Ultrasonic imaging method, ultrasonic imaging device and storage medium

Abstract

An ultrasonic imaging method includes determining a reference body coordinate system (S201); performing ultrasonic imaging on a target tissue through an ultrasonic probe to obtain an ultrasonic image of the target tissue, and obtaining the orientation information of the ultrasonic probe (S202); determining first orientation information of the target tissue from the ultrasonic image (S203); determining tissue orientation information of the target tissue in the reference body coordinate system according to the first orientation information and the orientation information of the ultrasonic probe (S204); determining human body orientation information where the current target tissue is located in the reference body coordinate system (S205); and displaying the tissue orientation information and human body orientation information in the reference body coordinate system (S206). Also disclosed are an ultrasonic imaging device (10) and a computer-readable storage medium.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of image processing technology, and in particular to an ultrasonic imaging method, an ultrasonic imaging device and a storage medium. Background Art

[0002] Before heart valve replacement surgery or radiological intervention, doctors need to know the orientation of the target tissue relative to the human body, that is, the position of the patient's heart, and the orientation of the heart valve and valve orifice relative to the human body, in order to select the location of the surgical incision.

[0003] At present, digital subtraction angiography (DSA) and digital direct imaging (DR) are usually used in clinical practice to project images of the human body, and doctors roughly estimate the direction and position of the target tissue relative to the human body based on the projected images. In addition, ultrasound can also be used to image the heart, and doctors roughly estimate the direction and position of the target tissue relative to the human body based on the direction of the probe.

[0004] However, the above methods are all subjective judgments made by doctors based on their experience, and the direction and position of the target tissue determined relative to the human body are inaccurate. Summary of the invention

[0005] In order to solve the above technical problems, the embodiments of the present invention hope to provide an ultrasonic imaging method, an ultrasonic imaging device and a storage medium, which can display the tissue orientation information of the target tissue and the human body orientation information where the target tissue is located in the reference body coordinate system, so as to accurately determine the direction and position of the target tissue relative to the human body.

[0006] The technical solution of the embodiment of the present invention can be implemented as follows:

[0007] An embodiment of the present invention provides an ultrasonic imaging method, the method comprising:

[0008] Determine the reference body coordinate system;

[0009] Performing ultrasonic imaging of the target tissue by using an ultrasonic probe to obtain an ultrasonic image of the target tissue, and obtaining position information of the ultrasonic probe;

[0010] Determining first position information of the target tissue from the ultrasound image;

[0011] Determining tissue position information of the target tissue in the reference body coordinate system according to the first position information and the position information of the ultrasound probe;

[0012] Determining the human body position information where the target tissue is currently located in the reference body coordinate system;

[0013] The tissue position information and the human body position information are displayed in the reference body coordinate system.

[0014] In the above solution, determining the reference body coordinate system includes:

[0015] Determine the position information of a reference body, wherein the reference body is a human body or a bed where a human body is located, and the position information of the reference body represents any position information of the reference body in a stable state;

[0016] The reference body coordinate system is determined according to the orientation information of the reference body.

[0017] In the above solution, before determining the tissue position information of the target tissue in the reference body coordinate system according to the first position information and the position information of the ultrasound probe, the method further includes:

[0018] A first mapping relationship and a second mapping relationship are acquired, wherein the first mapping relationship is a mapping relationship between an ultrasound image coordinate system and a positioning device coordinate system, and the second mapping relationship is a mapping relationship between a world coordinate system and the reference body coordinate system.

[0019] In the above solution, determining the tissue position information of the target tissue in the reference body coordinate system according to the first position information and the position information of the ultrasound probe includes:

[0020] Mapping the first position information according to the first mapping relationship to determine second position information of the target tissue in the coordinate system of the positioning device;

[0021] Determine a third mapping relationship according to the position information of the ultrasound probe, and map the second position information according to the third mapping relationship to determine third position information of the target tissue in the world coordinate system, wherein the third mapping relationship is a mapping relationship between the positioning device coordinate system and the world coordinate system;

[0022] According to the second mapping relationship, the third position information is mapped to determine the tissue position information.

[0023] In the above solution, obtaining the second mapping relationship includes:

[0024] Acquire the position information of the reference body in the world coordinate system according to the position information of the reference body;

[0025] The second mapping relationship is determined according to the position information of the reference body in the world coordinate system.

[0026] In the above solution, the method further includes:

[0027] Mapping the position information of the ultrasound probe according to the second mapping relationship to determine the position information of the ultrasound probe in the reference body coordinate system;

[0028] The position information of the ultrasonic probe in the reference body coordinate system is displayed.

[0029] In the above solution, displaying the tissue position information and the human body position information in the reference body coordinate system includes:

[0030] The tissue position information and the human body position information are displayed in the reference body coordinate system according to at least one of color, shape and icon.

[0031] In the above solution, displaying the tissue position information and the human body position information in the reference body coordinate system includes:

[0032] The reference body coordinate system is displayed by means of a multi-dimensional model or virtual reality VR, and the tissue position information and the human body position information are displayed in the reference body coordinate system.

[0033] In the above solution, displaying the tissue position information and the human body position information in the reference body coordinate system includes:

[0034] marking the tissue position information and the human body position information in the reference body coordinate system in a highlighted manner;

[0035] Alternatively, a boundary line between the tissue position information and the human body position information is depicted in the reference body coordinate system in the form of a thick line;

[0036] Alternatively, only the tissue position information and the human body position information are displayed in the reference body coordinate system, and other areas except the tissue position information and the human body position information are hidden.

[0037] In the above solution, the displaying of the position information of the ultrasound probe in the reference body coordinate system includes:

[0038] The position information of the ultrasound probe in the reference body coordinate system is displayed in at least one of color, shape and icon.

[0039] In the above solution, the displaying of the position information of the ultrasound probe in the reference body coordinate system includes:

[0040] The reference body coordinate system is displayed by means of a multi-dimensional model or virtual reality VR, and the position information of the ultrasound probe in the reference body coordinate system is displayed in real time.

[0041] In the above solution, the ultrasound image is a two-dimensional ultrasound image, and determining the first position information of the target tissue from the ultrasound image includes:

[0042] Determine, according to a preset recognition algorithm, feature points corresponding to the target tissue in the two-dimensional ultrasound image;

[0043] The orientation information corresponding to the feature point is determined as the first orientation information.

[0044] In the above solution, the ultrasound image includes a multi-dimensional ultrasound image, and determining the first position information of the target tissue from the ultrasound image includes:

[0045] Determine, according to a preset recognition algorithm, an image region corresponding to the target tissue in the multi-dimensional ultrasound image;

[0046] The orientation information corresponding to the image area is determined as the first orientation information.

[0047] In the above solution, determining the position information of the reference body includes:

[0048] The position information of the reference body is collected by a fitting and positioning device, wherein the fitting and positioning device is fitted to any position of the reference body in a stable state;

[0049] The position information of the ultrasound probe is acquired, and the position information of the ultrasound probe is determined as the position information of the reference body, wherein the ultrasound probe is placed at any position where the reference body is in a stable state.

