3D and / or 4D ultrasound contrast imaging device, 3D and / or 4D ultrasound contrast imaging method and medium

Abstract

The present disclosure relates to a 3D and / or 4D ultrasound contrast imaging device, a 3D and / or 4D ultrasound contrast imaging method, and a medium. The method includes: receiving input for selecting a 3D contrast imaging mode or a 4D contrast imaging mode; receiving input for setting an imaging speed, including a first imaging speed and a higher second imaging speed; controlling the device with imaging parameters associated with the selected contrast imaging mode and the set imaging speed to achieve imaging in the selected contrast imaging mode at the set imaging speed, wherein the association between the imaging parameters and the imaging speed causes the amount of data required to generate each volume of images using the first imaging speed to be greater than the amount of data required to generate each volume of images using the second imaging speed. In this way, the user can freely select the desired contrast imaging mode and imaging speed, and adopt imaging parameters in a targeted manner, thereby meeting the doctor's real-time observation needs when data processing capabilities are limited and various probes are used.

Description

Technical Field

[0001] The present disclosure relates to a medical imaging device, method, and medium, and more particularly, to an ultrasound contrast imaging device, method, and medium. Background Art

[0002] Ultrasound contrast agents are typically coated microbubbles with diameters on the order of micrometers. The basic principle of ultrasound contrast imaging is to inject the agent into the body and use an ultrasound system to detect the back-reflected signal from the agent. The strong reflection of the incident sound waves by the ultrasound contrast agent greatly enhances the blood flow signal, making previously undetectable tiny blood flow signals detectable. In recent years, ultrasound contrast imaging has played an increasingly important role in the differential diagnosis and ablation assessment of diseases such as cardiovascular disease, liver disease, thyroid disease, and breast disease.

[0003] Ultrasound contrast imaging can obtain dynamic, high-contrast images that depict the blood perfusion of lesions and surrounding normal tissues. Taking liver tumors as an example, the micro-blood flow inside malignant tumors is often richer than that in normal tissues. The typical manifestation of ultrasound contrast imaging is the rapid entry and rapid disappearance of microbubbles in the lesion area on the contrast image. The currently commonly used 2D real-time ultrasound contrast imaging frame rate is usually set to 10-15fps. Three-dimensional contrast imaging is to process the contrast data of continuously acquired dynamic 2D sections through a series of processes, arrange them in a certain order, and reconstruct them into 3D volume data. Then, three-dimensional rendering technology (surface rendering, volume rendering, etc.) is used to reproduce the three-dimensional information of contrast agent perfusion in tissues and organs to generate a volume of three-dimensional contrast images. Similarly, 4D contrast imaging can be considered as three-dimensional contrast imaging that is continuous in time.

[0004] Under the conditions of commonly used 2D real-time ultrasound contrast imaging frame rates, the 3D contrast imaging speeds of various probes are far lower than the real-time observation requirements required by doctors, or are limited by the system's computing power and cannot meet the doctors' real-time observation needs, making it difficult to capture the complete perfusion process of microbubbles, which in turn makes it impossible for doctors to provide reliable diagnostic results. Summary of the Invention

[0005] Therefore, there is a need for a 3D and / or 4D ultrasound contrast imaging device, a 3D and / or 4D ultrasound contrast imaging method and a medium that allow users to freely select a desired contrast imaging mode and imaging speed, and specifically adopt imaging parameters associated with the desired contrast imaging mode and imaging speed, while still being able to meet the real-time observation needs of doctors even when data processing capabilities are limited and various probes are used.

[0006] According to a first aspect of the present disclosure, a 3D and / or 4D ultrasound contrast imaging device is provided. The 3D and / or 4D ultrasound contrast imaging device may include an array probe, a transmitting circuit for stimulating the array probe to transmit ultrasound waves toward an object, a receiving circuit for controlling the array probe to receive ultrasound echo signals returned from the object, and a processor. The processor may be configured to: receive input for selecting a 3D contrast imaging mode or a 4D contrast imaging mode; receive input for setting an imaging speed; and control the 3D and / or 4D ultrasound contrast imaging device using imaging parameters associated with the selected contrast imaging mode and the set imaging speed to achieve imaging in the selected contrast imaging mode at the set imaging speed. The imaging speed may include a first imaging speed and a second imaging speed, the first imaging speed being lower than the second imaging speed, the imaging parameters being associated with the imaging speed such that the amount of data required to generate each volume of images at the first imaging speed is greater than the amount of data required to generate each volume of images at the second imaging speed, wherein the imaging parameters include at least one of the number of transmissions required to generate each volume of volume data, the line density, the number of data points per line, and the ROI range.

[0007] According to a second aspect of the present disclosure, a 3D and / or 4D ultrasound contrast imaging device is provided. The 3D and / or 4D ultrasound contrast imaging device may include a probe, a transmitting circuit for stimulating the probe to transmit ultrasound waves to an object, a receiving circuit for controlling the probe to receive ultrasound echo signals returned from the object, and a processor. The processor may be configured to: receive an input for selecting a 3D contrast imaging mode or a 4D contrast imaging mode; receive an input for setting an imaging speed; and control the 3D and / or 4D ultrasound contrast imaging device with imaging parameters associated with the selected contrast imaging mode and the set imaging speed to achieve imaging in the selected contrast imaging mode at the set imaging speed. The imaging parameters may include at least one of the number of transmissions required to generate each volume of volume data, the line density and / or the number of data on each line, the pulse repetition frequency, and the ROI range.

[0008] According to a third aspect of the present disclosure, a 3D and / or 4D ultrasound contrast imaging method is provided for use with a 3D and / or 4D ultrasound contrast imaging device, the 3D and / or 4D ultrasound contrast imaging device comprising an array probe, a transmitting circuit for stimulating the array probe to transmit ultrasound waves to an object, a receiving circuit for controlling the array probe to receive ultrasound echo signals returned from the object, and a processor. The 3D and / or 4D ultrasound contrast imaging method comprises, via the processor: receiving an input for selecting a 3D contrast imaging mode or a 4D contrast imaging mode; receiving an input for setting an imaging speed, the imaging speed comprising a first imaging speed and a second imaging speed, the first imaging speed being lower than the second imaging speed; and controlling the 3D and / or 4D ultrasound contrast imaging device using imaging parameters associated with the selected contrast imaging mode and the set imaging speed to achieve imaging in the selected contrast imaging mode at the set imaging speed. The association between the imaging parameters and the imaging speed makes the amount of data required to generate each volume of images using the first imaging speed greater than the amount of data required to generate each volume of images using the second imaging speed, wherein the imaging parameters include at least one of the number of shots required to generate each volume of volume data, the line density, the number of data on each line, and the ROI range.

