Ultrasonic imaging method and ultrasonic imaging device

Abstract

An ultrasonic imaging method and an ultrasonic imaging device are disclosed. By performing inter-frame processing on the obtained elastic echo data or elastic images, new elastic images are formed, thereby improving the display frame rate of the elastic images. The ultrasonic imaging method includes: transmitting a first ultrasonic wave to a target area of a measured object to track a shear wave propagating in the target area; receiving an ultrasonic echo of the first ultrasonic wave returned from the target area to obtain first echo data; obtaining a first elastic image frame sequence of the target area according to the first echo data; determining at least one frame of target elastic images according to at least two frames of elastic images to obtain a second elastic image frame sequence, and displaying the second elastic image frame sequence.

Description

Technical Field

[0001] This application relates to the field of medical ultrasonic imaging, and particularly to an ultrasonic imaging method and an ultrasonic imaging device. Background Art

[0002] Ultrasonic elastography has become one of the hotspots of clinical research in recent years. It mainly reflects the elasticity and softness of tissues and has been increasingly applied in aspects such as the auxiliary detection of tissue cancer lesions, the discrimination between benign and malignant, and the evaluation of prognosis recovery. According to different imaging principles, ultrasonic elastography techniques are mainly divided into two categories: one is the strain elastography technique, and the other is the shear wave elastography technique.

[0003] Among them, the strain elastography method mainly generates a certain deformation by pressing the tissue with a probe, and then calculates and images the strain amount, strain rate and other parameters related to tissue elasticity, indirectly reflecting the elastic differences between different tissues. Since the strain parameters are sensitive to pressure, the pressure applied by the probe in this method needs to be as uniform and stable as possible, thus posing relatively high requirements on the operator's technique. The shear wave elastography method mainly reflects the hardness differences between tissues by generating the propagation of shear waves inside the tissue and detecting their propagation parameters (such as propagation speed) for imaging. Since it no longer depends on the operator's specific pressure on the tissue, this elastography method has improved in terms of stability and repeatability, and the quantitative measurement results make the doctor's diagnosis more convenient and objective.

[0004] Among them, the shear wave elastography method based on acoustic radiation force is a relatively commonly used method in the market. It mainly emits special ultrasonic pulses into the tissue, generates shear waves propagating in the tissue based on the acoustic radiation force effect, and then records the propagation process of the above shear waves through an ultrasonic detection sequence, and finally calculates the parameters related to tissue elasticity to achieve elastography. This elastography method can currently achieve real-time image display, but due to the safety output limit of ultrasonic energy, the actual refresh frame rate of the elastic image is relatively low. Summary of the Invention

[0005] This application provides an ultrasonic imaging method and an ultrasonic imaging device. By performing inter-frame processing on the obtained elastic echo data or elastic images, new elastic images are formed, thereby improving the display frame rate of the elastic images.

[0006] In the first aspect of this application, an ultrasonic imaging method is provided. The method includes:

[0007] Transmit a first ultrasonic wave to a target area of a measured object to track the shear wave propagating in the target area;

[0008] Receive the ultrasonic echo of the first ultrasonic wave returned from the target area to obtain first echo data;

[0009] Obtain a first elastic image frame sequence of the target area according to the first echo data, where the first elastic image frame sequence includes at least two frames of elastic images;

[0010] Execute an inter-frame processing procedure; the inter-frame processing procedure includes determining at least one frame of target elastic images according to the at least two frames of elastic images to obtain a second elastic image frame sequence, and displaying the second elastic image frame sequence; wherein, the number of frames of the second elastic image frame sequence is greater than the number of frames of the first elastic image frame sequence.

[0011] A second aspect of the present application provides an ultrasonic imaging method, and the method includes:

[0012] Display a first elastic image frame sequence, where the first elastic image frame sequence includes at least two frames of elastic images;

[0013] Receive a first operation, and execute an inter-frame processing procedure according to the first operation;

[0014] The inter-frame processing procedure includes: determining at least one frame of target elastic images according to the at least two frames of elastic images to obtain a second elastic image frame sequence, and displaying the second elastic image frame sequence; wherein, the number of frames of the second elastic image frame sequence is greater than the number of frames of the first elastic image frame sequence.

[0015] A third aspect of the present application provides an ultrasonic imaging method, and the method includes:

[0016] Transmit a first ultrasonic wave to the target area of the object to be measured, and receive the ultrasonic echo of the first ultrasonic wave returned from the target area to obtain first echo data;

[0017] Obtain a first image frame sequence of the first mode of the target area according to the first echo data;

[0018] Transmit a second ultrasonic wave to the target area of the object to be measured, and receive the ultrasonic echo of the second ultrasonic wave returned from the target area to obtain second echo data;

[0019] Obtain a second image frame sequence of the second mode of the target area according to the second echo data;

[0020] Determine at least one frame of target images of the first mode according to the first image frame sequence and the second image frame sequence to obtain a third image frame sequence of the first mode; wherein, the number of frames of the third image frame sequence is greater than the number of frames of the first image frame sequence;

[0021] Display the third image frame sequence of the first mode.

[0022] The fourth aspect of the present application provides an ultrasonic imaging device, which includes:

[0023] An ultrasonic probe;

[0024] A transmit / receive sequence controller, which excites the ultrasonic probe to transmit a first ultrasonic wave to a target area of an object to be measured to track a shear wave propagating in the target area; and receives an ultrasonic echo of the first ultrasonic wave returned from the target area to obtain first echo data;

[0025] A processor, which obtains a first elastic image frame sequence of the target area according to the first echo data and performs an inter-frame processing procedure; the first elastic image frame sequence includes at least two frames of elastic images;

[0026] The inter-frame processing procedure includes determining at least one frame of target elastic image according to the at least two frames of elastic images to obtain a second elastic image frame sequence, and displaying the second elastic image frame sequence; wherein, the number of frames of the second elastic image frame sequence is greater than the number of frames of the first elastic image frame sequence.

