Three-dimensional super-resolution imaging method and ultrasonic imaging equipment

Abstract

The invention discloses a three-dimensional super-resolution imaging method and ultrasonic imaging equipment, and the method comprises the steps: carrying out the ultrasonic scanning of a target object injected with contrast agent microbubbles through an area array ultrasonic probe in a super-resolution contrast imaging mode, so as to obtain ultrasonic body data, accumulating the position information of the contrast agent microbubbles in the ultrasonic body data of a region of interest, and obtaining the position information of the contrast agent microbubbles in the region of interest; according to the method, the three-dimensional super-resolution image of the region of interest is obtained and displayed by performing three-dimensional reconstruction on the region of interest, and the three-dimensional super-resolution image is presented, so that tiny structure details in the target object can be better observed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ultrasonic imaging, in particular to a three-dimensional super-resolution imaging method and an ultrasonic imaging device. BACKGROUND

[0002] Ultrasound examination is one of the most important imaging tools due to its non-radiation, convenience and low cost. In recent years, ultrasound contrast, as a new technology for real-time dynamic observation of lesions and their tissue blood perfusion, plays an increasingly important role in the diagnosis of malignant diseases such as liver cancer, thyroid cancer and breast cancer, and becomes a necessary examination method for evaluating blood circulation and perfusion. For example, the detection of micro blood flow signals in capillaries, which are an important part of microcirculation and have a diameter of about 6-9 μm, and the microarterioles and microveins in the dermis layer, which are connected to the arteries and veins in the hypodermis layer and have a diameter of about 10-100 μm, microcirculation refers to the blood circulation between microarterioles and microveins in the vascular network, which is both the terminal part of the circulatory system and an important component of organs. Under normal circumstances, the blood flow of microcirculation is adapted to the metabolic level of human tissues and organs to maintain normal life activities and metabolism. When the metabolism and function of tissues and organs are abnormal, microcirculation will change to a certain extent, and the observation of microvascular changes has important value for the early diagnosis and treatment of many diseases. The ultrasound contrast agent is generally a micrometer-sized diameter encapsulated microbubble. When the ultrasound contrast agent is injected into the body and the reflected signal is detected by an ultrasonic system, the strong reflection of the ultrasound contrast agent to the incident sound wave greatly enhances the blood flow signal, so that the original undetectable micro blood flow signal can be detected.

[0003] However, the resolution of traditional ultrasonic imaging is limited by the diffraction limit, so that the conventional ultrasound contrast has limited ability to display the details of microstructures (such as microvascular structure details), and cannot present a three-dimensional image, thus there is a certain demand for high-resolution three-dimensional ultrasound contrast imaging. SUMMARY

[0004] The present application provides a three-dimensional super-resolution imaging method and an ultrasonic imaging device, which can perform three-dimensional super-resolution contrast imaging to better observe the details of microstructures in a target object.

[0005] According to a first aspect, in an embodiment, a three-dimensional super-resolution imaging method is provided, comprising:

[0006] In response to a user input instruction for selecting an ultrasonic probe and an examination mode, switching an ultrasonic probe of the ultrasonic device to a selected ultrasonic probe and switching an examination mode of the ultrasonic device to a selected examination mode; wherein the selected ultrasonic probe is a planar array ultrasonic probe;

[0007] In the selected examination mode, a first ultrasound wave is emitted to the target object by using the area array ultrasound probe, a tissue image is generated based on echo signals of the first ultrasound wave, and a region of interest is determined in the tissue image;

[0008] In response to an instruction to enter the super-resolution contrast imaging mode, the super-resolution contrast imaging mode is entered;

[0009] In the super-resolution contrast imaging mode:

[0010] A second ultrasound wave is emitted to the target object injected with contrast agent microbubbles by using the area array ultrasound probe, ultrasound volume data is generated based on echo signals of the second ultrasound wave, the contrast agent microbubbles in the ultrasound volume data of the region of interest are located and tracked to obtain position information of the contrast agent microbubbles, the position information of the contrast agent microbubbles in the ultrasound volume data is accumulated, three-dimensional reconstruction is performed based on an accumulation result, and a three-dimensional super-resolution image of the region of interest is obtained;

[0011] The three-dimensional super-resolution image is displayed.

[0012] According to a second aspect, in an embodiment, a three-dimensional super-resolution imaging method is provided, comprising:

[0013] In response to an instruction to enter the super-resolution contrast imaging mode, the super-resolution contrast imaging mode is entered;

[0014] In the super-resolution contrast imaging mode:

[0015] A second ultrasound wave is emitted to the target object injected with contrast agent microbubbles by using the area array ultrasound probe, ultrasound volume data is generated based on echo signals of the second ultrasound wave, the contrast agent microbubbles in the ultrasound volume data of the region of interest are located and tracked to obtain position information of the contrast agent microbubbles, the position information of the contrast agent microbubbles in the ultrasound volume data is accumulated, three-dimensional reconstruction is performed based on an accumulation result, and a three-dimensional super-resolution image of the region of interest is obtained;

[0016] The three-dimensional super-resolution image is displayed.

[0017] In an embodiment, further comprising:

[0018] At least two frames of ultrasound volume data in the ultrasound volume data are obtained by ultrasound waves emitted at different angles.

[0019] In an embodiment, before the contrast agent microbubbles in the ultrasound volume data of the region of interest are located and tracked, further comprising:

[0020] filtering the ultrasound volume data to obtain tissue signals and microbubble signals of the microbubbles in the ultrasound volume data;

[0021] performing three-dimensional motion estimation based on the tissue signals to obtain a motion estimation result;

[0022] performing three-dimensional motion correction on the microbubble signals based on the motion estimation result.

[0023] In an embodiment, position information of the microbubbles in the ultrasound volume data is accumulated, and three-dimensional reconstruction is performed based on the accumulated result to obtain a three-dimensional super-resolution image of the region of interest, including:

[0024] Data of position information of the microbubbles in m frames of the ultrasound volume data is accumulated, and three-dimensional reconstruction is performed based on the accumulated result to obtain a volume of three-dimensional super-resolution images of the region of interest, where m is greater than or equal to 2.

[0025] In an embodiment, the displaying the three-dimensional super-resolution image includes:

[0026] When the three-dimensional super-resolution image includes multiple volumes, the three-dimensional super-resolution image is dynamically displayed.

[0027] In an embodiment, the dynamically displaying the three-dimensional super-resolution image includes:

[0028] volume by volume; or

[0029] volume by volume.

[0030] In an embodiment, the method further includes:

[0031] displaying a cross-sectional image of a two-dimensional cross section generated based on the ultrasound volume data while displaying the three-dimensional super-resolution image.

[0032] In an embodiment, the displaying a cross-sectional image of a two-dimensional cross section generated based on the ultrasound volume data includes:

[0033] displaying at least two cross-sectional images generated based on the ultrasound volume data, where at least part of the at least two cross-sectional images are parallel, or at least part of the at least two cross-sectional images intersect.