[0009] According to a fourth aspect of the present disclosure, a 3D and / or 4D ultrasound contrast imaging method is provided, which is used for a 3D and / or 4D ultrasound contrast imaging device. The 3D and / or 4D ultrasound contrast imaging device includes a probe, a transmitting circuit for stimulating the probe to transmit ultrasound waves to an object, a receiving circuit for controlling the probe to receive ultrasound echo signals returned from the object, and a processor. The 3D and / or 4D ultrasound contrast imaging method further includes, via the processor: receiving an input for selecting a 3D contrast imaging mode or a 4D contrast imaging mode; receiving an input for setting an imaging speed; and controlling the 3D and / or 4D ultrasound contrast imaging device using imaging parameters associated with the selected contrast imaging mode and the set imaging speed to achieve imaging in the selected contrast imaging mode at the set imaging speed, wherein the imaging parameters may include at least one of the number of transmissions required to generate each volume of volume data, the line density and / or the number of data on each line, the pulse repetition frequency, and the ROI range.

[0010] According to a fifth aspect of the present disclosure, a computer-readable storage medium is provided, on which computer-executable instructions are stored, which, when executed by a processor, implement the 3D and / or 4D ultrasound contrast imaging method according to various embodiments of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, wherein like reference numerals represent like elements, and wherein:

[0012] Figure 1 A diagram showing the structure of a 3D and / or 4D ultrasound contrast imaging device according to an embodiment of the present disclosure;

[0013] Figure 2 A flowchart illustrating 3D and / or 4D ultrasound contrast imaging according to an embodiment of the present disclosure;

[0014] Figure 3 A schematic diagram illustrating Example 1 of a 3D and / or 4D ultrasound contrast imaging method according to an embodiment of the present disclosure;

[0015] Figure 4 A schematic diagram illustrating an interface in a 3D contrast imaging mode of a 3D and / or 4D ultrasound contrast imaging device according to an embodiment of the present disclosure is shown;

[0016] Figure 5 A schematic diagram illustrating an interface in a 4D contrast imaging mode of a 3D and / or 4D ultrasound contrast imaging device according to an embodiment of the present disclosure is shown;

[0017] Figure 6 A schematic diagram illustrating Example 2 of a 3D and / or 4D ultrasound contrast imaging method according to an embodiment of the present disclosure;

[0018] FIG7( a ) shows a configuration diagram of imaging parameters of a 3D and / or 4D ultrasound contrast imaging method according to an embodiment of the present disclosure when the probe is an ultrasound volume probe;

[0019] FIG7( b ) shows a configuration diagram of imaging parameters of a 3D and / or 4D ultrasound contrast imaging method according to an embodiment of the present disclosure when the probe is a planar array probe;

[0020] FIG7( c ) shows a configuration diagram of imaging parameters of a 3D and / or 4D ultrasound contrast imaging method according to an embodiment of the present disclosure when the probe is a linear array probe;

[0021] FIG7( d ) shows a configuration diagram of imaging parameters of a 3D and / or 4D ultrasound contrast imaging method according to an embodiment of the present disclosure when the probe is a convex array probe. DETAILED DESCRIPTION

[0022] Hereinafter, an embodiment of the present invention will be described; however, the present invention is not intended to be limited to this embodiment. All components of this embodiment are not always essential.

[0023] Figure 1 FIG. 1 shows a structural diagram of a 3D and / or 4D ultrasound imaging device according to an embodiment of the present disclosure. Figure 1As shown, the 3D and / or 4D ultrasound imaging device 100 may include a probe 101, a transmitting circuit 102 for stimulating the probe 101 to transmit ultrasound waves to an object 105, a receiving circuit 103 for controlling the probe 101 to receive ultrasound echo signals returned from the object 105, and a processor 104.

[0024] Various types of probes 101 can be used, such as, but not limited to, at least one of an ultrasound volume probe, an area array probe, and a conventional ultrasound array probe (such as a linear array probe or a convex array probe). 3D and / or 4D ultrasound contrast imaging devices generally use three scanning methods for volume data acquisition: free-arm scanning with conventional ultrasound array probes, motor-driven swing or sliding scanning with the acoustic head of an ultrasound volume probe, and electronic stereo scanning with an area array probe. Electronic stereo scanning significantly accelerates 3D contrast acquisition with an area array probe compared to the aforementioned two methods, but it results in a higher computational load on the 3D and / or 4D ultrasound contrast imaging device.

[0025] In some embodiments, the processor 104 may be a processing device including one or more general-purpose processing devices, such as a microprocessor, a central processing unit (CPU), a graphics processing unit (GPU), etc. More specifically, the processor may be a complex instruction set computing (CISC) microprocessor, a reduced instruction set computing (RISC) microprocessor, a very long instruction word (VLIW) microprocessor, a processor that runs other instruction sets, or a processor that runs a combination of instruction sets. The processor may also be one or more special-purpose processing devices, such as an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), a system on a chip (SoC), etc.

[0026] The processor 104 may be configured to execute the 3D and / or 4D ultrasound contrast imaging method according to various embodiments of the present disclosure.

[0027] like Figure 2As shown, in some embodiments, the 3D and / or 4D ultrasound contrast imaging method begins at step 201, whereby 3D or 4D contrast imaging mode is selected via a device panel or touchscreen button. In some embodiments, if the probe is an ultrasound volume probe or an area array probe, a region of interest (ROI) can be set (step 202). Setting the ROI can reduce the amount of data required for imaging. In step 203, the user can set the imaging speed. In some embodiments, the user can select from multiple levels of imaging speed, such as conventional speed and high speed. High speed is particularly suitable for imaging small lesions with rich blood supply (which can be several centimeters or even smaller) to capture the complete perfusion process of microbubbles. In some embodiments, the imaging speed value can also be automatically set by the user. In some embodiments, the user can also set the application scenario of ultrasound contrast imaging, such as, but not limited to, small lesions with rich blood supply, cardiac blood supply, etc., and the imaging speed is automatically matched based on the set application scenario. Next, an appropriate amount of contrast agent microbubbles is injected into the body using imaging parameters associated with the selected contrast imaging mode and the set imaging speed, and volume data acquisition is performed (step 204). Specifically, the imaging parameters associated with the selected contrast imaging mode and the set imaging speed can be used to control the 3D and / or 4D ultrasound contrast imaging device to achieve imaging in the selected contrast imaging mode at the set imaging speed. In step 205, a series of re-shot rendering processes can be performed on the acquired volume data. Finally, the resulting 3D / 4D contrast imaging image can be displayed on a display (not shown).

