Ultrasonic Doppler imaging method, device and related equipment

Abstract

The present application discloses an ultrasonic Doppler imaging method, comprising extracting features from an acquired raw blood flow image to obtain vascular features; determining illumination processing parameters for each vascular location based on the vascular features; adjusting the original illumination model using the illumination processing parameters to obtain an illumination model; processing the corresponding vascular locations using the illumination model to obtain reflection results; and fusing each reflection result with a pseudo-color blood flow image corresponding to the raw blood flow image to generate an ultrasonic Doppler image. The ultrasonic Doppler imaging method can effectively reduce the dependence of different blood flow feature processing on illumination model parameters, thereby improving the ultrasonic Doppler blood flow imaging effect. The present application also discloses an ultrasonic Doppler imaging device, apparatus, and computer-readable storage medium, all of which have the aforementioned beneficial effects.

Description

Technical Field

[0001] The present application relates to the field of image processing technology, and in particular to an ultrasonic Doppler imaging method, and also to an ultrasonic Doppler imaging device, equipment, and computer-readable storage medium. Background Art

[0002] Ultrasound color Doppler blood flow imaging utilizes the Doppler principle to acquire echo signals within a specific timeframe and calculate physical quantities such as blood velocity, energy, and variance, which are then displayed on a monitor. Currently, ultrasound color Doppler blood flow imaging has achieved the extraction and visualization of blood flow. The introduction of illumination models enhances the three-dimensionality of blood flow and highlights hemodynamic information, making it easier for doctors to observe the positional relationships, shape, and distortion of blood vessels.

[0003] Illumination models can enhance image 3D images based on the varying reflection intensities of different regions. However, illumination models involve numerous intermediate parameters that significantly impact the effect of vessel enhancement. Traditional methods typically use uniform parameters for global enhancement calculations. However, this approach is unsuitable for images of organs such as the kidney, which have vessels of varying sizes within a single section. For example, within a single section of a renal vascular image, the renal arteries and veins are relatively large, while the peripheral vessels of the renal cortex are relatively thin. When using illumination models for enhancement, if the selected neighborhood is small, only the small peripheral vessels will be significantly enhanced, while the model will be overly sensitive to changes in flow velocity within larger vessels, resulting in irregular bulges. If the selected neighborhood is large, only large vessels such as the abdominal aorta will be significantly enhanced, but smaller vessels may become thicker or merged together, making them difficult to distinguish, reducing blood flow resolution. Therefore, when vessels of varying size, velocity, energy, and morphology appear within the same image, the uniformity of illumination model parameters can severely impact the 3D blood flow imaging effect.

[0004] Therefore, how to effectively reduce the dependence of blood flow processing with different characteristics on illumination model parameters and improve the effect of ultrasound Doppler blood flow imaging is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide an ultrasonic Doppler imaging method, which can effectively reduce the dependence of blood flow processing with different characteristics on illumination model parameters and improve the ultrasonic Doppler blood flow imaging effect; another purpose of this application is to provide an ultrasonic Doppler imaging device, equipment and computer-readable storage medium, all of which have the above-mentioned beneficial effects.

[0006] In a first aspect, the present application provides an ultrasound Doppler imaging method, comprising:

[0007] Perform feature extraction on the acquired original blood flow image to obtain blood vessel features;

[0008] determining illumination processing parameters at each blood vessel position according to the blood vessel characteristics;

[0009] Adjusting the original illumination model using the illumination processing parameters to obtain an illumination model;

[0010] Processing the corresponding blood vessel position using the illumination model to obtain a reflection result;

[0011] Each of the reflection results is fused with the blood flow pseudo-color image corresponding to the original blood flow image to generate an ultrasonic Doppler image.

[0012] Preferably, the step of extracting features from the acquired original blood flow image to obtain blood vessel features includes:

[0013] performing segmentation processing on the original blood flow image to determine the blood vessel area;

[0014] Feature extraction is performed on the blood vessel region to obtain the blood vessel features.

[0015] Preferably, extracting features from the blood vessel region to obtain the blood vessel features includes:

[0016] Feature extraction is performed on the blood vessel region to obtain the blood vessel centerline, blood vessel curvature, blood vessel diameter and blood vessel grade.

[0017] Preferably, determining the illumination processing parameters of each blood vessel position according to the blood vessel characteristics includes:

[0018] determining light source parameters according to the blood vessel centerline and the blood vessel curvature;

[0019] determining a neighborhood size according to the blood vessel diameter;

[0020] Rendering parameters are determined according to the blood vessel classification.

