续的超声波图像以生成检测对象的超声波立体图像。
本申请实施例还提供了一种计算机可读存储介质，存储有计算机程序，计算机程序被处理器执行时实现超声波图像的生成方法。
本申请实施例中，超声探头包括探头主体和设置于探头主体内的位姿检测组件，该位姿检测组件可以实时获取探头主体的位姿，探头主体用于对检测对象进行连续扫描，主控组件可以实时获取探头主体的位姿数据以及对应的超声波图像，从而可以根据位姿数据将连续获取的超声波图像进行拼接，形成超声波立体图像；由于生成的是超声波立体图像，该超声波立体图像为三维图像，三维图像可以显示出检测对象更多细节，提高了该超声波诊断设备生成的检测对象的准确性；用户可以根据需要查看该超声波立体图像，无需使用者具有专业的超声操作知识，提高了该超声波诊断设备的使用场景。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是根据本申请第一实施例中提供的一种超声波诊断设备的结构框图；
图2是根据本申请第二实施例中提供的一种超声波诊断设备中超声探头的示意图；
图3是根据本申请第二实施例中提供的一种主控组件的结构框图；
图4是根据本申请第二实施例中提供的一种超声探头移动方向的示意图；
图5是根据本申请第二实施例中提供的一种超声波图像排列示意图；
图6是根据本申请第二实施例中提供的另一种超声波图像排列示意图；
图7是根据本申请第二实施例中提供的超声波立体图像示意图；
图8是根据本申请第二实施例中提供的一种超声波诊断设备的结构框图；
图9是根据本申请第二实施例中提供的指定切面的超声波图像的示意图；
图10是根据本申请第三实施例中提供的一种主控组件的结构框图；
图11是根据本申请第三实施例中提供的一种超声波图像排列示意图；
图12是根据本申请第四实施例中提供的一种超声探头的结构框图；
图13是根据本申请第五实施例中提供的一种超声波图像的生成方法的流程图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请部分实施例进行进一步详细说明。本领域的普通技术人员可以理解，在各实施例中，为了使读者更好地理解本申请而提出了许多技术细节。但是，即使没有这些技术细节和基于以下各实施例的种种变化和修改，也可以实现本申请所要求保护的技术方案。以下各个实施例的划分是为了描述方便，不应对本申请的具体实现方式构成任何限定，各个实施例在不矛盾的前提下可以相互结合相互引用。
本申请第一实施例涉及一种超声波诊断设备，该超声波诊断设备10包括：超声探头101、以及与超声探头101连接的主控组件102；超声探头101包括探头主体1011和设置于探头主体1011内的位姿检测组件1012，位姿检测组件1012用于实时获取探头主体1011的位姿数据，探头主体1011用于连续对检测对象进行连续扫描，获取对应的超声波图像；并将超声波图像以及对应的位姿数据传输至主控组件1012；主控组件1012用于根据位姿数据，拼接连续的超声波图像以生成检测对象的超声波立体图像。
本申请实施例中，超声探头包括探头主体和设置于探头主体内的位姿检测组件，该位姿检测组件可以实时获取探头主体的位姿，探头主体用于对检测对象进行连续扫描，主控组件可以实时获取探头主体的位姿数据以及对应的超声波图像，从而可以根据位姿数据将连续获取的超声波图像进行拼接，形成超声波立体图像；由于生成的是超声波立体图像，该超声波立体图像为三维图像，三维图像可以显示出检测对象更多细节，提高了该超声波诊断设备生成的检测对象的准确性；用户可以根据需要查看该超声波立体图像，无需使用者具有专业的超声操作知识，提高了该超声波诊断设备的使用场景。
本申请第二实施例涉及一种超声波诊断设备。本实施例是对第一实施例中超声波诊断设备的具体介绍。下面结合附图1、2介绍该超声诊断设备。
