Receiving apodization method, device, medium and equipment for three-dimensional ultrasonic synthetic aperture imaging

Abstract

The present application provides a receiving apodization method, device, medium and equipment for three-dimensional ultrasonic synthetic aperture imaging. The method includes: Step 1: Determine the positions of the transmitting transducers, as well as the positions, orientations and three-dimensional main lobe ranges of all receiving transducers; Step 2: For a pixel point in the imaging field of view, determine the first multiplier of the apodization coefficient of each receiving transducer according to the main lobe sensitivity principle; Step 3: For this pixel point, determine the second multiplier of the apodization coefficient of each receiving transducer according to the backscattering principle; Step 4: For this pixel point, complete beam synthesis by using the obtained first multiplier and second multiplier of the apodization coefficient; Step 5: Repeat Steps 2, 3 and 4 to complete beam synthesis for all pixel points in the imaging field of view. The present application can improve the overall quality of three-dimensional ultrasonic synthetic aperture imaging.

Description

Technical Field

[0001] The present application relates to the field of ultrasonic imaging technology, and particularly to a receiving apodization method, device, medium and equipment for three-dimensional ultrasonic synthetic aperture imaging. Background Art

[0002] Ultrasonic imaging technology has wide applications in fields such as deep-sea exploration, non-destructive testing, and medical diagnosis. With the continuous development of technology, three-dimensional ultrasonic imaging modalities have been widely studied and gradually applied to different scenarios. Three-dimensional ultrasonic imaging can provide more intuitive and reliable spatial information than two-dimensional imaging, and has extremely high practical value.

[0003] In the beam synthesis link of ultrasonic imaging, apodization design plays a role in optimizing the beam pattern and improving the imaging quality. Unreasonable apodization will affect the resolution and contrast of ultrasonic images, reduce the overall quality of imaging, and limit the practical value of three-dimensional ultrasonic imaging technology. Summary of the Invention

[0004] The purpose of the present application is to provide a receiving apodization method, device, medium and equipment for three-dimensional ultrasonic synthetic aperture imaging, which can at least partially solve the above technical problems existing in the prior art.

[0005] One aspect of the present application provides a receiving apodization method for three-dimensional ultrasonic synthetic aperture imaging. The method includes: Step 1: Determine the position of the transmitting transducer, as well as the positions, orientations and three-dimensional main lobe ranges of all receiving transducers; Step 2: For a pixel point in the imaging field of view, determine the first multiplier of the apodization coefficient of each receiving transducer according to the main lobe sensitivity principle; Step 3: For this pixel point, determine the second multiplier of the apodization coefficient of each receiving transducer according to the backscattering principle; Step 4: For this pixel point, use the obtained first multiplier and second multiplier of the apodization coefficient to complete beam synthesis; Step 5: Repeat Steps 2, 3 and 4 to complete beam synthesis for all pixel points in the imaging field of view.

[0006] Further, determining the first multiplier of the apodization coefficient of each receiving transducer according to the main lobe sensitivity principle includes: determining the first multiplier of the apodization coefficient of each receiving transducer through the following formula:

[0007]

[0008] Wherein, represents the three-dimensional coordinate vector of the pixel point, represents the three-dimensional coordinate vector of the th receiving transducer, represents for the pixel point the The first multiplier of the apodization coefficient of a receiving transducer represents the three-dimensional main lobe range of the

[0009] receiving transducer. Further, the three-dimensional main lobe range of each receiving transducer is approximately determined by an ellipsoid formed by the main lobe opening angle of each receiving transducer in the azimuth plane and the main lobe opening angle in the elevation plane.

[0010] Further, the method further includes: determining whether a pixel point exists within the three-dimensional main lobe range of the receiving transducer, including:

[0011] Taking as the origin, , , to establish a local coordinate system with , and representing the positive direction vector of the three-dimensional main lobe in the azimuth plane, the positive direction vector of the main lobe in the elevation plane, and the orientation vector of the receiving transducer, respectively;

[0012] Calculating the coordinates of the pixel point in the local coordinate system of , , :

[0013]

[0014]

[0015]

[0016] Calculating the major axis and minor axis of the elliptical slice of the ellipsoid at depth :

[0017]

[0018]

[0019] where and represent the main lobe opening angle of the receiving transducer in the azimuth plane and the main lobe opening angle in the elevation plane, respectively;

[0020] Judging whether the following formula holds:

[0021]

[0022] If it holds, then it is determined that the pixel point is within the three-dimensional main lobe range of the th receiving transducer. Otherwise, it is determined that the pixel point is outside the three-dimensional main lobe range of the th receiving transducer.