[0021] Preferably, determining light source parameters according to the blood vessel centerline and the blood vessel curvature includes:

[0022] determining the shape of the blood vessel and the direction of blood flow according to the blood vessel centerline and the blood vessel curvature;

[0023] The direction and type of the light source are determined according to the shape of the blood vessel and the direction of blood flow.

[0024] Preferably, the illumination model includes a diffuse reflection model and a specular reflection model;

[0025] Accordingly, the fusion processing of each of the reflection results and the blood flow pseudo-color image corresponding to the original blood flow image to generate an ultrasonic Doppler image includes:

[0026] The reflection result of the diffuse reflection model and the reflection result of the specular reflection model are fused with the blood flow pseudo-color image according to preset weights to generate the ultrasonic Doppler image.

[0027] Preferably, before extracting features from the acquired original blood flow image to obtain blood vessel features, the method further includes:

[0028] receiving ultrasound Doppler imaging instructions;

[0029] Determining whether the ultrasonic Doppler imaging instruction is an adaptive ultrasonic Doppler imaging instruction;

[0030] If yes, then executing the step of extracting features from the acquired original blood flow image to obtain blood vessel features;

[0031] If not, ultrasound Doppler imaging is performed using the original illumination model.

[0032] In a second aspect, the present application further discloses an ultrasonic Doppler imaging device, comprising:

[0033] A feature extraction module is used to extract features from the original blood flow image to obtain blood vessel features;

[0034] a parameter determination module, configured to determine illumination processing parameters for each blood vessel position according to the blood vessel characteristics;

[0035] A model adjustment module, configured to adjust the original illumination model using the illumination processing parameters to obtain an illumination model;

[0036] a reflection calculation module, configured to process the corresponding blood vessel position using the illumination model to obtain a reflection result;

[0037] The ultrasonic imaging module is used to fuse the reflection results with the blood flow pseudo-color image corresponding to the original blood flow image to generate an ultrasonic Doppler image.

[0038] In a third aspect, the present application further discloses an ultrasonic Doppler imaging device, comprising:

[0039] Memory for storing computer programs;

[0040] A processor is configured to implement the steps of any one of the ultrasound Doppler imaging methods described above when executing the computer program.

[0041] In a fourth aspect, the present application further discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of any one of the ultrasonic Doppler imaging methods described above are implemented.

[0042] The present application provides an ultrasonic Doppler imaging method, comprising extracting features from an acquired original blood flow image to obtain vascular features; determining illumination processing parameters for each vascular position based on the vascular features; adjusting an original illumination model using the illumination processing parameters to obtain an illumination model; processing corresponding vascular positions using the illumination model to obtain reflection results; and fusing each reflection result with a blood flow pseudo-color image corresponding to the original blood flow image to generate an ultrasonic Doppler image.

[0043] It can be seen that the ultrasonic Doppler imaging method provided in the present application first extracts features from the original blood flow image to determine the illumination processing parameters corresponding to different blood vessel positions in the image, and then uses the illumination processing parameters to adjust the original illumination model to obtain multiple illumination models that meet the requirements of different blood vessel positions. Thus, based on the adjusted illumination model, the corresponding blood vessel positions are enhanced to complete ultrasonic Doppler blood flow imaging. This method realizes the local processing of the original image using illumination models with different parameters, avoids the use of unified parameters to enhance the global image, effectively reduces the dependence of blood flow processing with different characteristics on the illumination model parameters, and further improves the ultrasonic Doppler blood flow imaging effect.

[0044] The ultrasonic Doppler imaging device, equipment and computer-readable storage medium provided in this application all have the above-mentioned beneficial effects, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the prior art and the embodiments of the present application, the following is a brief introduction to the drawings required for describing the prior art and the embodiments of the present application. Of course, the drawings described below in connection with the embodiments of the present application are only part of the embodiments of the present application. For those skilled in the art, other drawings can be obtained based on the provided drawings without inventive effort, and the obtained other drawings also fall within the scope of protection of the present application.

