Ultrasonic imaging method, ultrasonic imaging device and puncture navigation system

Abstract

A method of acoustic imaging, an ultrasonic imaging device (10), and a puncture navigation system are used to improve operation accuracy. The ultrasonic imaging method comprises: transmitting ultrasonic waves to a target area, and receiving ultrasonic echoes returned by the target area to obtain ultrasonic echo data (201); generating an ultrasonic image (202) according to the ultrasonic echo data; obtaining position information of an interventional object (203); generating a guide image (204) according to the position information of the interventional object, the guide image indicating the positional relationship between the interventional object and a puncture target in the target area; and displaying the ultrasonic image and the guide image (205).

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to an ultrasonic imaging method, an ultrasonic imaging device, and a puncture navigation system. Background Art

[0002] With the development of science and technology, the directivity of ultrasound can accurately locate the diseased tissue and observe the dynamic changes of the anatomical structure of the tissue in real time. Its accuracy and safety have incomparable advantages over other imaging examination methods. Ultrasound can clearly display the internal tissue structure of the human body, and ultrasound-guided puncture technology has emerged. This technology is a clinical technology for puncturing lesions or targets in the body under the monitoring and guidance of real-time ultrasound images. The specific method is to avoid important organs and large blood vessels and nerves under the guidance of ultrasound, and accurately insert the puncture needle into the diseased tissue for treatment or to aspirate or cut out a small amount of cells or tissue for pathological examination, or to puncture the puncture needle near the nerve to inject anesthetic drugs, etc. This avoids damage to the surrounding tissue to the greatest extent. After the puncture, the puncture site, puncture path and the diffusion of anesthetic drugs can be observed immediately, and possible bleeding and other phenomena can be discovered in time, and they can be treated in the shortest time to avoid causing more serious complications.

[0003] Ultrasound puncture navigation can display the movement of the puncture needle in the tissue in real time, provide a basis for the selection of the puncture path, and is an important means of ultrasound-assisted treatment. However, conventional ultrasound-guided puncture relies heavily on the operator's experience and the performance of the ultrasound instrument, and may have problems such as a large number of punctures and a long operation time, which in turn leads to an increase in the incidence of complications. For example, the ultrasound emitted by the probe is actually very narrow and is emitted from a small gap in the middle of the probe. The ultrasound emitted by the puncture needle and the probe are not in the same plane, so the puncture cannot be effectively guided by ultrasound imaging. In addition, when the probe and the skin are not perpendicular, the puncture needle needs to be inserted from the side relative to the probe, and the puncture needle and the probe are not coplanar. If the nerve block is performed under ultrasound guidance, if the needle tip is not fully displayed, there may be nerve damage. There are also relatively large difficulties for some puncture treatments. For example, because the aspiration needle tube is very small, the puncture needle is not clearly displayed when it reaches a depth of 2-3cm on the ultrasound image, so it cannot effectively avoid important blood vessels and nerves. Summary of the invention

[0004] The present application provides an ultrasonic imaging method, an ultrasonic imaging device, and a puncture navigation system for improving operation accuracy.

[0005] A first aspect of an embodiment of the present application provides an ultrasound imaging method, comprising: emitting ultrasound waves to a target area, and receiving ultrasound echoes returned from the target area to obtain ultrasound echo data; generating an ultrasound image based on the ultrasound echo data; acquiring position information of an interventional object; generating a guide image based on the position information of the interventional object, the guide image indicating a positional relationship between the interventional object and a puncture target within the target area; and displaying the ultrasound image and the guide image.

[0006] A second aspect of an embodiment of the present application provides an ultrasonic imaging device, comprising: a probe, a transmitting circuit, a receiving circuit processor and a display; the transmitting circuit transmits ultrasonic waves to a target area, the receiving circuit controls the probe to receive ultrasonic echoes returned by the target area to obtain ultrasonic echo data; the processor generates an ultrasonic image based on the ultrasonic echo data; the processor obtains position information of an interventional object; the processor generates a guide image based on the position information of the interventional object, the guide image indicating a positional relationship between the interventional object and a puncture target within the target area; the display displays the ultrasonic image and the guide image.

[0007] A third aspect of an embodiment of the present application provides an ultrasound imaging method, comprising: transmitting ultrasound to a target area through a probe, and receiving ultrasound echoes returned from the target area to obtain ultrasound echo data; generating an ultrasound image based on the ultrasound echo data; acquiring a positional relationship of the interventional object relative to the probe; generating a puncture indication map based on the positional relationship of the interventional object relative to the probe, the puncture indication map indicating the positional relationship of the interventional object relative to the plane where the ultrasound image is located; and displaying the ultrasound image and the puncture indication map.

[0008] A fourth aspect of an embodiment of the present application provides an ultrasonic imaging device, comprising: a probe, a transmitting circuit, a receiving circuit processor and a display; the transmitting circuit transmits ultrasonic waves to a target area through the probe; the receiving circuit controls the probe to receive ultrasonic echoes returned by the target area to obtain ultrasonic echo data; the processor generates an ultrasonic image based on the ultrasonic echo data; the processor obtains the positional relationship of the interventional object relative to the probe; the processor generates a puncture indication diagram based on the positional relationship of the interventional object relative to the probe, the puncture indication diagram indicating the positional relationship of the interventional object relative to the plane where the ultrasonic image is located; the display displays the ultrasonic image and the puncture indication diagram.