[0023] Furthermore, the receiving transducer includes a circular transducer element or a square transducer element, and the three-dimensional main lobe range of the receiving transducer is approximately determined by a cone.

[0024] Furthermore, the second multiplier for determining the apodization coefficient of each receiving transducer according to the backscattering principle includes: determining the second multiplier for the apodization coefficient of each receiving transducer through the following formula:

[0025]

[0026]

[0027] where represents the three-dimensional coordinate vector of the pixel point, represents the three-dimensional coordinate vector of the th receiving transducer, represents the second multiplier for the apodization coefficient of the th receiving transducer with respect to the pixel point , represents the inner product of the emission vector of the pixel point and the th receiving vector, represents the position of the transmitting transducer.

[0028] Furthermore, the beamforming is completed by using the first multiplier and the second multiplier of the obtained apodization coefficient through the following formula:

[0029]

[0030]

[0031] where represents the pixel value at the pixel point , represents the total number of receiving transducers, and respectively represent the first multiplier and the second multiplier of the apodization coefficient of the th receiving transducer with respect to the pixel point , represents the the signals of a receiving transducer representing the th receiving transducer's reception delay for the echo of the pixel point where represents the position of the transmitting transducer and

[0032] Another aspect of the present application provides a reception apodization device for three-dimensional ultrasound synthetic aperture imaging. The device includes a first determination module, a second determination module, a third determination module, a first beam synthesis module, and a second beam synthesis module. The first determination module is configured to determine the position of the transmitting transducer, as well as the positions, orientations, and three-dimensional main lobe ranges of all receiving transducers. The second determination module is configured to determine, for each pixel point in the imaging field of view, a first multiplier of the apodization coefficient for each receiving transducer according to the main lobe sensitivity principle. The third determination module is configured to determine, for each pixel point in the imaging field of view, a second multiplier of the apodization coefficient for each receiving transducer according to the backscattering principle. The first beam synthesis module is configured to perform beam synthesis for each pixel point in the imaging field of view by using the obtained first multiplier and second multiplier of the apodization coefficient. The second beam synthesis module is configured to perform beam synthesis for all pixel points in the imaging field of view.

[0033] Another aspect of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-described method are implemented.

[0034] Another aspect of the present application provides an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the steps of the above-described method are implemented.

[0035] The reception apodization method, device, medium, and equipment for three-dimensional ultrasound synthetic aperture imaging according to one or more embodiments of the present application may at least have the following beneficial technical effects:

[0036] (1) The apodization coefficient ensures that the pixel point always falls within the three-dimensional main lobe range of the receiving transducer, avoiding unnecessary image artifacts caused by the contribution of the transducer received signal to the beam synthesis of pixel points outside the main lobe region, thereby ensuring the quality of the final ultrasound image;

[0037] (2) The apodization coefficient ensures that only backscattered signals are used for beam synthesis, avoiding unnecessary image artifacts caused by the contribution of forward scattered signals to beam synthesis, thereby ensuring the quality of the final ultrasound image. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1Schematic flowchart of the receive apodization method for three-dimensional ultrasound synthetic aperture imaging according to an embodiment of the present application.

[0039] Figure 2 Schematic diagram of the spatial relationship between the approximate ellipsoid of the three-dimensional main lobe range of the receive transducer, the main lobe angular spread in the azimuth plane, and the main lobe angular spread in the elevation plane according to an embodiment of the present application.

[0040] Figure 3 Schematic comparison diagram of the receive transducer receiving backscattered signals and receiving forward scattered signals according to an embodiment of the present application.

[0041] Figure 4 Schematic diagram of the receive apodization device for three-dimensional ultrasound synthetic aperture imaging according to an embodiment of the present application.

[0042] Figure 5 Schematic block diagram of an electronic device according to an embodiment of the present application. Detailed implementation manners

[0043] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices consistent with some aspects of the present application as detailed in the appended claims.