[0046] Figure 1 A schematic diagram of a flow chart of an ultrasonic Doppler imaging method provided in this application;

[0047] Figure 2 A schematic diagram of the calculation of a specular reflection model provided in this application;

[0048] Figure 3A schematic diagram of diffuse reflection model calculation provided in this application;

[0049] Figure 4 A schematic diagram of the process of another ultrasonic Doppler imaging method provided in this application;

[0050] Figure 5 A schematic diagram of blood vessel characteristics provided in this application;

[0051] Figure 6 A flow chart of blood vessel segmentation and feature extraction provided in this application;

[0052] Figure 7 This is a flow chart of a light-illuminated three-dimensional blood flow imaging provided by this application;

[0053] Figure 8 This is a schematic structural diagram of an ultrasonic Doppler imaging device provided in this application;

[0054] Figure 9 This is a schematic structural diagram of an ultrasonic Doppler imaging device provided in this application. DETAILED DESCRIPTION

[0055] The core of this application is to provide an ultrasonic Doppler imaging method, which can effectively reduce the dependence of blood flow processing with different characteristics on illumination model parameters and improve the ultrasonic Doppler blood flow imaging effect; another core of this application is to provide an ultrasonic Doppler imaging device, equipment and computer-readable storage medium, which also have the above-mentioned beneficial effects.

[0056] In order to describe the technical solutions in the embodiments of the present application more clearly and completely, the technical solutions in the embodiments of the present application will be introduced below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0057] Currently, ultrasound color Doppler blood flow imaging has achieved the extraction and visualization of blood flow. The introduction of illumination models can make blood flow more three-dimensional, highlight hemodynamic information, and facilitate doctors to observe the positional relationship, shape, and distortion of blood vessels. The illumination model can enhance the image based on the different reflection intensities of different regions, thereby enhancing the three-dimensional effect of the image. However, the illumination model has many intermediate parameters, which have a significant impact on the effect of blood vessel enhancement. Traditional methods generally use unified parameters for global enhancement calculations. However, this implementation method is not suitable for processing images of organs such as kidneys that have blood vessels of different scales within all planes. This is because when blood vessels of varying thickness, speed, energy, and morphology appear in the same image, the unified illumination model parameters will seriously affect the three-dimensional blood flow imaging effect. Therefore, to solve the above technical problems, the present application provides an ultrasound Doppler imaging method that can effectively reduce the dependence of blood flow processing with different characteristics on illumination model parameters, thereby improving the effect of ultrasound Doppler blood flow imaging.

[0058] Please refer to Figure 1 , Figure 1 This is a flow chart of an ultrasonic Doppler imaging method provided in this application. The ultrasonic Doppler imaging method may include:

[0059] S101: extracting features from the acquired original blood flow image to obtain blood vessel features;

[0060] This step aims to implement feature extraction operations, specifically to extract features from the original blood flow image and obtain its vascular features.

[0061] The original blood flow image is the original image required for ultrasound Doppler blood flow imaging. It can be directly input by a user through a terminal device, or directly input after being acquired by an image acquisition device (such as an ultrasound probe). In addition, the original blood flow image can be a vascular image of any tissue or organ, such as a renal vascular image or a liver vascular image. In other words, the source and type of the original blood flow image do not affect the implementation of this technical solution and are not limited in this application.

[0062] The specific content of vascular characteristics is also not unique and can be set by technicians based on actual needs. Different needs may correspond to different types of characteristic data. Therefore, this application does not limit this. For example, vascular characteristics may specifically include information such as vascular diameter, vascular curvature, and blood flow direction.

[0063] The extraction of vascular features can be implemented based on a corresponding feature extraction algorithm, that is, the original blood flow image is processed using the feature extraction algorithm to obtain vascular features. The specific types of feature extraction algorithms are not unique, and examples include the SIFT algorithm (Scale-invariant feature transform), the SURF algorithm (Speeded Up Robust Features), and the ORB algorithm (Oriented FAST and Rotated BRIEF). The corresponding implementation process can be referenced to existing technologies and will not be further described in this application.

[0064] In a specific implementation, to ensure more accurate and effective acquisition of vascular features, the original blood flow image can be segmented to facilitate feature extraction based on local images. Therefore, as a preferred embodiment, the steps of extracting features from the acquired original blood flow image to obtain vascular features can include: segmenting the original blood flow image to determine vascular regions; and extracting features from the vascular regions to obtain vascular features.

[0065] First, the original blood flow image is segmented to determine the region where the blood vessels are located, i.e., the aforementioned vascular region. Furthermore, vascular features are extracted in this vascular region, rather than extracting vascular features from the global image. This allows for rapid and accurate feature extraction. The image segmentation process can also be implemented based on a corresponding image segmentation algorithm, such as the FCN algorithm (Fully Convolutional Networks). The corresponding implementation process can be referenced to existing technologies and will not be further described in this application.