[0009] A fifth aspect of an embodiment of the present application provides a puncture navigation system, comprising a magnetizer for magnetizing an interventional object, and an ultrasonic imaging device as provided in the second aspect or the fourth aspect above.

[0010] A sixth aspect of an embodiment of the present application provides a computer-readable storage medium, which stores instructions. When the computer-readable storage medium is run on a computer, the computer executes the ultrasound imaging method provided by the first aspect or the third aspect.

[0011] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages: after obtaining the ultrasound image and the position information of the interventional object through ultrasound and ultrasound echo, a guidance image is generated according to the position information of the interventional object, and the guidance image can indicate the positional relationship between the interventional object and the puncture target in the target area, and display the ultrasound image and the guidance image. Therefore, the interventional object can be guided by the guidance image, and the operation direction can be provided for the interventional object, thereby improving the operation accuracy of the operator and effectively avoiding important tissues. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A schematic diagram of a possible structural block diagram of an ultrasonic imaging device provided in an embodiment of the present application;

[0013] Figure 2 A flowchart of a possible ultrasound imaging method provided in an embodiment of the present application;

[0014] Figure 3 A possible probe schematic diagram provided for an embodiment of the present application;

[0015] Figure 4 A schematic diagram of another possible probe provided in an embodiment of the present application;

[0016] Figure 5 A possible puncture needle guidance schematic diagram provided in an embodiment of the present application;

[0017] Figure 6 A possible puncture needle guidance schematic diagram provided in an embodiment of the present application;

[0018] Figure 7 A possible puncture needle guidance schematic diagram provided in an embodiment of the present application;

[0019] Figure 8 A possible puncture needle guidance schematic diagram provided in an embodiment of the present application;

[0020] Fig. 9 A possible puncture needle guidance schematic diagram provided in an embodiment of the present application;

[0021] Fig.10 A possible puncture needle guidance schematic diagram provided in an embodiment of the present application;

[0022] Fig.11 A possible puncture needle guidance schematic diagram provided in an embodiment of the present application;

[0023] Fig.12 A possible puncture needle guidance schematic diagram provided in an embodiment of the present application;

[0024] Fig.13 A possible puncture needle guidance schematic diagram provided in an embodiment of the present application;

[0025] Fig.14 A possible puncture needle guidance schematic diagram provided in an embodiment of the present application;

[0026] Fig.15 A possible puncture needle guidance schematic diagram provided in an embodiment of the present application;

[0027] Fig.16 A possible puncture needle guidance schematic diagram provided in an embodiment of the present application;

[0028] Fig.17 A possible puncture needle guidance schematic diagram provided in an embodiment of the present application;

[0029] Fig.18 A possible puncture needle guidance schematic diagram provided in an embodiment of the present application;

[0030] Fig.19 A possible puncture needle guidance schematic diagram provided in an embodiment of the present application;

[0031] Fig. 20 A possible puncture needle guidance schematic diagram provided in an embodiment of the present application;

[0032] Fig.21 A possible puncture needle guidance schematic diagram provided in an embodiment of the present application;

[0033] Fig. 22 A possible puncture needle guidance schematic diagram provided in an embodiment of the present application;

[0034] Fig.23 A possible puncture needle guidance schematic diagram provided in an embodiment of the present application;

[0035] Fig.24 A possible schematic diagram of puncture needle guidance provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The embodiments of the present application provide an acoustic imaging method and an ultrasonic imaging device for improving operation accuracy.

[0037] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0038] Figure 1 1 is a schematic diagram of a structural block diagram of an ultrasonic imaging device 10 in an embodiment of the present application. The ultrasonic imaging device 10 may include a probe 100, a transmitting circuit 101, a transmitting / receiving selection switch 102, a receiving circuit 103, a beamforming circuit 104, a processor 105 and a display 106. The transmitting circuit 101 can excite the probe 100 to transmit ultrasonic waves to the target area. The receiving circuit 103 can receive the ultrasonic echo returned from the target area through the probe 100, thereby obtaining an ultrasonic echo signal / data. The ultrasonic echo signal / data is sent to the processor 105 after being subjected to beamforming processing by the beamforming circuit 104. The processor 105 processes the ultrasonic echo signal / data to obtain an ultrasonic image of the target object or an ultrasonic image of an interventional object. The ultrasonic image obtained by the processor 105 can be stored in the memory 107. These ultrasonic images can be displayed on the display 106.

[0039] In one embodiment of the present application, the display 106 of the aforementioned ultrasonic imaging device 10 may be a touch screen, a liquid crystal display, etc., or it may be an independent display device such as a liquid crystal display, a television, etc. that is independent of the ultrasonic imaging device 10, or it may be a display screen on electronic devices such as mobile phones and tablet computers, and so on.

[0040] In one embodiment of the present application, the memory 107 of the aforementioned ultrasonic imaging device 10 may be a flash memory card, a solid-state memory, a hard disk, etc.

[0041] In one embodiment of the present application, a computer-readable storage medium is also provided, which stores a plurality of program instructions. After the plurality of program instructions are called and executed by the processor 105, part or all of the steps or any combination of the steps in the ultrasound imaging method in each embodiment of the present application can be executed.

[0042] In one embodiment, the computer-readable storage medium may be the memory 107, which may be a non-volatile storage medium such as a flash memory card, a solid-state memory, or a hard disk.