[0027] The fifth aspect of the present application provides an ultrasonic imaging device, which includes:

[0028] A display, which displays a first elastic image frame sequence, and the first elastic image frame sequence includes at least two frames of elastic images;

[0029] A processor, which receives a first operation and performs an inter-frame processing procedure according to the first operation;

[0030] The inter-frame processing procedure includes: determining at least one frame of target elastic image according to the at least two frames of elastic images to obtain a second elastic image frame sequence, and displaying the second elastic image frame sequence; wherein, the number of frames of the second elastic image frame sequence is greater than the number of frames of the first elastic image frame sequence.

[0031] The sixth aspect of the present application provides an ultrasonic imaging device, which includes:

[0032] An ultrasonic probe;

[0033] A transmit / receive sequence controller, which excites the ultrasonic probe to transmit a first ultrasonic wave to a target area of an object to be measured and receives an ultrasonic echo of the first ultrasonic wave returned from the target area to obtain first echo data;

[0034] A processor, which obtains a first image frame sequence of a first mode of the target area according to the first echo data;

[0035] The transmit / receive sequence controller stimulates the ultrasonic probe to transmit a second ultrasonic wave to the target area of the object to be measured, and receive the ultrasonic echo of the second ultrasonic wave returned from the target area, so as to obtain second echo data;

[0036] The processor obtains a second image frame sequence of a second mode of the target area according to the second echo data;

[0037] The processor determines at least one target image of a first mode according to the first image frame sequence and the second image frame sequence, so as to obtain a third image frame sequence of the first mode; wherein, the number of frames of the third image frame sequence is greater than the number of frames of the first image frame sequence;

[0038] A display, which displays the third image frame sequence of the first mode.

[0039] In the technical solution provided by the embodiment of the present application, a first ultrasonic wave is transmitted to the target area of the object to be measured to track a shear wave propagating in the target area; the ultrasonic echo of the first ultrasonic wave returned from the target area is received to obtain first echo data; a first elastic image frame sequence of the target area is obtained according to the first echo data; at least one target elastic image is determined according to the at least two elastic images to obtain a second elastic image frame sequence, and the second elastic image frame sequence is displayed. Since after the inter-frame processing process, the number of frames of the obtained second elastic image frame sequence is greater than the number of frames of the original first elastic image frame sequence. Therefore, the display frame rate of the obtained second elastic image frame sequence is higher than the display frame rate of the original first elastic image frame sequence, thereby improving the display frame rate of the elastic image. Description of the Drawings

[0040] Figure 1 It is a schematic structural diagram of an ultrasonic imaging device provided by the present application;

[0041] Figure 2 It is a schematic flow diagram of an ultrasonic imaging method provided by the present application;

[0042] Figure 3 It is a schematic diagram of a transmit / receive sequence frame provided by the present application;

[0043] Figure 4 It is a schematic diagram of inter-frame processing provided by the present application;

[0044] Figure 5 It is a schematic diagram of frame displacement provided by the present application;

[0045] Figure 6 It is another schematic structural diagram of an ultrasonic imaging device provided by the present application;

[0046] Figure 7Another flowchart diagram of the ultrasonic imaging method provided by this application;

[0047] Figure 8 Another flowchart diagram of the ultrasonic imaging method provided by this application. Detailed implementation manners

[0048] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments.

[0049] In the specification and claims of this application and the above-mentioned accompanying drawings, terms such as "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments described here can be implemented in an order other than the content illustrated or described here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0050] Figure 1 A schematic block diagram of the structure of the ultrasonic imaging device 10 in the embodiments of this application. The ultrasonic imaging device 10 may include an ultrasonic probe 100, a transmit / receive selection switch 101, a transmit / receive sequence controller 102, a processor 103, and a display 104. The transmit / receive sequence controller 102 can excite the ultrasonic probe 100 to transmit ultrasonic waves to the target object, and can also control the ultrasonic probe 100 to receive the ultrasonic echoes returned from the target object, so as to obtain ultrasonic echo signals. The processor 103 processes the ultrasonic echo signals to obtain ultrasonic images of the target object. The ultrasonic images obtained by the processor 103 can be stored in the memory 105, and these ultrasonic images can be displayed on the display 104.

[0051] In the embodiments of this application, the display 104 of the aforementioned ultrasonic imaging device 10 can be a touch display screen, a liquid crystal display screen, etc., or can also be an independent display device such as a liquid crystal display or a television outside the ultrasonic imaging device 10, or can also be a display screen on electronic devices such as mobile phones and tablet computers.

[0052] In the embodiments of this application, the memory 105 of the aforementioned ultrasonic imaging device 10 can be a flash card, a solid-state memory, a hard disk, etc.

[0053] An embodiment of the present application further provides a computer-readable storage medium, which stores multiple program instructions. After being called and executed by the processor 103, the multiple program instructions can execute some steps, all steps, or any combination of the steps in the ultrasonic imaging method in various embodiments of the present application.

[0054] In one embodiment, the computer-readable storage medium may be the memory 105, which may be a non-volatile storage medium such as a flash card, a solid-state memory, or a hard disk.

[0055] In an embodiment of the present application, the processor 103 of the foregoing ultrasonic imaging device 10 may be implemented by software, hardware, firmware, or a combination thereof, and may 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 foregoing circuits or devices, or other suitable circuits or devices, so that the processor 103 can execute the corresponding steps of the ultrasonic imaging method in the foregoing various embodiments.

[0056] The ultrasonic imaging method in the present application will be described in detail below. Please refer to Figure 2 An ultrasonic imaging method provided by an embodiment of the present application is applied to the ultrasonic imaging device 10, and is particularly suitable for the ultrasonic imaging device 10 including a touch display screen, and is used to input touch screen operations by contacting the touch display screen. The ultrasonic imaging device 10 can generate an elastic image using ultrasonic echo data, or can also generate a conventional ultrasonic B image, a Doppler image, etc. using ultrasonic echo data. Embodiments of the ultrasonic imaging method in the present application include:

[0057] 201. Transmit a first ultrasonic wave to the target area of the object to be measured to track the shear wave propagating in the target area.