[0050] In the above solution, determining the human body position information where the target tissue is currently located in the reference body coordinate system includes:

[0051] Acquire the correspondence between the human body position information and the reference body position information;

[0052] The human body position information is determined in the reference body coordinate system according to the corresponding relationship.

[0053] An embodiment of the present invention provides an ultrasonic imaging device, the ultrasonic imaging device comprising:

[0054] Ultrasound probe;

[0055] A probe positioning device internally or externally fixed to the ultrasound probe;

[0056] Transmit / receive selector switch;

[0057] a transmit / receive sequence controller, which stimulates the ultrasound probe to transmit ultrasound waves to the target tissue through the transmit / receive selection switch, and controls the ultrasound probe to receive ultrasound echoes returned from the target tissue;

[0058] A processor, the processor being configured to perform the following steps:

[0059] Determine a reference body coordinate system; perform ultrasonic imaging of the target tissue by the ultrasonic probe to obtain an ultrasonic image of the target tissue, and obtain the position information of the ultrasonic probe by the probe positioning device; determine first position information of the target tissue from the ultrasonic image; determine tissue position information of the target tissue in the reference body coordinate system according to the first position information and the position information of the ultrasonic probe; determine the human body position information where the target tissue is currently located in the reference body coordinate system;

[0060] A display is used to display the tissue position information and the human body position information in the reference body coordinate system.

[0061] In the above-mentioned device, the processor is specifically used to determine the orientation information of a reference body, wherein the reference body is a human body or a bed where a human body is located, and the orientation information of the reference body represents any orientation information of the reference body in a stable state; and the reference body coordinate system is determined according to the orientation information of the reference body.

[0062] In the above-mentioned device, the processor is also used to obtain a first mapping relationship and a second mapping relationship before determining the tissue orientation information of the target tissue in the reference body coordinate system based on the first orientation information and the orientation information of the ultrasound probe, wherein the first mapping relationship is a mapping relationship between the ultrasound image coordinate system and the positioning device coordinate system, and the second mapping relationship is a mapping relationship between the world coordinate system and the reference body coordinate system.

[0063] In the above-mentioned device, the processor is specifically used to map the first position information according to the first mapping relationship to determine the second position information of the target tissue in the coordinate system of the positioning device; determine a third mapping relationship according to the position information of the ultrasound probe, and map the second position information according to the third mapping relationship to determine the third position information of the target tissue in the world coordinate system, wherein the third mapping relationship is a mapping relationship between the positioning device coordinate system and the world coordinate system; and map the third position information according to the second mapping relationship to determine the tissue position information.

[0064] In the above device, the processor is specifically used to obtain the orientation information of the reference body in the world coordinate system according to the orientation information of the reference body; and determine the second mapping relationship according to the orientation information of the reference body in the world coordinate system.

[0065] In the above device, the processor is further used to map the orientation information of the ultrasound probe according to the second mapping relationship to determine the orientation information of the ultrasound probe in the reference body coordinate system;

[0066] The display is also used to display the position information of the ultrasound probe in the reference body coordinate system.

[0067] In the above device, the display is specifically used to display the tissue position information and the human body position information in the reference body coordinate system according to at least one of color, shape and icon.

[0068] In the above-mentioned device, the display is specifically used to display the reference body coordinate system through a multi-dimensional model or virtual reality VR, and display the tissue orientation information and the human body orientation information in the reference body coordinate system.

[0069] In the above device, the display is specifically used to mark the tissue position information and the human body position information in the reference body coordinate system in a highlighted manner;

[0070] Alternatively, a boundary line between the tissue position information and the human body position information is depicted in the reference body coordinate system in the form of a thick line;

[0071] Alternatively, only the tissue position information and the human body position information are displayed in the reference body coordinate system, and other areas except the tissue position information and the human body position information are hidden.

[0072] In the above device, the display is specifically used to display the position information of the ultrasound probe in the reference body coordinate system in at least one of color, shape and icon.

[0073] In the above-mentioned device, the display is specifically used to display the reference body coordinate system through a multi-dimensional model or virtual reality VR, and to display the orientation information of the ultrasound probe in the reference body coordinate system in real time.

[0074] In the above device, the ultrasound image is a two-dimensional ultrasound image, and the processor is specifically used to determine the feature points corresponding to the target tissue in the two-dimensional ultrasound image according to a preset recognition algorithm; and determine the orientation information corresponding to the feature points as the first orientation information.

[0075] In the above-mentioned device, the ultrasound image includes a multidimensional ultrasound image, and the processor is specifically used to determine the image area corresponding to the target tissue in the multidimensional ultrasound image according to a preset recognition algorithm; and determine the orientation information corresponding to the image area as the first orientation information.

[0076] In the above device, the device is also externally connected to a fitting and positioning device;

[0077] The processor is used to collect the position information of the reference body through the fitting and positioning device, wherein the fitting and positioning device is fitted to any position of the reference body in a stable state;

[0078] The processor is further used to obtain the orientation information of the ultrasound probe through the probe positioning device, and determine the orientation information of the ultrasound probe as the orientation information of the reference body, wherein the ultrasound probe is placed at any orientation where the reference body is in a stable state.

[0079] In the above device, the processor is specifically used to obtain the correspondence between the human body orientation information and the orientation information of the reference body; and determine the human body orientation information in the reference body coordinate system according to the correspondence.

[0080] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores an ultrasound imaging program, and the ultrasound imaging program can be executed by a processor to implement the above-mentioned ultrasound imaging method.

[0081] It can be seen that in the technical solution of the embodiment of the present invention, a reference body coordinate system is determined; ultrasonic imaging of the target tissue is performed by an ultrasonic probe to obtain an ultrasonic image of the target tissue, and the orientation information of the ultrasonic probe is obtained; the first orientation information of the target tissue is determined from the ultrasonic image; the tissue orientation information of the target tissue in the reference body coordinate system is determined according to the first orientation information and the orientation information of the ultrasonic probe; the human body orientation information where the current target tissue is located is determined in the reference body coordinate system; and the tissue orientation information and the human body orientation information are displayed in the reference body coordinate system. In other words, the technical solution provided by the embodiment of the present invention can set a reference body coordinate system, and display the tissue orientation information of the target tissue and the human body orientation information where the target tissue is located in the reference body coordinate system, so as to accurately determine the direction and position of the target tissue relative to the human body, so as to guide the operator to perform relevant operations on the target tissue. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] Figure 1 A schematic diagram of the structure of an ultrasonic imaging device provided by an embodiment of the present invention;

[0083] Figure 2A schematic diagram of a flow chart of an ultrasonic imaging method provided by an embodiment of the present invention;

[0084] Figure 3 A schematic diagram of a method for determining a reference body coordinate system provided by an embodiment of the present invention Figure 1 ;

[0085] Figure 4 A schematic diagram of a method for determining a reference body coordinate system provided by an embodiment of the present invention Figure 2 ;

[0086] Figure 5 A schematic diagram of a mapping relationship provided by an embodiment of the present invention;

[0087] Figure 6 An exemplary schematic diagram of displaying tissue position information and human body position information in a reference body coordinate system is provided for an embodiment of the present invention. DETAILED DESCRIPTION

[0088] In order to enable a more detailed understanding of the features and technical contents of the embodiments of the present invention, the implementation of the embodiments of the present invention is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not intended to limit the embodiments of the present invention.