[0043] In one embodiment of the present application, the processor 105 of the aforementioned ultrasonic imaging device 10 can be implemented by software, hardware, firmware or a combination thereof, and can use circuits, single or multiple application-specific integrated circuits (ASICs), single or multiple general-purpose integrated circuits, single or multiple microprocessors, single or multiple programmable logic devices, or a combination of the aforementioned circuits or devices, or other suitable circuits or devices, so that the processor 105 can execute the corresponding steps of the ultrasonic imaging method in each embodiment of the present application.

[0044] The ultrasonic imaging method in the present application is described in detail below.

[0045] It should be noted that, combined with Figure 1 As shown in the structural block diagram of the ultrasonic imaging device 10, the ultrasonic imaging method provided in the embodiment of the present application can be applied to the following application scenarios: the operator places the probe 100 on the body surface of the part to be punctured, and inserts the puncture needle from the side of the probe 100. The operator can see the tissue structure through the display 106, and can also vaguely see the position of the puncture needle or the needle tip of the puncture needle in the tissue structure.

[0046] Based on this, see Figure 2 , an ultrasonic imaging method provided in an embodiment of the present application is applied to an ultrasonic imaging device 10, and the ultrasonic imaging method embodiment includes:

[0047] 201. Transmit ultrasonic waves to a target area, and receive ultrasonic echoes returned from the target area to obtain ultrasonic echo data.

[0048] First, to obtain an image of the target area, the operator can place the probe 100 in the target area, transmit ultrasound to the target area, and receive ultrasound echoes reflected by the target area to obtain ultrasound echo data. Depending on the different tissue structures of the target area, the received ultrasound echo data is also different.

[0049] Specifically, Figure 3 As shown, the processor 105 may control the opening of the transmit / receive selection switch 102, and control the transmitting circuit 101 to transmit ultrasonic waves to the target area through the probe 100, and receive ultrasonic echoes through the probe 100, and transmit them to the receiving circuit 103. That is, it can be understood that the receiving circuit 103 can receive ultrasonic echoes returned from the target area through the probe 100, thereby obtaining ultrasonic echo data.

[0050] 202. Generate an ultrasound image according to the ultrasound echo data.

[0051] The ultrasonic echo data is processed by the beam synthesis circuit 104 and then transmitted to the processor 105 . The processor 105 processes the ultrasonic echo data to obtain an ultrasonic image of the target area.

[0052] 203. Obtain position information of the intervening object.

[0053] In this embodiment, the processor 105 may obtain the position information of the interventional object to be inserted or inserted into the target object, and determine the target imaging parameters according to the position information. The position information may be the position relationship of the interventional object relative to the probe.

[0054] In clinical operation, when an interventional object is inserted or to be inserted into a target object, the ultrasonic imaging device 10 positions the interventional object to obtain position information of the interventional object.

[0055] For ease of description, in the embodiments of the present application, the interventional object is taken as an example of a puncture needle, and correspondingly, the position information of the interventional object may include the needle tip position of the puncture needle. In practical applications, the interventional object may be other objects, which are not specifically limited here.

[0056] It should be noted that, in actual applications, there are many ways to obtain the position information of the intervening object, including electromagnetic navigation technology, image pattern recognition technology, infrared or laser technology, etc., which are not specifically limited here.

[0057] In one embodiment, the position information of the interventional object can be obtained by electromagnetic navigation technology. The acquisition of the position information of the interventional object to be inserted or inserted into the target object includes: the processor 105 detects the magnetic induction intensity generated by the magnetization of the puncture needle; and determines the needle tip position of the puncture needle according to the magnetic induction intensity.

[0058] Electromagnetic navigation technology is a technology that utilizes spatially distributed magnetic fields to locate objects in a magnetic field based on data obtained by sensors in the magnetic field. It can be understood as a real-time positioning technology that utilizes the penetration of magnetic fields into non-shielded objects in a non-visual state. Exemplarily, the process of determining the position information of a puncture needle based on magnetic field induction positioning technology includes: first, monitoring the magnetic field strength around the probe 100 and recording the initial magnetic field strength. The operator can then magnetize the puncture needle using a magnetizer to obtain a magnetized puncture needle. When the magnetized puncture needle is close to the probe 100 of the ultrasonic imaging device 10, the magnetized puncture needle will generate a magnetic field, and as Figure 4As shown, in one embodiment, the probe 100 may be integrated with a magnetic field sensor array 201 composed of magnetically sensitive materials, so the magnetized puncture needle will affect the magnetic field around the magnetic field sensor array 201. Therefore, the magnetic field sensor array detects the magnetic induction intensity of the magnetic field generated by the puncture needle, so that the ultrasonic imaging device 10 determines the change value of the magnetic field around the magnetic field sensor array according to the change value of the magnetic induction intensity, and calculates the coordinate information and orientation information of the needle tip of the puncture needle in real time based on the change value of the magnetic field to obtain the spatial coordinates of the puncture needle, and converts the spatial coordinates into plane coordinates relative to the plane where the ultrasonic image is located, and can be combined with the ultrasonic image to generate the corresponding position information of the puncture needle in the ultrasonic image.

[0059] It should be understood that the probe 100 may include a magnetic sensor to detect the strength of the magnetic field around the probe 100 .