[0028] Figure 3 A schematic diagram of Example 1 of a 3D and / or 4D ultrasound contrast imaging method according to an embodiment of the present disclosure is shown. Example 1 is applicable to a planar array probe, but is merely an example.

[0029] The method may include step 301, receiving input for selecting a 3D contrast imaging mode or a 4D contrast imaging mode. In step 302, input for setting an imaging speed may be received. The imaging speed may include multiple different imaging speeds to meet real-time observation requirements, specifically, at least a first imaging speed and a second imaging speed that is higher than the first imaging speed. In step 303, the 3D and / or 4D ultrasound contrast imaging device may be controlled using imaging parameters associated with the selected contrast imaging mode and the set imaging speed to achieve imaging in the selected contrast imaging mode at the set imaging speed. Specifically, the association between the imaging parameters and the imaging speed makes the amount of data required to generate each volume of images using the first imaging speed greater than the amount of data required to generate each volume of images using the second imaging speed, wherein the imaging parameters include at least one of the number of transmissions required to generate each volume of volume data, the line density, the number of data on each line, and the ROI range. That is, by adjusting at least one of the number of transmissions required to generate each volume of volume data, the line density, the number of data on each line, and the ROI range at various imaging speeds, the amount of data required to generate each volume of images using the second imaging speed is less than the amount of data required to generate each volume of images using the first imaging speed, thereby solving the problem of limited data processing capacity of ultrasound contrast imaging equipment when using a planar array probe, and ensuring that the second imaging speed is faster than the first imaging speed by reducing the data processing amount.

[0030] In some embodiments, before controlling the 3D and / or 4D ultrasound contrast imaging device with imaging parameters associated with the selected contrast imaging mode and the set imaging speed (step 303), an input for setting a pulse repetition frequency may be received, wherein the pulse repetition frequency corresponding to the first imaging speed is lower than the pulse repetition frequency corresponding to the second imaging speed (step 302'), thereby further improving the imaging speed by increasing the pulse repetition frequency in addition to reducing the amount of data required for each volume of images.

[0031] In some embodiments, when the first and second imaging speeds are set, the area array probe uses the same transmission mode for transmitting ultrasound waves to the subject. Due to the electronic stereoscopic scanning method of the area array probe, changing the transmission mode has limited effect on reducing the number of transmissions required to generate each volume of volume data. On the contrary, frequent switching of transmission modes is costly and can easily accelerate the depreciation of expensive area array probes. Specifically, when setting the first and second imaging speeds, the area array probe can freely use various transmission modes, such as, but not limited to, plane wave transmission, wide beam transmission, coherent transmission synthesis, or focused wave transmission.

[0032] Figure 4A schematic diagram of the interface in the 3D contrast imaging mode of the 3D and / or 4D ultrasound contrast imaging device according to an embodiment of the present disclosure is shown. The 3D contrast imaging mode is also called the static 3D contrast imaging mode. In this mode, only one volume of three-dimensional contrast images can be acquired, processed, generated, displayed, and stored at a time. After the user selects the lesion to be observed, a first interface portion 400 that can be used for at least the 3D contrast imaging mode can be presented through the device panel or touch screen button. In response to the user's first interactive operation on the first interface portion 400, such as selecting the 3D contrast imaging portion 402 under the contrast portion 401, a first input for selecting the 3D contrast imaging mode is received, thereby starting the 3D contrast imaging mode of the device. Accordingly, a second interface portion with a first imaging speed and a second imaging speed can be presented in the first interface portion 400 in association with the 3D contrast imaging mode, such as Figure 4 The conventional speed section 402a and the high speed section 402b are shown in . Then, the user performs a second interactive operation on the second interface section, such as selecting the conventional speed section 402a or the high speed section 402b, to receive a second input selecting the first imaging speed or the second imaging speed. Note that in the 3D angiography imaging mode, "high speed" is used as an example of the "second imaging speed" of the present disclosure, and "conventional speed" is used as the "first imaging speed" of the present disclosure, but it should be noted that multiple different imaging speeds can also be set. After entering 3D angiography, the system provides two speed options - conventional speed and high speed. The difference between these two conditions is that the latter will acquire volume data of the same range faster than the former. For example, when the volume probe is scanned and imaged at conventional speed, it takes 6 seconds from starting the scan to generating a volume of static three-dimensional images, while it may only take 3 seconds to form a volume of images at high speed scanning. In some embodiments, after entering the 3D angiography pre-scan state, a region of interest (ROI) box appears on the image, and the position and size of the ROI box, as well as the swing angle or sliding distance of the ROI box, can be adjusted and determined using the trackball and buttons or knobs on the device panel. Figure 4 The various display units in the display, such as the imaging unit 401, the timer unit 404, the backward storage unit 403, the 3D imaging unit 302, the normal speed unit 402, and the high speed unit 402b, can be implemented as virtual buttons, menus, lists, check boxes, etc. on the touch screen interface. As long as they can be presented on the interface and accept user interaction, no further details are given here. For example, user selection input can be achieved by pressing a corresponding virtual button, clicking a corresponding list, or checking a corresponding check box, etc., and no further details are given here.

[0033] like Figure 4As shown, 3D ultrasound contrast imaging data is generally stored using a backward storage method. Accordingly, the user can enable backward storage by pressing the backward storage unit 403, and / or the status of the backward storage unit 403 can indicate whether the backward storage function is enabled. After entering the 3D contrast imaging mode and starting data acquisition, a dose of prepared contrast agent can be injected into the subject, and a timer can be started simultaneously, for example, by pressing the timer unit 404, and backward storage can be started.