[0034] In an embodiment, the method further includes:

[0035] displaying a plurality of display mode controls, each display mode control corresponding to a display mode, and different display modes displaying at least partially different image contents;

[0036] In response to an operation of a user selecting one of the display mode controls, the predetermined display mode is acquired;

[0037] The cross-section image based on the two-dimensional cross-sections generated from the ultrasound volume data is displayed while the three-dimensional super-resolution image is displayed.

[0038] The cross-section image corresponding to the predetermined display mode is displayed while the three-dimensional super-resolution image is displayed.

[0039] In one embodiment, the displaying the three-dimensional super-resolution image comprises:

[0040] A thumbnail of the three-dimensional super-resolution image is displayed.

[0041] In one embodiment, the displaying the three-dimensional super-resolution image further comprises:

[0042] In response to a parameter control display instruction of a target tissue in the three-dimensional super-resolution image input by a user, a parameter display threshold of the target tissue is acquired;

[0043] Based on the parameter display threshold of the target tissue, the display content in the displayed three-dimensional super-resolution image is varied.

[0044] In one embodiment, the varying the display content in the displayed three-dimensional super-resolution image comprises:

[0045] The target tissue not satisfying the parameter display threshold is hidden in the displayed three-dimensional super-resolution image;

[0046] Or, the target tissue not satisfying the parameter display threshold is marked in the displayed three-dimensional super-resolution image.

[0047] In one embodiment, after the three-dimensional super-resolution image is displayed, the method further comprises:

[0048] A target region in the three-dimensional super-resolution image is measured, and a measurement result is obtained and displayed.

[0049] In one embodiment, the method further comprises:

[0050] The ultrasound volume data and / or the three-dimensional super-resolution image is saved.

[0051] In one embodiment, the method further comprises:

[0052] In response to an instruction of redisplaying the pre-saved ultrasound volume data and / or the three-dimensional super-resolution image, the pre-saved ultrasound volume data and / or the three-dimensional super-resolution image is acquired;

[0053] re-display the saved three-dimensional super-resolution image or the three-dimensional super-resolution image corresponding to the ultrasound volume data based on the preset display parameter.

[0054] In an embodiment, the method further comprises:

[0055] In response to a modification operation of the display parameter by the user, obtaining a modified display parameter;

[0056] updating the content of displaying the saved three-dimensional super-resolution image or the three-dimensional super-resolution image corresponding to the ultrasound volume data based on the modified display parameter;

[0057] In an embodiment, the modified display parameter is a subset of a parameter range corresponding to the saved three-dimensional super-resolution image or the three-dimensional super-resolution image corresponding to the ultrasound volume data.

[0058] According to a third aspect, an embodiment provides a three-dimensional super-resolution imaging method, comprising:

[0059] obtaining a predetermined display mode; different display modes display at least partially different image content;

[0060] displaying a three-dimensional super-resolution image while displaying a cross-sectional image corresponding to the predetermined display mode; wherein the three-dimensional super-resolution image is a three-dimensional image generated based on super-resolution contrast imaging processing of ultrasound volume data of a region of interest obtained in advance, and the cross-sectional image is a cross-sectional image of a two-dimensional cross section generated based on the ultrasound volume data.

[0061] In an embodiment, the displaying the cross-sectional image corresponding to the predetermined display mode comprises:

[0062] displaying at least two cross-sectional images corresponding to the predetermined display mode, wherein at least part of the at least two cross-sectional images are parallel, or at least part of the at least two cross-sectional images intersect.

[0063] In an embodiment, the obtaining the predetermined display mode comprises:

[0064] displaying a plurality of display mode controls, each display mode control corresponding to a display mode;

[0065] In response to an operation of the user selecting a display mode control, obtaining the predetermined display mode.

[0066] In an embodiment, the method further comprises:

[0067] In response to a switching display command input by the user, displaying the three-dimensional super-resolution image, or displaying the cross-sectional image corresponding to the predetermined display mode.

[0068] In an embodiment, the displaying the three-dimensional super-resolution image comprises:

[0069] displaying a thumbnail of the three-dimensional super-resolution image.

[0070] In an embodiment, the method further comprises:

[0071] in response to a user inputted parameter control display instruction of a target tissue in the three-dimensional super-resolution image, obtaining a parameter display threshold of the target tissue;

[0072] based on the parameter display threshold of the target tissue, varying the display content of the displayed three-dimensional super-resolution image.

[0073] In an embodiment, the varying the display content of the displayed three-dimensional super-resolution image comprises:

[0074] hiding the target tissue that does not satisfy the parameter display threshold in the displayed three-dimensional super-resolution image;

[0075] or, marking the target tissue that does not satisfy the parameter display threshold in the displayed three-dimensional super-resolution image.

[0076] According to a fourth aspect, an embodiment provides a three-dimensional super-resolution imaging method, comprising:

[0077] in response to an instruction of redisplaying a pre-stored ultrasound volume data and / or a three-dimensional super-resolution image, obtaining the pre-stored ultrasound volume data and / or three-dimensional super-resolution image;

[0078] based on a pre-set display parameter, redisplaying the saved three-dimensional super-resolution image or a three-dimensional super-resolution image corresponding to the ultrasound volume data.

[0079] In an embodiment, the method further comprises:

[0080] in response to a user's modification operation on the display parameter, obtaining a modified display parameter;

[0081] based on the modified display parameter, updating the display content of the saved three-dimensional super-resolution image or a three-dimensional super-resolution image corresponding to the ultrasound volume data;

[0082] wherein the modified display parameter is a subset of a parameter range corresponding to the saved three-dimensional super-resolution image or a three-dimensional super-resolution image corresponding to the ultrasound volume data.

[0083] According to a fifth aspect, an embodiment provides an ultrasound imaging device, comprising: an ultrasound probe, a transmit and receive control circuit, a processor, and a display component; the ultrasound probe is configured to transmit ultrasound waves to a region of interest, and receive corresponding ultrasound wave echoes; the transmit and receive control circuit is configured to control the probe to transmit ultrasound waves and receive ultrasound wave echoes; the processor is configured to perform the method according to any one of the embodiments above.

[0084] According to a sixth aspect, an embodiment provides a computer readable storage medium, having stored thereon a program, the program being capable of being executed by a processor to implement the method according to any one of the embodiments above.