[0060] Exemplarily, the magnetic field strength B(b) around the probe 100 is first monitored, and after the puncture needle is magnetized, the change in magnetic field strength B(t) around the probe caused by the magnetized puncture needle is detected, and the magnetic field B(n)=B(t)-B(b) of the puncture needle is calculated based on the original magnetic field strength around the probe and the changed magnetic field strength around the probe. The calculated magnetic field strength of the puncture needle is compared with a preset magnetic field data table to calculate the position and angle of the puncture needle relative to the probe, and the spatial coordinates B(0)=F(x0, y0, z0) and B(1)=F(x1, y1, z1) of the needle tip and needle tail of the puncture needle are calculated. Then, the system directly maps the spatial coordinates of the needle tip and needle tail to the coordinates p(0)=F(x0, y0, 0) and p(1)=F(x1, y1, 0) relative to the ultrasonic plane, thereby obtaining the coordinate information of the puncture needle.

[0061] Therefore, in the embodiment of the present application, the position information of the puncture needle is monitored in real time, so that the clinician can accurately see the position of the puncture needle tip under ultrasound image-guided puncture.

[0062] In one embodiment, the position information of the interventional object can be obtained by image pattern recognition technology. For example, when the puncture needle is inserted into the target object, the ultrasonic imaging device 10 transmits ultrasonic waves through the probe 100 to obtain a B-type ultrasonic image (hereinafter referred to as a B-ultrasound image) with the puncture needle and tissue structure, etc., and performs image enhancement and equalization processing on the B-ultrasound image, and determines the position of the puncture needle in the B-ultrasound image by image pattern recognition.

[0063] In one embodiment, the position information of the interventional object can be obtained by infrared or laser technology. For example, the depth, displacement, etc. of the interventional object can be detected by infrared or laser to determine the position of the puncture needle in the ultrasound image.

[0064] In summary, in the embodiments of the present application, there are multiple ways to locate the intervening object, which will not be described one by one here.

[0065] 204. Generate a guidance image according to the position information of the intervening object.

[0066] After the position information of the puncture needle is determined, the needle tip coordinates and the needle tail coordinates of the puncture needle can be determined, and the needle tip coordinates and the needle tail coordinates can be mapped to the ultrasound image to generate a guide image. The guide image is generated according to the position information of the puncture needle.

[0067] 205. Display the ultrasound image and the guidance image.

[0068] The ultrasound image and the guide image are displayed on the display. In one embodiment, the display can also be updated in real time according to the monitoring of the puncture needle.

[0069] The guidance image may include a first guidance image indicating the area where the puncture needle is located, a second guidance image indicating the area where the puncture needle tip is located, a third guidance image indicating the area where the puncture target is located, and / or a fourth guidance image indicating the puncture path of the puncture needle. The guidance image is exemplarily described below in conjunction with an ultrasound image.

[0070] Puncture can be divided into in-plane puncture and out-of-plane puncture. In-plane puncture is a puncture performed within the sound beam emitted by the probe 100, and the puncture path of the in-plane puncture is within the ultrasound image plane. The puncture path of out-of-plane puncture is a process in which the puncture needle is punctured as a whole or partially outside the sound beam emitted by the probe 100. Usually, out-of-plane puncture can only show part of the puncture needle or the needle tip of the puncture needle in the ultrasound image. In the embodiment of the present application, a guidance image can be generated for both out-of-plane puncture and in-plane puncture, and mapped to the ultrasound image.

[0071] It should be noted that part of the puncture needle or the needle tip of the puncture needle may be displayed in the ultrasound image of the out-of-plane puncture, and this application only takes the needle tip of the puncture needle as an example for explanation. In addition, the guide map in the embodiment of this application is illustrated by taking the dotted line as an example, and the lines included in the actual guide image can be dotted lines, solid lines or other lines, and guide maps of other colors, which are adjusted according to the actual application scenario and are not limited here.

[0072] For example, the first guide map can be as follows Figure 5 as well as Figure 6 The first guidance map is the guidance map of the area where the puncture needle is located. The puncture in the plane is as follows Figure 5 The first guide map 401 in or out-of-plane puncture as Figure 6The first guide map 401 in the figure includes the area where the puncture needle is located. When puncturing outside the plane, the intersection of the needle and the ultrasound imaging plane can be seen only when the needle has reached or passed through the imaging section. The position information of the puncture needle can be determined by electromagnetic navigation technology. When only the needle tip of the puncture needle can be displayed, the first guide map of the puncture needle is generated according to the position information of the puncture needle to identify the area where the puncture needle is located. Therefore, the puncture path of the puncture needle can be determined according to the guide map of the area where the puncture needle is located.

[0073] The second guide map can be Figure 7 as well as Figure 8 As shown, the second guidance map for in-plane puncture can be as follows Figure 7 As shown in 402, the second guidance map for out-of-plane puncture may be as follows: Figure 8 402 is shown. The needle tip of the puncture needle is marked, so the operator can clearly know the position of the needle tip and determine the puncture path of the puncture needle according to the position of the needle tip. The clinician can accurately see the needle tip under the guidance of the ultrasound image, so as to better confirm the relative position of the puncture needle and the puncture target, adjust the puncture needle in time, and perform puncture more accurately.