如图1所示，该超声波诊断设备10包括：探头主体1011、以及与探头主体1011连接的主控组件102。该探头主体1011的结构如图2所示，包括探头主体1011和设置于探头主体1011内的位姿检测组件1012。
具体地，该位姿检测组件1012可以是运动传感器，该运动传感器可以被设置于靠近探头主体1011的扫描面的位置，该探头主体101内还可以设置处理器，如图2中的1013，用于获取该运动传感器采集的位姿数据，并将位姿数据传输至主控组件102。其中，该探头主体1011可以包括：二维探头或三维探头，该探头主体1011的探头如图2中的1011-1所示；图2中并未示出主控组件102，该主控组件102可以包括处理器，如，计算机设备。
该超声波诊断设备的运行过程如下：探头主体1011启动时，位于该探头主体1011内的位姿检测组件1012也同步启动，该位姿检测组件1012开始检测探头主体1011的位姿数据；可以将该位姿数据传至该探头主体1011内，由探头主体1011将该位姿数据传输至该主控组件102；探头主体1011连续对检测对象进行扫描，得到连续的超声波图像，并实时传输至主控组件102。可以通过设置同步时钟的方式，同步启动该探头主体1011和位姿检测组件1012。
使用者可以将超声探头101放置在检测对象的待测部位上，当探头主体1011接触到检测对象后，可以向探头主体1011内的处理器发送探头主体1011启动的提示信息，该探头主体1011内获取到该提示信息即可启动该位姿检测组件1012实时获取该探头主体1011的位姿数据；可以设置位姿检测组件1012的采集频率，频率越高，后续生成的超声波立体图像也越准确。
需要说明的是，可以根据探头主体1011扫描时间的先后顺序，为每个超声波图像添加表征扫描时间的时间标签，同理，可以为每个位姿数据添加表征获取位姿时间的时间标签；可以通过时间标签查找相同时刻获取超声波图像对应的探头主体1011的位姿数据。
在一个例子中，主控组件102包括图像排列单元1021和拼接单元1022；图像排列单元1021用于对每个位姿数据以及对应的超声波数据进行如下排列处理：根据位姿数据，获取探头主体在预设的三维空间坐标系中的探头位置和探头角度；按照探头角度，将与探头角度对应的超声波图像置于探头位置上；拼接单元用于将排列后的超声波图像进行拼接，形成超声波立体图像。该主控组件102的结构框图如图3所示。
图像排列单元1021还包括位置获取子单元和角度获取子单元；位置获取子单元用于对每个位姿数据进行如下处理：在检测到探头主体的位置改变时，根据当前帧的位姿数据与其上一帧的位姿数据，获取当前探头主体相对上一帧探头主体的相对位置数据；根据相对位置数据以及上一帧对应的探头位置，确定当前帧对应的探头位置。角度获取子单元用于对每个位姿数据进行如下处理：在检测到超声探头的角度改变时，根据当前帧的位姿数据与其上一帧的位姿数据，获取当前探头主体相对上一帧探头主体的相对角度数据；根据相对角度数据以及上一帧中对应的探头角度，确定当前帧对应的探头角度。
具体地，位姿检测组件1012可以包括运动传感器、重力传感器和地磁传感器等。该位姿检测组件采集到的探头主体1011的位姿数据包括：相对于探头主体参考系移动的位置坐标以及角坐标。可以预先设置三维空间坐标系，可以在该三维空间坐标系中的取任意位置作为探头主体1011在该三维空间坐标系中对应的初始的探头位置，也可以取任意角度作为在预设的三维空间坐标系中初始的探头角度。通过探头主体1011在相对于探头主体参考系 下的初始位置与设置的初始的探头位置，以及探头主体1011在相对于探头主体参考系下的初始角度与设置的初始的探头角度，可以将探头主体参考系下的位姿数据转化至该预设的三维空间坐标系下。