[0085] The three-dimensional super-resolution imaging method and the ultrasound imaging device according to the above embodiments, in the super-resolution contrast imaging mode, using a surface array ultrasound probe, ultrasound scanning is performed on a target object injected with contrast agent microbubbles to obtain ultrasound volume data, the position information of the contrast agent microbubbles in the ultrasound volume data of the region of interest is accumulated for three-dimensional reconstruction, a three-dimensional super-resolution image of the region of interest is obtained and displayed, and a stereoscopic three-dimensional super-resolution image is presented to better observe the microstructure details in the target object. BRIEF DESCRIPTION OF DRAWINGS

[0086] Figure 1 A structural schematic diagram of an ultrasound imaging device according to an embodiment;

[0087] Figure 2 A schematic diagram of echo signal synthesis of a surface array ultrasound probe according to an embodiment;

[0088] Figure 3 A flowchart of a three-dimensional super-resolution imaging method according to an embodiment;

[0089] Figure 4 A schematic diagram of multi-angle transmission sound field of a surface array ultrasound probe according to an embodiment;

[0090] Figure 5 A schematic diagram of a display image in a display mode according to an embodiment;

[0091] Figure 6 A schematic diagram of a display image in a display mode according to another embodiment;

[0092] Figure 7 A schematic diagram of a display image in a display mode according to still another embodiment;

[0093] Figure 8 A flowchart of a three-dimensional super-resolution imaging method according to another embodiment;

[0094] Figure 9 A flowchart of a three-dimensional super-resolution imaging method according to still another embodiment. DETAILED DESCRIPTION

[0095] The application will be described in further detail below with reference to the drawings. Like elements in different embodiments are denoted by like reference numerals. In the following description, numerous specific details are described to provide a thorough understanding of the application. However, it will be apparent to one skilled in the art that the application can be practiced without some or all of these specific details. In other instances, well known process operations have not been described in detail in order not to unnecessarily obscure the application.

[0096] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various embodiments. Meanwhile, the steps or actions in the method description can also be sequentially adjusted or changed in a manner that is apparent to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment, and do not mean that the sequence is necessary, unless otherwise stated that a certain sequence must be followed.

[0097] The serial numbers of components in this paper, such as "first", "second", etc., are only used to distinguish the described objects, and do not have any sequence or technical meaning. The "connection" and "coupling" in this application include direct and indirect connections (couplings) unless otherwise specified.

[0098] The applicant has found that the current super-resolution imaging research is mostly based on one-dimensional probe two-dimensional ultrasound scanning acquisition of ultrasound data processing, and the presented ultrasound image is a two-dimensional cross-sectional image. Taking microvessels as an example, only the micro blood flow structure, flow velocity and direction in the scanning plane can be observed, and a three-dimensional super-resolution image cannot be presented, which is not conducive to the overall observation of the microvessel structure by the doctor. Moreover, even if a three-dimensional display is needed, the two-dimensional cross-sectional image is first acquired, and then the three-dimensional reconstruction is performed offline, which is poor in real-time performance.

[0099] Based on the above problems, the embodiment of the application provides a three-dimensional super-resolution imaging method, which can acquire the ultrasound volume data required for three-dimensional super-resolution imaging in real time, process and reconstruct the three-dimensional super-resolution image in machine, and can support multiple display modes to display the three-dimensional super-resolution image and the corresponding two-dimensional cross-sectional image, and can measure and analyze the image content, thereby providing a basis for effective observation and detection of microstructures such as microvessels.

[0100] Reference is made to Figure 1 The present application provides an ultrasound imaging device, which comprises an ultrasound probe 10, a transmit and receive control circuit 20 and a processor 40; some embodiments can further comprise an echo processing module 30 and / or a display component 50, which are described below.

[0101] The ultrasound probe 10 is used to transmit ultrasound waves to a region of interest and receive corresponding ultrasound echo signals to obtain ultrasound data, such as two-dimensional ultrasound data or three-dimensional ultrasound data. In some specific embodiments, the ultrasound probe 10 comprises a plurality of array elements, which are used to realize the mutual conversion between electrical pulse signals and ultrasound waves, so as to realize the transmission of ultrasound waves to the region of interest and the reception of corresponding ultrasound echo signals. The array elements can transmit ultrasound waves according to the excitation electrical signals, or convert the received ultrasound waves into electrical signals. Therefore, each array element can be used to transmit ultrasound waves to the biological tissue in the region of interest, and also can be used to receive the ultrasound echo waves returned by the tissue. When performing ultrasound detection, it can be controlled by a transmission sequence and a reception sequence which array elements are used to transmit ultrasound waves and which array elements are used to receive ultrasound waves, or it can be controlled by time slots that the array elements are used to transmit ultrasound waves or receive ultrasound echoes. All array elements participating in the transmission of ultrasound waves can be excited by electrical signals at the same time, so as to transmit ultrasound waves at the same time; or the array elements participating in the transmission of ultrasound waves can also be excited by several electrical signals with a certain time interval, so as to continuously transmit ultrasound waves with a certain time interval. In some embodiments, the ultrasound probe 10 can be divided into a linear ultrasound probe (one-dimensional probe) and a planar array ultrasound probe (two-dimensional probe), wherein the array elements in the linear ultrasound probe are arranged in a straight line, and the array elements in the planar array ultrasound probe are arranged and distributed along two directions, and the number of array elements is much higher than that of ordinary linear ultrasound probes, for example, the total number of 32*32 square planar array elements is 1024, and the total number of 64*64 array elements is 4096, and the number of array elements of the planar array ultrasound probe is much higher than the number of channels of commercial ultrasound equipment. In order to match the physical channels of the ultrasound equipment, the planar array ultrasound probe will first perform the first-stage echo signal synthesis at the sound head end inside the probe. Several array elements will be first combined into one output through the internal circuit of the sound head, and other groups of array elements are similar. The echo signals output after the first-stage synthesis of each group are connected to the host circuit of the ultrasound imaging device through the cable to perform the second-stage signal synthesis, and form the final beam synthesis signal, as shown in FIG. 1. Figure 2 As shown in FIG. 1, the first stage inside the planar array ultrasound probe is 16 (N) synthesis 1, that is, the signals of 16 array elements are synthesized into one road. Assuming that the total number of array elements of the planar array is 2048 and the array elements are arranged and distributed in the form of 64*32, then after each group (4*4) is synthesized into one road, the transmit and receive control circuit 20 of the ultrasound equipment will perform 128-channel signal synthesis.

[0102] The transmit and receive control circuit 20 is configured to control the ultrasound probe 10 to perform the transmitting and receiving of the ultrasound waves. For example, the transmit and receive control circuit 20 is configured to control the ultrasound probe 10 to transmit the ultrasound waves to the region of interest on one hand, and to control the ultrasound probe 10 to receive the ultrasound echo signals reflected by the region of interest on the other hand. In some embodiments, the transmit and receive control circuit 20 is configured to generate a transmit sequence and a receive sequence, and output the transmit sequence and the receive sequence to the ultrasound probe 10. The transmit sequence is configured to control a part or all of the plurality of array elements in the ultrasound probe 10 to transmit the ultrasound waves to the biological tissue 60, and the parameters of the transmit sequence include the number of array elements used for the transmission and the parameters of the ultrasound waves (e.g., the amplitude, the frequency, the number of transmissions, the transmission interval, the transmission angle, the wave type, and / or the focus position, etc.). The receive sequence is configured to control a part or all of the plurality of array elements to receive the echoes of the ultrasound waves after the ultrasound waves pass through the tissue, and the parameters of the receive sequence include the number of array elements used for the reception and the parameters of the echoes (e.g., the reception angle, the depth, etc.). The parameters of the ultrasound waves in the transmit sequence and the parameters of the echoes in the receive sequence are different for different uses of the ultrasound echoes or different images generated based on the ultrasound echoes.