[0044] In ultrasonic imaging, receive apodization is a method of assigning different weights (weighting processing) to signals of different array elements to optimize the spatial shape and characteristics of the beam. According to requirements, receive apodization can achieve different purposes, including reducing the sidelobe level, improving the main lobe width, enhancing the resolution, reducing the dynamic range, etc. In two-dimensional imaging, since the ultrasonic transducer array concept is simple (generally a linear array), generally, dynamic apodization adjusted with depth is adopted. However, in three-dimensional imaging, the spatial arrangement of the ultrasonic transducer array is often more complex, and the dynamic apodization of traditional two-dimensional ultrasonic imaging is no longer applicable. Therefore, the present application provides a receive apodization method for three-dimensional ultrasound synthetic aperture imaging.

[0045] The following will describe in detail the receive apodization method, device, medium, and equipment for three-dimensional ultrasound synthetic aperture imaging according to various embodiments of the present application. Without conflict, the features in the following embodiments and implementation manners can be combined with each other.

[0046] Figure 1 Discloses a schematic flowchart of the receive apodization method for three-dimensional ultrasound synthetic aperture imaging according to an embodiment of the present application. As Figure 1As shown, the receiving apodization method for three-dimensional ultrasound synthetic aperture imaging according to an embodiment of the present application may include steps S1 to S6.

[0047] Step S1: Determine the position of the transmitting transducer, as well as the positions, orientations, and three-dimensional main lobe ranges of all receiving transducers.

[0048] Synthetic aperture imaging refers to a technique where each time a single transducer transmits, multiple transducers receive and beamform, and then the results obtained from multiple transmitting transducers are combined to simulate large-aperture transmission imaging. Since independent transmissions are used, the synthetic aperture imaging technique has no special requirements for the spatial distribution and transmission pattern of the transmitting array elements. Therefore, synthetic aperture imaging can essentially be decomposed into the beamforming problem of each independent transmitting transducer. Hereinafter, the present application will explain the basic cases of beamforming and dynamic apodization for a single transducer transmission without making any assumptions about the positions of the transmitting and receiving transducers. Therefore, the present application can be applied to three-dimensional synthetic aperture imaging of any form of array.

[0049] Determine the position of the transmitting transducer to represent the position of the transmitting transducer.

[0050] Determine the positions and orientations of all receiving transducers to represent the three-dimensional spatial coordinate vector of the th receiving transducer, to represent the positive direction vector of the azimuth plane of the three-dimensional main lobe of the th receiving transducer, to represent the positive direction vector of the elevation plane of the three-dimensional main lobe of the th receiving transducer, and to represent the three-dimensional main lobe orientation vector of the th receiving transducer.

[0051] Determine the three-dimensional main lobe ranges of all receiving transducers. Figure 2 Reveals a schematic diagram of the spatial relationship between the ellipsoidal approximation of the three-dimensional main lobe range of the receiving transducer, the azimuth plane main lobe opening angle, and the elevation plane main lobe opening angle according to an embodiment of the present application. Among them, the ellipsoidal approximation of the three-dimensional main lobe range of the receiving transducer is as shown in the left diagram of Figure 2 , the azimuth plane main lobe opening angle is as shown in the middle diagram of Figure 2 , and the elevation plane main lobe opening angle is as shown in the right diagram of Figure 2 . As shown in Figure 2 , use the main lobe opening angle in the azimuth plane and the main lobe opening angle in the elevation plane of each receiving transducer to approximately determine the three-dimensional main lobe range of each receiving transducer. The main lobe opening angle is generally taken as of the beam intensity of the transducer in the given plane.The angular range of the boundary formation.

[0052] For a receiving transducer including circular or square transducer elements, the three-dimensional main lobe range of the receiving transducer can be approximately determined by a standard cone.

[0053] Of course, the three-dimensional main lobe range of the receiving transducer of the present application is not limited to the method described above, and can also be determined by other means.

[0054] Step S2: For a pixel point in the imaging field of view, determine the first multiplier of the apodization coefficient of each receiving transducer according to the main lobe sensitivity principle.

[0055] In some embodiments, the first multiplier of the apodization coefficient of each receiving transducer can be determined by the following formula (1):

[0056] (1)

[0057] Where, represents the three-dimensional coordinate vector of the pixel point, represents the three-dimensional coordinate vector of the th receiving transducer, represents for the pixel point the th first multiplier of the apodization coefficient of the receiving transducer, represents the three-dimensional main lobe range of the th receiving transducer.

[0058] Step S2 may include: determining whether the pixel point exists in the three-dimensional main lobe range of the th receiving transducer.

[0059] Next, how to determine whether the pixel point exists in the three-dimensional main lobe range of the th receiving transducer will be described in detail.