[0089] An embodiment of the present invention provides an ultrasonic imaging method, which is applied to ultrasonic imaging equipment. Figure 1 FIG. 1 is a schematic diagram of the structure of an ultrasonic imaging device provided by an embodiment of the present invention. Figure 1 As shown, the ultrasonic imaging device 10 includes: an ultrasonic probe 101, a probe positioning device 102 internally or externally fixed to the ultrasonic probe 101; a transmit / receive selection switch 103, a transmit / receive sequence controller 104, a processor 105 and a display 106.

[0090] It should be noted that, in the embodiment of the present invention, the transmit / receive sequence controller 104 can stimulate the ultrasonic probe 102 to transmit ultrasonic waves to the target tissue through the transmit / receive selection switch 103, and can also control the ultrasonic probe 101 to receive ultrasonic echoes returned from the target tissue, thereby obtaining ultrasonic echo signals / data. The processor 105 processes the ultrasonic echo signals / data to obtain an ultrasonic image of the target tissue.

[0091] It should be noted that, in the embodiment of the present invention, the probe positioning device 102 may be an inertial navigation device, i.e., a micro-electromechanical inertial measurement unit, which is usually composed of a three-axis accelerometer and a three-axis gyroscope, and some may also include a magnetic field intensity meter, or may be more accelerometers and gyroscopes. The inertial navigation device may be built-in on a board fixed inside the ultrasonic probe, or inside the ultrasonic probe shell. At the same time, the inertial navigation device is connected to the processor 105 through the ultrasonic probe cable, and transmits the real-time attitude information of the ultrasonic probe to the processor 105.

[0092] It should be noted that, in the embodiment of the present invention, the ultrasonic imaging device may further include: a memory 107 , and the ultrasonic image obtained by the processor 105 may be stored in the memory 107 , and the ultrasonic image may be displayed on the display 106 .

[0093] In an embodiment of the present invention, 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. independent of the ultrasonic imaging device 10, or it may be a display screen on electronic devices such as mobile phones and tablet computers.

[0094] In the embodiment of the present invention, the memory 107 of the aforementioned ultrasonic imaging device 10 may be a flash memory card, a solid-state memory, a hard disk, etc.

[0095] An embodiment of the present invention further provides a computer-readable storage medium, which stores an ultrasound imaging program. The ultrasound imaging program can be executed by the processor 105 to implement the ultrasound imaging method of the present invention.

[0096] 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.

[0097] In an embodiment of the present invention, the processor 105 of the aforementioned ultrasound 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 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 ultrasound imaging method in each embodiment.

[0098] The ultrasonic imaging method of the present invention is described in detail below based on the ultrasonic imaging device 10 described above.

[0099] Figure 2FIG. 1 is a flow chart of an ultrasonic imaging method provided by an embodiment of the present invention. Figure 2 As shown, it mainly includes the following steps:

[0100] S201. Determine a reference body coordinate system.

[0101] In the embodiment of the present invention, the processor 105 of the ultrasound imaging device 10 may determine a reference body coordinate system.

[0102] Specifically, in the embodiment of the present invention, the processor 105 determines the reference body coordinate system including: determining the position information of the reference body; and determining the reference body coordinate system according to the position information of the reference body. The reference body is a human body or a bed where a human body is located, and the position information of the reference body represents any position information of the reference body in a stable state.

[0103] It should be noted that, in the embodiment of the present invention, the reference body can be a human body or a bed where a human body is located. When the reference body is a human body, since the position of the middle of the human sternum and close to the throat is not affected by human breathing, the position information of this position can be determined as the position information of the reference body. The embodiment of the present invention does not limit the specific reference body position information.

[0104] Specifically, in the embodiment of the present invention, after the processor 105 determines the orientation information of the reference body, it can not only determine the reference body coordinate system according to the orientation information of the reference body, but also determine the mapping relationship between the world coordinate system and the reference body coordinate system according to the orientation information of the reference body.

[0105] It should be noted that, in the embodiment of the present invention, since the ultrasonic probe 101 has a built-in or externally fixed probe positioning device 102, the ultrasonic probe 101 can be directly placed at a position of the reference body that can indicate that it is in a stable state, and the position information of the reference body in the world coordinate system is obtained through the probe positioning device 102. In addition, the ultrasonic imaging device 10 can also be externally connected to a fitting positioning device 11, and the position information of the reference body is collected through the fitting positioning device 11, wherein the fitting positioning device 11 is fitted to any position of the reference body in a stable state.

[0106] It should be noted that, in the embodiment of the present invention, the fitting and positioning device 11 can be connected to the ultrasonic imaging device 10 via a wire, or can be wirelessly connected to the ultrasonic imaging device 10. The specific connection method between the fitting and positioning device 11 and the ultrasonic imaging device 10 is not limited in the embodiment of the present invention.

[0107] Figure 3 A schematic diagram of a method for determining a reference body coordinate system provided by an embodiment of the present invention Figure 1 .like Figure 3As shown, the reference body is a human body, and an external fitting positioning device 11 is connected to the ultrasonic imaging device 10. The fitting positioning device 11 is fitted to the middle of the human sternum, near the throat, so that the position information (m, x, y, z, a, b, c) of the human body in the world coordinate system can be directly collected through the fitting positioning device 11. Among them, x, y and z respectively represent the position information of the human body in the world coordinate system, a, b and c respectively represent the Euler angles of the human body in the world coordinate system, specifically: pitch angle, deflection angle and roll angle, which can represent the direction information of the human body, and m is the mapping matrix from the positioning device coordinate system to the world coordinate system when the fitting positioning device 11 is in the current position. After the processor 105 obtains the orientation information of the human body in the world coordinate system, it actually rotates the world coordinate system according to the obtained Euler angle, and then moves the origin of the rotated world coordinate system to the position of the fitting positioning device 11. The obtained coordinate system is the human body coordinate system, that is, the reference body coordinate system, and the mapping matrix m is the mapping relationship between the world coordinate system and the reference body coordinate system.

[0108] Figure 4 A schematic diagram of a method for determining a reference body coordinate system provided by an embodiment of the present invention Figure 2 .like Figure 4 As shown, the ultrasonic probe 101 is placed in the middle of the human sternum, near the throat. The probe positioning device 102 configured by the ultrasonic probe 101 can also obtain the position information (m, x, y, z, a, b, c) of the human body in the world coordinate system, and store the position information. m is the mapping matrix from the positioning device coordinate system to the world coordinate system when the probe positioning device 102 is in the current position. After the processor 105 obtains the position information of the human body in the world coordinate system, it actually rotates the world coordinate system according to the obtained Euler angle, and then moves the origin of the rotated world coordinate system to the position of the ultrasonic probe 101. The obtained coordinate system is the human body coordinate system, that is, the reference body coordinate system, and the mapping matrix m is the mapping relationship between the world coordinate system and the reference body coordinate system.