[0103] The echo processing module 30 is configured to process the ultrasound echo signals received by the ultrasound probe 10, for example, to perform filtering, amplification, beamforming, etc. on the ultrasound echo signals, to obtain the ultrasound echo data. In some embodiments, the echo processing module 30 can output the ultrasound echo data to the processor 40, or can first store the ultrasound echo data in a memory, and the processor 40 reads the ultrasound echo data from the memory when it is needed to perform operations based on the ultrasound echo data. It should be understood by those skilled in the art that, in some embodiments, the echo processing module 30 can be omitted when it is not needed to perform filtering, amplification, beamforming, etc. on the ultrasound echo signals.

[0104] The processor 40 is configured to obtain the ultrasound echo data or the echo signals, and to obtain the required parameters or images by using relevant algorithms. The processor 40 in some embodiments of the present application includes, but is not limited to, a central processing unit (CPU), a micro controller unit (MCU), a field-programmable gate array (FPGA), a digital signal processing (DSP), and other devices for interpreting computer instructions and processing data in computer software. In some embodiments, the processor 40 is configured to execute various computer application programs in the non-transitory computer readable storage medium, so that the sample analysis device performs corresponding detection processes.

[0105] The display assembly 50 can be used to display information, such as parameters and images calculated by the processor 40, etc. Those skilled in the art should understand that in some embodiments, the ultrasound imaging system itself can not be integrated with a display module, but can be connected to a computer device (such as a computer), and the information can be displayed through the display module (such as a display screen) of the computer device.

[0106] In some embodiments, a three-dimensional super-resolution imaging method is also disclosed. In some embodiments, the processor 40 is configured to perform one step, multiple steps, or all steps of the three-dimensional super-resolution imaging method.

[0107] The three-dimensional super-resolution imaging method in some embodiments can be used to detect a target object having microvessels, or can be used to detect a target object having other microstructures.

[0108] Please refer to Figure 3 The three-dimensional super-resolution imaging method in some embodiments includes the following steps:

[0109] Step 101: In response to a user inputted instruction of selecting an ultrasound probe and an examination mode, switching the ultrasound probe of the ultrasound device to the selected ultrasound probe, and switching the examination mode of the ultrasound device to the selected examination mode; wherein the selected ultrasound probe is a planar array ultrasound probe. In some embodiments, the examination mode can be some examination modes supported by the planar array ultrasound probe, such as a two-dimensional imaging mode, a multi-planar imaging mode, or a four-dimensional imaging mode, etc.

[0110] Step 102: In the selected examination mode, using the planar array ultrasound probe to emit a first ultrasound wave to a target object, generating a tissue image based on the echo signal of the first ultrasound wave, and determining a region of interest in the tissue image. The tissue image can be a two-dimensional ultrasound image, or can be an ultrasound image of other types.

[0111] Based on the above steps 101 and 102, the region of interest in the current scanning section can be determined, i.e. the current scanning section can be determined as the target section, and then the super-resolution contrast imaging function of the ultrasound imaging device is entered, i.e. the super-resolution contrast imaging mode is entered.

[0112] Step 103: In response to an instruction of entering the super-resolution contrast imaging mode, entering the super-resolution contrast imaging mode; in the super-resolution contrast imaging mode, using the planar array ultrasound probe to emit a second ultrasound wave to a target object injected with contrast agent microbubbles, generating ultrasound volume data based on the echo signal of the second ultrasound wave, positioning and tracking the contrast agent microbubbles in the ultrasound volume data of the region of interest to obtain position information of the contrast agent microbubbles, accumulating the position information of the contrast agent microbubbles in the ultrasound volume data, performing three-dimensional reconstruction based on the accumulation result, and obtaining a three-dimensional super-resolution image of the region of interest.

[0113] Thus, by using the plane wave imaging technology of the area array ultrasonic probe, ultrasonic volume data can be collected at a rate as high as several hundred volumes per second to realize superfast imaging, and the ultrasonic volume data obtained under the condition of superfast imaging is more continuous and can provide more abundant space-time information.

[0114] In some embodiments, when the area array ultrasonic probe is used to emit the second ultrasonic wave to the target object injected with the contrast agent microbubbles in step 103, different emission angles can be used to emit the ultrasonic wave, that is, in the multiple frames of ultrasonic volume data obtained by using the area array ultrasonic probe to perform ultrasonic scanning on the target object in step 103, at least two frames of ultrasonic volume data are obtained by using ultrasonic waves emitted at different emission angles. In an embodiment, the ultrasonic wave can be a plane wave. In this way, the coherent compounding of ultrasonic wave emission and reception at multiple angles by the area array ultrasonic probe can improve the final imaging volume rate. As shown in FIG. 6, Figure 4 FIG. 6 shows the emission sound field of the area array ultrasonic probe, Figure 4 FIG. 6(a) and (c) show that the emission angle of the area array ultrasonic probe is deflected by a certain angle along the left and right sides shown in the figure, respectively, Figure 4 FIG. 6(c) shows an example in which the area array ultrasonic probe does not perform emission angle deflection. As can be seen, the echo signals corresponding to each emission of the ultrasonic wave by the area array ultrasonic probe will generate a set of ultrasonic volume data after beamforming, and compared with the linear ultrasonic probe, the calculation amount of beamforming of the area array ultrasonic probe is also increased by a square. In order to increase the calculation speed of beamforming, in addition to keeping the line densities in the horizontal and vertical directions on the area array plane reasonable, the number of data points of each data line in the depth direction can be further reduced, which can be realized by downsampling in the beamforming process of each data line. Through the above ultrasonic wave emission angle and reasonable control of the number of data points, supplemented by high-performance device hardware operation, the acquisition volume rate of the area array ultrasonic probe can reach 500 VPS. Further, in an embodiment, part of the signals in all the collected echo signals can be selected for beamforming, for example, only observing a two-dimensional section or observing the content of a local three-dimensional super-resolution image, at which time the imaging frame rate / volume rate will be significantly improved.

[0115] In some embodiments, after entering the super-resolution contrast imaging mode, the three-dimensional super-resolution image can be obtained according to the following process:

[0116] Step 1031: In the "acquisition preparation" state of the super-resolution contrast imaging mode, observe the target section while stabilizing the area array ultrasonic probe.

[0117] Step 1032: Inject the contrast agent microbubbles into the patient's body and start the timer of the ultrasound imaging device at the same time of the injection, record and display the time information of the microbubble perfusion on the display screen in real time, during the microbubble perfusion, the user observes the appropriate opportunity, reminds the patient to hold breath and starts the "data acquisition" function, at this time the system enters the superfast imaging mode (~ 500FPS or VPS).

[0118] Step 1033: In the superfast imaging mode, a second ultrasound wave is emitted to the target object injected with the contrast agent microbubbles by using the area array ultrasound probe, and ultrasound volume data is generated based on the echo signal of the second ultrasound wave to collect the ultrasound volume data. It should be noted that several seconds of ultrasound volume data can obtain thousands of frames / volume of original ultrasound volume data, and the ultrasound imaging device will prompt the user to keep the area array ultrasound probe stable during data collection. After the data collection is completed, the user can relax the hand holding the area array ultrasound probe, and instruct the patient to return to the free breathing state.