[0074] The third guidance map is a guidance map of the area where the puncture target is located. The third guidance map for puncture in the plane can be as follows: Fig. 9 As shown in 403, the third guidance map for out-of-plane puncture can be as follows Fig.10 403 is shown. Among them, both the in-plane puncture and the out-of-plane puncture can determine the area where the puncture target is located. By marking the puncture target through the third guide map, the operator can clearly know the area where the puncture target is located. When performing puncture, the angle and position of the puncture needle can be adjusted in time according to the position of the puncture target to improve the accuracy of puncture.

[0075] The fourth guidance map is a guidance map for the puncture needle to indicate the puncture path of the puncture needle. The fourth guidance map for puncture in a plane can be as follows: Fig.11 As shown in 404, the fourth guidance map for out-of-plane puncture can be as follows Fig.12 404 as shown. Specifically, the fourth guide map can be a guide line. The processor 105 can obtain the needle tip coordinates and the needle tail coordinates of the puncture needle according to the position information of the puncture needle, and calculate the guide line from the puncture needle to the puncture target according to the needle tip coordinates and the needle tail coordinates. The distance from the puncture needle tip to the puncture target can be calculated with the needle tip position as the starting point. Fig.11 and Fig.12As shown in the example, the fourth guide map can be a guide line, and the guide line can be marked with scales, that is, the fourth guide map can include scale marks. The number of pixels corresponding to each scale value can be calculated based on the physical pixel value of the ultrasound image, and scale points can be marked on the guide line according to the calculated scale value, wherein the scale can be marked in the form of line segments or dots, etc., or in other forms, which can be adjusted according to the application scenario and is not limited here. For example, Fig.11 as well as Fig.12 The dotted line represents the puncture guide line, and the distance between each two dots in the needle puncture direction is 5 mm. In addition, when calculating the distance from the puncture needle tip to the puncture target during out-of-plane puncture, the angle of the puncture needle relative to the probe must also be considered. After calculating the needle tip coordinates and needle tail coordinates and the guide line of the needle, the distance corresponding to each scale value in the ultrasonic plane is calculated based on the angle between the puncture needle and the probe. For example, if the scale is 5 mm, it means that the distance on the ultrasonic plane is 5*cos(a), where a is the angle between the puncture needle and the ultrasonic plane. Therefore, the present application can generate a guidance image from the puncture needle to the puncture target based on the position information of the puncture needle, so that the operator can intuitively know the puncture guide path of the puncture needle and perform puncture more accurately.

[0076] It should be noted that the guide image may include one or more of the first guide image, the second guide image, the third guide image and the fourth guide image, which may be specifically selected according to the actual application scenario and is not limited here.

[0077] In one embodiment, when the fourth guide image is a guide line, in addition to marking scales on the guide line, the puncturable depth can also be displayed in the ultrasound image. Fig.13 as well as Fig.14 The punctureable depth can be directly displayed in the ultrasound image. For example, Fig.13 as well as Fig.14 It shows that the maximum puncture depth currently supported is 35 mm. Of course, the 35 mm here is just an example.

[0078] In one embodiment, when the puncture needle is punctured at different angles, or the angle of the puncture needle is adjusted during puncture, the guide image can also be adjusted according to the puncture angle of the puncture needle. Fig.15 as well as Fig.16 When the intervention angle of the puncture needle deflects, the deflection angle of the puncture needle is calculated, and the needle tip coordinates and needle tail coordinates of the puncture needle are re-acquired according to the deflection angle, and the distance from the puncture needle to the puncture target is calculated. The scale in the fourth guide map is adjusted according to the distance from the puncture needle to the puncture target. If the ultrasound image includes puncture depth display information, the puncture depth display information can be updated. When puncturing outside the plane, such as Fig.17 as well as Fig.18 As shown, if the puncture needle angle is deflected, the specific method of updating the guide map is similar to that of in-plane puncture, the deflection angle of the puncture needle is calculated, and the needle tip coordinates and needle tail coordinates of the puncture needle are re-acquired according to the deflection angle, and the distance from the puncture needle to the puncture target is calculated, and the scale in the fourth guide map is adjusted according to the distance from the puncture needle to the puncture target. If the ultrasound image includes depth display information, the depth display information can be updated. Furthermore, the distance from the puncture needle to the puncture target can be the distance from the puncture needle tip to the puncture target. Therefore, in the embodiment of the present application, if the puncture angle of the puncture needle is deflected, the guide map and the displayed distance from the puncture needle to the puncture target can be calculated and updated in real time according to the deflection angle of the puncture needle, so that the operator can intuitively know the puncture situation and perform more accurate puncture.

[0079] In one embodiment, after calculating the distance from the puncture needle tip to the puncture target, the display state change of the guide image can be adjusted according to the distance from the puncture needle tip to the puncture target. For example, the color change of the guide image can be adjusted according to the distance from the puncture needle tip to the puncture target, and the displayed distance value or guide line scale value can also be adjusted according to the change in the distance from the puncture needle tip to the puncture target. For example, the closer the distance from the puncture needle tip to the puncture target, the darker the color of the guide image, or the closer the distance from the puncture needle tip to the puncture target, the more obvious the color of the guide image, etc., or different colors are used to identify different distances, for example, green indicates that the distance is greater than 10 mm, yellow indicates that the distance is between 5-10 mm, and red indicates that the distance is less than 5 mm. Therefore, in the embodiment of the present application, the change in the display state of the guide image can better identify the change in the distance from the puncture needle tip to the puncture target, so that the operator can intuitively know the distance from the puncture needle tip to the puncture target, adjust the puncture angle or speed according to the distance from the puncture needle tip to the puncture target, and improve the accuracy of puncture.