[0109] It can be understood that, in the embodiment of the present invention, one axis in the reference body coordinate system is actually the z-axis which can represent the direction of the human body.

[0110] S202: Perform ultrasonic imaging of the target tissue using an ultrasonic probe to obtain an ultrasonic image of the target tissue, and obtain position information of the ultrasonic probe.

[0111] Specifically, in the embodiment of the present invention, the ultrasound probe 101 can perform ultrasound imaging of the target tissue, that is, send ultrasound waves and receive ultrasound echoes, and the processor 105 can generate an ultrasound image of the target tissue based on the ultrasound echoes received by the ultrasound probe 101.

[0112] Specifically, in the embodiment of the present invention, the ultrasound probe 101 is provided with a probe positioning device 102 . Therefore, when the ultrasound probe 101 transmits ultrasound waves to the target tissue, the probe positioning device 102 can directly obtain the position information of the ultrasound probe 101 .

[0113] It should be noted that, in the embodiment of the present invention, when the ultrasound probe 101 performs ultrasound imaging on the target tissue, ultrasound waves can be emitted to the target tissue at different positions and directions and ultrasound echoes can be received, and the processor 105 can generate multiple ultrasound images of different sections according to the different ultrasound echoes received. The specific ultrasound image is not limited in the embodiment of the present invention.

[0114] It should be noted that, in an embodiment of the present invention, when the ultrasound probe 101 performs ultrasound imaging on the target tissue, transmits ultrasound waves to the target tissue at different positions and directions and receives ultrasound echoes, the probe positioning device 102 configured for the ultrasound probe 101 can obtain the orientation information of the ultrasound probe 101 corresponding to each position and direction.

[0115] Exemplarily, in an embodiment of the present invention, the target tissue is a heart, and the ultrasound probe 101 can transmit ultrasound waves to the target tissue at different positions and angles and receive ultrasound echoes at the heart. The processor 105 can generate standard 2-chamber, 3-chamber and 4-chamber heart ultrasound images of the heart based on the ultrasound echoes. When the ultrasound probe 101 sends ultrasound waves for generating a 2-chamber heart ultrasound image to the heart in a first orientation, the probe positioning device 102 obtains first orientation information (m1, x1, y1, z1, a1, b1, c1) of the ultrasound probe 101. The first orientation information is the orientation information and Euler angles in the world coordinate system when the ultrasound probe 101 sends ultrasound waves for generating a 2-chamber heart ultrasound image to the heart, where x1, y1 and z1 are orientation information, a1, b1 and c1 are Euler angles, and m1 is a mapping matrix from the coordinate system of the positioning device to the world coordinate system in the first orientation. Similarly, when the ultrasound probe 101 sends an ultrasound wave for generating a 3-chamber heart ultrasound image to the heart in the second orientation, the probe positioning device 102 obtains the second orientation information (m2, x2, y2, z2, a2, b2, c2) of the ultrasound probe 101. When the ultrasound probe 101 sends an ultrasound wave for generating a 4-chamber heart ultrasound image to the heart in the third orientation, the probe positioning device 102 obtains the third orientation information (m3, x3, y3, z3, a3, b3, c3) of the ultrasound probe 101. The processor 105 can thus obtain: the first orientation information of the ultrasound probe 101 corresponding to the 2-chamber heart ultrasound image, the second orientation information of the ultrasound probe 101 corresponding to the 3-chamber heart ultrasound image, and the third orientation information of the ultrasound probe 101 corresponding to the 4-chamber heart ultrasound image.

[0116] It should be noted that, in the embodiment of the present invention, the ultrasound probe 101 may be different types of probes, such as a 2D probe or a 4D probe. When ultrasound imaging is performed based on different types of probes, the ultrasound image generated by the processor 105 may be of different dimensions.

[0117] S203: Determine first position information of the target tissue from the ultrasound image.

[0118] In the embodiment of the present invention, after obtaining the ultrasound image, the processor 105 may determine the first position information of the target tissue from the ultrasound image.

[0119] Specifically, in an embodiment of the present invention, the ultrasound image is a two-dimensional ultrasound image, and the processor 105 determines the first position information of the target tissue from the ultrasound image, including: determining the feature points corresponding to the target tissue in the two-dimensional ultrasound image according to a preset recognition algorithm; and determining the position information corresponding to the feature points as the first position information.

[0120] It should be noted that, in the embodiment of the present invention, the ultrasonic imaging device 10 stores a preset recognition algorithm. For example, a deep learning convolutional neural network technology is used to learn on a large number of ultrasonic images to obtain a recognition algorithm, which is used as the preset recognition algorithm. The specific preset recognition algorithm is not limited in the embodiment of the present invention.

[0121] Exemplarily, in an embodiment of the present invention, when it is necessary to locate the mitral valve of the heart, the ultrasonic probe 101 is used to transmit ultrasound and receive ultrasound echoes at different positions and directions to the heart, and the processor 105 can generate standard 2-chamber ultrasound images and 4-chamber ultrasound images of the heart according to different ultrasound echoes. Both the 2-chamber ultrasound images and the 4-chamber ultrasound images are ultrasound images of the target tissue and are two-dimensional ultrasound images. Due to the distinct structural characteristics of the mitral valve position, the processor 105 can identify the two endpoints P1 and P2 of the mitral valve ring in the 2-chamber ultrasound image according to a preset recognition algorithm. Similarly, the processor 105 identifies the two endpoints P3 and P4 of the mitral valve ring in the 4-chamber ultrasound image, wherein P1, P2, P3 and P4 are points in the ultrasound image, and the processor 105 can directly obtain the corresponding coordinates in the ultrasound image coordinate system, and determine the orientation information of these four points as the first orientation information.

[0122] It should be noted that, in an embodiment of the present invention, the ultrasound probe 101 may only perform ultrasound imaging of the target tissue once to obtain a two-dimensional ultrasound image. At this time, if the processor 105 determines the feature points corresponding to the target tissue in the two-dimensional ultrasound image according to a preset recognition algorithm, if the identified feature points are relatively small, some feature points can also be determined in a predictive manner.