[0034] Figure 5 The following is a schematic diagram of the interface in the 4D contrast imaging mode of a 3D and / or 4D ultrasound contrast imaging device according to an embodiment of the present disclosure. 4D contrast imaging can be regarded as continuous 3D contrast imaging. In this imaging mode, 3D contrast images can be continuously and uninterruptedly collected, processed, generated, and displayed. After the user selects the lesion to be observed, the third interface portion 500 for the 4D contrast imaging mode can be presented through the device panel or touch screen button. Figure 5 As shown, the third interface portion 500 includes, in addition to the display portion layout of the first interface portion 400, a display portion for 4D angiography that a user can interact with, such as but not limited to a 4D angiography portion 502, a normal volume portion 502a, and a high volume portion 502b. Figure 4 The details of the display unit described above are not described in detail. After the third interface unit 500 for the 4D imaging mode is presented, a third input for selecting the 4D imaging mode can be received in response to a third user interaction operation on the third interface unit 500, such as selecting the 4D imaging unit 502 under the imaging unit 401, thereby starting the 4D imaging mode. A fourth interface unit for the first imaging speed and the second imaging speed can be presented in association with the 4D imaging mode, such as Figure 5 , the conventional roll rate portion 502a and the high roll rate portion 502b are shown in FIG. Note that in the 4D angiography imaging mode, “high roll rate” is used as an example of the “second imaging speed” of the present disclosure, and “conventional roll rate” is used as the “first imaging speed” of the present disclosure, but it should be noted that multiple different imaging speeds can also be set. In response to a fourth user interaction operation on the fourth interface portion, such as selecting the conventional roll rate portion 502a or the high roll rate portion 502b, a fourth input selecting the first imaging speed or the second imaging speed can be received, wherein the second imaging speed is higher than the first imaging speed.

[0035] After starting the 4D angiography mode, the 4D angiography pre-scan state is entered, that is, the region of interest (ROI) box appears on the image, and the position and size of the ROI box, as well as the swing angle or sliding distance of the ROI box, can be adjusted and determined through the trackball and the buttons or knobs on the device panel. After entering the 4D angiography mode, the system provides two imaging volume rates - regular volume rate and high volume rate. The difference between these two conditions is that the latter will acquire and render volume data of the same range faster than the former. For example, the volume rate of 4D angiography imaging with a regular volume rate of a volume probe is 1.0VPS, while the volume rate of 4D angiography imaging with a high volume rate may be 2.0VPS. Note that Figure 5 The various display units in the embodiment can be implemented as virtual buttons, menus, lists, check boxes, etc. on the touch screen interface. As long as they can be presented on the interface and accept user interaction operations, no further details are given here. For example, the user's selection input can be implemented by pressing a corresponding virtual button, clicking a corresponding list, or checking a corresponding check box, etc., and no further details are given here.

[0036] Figure 6 A schematic diagram of Example 2 of a 3D and / or 4D ultrasound contrast imaging method according to an embodiment of the present disclosure is shown, and the method is applicable to 3D and / or 4D ultrasound contrast imaging devices equipped with various probes. Figure 6 As shown, the method may include receiving an input for selecting a 3D contrast imaging mode or a 4D contrast imaging mode (step 601). In step 602, an input for setting an imaging speed may be received. Then, in step 603, the 3D and / or 4D ultrasound contrast imaging device may be controlled with imaging parameters associated with the selected contrast imaging mode and the set imaging speed to achieve imaging in the selected contrast imaging mode at the set imaging speed. In other words, the imaging parameters may be adjusted accordingly according to the selected contrast imaging mode and the set imaging speed, or the associated imaging parameters may be called. The imaging parameters may include at least one of the number of transmissions required to generate each volume of volume data, the line density and / or the number of data on each line, the pulse repetition frequency, and the ROI range.

[0037] Various methods can be used to allow the user to interact with the interface to select a 3D or 4D imaging mode, as well as to set an imaging speed. For example, a first interface portion for the 3D imaging mode can be presented, and a first input for selecting the 3D imaging mode can be received in response to a first user interaction with the first interface portion; a second interface portion associated with the 3D imaging mode can be presented with a first imaging speed and a second imaging speed, and a second input for selecting the first or second imaging speed can be received in response to a second user interaction with the second interface portion, wherein the second imaging speed is higher than the first imaging speed. For another example, a third interface portion for the 4D imaging mode can be presented, and a third input for selecting the 4D imaging mode can be received in response to a third user interaction with the third interface portion; and a fourth interface portion associated with the 4D imaging mode can be presented with a first and second imaging speeds, and a second input for selecting the first or second imaging speed can be received in response to a fourth user interaction with the fourth interface portion, wherein the second imaging speed is higher than the first imaging speed.

[0038] In some embodiments, the imaging parameters can be associated with the selected contrast imaging mode and the set imaging speed by at least one of the following methods: Various imaging parameters can be adjusted in association with the selected contrast imaging mode and the set imaging speed in various steps of 3D and / or 4D contrast imaging, namely, the transmission control step, the reception control step, the ROI setting step, etc.

[0039] When setting the second imaging speed, at least one of wide-beam transmission, plane wave transmission, and coherent transmission synthesis can be used. When setting the first imaging speed, focused-wave line-by-line transmission can be used, or at least one of wide-beam transmission, plane wave transmission, and coherent transmission synthesis can also be used, but the number of transmissions required for each volume of data is reduced compared to when setting the second imaging speed, thereby increasing the imaging speed. This adapts and / or adjusts the imaging parameters of the transmission control link.

[0040] Compared to setting the first imaging speed, setting the second imaging speed can reduce the line density required to generate each volume of volume data and / or the number of data on each line, thereby increasing the imaging speed. This adapts and / or adjusts the imaging parameters of the receiving control link.

[0041] Compared with setting the first imaging speed, when setting the second imaging speed, the pulse repetition frequency may be increased to improve the imaging speed.

[0042] The ROI range can be set when setting the second imaging speed, while it may not be set when setting the first imaging speed. Alternatively, the ROI range can be reduced when setting the second imaging speed compared to when setting the first imaging speed. This adapts and / or adjusts the imaging parameters during the ROI setting process. Setting or reducing the ROI range can further reduce the volume data range, thereby improving imaging speed.

[0043] Through the above-mentioned simple association method, the imaging parameters of each existing link can be conveniently associated with the selected angiography imaging mode and the set imaging speed, so that the entire process is compatible with the existing 3D and / or 4D angiography imaging process without introducing new processing links, thereby improving the operation friendliness, feasibility and reliability, simplifying the workflow, and reducing the implementation cost.