[0080] In one embodiment, Fig.19 As shown, when performing out-of-plane or in-plane puncture, the complete puncture needle may not be displayed from the ultrasound image, and only part of the puncture needle or the needle tip of the puncture needle can be displayed. At this time, the position information of the puncture needle can be obtained according to the electromagnetic navigation technology, and a puncture indication diagram of the position relationship of the puncture needle relative to the probe can be generated. The puncture indication diagram indicates the distance from the puncture needle to the plane where the ultrasound image is located and / or the puncture angle. For example, the puncture indication diagram can be a top-view projection diagram of the probe, wherein the top-view projection diagram of the probe includes the distance from the puncture needle to the top-view projection plane of the ultrasound image and / or the puncture angle. The puncture indication diagram can also be a projection diagram at other angles, which is not limited here. Therefore, when performing out-of-plane or in-plane puncture, the position of the puncture needle relative to the probe 100 and the puncture angle can also be known according to the top-view projection diagram of the probe, so that the operator can perform puncture more accurately.

[0081] In one embodiment, only the ultrasound image and the puncture indication diagram may be displayed. Another ultrasound imaging method provided by the present application includes:

[0082] Transmitting ultrasonic waves to a target area through a probe, and receiving ultrasonic echoes returned from the target area to obtain ultrasonic echo data;

[0083] generating an ultrasonic image according to the ultrasonic echo data;

[0084] Acquiring a positional relationship of the interventional object relative to the probe;

[0085] generating a puncture indication diagram according to the positional relationship of the interventional object relative to the probe, wherein the puncture indication diagram indicates the positional relationship of the interventional object relative to the plane where the ultrasound image is located;

[0086] The ultrasound image and the puncture indication diagram are displayed.

[0087] It should be noted that the method of generating and displaying an ultrasonic image can be understood with reference to the above embodiments, and will not be described in detail here.

[0088] The interventional object may be a puncture needle, and the puncture indication diagram indicates the positional relationship of the interventional object relative to the plane where the ultrasound image is located, including: the puncture indication diagram indicates the distance and / or puncture angle from the puncture needle to the plane where the ultrasound image is located. The plane where the ultrasound image is located can also be understood as the scanning plane where the probe array element emits ultrasound. For example, the puncture indication diagram may be a probe top view projection diagram, wherein the probe top view projection diagram includes the distance and / or puncture angle from the puncture needle to the top view projection plane of the ultrasound image. For example, for out-of-plane puncture, the distance from the puncture needle tip to the intersection of the top view projection plane of the ultrasound image and the inclination angle between the puncture needle and the top view projection plane of the ultrasound image can be displayed in real time; for in-plane puncture, the distance of the puncture needle puncturing in the top view projection plane of the ultrasound image can also be displayed in real time. For example, taking the top view projection plane of the ultrasound image as a horizontal line as an example, the intervention of the puncture needle along the vertical direction of the horizontal line indicates out-of-plane puncture, and the intervention of the puncture needle along the horizontal direction of the horizontal line indicates in-plane puncture, which is only listed here and is not specifically limited. The puncture indication diagram may also be a projection diagram at other angles, which is not limited here.

[0089] In one embodiment, the puncture indication diagram also indicates the distance from the interventional object to the probe and / or the puncture angle. For example, the interventional object may be a puncture needle, and the puncture indication diagram may be a top-down projection diagram of the probe, wherein the top-down projection diagram of the probe includes the distance from the puncture needle to the probe and / or the puncture angle. For example, for out-of-plane puncture, the distance from the puncture needle tip to the intersection of the probe's top-down projection plane and the inclination angle between the puncture needle and the probe's top-down projection plane can be displayed in real time; for in-plane puncture, the distance of the puncture needle relative to the probe's top-down projection plane can also be displayed in real time. For example, taking the probe's top-down projection plane as a rectangular frame as an example, the intervention of the puncture needle along the vertical direction of the rectangular frame indicates out-of-plane puncture, and the intervention of the puncture needle along the horizontal direction of the rectangular frame indicates in-plane puncture. This is only listed here and is not specifically limited. The puncture indication diagram may also be a projection diagram at other angles, which is not limited here.

[0090] In one embodiment, when it is determined that the distance between the puncture needle tip and the puncture target is less than the first threshold, the fourth guide image can be controlled to fade out, disappear, or turn into a light color, etc., to more clearly display the needle tip. Fig. 20 As shown in FIG. 1 , when performing out-of-plane puncture, if the distance between the puncture needle tip and the puncture target is less than 5 mm, the fourth guide image gradually disappears or disappears immediately to more clearly show the needle tip. Fig.21 As shown, when the puncture needle reaches the puncture target, the fourth guide image 404 is not displayed or faded within the range of the guide image 403 of the puncture target, but the fourth guide image can continue to be displayed outside the puncture target to more clearly display the puncture needle tip and more accurately display the puncture direction of the puncture needle. Of course, other guide images can also disappear immediately, gradually disappear, fade or adjust the size, etc. For example, Fig. 22 As shown, the size or shape of the first guide map or the third guide map may be adjusted to make the first guide map overlap with the third guide map, so as to avoid the first guide map causing unnecessary coverage of the puncture target or the puncture needle. Fig.23 As shown, in order to better display the situation of the needle tip, the first guide image may not be displayed or faded. Therefore, in the embodiment of the present application, when the distance between the puncture needle tip and the puncture target is less than the first threshold, the fourth guide image may be controlled to fade out, disappear completely, disappear partially, or turn into a light color, etc., to more clearly display the needle tip, so that the operator can more clearly know the position of the needle tip and the puncture path, thereby improving the puncture accuracy.