[0123] Illustratively, in an embodiment of the present invention, when it is necessary to locate the mitral valve of the heart, ultrasonic probe 101 is used to transmit ultrasonic waves and receive ultrasonic echoes at a fixed position and direction to the heart, and processor 105 generates an ultrasonic image of any one section of the 4-chamber heart, 3-chamber heart and 2-chamber heart based on the ultrasonic echo, that is, a two-dimensional ultrasonic image. According to the preset recognition algorithm, the processor 105 only determines the two endpoints of the mitral valve ring, namely, the two feature points P1 and P2. Therefore, assuming that the mitral valve ring is a circular ring perpendicular to the section displayed by the ultrasound image, with P1 and P2 as diameters, the coordinates of P1 and P2 in the ultrasound coordinate system, namely, the orientation information, are obtained, which are P1 (A1, B1, C1) and P2 (A2, B2, C2), respectively. Then, it is determined that there is a point P3 on the mitral valve ring ((A1+A2) / 2, (B1+B2) / 2, (C1+C2) / 2+Dis / 2), wherein Dis is the distance between P1 and P2. P1, P2 and P3 are determined as the first orientation information.

[0124] Specifically, in an embodiment of the present invention, the ultrasound image is a multidimensional ultrasound image, and the processor 105 determines the first position information of the target tissue from the ultrasound image, including: determining the image area corresponding to the target tissue in the multidimensional ultrasound image according to a preset recognition algorithm; and determining the position information corresponding to the image area as the first position information.

[0125] Exemplarily, in the embodiment of the present invention, when the ultrasound probe 101 is a 4D probe, when the mitral valve of the heart needs to be positioned, when the ultrasound probe 101 is used to perform ultrasound imaging of the heart, the ultrasound echo represents the 4D ultrasound data, and the processor 105 determines the ultrasound image of the target tissue according to the ultrasound echo, which can be directly a 4D ultrasound image. Therefore, the processor 105 can determine the image area corresponding to the mitral valve ring in the multi-dimensional ultrasound image according to the preset recognition algorithm, without having to identify feature points such as the endpoints of the mitral valve ring. The processor 105 can directly obtain the orientation information corresponding to the image area in the ultrasound image coordinate system, and determine the orientation information of the area as the first orientation information.

[0126] S204: Determine tissue orientation information of the target tissue in the reference body coordinate system according to the first orientation information and the orientation information of the ultrasound probe.

[0127] In the embodiment of the present invention, after determining the first position information of the target tissue, the processor 105 may determine the tissue position information of the target tissue in the reference body coordinate system according to the first position information and the position information of the ultrasound probe.

[0128] It should be noted that, in an embodiment of the present invention, before executing the following step S204, the processor 105 needs to execute the following steps: obtaining a first mapping relationship and a second mapping relationship, wherein the first mapping relationship is a mapping relationship between the ultrasound image coordinate system and the positioning device coordinate system, and the second mapping relationship is a mapping relationship between the world coordinate system and the reference body coordinate system.

[0129] Specifically, in the embodiment of the present invention, the processor 105 acquires the second mapping relationship including: acquiring the orientation information of the reference body in the world coordinate system according to the orientation information of the reference body; and determining the second mapping relationship according to the orientation information of the reference body in the world coordinate system.

[0130] It should be noted that, in the embodiment of the present invention, when the reference body coordinate system is established in step S201, the position information of the reference body in the world coordinate system has been obtained. When the position information of the reference body in the world coordinate system is obtained, the corresponding mapping matrix of the positioning device coordinate system to the world coordinate system is used when the positioning device is at the current position. For example, when the position information of the reference body in the world coordinate system is obtained by the probe positioning device 102, the position information of the reference body in the world coordinate system includes the mapping matrix of the positioning device coordinate system to the world coordinate system when the probe positioning device 102 is at the current position. When the fitting positioning device 11 obtains the orientation information of the reference body in the world coordinate system, the orientation information of the reference body in the world coordinate system includes the mapping matrix from the positioning device coordinate system to the world coordinate system when the fitting positioning device 11 is at the current position. Since the processor 105 is specifically based on the orientation information of the reference body in the world coordinate system as the reference body coordinate system, the mapping matrix can actually represent the mapping relationship from the reference body coordinate system to the world coordinate system. The processor 105 can directly determine the mapping matrix as the second mapping relationship, that is, the mapping relationship between the world coordinate system and the reference body coordinate system. In other words, the processor 105 can determine the second mapping relationship in the process of establishing the reference body coordinate system.

[0131] It should be noted that, in the embodiment of the present invention, for the first mapping relationship, the mapping relationship between the ultrasound image coordinate system and the positioning device coordinate system is fixed, and is actually a mapping relationship between the ultrasound image coordinate system and the probe positioning device 102, that is, a coordinate system established by the positioning device itself configured on the ultrasound probe 101 and used to obtain the orientation information of the ultrasound probe during ultrasound imaging. It is pre-stored in the ultrasound imaging device 10, and therefore, the processor 105 can directly obtain it.

[0132] Figure 5 A schematic diagram of a mapping relationship provided by an embodiment of the present invention. Figure 5As shown, the first mapping relationship is A, which is fixed and unchanged. The second mapping relationship, that is, the mapping relationship between the world coordinate system and the reference body coordinate system, is actually the mapping matrix m from the positioning device coordinate system to the world coordinate system corresponding to the probe positioning device 102 or the fitting positioning device 11 when it is placed at the target position in step S201 to obtain the orientation information of the reference body in the world coordinate system.

[0133] Specifically, in an embodiment of the present invention, the processor 105 determines the tissue orientation information of the target tissue in the reference body coordinate system based on the first orientation information and the orientation information of the ultrasound probe, including: mapping the first orientation information according to the first mapping relationship to determine the second orientation information of the target tissue in the positioning device coordinate system; determining a third mapping relationship according to the orientation information of the ultrasound probe, and mapping the second orientation information according to the third mapping relationship to determine the third orientation information of the target tissue in the world coordinate system, wherein the third mapping relationship is a mapping relationship between the positioning device coordinate system and the world coordinate system; mapping the third orientation information according to the second mapping relationship to determine the tissue orientation information.

[0134] Specifically, in an embodiment of the present invention, when it is necessary to locate the mitral valve of the heart, the ultrasonic probe 101 is used to transmit ultrasonic waves and receive ultrasonic echoes at different positions and directions of the heart. The processor 105 can generate a standard 2-chamber cardiac ultrasound image and a 4-chamber cardiac ultrasound image of the heart according to different ultrasonic echoes, identify two mitral valve ring endpoints P1 and P2 according to the 2-chamber cardiac ultrasound image, and identify two mitral valve ring endpoints P3 and P4 according to the 4-chamber cardiac ultrasound image. The orientation information of P1, P2, P3 and P4 in the ultrasonic image coordinate system is the first orientation information. The processor 105 first maps the orientation information of the four points according to the first mapping relationship, that is, the mapping relationship between the ultrasonic image coordinate system and the positioning device coordinate system, and determines the second orientation information of the four points in the positioning device coordinate system, wherein the second orientation information of P1 is Q1, the second orientation information of P2 is Q2, the second orientation information of P3 is Q3, and the second orientation information of P4 is Q4. Secondly, the processor 105 determines a third mapping relationship based on the orientation information of the ultrasound probe 101, wherein, since two ultrasound images are obtained, two orientation information of the ultrasound probe 101 are actually obtained, namely, the first orientation information and the second orientation information, the first orientation information includes a first mapping matrix from the coordinate system of the positioning device to the world coordinate system when the ultrasound probe 101 is in the first orientation, and the second orientation information includes a second mapping matrix from the coordinate system of the positioning device to the world coordinate system when the ultrasound probe 101 is in the second orientation, the first orientation is the orientation of the ultrasound probe when performing 2-chamber heart ultrasound imaging, and the second orientation is the orientation of the ultrasound probe when performing 4-chamber heart ultrasound imaging. The processor 105 can determine the first mapping matrix and the second mapping matrix as a third mapping relationship, and then map the second orientation information according to the third mapping relationship to determine the third orientation information of the target tissue in the world coordinate system, wherein Q1 and Q2 are mapped according to the first mapping matrix to obtain third orientation information R1 and R2, and Q3 and Q4 are mapped according to the second mapping matrix to obtain third orientation information R3 and R4, and R1, R2, R3 and R4 are all orientation information in the world coordinate system. Finally, according to the second mapping relationship, that is, the mapping relationship between the world coordinate system and the reference body coordinate system determined in step S201, R1, R2, R3 and R4 are mapped to determine the tissue orientation information of the target tissue in the reference body coordinate system.