[0058] In this embodiment, the ultrasonic imaging device 10 uses the transmit / receive sequence controller 102 to stimulate the ultrasonic probe 100 to transmit a first ultrasonic wave to the target area of the object to be measured to track the shear wave propagating in the target area. The target area can be determined according to the requirements of elastic measurement. The determination method can be determined after preliminary detection by various applicable imaging detection methods such as conventional two-dimensional B-mode imaging and conventional elastic imaging E-mode, or can be selected according to the detection requirements.

[0059] In one embodiment, the number of target areas can be one or more. When the number of target areas is multiple, the respective longitudinal depths or lateral positions of the multiple target areas can be different.

[0060] Among them, the generation method of shear waves can be referred to the following description. In one embodiment, shear waves can be generated by external vibrations. For example, shear waves generated by external vibrations are transmitted into the deep part of the tissue in the target area. Or shear waves can also be generated inside the tissue in the target area by using the ultrasonic pulse acoustic radiation force effect; or shear waves can be generated by the physiological movement of the tissue in the object to be measured (such as, heart pulsation, blood vessel pulsation, etc.); and so on, which will not be described in detail here. This specification only briefly describes one of the more commonly used methods by way of example: ultrasonic shear wave elastography based on acoustic radiation force.

[0061] For ultrasonic shear wave elastography based on acoustic radiation force, the shear waves propagating in the target area can be excited by the transmitting / receiving sequence controller 102 of this embodiment to control the ultrasonic probe 100 to emit an ultrasonic pulse with a specific waveform, length, and specific frequency to the tissue. This ultrasonic pulse will generate an acoustic radiation force effect inside the tissue, and then generate shear waves to propagate in the tissue. Then a series of ultrasonic waves are emitted to the tissue to track and detect the propagation process of the above shear waves in the tissue. It is also possible to emit an ultrasonic pulse with a specific waveform, length, and specific frequency to the tissue through other ultrasonic devices, and based on the acoustic radiation force effect generated by this ultrasonic pulse, the same effect can be achieved.

[0062] 202. Receive the ultrasonic echo of the first ultrasonic wave returned from the target area to obtain first echo data.

[0063] In this embodiment, the processor 103 controls the ultrasonic probe 100 to receive the ultrasonic echo of the first ultrasonic wave returned from the target area through the transmitting / receiving sequence controller 102 to obtain first echo data.

[0064] 203. Obtain a first elastic image frame sequence of the target area according to the first echo data, and the first elastic image frame sequence includes at least two frames of elastic images.

[0065] In this embodiment, the processor 103 processes the first echo data obtained in step 202 to obtain at least two frames of elastic images of the target area, forming an elastic image frame sequence.

[0066] 204. Execute an inter-frame processing process.

[0067] In this embodiment, the processor 103 executes an inter-frame processing process. The inter-frame processing process includes determining at least one frame of target elastic image according to the at least two frames of elastic images to obtain a second elastic image frame sequence, and displaying the second elastic image frame sequence; wherein, the number of frames of the second elastic image frame sequence is greater than the number of frames of the first elastic image frame sequence.

[0068] It should be noted that the processor 103 calculates at least one frame of target elastic image based on at least two frames of elastic images obtained in step 203 to obtain a second elastic image frame sequence. It should be noted that the second elastic image frame sequence may include all or part of the above at least one frame of target elastic image and the above first elastic image frame sequence; it may also only include the above at least one frame of target elastic image. For example, the first elastic image frame sequence is E1, E2. The second elastic image frame sequence may be E1, EX, E2; where EX represents one frame of target elastic image among the above at least one frame of target elastic images. For another example, the first elastic image frame sequence is E1, E2, E3. The second elastic image frame sequence may be E1, EX, EY, EZ, E3; where EX, EY, and EZ represent three frames of target elastic images among the above at least one frame of target elastic images. Since after the inter-frame processing process, the number of frames of the obtained second elastic image frame sequence is greater than the number of frames of the original first elastic image frame sequence. Therefore, the display frame rate of the obtained second elastic image frame sequence is higher than the display frame rate of the original first elastic image frame sequence, thereby improving the display frame rate of the elastic image.

[0069] The above elastic image can be combined with other types of images to simultaneously realize the display of multiple imaging modes. For example, combined with B-mode, C-mode or PW-mode images, which is not limited in this embodiment. For example, combined with B-mode images, elastic imaging (hereinafter referred to as E-mode imaging) and B-mode imaging can be simultaneously realized.

[0070] In one embodiment, the ultrasonic imaging device 10 uses the transmit / receive sequence controller 102 to stimulate the ultrasonic probe 100 to transmit a second ultrasonic wave to the target area of the object to be measured; and uses the transmit / receive sequence controller 102 to control the ultrasonic probe 100 to receive the ultrasonic echo of the second ultrasonic wave returned from the target area to obtain second echo data. The second echo data can be used to realize B-mode imaging or C-mode imaging. The above first echo data can be used to realize E-mode imaging.

[0071] The processor 103 processes the obtained second echo data to obtain a B-mode image frame sequence or a C-mode image frame sequence of the target area; controls the display 104 to display the B-mode image frame sequence or the C-mode image frame sequence. In this way, B-mode imaging and E-mode imaging, or C-mode imaging and E-mode imaging are realized.