可以通过当前帧的位姿数据与其前一时刻的位姿数据之间的差异，获取探头主体1011的相对位置变化，根据相对位置变化以及前一帧的该探头主体在该三维空间坐标系中的坐标，即可确定当前帧的该探头主体的探头位置；同理，还可以获取探头主体1011的角度变化，根据相对的角度变化以及前一帧的该探头主体的探头角度，确定当前帧的该探头主体的探头角度。
例如，在该三维空间坐标系中将初始的探头主体的探头位置被设置为(x0,y0,z0)，初始帧t0的探头主体的探头角度被置为(α0,β0,γ0)，初始帧t0下的位姿数据包括：相对该探头主体坐标系下的初始的位置坐标(x0',y0',z0')以及初始角度(α0',β0',γ0')；也就是说，(x0',y0',z0')对应于三维空间坐标系下的(x0,y0,z0)，(α0',β0',γ0')对应于三维空间坐标系下的(α0,β0,γ0)。获取t1帧该探头主体相对该探头主体坐标系下的位置坐标(x1',y1',z1')，以及t1帧探头主体相对上一帧探头主体的相对位置数据为(△x,△y,△z),其中，△x＝x1'-x0',△y＝y1'-y0',△z＝z1'-z0'，则t1帧该探头主体的探头位置为(x0+△x,y0+△y,z0+△z)；同理，可以获取t1帧与t0帧之间探头角度的相对变化，确定该t1帧中对应的探头角度。
该探头主体不断对检测对象进行扫描，按照超声探头的探头角度将每张超声波图像放置于该三维空间坐标系对应的探头位置，在检测到该超声探头结束扫描之后，则可以拼接位于三维空间坐标系中的每个超声波图像，生成超声波立体图像。
例如，探头主体可以按照如图4所示的移动方向B对人体腿部进行扫描，人体腿部为检测对象，若探头主体为2D探头，对于每张超声波图像进行如下排列处理：按照探头角度将该超声波图像放置于对应的探头位置。在检测到该探头主体结束扫描之后，形成如图5所示的超声波图像排列图，每张超声波图像都是腿部的一个断层图，根据探头主体1011移动速度的变化，切面间隔也会不同。通常探头主体的采样频率高，可以形成实际间隔非常小的超声波图像排列图。拼接如图5所示排列的超声波图像，形成如图7所示的超声波立体图像。若超声探头的移动速度越慢，得到三维点云越密集，形成的超声波立体图像越准确。
若超声探头为3D探头，每一帧超声波图像具有一定的宽度，扫描后的每一帧超声波图像是一定宽度的立方体切片，都是腿部的一个断层三维图，如图6所示的形式，由于每次采集都具有宽度信息，若探头主体1011移动速度慢，则相邻两次采样会存在图像重合部分，且重叠部分的数据应该是完全相同的；因此在拼接每一个超声波图像后，得到一个立体半透 的致密点云图，形成三维点云数据，得到该腿部的超声波立体图像如图7所示。
在一个例子中，超声波诊断设备10还包括：与主控组件102连接的显示器103；显示器103用于显示超声波立体图像；主控组件102还用于在检测到指示显示指定切面的超声波图像的指令时，对超声波立体图像进行切割，生成指定切面的超声波图像并传输至显示器103，其该超声诊断设备的结构还可以如图8所示。
具体地，该显示器103可以普通显示器，也可以是全息影像显示器，该显示器显示该立体超声波立体图像。若使用者需要观察指定切面的超声波图像，可以通过输入装置输入指定切面的信息，主控组件102接收到该指令后，对超声波立体图像进行切割，生成该指定切面的超声波图像，并传输至该显示器103，由显示器显示该指定切面的超声波图像，指定切面如图9所示的切面1和切面2。
本申请的第三实施例涉及一种超声波诊断设备。本实施例是对第一实施例或对第二实施例的改进，主要改进之处在于，本实施例的主控组件102还包括：第一重叠检测单元1023。该主控组件102的结构框图如图10所示。
第一重叠检测单元1023用于对排列后的超声波图像进行如下处理：检测当前超声波图像是否与前一帧的超声波图像之间是否存在重叠图像；若是，则重新获取当前帧的超声波图像，或者，根据重叠图像，更新当前帧的超声图像。
