A method, device and equipment for scanning carotid vascular lesions

Abstract

The application relates to a carotid artery blood vessel lesion scanning method, device and equipment, which comprises swinging an ultrasonic probe along an x-axis direction, acquiring and segmenting a carotid artery cross-section image, obtaining cross-section blood vessel contour information and cross-section lesion information, calculating a first Euler angle in the x-axis direction according to the cross-section blood vessel contour information and the cross-section lesion information, moving the ultrasonic probe along a y-axis direction to search for a suspected lesion, comparing the suspected lesion with the cross-section lesion information to determine whether the cross-section lesion information has been processed, calculating a second Euler angle in the y-axis direction if the cross-section lesion information has not been processed, comparing the first Euler angle with the second Euler angle, and adjusting a search range of the ultrasonic probe. The technical scheme provided by the application determines whether the suspected lesion has been processed by calculating the first Euler angle, determines the search range of the ultrasonic probe by calculating the second Euler angle and comparing the first Euler angle, adopts a combined scanning mode along different directions, reduces scanning errors, and guarantees the scanning accuracy.

Description

Technical Field

[0001] This invention relates to the field of ultrasound scanning technology, and in particular to a method, apparatus, and device for scanning carotid artery vascular lesions. Background Technology

[0002] The human neck contains various blood vessels, such as the internal carotid artery, external carotid artery, common carotid artery, external jugular vein, and anterior jugular vein. Therefore, scanning the neck vessels, especially the carotid arteries, can effectively and promptly detect vascular and / or blood lesions. For example, vascular lesions are commonly found in ischemic and hemorrhagic areas, requiring treatment to dilate or stop the bleeding. Therefore, scanning the carotid arteries is particularly necessary. Currently, the diagnosis of carotid artery lesions involves an ultrasound physician using a handheld probe to scan repeatedly while simultaneously observing the ultrasound images and providing a diagnosis. This method has drawbacks such as potential misdiagnosis, high workload, and susceptibility to infectious diseases. Summary of the Invention

[0003] This invention provides a method, apparatus, and device for scanning carotid artery vascular lesions, with the aim of improving the accuracy of the scan.

[0004] In a first aspect, embodiments of the present invention provide a scanning method for carotid artery vascular lesions, comprising:

[0005] The ultrasound probe is oscillated along the x-axis of the coordinate system to acquire and segment the transverse image of the carotid artery, thereby obtaining transverse vessel contour information and transverse lesion information; the coordinate system is set with the vertical direction of the carotid artery as the x-axis, the direction along the carotid artery as the y-axis, and the vertical direction as the z-axis;

[0006] Calculate the first Euler angle in the x-axis direction based on the transverse vessel contour information and the transverse lesion information;

[0007] Move the ultrasound probe along the y-axis of the coordinate system to search for suspected lesions;

[0008] Compare suspected lesion information with transverse section lesion information to determine whether the transverse section lesion information has been processed;

[0009] If not processed, calculate the second Euler angle in the y-axis direction, compare the first Euler angle with the second Euler angle, and adjust the search range of the ultrasonic probe.

[0010] Optionally, before oscillating the ultrasound probe along the x-axis of the coordinate system, the following steps are also included:

[0011] Identify and adjust the blood vessel contour to the center of the ultrasound image.

[0012] Optionally, based on the transverse vessel contour information and the transverse lesion information, the first Euler angle in the x-axis direction is calculated, including:

[0013] Based on the cross-sectional vessel contour information and the cross-sectional lesion information, the azimuth angle of the lesion center relative to the vessel contour is calculated;

[0014] Based on the imaging relationship between the ultrasound probe and the ultrasound image on the same plane, the deflection angle of the ultrasound probe around the x-axis is calculated by the phase angle.

[0015] The first Euler angle is calculated using the attitude transformation matrix based on the deflection angle.

[0016] Optionally, compare the information of suspected lesions with transverse section lesions, including:

[0017] If the comparison matches, it is confirmed as a lesion;

[0018] If the comparison does not match, it is confirmed as longitudinal lesion information.