[0119] Step 1034: At the same time when the ultrasound volume data collection is completed, the data super-resolution processing is automatically started, that is, the contrast agent microbubbles in each frame of ultrasound volume data of the region of interest are located and tracked to obtain the position information of the contrast agent microbubbles, the position information of the contrast agent microbubbles of all frames of ultrasound volume data is accumulated, and three-dimensional reconstruction is performed based on the accumulation result to form a three-dimensional super-resolution image of the region of interest.

[0120] In some embodiments, before locating and tracking the contrast agent microbubbles in each frame of ultrasound volume data of the region of interest in step 1034, it can further include:

[0121] Step 1034-1: Filter processing is performed on each frame of ultrasound volume data to obtain the tissue signal and the microbubble signal of the contrast agent microbubbles in each frame of ultrasound volume data; that is, the tissue signal and the microbubble signal in the ultrasound volume data are separated and extracted. In an embodiment, based on the difference in the space-time characteristics of the tissue signal and the blood flow signal, a large amount of time-continuous ultrasound volume data can be detected by using an efficient filtering algorithm to realize the detection of the tissue signal and the microbubble signal.

[0122] Step 1034-2: Based on the extracted tissue signal, three-dimensional motion estimation is performed to obtain a motion estimation result. In an embodiment, the method of three-dimensional motion estimation can use some existing methods, such as the speckle tracking technology widely used in various ultrasound imaging modes, which will not be described in detail here.

[0123] Step 1034-3: The motion estimation result is used to correct the three-dimensional motion of the microbubble signal to obtain the corrected microbubble signal, so as to further reduce the interference caused by factors such as heart beating, muscle trembling, and slight movement of the probe.

[0124] After the corrected microbubble signal is acquired, the contrast agent microbubbles in the ultrasound volume data of the region of interest are located and tracked in step 1034 to obtain the position information of the contrast agent microbubbles, the position information of the contrast agent microbubbles in the ultrasound volume data is accumulated, and three-dimensional reconstruction is performed based on the accumulation result to obtain a three-dimensional super-resolution image of the region of interest, which can include:

[0125] Step 1034-4: The contrast agent microbubbles in each frame of the m frames of ultrasound volume data are located and tracked, and in an embodiment, the "center of mass" of the contrast agent microbubbles in the microbubble signal can be located and tracked. Then, the position information of the contrast agent microbubbles in the m frames of ultrasound volume data is accumulated, and three-dimensional reconstruction and rendering are performed based on the accumulation result to obtain a three-dimensional super-resolution image of the region of interest. In an embodiment, the microbubble signal extracted from the filtered multi-frame (or multi-volume) ultrasound volume data, where the microbubble can have multiple, such as b1, b2, b3 three microbubbles, is located and tracked in the t1, t2, t3, t4 corresponding four frames (or volumes) of ultrasound volume data. Four position information can be obtained, and the position information can be accumulated on the template image to form a trajectory image of the three microbubbles in t1-t4. Similar processing is performed on all microbubbles in the collected volume data, and the trajectories of all microbubbles can be accumulated to form a three-dimensional super-resolution image.

[0126] Step 104: Display the three-dimensional super-resolution image on the display component 50. In some embodiments, the user can save the formed three-dimensional super-resolution image, and perform subsequent measurement and analysis based on the saved three-dimensional super-resolution image according to needs.

[0127] In some embodiments, the displayed three-dimensional super-resolution image can be a three-dimensional super-resolution image, or a multi-volume three-dimensional super-resolution image. When the displayed is a multi-volume three-dimensional super-resolution image, the multi-volume three-dimensional super-resolution image can be dynamically displayed. The dynamic display of the multi-volume three-dimensional super-resolution image can include: displaying each volume of the three-dimensional super-resolution image; or, displaying the three-dimensional super-resolution image by volume, that is, presenting the accumulation process of the position information of the microbubbles in each frame of ultrasound volume data by volume.

[0128] In some embodiments, after the three-dimensional super-resolution processing of the collected ultrasound volume data is performed and the three-dimensional super-resolution result is obtained in step 104, the three-dimensional super-resolution image is displayed in the image display area of the display screen, wherein the interactive panel of the ultrasound imaging device is provided with a knob for controlling the rotation of the displayed three-dimensional super-resolution image in the depth direction (z), the lateral direction (x) and the height direction (y), and is also provided with a knob for zooming in and out, which assists in observing the local blood vessels in the three-dimensional super-resolution image, and a prompt for the spatial orientation of the displayed three-dimensional super-resolution image is also provided in the display screen. Various display modes of the three-dimensional super-resolution image can be set, including the following display modes:

[0129] (I) The three-dimensional super-resolution image is displayed globally in the image display area of the display screen, which is also the default display mode, as shown in Figure 5 Figure 5 The right lower part of the displayed three-dimensional super-resolution image Figure 5 also displays a thumbnail of the three-dimensional super-resolution image.

[0130] (II) While the three-dimensional super-resolution image is displayed in the image display area of the display screen, a cross-sectional image of a two-dimensional cross section generated based on the collected ultrasound volume data is also displayed. In an embodiment, the cross-sectional image of the two-dimensional cross section generated based on the collected ultrasound volume data includes the following two display modes:

[0131] (1) At least two cross-sectional images generated based on the ultrasound volume data are displayed, wherein at least part of the at least two cross-sectional images are parallel, for example, while the three-dimensional super-resolution image is displayed, a plurality of parallel cross-sectional images in a predetermined direction are displayed, as shown in Figure 6 While the three-dimensional super-resolution image and three parallel cross-sectional images SL1, SL2, SL3 in the height direction (y) are displayed, each cross-sectional image corresponds to a different cross-sectional position of the three-dimensional super-resolution image, Figure 6 The right lower part of the displayed three-dimensional super-resolution image also displays a thumbnail of the three-dimensional super-resolution image, and the thumbnail displays cross-sectional position identifiers corresponding to the three parallel cross-sectional images, and the user can adjust the predetermined direction through human-computer interaction, and the adjusted cross-sectional position is updated in the thumbnail of the three-dimensional super-resolution image.

[0132] (2) At least two cross-sectional images generated based on the ultrasound volume data are displayed, wherein at least part of the at least two cross-sectional images intersect, for example, while the three-dimensional super-resolution image is displayed, a plurality of intersecting cross-sectional images are displayed, as shown in Figure 7 ​As shown, a 3D super-resolution image and three mutually perpendicular cross-sectional images are displayed simultaneously. The three mutually perpendicular cross-sectional images are the cross-sectional images corresponding to a predetermined cross-sectional position in the depth direction (z), lateral direction (x), and height direction (y), respectively. The predetermined cross-sectional position can be the default center cross-sectional position. Figure 7 The lower right corner of the image also displays a thumbnail of the 3D super-resolution image. The thumbnail shows the position markers of the cross-sections corresponding to the three parallel cross-section images. Users can adjust the predetermined cross-section position through human-computer interaction, and the adjusted cross-section position is updated in the thumbnail of the 3D super-resolution image.