由于探头主体1011的移动不是平稳的，按照探头角度排列得到的超声波图像排列图中会出现超声波图像相对其他超声波图像倾斜的现象，如图11所示中的超声波图像E和超声波图像F。本实施例中通过第一重叠检测单元检测超声波图像的倾斜现象，若出现如图11所示的倾斜图像，那么该超声波图像E必然与前后两帧的超声波图像重叠，基于此原理，对排列后的每个超声波图像进行检测：检测当前超声波图像是否与前一帧的超声波图像之间是否存在重叠图像；若是，则重新获取当前帧的超声波图像，或者，根据重叠图像，更新当前帧的超声图像。
若出现重叠图像，表明当前帧的超声波图像为倾斜图像，若探头主体的扫描频率高于预设频率，则可以不对倾斜的超声波图像进行处理，若扫描频率低于该预设频率，可以指示提高扫描频率重新对指定扫描区域进行扫描，重新获取当前帧的超声波图像。指定扫描区域还可以是待测器官，则该指定扫描区域图像可以是该检测对象对应的器官图像，可以在该检测对象的待测器官位置投影出该器官图像。还可以采用算法根据重合图像的信息，生成运算后新的信息作为该帧的超声波图像。
可以理解的是，初始帧的超声波图像可以默认为正常图像。
主控组件102还包括：第二重叠检测单元1024：第二重叠检测单元1024用于在检测 到探头主体结束扫描后，若检测到所有获取的超声波图像构成的覆盖区域与预设的指定扫描区域的重叠部分小于所述指定扫描区域，则输出第一错误指示信息；和/或，若检测所述超声波图像中存在模糊图像，则输出第二错误指示信息。
具体地，若检测到该探头主体1011离开检测对象的表面后，则确定该超声探头结束扫描。在拼接每个超声波图像之前，可以检测所有超声波图像构成的覆盖区域与指定扫描区域的重叠部分是否小于指定扫描区域，若是，表明存在未扫描到的区域，则可以输出第一错误指示信息。另外，还可以检测获取的超声波图像中是否存在模糊图像，若是，则输出第二错误指示信息。第一错误指示信息用于指示存在缺失区域；第二错误指示信息用于指示存在模糊图像。输出的方式可以是语音输出，通过输出第一错误指示信息或第二错误指示信息，使得使用者可以重新获取准确的超声波图像；提高检测的准确性。
上面各种方法的步骤划分，只是为了描述清楚，实现时可以合并为一个步骤或者对某些步骤进行拆分，分解为多个步骤，只要包括相同的逻辑关系，都在本专利的保护范围内；对算法中或者流程中添加无关紧要的修改或者引入无关紧要的设计，但不改变其算法和流程的核心设计都在该专利的保护范围内。
本申请第四实施例涉及一种超声探头，超声探头101的结构框图如图12所示，包括：探头主体1011和位姿检测组件1012；位姿检测组件1012用于实时获取探头主体1011的位姿数据；探头主体用于对检测对象进行连续扫描，获取与位姿数据对应的超声波图像；并将超声波图像以及对应的位姿数据传输至主控组件，由主控组件1012用于根据位姿数据，拼接连续的超声波图像以生成检测对象的超声波立体图像。
本申请第五实施例涉及一种超声波图像的生成方法，应用于超声波诊断设备，其流程如图13所示：
步骤501：在检测到超声探头运行时，实时获取包含超声探头的位姿数据以及与位姿数据对应的超声波图像。
具体地，探头主体启动时，位于该探头主体内的位姿检测组件也同步启动，该位姿检测组件开始检测探头主体的位姿数据；可以将该位姿数据传至该探头主体内，由探头主体将该位姿数据传输至该主控组件；探头主体连续对检测对象进行扫描，得到连续的的超声波图像，并实时传输至主控组件。可以通过设置同步时钟的方式，同步启动该探头主体和位姿检测组件。