[0019] Optionally, if not processed, calculate the second Euler angle in the y-axis direction, compare the first Euler angle with the second Euler angle, and adjust the search range of the ultrasound probe, including:

[0020] By comparing the first Euler angle with the second Euler angle, the swing direction of the ultrasound probe is determined and the ultrasound probe is swung to confirm the lesion point;

[0021] Determine the maximum search area of ​​the ultrasound probe centered on the lesion.

[0022] Optionally, the maximum search area of ​​the ultrasound probe is determined, including:

[0023] The ultrasonic probe is reciprocated along the x-axis, and the maximum search area is updated in real time.

[0024] At the point of maximum search area, rotate the ultrasonic probe along the z-axis and record the maximum search area.

[0025] Optionally, the ultrasound probe is oscillated along the x-axis of the coordinate system, including:

[0026] Determine whether the lateral force and / or torque applied to the ultrasound probe is greater than a threshold;

[0027] If so, swing the ultrasound probe in the opposite direction.

[0028] Secondly, embodiments of the present invention provide a scanning device for carotid artery vascular lesions, applying the scanning method for carotid artery vascular lesions proposed in the first aspect, including:

[0029] The carotid artery transverse image acquisition module is used to swing the ultrasound probe along the x-axis of the coordinate system to acquire and segment the carotid artery transverse image, and obtain transverse vessel contour information and transverse lesion information; the coordinate system is set with the vertical direction of the carotid artery as the x-axis, the direction along the carotid artery as the y-axis, and the vertical direction as the z-axis;

[0030] The first Euler angle acquisition module is used to calculate the first Euler angle in the x-axis direction based on the transverse blood vessel contour information and the transverse lesion information;

[0031] The suspected lesion search module is used to move the ultrasound probe along the y-axis of the coordinate system to search for suspected lesions;

[0032] The suspected lesion comparison module is used to compare suspected lesion information with transverse section lesion information to determine whether the transverse section lesion information has been processed.

[0033] The search range adjustment module is used to calculate the second Euler angle in the y-axis direction if it is not processed, compare the first Euler angle with the second Euler angle, and adjust the search range of the ultrasound probe.

[0034] Thirdly, embodiments of the present invention provide an electronic device, which includes: one or more processors;

[0035] Memory, used to store one or more programs;

[0036] When one or more programs are executed by one or more processors, the one or more processors implement the scanning method for carotid artery vascular lesions as provided in any embodiment of the present invention.

[0037] Fourthly, embodiments of the present invention provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a scanning method for carotid artery lesions as provided in any embodiment of the present invention.

[0038] This invention provides a method, apparatus, and device for scanning carotid artery lesions. The method involves driving an ultrasound probe to swing along the x-axis to acquire a transverse image of the carotid artery and calculating a first Euler angle. Then, it searches for suspected lesions by moving along the y-axis and comparing the results with the transverse image of the carotid artery to determine whether the suspected lesion has been treated. If the lesion has not been treated and is not found within the suspected lesion area, a second Euler angle is calculated and compared with the first Euler angle to determine the search range of the ultrasound probe. Therefore, a combination of scanning along different directions is used, which reduces the possibility of scanning errors and ensures the accuracy of the scanning. Attached Figure Description

[0039] Figure 1 A flowchart illustrating a scanning method for carotid artery vascular lesions provided in an embodiment of the present invention;

[0040] Figure 2 This is a flowchart illustrating the calculation of the first Euler angle in a method for scanning carotid artery lesions provided in an embodiment of the present invention.

[0041] Figure 3This is a flowchart illustrating the determination of the maximum search area in a scanning method for carotid artery lesions provided in an embodiment of the present invention;

[0042] Figure 4 This is a flowchart illustrating the recording of the maximum search area in a scanning method for carotid artery lesions provided in an embodiment of the present invention;

[0043] Figure 5 This is a schematic diagram of the structure of a scanning device for carotid artery vascular lesions provided in an embodiment of the present invention;

[0044] Figure 6 This is a schematic diagram of the structure of a scanning device for carotid artery vascular lesions provided in an embodiment of the present invention. Detailed Implementation

[0045] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0046] Currently, the identification of lesions in the carotid artery relies on manual confirmation by physicians, which carries the risk of scanning errors.