[0044] In some embodiments, by adjusting the various imaging parameters described above, for subjects with centimeter-level or less hypervascularity, the second imaging speed can be faster than the first threshold in 3D contrast imaging mode, and faster than the second threshold in 4D contrast imaging mode. The first and second thresholds can be customized based on the physician's specific needs when reviewing ultrasound contrast imaging results of small, hypervascular subjects in real time, ensuring that the physician can capture the complete perfusion process of microbubbles and provide a reliable diagnosis.

[0045] When the imaging parameters are associated with the selected contrast imaging mode and the set imaging speed, the priority and relevance of the various imaging parameters can also be considered. In some embodiments, the number of shots required per volume is prioritized over the ROI range. That is, prioritizing changes in the number of shots required per volume reduces the impact on user perception. Imaging speed is increased by reducing the number of shots required per volume within the permitted range. If further improvement is not possible, then increasing imaging speed by changing the ROI range is considered to minimize the loss of physical field of view caused by the ROI range change.

[0046] In some embodiments, when both the ROI range and the pulse repetition frequency are changed, the pulse repetition frequency is altered in association with the corresponding depth of the ROI range. Specifically, the depth of the ROI range has a limiting effect on the pulse repetition frequency, and the pulse repetition frequency can be adjusted to avoid exceeding the depth limit. If the depth requirement is met, the pulse repetition frequency can be adjusted to increase imaging speed.

[0047] In the present disclosure, the probe includes at least one of an ultrasonic volume probe, a planar array probe, and a conventional ultrasonic array probe. In some embodiments, the 3D and / or 4D ultrasound contrast imaging method may further include detecting the type of connected probe; making the imaging parameters adopt a configuration corresponding to the detected probe type, each configuration defining imaging parameters associated with each contrast imaging mode and each imaging speed under the corresponding probe type. Thus, the doctor can freely switch the connected probe according to actual needs. Accordingly, the method can select a suitable imaging speed and its suitable adjustment method for imaging conditions unique to various types of probes in response to the doctor's switching of the probe, so as to ensure that the doctor's desired ultrasound contrast imaging speed can be maintained while switching the probe.

[0048] FIG7( a ) shows a configuration diagram of imaging parameters of a 3D and / or 4D ultrasound contrast imaging method according to an embodiment of the present disclosure when the probe is an ultrasound volume probe, wherein the first imaging speed is lower than the second imaging speed.

[0049] If the detected probe is an ultrasound volume probe, one or more of steps 700a, 701a, 702a, and 703a may be used to determine imaging parameters associated with the imaging speed. Specifically, when the imaging speed changes, the processor may dynamically change and adapt the imaging parameters in association therewith to meet the real-time detection requirements of the physician's desired application scenario.

[0050] Step 700a involves: employing at least one of wide-beam transmission, plane wave transmission, and coherent transmission synthesis when setting the second imaging speed; employing focused-wave line-by-line transmission when setting the first imaging speed; or employing at least one of wide-beam transmission, plane wave transmission, and coherent transmission synthesis but reducing the number of transmissions required per volume compared to when setting the second imaging speed. Typically, step 700a is a priority processing step for improving imaging speed. 3D and / or 4D contrast-enhanced ultrasound imaging devices using ultrasound volume probes typically rely on step 700a to improve imaging speed.

[0051] Step 701a is: compared with setting the first imaging speed, when setting the second imaging speed, reducing the line density required for generating each volume of data and / or the number of data on each line.

[0052] Step 702a is: when setting the second imaging speed, reducing the ROI range compared to when setting the first imaging speed.

[0053] Step 703a is: compared with setting the first imaging speed, when setting the second imaging speed, the pulse repetition frequency is increased in association with the corresponding depth of the reduced ROI range.

[0054] Steps 701a-703a are compatible with existing processing steps in 3D and / or 4D ultrasound contrast imaging devices using ultrasound volume probes. Specifically, existing processing also requires setting the line density and / or the number of data per line required to generate each volume of volume data. By reducing these, step 701a can be implemented in a cost-effective and user-friendly manner. Existing processing also requires setting the pulse repetition frequency. By increasing the pulse repetition frequency in accordance with the depth corresponding to the reduced ROI range, step 703a can be implemented in a cost-effective and user-friendly manner. Furthermore, existing processing generally requires setting the ROI range. By reducing the pulse repetition frequency in accordance with the depth corresponding to the reduced ROI range when setting the second imaging speed, compared to when setting the first imaging speed, the pulse repetition frequency is adjusted to match the depth corresponding to the reduced ROI range, ensuring image quality within the reduced ROI range, especially at its depth limit.

[0055] FIG7( b ) shows a configuration diagram of imaging parameters of a 3D and / or 4D ultrasound contrast imaging method according to an embodiment of the present disclosure when the probe is a planar array probe. Figure 3 A detailed description of the configuration of imaging parameters when the probe is an area array probe. Figure 7(b) provides another simplified example. As shown in Figure 7(b), when the detected probe is an area array probe, step 701b can be primarily used to determine the imaging speed associated with the imaging speed. Specifically, when setting the second imaging speed, the line density required to generate each volume of volume data and / or the number of data on each line are reduced compared to when setting the first imaging speed. This significantly reduces the amount of data required to generate each volume of images, thereby achieving the goal of improving imaging speed.

[0056] Unlike other types of probes, area array probes are relatively expensive and have higher requirements for hardware acquisition and storage processing. In the application scenarios of 3D and / or 4D ultrasound contrast imaging, the use of step 701b can effectively solve the problem of insufficient computing resources faced by it while being compatible with existing hardware. Usually, when the probe is an area array probe, the acquisition speed is faster through electronic scanning, and there is no need to set the ROI range. When step 701b is used to efficiently solve the problem of insufficient computing resources, accordingly, the processing steps of setting the ROI range or narrowing the ROI range can be omitted, thereby avoiding the loss of physical field of view. Furthermore, usually when the probe is an area array probe, it is also possible not to adjust the transmission mode of the area array probe at different imaging speeds, that is, the transmission mode of the area array probe to transmit ultrasonic waves to the object can be maintained regardless of changes in the imaging speed, because this adjustment will increase hardware and control costs, but it is not significantly effective in improving the imaging speed.