使用者可以将超声探头放置在检测对象的待测部位上，当探头主体接触到检测对象后，可以向探头主体内的处理器发送探头主体启动的提示信息，该探头主体内获取到该提示信息即可启动该位姿检测组件实时获取该探头主体的位姿数据；可以设置位姿检测组件的采 集频率，频率越高，后续生成的超声波立体图像也越准确。该位姿检测组件采集到的探头主体的位姿数据包括：相对于探头主体参考系移动的位置坐标以及相对于探头主体的参考系的角坐标。
步骤502：根据位姿数据，拼接连续的超声波图像以生成检测对象的超声波立体图像。
具体地，根据位姿数据，获取探头主体在预设的三维空间坐标系中的探头位置和探头角度；按照探头角度，将与探头角度对应的超声波图像置于探头位置上；拼接单元用于将排列后的超声波图像进行拼接，形成超声波立体图像。获取探头位置具体包括：在检测到探头主体的位置改变时，根据当前帧的位姿数据与其上一帧的位姿数据，获取当前探头主体相对上一帧探头主体的相对位置数据；根据相对位置数据以及上一帧对应的探头位置，确定当前帧对应的探头位置。获取探头角度的过程包括：在检测到超声探头的角度改变时，根据当前帧的位姿数据与其上一帧的位姿数据，获取当前探头主体相对上一帧探头主体的相对角度数据；根据相对角度数据以及上一帧中对应的探头角度，确定当前帧对应的探头角度。
该探头主体不断对检测对象进行扫描，将每张超声波图像按照超声探头的探头位置放置于该三维空间坐标系中，在检测到该超声探头结束扫描之后，则可以接位于三维空间坐标系中的每个超声波图像，生成超声波立体图像。其中，该超声诊断设备中的主控组件可以包括存储器和处理器，与所述至少一个处理器通信连接的存储器；其中，存储器存储有可被所述至少一个处理器执行的指令，指令被至少一个处理器执行，以使至少一个处理器能够执行上述超声波图像的生成方法。
存储器和处理器采用总线方式连接，总线可以包括任意数量的互联的总线和桥，总线将一个或多个处理器和存储器的各种电路链接在一起。总线还可以将诸如外围设备、稳压器和功率管理电路等之类的各种其他电路链接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口在总线和收发机之间提供接口。收发机可以是一个元件，也可以是多个元件，比如多个接收器和发送器，提供用于在传输介质上与各种其他装置通信的单元。经处理器处理的数据通过天线在无线介质上进行传输，进一步，天线还接收数据并将数据传送给处理器。
处理器负责管理总线和通常的处理，还可以提供各种功能，包括定时，外围接口，电压调节、电源管理以及其他控制功能。而存储器可以被用于存储处理器在执行操作时所使用的数据。
本申请第六实施例涉及一种计算机可读存储介质，存储有计算机程序，所述计算机程序被处理器执行时实现超声波图像的生成方法。
本领域技术人员可以理解实现上述实施例方法中的全部或部分步骤是可以通过程序 来指令相关的硬件来完成，该程序存储在一个存储介质中，包括若干指令用以使得一个设备(可以是单片机，芯片等)或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域的普通技术人员可以理解，上述各实施例是实现本申请的具体实施例，而在实际应用中，可以在形式上和细节上对其作各种改变，而不偏离本申请的精神和范围。

Claims (11)

  1. 一种超声波诊断设备，其特征在于，包括：超声探头、以及与所述超声探头连接的主控组件；
    所述超声探头包括探头主体和位姿检测组件，所述位姿检测组件用于实时获取所述探头主体的位姿数据，所述探头主体用于连续对检测对象进行连续扫描，获取对应的超声波图像；并将所述超声波图像以及对应的位姿数据传输至所述主控组件；
    所述主控组件用于根据所述位姿数据，拼接连续的所述超声波图像以生成所述检测对象的超声波立体图像。
  2. 如权利要求1所述的超声波诊断设备，其特征在于，所述主控组件包括：图像排列单元和拼接单元；