[0047] Example 1

[0048] To address the above shortcomings, this invention proposes a scanning method for carotid artery vascular lesions, such as... Figure 1 As shown, it includes:

[0049] S10: Swing the ultrasound probe along the x-axis of the coordinate system to acquire and segment the transverse image of the carotid artery, obtaining the transverse vessel contour information and transverse lesion information; the coordinate system is set as the x-axis perpendicular to the carotid artery, the y-axis along the direction of the carotid artery, and the z-axis in the vertical direction; the transverse vessel and transverse lesion information can be segmented using a convolutional neural network or a transformer network.

[0050] Furthermore, before performing step S10, it is necessary to confirm and adjust the blood vessel contour to the center of the ultrasound image. When the blood vessel is located on both sides of the ultrasound image, the ultrasound image is displayed in a fan shape on the screen, which will affect the confirmation of the lesion, and the blood vessel contour needs to be adjusted to the center of the ultrasound image.

[0051] S20: Calculate the first Euler angle in the x-axis direction based on the transverse vessel contour information and the transverse lesion information; the transverse lesion information includes the lesion thickness H, area S, and center point; the transverse vessel contour information includes, but is not limited to, the center point of the vessel contour.

[0052] S30: Move the ultrasound probe along the y-axis of the coordinate system to search for suspected lesions; the ultrasound probe needs to be rotated 90 degrees clockwise or counterclockwise between the x-axis and y-axis to ensure that the image acquisition meets the requirements.

[0053] S40: Compare suspected lesion information with transverse section lesion information to determine whether the transverse section lesion information has been processed; the comparison results include:

[0054] If the comparison matches, it is confirmed as a lesion;

[0055] If the comparison does not match, it is confirmed as longitudinal lesion information. This longitudinal lesion information refers to suspected lesions not detected during the transverse scan. In both cases, it is necessary to determine whether the transverse lesion information has already been processed. This is because some lesions may have already been processed and eliminated, while others may still be in the process of being processed.

[0056] After a suspected lesion is detected during the ultrasound probe's movement along the y-axis, if the ultrasound image no longer segments and outputs lesion information, the current area is considered an artifact of the suspected lesion, and no further processing is performed on that lesion area. If the ultrasound image still outputs lesion information, it is considered a new lesion, and a maximum area search is required.

[0057] S50: If the lesion is not treated, calculate the second Euler angle in the y-axis direction, compare the first and second Euler angles, and adjust the search range of the ultrasound probe. The search range of the ultrasound probe includes the lesion point and the maximum search area.

[0058] If the transverse lesion information is not processed, when the ultrasound probe moves to the area of ​​the suspected lesion, and the area of ​​the suspected lesion is greater than 0, then the maximum search area needs to be determined; otherwise, the lesion point needs to be confirmed first. Figure 3 As shown, step S50 specifically includes:

[0059] S51: Compare the first Euler angle with the second Euler angle to determine the swing direction of the ultrasound probe and swing the ultrasound probe to confirm the lesion point;

[0060] If the first Euler angle and the second Euler angle are equal, there is no need to adjust the direction of the ultrasound probe's swing; otherwise, it needs to be swung in the direction of the larger of the two angles to ensure that the ultrasound probe forms the optimal cross-section with the carotid artery. During the swinging process, if the area of ​​the lesion is greater than 0, it is identified as a lesion point.

[0061] S52: Using the lesion as the center, determine the maximum search area of ​​the ultrasound probe. For example... Figure 4 As shown, it specifically includes:

[0062] S521: The ultrasonic probe is reciprocated along the x-axis to update the maximum search area in real time;

[0063] S522: At the maximum search area, rotate the ultrasonic probe along the z-axis and record the maximum search area.

[0064] This invention provides a scanning method for carotid artery vascular lesions. The method involves driving an ultrasound probe to swing along the x-axis to acquire a transverse image of the carotid artery and calculating a first Euler angle. Then, the probe moves along the y-axis to search for suspected lesions and compares the results with the transverse carotid artery image to determine if the suspected lesion has been treated. If the lesion has not been treated and is not found within the suspected lesion area, a second Euler angle is calculated and compared with the first Euler angle to determine the search range of the ultrasound probe. Therefore, this method employs a combination of scanning along different directions, reducing the possibility of scanning errors and ensuring scanning accuracy.