[0057] In some embodiments, the pulse repetition frequency (PRF) may be increased when setting the second imaging speed compared to when setting the first imaging speed. By increasing the amount of data required to generate each image roll using the first imaging speed to be greater than the amount of data required to generate each image roll using the second imaging speed, the imaging speed can be further improved by adjusting the PRF.

[0058] FIG7( c ) illustrates a configuration diagram of imaging parameters for a 3D and / or 4D contrast-enhanced ultrasound imaging method according to an embodiment of the present disclosure, when the probe is a linear array probe. When the detected probe is a linear array probe, one or more of steps 700 c and 703 c may be used to determine imaging parameters associated with imaging velocity.

[0059] Step 700c is to use at least one of the wide-beam transmission mode, the plane wave transmission mode, and the coherent transmission synthesis mode when setting the second imaging speed, and use the focused-wave line-by-line transmission mode when setting the first imaging speed, or also use at least one of the wide-beam transmission mode, the plane wave transmission mode, and the coherent transmission synthesis mode but reduce the number of transmissions required for each volume data compared to when setting the second imaging speed.

[0060] Step 703c is to increase the pulse repetition frequency when setting the second imaging speed compared to when setting the first imaging speed.

[0061] As can be seen, if the detected probe is a linear array probe, the ROI can be omitted or not adjusted. This solves the problem caused by the shallow imaging depth of linear array probes: ROI adjustment is not easy to operate, and excessive adjustment can easily affect image quality. For linear probes, steps 700c and 703c are the most efficient and practical means of increasing imaging speed. Furthermore, because the imaging depth is shallow, the pulse repetition frequency is less restricted. Therefore, step 703c can increase the pulse repetition frequency within a wider adjustable range, further improving imaging speed.

[0062] FIG7( d ) shows a configuration diagram of imaging parameters of a 3D and / or 4D ultrasound contrast imaging method according to an embodiment of the present disclosure when the probe is a convex array probe.

[0063] In the case that the detected probe is a convex array probe, one or more of steps 700d, 702d, and 703d may be used to determine imaging parameters associated with the imaging speed.

[0064] Step 700d is to adopt at least one of the wide-beam transmission mode, the plane wave transmission mode, and the coherent transmission synthesis mode when setting the second imaging speed, adopt the focused-wave line-by-line transmission mode when setting the first imaging speed, or adopt at least one of the wide-beam transmission mode, the plane wave transmission mode, and the coherent transmission synthesis mode but reduce the number of transmissions required for each volume data compared to when setting the second imaging speed.

[0065] Step 702d is to set the ROI range when setting the second imaging speed and not set the ROI range when setting the first imaging speed, or to reduce the ROI range when setting the second imaging speed compared to when setting the first imaging speed.

[0066] Step 703d is to increase the pulse repetition frequency in association with the corresponding depth of the ROI range when setting the second imaging speed compared to when setting the first imaging speed.

[0067] As shown above, when the detected probe is a convex array probe, the ROI range setting and adjustment can be introduced. Usually, the imaging depth of a convex array probe is deeper. By introducing a shallower ROI range in the depth range, the limitation on the pulse repetition frequency can be reduced, so that the pulse repetition frequency can be increased within a larger adjustable range, thereby further improving the imaging speed.

[0068] The present disclosure also provides a computer-readable storage medium having computer-executable instructions stored thereon, which, when executed by a processor, implement part or all of the processing of the 3D and / or 4D ultrasound contrast imaging method according to various embodiments of the present disclosure. This part or all of the processing can be implemented as a computer program. The above-mentioned program can be stored in various types of non-transitory computer-readable media and can be provided to a computer. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (such as floppy disks, magnetic tapes, and hard disk drives), magneto-optical recording media (such as magneto-optical disks), read-only memory (CD-ROM), CD-R, CD-R / W, semiconductor memory (such as mask ROM, programmable ROM (PROM), erasable PROM (EPROM), flash ROM, and random access memory (RAM)). The program can be provided to the computer via various types of transient computer-readable media. Examples of transient computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transitory computer-readable media can provide the program to the computer via a wired communication path (such as wires and optical fibers) or a wireless communication path.

[0069] The present invention is not limited to the above-described embodiments and may be modified as needed without departing from the scope of the present invention.

Claims

1. A 3D and / or 4D ultrasound imaging device, comprising a probe, a transmitting circuit for stimulating the probe to transmit ultrasound waves to an object, a receiving circuit for controlling the probe to receive ultrasound echo signals returned from the object, and a processor, wherein: The processor is configured as follows: receiving an input for selecting a 3D contrast imaging mode or a 4D contrast imaging mode; receiving an input for setting an imaging speed of the 3D angiography imaging mode or the 4D angiography imaging mode; The 3D and / or 4D ultrasound contrast imaging device is controlled using imaging parameters associated with the selected 3D contrast imaging mode or 4D contrast imaging mode and the set imaging speed of the 3D contrast imaging mode or 4D contrast imaging mode, so as to achieve imaging in the selected 3D contrast imaging mode or 4D contrast imaging mode at the set imaging speed of the 3D contrast imaging mode or 4D contrast imaging mode, wherein the imaging parameters include at least one group of the following parameters: The number of shots and ROI ranges required to generate each volume, or The number of transmissions and ROI range required to generate each volume of volume data, as well as at least one of the line density and / or the number of data on each line, and the pulse repetition frequency; The number of transmissions required for each volume of volume data is considered with higher priority than the ROI range.

2. The 3D and / or 4D ultrasound imaging device according to claim 1, characterized in that: The processor is further configured to: a first interface portion presenting a 3D contrast imaging mode, and receiving a first input for selecting the 3D contrast imaging mode in response to a first user interaction operation on the first interface portion; as well as A second interface portion presents a first imaging speed and a second imaging speed in association with a 3D angiography imaging mode, and receives a second input selecting the first imaging speed or the second imaging speed in response to a second user interaction operation on the second interface portion, wherein the second imaging speed is higher than the first imaging speed.

3. The 3D and / or 4D ultrasound imaging device according to claim 1 or 2, characterized in that: The processor is further configured to: presenting a third interface portion for a 4D contrast imaging mode, and receiving a third input for selecting the 4D contrast imaging mode in response to a third user interaction operation on the third interface portion; as well as The 4D angiography imaging mode presents a fourth interface portion with a first imaging speed and a second imaging speed in association, and receives a fourth input selecting the first imaging speed or the second imaging speed in response to a fourth interaction operation of the user on the fourth interface portion, wherein the second imaging speed is higher than the first imaging speed.