[0072] Taking the simultaneous realization of B-mode imaging and E-mode imaging as an example, the ultrasonic imaging device 10 needs to transmit / receive at least two ultrasonic sequence frames, such as B-sequence frames and E-sequence frames. Among them, the B-sequence frame refers to the ultrasonic transmission and reception sequence for generating one frame of conventional B-mode imaging, and the specific composition of its imaging sequence is not described in detail herein. The E-sequence frame refers to the ultrasonic transmission and reception sequence for generating one frame of E-mode imaging. Taking the shear wave elastography technology based on acoustic radiation force as an example, the E-sequence frame first includes an ultrasonic pulse for generating a shear wave. Under the action of this ultrasonic pulse, a shear wave will be generated and propagate inside the tissue. Then, a series of detection pulses need to be continuously transmitted to the target area inside the tissue for a period of time, and the ultrasonic echo signals thereof are received to record the propagation process of the shear wave in the tissue. The generation of the shear wave refers to the relevant description in step 201 and will not be elaborated herein. Among them, the ultrasonic echo signals of the B-sequence frame can be used to realize B-mode imaging, and the ultrasonic echo signals of the E-sequence frame can be used to realize E-mode imaging. In real-time imaging, the two sequence frames can be alternately performed successively, and the transmission frame rates of the B-sequence frame and the E-sequence frame are different. Between two adjacent repeated E-sequence frames, there are often multiple B-sequence frames. As Figure 3 shown, each sequence frame means that a complete image display can be performed.

[0073] Among them, there are various ways to determine at least one target elastic image to obtain the second elastic image frame sequence, which is not limited in this embodiment. For example, at least one target elastic image can be determined by interpolation method or according to a fixed weighting coefficient set by the system, and the at least one target elastic image is generated between two adjacent elastic images in the first elastic image frame sequence.

[0074] In one embodiment, the processor 103 can determine a first elastic image and a second elastic image from at least two elastic images in the first elastic image frame sequence; among them, the first elastic image and the second elastic image can be adjacent elastic images or non-adjacent elastic images.

[0075] The processor 103 determines the time interval between the first elastic image and the second elastic image; and generates at least one target elastic image according to the time interval between the first elastic image and the second elastic image to obtain the second elastic image frame sequence.

[0076] In one embodiment, the time interval between various types of sequence frames can be fixed. For example, the time interval between any two adjacent B-sequence frames is fixed, and the time interval between any two adjacent E-sequence frames is also fixed. But the two time intervals can be different. Therefore Figure 3 in, taking the B-series frames as an example, regardless of whether there are E-sequence frames inserted between two adjacent B-sequence frames, their time intervals are the same. The shorter the time interval, the higher the transmission frame rate. In one embodiment, the transmission frame rate of the B-sequence frame is higher than that of the E-sequence frame.

[0077] In one embodiment, the B-sequence frames or C-sequence frames interpolated between the E-sequence frames can be used to calculate the interpolation method.

[0078] The generating of at least one target elastic image according to the time interval between the first elastic image and the second elastic image includes:

[0079] Determining the number of frames of the B-mode image or the number of frames of the C-mode image associated with the first elastic image and the second elastic image;

[0080] Generating at least one target elastic image according to the number of frames of the B-mode image or the number of frames of the C-mode image and the time interval between the first elastic image and the second elastic image.

[0081] It should be noted that since the emission frame rate of the E-sequence frames is relatively low, one E-mode image can be calculated for each E-sequence frame, so the display frame rate of the E-mode images will also be relatively low. However, the emission frame rate of the B-sequence frames can be higher than that of the E-sequence frames, so the display frame rate of the B-sequence frames is relatively higher.

[0082] Taking the simultaneous implementation of B-mode imaging and E-mode imaging as an example, the ultrasonic imaging device 10 can synchronously display the image results corresponding to adjacent B-sequence frames and E-sequence frames, facilitating the user to refer to the B-mode image and the E-mode image simultaneously. The B-mode image contains tissue structure information, and the E-mode image contains tissue hardness-related information. Therefore, there will be a situation where most B-mode images do not have corresponding synchronous E-mode images to choose from.

[0083] Based on the above scenario where B-mode imaging and E-mode imaging can be simultaneously implemented, the number of frames of the B-mode image determined by the processor 103 associated with the first elastic image and the second elastic image can be the sum of the number of frames of the B-mode images interpolated between the first elastic image and the second elastic image, the B-mode image adjacent to the first elastic image, and the B-mode image adjacent to the second elastic image.

[0084] Among them, the first elastic image and the second elastic image can be two adjacent E-mode images. The processor 103 calculates the E-sequence frames corresponding to the respective B-sequence frames interpolated in the middle through the echo data of two adjacent E-mode images (hereinafter referred to as the first E-mode image and the second E-mode image) or two E-sequence frames and the number of frames of the B-mode image associated with the first E-mode image and the second E-mode image, as Figure 4 As an example, it is assumed that the E1 sequence frame is the E-sequence frame associated with the B1 sequence frame, and the E2 sequence frame is the E-sequence frame associated with the B2 sequence frame. However, there is no associated E-sequence frame for the B2 sequence frame and the B3 sequence frame. Therefore, it is necessary to calculate the associated E-sequence frame through inter-frame processing.

[0085] There can be many calculation methods for inter-frame processing. Taking the interpolation method as an example, the B-sequence frames between two adjacent E-sequence frames have fixed respective times. The E-sequence frames associated with each B-sequence frame can be calculated by interpolation according to the distance relationship between the time corresponding to each B-sequence frame and the times of the two adjacent E-sequence frames before and after. As Figure 4 shown in

[0086] If the time intervals between the B1, B2, B3, and B4 sequence frames are all equal, the results after interpolation calculation are as follows:

[0087] The E-sequence frame associated with the B1 sequence frame is Enew1 = E1;

[0088] The E-sequence frame associated with the B3 sequence frame is Enew3 = E1+(E2 - E1)*2 / 3;

[0089] The E-sequence frame associated with the B4 sequence frame is Enew4 = E2.

[0090] It can be seen that after inter-frame processing, each B-sequence frame has an associated E-sequence frame, and the display frame rate of the E-type image is increased to the same as that of the B-type image.

[0091] Of course, when the time intervals between the B-sequence frames are not equal, similar interpolation calculation processing can still be performed according to the lengths of their respective time intervals, which will not be elaborated here.