[0065] Example 2

[0066] Based on Embodiment 1, this embodiment of the invention further proposes a process for executing step S20, such as... Figure 2 As shown, it specifically includes:

[0067] S21: Based on the cross-sectional vessel contour information and the cross-sectional lesion information, calculate the azimuth angle of the lesion center relative to the vessel contour;

[0068] Specifically, in the plane formed by the x-axis and y-axis, the coordinates of the center point of the blood vessel contour are (startPos(1), startPos(0)), and the coordinates of the center point of the lesion are (endPos(1), endPos(0)). Then, the azimuth angle θ is calculated as follows:

[0069] θ=π-atan2(endPos(1)-startPos(0),endPos(1)

[0070] -startPos(0))

[0071] Furthermore, if the absolute value of θ is greater than π / 2, then θ = π - θ.

[0072] S22: Based on the imaging relationship between the ultrasound probe and the ultrasound image on the same plane, the deflection angle of the ultrasound probe around the x-axis is calculated by phase angle.

[0073] It should be noted that an ultrasound probe can only acquire images of the blood vessel contour and the lesion if the cross-section of the ultrasound probe is on the same plane as the center point of the lesion in the blood vessel; otherwise, it will not be able to form an image.

[0074] In the same plane, the relationship between the deflection angle α of the ultrasound probe about the x-axis and θ is as follows:

[0075] α = π / 2 - θ

[0076] S23: The first Euler angle is calculated using the attitude transformation matrix based on the deflection angle.

[0077] The attitude transformation matrix is ​​a 3x3 element orthogonal matrix. When the first Euler angle is outside the range of (-π, π), it needs to be transformed using the attitude transformation matrix. Specifically:

[0078] When the first Euler angle eulerAngle is less than 0, α = eulerAngle + π; otherwise, α = eulerAngle – π.

[0079] The calculation method for the second Euler angle is the same as that for the first Euler angle, and will not be repeated here.

[0080] And the ultrasound probe is oscillating along the x-axis of the coordinate system, including:

[0081] Determine whether the lateral force and / or torque applied to the ultrasound probe is greater than a threshold;

[0082] If so, the ultrasound probe will be swung in the opposite direction. The lateral force mentioned above refers to the contact force between the ultrasound probe and the neck. The lateral force threshold is 2.5N. When it exceeds this value, it means that the force applied to the neck by the ultrasound probe is greater than the threshold, and the probe will be swung in the opposite direction to reduce the lateral force.

[0083] The above-mentioned methods for detecting lateral forces and / or torques are also applicable to rotations around the y-axis and z-axis, and will not be elaborated further here.

[0084] Example 3

[0085] This invention also proposes a scanning device for carotid artery vascular lesions, such as... Figure 5 As shown, it includes:

[0086] The carotid artery transverse image acquisition module 01 is used to swing the ultrasound probe along the x-axis of the coordinate system to acquire and segment the carotid artery transverse image, and obtain transverse vessel contour information and transverse lesion information; the coordinate system is set with the vertical direction of the carotid artery as the x-axis, the direction along the carotid artery as the y-axis, and the vertical direction as the z-axis;

[0087] It should be added here that the carotid artery transverse image acquisition module 01 is also configured to confirm and adjust the vessel contour to the center of the ultrasound image.

[0088] At the same time, during the reverse swing of the ultrasonic probe, it is also necessary to determine whether the lateral force and / or torque applied to the ultrasonic probe is greater than the threshold.

[0089] If so, swing the ultrasound probe in the opposite direction.

[0090] The first Euler angle acquisition module 02 is used to calculate the first Euler angle in the x-axis direction based on the transverse blood vessel contour information and the transverse lesion information;

[0091] The first Euler angle acquisition module 02 is configured to perform the following operations:

[0092] Based on the cross-sectional vessel contour information and the cross-sectional lesion information, the azimuth angle of the lesion center relative to the vessel contour is calculated;

[0093] Based on the imaging relationship between the ultrasound probe and the ultrasound image on the same plane, the deflection angle of the ultrasound probe around the x-axis is calculated by the phase angle.