4. The 3D and / or 4D ultrasound imaging device according to claim 1, characterized in that: The settable imaging speed of the 3D contrast imaging mode or 4D contrast imaging mode includes a first imaging speed and a second imaging speed higher than the first imaging speed. The imaging parameter is associated with the selected 3D contrast imaging mode or 4D contrast imaging mode and the set imaging speed of the 3D contrast imaging mode or 4D contrast imaging mode by at least one of the following: When the second imaging speed is set, at least one of a wide beam transmission mode, a plane wave transmission mode, and a coherent transmission synthesis mode is used; when the first imaging speed is set, a focused wave line-by-line transmission mode is used; or at least one of the wide beam transmission mode, the plane wave transmission mode, and the coherent transmission synthesis mode is used, but the number of transmissions required for each volume data is reduced compared to when the second imaging speed is set; When the imaging parameters include the line density required for generating each volume data and / or the number of data on each line, when the second imaging speed is set, the line density required for generating each volume data and / or the number of data on each line are reduced compared to when the first imaging speed is set; When the imaging parameters include the pulse repetition frequency, when setting the second imaging speed, the pulse repetition frequency is increased compared to when setting the first imaging speed; The ROI range is set when the second imaging speed is set and is not set when the first imaging speed is set, or the ROI range is reduced when the second imaging speed is set compared to when the first imaging speed is set.

5. The 3D and / or 4D ultrasound imaging device according to claim 1, characterized in that: The imaging speed of the 3D angiography imaging mode or 4D angiography imaging mode that can be set includes a first imaging speed and a second imaging speed that is higher than the first imaging speed. For objects with rich blood supply at the centimeter level and below, the second imaging speed in the 3D angiography imaging mode is faster than the first threshold, and the second imaging speed in the 4D angiography imaging mode is faster than the second threshold.

6. The 3D and / or 4D ultrasound imaging device according to claim 1, characterized in that: The probe includes at least one of an ultrasonic volume probe, a planar array probe and a common ultrasonic array probe. The processor is further configured to: detect the type of the connected probe; and make the imaging parameters adopt a configuration corresponding to the detected probe type, each configuration defining imaging parameters associated with each contrast imaging mode and each imaging speed under the corresponding probe type.

7. The 3D and / or 4D ultrasound imaging device according to claim 6, characterized in that: The processor is further configured to, when the detected probe is an ultrasound volume probe: When the second imaging speed is set, at least one of a wide beam transmission mode, a plane wave transmission mode, and a coherent transmission synthesis mode is used; when the first imaging speed is set, a focused wave line-by-line transmission mode is used; or at least one of the wide beam transmission mode, the plane wave transmission mode, and the coherent transmission synthesis mode is used but the number of transmissions required for each volume data is reduced compared to when the second imaging speed is set; The imaging parameters include the line density required for generating each volume data and / or the number of data on each line, and when the second imaging speed is set, the line density required for generating each volume data and / or the number of data on each line are reduced compared to when the first imaging speed is set; When the second imaging speed is set, the ROI range is reduced compared to when the first imaging speed is set; and The imaging parameters include the pulse repetition frequency. Compared with setting the first imaging speed, when setting the second imaging speed, the pulse repetition frequency is increased in association with the corresponding depth of the reduced ROI range.

8. The 3D and / or 4D ultrasound imaging device according to claim 6, characterized in that: The processor is further configured to, when the detected probe is a planar array probe and the imaging parameters include the line density required to generate each volume of volume data and / or the number of data on each line: when the second imaging speed is set, reduce the line density required to generate each volume of volume data and / or the number of data on each line compared to when the first imaging speed is set.

9. The 3D and / or 4D ultrasound imaging device according to claim 6, characterized in that: The processor is further configured to, when the detected probe is a linear array probe: at least one of a wide beam transmission mode, a plane wave transmission mode, and a coherent transmission synthesis mode is used when the second imaging speed is set, and a focused wave line-by-line transmission mode is used when the first imaging speed is set, or at least one of the wide beam transmission mode, the plane wave transmission mode, and the coherent transmission synthesis mode is used but the number of transmissions required for each volume of data is reduced compared to when the second imaging speed is set; and The imaging parameters include the pulse repetition frequency. Compared with setting the first imaging speed, when setting the second imaging speed, the pulse repetition frequency is increased.

10. The 3D and / or 4D ultrasound imaging device according to claim 6, characterized in that: The processor is further configured to, when the detected probe is a convex array probe: When the second imaging speed is set, at least one of a wide beam transmission mode, a plane wave transmission mode, and a coherent transmission synthesis mode is used; when the first imaging speed is set, a focused wave line-by-line transmission mode is used; or at least one of the wide beam transmission mode, the plane wave transmission mode, and the coherent transmission synthesis mode is used but the number of transmissions required for each volume data is reduced compared to when the second imaging speed is set; Setting the ROI range when setting the second imaging speed and not setting the ROI range when setting the first imaging speed, or reducing the ROI range when setting the second imaging speed compared to when setting the first imaging speed; and The imaging parameters include the pulse repetition frequency. When the second imaging speed is set, the pulse repetition frequency is increased in association with the corresponding depth of the ROI range compared to when the first imaging speed is set.

11. A 3D and / or 4D ultrasound contrast imaging method, used in a 3D and / or 4D ultrasound contrast imaging device, wherein the 3D and / or 4D ultrasound contrast imaging device comprises a probe, a transmitting circuit for stimulating the probe to transmit ultrasound waves toward an object, a receiving circuit for controlling the probe to receive ultrasound echo signals returned from the object, and a processor, wherein: The 3D and / or 4D ultrasound contrast imaging method further includes, via the processor: receiving an input for selecting a 3D contrast imaging mode or a 4D contrast imaging mode; receiving an input for setting an imaging speed of the 3D angiography imaging mode or the 4D angiography imaging mode; The 3D and / or 4D ultrasound contrast imaging device is controlled using imaging parameters associated with the selected 3D contrast imaging mode or 4D contrast imaging mode and the set imaging speed to achieve imaging in the selected 3D contrast imaging mode or 4D contrast imaging mode at the set imaging speed of the 3D contrast imaging mode or 4D contrast imaging mode, wherein the imaging parameters include at least one group of the following parameters: The number of shots and ROI ranges required to generate each volume, or The number of shots and ROI range required to generate each volume of volume data, as well as at least one of the line density and / or the number of data on each line, and the pulse repetition frequency, The number of transmissions required for each volume of volume data is considered with higher priority than the ROI range.