[0066] S102: Determine illumination processing parameters for each blood vessel location based on blood vessel characteristics;

[0067] This step aims to determine the illumination processing parameters, which are the intermediate parameters used in the illumination model calculation, including but not limited to the direction and type of the light source, the size of the neighborhood, etc. Specifically, in the original blood flow image, the blood vessels at different positions have different thicknesses, speeds, energies, and shapes. Therefore, the corresponding illumination processing parameters will also be different. For example, in the renal vascular image, for thicker blood vessels, it is appropriate to select a larger neighborhood, and for thinner blood vessels, it is appropriate to select a smaller neighborhood. Therefore, the illumination processing parameters of different vascular positions can be determined based on the extracted vascular features. The illumination processing parameters are used to adjust the model to obtain an illumination model that meets the requirements of the corresponding vascular position, and then based on the illumination model, the corresponding vascular position is enhanced to complete ultrasonic Doppler blood flow imaging.

[0068] S103: Adjusting the original illumination model using illumination processing parameters to obtain an illumination model;

[0069] This step aims to adjust the illumination model to obtain an illumination model that meets the requirements of the corresponding vascular position. In traditional technologies, illumination models with uniform parameters are often used, that is, the same illumination model is used to enhance the original blood flow image, resulting in poor stereoscopic blood flow imaging. Therefore, the present application adjusts the original illumination model through illumination processing parameters of different vascular positions to obtain an illumination model that meets the requirements of the corresponding vascular position, that is, different vascular positions are processed using different illumination models, so as to effectively solve the problem of poor stereoscopic blood flow imaging in traditional technologies.

[0070] The illumination model refers to a model used to implement image reflection processing, which can make blood flow imaging more three-dimensional and hemodynamic information more apparent. Illumination models include specular reflection models and diffuse reflection models. Specular reflection models further include Phong illumination models and Blinn-Phong illumination models. It should be noted that the type of illumination model used in the ultrasonic Doppler blood flow imaging method provided in this application is not unique and can be one or more of the aforementioned illumination models.

[0071] Among them, the original illumination model refers to the illumination model without parameter adjustment. Since this application aims to adjust the model and use the adjusted illumination model for image processing, the original illumination model can adopt any one of the existing technologies and can be directly selected and input by the technicians.

[0072] S104: Processing the corresponding blood vessel position using the illumination model to obtain a reflection result;

[0073] This step aims to implement image processing based on the illumination model. Specifically, after obtaining the illumination models corresponding to different blood vessel positions based on S103, the illumination models are used to process the corresponding blood vessel positions to obtain corresponding reflection results.

[0074] As mentioned above, there are many types of illumination models. Different types of illumination models must correspond to different image processing methods. Several image processing methods based on illumination models are given below.

[0075] 1. Specular reflection model:

[0076] Please refer to Figure 2 , Figure 2 This is a schematic diagram of the calculation of a specular reflection model provided in this application. Specular reflection means that if the reflective surface is relatively smooth, when parallel incident light hits this reflective surface, it will still be reflected in parallel in one direction. Figure 2 As shown, sunlight L is incident on a smooth plane and then reflected. The mirror reflected light is R, and the observer (smiling face) is located at the end point of vector V.

[0077] (1) The specular reflection model is the Phong lighting model:

[0078] According to the incident light L and the normal vector N, the reflected light R can be calculated as:

[0079] R=2×(N·L)NL

[0080] The component of the reflected light R observed in the direction of vector V is V·R, from which the reflection coefficient specular is calculated as:

[0081] specular=(V·R) n

[0082] Where n is the preset index.

[0083] Finally, the corresponding reflection result is obtained based on the above reflection coefficient specular calculation.

[0084] (2) The specular reflection model is the Blinn-Phong illumination model:

[0085] The calculation formula of its reflection coefficient is as follows:

[0086] specular=(N·H) n

[0087] Wherein, n is a preset index, H is a half-angle vector located in the direction of the angle bisector between the normal N and the incident light L, that is, H = (L+V) / |L+V|.

[0088] Finally, the corresponding reflection result is obtained based on the above reflection coefficient specular calculation.

[0089] 2. Diffuse reflection model:

[0090] Please refer to Figure 3 , Figure 3 This is a schematic diagram of a diffuse reflection model calculation provided in this application. Diffuse reflection is the phenomenon in which light projected onto a rough surface is reflected in all directions. When a parallel beam of incident light strikes a rough surface, the surface reflects the light in all directions. Therefore, although the incident rays are parallel to each other, the divergence directions at each point are inconsistent, causing the reflected light to be reflected irregularly in different directions.