[0094] The first Euler angle is calculated using the attitude transformation matrix based on the deflection angle.

[0095] The suspected lesion search module 03 is used to move the ultrasound probe along the y-axis of the coordinate system to search for suspected lesions.

[0096] The suspected lesion comparison module 04 is used to compare suspected lesion information with transverse section lesion information to determine whether the transverse section lesion information has been processed.

[0097] The process of comparing suspected lesions with transverse section lesions includes:

[0098] If the comparison matches, it is confirmed as a lesion;

[0099] If the comparison does not match, it is confirmed as longitudinal lesion information.

[0100] The search range adjustment module 05 is used to calculate the second Euler angle in the y-axis direction if it has not been processed, compare the first Euler angle with the second Euler angle, and adjust the search range of the ultrasonic probe.

[0101] Search range adjustment module 05 is configured to perform the following operations:

[0102] By comparing the first Euler angle with the second Euler angle, the swing direction of the ultrasound probe is determined and the ultrasound probe is swung to confirm the lesion point;

[0103] Using the lesion as the center, determine the maximum search area of ​​the ultrasound probe. And during the process of determining the maximum search area,

[0104] The ultrasonic probe is reciprocated along the x-axis, and the maximum search area is updated in real time.

[0105] At the point of maximum search area, rotate the ultrasonic probe along the z-axis and record the maximum search area.

[0106] The scanning device for carotid artery vascular lesions provided in this embodiment of the invention uses the same technical means as the scanning method for carotid artery vascular lesions and achieves the same technical effect, which will not be described in detail here.

[0107] Example 4

[0108] Figure 6 This is a schematic diagram of the structure of a scanning device for carotid artery vascular lesions provided in an embodiment of the present invention, as shown below. Figure 6 As shown, the scanning device for carotid artery lesions includes a processor 610, a memory 620, an input device 630, and an output device 640; the number of processors 610 in the scanning device for carotid artery lesions can be one or more. Figure 6 Taking a processor 610 as an example; the processor 610, memory 620, input device 630, and output device 640 in the scanning device for carotid artery lesions can be connected via a bus or other means. Figure 6 Taking the example of a connection between China and Israel via a bus.

[0109] The memory 620, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the carotid artery vascular lesion scanning method in this embodiment of the invention (e.g., carotid artery transverse image acquisition module, first Euler angle acquisition module, suspected lesion search module, suspected lesion comparison module, and search range adjustment module). The processor 610 executes the software programs, instructions, and modules stored in the memory 620 to perform various functional applications and data processing of the carotid artery vascular lesion scanning device, thereby realizing the aforementioned carotid artery vascular lesion scanning method.

[0110] The memory 620 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 620 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 620 may further include memory remotely configured relative to the processor 610, which can be connected via a network to a scanning device for carotid artery lesions. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0111] Input device 630 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the scanning device for carotid artery lesions. Output device 640 may include a display device such as a display screen.

[0112] Example 5

[0113] Embodiment 5 of the present invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a scanning method for carotid artery vascular lesions, including:

[0114] The ultrasound probe is oscillated along the x-axis of the coordinate system to acquire and segment the transverse image of the carotid artery, thereby obtaining transverse vessel contour information and transverse lesion information; the coordinate system is set with the vertical direction of the carotid artery as the x-axis, the direction along the carotid artery as the y-axis, and the vertical direction as the z-axis;

[0115] Calculate the first Euler angle in the x-axis direction based on the transverse vessel contour information and the transverse lesion information;

[0116] Move the ultrasound probe along the y-axis of the coordinate system to search for suspected lesions;

[0117] Compare suspected lesion information with transverse section lesion information to determine whether the transverse section lesion information has been processed;

[0118] If not processed, calculate the second Euler angle in the y-axis direction, compare the first Euler angle with the second Euler angle, and adjust the search range of the ultrasonic probe.

[0119] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the above-described method operations, but can also perform related operations in the scanning method for carotid artery lesions provided in any embodiment of the present invention.