[0060] In the case where the three-dimensional main lobe range of each receiving transducer is approximated by an ellipsoid formed by the main lobe opening angle in the azimuth plane and the main lobe opening angle in the elevation plane of each receiving transducer, determining whether the pixel point exists in the three-dimensional main lobe range of the th receiving transducer may include steps S21 to S24.

[0061] Step S21: Taking as the origin, , , as the coordinate axes to establish a local coordinate system, where, , and respectively represent the positive direction vectors of the three-dimensional main lobe azimuth plane, the positive direction vector of the elevation plane, and the orientation vector of the th receiving transducer.

[0062] Step S22: Calculate the coordinates of the pixel point in the local coordinate system of , , :

[0063]

[0064]

[0065] (2)

[0066] where represents the three-dimensional coordinate vector of the pixel point.

[0067] Step S23: Calculate the major axis and the minor axis of the elliptical slice of the ellipsoid at depth :

[0068]

[0069] (3)

[0070] where and respectively represent the main lobe opening angle in the azimuth plane and the main lobe opening angle in the elevation plane of the th receiving transducer.

[0071] Step S24: Determine whether the following formula (4) holds:

[0072] (4)

[0073] If the above formula (4) holds, it is determined that the pixel point exists within the three-dimensional main lobe of the th receiving transducer, that is, ; otherwise, it is determined that the pixel point exists outside the three-dimensional main lobe of the th receiving transducer, that is, .

[0074] Step S3: For this pixel, determine the second multiplier of the apodization coefficient for each receiving transducer according to the backscattering principle.

[0075] In some embodiments, the second multiplier of the apodization coefficient for each receiving transducer can be determined by the following formula (5):

[0076] (5)

[0077] Wherein, represents the three-dimensional coordinate vector of the pixel, represents the three-dimensional coordinate vector of the th receiving transducer, represents the second multiplier of the apodization coefficient for the th receiving transducer for the pixel, represents the inner product of the emission vector of the pixel and the th receiving vector, which can be given by the following formula (6):

[0078] (6)

[0079] Wherein, represents the position of the transmitting transducer.

[0080] Figure 3 FIG. Figure 3 shows a comparison schematic diagram of the receiving transducer receiving the backscattered signal and the forward-scattered signal in an embodiment of the present application. Among them, the receiving transducer receiving the backscattered signal is shown in the left diagram of Figure 3 , and the receiving transducer receiving the forward-scattered signal is shown in the right diagram of

[0081] Step S4: For this pixel, complete beamforming by using the first multiplier of the apodization coefficient obtained in Step S2 and the second multiplier of the apodization coefficient obtained in Step S3.

[0082] In some embodiments, beamforming can be completed by using the obtained first multiplier and second multiplier of the apodization coefficient through the following formula (7):

[0083] (7)

[0084] Wherein, represents the pixel value at the pixel , represents the total number of receiving transducers, and respectively represent the th The first multiplier and the second multiplier of the apodization coefficient of a receiving transducer represent the signal of the th receiving transducer, and represents the receiving delay of the

[0085] th receiving transducer for the echo of the pixel point

[0086] which can be given by the following formula (8): where represents the position of the transmitting transducer, and represents the speed of sound.

[0087] Step S5: Determine whether the pixel point is the last pixel point in the imaging field of view. If the judgment result is "yes", the process proceeds to step S6. Otherwise, for the next pixel point in the imaging field of view, repeat the above steps S2, S3, and S4.

[0088] In step S6, beamforming of all pixel points in the imaging field of view is completed.

[0089] It can be understood that Figure 1 the steps S1 to S6 shown are only names given to each step for the purpose of distinguishing each step, and do not represent the order of execution of the steps.

[0090] The receiving apodization method for three-dimensional ultrasound synthetic aperture imaging of the present application can design dynamic receiving apodization according to the main lobe sensitivity and backscattering principles to improve the resolution and contrast of the imaging of a single transmitting transducer, thereby improving the overall quality and practical value of three-dimensional ultrasound synthetic aperture imaging.

[0091] The above is the receiving apodization method for three-dimensional ultrasound synthetic aperture imaging provided by the present application. Based on the same idea, the present application also provides a corresponding receiving apodization device for three-dimensional ultrasound synthetic aperture imaging. Figure 4 The schematic diagram of a receiving apodization device 400 for three-dimensional ultrasound synthetic aperture imaging according to an embodiment of the present application is disclosed. As Figure 4 shown, a receiving apodization device 400 for three-dimensional ultrasound synthetic aperture imaging according to an embodiment of the present application may include a first determination module 401, a second determination module 402, a third determination module 403, a first beamforming module 404, and a second beamforming module 405.