[0091] In one embodiment, Fig.24For example, when the puncture needle tip reaches the puncture target and the distance of puncture along the puncture path exceeds the second threshold, a warning message can be generated to prompt the operator. For example, the warning message can be "The puncture target has been reached!", "Please refer to the ultrasound image for puncture!", etc., to warn the operator of the position of the puncture needle, prevent the operator from over-puncturing or under-puncturing, etc., and improve the accuracy of puncture.

[0092] Therefore, in the embodiment of the present application, the position information of the puncture needle is first obtained, and a guidance image is generated according to the position information of the puncture needle. The puncture is guided according to the guidance image, and the puncture path of the puncture needle is predicted in real time, so that the operator can clearly know the puncture path of the puncture needle and the puncture guidance of the puncture needle to the puncture target, and timely adjust the puncture needle according to the guidance image, and timely adjust the puncture technique, puncture angle, puncture direction, etc. to ensure that the puncture needle can reach the puncture target and perform more accurate puncture.

[0093] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0094] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0095] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0096] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0097] It should be noted that, in actual applications, the target object can be the face, spine, heart, uterus or pelvic floor, etc., or other parts of the human body tissue, such as the brain, bones, liver or kidneys, etc., which are not specifically limited here.

[0098] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An ultrasonic imaging method, characterized in that: include: Transmitting ultrasonic waves to a target area, and receiving ultrasonic echoes returned by the target area to obtain ultrasonic echo data; generating an ultrasonic image according to the ultrasonic echo data; Obtaining location information of intervening objects; generating a guidance image according to the position information of the interventional object, the guidance image indicating the positional relationship between the interventional object and the puncture target in the target area, the interventional object comprising a puncture needle, the guidance image comprising at least one of the following: a first guidance image indicating the area where the puncture needle is located, a second guidance image indicating the area where the puncture needle tip is located, a third guidance image indicating the area where the puncture target is located, and a fourth guidance image indicating the puncture path of the puncture needle; displaying the ultrasound image and the guide image; Determining the distance from the puncture needle tip to the puncture target; When the distance from the puncture needle tip to the puncture target is less than a first threshold, the fourth guide image is controlled to fade out or disappear immediately.

2. The method according to claim 1, characterized in that The fourth guide map includes a guide line, and the guide line includes a scale mark for indicating the distance from the puncture needle to the puncture target.

3. The method according to claim 2, characterized in that The method further comprises: When the intervention angle of the puncture needle is deflected, determining the deflection angle of the puncture needle; The guide wire is deflected according to the deflection angle of the puncture needle.

4. The method according to claim 1, characterized in that: Also includes: The color change of the guide image and / or the numerical display change of the distance are controlled according to the distance from the puncture needle tip to the puncture target.

5. The method according to claim 1, characterized in that The step of generating a guidance image according to the position information of the interventional object comprises: Calculating the needle tip coordinates and needle tail coordinates of the puncture needle; The needle tip coordinates and the needle tail coordinates are mapped to the plane where the ultrasound image is located to generate the guide image.

6. The method according to claim 1, characterized in that The obtaining of the position information of the intervening object includes: Detecting the magnetic field strength of the puncture needle that has been magnetized by a magnetizer in advance; The position information of the puncture needle is determined according to the magnetic field strength.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: generating a puncture indication diagram according to the position information of the puncture needle, wherein the position information includes the position relationship of the puncture needle relative to the probe, and the puncture indication diagram indicates the distance from the puncture needle to the plane where the ultrasound image is located and / or the puncture angle; The puncture indication diagram is displayed, and the puncture indication diagram is a top view projection diagram of the probe.

8. The method according to any one of claims 1 to 6, characterized in that The method further comprises: If the puncture needle reaches the puncture target and continues to puncture along the puncture path for a distance exceeding a second threshold, a warning message is generated.

9. An ultrasonic imaging device, characterized in that: include: Probe, transmitting circuit, receiving circuit, processor and display; The transmitting circuit transmits ultrasonic waves to the target area; The receiving circuit controls the probe to receive the ultrasonic echo returned by the target area to obtain ultrasonic echo data; The processor generates an ultrasound image based on the ultrasound echo data; The processor acquires position information of the intervening object; The processor generates a guide image according to the position information of the interventional object, the guide image indicating the positional relationship between the interventional object and the puncture target in the target area, the interventional object includes a puncture needle, and the guide image includes at least one of the following: a first guide image indicating the area where the puncture needle is located, a second guide image indicating the area where the puncture needle tip is located, a third guide image indicating the area where the puncture target is located, and a fourth guide image indicating the puncture path of the puncture needle; The display displays the ultrasound image and the guide image; The processor determines the distance from the puncture needle tip to the puncture target; The processor controls the display state change of the guide image according to the distance from the puncture needle tip to the puncture target; When the distance from the puncture needle tip to the puncture target is less than a first threshold, the processor controls the fourth guide image to fade out or disappear immediately.