[0092] Based on the above description of the interpolation method, in a scenario, for the B-sequence frames between two adjacent E-sequence frames, during the imaging period, the target tissue may move, resulting in a large displacement between the B-sequence frames. At this time, only interpolating based on the time interval cannot well match the positions of the B-sequence frames. Therefore, further calculation can be combined with the tracking method. In one embodiment, generating at least one frame of target elastic image according to the number of frames of the B-type image or the number of frames of the C-type image and the time interval between the first elastic image and the second elastic image includes:

[0093] Determining the displacement of the target area according to at least two frames of the B-type image or at least two frames of the C-type image;

[0094] Generating at least one frame of target elastic image according to the number of frames of the B-type image or the number of frames of the C-type image, the displacement of the target area, and the time interval between the first elastic image and the second elastic image.

[0095] It should be noted that the tracking method can be used to first determine the displacement generated after the target tissue moves, and continue based on the above scenario where B-mode imaging and E-mode imaging can be simultaneously achieved. Using the tracking method, the displacement-related parameters between B-sequence frames can be calculated first. According to the direction and amplitude of the displacement, the E-sequence frames can be adjusted accordingly, and then interpolation can be performed in combination with the time interval. Suppose Figure 4 In Figure 4 , the position of the B2 sequence frame has changed relative to the B1 sequence frame, and it has been translated a certain distance as Figure 5 shown. Then, when interpolating and calculating each data point (such as the local data points shown in the figure) in the E-sequence frame associated with the B2 sequence frame, the E data information at the same position as this data point in the B1 and B4 sequence frames should be taken.

[0096] Figure 5 The illustrations in ,

[0096] , Figure 5 are only for example. In actual applications, the displacement directions and amplitudes of the positions of each local data point in the B-sequence frames may be different. Therefore, each local data point can be separately calculated and processed as needed.

[0097] Of course, there are also some other methods for inter-frame processing, such as calculating the E-sequence frame associated with the B-sequence frame according to the fixed weighting coefficients set by the system, etc. This application is not limited to calculation methods such as the interpolation method. In one embodiment, generating at least one target elastic image according to the time interval between the first elastic image and the second elastic image includes:

[0098] Generating at least one target elastic image according to the time interval between the first elastic image and the second elastic image and a preset weighting coefficient.

[0099] For example, for two adjacent elastic images, the first E-mode image E1 and the second E-mode image E2, the third E-mode image E3 and the fourth E-mode image E4 are calculated according to the preset weighting coefficients. It can be seen that after inter-frame processing, the number of frames of the E-sequence frame is increased. Therefore, the display frame rate of the E-mode image is increased. It should be noted that the method of generating at least one target elastic image through a preset weighting coefficient to increase the display frame rate can be applied to the simplex working mode. The simplex working mode may include: a working mode of generating B-sequence frames to achieve B-mode imaging, a working mode of generating C-sequence frames to achieve C-mode imaging, a working mode of generating E-sequence frames to achieve E-mode imaging, or a working mode of generating PW-sequence frames to achieve PW-mode imaging.

[0100] When calculating the E-sequence frame associated with the B-sequence frame through the above inter-frame processing, it is not necessarily required to calculate the E-sequence frame associated with each B-sequence frame. Only some B-sequence frames can be calculated to obtain the associated E-sequence frames. In this way, the number of frames of the final E-sequence frame is increased, and therefore the display frame rate of the E-mode image will also be increased.

[0101] In one embodiment, in the ultrasonic imaging device 10 of the present application, in addition to generating B-sequence frames and E-sequence frames to simultaneously achieve B-mode imaging and E-mode imaging, an ultrasonic sequence for color Doppler imaging can also be inserted simultaneously to generate C-sequence frames, etc. Here, the combination between sequence frames of various types is not limited.

[0102] The ultrasonic imaging method of the present application can directly display the new high-frame-rate E-mode image after inter-frame processing during real-time imaging. It is also possible to choose to first display the original E-mode image during real-time imaging, and after the image acquisition is completed, the user can then start the inter-frame processing through operations such as control buttons or keys to form a new high-frame-rate E-mode image.

[0103] In one embodiment, after obtaining the first elastic image frame sequence of the target area according to the first echo data, the method further includes:

[0104] Displaying the first elastic image frame sequence; the first elastic image frame sequence can be understood as the original E-mode image.

[0105] The execution of the inter-frame processing process includes:

[0106] Receiving a first operation and performing the inter-frame processing process according to the first operation. For example, the user starts the inter-frame processing through operations such as control buttons, keys, or voice instructions to form a new high-frame-rate E-mode image and displays the new high-frame-rate E-mode image. The inter-frame processing process can be understood with reference to the relevant description in step 204 and will not be elaborated here.

[0107] In one embodiment, the original E-mode image and the high-frame-rate E-mode image can also be freely switched. The ultrasonic imaging method further includes:

[0108] Receiving a first switching instruction and performing a switching process according to the first switching instruction; the switching process includes: switching the currently displayed first elastic image frame sequence to display a second elastic image frame sequence; or, switching the currently displayed second elastic image frame sequence to display the first elastic image frame sequence.

[0109] It should be noted that after the user starts the inter-frame processing through operations such as control buttons, keys, or voice instructions and displays the new high-frame-rate E-mode image, the user can further switch the currently displayed new high-frame-rate E-mode image to display the original E-mode image through operations such as buttons, keys, or voice instructions. The original E-mode image and the new high-frame-rate E-mode image can be freely switched through operations such as buttons, keys, or voice instructions. Here, the operation method and the switching frequency are not limited.

[0110] The ultrasonic imaging method of the present application can also be extended to other imaging modes that simultaneously have at least two different ultrasonic sequence frames. For example, when the B sequence frame and the C sequence frame simultaneously appear in the color flow mode, the ultrasonic imaging method of the present application can be used to perform inter-frame processing on the B sequence frame and / or the C sequence frame at this time to improve the display frame rate.

[0111] For another example, when the B sequence frame and the PW sequence frame simultaneously appear in the Doppler mode, the ultrasonic imaging method of the present application can be used to perform inter-frame processing on the B sequence frame and / or the PW sequence frame at this time to improve the display frame rate.