[0092] The first determination module 401 is configured to determine the position of the transmitting transducer, as well as the positions, orientations, and three-dimensional main lobe ranges of all receiving transducers.

[0093] The second determination module 402 is configured to determine, for each pixel point in the imaging field of view, the first multiplier of the apodization coefficient of each receiving transducer according to the main lobe sensitivity principle.

[0094] The third determination module 403 is configured to determine, for each pixel point in the imaging field of view, the second multiplier of the apodization coefficient of each receiving transducer according to the backscattering principle.

[0095] The first beamforming module 404 is configured to perform beamforming for each pixel point in the imaging field of view by using the obtained first multiplier and second multiplier of the apodization coefficient.

[0096] The second beamforming module 405 is configured to perform beamforming for all pixel points in the imaging field of view.

[0097] The present application also provides a computer-readable storage medium. A computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned Figure 1 receiving apodization method for three-dimensional ultrasound synthetic aperture imaging shown are implemented.

[0098] The present application also provides an electronic device 500. Figure 5 A schematic block diagram of the electronic device 500 according to an embodiment of the present application is disclosed. As Figure 5 shown, the electronic device 500 according to an embodiment of the present application includes a processor 501, an internal bus 502, a network interface 503, a memory 504, and a non-volatile memory 505. Of course, other hardware required for other services may also be included. The processor 501 can read the corresponding computer program from the non-volatile memory 505 into the memory 504 and then run it to implement the steps of the above-mentioned receiving apodization method for three-dimensional ultrasound synthetic aperture imaging. Of course, in addition to the software implementation manner, the present application does not exclude other implementation manners, such as a logic device or a combination of software and hardware, etc. That is to say, the execution subject of the following processing flow is not limited to each logic unit, and may also be hardware or a logic component.

[0099] It can be understood that, for the convenience of description, the above device is described by dividing it into various modules according to functions. Of course, when implementing the present application, the functions of each module can also be implemented in the same or multiple software and / or hardware.

[0100] The receiving apodization method, device, medium, and equipment for three-dimensional ultrasound synthetic aperture imaging according to one or more embodiments of the present application can at least have the following beneficial technical effects:

[0101] (1)The apodization coefficient ensures that the pixel points always fall within the three-dimensional main lobe range of the receiving transducer, avoiding the contribution of the transducer receiving signal to the beam synthesis of pixel points outside the main lobe area and causing unnecessary image artifacts, thereby ensuring the quality of the final ultrasonic image;

[0102] (2)The apodization coefficient ensures that only the backscattered signals are used for beam synthesis, avoiding the contribution of the forward scattered signals to the beam synthesis and causing unnecessary image artifacts, thereby ensuring the quality of the final ultrasonic image.

[0103] The above has introduced in detail the receiving apodization method, device, medium and equipment for three-dimensional ultrasonic synthetic aperture imaging provided by the embodiments of the present application. Specific examples are used in this article to elaborate on the receiving apodization method, device, medium and equipment for three-dimensional ultrasonic synthetic aperture imaging of the embodiments of the present application. The description of the above embodiments is only used to help understand the core idea of the present application and is not intended to limit the present application. It should be noted that for those of ordinary skill in the art of this technology, without departing from the spirit and principle of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications should also fall within the protection scope of the appended claims of the present application.