[0135] Exemplarily, in an embodiment of the present invention, the processor 105 generates a 2-chamber cardiac ultrasound image and identifies two endpoints (P1, P2) of the mitral valve ring, and the corresponding first position information of the ultrasound probe is (m1, x1, y1, z1, a1, b1, c1); the processor 105 generates a 4-chamber cardiac ultrasound image and identifies two endpoints (P3, P4) of the mitral valve ring, and the corresponding second position information of the ultrasound probe is (m2, x2, y2, z2, a2, b2, c2); the first mapping relationship is specifically a mapping matrix A from the ultrasound image coordinate system to the positioning device coordinate system, and the second mapping relationship is specifically a mapping matrix m from the reference body coordinate system to the world coordinate system. Therefore, (m1×A×P1, m1×A×P2, m2×A×P3, m2×A×P4) represents the third position information of the mitral valve ring of the heart in the world coordinate system, (m -1 ×m1×A×P1,m -1 ×m1×A×P2,m -1 ×m2×A×P3,m -1 ×m2×A×P4) represents the tissue orientation information of the mitral valve annulus in the reference body coordinate system.

[0136] S205: Determine the human body position information where the current target tissue is located in the reference body coordinate system.

[0137] In the embodiment of the present invention, after determining the tissue position information of the target tissue in the reference body coordinate system, the processor 105 may also determine the human body position information where the current target tissue is located in the reference body coordinate system.

[0138] Specifically, in an embodiment of the present invention, the processor 105 determines the human body position information where the current target tissue is located in the reference body coordinate system, including: obtaining the correspondence between the human body position information and the reference body position information; and determining the human body position information in the reference body coordinate system according to the correspondence.

[0139] It can be understood that in the embodiment of the present invention, in order to clearly reflect the orientation relationship between tissue orientation information and human body orientation information, it is necessary not only to determine the tissue orientation information of the target tissue in the reference body coordinate system, but also to further determine the human body orientation information where the current target tissue is located in the reference body coordinate system, so that when the tissue orientation information is finally displayed in the reference body coordinate system, the human body orientation information is also displayed at the same time. The doctor can then clearly understand the orientation relationship between the two and perform relevant inspection operations.

[0140] It can be understood that, in the embodiment of the present invention, the target tissue is located inside the human body, and the human body position information is the position information of the human body where the target tissue is located.

[0141] It should be noted that, in the embodiment of the present invention, the human body position information in a certain coordinate system can be directly obtained through the probe positioning device 102, and the human body position information in a certain coordinate system can also be obtained through the fitting positioning device 11. If the human body position information obtained is the position information in the world coordinate system, since in the reference body position information (m, x, y, z, a, b, c), m is the mapping relationship between the world coordinate system and the reference body coordinate system, therefore, m can be directly called as the corresponding relationship between the human body position information and the reference body position information, so that according to the corresponding relationship, the human body position information in the world coordinate system can be mapped to the reference body coordinate system, that is, the human body position information is determined in the reference body coordinate system. Of course, if the human body position information obtained is the human body position information in other coordinate systems, then the corresponding relationship between the other coordinate systems and the reference body coordinate system can also be obtained, and the corresponding relationship can be determined as the corresponding relationship between the human body position information and the reference body position information. According to the corresponding relationship, the human body position information in other coordinate systems is mapped to the reference body coordinate system, and the human body position information in the reference body coordinate system is obtained. The specific correspondence between the human body position information and the reference body position information, and the acquisition method are not limited in this embodiment of the present invention.

[0142] S206: Display tissue position information and human body position information in the reference body coordinate system.

[0143] In an embodiment of the present invention, after the processor 105 determines the tissue position information of the target tissue in the reference body coordinate system and determines the human body position information where the current target tissue is located in the reference body coordinate system, the display 106 displays the tissue position information and the human body position information in the reference body coordinate system.

[0144] Specifically, in the embodiment of the present invention, the display 106 displays the tissue position information and the human body position information in the reference body coordinate system, including: displaying the tissue position information and the human body position information in the reference body coordinate system according to at least one of color, shape, and icon. For example, the tissue position information and the human body position information are marked in the reference body coordinate system by a special color, or by shapes such as dots, small triangles, etc., or by directly marking the tissue position information in the reference body coordinate system by a certain icon, which can be an icon that approximates the target tissue structure, or a substitute icon of the target tissue. Similarly, the human body position information can also be directly marked in the reference body coordinate system by a certain icon.

[0145] Of course, the entire reference body coordinate system can also be displayed through a multidimensional model, and the tissue orientation information and the human body orientation information can be displayed in the reference body coordinate system. Specifically, the tissue orientation information and the human body orientation information can be displayed in at least one of color, shape and icon, which is not specifically limited here. Alternatively, the entire reference body coordinate system can also be truly displayed in a virtual reality (VR) manner. In this reference body coordinate system, the structural characteristics and orientation relationship of each tissue can be clearly seen. Further, in the reference body coordinate system, the tissue orientation information and the human body orientation information are clearly marked, so that the doctor can clearly observe the positional relationship between the target tissue and the reference body coordinate system such as the human body / bed. Of course, the orientation information or posture information of the ultrasound probe can also be displayed in the reference body coordinate system, so that the doctor can clearly observe the positional relationship between the ultrasound probe, the target tissue and the reference body coordinate system such as the human body / bed, so as to facilitate the doctor's inspection operation. Furthermore, in the VR reference body coordinate system, the switching from one ultrasonic section to another ultrasonic section, or the switching from one ultrasonic stereogram to another ultrasonic stereogram can be guided by the positioning device and displayed in real time.