[0133] In some embodiments, switching and selecting display modes may include:

[0134] Step 1041: Multiple display mode controls are also displayed on the display screen. Each display mode control corresponds to a display mode, and the image content displayed in different display modes is at least partially different.

[0135] Step 1042: In response to the user's operation of selecting a display mode control, obtain the predetermined display mode.

[0136] Step 1043: While displaying the 3D super-resolution image, display the cross-sectional image corresponding to the predetermined display mode.

[0137] Therefore, users can select the desired display mode via the corresponding display mode control to enter the appropriate display mode and display according to different modes. Each display mode differs not only in the displayed image content but also in the display layout. For example, it can be displayed according to... Figure 7 and Figure 8 The four-grid layout shown can be displayed, but it can also be displayed in a horizontal row or a vertical column layout. This embodiment does not limit this.

[0138] In some embodiments, displaying the three-dimensional super-resolution image in step 104 further includes:

[0139] Step 1044: In response to a user-input parameter control display command for the target tissue in the 3D super-resolution image, obtain the parameter display threshold for the target tissue. In one embodiment, the target tissue may be a blood vessel, and the parameter display threshold may be a blood vessel diameter threshold or a blood vessel flow velocity threshold, etc.

[0140] Step 1045: Based on the parameter display threshold of the target tissue, modify the displayed content in the displayed 3D super-resolution image. Modifying the displayed content in the displayed 3D super-resolution image includes:

[0141] The target tissue not satisfying the parameter display threshold is hidden in the displayed three-dimensional super-resolution image, i.e., the target tissue not satisfying the parameter display threshold in the three-dimensional super-resolution image is not displayed. Alternatively, the target tissue not satisfying the parameter display threshold is marked in the displayed three-dimensional super-resolution image. The parameter display threshold can be a setting of a gear, for example, the diameter threshold of a blood vessel is 50 um, only the blood vessels with a diameter less than (or greater than) the diameter threshold in the three-dimensional super-resolution image are displayed, and others are hidden; for another example, the blood vessels with a diameter less than (or greater than) the diameter threshold in the three-dimensional super-resolution image are marked with different colors or marked with identification marks, and others are not marked. The display control mode based on the flow rate threshold of the blood vessel is similar, for example, the blood vessels with a flow rate less than (or greater than) a flow rate threshold are selectively hidden or marked.

[0142] It should be noted that when the display content of the displayed three-dimensional super-resolution image is changed, the three-dimensional super-resolution image is not re-generated by performing imaging processing on the collected original ultrasound volume data, but the three-dimensional super-resolution image calculated previously is processed according to the new parameter display threshold to perform some processing such as hiding or marking on the corresponding display content, so as to display the three-dimensional super-resolution image again.

[0143] In some embodiments, after step 104 of displaying the three-dimensional super-resolution image, the method further includes:

[0144] Step 105: measuring a target region in the three-dimensional super-resolution image to obtain and display a measurement result.

[0145] The three-dimensional super-resolution imaging method of some embodiments further includes:

[0146] Step 106: saving the ultrasound volume data and / or the three-dimensional super-resolution image. In the super-resolution contrast imaging mode, the ultrasound volume data and / or the three-dimensional super-resolution image can be automatically saved during the entire ultrasound scanning of the patient. It should be noted that the ultrasound volume data saved in the present embodiment can be data in various processing flows before forming an ultrasound image, for example, can be data after beamforming of echo signals, channel data, etc., which are not limited in the present embodiment.

[0147] After the ultrasound scanning is completed, if it is necessary to display the image corresponding to the pre-saved ultrasound volume data and / or the three-dimensional super-resolution image again, the method further includes:

[0148] Step 107: in response to an instruction of re-displaying the pre-saved ultrasound volume data and / or the three-dimensional super-resolution image, acquiring the pre-saved ultrasound volume data and / or the three-dimensional super-resolution image.

[0149] Step 108: based on the pre-set display parameters, the saved three-dimensional super-resolution image or the three-dimensional super-resolution image corresponding to the saved ultrasound volume data is re-displayed. For the target object scanned by the planar array ultrasonic probe, the pre-set display parameters can include the field of view angle, the depth and width of the region of interest on each section, and the like, and based on these display parameters and the physical size of the probe itself, the reconstructed three-dimensional volume data is displayed in actual scale through coordinate transformation. In an embodiment, the display parameters can be set according to default settings or pre-user settings, and specifically, in response to a user's modification operation on the display parameters, the modified display parameters are obtained; based on the modified display parameters, the content of displaying the saved three-dimensional super-resolution image or the three-dimensional super-resolution image corresponding to the saved ultrasound volume data is updated; wherein the modified display parameters are a subset of the parameter range corresponding to the saved three-dimensional super-resolution image or the three-dimensional super-resolution image corresponding to the saved ultrasound volume data.

[0150] Therefore, after the ultrasonic scanning is completed, the pre-saved image corresponding to the ultrasound volume data and / or the three-dimensional super-resolution image can be opened again and displayed according to the newly set display parameters, and similarly, the length (distance), area and volume can be measured on the planar image and the three-dimensional stereoscopic image in various display modes, and multiple sets of measurement results can be recorded. In addition, further analysis such as blood flow velocity statistics and blood flow direction statistics in the region of interest can be realized on the three-dimensional microvascular dynamics result image.

[0151] Please refer to Figure 8 The embodiment of the present application also provides a three-dimensional super-resolution imaging method, comprising the following steps:

[0152] Step 201: obtaining a predetermined display mode; the image content displayed by different display modes is at least partially different.

[0153] In some embodiments, obtaining a predetermined display mode can include: displaying a plurality of display mode controls, each display mode control corresponding to a display mode; in response to a user's operation of selecting a display mode control, a predetermined display mode is obtained.

[0154] Step 202: while displaying the three-dimensional super-resolution image, display the section image corresponding to the predetermined display mode; wherein the three-dimensional super-resolution image is a three-dimensional image generated based on the super-resolution contrast imaging processing of the pre-obtained ultrasound volume data of the region of interest, and the section image is a section image of a two-dimensional section generated based on the same ultrasound volume data.

[0155] In some embodiments, displaying the section image corresponding to the predetermined display mode further includes the following two display modes:

[0156] (1) Display at least two section images corresponding to a predetermined display mode, wherein at least part of the at least two section images are parallel, for example, a plurality of parallel section images in a predetermined direction can be displayed simultaneously while displaying the three-dimensional super-resolution image.

[0157] (2) Display at least two section images generated based on the ultrasound volume data, wherein at least part of the at least two section images intersect, for example, three mutually perpendicular section images can be displayed simultaneously while displaying the three-dimensional super-resolution image.