[0091] The intensity of diffuse reflected light approximately obeys Lambert's law, that is, the intensity of diffuse reflected light is only proportional to the cosine of the angle between the direction of the incident light and the surface normal vector at the reflection point, that is:

[0092] diffuse=I*cosθ

[0093] Wherein, diffuse is the intensity of diffuse reflected light, I is the intensity of incident light L, and cosθ is the cosine of the incident light L and the vertex normal vector N.

[0094] When L and N are unit vectors, cosθ is the result of the dot product operation of the two vectors, that is:

[0095] cosθ=L*N

[0096] Thus, the reflection result corresponding to the diffuse reflection model is obtained.

[0097] S105: performing fusion processing on each reflection result and the blood flow pseudo-color image corresponding to the original blood flow image to generate an ultrasonic Doppler image.

[0098] This step aims to achieve ultrasonic Doppler imaging and obtain the final ultrasonic Doppler image. Specifically, after obtaining the reflection results of each blood vessel position, it is fused with the blood flow pseudo-color image corresponding to the original blood flow image and displayed through a visual interface to achieve ultrasonic Doppler imaging. Among them, the blood flow pseudo-color image is obtained based on the original blood flow image. It can be understood that each pixel value of the pseudo-color image is actually an index value or code. The code value serves as the entry address of a certain item in the color look-up table CLUT (Color Look-Up Table). According to the address, the intensity value containing the actual R, G, and B can be found.

[0099] It can be understood that the ultrasound Doppler imaging method provided in this application is intended to solve the problem of poor blood flow imaging effect caused by the use of unified illumination model parameters for global image processing for organ images with blood vessels of different scales in traditional technology. Therefore, for images of other tissues, that is, organ tissue images without blood vessels of different scales, traditional technology can still be used for ultrasound Doppler imaging, that is, global image processing using unified illumination model parameters.

[0100] Therefore, as a preferred embodiment, the above-mentioned feature extraction of the acquired original blood flow image and the acquisition of vascular features may also include: receiving an ultrasonic Doppler imaging instruction; determining whether the ultrasonic Doppler imaging instruction is an adaptive ultrasonic Doppler imaging instruction; if so, executing the step of extracting features from the acquired original blood flow image to obtain vascular features; if not, performing ultrasonic Doppler imaging using the original illumination model.

[0101] Specifically, a vascular feature adaptive selection button can be added to control whether to use the adaptive ultrasonic Doppler imaging method provided by this application. When the user clicks this button, an adaptive ultrasonic Doppler imaging instruction is generated and sent to the ultrasonic Doppler imaging system, thereby implementing the ultrasonic Doppler imaging method provided by this application. Of course, if the user does not click this button and directly enters the ultrasonic Doppler imaging instruction, ultrasonic Doppler imaging can be performed using traditional technology.

[0102] It can be seen that the ultrasonic Doppler imaging method provided in the present application first extracts features from the original blood flow image to determine the illumination processing parameters corresponding to different blood vessel positions in the image, and then uses the illumination processing parameters to adjust the original illumination model to obtain multiple illumination models that meet the requirements of different blood vessel positions. Thus, based on the adjusted illumination model, the corresponding blood vessel positions are enhanced to complete ultrasonic Doppler blood flow imaging. This method realizes the local processing of the original image using illumination models with different parameters, avoids the use of unified parameters to enhance the global image, effectively reduces the dependence of blood flow processing with different characteristics on the illumination model parameters, and further improves the ultrasonic Doppler blood flow imaging effect.

[0103] The present application provides another ultrasound Doppler imaging method.

[0104] Please refer to Figure 4 , Figure 4 This is a flow chart of another ultrasonic Doppler imaging method provided in this application. The ultrasonic Doppler imaging method may include:

[0105] S201: Segmenting the original blood flow image to determine the blood vessel area;

[0106] S202: Extract features of the blood vessel region to obtain the blood vessel centerline, blood vessel curvature, blood vessel diameter, and blood vessel classification;

[0107] S203: determining light source parameters according to the blood vessel centerline and blood vessel curvature, determining neighborhood size according to the blood vessel diameter, and determining rendering parameters according to the blood vessel classification;

[0108] S204: Adjusting the original illumination model using various illumination processing parameters to obtain an illumination model;

[0109] S205: Processing the corresponding blood vessel position using the illumination model to obtain a reflection result;

[0110] S206: performing fusion processing on each reflection result and the blood flow pseudo-color image corresponding to the original blood flow image to generate an ultrasonic Doppler image.