[0112] In the ultrasonic imaging method provided by the present application, the ultrasonic imaging device 10 emits a first ultrasonic wave to a target area of the object to be measured through the transmission / reception sequence controller 102 to track the shear wave propagating in the target area; receives the ultrasonic echo of the first ultrasonic wave returned from the target area to obtain first echo data; obtains a first elastic image frame sequence of the target area by the processor 103 according to the first echo data; determines at least one target elastic image according to the at least two elastic images to obtain a second elastic image frame sequence, and displays the second elastic image frame sequence. The second elastic image frame sequence can be understood with reference to the relevant description of step 204 above and will not be elaborated here. Since after the inter-frame processing process, the number of frames of the obtained second elastic image frame sequence is greater than the number of frames of the original first elastic image frame sequence. Therefore, the display frame rate of the obtained second elastic image frame sequence is higher than the display frame rate of the original first elastic image frame sequence, thereby improving the display frame rate of the elastic image.

[0113] Figure 6 It is a schematic structural block diagram of the ultrasonic imaging device 60 in the embodiment of the present application. The ultrasonic imaging device 60 may include a processor 601 and a display 602. The processor 601 can process the obtained ultrasonic echo signal to obtain an ultrasonic image of the target object. The ultrasonic images obtained by the processor 601 can be stored in the memory 603, and these ultrasonic images can be displayed on the display 602.

[0114] In the embodiment of the present application, the display 602 of the ultrasonic imaging device 60 may be a touch display screen, a liquid crystal display screen, etc., or may be an independent display device such as a liquid crystal display or a television outside the ultrasonic imaging device 60, or may also be a display screen on an electronic device such as a mobile phone or a tablet computer.

[0115] In the embodiment of the present application, the memory 603 of the foregoing ultrasonic imaging device 60 may be a flash memory card, a solid-state memory, a hard disk, etc.

[0116] An embodiment of the present application also provides a computer-readable storage medium, which stores multiple program instructions. After being called and executed by the processor 601, the multiple program instructions can execute some steps, all steps, or any combination of the steps in the ultrasonic imaging method in each embodiment of the present application.

[0117] In one embodiment, the computer-readable storage medium may be the memory 603, which can be a non-volatile storage medium such as a flash card, solid-state memory, or hard disk.

[0118] In the embodiment of the present application, the processor 601 of the foregoing ultrasonic imaging device 60 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 foregoing circuits or devices, or other suitable circuits or devices, so that the processor 601 can execute the corresponding steps in the ultrasonic imaging method in each of the foregoing embodiments.

[0119] The ultrasonic imaging method in the present application will be described in detail below. Please refer to Figure 7 , an ultrasonic imaging method provided by an embodiment of the present application. This method is applied to the ultrasonic imaging device 60, especially suitable for the ultrasonic imaging device 60 including a touch display screen, and is used to input touch screen operations by touching the touch display screen. The ultrasonic imaging device 60 can generate an elastic image using ultrasonic echo data, or can also generate a conventional ultrasonic B image, Doppler image, etc. using ultrasonic echo data. The embodiments of the ultrasonic imaging method in the present application include:

[0120] The present application also provides an ultrasonic imaging method. Please refer to Figure 7 , this method includes:

[0121] 701. Obtain a first elastic image frame sequence and display the first elastic image frame sequence, where the first elastic image frame sequence includes at least two elastic images.

[0122] The first elastic image frame sequence can be obtained in the following manner: emitting a first ultrasonic wave to a target area of the object to be measured through an ultrasonic probe to track a shear wave propagating in the target area; receiving an ultrasonic echo of the first ultrasonic wave returning from the target area to obtain first echo data; and obtaining the first elastic image frame sequence of the target area according to the first echo data. The first elastic image frame sequence can be an elastic image stored locally or an elastic image obtained in real time. The ultrasonic imaging device 60 can directly obtain the first elastic image frame sequence stored locally or obtain the first elastic image frame sequence through wired or wireless data transmission. Further, the ultrasonic imaging device 60 controls the display 602 to display the first elastic image frame sequence.

[0123] 702. Receive a first operation and perform an inter-frame processing procedure according to the first operation.

[0124] The inter-frame processing procedure includes: determining at least one target elastic image according to the at least two elastic images to obtain a second elastic image frame sequence, and displaying the second elastic image frame sequence; wherein the number of frames of the second elastic image frame sequence is greater than the number of frames of the first elastic image frame sequence. For example, a user starts the inter-frame processing procedure through operations such as controlling buttons, keys, or voice instructions to form a new high-frame-rate elastic image and display the new high-frame-rate elastic image. The inter-frame processing procedure can be understood with reference to the relevant description of step 204 in the above embodiment, and will not be elaborated here.

[0125] In the technical solution provided by the embodiment of the present application, a first elastic image frame sequence is obtained and the first elastic image frame sequence is displayed; the first elastic image frame sequence includes at least two elastic images; a first operation is received, at least one target elastic image is determined according to the at least two elastic images to obtain a second elastic image frame sequence, and the second elastic image frame sequence is displayed. The second elastic image frame sequence can be understood with reference to the relevant description of step 204 above, and will not be elaborated here. Since after the inter-frame processing procedure, the number of frames of the obtained second elastic image frame sequence is greater than the number of frames of the original first elastic image frame sequence. Therefore, the display frame rate of the obtained second elastic image frame sequence is higher than the display frame rate of the original first elastic image frame sequence, thereby improving the display frame rate of the elastic image.

[0126] In one embodiment, the original elastic image and the high-frame-rate elastic image can also be freely switched. The ultrasonic imaging method further includes:

[0127] Receiving a first switching instruction and performing a switching procedure according to the first switching instruction; the switching procedure includes: switching the currently displayed first elastic image frame sequence to display the second elastic image frame sequence; or switching the currently displayed second elastic image frame sequence to display the first elastic image frame sequence.