[0158] Thus, the user can select the display mode control corresponding to the required display mode to enter the corresponding display mode to display in different display modes, and each display mode has different display contents and different display layouts, for example, the display can be in a four-quad layout, or in a horizontal row or vertical column layout, which is not limited in the embodiment.

[0159] Please refer to Figure 9 The embodiment of the present application also provides a three-dimensional super-resolution imaging method, comprising the following steps:

[0160] Step 301: In response to an instruction for redisplaying the pre-stored ultrasound volume data and / or three-dimensional super-resolution image, the pre-stored ultrasound volume data and / or three-dimensional super-resolution image is acquired. In the super-resolution contrast imaging mode, the ultrasound volume data and / or three-dimensional super-resolution image can be automatically saved during the entire ultrasound scanning of the patient, and after the ultrasound scanning is completed, if it is required to display the image corresponding to the pre-stored ultrasound volume data and / or three-dimensional super-resolution image again, the saved ultrasound volume data and / or three-dimensional super-resolution image is acquired. It should be noted that the ultrasound volume data saved in the embodiment can be data in various processing procedures before the ultrasound image is formed, for example, data after the echo signal beam synthesis, channel data, etc., which is not limited in the embodiment.

[0161] Step 302: based on the pre-set display parameters, the saved three-dimensional super-resolution image or the three-dimensional super-resolution image corresponding to the ultrasonic volume data is re-displayed. For the target object scanned by the surface array ultrasonic probe, the pre-set display parameters can include the field of view angle, the depth and width of the region of interest on each section, and the like, based on these display parameters and the physical size of the probe itself, the reconstructed three-dimensional volume data is displayed in the transverse, longitudinal and depth directions with a corresponding ratio. It should be noted that the pre-set display parameters are a subset of the parameter range corresponding to the saved three-dimensional super-resolution image or the three-dimensional super-resolution image corresponding to the ultrasonic volume data, i.e. the display content corresponding to the saved three-dimensional super-resolution image or the three-dimensional super-resolution image corresponding to the ultrasonic volume data.

[0162] In an embodiment, the display parameters can be set according to default settings or user settings, and the user settings can be pre-set or real-time modification or setting of the previous display parameters, wherein the user setting display parameters can be: in response to the user's modification operation on the display parameters, obtaining the modified display parameters; based on the modified display parameters, updating the content of displaying the saved three-dimensional super-resolution image or the three-dimensional super-resolution image corresponding to the ultrasonic volume data; wherein the modified display parameters are a subset of the parameter range corresponding to the saved three-dimensional super-resolution image or the three-dimensional super-resolution image corresponding to the ultrasonic volume data.

[0163] Therefore, after the ultrasonic scanning is completed, the pre-saved image and / or three-dimensional super-resolution image corresponding to the ultrasonic volume data can be opened again and displayed according to the newly set display parameters. Similarly, on the planar image and three-dimensional stereoscopic image in various display modes, length (distance), area and volume measurements can be respectively realized, and multiple sets of measurement results can be recorded. In addition, further analysis such as ROI blood flow velocity statistics and blood flow direction statistics can be realized on the three-dimensional microvascular dynamics result graph.

[0164] Those skilled in the art can understand that all or part of the functions of various methods in the above embodiments can be realized by hardware or by a computer program. When all or part of the functions in the above embodiments are realized by a computer program, the program can be stored in a computer readable storage medium, which can include a read-only memory, a random access memory, a magnetic disk, an optical disk, a hard disk, and the like. The above functions are realized by executing the program by a computer. For example, the program is stored in a memory of a device, and the above functions are realized by executing the program in the memory by a processor. In addition, when all or part of the functions in the above embodiments are realized by a computer program, the program can also be stored in a storage medium such as a server, another computer, a disk, an optical disk, a flash disk, or a mobile hard disk, and is saved in a memory of a local device by downloading or copying, or the system of the local device is updated, and the above functions are realized by executing the program in the memory by a processor.

[0165] The above application of specific examples to the present application is described, which is only used to help understand the present application and does not limit the present application. For those skilled in the art, according to the idea of the present application, a number of simple deductions, deformations or substitutions can be made.

Claims

1. A three-dimensional super-resolution imaging method, characterized in that, include: In response to a user-input command to select an ultrasound probe and examination mode, the ultrasound probe of the ultrasound device is switched to the selected ultrasound probe, and the examination mode of the ultrasound device is switched to the selected examination mode; wherein, the selected ultrasound probe is an area array ultrasound probe; In the selected inspection mode, the area array ultrasound probe is used to emit a first ultrasound wave toward the target object, and a tissue image is generated based on the echo signal of the first ultrasound wave, and a region of interest is determined in the tissue image. In response to the command to enter the super-resolution contrast imaging mode, the super-resolution contrast imaging mode is entered; In the super-resolution contrast imaging mode: Using the aforementioned array ultrasound probe, a second ultrasound wave is emitted toward the target object injected with contrast agent microbubbles. Based on the echo signal of the second ultrasound wave, ultrasound volume data is generated. The contrast agent microbubbles in the ultrasound volume data of the region of interest are located and tracked to obtain the position information of the contrast agent microbubbles. The position information of the contrast agent microbubbles in the ultrasound volume data is accumulated, and three-dimensional reconstruction is performed based on the accumulation result to obtain a three-dimensional super-resolution image of the region of interest. Display the three-dimensional super-resolution image.

2. A three-dimensional super-resolution imaging method, characterized in that, include: In response to the command to enter the super-resolution contrast imaging mode, the super-resolution contrast imaging mode is entered; In the super-resolution contrast imaging mode: Using an array ultrasound probe, a second ultrasound wave is emitted toward the target object injected with contrast agent microbubbles. Based on the echo signal of the second ultrasound wave, ultrasound volume data is generated. The contrast agent microbubbles in the ultrasound volume data of the region of interest are located and tracked to obtain the position information of the contrast agent microbubbles. The position information of the contrast agent microbubbles in the ultrasound volume data is accumulated, and three-dimensional reconstruction is performed based on the accumulation result to obtain a three-dimensional super-resolution image of the region of interest. Display the three-dimensional super-resolution image.

3. The method as described in claim 1 or 2, characterized in that, Also includes: The ultrasound body data includes at least two frames of ultrasound data acquired from ultrasound waves emitted at different emission angles.

4. The method as described in claim 1 or 2, characterized in that, Before locating and tracking contrast agent microbubbles in the ultrasound data of the region of interest, the procedure also includes: The ultrasound body data of each frame is filtered to obtain the tissue signal and the microbubble signal of the contrast agent microbubble in the ultrasound body data of each frame; Three-dimensional motion estimation is performed based on the tissue signal to obtain the motion estimation result; The motion estimation results are used to perform three-dimensional motion correction on the microbubble signal.

5. The method as described in claim 4, characterized in that, The location information of contrast agent microbubbles in the ultrasound body data is accumulated, and three-dimensional reconstruction is performed based on the accumulation result to obtain a three-dimensional super-resolution image of the region of interest, including: The location information of contrast agent microbubbles in m frames of the ultrasound body data is accumulated, and a three-dimensional super-resolution image of the region of interest is obtained by three-dimensional reconstruction based on the data accumulation result, where m is greater than or equal to 2.