    所述图像排列单元用于对每个所述位姿数据以及对应的超声波数据进行如下排列处理：根据所述位姿数据，获取所述探头主体在预设的三维空间坐标系中的探头位置和探头角度；按照所述探头角度，将与所述探头角度对应的超声波图像置于所述探头位置上；
    所述拼接单元用于将排列后的所述超声波图像进行拼接，形成所述超声波立体图像。
  3. 如权利要求2所述的超声波诊断设备，其特征在于，所述图像排列单元还包括位置获取子单元和角度获取子单元；
    所述位置获取子单元用于对每个所述位姿数据进行如下处理：在检测到所述探头主体的位置改变时，根据当前帧的所述位姿数据与其上一帧的所述位姿数据，获取当前所述探头主体相对上一帧所述探头主体的相对位置数据；根据所述相对位置数据以及上一帧对应的探头位置，确定当前帧对应的探头位置；
    所述角度获取子单元用于对每个所述位姿数据进行如下处理：在检测到所述超声探头的角度改变时，根据当前帧的所述位姿数据与其上一帧的所述位姿数据，获取当前所述探头主体相对上一帧所述探头主体的相对角度数据；根据所述相对角度数据以及上一帧中对应的探头角度，确定当前帧对应的探头角度。
  4. 如权利要求2或3所述的超声波诊断设备，其特征在于，所述主控组件还包括：第一重叠检测单元；
    所述第一重叠检测单元用于对排列后的所述超声波图像进行如下处理：检测当前所述超声波图像是否与前一帧的所述超声波图像之间是否存在重叠图像；若是，则重新获取当前帧的所述超声波图像，或者，根据所述重叠图像，更新当前帧的所述超声图像。
  5. 如权利要求1至4中任一项所述的超声波诊断设备，其特征在于，所述主控组件还包括：第二重叠检测单元：
    所述第二重叠检测单元用于在检测到所述探头主体结束扫描后，若检测到所有获取的所述超声波图像构成的覆盖区域与预设的指定扫描区域的重叠部分小于所述指定扫描区域，则输出第一错误指示信息；和/或，
    若检测所述超声波图像中存在模糊图像，则输出第二错误指示信息。
  6. 如权利要求1至5中任一项所述的超声波诊断设备，其特征在于，所述超声波诊断设备还包括：与所述主控组件连接的显示器；
    所述显示器用于显示所述超声波立体图像；
    所述主控组件还用于在检测到指示显示指定切面的超声波图像的指令时，对所述超声波立体图像进行切割，生成所述指定切面的超声波图像并传输至所述显示器。
  7. 如权利要求1至6中任一项所述的超声波诊断设备，其特征在于，所述探头主体包括：二维探头或三维探头；
    所述位姿检测组件包括：运动传感器。
  8. 如权利要求1至7中任一项所述的超声波诊断设备，其特征在于，所述位姿检测组件位于所述探头主体内。
  9. 一种超声探头，其特征在于，包括：探头主体和位姿检测组件；
    所述位姿检测组件用于实时获取所述探头主体的位姿数据；
    所述探头主体用于对检测对象进行连续扫描，获取与所述位姿数据对应的超声波图像；并将所述超声波图像以及对应的位姿数据传输至主控组件，由所述主控组件用于根据所述位姿数据，拼接连续的所述超声波图像以生成所述检测对象的超声波立体图像。
  10. 一种图像的生成方法，其特征在于，应用于如权利要求1至8中任一项所述的超声诊断设备，包括：
    在检测到超声探头运行时，实时获取包含超声探头的位姿数据以及与所述位姿数据对应的超声波图像；
    根据所述位姿数据，拼接连续的所述超声波图像以生成所述检测对象的超声波立体图像。
  11. 一种计算机可读存储介质，存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求10所述的超声波图像的生成方法。
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