[0128] It should be noted that after the user starts the inter-frame processing through operations such as control buttons, keys, or voice instructions, a new high-frame-rate elastic image is displayed. The user can further switch the currently displayed new high-frame-rate elastic image to display the original elastic image through operations such as buttons, keys, or voice instructions. The original elastic image and the new high-frame-rate elastic image can be freely switched through operations such as buttons, keys, or voice instructions. The operation method and switching frequency are not limited here.

[0129] This application also provides an ultrasonic imaging method, and the ultrasonic imaging device 10 is applicable to this method. Please refer to Figure 8 , and this method includes:

[0130] 801. Transmit a first ultrasonic wave to the target area of the object to be measured, and receive the ultrasonic echo of the first ultrasonic wave returned from the target area to obtain first echo data.

[0131] In this embodiment, the ultrasonic imaging device 10 uses the transmit / receive sequence controller 102 to excite the ultrasonic probe 100 to transmit a first ultrasonic wave to the target area of the object to be measured, and receive the ultrasonic echo of the first ultrasonic wave returned from the target area to obtain first echo data.

[0132] 802. Obtain a first image frame sequence of the first mode of the target area according to the first echo data.

[0133] In this embodiment, the processor 103 processes the first echo data obtained in step 802 to obtain at least two elastic images of the target area, and forms a first image frame sequence of the first mode of the target area.

[0134] 803. Transmit a second ultrasonic wave to the target area of the object to be measured, and receive the ultrasonic echo of the second ultrasonic wave returned from the target area to obtain second echo data.

[0135] In this embodiment, the ultrasonic imaging device 10 uses the transmit / receive sequence controller 102 to excite the ultrasonic probe 100 to transmit a second ultrasonic wave to the target area of the object to be measured, and receive the ultrasonic echo of the second ultrasonic wave returned from the target area to obtain second echo data.

[0136] 804. Obtain a second image frame sequence of the second mode of the target area according to the second echo data.

[0137] In this embodiment, the processor 103 processes the second echo data obtained in step 803 to obtain at least two elastic images of the target area, and forms a second image frame sequence of the second mode of the target area.

[0138] The first mode and the second mode can be any two combinations of four working modes, such as the working mode of generating B-sequence frames to achieve B-mode imaging, the working mode of generating C-sequence frames to achieve C-mode imaging, the working mode of generating E-sequence frames to achieve E-mode imaging, and the working mode of generating PW-sequence frames to achieve PW-mode imaging. For example, the first mode is the working mode of generating E-sequence frames to achieve E-mode imaging, and the second mode is the working mode of generating B-sequence frames to achieve B-mode imaging; for another example, the first mode is the working mode of generating C-sequence frames to achieve C-mode imaging, and the second mode is the working mode of generating B-sequence frames to achieve B-mode imaging.

[0139] 805. Determine at least one target image of the first mode based on the first image frame sequence and the second image frame sequence to obtain a third image frame sequence of the first mode; wherein, the number of frames of the third image frame sequence is greater than the number of frames of the first image frame sequence.

[0140] In this embodiment, the processor 103 calculates at least one target image of the first mode based on the first image frame sequence and the second image frame sequence to obtain a third image frame sequence of the first mode. It should be noted that the third image frame sequence may include all or part of the above at least one target image of the first mode and all or part of the sequence of the first image frames; it may also include only the above at least one target image of the first mode. For example, the first image frame sequence is E1, E2. The third image frame sequence may be E1, EX, E2; where EX represents one target image of the above at least one target image of the first mode. For another example, the first image frame sequence is E1, E2, E3. The third image frame sequence may be E1, EX, EY, EZ, E3; where EX, EY, EZ represent three target images of the above at least one target image of the first mode. Since the number of frames of the obtained third image frame sequence is greater than the number of frames of the original first image frame sequence after the inter-frame processing process. Therefore, the display frame rate of the obtained third image frame sequence is higher than the display frame rate of the original first image frame sequence, thereby improving the display frame rate of the ultrasonic image.

[0141] 806. Display the third image frame sequence of the first mode.

[0142] The processor 103 controls the display 104 to display the third image frame sequence of the first mode.

[0143] In the above embodiment, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product.

[0144] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, they implement all or part of the processes or functions in accordance with the embodiments of the present invention. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that can be stored by a computer or a data storage device such as a server or data center that includes one or more integrated available media. The available medium may be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)).

[0145] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0146] In several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed couplings, direct couplings, or communication connections to each other may be through some interfaces, and the indirect couplings or communication connections of devices or units may be in electrical, mechanical, or other forms.

[0147] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to 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.

[0148] In addition, in each embodiment of the present application, each functional unit may be integrated into a processing unit, or each unit may exist physically alone, 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 a software functional unit.

[0149] 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 such an understanding, the technical solution of the present application, in essence, 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. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method in each embodiment of the present application. The foregoing storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc.

[0150] The above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of the present application.

Claims

1. An ultrasonic imaging method, characterized in that, Including: Based on the second ultrasonic sequence frame, emitting a second ultrasonic wave towards the target area of the object to be measured; Receiving the ultrasonic echo of the second ultrasonic wave returned from the target area to obtain second echo data; Based on the first ultrasonic sequence frame, emitting a first ultrasonic wave towards the target area of the object to be measured to track the shear wave propagating in the target area; Receiving the ultrasonic echo of the first ultrasonic wave returned from the target area to obtain first echo data; wherein, the first ultrasonic sequence frame and the second ultrasonic sequence frame are alternately emitted; Obtaining at least one image frame sequence of a B-mode image frame sequence and a C-mode image frame sequence of the target area according to the second echo data; Obtaining a first elastic image frame sequence of the target area according to the first echo data; Determining a second elastic image frame sequence according to at least one image frame sequence of the B-mode image frame sequence and the C-mode image frame sequence and the first elastic image frame sequence; wherein, the number of frames of the second elastic image frame sequence is greater than the number of frames of the first elastic image frame sequence; Synchronously displaying at least one image frame sequence of the B-mode image frame sequence and the C-mode image frame sequence and the second elastic image frame sequence.