12. The 3D and / or 4D ultrasound contrast imaging method according to claim 11, characterized in that: further comprising, via the processor: a first interface portion presenting a 3D contrast imaging mode, and receiving a first input for selecting the 3D contrast imaging mode in response to a first user interaction operation on the first interface portion; as well as A second interface portion presents a first imaging speed and a second imaging speed in association with a 3D angiography imaging mode, and receives a second input selecting the first imaging speed or the second imaging speed in response to a second user interaction operation on the second interface portion, wherein the second imaging speed is higher than the first imaging speed.

13. The 3D and / or 4D ultrasound contrast imaging method according to claim 11 or 12, characterized in that: further comprising, via the processor: presenting a third interface portion for a 4D contrast imaging mode, and receiving a third input for selecting the 4D contrast imaging mode in response to a third user interaction operation on the third interface portion; as well as A fourth interface portion presents a first imaging speed and a second imaging speed in association with the 4D angiography imaging mode, and receives a fourth input selecting the first imaging speed or the second imaging speed in response to a fourth user interaction operation on the fourth interface portion, wherein the second imaging speed is higher than the first imaging speed.

14. The 3D and / or 4D ultrasound contrast imaging method according to claim 11, characterized in that: The settable imaging speed of the 3D contrast imaging mode or 4D contrast imaging mode includes a first imaging speed and a second imaging speed higher than the first imaging speed. The imaging parameter is associated with the selected 3D contrast imaging mode or 4D contrast imaging mode and the set imaging speed of the 3D contrast imaging mode or 4D contrast imaging mode by at least one of the following: When the second imaging speed is set, at least one of a wide beam transmission mode, a plane wave transmission mode, and a coherent transmission synthesis mode is used; when the first imaging speed is set, a focused wave line-by-line transmission mode is used; or at least one of the wide beam transmission mode, the plane wave transmission mode, and the coherent transmission synthesis mode is used, but the number of transmissions required for each volume data is reduced compared to when the second imaging speed is set; The imaging parameters include the line density required for generating each volume data and / or the number of data on each line, and when the second imaging speed is set, the line density required for generating each volume data and / or the number of data on each line are reduced compared to when the first imaging speed is set; The imaging parameters include the pulse repetition frequency, and when the second imaging speed is set, the pulse repetition frequency is increased compared to when the first imaging speed is set; The ROI range is set when the second imaging speed is set and is not set when the first imaging speed is set, or the ROI range is reduced when the second imaging speed is set compared to when the first imaging speed is set.

15. The 3D and / or 4D ultrasound contrast imaging method according to claim 14, characterized in that: The probe includes at least one of an ultrasonic volume probe, a planar array probe, and a conventional ultrasonic array probe. The 3D and / or 4D ultrasound contrast imaging method further includes: detecting, via the processor, the type of the connected probe; and configuring the imaging parameters to adopt a configuration corresponding to the detected probe type, wherein each configuration defines imaging parameters associated with each contrast imaging mode and each imaging speed under the corresponding probe type.

16. The 3D and / or 4D ultrasound contrast imaging method according to claim 15, characterized in that: Further comprising, when the detected probe is an ultrasound volume probe: When the second imaging speed is set, at least one of a wide beam transmission mode, a plane wave transmission mode, and a coherent transmission synthesis mode is used; when the first imaging speed is set, a focused wave line-by-line transmission mode is used; or at least one of the wide beam transmission mode, the plane wave transmission mode, and the coherent transmission synthesis mode is used but the number of transmissions required for each volume data is reduced compared to when the second imaging speed is set; The imaging parameters include the line density required for generating each volume data and / or the number of data on each line, and when the second imaging speed is set, the line density required for generating each volume data and / or the number of data on each line are reduced compared to when the first imaging speed is set; When the second imaging speed is set, the ROI range is reduced compared to when the first imaging speed is set; and The imaging parameters include the pulse repetition frequency. Compared with setting the first imaging speed, when setting the second imaging speed, the pulse repetition frequency is increased in association with the corresponding depth of the reduced ROI range.

17. The 3D and / or 4D ultrasound contrast imaging method according to claim 15, characterized in that: Further including, when the detected probe is a planar array probe, and the imaging parameters include the line density required to generate each volume of volume data and / or the number of data on each line: compared with when the first imaging speed is set, when the second imaging speed is set, the line density required to generate each volume of volume data and / or the number of data on each line are reduced.

18. The 3D and / or 4D ultrasound contrast imaging method according to claim 15, characterized in that: Further comprising, in a case where the detected probe is a linear array probe: at least one of a wide beam transmission mode, a plane wave transmission mode, and a coherent transmission synthesis mode is used when the second imaging speed is set, and a focused wave line-by-line transmission mode is used when the first imaging speed is set, or at least one of the wide beam transmission mode, the plane wave transmission mode, and the coherent transmission synthesis mode is used but the number of transmissions required for each volume of data is reduced compared to when the second imaging speed is set; and The imaging parameters include the pulse repetition frequency. Compared with setting the first imaging speed, when setting the second imaging speed, the pulse repetition frequency is increased.

19. The 3D and / or 4D ultrasound contrast imaging method according to claim 15, characterized in that: Further comprising, when the detected probe is a convex array probe: When the second imaging speed is set, at least one of a wide beam transmission mode, a plane wave transmission mode, and a coherent transmission synthesis mode is used; when the first imaging speed is set, a focused wave line-by-line transmission mode is used; or at least one of the wide beam transmission mode, the plane wave transmission mode, and the coherent transmission synthesis mode is used but the number of transmissions required for each volume data is reduced compared to when the second imaging speed is set; Setting the ROI range when setting the second imaging speed and not setting the ROI range when setting the first imaging speed, or reducing the ROI range when setting the second imaging speed compared to when setting the first imaging speed; and The imaging parameters include the pulse repetition frequency. When the second imaging speed is set, the pulse repetition frequency is increased in association with the corresponding depth of the ROI range compared to when the first imaging speed is set.

20. A computer-readable storage medium having computer-executable instructions stored thereon, which, when executed by a processor, implements the 3D and / or 4D ultrasound contrast imaging method according to any one of claims 11 to 19.

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