Claims

1. A receiving apodization method for three-dimensional ultrasonic synthetic aperture imaging, characterized in that: include: Step 1: Determine the position of the transmitting transducer, and the position, orientation, and three-dimensional main lobe range of all receiving transducers; Step 2: for a pixel point in the imaging field of view, determine the first multiplier of the apodization coefficient of each receiving transducer according to the main lobe sensitivity principle, wherein the first multiplier of the apodization coefficient of each receiving transducer according to the main lobe sensitivity principle includes: The first multiplier for the apodization coefficient of each receiving transducer is determined by the following formula: in, Represents the three-dimensional coordinate vector of the pixel point, Representative The three-dimensional coordinate vector of the receiving transducer, Represents the pixel No. The first multiplier of the apodization coefficient of the receiving transducer, Representative The three-dimensional main lobe range of the receiving transducer; Step 3: for the pixel point, determine the second multiplier of the apodization coefficient of each receiving transducer according to the backscattering principle, wherein the second multiplier of the apodization coefficient of each receiving transducer according to the backscattering principle includes: The second multiplier for the apodization coefficient of each receiving transducer is determined by the following formula: in, Represents the three-dimensional coordinate vector of the pixel point, Representative The three-dimensional coordinate vector of the receiving transducer, Represents the pixel No. The second multiplier of the apodization coefficient of the receiving transducer, Represents pixel The launch vector and The inner product of the received vectors, represents the position of the transmitting transducer; Step 4: For the pixel point, beamforming is performed using the first multiplier and the second multiplier of the obtained apodization coefficient, wherein the beamforming is performed using the following formula using the first multiplier and the second multiplier of the obtained apodization coefficient: in, Represents pixel The pixel value at represents the total number of receiving transducers, and Represents the pixels No. said first multiplier and said second multiplier of the apodization coefficient of a receiving transducer, Representative A signal from a receiving transducer, Representative The receiving transducer is connected to the pixel point The delay of receiving the echo, represents the position of the transmitting transducer, represents the speed of sound; Step 5: Repeat steps 2, 3, and 4 to complete beam synthesis for all pixels in the imaging field of view.

2. The method according to claim 1, characterized in that: The three-dimensional main lobe range of each receiving transducer is approximately determined by an ellipsoid formed by the main lobe angle of each receiving transducer in the azimuth plane and the main lobe angle of each receiving transducer in the elevation plane.

3. The method according to claim 2, characterized in that: Also includes: Determine pixel Is there any The 3D main lobe of the receiving transducer includes: by is the origin, , , Establish a local coordinate system for the coordinate axes, where , and Respectively represent A three-dimensional main lobe azimuth plane positive direction vector, a pitch plane positive direction vector and a heading vector of a receiving transducer; Counting pixels exist The coordinates in the local coordinate system of , , : Calculate the depth of the ellipsoid Long axis of the lower elliptical slice With short axis : in, and Respectively represent The main lobe angle of the receiving transducer in the azimuth plane and the main lobe angle of the elevation plane; Determine whether the following formula is true: If true, then determine the pixel Exists in The three-dimensional main lobe range of the receiving transducer, otherwise, the pixel point is determined Exists in outside the 3D main lobe of the receiving transducer.

4. The method according to claim 1, characterized in that: The receiving transducer comprises a circular transducer array element or a square transducer array element, wherein a three-dimensional main lobe range of the receiving transducer is approximately determined by a cone.

5. A receiving apodization device for three-dimensional ultrasonic synthetic aperture imaging, characterized in that: include: A first determination module is used to determine the position of the transmitting transducer, and the position, orientation and three-dimensional main lobe range of all receiving transducers; The second determination module is used to determine the first multiplier of the apodization coefficient of each receiving transducer according to the main lobe sensitivity principle by the following formula for each pixel point in the imaging field of view: in, Represents the three-dimensional coordinate vector of the pixel point, Representative The three-dimensional coordinate vector of the receiving transducer, Represents the pixel No. The first multiplier of the apodization coefficient of the receiving transducer, Representative The three-dimensional main lobe range of the receiving transducer; The third determination module is used to determine the second multiplier of the apodization coefficient of each receiving transducer according to the backscattering principle by the following formula for each pixel point in the imaging field of view: in, Represents the three-dimensional coordinate vector of the pixel point, Representative The three-dimensional coordinate vector of the receiving transducer, Represents the pixel No. The second multiplier of the apodization coefficient of the receiving transducer, Represents pixel The launch vector and The inner product of the received vectors, represents the position of the transmitting transducer; The first beamforming module is used to perform beamforming for each pixel point in the imaging field of view by using the first multiplier and the second multiplier of the obtained apodization coefficient through the following formula: in, Represents pixel The pixel value at represents the total number of receiving transducers, and Represents the pixels No. said first multiplier and said second multiplier of the apodization coefficient of a receiving transducer, Representative A signal from a receiving transducer, Representative The receiving transducer is connected to the pixel point The delay of receiving the echo, represents the position of the transmitting transducer, represents the speed of sound; The second beamforming module is used to perform beamforming on all pixel points in the imaging field of view.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the receiving apodization method for three-dimensional ultrasonic synthetic aperture imaging according to any one of claims 1 to 4 are implemented.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the receiving apodization method for three-dimensional ultrasonic synthetic aperture imaging according to any one of claims 1 to 4 are implemented.

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