2. An ultrasonic imaging method, characterized in that, Including: Based on the first ultrasonic sequence frame, emitting a first ultrasonic wave towards the target area of the object to be measured to track the shear wave propagating in the target area; Receiving the ultrasonic echo of the first ultrasonic wave returned from the target area to obtain first echo data; Based on the second ultrasonic sequence frame, emitting a second ultrasonic wave towards the target area of the object to be measured; Receiving the ultrasonic echo of the second ultrasonic wave returned from the target area to obtain second echo data; wherein, the first ultrasonic sequence frame and the second ultrasonic sequence frame are alternately emitted; Obtaining a first elastic image frame sequence of the target area according to the first echo data, and the first elastic image frame sequence includes at least two frames of elastic image data; Obtaining an ultrasonic image frame sequence of the target area according to the second echo data; Performing an inter-frame processing process; the inter-frame processing process includes determining at least one frame of target elastic image data according to the at least two frames of elastic image data and the ultrasonic image frame sequence to obtain a second elastic image frame sequence, and displaying the second elastic image frame sequence; wherein, the number of frames of the second elastic image frame sequence is greater than the number of frames of the first elastic image frame sequence.

3. The method according to claim 2, characterized in that, The determining at least one frame of target elastic image data according to the at least two frames of elastic images and the ultrasonic image frame sequence to obtain a second elastic image frame sequence includes: Determining first elastic image data and second elastic image data from the at least two frames of elastic image data; Determining the time interval between the first elastic image data and the second elastic image data; Generating at least one frame of target elastic image data according to the time interval between the first elastic image data and the second elastic image data and the ultrasonic image frame sequence to obtain the second elastic image frame sequence.

4. The method according to claim 2, characterized in that, The ultrasonic image frame sequence includes a B-mode image frame sequence or a C-mode image frame sequence; the method further includes: Display the B-mode image frame sequence or the C-mode image frame sequence.

5. The method according to claim 3, characterized in that, The generating of at least one frame of target elastic image data according to the time interval between the first elastic image data and the second elastic image data and the ultrasonic image frame sequence includes: Generating at least one frame of target elastic image data according to the time interval between the first elastic image data and the second elastic image data, the ultrasonic image frame sequence, and a preset weighting coefficient.

6. The method according to claim 3, characterized in that, The generating of at least one frame of target elastic image data according to the time interval between the first elastic image data and the second elastic image data and the ultrasonic image frame sequence includes: Determining the number of frames of the B-mode image data or the number of frames of the C-mode image data of the target region associated with the first elastic image data and the second elastic image data; Generating at least one frame of target elastic image data according to the number of frames of the B-mode image data or the C-mode image data and the time interval between the first elastic image data and the second elastic image data.

7. The method according to claim 6, characterized in that, The generating of at least one frame of target elastic image data according to the number of frames of the B-mode image data or the C-mode image data and the time interval between the first elastic image data and the second elastic image data includes: Determining the displacement of the target region according to at least two frames of the B-mode image data or at least two frames of the C-mode image data; Generating at least one frame of target elastic image data according to the number of frames of the B-mode image data or the C-mode image data, the displacement of the target region, and the time interval between the first elastic image data and the second elastic image data.

8. The method according to claim 2, characterized in that, After obtaining the first elastic image frame sequence of the target region from the first echo data, the method further includes: Displaying the first elastic image frame sequence; The performing of the inter-frame processing procedure includes: Receiving a first operation and performing the inter-frame processing procedure according to the first operation.

9. The method according to claim 8, wherein, The method further includes: Receiving a first switching instruction and performing a switching procedure according to the first switching instruction; The switching procedure includes: switching the currently displayed first elastic image frame sequence to display a second elastic image frame sequence; or, switching the currently displayed second elastic image frame sequence to display the first elastic image frame sequence.

10. An ultrasonic imaging method, wherein, Includes: Obtaining a first elastic image frame sequence and displaying the first elastic image frame sequence; The first elastic image frame sequence includes at least two frames of elastic image data; Obtaining at least one of a B-mode image frame sequence and a C-mode image frame sequence; Receiving a first operation and performing an inter-frame processing procedure according to the first operation; The inter-frame processing procedure includes: determining at least one frame of target elastic image data according to at least one of the B-mode image frame sequence and the C-mode image frame sequence and the at least two frames of elastic image data to obtain a second elastic image frame sequence, and displaying the second elastic image frame sequence; wherein, the number of frames of the second elastic image frame sequence is greater than the number of frames of the first elastic image frame sequence.

11. An ultrasonic imaging method, wherein, Includes: Based on the first ultrasonic sequence frame, emit a first ultrasonic wave towards the target area of the object to be measured, and receive the ultrasonic echo of the first ultrasonic wave returned from the target area to obtain first echo data; Obtain a first image frame sequence of the first mode of the target area according to the first echo data; Based on the second ultrasonic sequence frame, emit a second ultrasonic wave towards the target area of the object to be measured, and receive the ultrasonic echo of the second ultrasonic wave returned from the target area to obtain second echo data; wherein, the first ultrasonic sequence frame and the second ultrasonic sequence frame are alternately emitted; Obtain a second image frame sequence of the second mode of the target area according to the second echo data; Determine at least one frame of target image data of the first mode according to the first image frame sequence and the second image frame sequence to obtain a third image frame sequence of the first mode; wherein, the number of frames of the third image frame sequence is greater than the number of frames of the first image frame sequence; Display the third image frame sequence of the first mode.

12. An ultrasonic imaging device, wherein, Comprising: An ultrasonic probe; A transmit / receive sequence controller, which stimulates the ultrasonic probe to emit ultrasonic waves towards the target area of the object to be measured and receive the ultrasonic echoes of the ultrasonic waves returned from the target area to obtain echo data; A processor, which executes the ultrasonic imaging method according to any one of claims 1 to 11 above.

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