10. The ultrasonic imaging device according to claim 9, characterized in that: The fourth guide map includes a guide line, and the guide line includes a scale mark for indicating the distance from the puncture needle to the puncture target.

11. The ultrasonic imaging device according to claim 10, characterized in that: When the intervention angle of the puncture needle is deflected, the processor determines the deflection angle of the puncture needle; The processor controls the guide wire to deflect according to the deflection angle of the puncture needle.

12. The ultrasonic imaging device according to claim 9, characterized in that: The processor controls the color change of the guide image and / or the numerical display change of the distance according to the distance from the puncture needle tip to the puncture target.

13. The ultrasonic imaging device according to claim 9, characterized in that: The processor calculates the needle tip coordinates and the needle tail coordinates of the puncture needle; The processor maps the needle tip coordinates and the needle tail coordinates to the plane where the ultrasound image is located to generate the guide image.

14. The ultrasonic imaging device according to claim 9, characterized in that: The processor detects the magnetic field strength of the puncture needle after it is magnetized by a magnetizer in advance; and determines the position information of the puncture needle according to the magnetic field strength.

15. The ultrasonic imaging device according to any one of claims 9 to 14, characterized in that: The processor generates a puncture indication diagram according to the position information of the puncture needle, wherein the puncture indication diagram indicates the position and / or puncture angle of the puncture needle relative to the probe; The display displays the puncture indication diagram, which is a top-down projection diagram of the probe.

16. The ultrasonic imaging device according to any one of claims 9 to 14, characterized in that: If the puncture needle reaches the puncture target and continues to puncture along the puncture path for a distance exceeding a second threshold, the processor generates a warning message.

17. An ultrasonic imaging method, characterized in that: include: Transmitting ultrasonic waves to a target area through a probe, and receiving ultrasonic echoes returned from the target area to obtain ultrasonic echo data; generating an ultrasonic image according to the ultrasonic echo data; Acquiring a positional relationship of the interventional object relative to the probe; generating a puncture indication diagram according to the positional relationship of the interventional object relative to the probe, wherein the puncture indication diagram indicates the positional relationship of the interventional object relative to the plane where the ultrasound image is located; displaying the ultrasound image and the puncture indication diagram; generating a guidance image according to the position information of the interventional object, the guidance image indicating the positional relationship between the interventional object and the puncture target in the target area, the interventional object comprising a puncture needle, the guidance image comprising at least one of the following: a first guidance image indicating the area where the puncture needle is located, a second guidance image indicating the area where the puncture needle tip is located, a third guidance image indicating the area where the puncture target is located, and a fourth guidance image indicating the puncture path of the puncture needle; Determine the distance from the puncture needle tip to the puncture target; When the distance from the puncture needle tip to the puncture target is less than a first threshold, the fourth guide image is controlled to fade out or disappear immediately.

18. The method according to claim 17, characterized in that The puncture indication diagram indicates the positional relationship of the interventional object relative to the plane where the ultrasound image is located, including: the puncture indication diagram indicates the distance and / or the puncture angle from the puncture needle to the plane where the ultrasound image is located, and the puncture indication diagram is a top-down projection diagram of the probe.

19. The method according to claim 17 or 18, characterized in that The puncture indication map further indicates the distance from the interventional object to the probe and / or the puncture angle.

20. An ultrasonic imaging device, characterized in that: include: Probe, transmitting circuit, receiving circuit, processor and display; The transmitting circuit transmits ultrasonic waves to the target area through the probe; The receiving circuit controls the probe to receive the ultrasonic echo returned by the target area to obtain ultrasonic echo data; The processor generates an ultrasound image based on the ultrasound echo data; The processor acquires a positional relationship of the interventional object relative to the probe; The processor generates a puncture indication map according to the positional relationship of the interventional object relative to the probe, wherein the puncture indication map indicates the positional relationship of the interventional object relative to the plane where the ultrasound image is located; The display displays the ultrasound image and the puncture indication diagram; The processor generates a guide image according to the position information of the interventional object, the guide image indicating the positional relationship between the interventional object and the puncture target in the target area, the interventional object includes a puncture needle, and the guide image includes at least one of the following: a first guide image indicating the area where the puncture needle is located, a second guide image indicating the area where the puncture needle tip is located, a third guide image indicating the area where the puncture target is located, and a fourth guide image indicating the puncture path of the puncture needle; The processor determines the distance from the puncture needle tip to the puncture target; The processor controls the display state change of the guide image according to the distance from the puncture needle tip to the puncture target; When the distance from the puncture needle tip to the puncture target is less than a first threshold, the guide image is controlled to fade out or disappear immediately.

21. The ultrasonic imaging device according to claim 20, characterized in that: The puncture indication diagram indicates the positional relationship of the interventional object relative to the plane where the ultrasound image is located, including: the puncture indication diagram indicates the distance and / or the puncture angle from the puncture needle to the plane where the ultrasound image is located, and the puncture indication diagram is a top-down projection diagram of the probe.

22. The ultrasonic imaging device according to claim 20 or 21, characterized in that: The puncture indication map further indicates the distance from the interventional object to the probe and / or the puncture angle.

23. A puncture navigation system, characterized in that: It comprises a magnetizer for magnetizing an interventional object, and an ultrasonic imaging device as described in any one of claims 9-16, 20-22.

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