6. The method as described in claim 5, characterized in that, The display of the three-dimensional super-resolution image includes: When the three-dimensional super-resolution image comprises multiple volumes, the three-dimensional super-resolution image is dynamically displayed.

7. The method as described in claim 6, characterized in that, The dynamic display of the three-dimensional super-resolution image includes: Display the three-dimensional super-resolution image roll by roll; or The three-dimensional super-resolution images are displayed by overlaying them one by one.

8. The method as described in claim 1 or 2, characterized in that, The method further includes: While displaying the three-dimensional super-resolution image, a cross-sectional image of a two-dimensional section generated based on the ultrasound body data is also displayed.

9. The method as described in claim 8, characterized in that, The display of the cross-sectional image based on the ultrasound body data, representing a two-dimensional cross-section, includes: Display at least two cross-sectional images generated based on the ultrasound body data, wherein at least a portion of the at least two cross-sectional images are parallel, or at least a portion of the at least two cross-sectional images intersect.

10. The method as described in claim 8 or 9, characterized in that, The method further includes: Display multiple display mode controls, each corresponding to a display mode, and the image content displayed in different display modes is at least partially different; In response to the user selecting a display mode control, obtain the predetermined display mode; The step of displaying a cross-sectional image of a two-dimensional section generated based on the ultrasound volume data while simultaneously displaying the three-dimensional super-resolution image includes: While displaying the three-dimensional super-resolution image, a cross-sectional image corresponding to the predetermined display mode is also displayed.

11. The method according to any one of claims 8-10, characterized in that, The display of the three-dimensional super-resolution image includes: A thumbnail of the three-dimensional super-resolution image is displayed.

12. The method as described in claim 1 or 2, characterized in that, The process of displaying the three-dimensional super-resolution image further includes: In response to a user-input parameter control display command for a target tissue in the 3D super-resolution image, the parameter display threshold of the target tissue is obtained; Based on the parameter display threshold of the target tissue, the displayed content in the displayed three-dimensional super-resolution image is varied.

13. The method as described in claim 12, characterized in that, The changes displayed in the 3D super-resolution image include: Hide target tissues that do not meet the parameter threshold in the displayed 3D super-resolution image; Alternatively, target tissues that do not meet the parameter thresholds may be marked in the displayed 3D super-resolution image.

14. The method as described in claim 1 or 2, characterized in that, After displaying the three-dimensional super-resolution image, the method further includes: The target region in the three-dimensional super-resolution image is measured, and the measurement results are obtained and displayed.

15. The method as described in claim 1 or 2, characterized in that, Also includes: Save the ultrasound body data and / or three-dimensional super-resolution images.

16. The method as described in claim 15, characterized in that, Also includes: In response to an instruction to re-display the pre-saved ultrasound body data and / or three-dimensional super-resolution image, the pre-saved ultrasound body data and / or three-dimensional super-resolution image are acquired. Based on preset display parameters, the saved three-dimensional super-resolution image or the three-dimensional super-resolution image corresponding to the ultrasound body data is re-displayed.

17. The method as described in claim 16, characterized in that, Also includes: In response to the user's modification of the display parameters, the modified display parameters are obtained; Based on the modified display parameters, update the content displayed for the saved three-dimensional super-resolution image or the three-dimensional super-resolution image corresponding to the ultrasound body data; The modified display parameters are a subset of the parameter range corresponding to the three-dimensional super-resolution image or the three-dimensional super-resolution image corresponding to the saved ultrasound body data.

18. A three-dimensional super-resolution imaging method, characterized in that, include: Obtain the predetermined display mode; different display modes display at least partially different image content; While displaying the three-dimensional super-resolution image, a cross-sectional image corresponding to the predetermined display mode is also displayed; wherein, the three-dimensional super-resolution image is a three-dimensional image generated by super-resolution contrast imaging processing based on ultrasound volume data of a pre-acquired region of interest, and the cross-sectional image is a cross-sectional image of a two-dimensional section generated based on the ultrasound volume data.

19. The method as described in claim 18, characterized in that, The cross-sectional image corresponding to the predetermined display mode includes: Display at least two cross-sectional images corresponding to the predetermined display mode, wherein at least some of the cross-sectional images are parallel, or at least some of the cross-sectional images intersect.

20. The method as described in claim 18 or 19, characterized in that, The process of obtaining the predetermined display mode includes: Display multiple display mode controls, each display mode control corresponding to one display mode; In response to a user selecting a display mode control, the predetermined display mode is obtained.

21. The method as described in claim 18 or 19, characterized in that, The method further includes: In response to a user-inputted display switching command, the three-dimensional super-resolution image is displayed, or a cross-sectional image corresponding to the predetermined display mode is displayed.

22. The method as described in claim 18 or 19, characterized in that, The display of the three-dimensional super-resolution image includes: A thumbnail of the three-dimensional super-resolution image is displayed.

23. The method according to any one of claims 18 to 22, characterized in that, Also includes: In response to a user-input parameter control display command for a target tissue in the 3D super-resolution image, the parameter display threshold of the target tissue is obtained; Based on the parameter display threshold of the target tissue, the displayed content in the displayed three-dimensional super-resolution image is varied.

24. The method as described in claim 23, characterized in that, The changes displayed in the 3D super-resolution image include: Hide target tissues that do not meet the parameter display threshold in the displayed 3D super-resolution image; Alternatively, target tissues that do not meet the parameter display threshold can be marked in the displayed 3D super-resolution image.

25. A three-dimensional super-resolution imaging method, characterized in that, include: In response to an instruction to re-display pre-saved ultrasound body data and / or three-dimensional super-resolution images, the pre-saved ultrasound body data and / or three-dimensional super-resolution images are acquired. Based on preset display parameters, the saved three-dimensional super-resolution image or the three-dimensional super-resolution image corresponding to the ultrasound body data is re-displayed.

26. The method as described in claim 25, characterized in that, Also includes: In response to the user's modification of the display parameters, the modified display parameters are obtained; Based on the modified display parameters, update the content displayed for the saved three-dimensional super-resolution image or the three-dimensional super-resolution image corresponding to the ultrasound body data; The modified display parameters are a subset of the parameter range corresponding to the three-dimensional super-resolution image or the three-dimensional super-resolution image corresponding to the saved ultrasound body data.

27. An ultrasonic imaging device, characterized in that, include: An ultrasonic probe, a transmitting and receiving control circuit, a processor, and a display component; the ultrasonic probe is used to transmit ultrasonic waves to a region of interest and to receive corresponding ultrasonic echoes; the transmitting and receiving control circuit is used to control the probe to transmit ultrasonic waves and receive ultrasonic echoes; the processor is used to perform the method as described in any one of claims 1 to 26.

28. A computer-readable storage medium, characterized in that, The medium stores a program that can be executed by a processor to implement the method as described in any one of claims 1-26.

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