[0146] It should be noted that, in the embodiment of the present invention, when a reference body coordinate system is displayed through a multi-dimensional model or VR, and the tissue position information and the human body position information are displayed in the reference body coordinate system, the tissue position information and the human body position information can be marked in a highlighted manner in the reference body coordinate system, or the boundary lines of the tissue position information and the human body position information can be drawn in a thick line in the reference body coordinate system, or only the tissue position information and the human body position information can be displayed in the reference body coordinate system, and other areas outside the tissue position information and the human body position information can be hidden, so as to meet the different needs of doctors when performing inspection operations. Similarly, the position information of the ultrasound probe in the reference body coordinate system can also be displayed in any of the above display modes. Doctors can choose different display modes according to actual needs, and the specific display mode is not limited in the embodiment of the present invention.

[0147] It should be noted that, in an embodiment of the present invention, the orientation information of the ultrasound probe 101 may be coordinates in a world coordinate system. Therefore, the processor 105 may map the orientation information of the ultrasound probe 101 according to a second mapping relationship to determine the orientation information of the ultrasound probe 101 in the reference body coordinate system. The display 106 may display the orientation information of the ultrasound probe 101 in the reference body coordinate system in at least one of color, shape, and icon.

[0148] Figure 6 The present invention provides an exemplary schematic diagram of displaying tissue position information and human body position information in a reference body coordinate system. Figure 6 As shown, in the reference body coordinate system, the orientation relationship among the human body, the mitral valve ring and the ultrasound probe can be displayed, wherein the cylinder 1 represents the direction of the human body, the three-dimensional pie 2 represents the mitral valve ring, and the figure 3 represents the ultrasound probe 101.

[0149] It should be noted that the above steps S201 to S205 are a standard ultrasonic imaging method, and the mapping process therein can also be adjusted according to the actual positioning device.

[0150] The embodiment of the present invention provides an ultrasonic imaging method, which determines a reference body coordinate system; performs ultrasonic imaging of a target tissue through an ultrasonic probe to obtain an ultrasonic image of the target tissue, and obtains the orientation information of the ultrasonic probe; determines the first orientation information of the target tissue from the ultrasonic image; determines the tissue orientation information of the target tissue in the reference body coordinate system according to the first orientation information and the orientation information of the ultrasonic probe; determines the human body orientation information where the current target tissue is located in the reference body coordinate system; and displays the tissue orientation information and the human body orientation information in the reference body coordinate system. In other words, the technical solution provided by the embodiment of the present invention can set a reference body coordinate system, and display the tissue orientation information of the target tissue and the human body orientation information where the target tissue is located in the reference body coordinate system, so as to accurately determine the direction and position of the target tissue relative to the human body, so as to guide the operator to perform relevant operations on the target tissue.

[0151] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0152] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable signal processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable signal processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0153] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable signal processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0154] These computer program instructions may also be loaded onto a computer or other programmable signal processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0155] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.

[0156] Industrial Applicability

[0157] In the technical solution of the embodiment of the present invention, the ultrasonic imaging device determines a reference body coordinate system; ultrasonic imaging of the target tissue is performed through an ultrasonic probe to obtain an ultrasonic image of the target tissue, and the orientation information of the ultrasonic probe is obtained; the first orientation information of the target tissue is determined from the ultrasonic image; the tissue orientation information of the target tissue in the reference body coordinate system is determined according to the first orientation information and the orientation information of the ultrasonic probe; the human body orientation information where the current target tissue is located is determined in the reference body coordinate system; and the tissue orientation information and the human body orientation information are displayed in the reference body coordinate system. In other words, the technical solution provided by the embodiment of the present invention can set a reference body coordinate system, and display the tissue orientation information of the target tissue and the human body orientation information where the target tissue is located in the reference body coordinate system, so as to accurately determine the direction and position of the target tissue relative to the human body, so as to guide the operator to perform relevant operations on the target tissue.

Claims

1. An ultrasonic imaging method, characterized in that: The method comprises: Determine the reference body coordinate system; Performing ultrasonic imaging of the target tissue by using an ultrasonic probe to obtain an ultrasonic image of the target tissue, and obtaining position information of the ultrasonic probe; Determining first position information of the target tissue from the ultrasound image; Determining tissue position information of the target tissue in the reference body coordinate system according to the first position information and the position information of the ultrasound probe; Determining the human body position information where the target tissue is currently located in the reference body coordinate system; Displaying the tissue position information and the human body position information in the reference body coordinate system for observing the positional relationship between the target tissue and the human body and / or for guiding an operator to perform relevant operations on the target tissue; Wherein, determining the reference body coordinate system includes: Determine the position information of a reference body, wherein the reference body is a human body or a bed where a human body is located, and the position information of the reference body represents any position information of the reference body in a stable state; Determine the reference body coordinate system according to the orientation information of the reference body; The determining the tissue position information of the target tissue in the reference body coordinate system according to the first position information and the position information of the ultrasound probe includes: Acquire a first mapping relationship and a second mapping relationship, wherein the first mapping relationship is a mapping relationship between an ultrasound image coordinate system and a positioning device coordinate system, and the second mapping relationship is a mapping relationship between a world coordinate system and the reference body coordinate system; Mapping the first position information according to the first mapping relationship to determine second position information of the target tissue in the coordinate system of the positioning device; Determine a third mapping relationship according to the position information of the ultrasound probe, and map the second position information according to the third mapping relationship to determine third position information of the target tissue in the world coordinate system, wherein the third mapping relationship is a mapping relationship between the positioning device coordinate system and the world coordinate system; According to the second mapping relationship, the third position information is mapped to determine the tissue position information; The determining of the human body position information where the target tissue is currently located in the reference body coordinate system includes: Acquire the correspondence between the human body position information and the reference body position information; The human body position information is determined in the reference body coordinate system according to the corresponding relationship.

2. The method according to claim 1, characterized in that The acquiring the second mapping relationship comprises: Acquire the position information of the reference body in the world coordinate system according to the position information of the reference body; The second mapping relationship is determined according to the position information of the reference body in the world coordinate system.

3. The method according to claim 1, characterized in that The method further comprises: Mapping the position information of the ultrasound probe according to the second mapping relationship to determine the position information of the ultrasound probe in the reference body coordinate system; The position information of the ultrasonic probe in the reference body coordinate system is displayed.

4. The method according to any one of claims 1 to 3, characterized in that: The displaying of the tissue position information and the human body position information in the reference body coordinate system comprises: The tissue position information and the human body position information are displayed in the reference body coordinate system according to at least one of color, shape and icon.

5. The method according to any one of claims 1 to 3, characterized in that: The displaying of the tissue position information and the human body position information in the reference body coordinate system comprises: The reference body coordinate system is displayed by means of a multi-dimensional model or virtual reality VR, and the tissue position information and the human body position information are displayed in the reference body coordinate system.

6. The method according to claim 1, characterized in that The displaying of the tissue position information and the human body position information in the reference body coordinate system comprises: marking the tissue position information and the human body position information in the reference body coordinate system in a highlighted manner; Alternatively, a boundary line between the tissue position information and the human body position information is depicted in the reference body coordinate system in the form of a thick line; Alternatively, only the tissue position information and the human body position information are displayed in the reference body coordinate system, and other areas except the tissue position information and the human body position information are hidden.