[0111] The present application embodiment provides several specific types of vascular features, namely, vascular centerline, vascular curvature, vascular diameter and vascular grade. For details, please refer to Figure 5 , Figure 5 A schematic diagram of blood vessel characteristics provided in this application. Wherein, the classification refers to the classification of blood vessels, such as Figure 5 As shown, the main blood vessel branches out into two small blood vessels. The main blood vessel can be considered as a primary blood vessel and the small blood vessel as a secondary blood vessel.

[0112] As mentioned above, vascular features have a strong correlation with illumination processing parameters. Based on vascular features, various illumination processing parameters can be determined. Specifically, light source parameters can be determined based on the vascular centerline and vascular curvature, neighborhood size can be determined based on the vascular diameter, and rendering parameters can be determined based on the vascular classification.

[0113] Among them, the blood vessel centerline and blood vessel curvature can infer the shape and direction of the blood vessel, and the direction and type of the light source of the illumination model at different blood vessels can be adjusted accordingly. Therefore, as a preferred method, the above-mentioned step of determining the light source parameters based on the blood vessel centerline and blood vessel curvature can include: determining the blood vessel shape and blood flow direction based on the blood vessel centerline and blood vessel curvature; determining the light source direction and light source type based on the blood vessel shape and blood flow direction.

[0114] Among them, the blood vessel diameter is strongly correlated with the choice of neighborhood size in the illumination model. When the blood vessel diameter is large, a larger neighborhood can be selected for processing, and when the blood vessel diameter is small, a smaller neighborhood can be selected for processing.

[0115] Among them, blood vessel classification is also one of the characteristics of blood vessels. For blood vessels of the same level, physical characteristics such as diameter, flow rate, and energy are relatively similar. Therefore, the same parameters can be used for rendering of blood vessels of the same level.

[0116] It can be seen that the ultrasonic Doppler imaging method provided in the embodiment of the present application determines various parameters in the illumination model based on various vascular characteristics, thereby realizing model adjustment and obtaining an illumination model that best meets the requirements of the corresponding vascular position. On this basis, the corresponding vascular position is enhanced based on the illumination model, which can effectively improve the ultrasonic Doppler blood flow imaging effect.

[0117] The present application provides another ultrasound Doppler imaging method.

[0118] It is understandable that due to the uncertainty of the thickness, size, shape, shape, and direction of blood vessels in tissues and organs, the reflection of light at different blood vessel positions may be specular reflection or diffuse reflection. Therefore, two illumination models can be used to simultaneously process the original blood flow image to obtain an ultrasound Doppler image with better stereoscopic imaging effect.

[0119] Therefore, as a preferred embodiment, the above-mentioned illumination model may include a diffuse reflection model and a specular reflection model; accordingly, the above-mentioned step of fusing each reflection result with the blood flow pseudo-color image corresponding to the original blood flow image to generate an ultrasonic Doppler image may include: fusing the reflection result of the diffuse reflection model and the reflection result of the specular reflection model with the blood flow pseudo-color image according to preset weights to generate an ultrasonic Doppler image.

[0120] For details, please refer to Figure 6 and Figure 7 , Figure 6 This is a flow chart of blood vessel segmentation and feature extraction provided by this application. Figure 7 This application provides a flowchart for the illumination stereo blood flow imaging process. First, after obtaining the original blood flow image (raw blood flow data), various vascular features are obtained through vessel segmentation and feature extraction, and then the illumination processing parameters of each point within the blood vessel are determined. Furthermore, the diffuse reflection model and the specular reflection model are adjusted using the illumination processing parameters, and the original blood flow image is processed using the adjusted models to obtain the reflection results corresponding to the two reflection models. Finally, according to preset weights, the two reflection results are fused with the blood flow pseudo-color data corresponding to the original blood flow image to achieve stereo enhancement and obtain an ultrasound Doppler image.

[0121] Among them, the specific value of the preset weight is not unique and can be set by technical personnel according to actual conditions, and this application does not limit this. Specifically, when there are more blood vessel positions in the original blood flow image that reflect light as mirror reflection, and fewer blood vessel positions that reflect light as diffuse reflection, a higher weight can be set for the mirror reflection model, and a lower weight can be set for the diffuse reflection model; conversely, when there are more blood vessel positions in the original blood flow image that reflect light as diffuse reflection, and fewer blood vessel positions that reflect light as mirror reflection, a higher weight can be set for the diffuse reflection model, and a lower weight can be set for the mirror reflection model. Of course, no matter how the weight values ​​are set, the sum of the weights of the two models is 1.