7. The method according to claim 3, characterized in that The displaying of the position information of the ultrasonic probe in the reference body coordinate system comprises: The position information of the ultrasound probe in the reference body coordinate system is displayed in at least one of color, shape and icon.

8. The method according to claim 7, characterized in that The displaying of the position information of the ultrasonic probe in the reference body coordinate system comprises: The reference body coordinate system is displayed by means of a multi-dimensional model or virtual reality VR, and the position information of the ultrasound probe in the reference body coordinate system is displayed in real time.

9. The method according to claim 1, characterized in that: The ultrasonic image is a two-dimensional ultrasonic image, and determining the first position information of the target tissue from the ultrasonic image includes: Determine, according to a preset recognition algorithm, feature points corresponding to the target tissue in the two-dimensional ultrasound image; The orientation information corresponding to the feature point is determined as the first orientation information.

10. The method according to claim 1, characterized in that The ultrasound image includes a multi-dimensional ultrasound image, and determining the first position information of the target tissue from the ultrasound image includes: Determine, according to a preset recognition algorithm, an image region corresponding to the target tissue in the multi-dimensional ultrasound image; The orientation information corresponding to the image area is determined as the first orientation information.

11. The method according to claim 1, characterized in that: Determining the position information of the reference body includes: The position information of the reference body is collected by a fitting and positioning device, wherein the fitting and positioning device is fitted to any position of the reference body in a stable state; The position information of the ultrasound probe is acquired, and the position information of the ultrasound probe is determined as the position information of the reference body, wherein the ultrasound probe is placed at any position where the reference body is in a stable state.

12. An ultrasonic imaging device, characterized in that: The ultrasonic imaging device comprises: Ultrasound probe; A probe positioning device internally or externally fixed to the ultrasound probe; Transmit / receive selector switch; a transmit / receive sequence controller, which stimulates the ultrasound probe to transmit ultrasound waves to the target tissue through the transmit / receive selection switch, and controls the ultrasound probe to receive ultrasound echoes returned from the target tissue; A processor, the processor being configured to perform the following steps: Determine a reference body coordinate system; perform ultrasonic imaging of the target tissue by the ultrasonic probe to obtain an ultrasonic image of the target tissue, and obtain the position information of the ultrasonic probe by the probe positioning device; determine first position information of the target tissue from the ultrasonic image; determine tissue position information of the target tissue in the reference body coordinate system according to the first position information and the position information of the ultrasonic probe; determine the human body position information where the target tissue is currently located in the reference body coordinate system; A display, the display being used to display the tissue position information and the human body position information in the reference body coordinate system, so as to be used to observe the positional relationship between the target tissue and the human body and / or to guide an operator to perform relevant operations on the target tissue; The processor is specifically used to determine the position information of a reference body, wherein the reference body is a human body or a bed where a human body is located, and the position information of the reference body represents any position information of the reference body in a stable state; and determine the reference body coordinate system according to the position information of the reference body; The processor is further used to obtain a first mapping relationship and a second mapping relationship before determining the tissue position information of the target tissue in the reference body coordinate system according to the first position information and the position information of the ultrasound probe, wherein the first mapping relationship is a mapping relationship between the ultrasound image coordinate system and the positioning device coordinate system, and the second mapping relationship is a mapping relationship between the world coordinate system and the reference body coordinate system; The processor is specifically configured to map the first position information according to the first mapping relationship to determine the second position information of the target tissue in the coordinate system of the positioning device; determine a third mapping relationship according to the position information of the ultrasound probe, and map the second position information according to the third mapping relationship to determine the third position information of the target tissue in the world coordinate system, wherein the third mapping relationship is a mapping relationship between the coordinate system of the positioning device and the world coordinate system; and map the third position information according to the second mapping relationship to determine the tissue position information; The processor is used to obtain the correspondence between the human body position information and the reference body position information; and determine the human body position information in the reference body coordinate system according to the correspondence.

13. The device according to claim 12, characterized in that The processor is specifically configured to obtain the orientation information of the reference body in the world coordinate system according to the orientation information of the reference body, and determine the second mapping relationship according to the orientation information of the reference body in the world coordinate system.

14. The device according to claim 12, characterized in that The processor is further configured to map the position information of the ultrasound probe according to the second mapping relationship to determine the position information of the ultrasound probe in the reference body coordinate system; The display is also used to display the position information of the ultrasound probe in the reference body coordinate system.

15. The device according to claim 12, characterized in that The display is specifically used to display the tissue position information and the human body position information in the reference body coordinate system according to at least one of color, shape and icon.

16. The device according to any one of claims 12 to 15, characterized in that The display is specifically used to display the reference body coordinate system through a multi-dimensional model or virtual reality VR, and to display the tissue orientation information and the human body orientation information in the reference body coordinate system.

17. The device according to claim 16, characterized in that The display is specifically used to mark the tissue position information and the human body position information in the reference body coordinate system in a highlighted manner; Alternatively, a boundary line between the tissue position information and the human body position information is depicted in the reference body coordinate system in the form of a thick line; Alternatively, only the tissue position information and the human body position information are displayed in the reference body coordinate system, and other areas except the tissue position information and the human body position information are hidden.

18. The device according to claim 15, characterized in that The display is specifically used to display the position information of the ultrasound probe in the reference body coordinate system in at least one of color, shape and icon.

19. The device according to claim 18, characterized in that The display is specifically used to display the reference body coordinate system through a multi-dimensional model or virtual reality VR, and to display the orientation information of the ultrasound probe in the reference body coordinate system in real time.

20. The device according to claim 12, characterized in that The ultrasound image is a two-dimensional ultrasound image, and the processor is specifically used to determine the feature points corresponding to the target tissue in the two-dimensional ultrasound image according to a preset recognition algorithm; and determine the orientation information corresponding to the feature points as the first orientation information.

21. The device according to claim 12, characterized in that The ultrasound image includes a multidimensional ultrasound image, and the processor is specifically used to determine the image area corresponding to the target tissue in the multidimensional ultrasound image according to a preset recognition algorithm; and determine the orientation information corresponding to the image area as the first orientation information.

22. The device according to claim 12, characterized in that The device is also externally connected to a fitting and positioning device; The processor is used to collect the position information of the reference body through the fitting and positioning device, wherein the fitting and positioning device is fitted to any position of the reference body in a stable state; The processor is further used to obtain the orientation information of the ultrasound probe through the probe positioning device, and determine the orientation information of the ultrasound probe as the orientation information of the reference body, wherein the ultrasound probe is placed at any orientation where the reference body is in a stable state.

23. A computer-readable storage medium storing an ultrasound imaging program, wherein the ultrasound imaging program can be executed by a processor to implement the ultrasound imaging method according to any one of claims 1 to 11.

Images