[0122] It can be seen that the ultrasonic Doppler imaging method provided in the embodiment of the present application simultaneously applies two illumination models to the original blood flow image, and then realizes the fusion processing of the two reflection results and the blood flow pseudo-color image based on the preset weights, which can effectively meet the needs of different types of vascular imaging and obtain ultrasonic Doppler images with better effects.

[0123] In order to solve the above technical problems, this application also provides an ultrasonic Doppler imaging device, please refer to Figure 8 , Figure 8 This is a schematic structural diagram of an ultrasonic Doppler imaging device provided in this application. The ultrasonic Doppler imaging device may include:

[0124] Feature extraction module 1, used to extract features from the acquired original blood flow image to obtain blood vessel features;

[0125] Parameter determination module 2, used to determine the illumination processing parameters of each blood vessel position according to the blood vessel characteristics;

[0126] Model adjustment module 3, used to adjust the original illumination model using illumination processing parameters to obtain an illumination model;

[0127] Reflection calculation module 4, used to process the corresponding blood vessel position using the illumination model to obtain a reflection result;

[0128] The ultrasonic imaging module 5 is used to fuse each reflection result with the blood flow pseudo-color image corresponding to the original blood flow image to generate an ultrasonic Doppler image.

[0129] It can be seen that the ultrasonic Doppler imaging device provided in the embodiment of the present application first extracts features from the original blood flow image to determine the illumination processing parameters corresponding to different blood vessel positions in the image, and then uses the illumination processing parameters to adjust the original illumination model to obtain multiple illumination models that meet the requirements of different blood vessel positions. Thus, based on the adjusted illumination model, the corresponding blood vessel positions are enhanced to complete ultrasonic Doppler blood flow imaging. This method realizes the local processing of the original image using illumination models with different parameters, avoids the use of unified parameters to enhance the global image, effectively reduces the dependence of blood flow processing with different characteristics on the illumination model parameters, and further improves the ultrasonic Doppler blood flow imaging effect.

[0130] As a preferred embodiment, the feature extraction module 1 may include:

[0131] An image segmentation unit, used for segmenting the original blood flow image to determine the blood vessel area;

[0132] The feature extraction unit is used to extract features from the blood vessel area to obtain blood vessel features.

[0133] As a preferred embodiment, the feature extraction unit can be specifically used to extract features from the blood vessel region to obtain the blood vessel centerline, blood vessel curvature, blood vessel diameter and blood vessel grade.

[0134] As a preferred embodiment, the parameter determination module 2 may include:

[0135] a light source parameter determination unit, configured to determine light source parameters according to the blood vessel centerline and blood vessel curvature;

[0136] a neighborhood size determining unit, configured to determine a neighborhood size according to a blood vessel diameter;

[0137] The rendering parameter determination unit is used to determine the rendering parameters according to the blood vessel classification.

[0138] As a preferred embodiment, the light source parameter determination unit can be specifically used to determine the blood vessel shape and blood flow direction based on the blood vessel centerline and blood vessel curvature; and determine the light source direction and light source type based on the blood vessel shape and blood flow direction.

[0139] As a preferred embodiment, the above-mentioned illumination model may include a diffuse reflection model and a specular reflection model; accordingly, the above-mentioned ultrasound imaging module 5 can be specifically used to fuse the reflection results of the diffuse reflection model and the specular reflection model with the blood flow pseudo-color image according to preset weights to generate an ultrasound Doppler image.

[0140] As a preferred embodiment, the ultrasonic Doppler imaging device may further include an adaptive selection module for receiving an ultrasonic Doppler imaging instruction before performing feature extraction on the acquired original blood flow image to obtain vascular features; determining whether the ultrasonic Doppler imaging instruction is an adaptive ultrasonic Doppler imaging instruction; if so, executing the above-mentioned step of performing feature extraction on the acquired original blood flow image to obtain vascular features; if not, performing ultrasonic Doppler imaging using the original illumination model.

[0141] For an introduction to the device provided in this application, please refer to the above method embodiment, and this application will not go into details here.

[0142] To solve the above technical problems, this application also provides an ultrasonic Doppler imaging device, please refer to Figure 9 , Figure 9 This is a schematic structural diagram of an ultrasonic Doppler imaging device provided in this application. The ultrasonic Doppler imaging device may include:

[0143] Memory 10, for storing computer programs;

[0144] The processor 20 is configured to implement the steps of any one of the above-mentioned ultrasound Doppler imaging methods when executing the computer program.

[0145] For an introduction to the equipment provided in this application, please refer to the above method embodiments, and this application will not go into details here.

[0146] To solve the above problems, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned ultrasound Doppler imaging methods can be implemented.

[0147] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., which can store program codes.

[0148] For an introduction to the computer-readable storage medium provided in this application, please refer to the above method embodiment, and this application will not go into details here.

[0149] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0150] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0151] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0152] The technical solution provided by the present application is described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only intended to help understand the method and core ideas of the present application. It should be noted that, for those skilled in the art, without departing from the principles of the present application, several improvements and modifications may be made to the present application, and these improvements and modifications also fall within the scope of protection of the present application.

Claims

1. An ultrasonic Doppler imaging method, characterized in that: include: Extracting features from the original blood flow image to obtain vascular features, wherein the vascular features include vascular centerline, vascular curvature, vascular diameter, and vascular grade; Determining illumination processing parameters for each blood vessel position according to the blood vessel characteristics; the illumination processing parameters include light source parameters, neighborhood size, and rendering parameters; Adjusting the original illumination model using the illumination processing parameters to obtain an illumination model; Processing the corresponding blood vessel position using the illumination model to obtain a reflection result; Each of the reflection results is fused with the blood flow pseudo-color image corresponding to the original blood flow image to generate an ultrasonic Doppler image.

2. The ultrasonic Doppler imaging method according to claim 1, wherein: The extracting features of the acquired original blood flow image to obtain blood vessel features includes: performing segmentation processing on the original blood flow image to determine the blood vessel area; Feature extraction is performed on the blood vessel region to obtain the blood vessel features.

3. The ultrasonic Doppler imaging method according to claim 1, wherein: The step of determining the illumination processing parameters of each blood vessel position according to the blood vessel characteristics includes: determining light source parameters according to the blood vessel centerline and the blood vessel curvature; determining a neighborhood size according to the blood vessel diameter; Rendering parameters are determined according to the blood vessel classification.

4. The ultrasonic Doppler imaging method according to claim 3, wherein: The determining of light source parameters according to the blood vessel centerline and the blood vessel curvature includes: determining the shape of the blood vessel and the direction of blood flow according to the blood vessel centerline and the blood vessel curvature; The direction and type of the light source are determined according to the shape of the blood vessel and the direction of blood flow.

5. The ultrasonic Doppler imaging method according to any one of claims 1 to 4, characterized in that: The illumination model includes a diffuse reflection model and a specular reflection model; Accordingly, the fusion processing of each of the reflection results and the blood flow pseudo-color image corresponding to the original blood flow image to generate an ultrasonic Doppler image includes: The reflection result of the diffuse reflection model and the reflection result of the specular reflection model are fused with the blood flow pseudo-color image according to preset weights to generate the ultrasonic Doppler image.

6. The ultrasonic Doppler imaging method according to claim 1, wherein: Before extracting features from the acquired original blood flow image to obtain blood vessel features, the method further includes: receiving ultrasound Doppler imaging instructions; Determining whether the ultrasonic Doppler imaging instruction is an adaptive ultrasonic Doppler imaging instruction; If yes, then executing the step of extracting features from the acquired original blood flow image to obtain blood vessel features; If not, ultrasound Doppler imaging is performed using the original illumination model.

7. An ultrasonic Doppler imaging device, characterized in that: include: A feature extraction module is used to extract features from the acquired original blood flow image to obtain vascular features; the vascular features include vascular centerline, vascular curvature, vascular diameter and vascular grade; a parameter determination module, configured to determine illumination processing parameters for each blood vessel position according to the blood vessel characteristics; the illumination processing parameters include light source parameters, neighborhood size, and rendering parameters; A model adjustment module, configured to adjust the original illumination model using the illumination processing parameters to obtain an illumination model; a reflection calculation module, configured to process the corresponding blood vessel position using the illumination model to obtain a reflection result; The ultrasonic imaging module is used to fuse the reflection results with the blood flow pseudo-color image corresponding to the original blood flow image to generate an ultrasonic Doppler image.

8. An ultrasonic Doppler imaging device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the ultrasonic Doppler imaging method according to any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the ultrasonic Doppler imaging method according to any one of claims 1 to 6 are implemented.

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