[0120] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0121] It is worth noting that in the above embodiments of the scanning device for carotid artery lesions, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0122] Although the present invention has been described in detail above with general descriptions, specific embodiments, and experiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A scanning device for carotid artery vascular lesions, characterized in that, include: The carotid artery transverse image acquisition module is used to swing the ultrasound probe along the x-axis of the coordinate system to acquire and segment the carotid artery transverse image, and obtain transverse vessel contour information and transverse lesion information; the coordinate system is set with the x-axis perpendicular to the carotid artery, the y-axis along the direction of the carotid artery, and the z-axis in the vertical direction; The first Euler angle acquisition module is used to calculate the first Euler angle in the x-axis direction based on the transverse blood vessel contour information and the transverse lesion information. The suspected lesion search module is used to move the ultrasound probe along the y-axis of the coordinate system to search for suspected lesions; The suspected lesion comparison module is used to compare the suspected lesion with the transverse lesion information to determine whether the transverse lesion information has been processed. If the comparison matches, it is confirmed as a lesion. The lesion is a suspected lesion found during the process of swinging the ultrasound probe along the x-axis of the coordinate system. If the comparison does not match, it is confirmed as longitudinal lesion information. The longitudinal lesion information is a suspected lesion not found during the transverse scan. Furthermore, in both cases of comparison matching and comparison not matching, it is determined whether the transverse lesion information has been processed and eliminated. The search range adjustment module is used to calculate the second Euler angle in the y-axis direction if no processing is performed, compare the first Euler angle with the second Euler angle, and adjust the search range of the ultrasound probe.

2. A scanning method for carotid artery vascular lesions, performed by the scanning device for carotid artery vascular lesions as described in claim 1, characterized in that, include: The ultrasound probe is oscillated along the x-axis of the coordinate system to acquire and segment the transverse image of the carotid artery, thereby obtaining transverse vessel contour information and transverse lesion information; the coordinate system is set with the x-axis perpendicular to the carotid artery, the y-axis along the direction of the carotid artery, and the z-axis in the vertical direction. Calculate the first Euler angle in the x-axis direction based on the transverse vessel contour information and the transverse lesion information; The ultrasound probe is moved along the y-axis of the coordinate system to search for suspected lesions; Compare the suspected lesion with the transverse section lesion information to determine whether the transverse section lesion information has been processed; If the comparison matches, it is confirmed as a lesion; the lesion is a suspected lesion found during the process of swinging the ultrasound probe along the x-axis of the coordinate system. If the comparison does not match, it is confirmed as longitudinal lesion information; the longitudinal lesion information refers to suspected lesions that were not found during the transverse scan. Furthermore, in both cases of matching and mismatch, it is determined whether the transverse lesion information has been processed and eliminated. If not processed, calculate the second Euler angle in the y-axis direction, compare the first Euler angle with the second Euler angle, and adjust the search range of the ultrasonic probe.

3. The scanning method for carotid artery vascular lesions according to claim 2, characterized in that, Before the ultrasonic probe is oscillated along the x-axis of the coordinate system, the following is also included: Identify and adjust the blood vessel contour to the center of the ultrasound image.

4. The scanning method for carotid artery vascular lesions according to claim 2, characterized in that, The step of calculating the first Euler angle in the x-axis direction based on the transverse vessel contour information and the transverse lesion information includes: Based on the transverse vessel contour information and the transverse lesion information, the azimuth angle of the lesion center relative to the vessel contour is calculated; Based on the imaging relationship between the ultrasound probe and the ultrasound image on the same plane, the deflection angle of the ultrasound probe around the x-axis is calculated using the azimuth angle. The first Euler angle is calculated using the attitude transformation matrix based on the deflection angle.

5. The scanning method for carotid artery vascular lesions according to claim 2, characterized in that, If the above is not processed, calculate the second Euler angle in the y-axis direction, compare the first Euler angle with the second Euler angle, and adjust the search range of the ultrasound probe, including: By comparing the first Euler angle with the second Euler angle, the swing direction of the ultrasound probe is determined and the ultrasound probe is swung to confirm the lesion point; Using the lesion as the center, determine the maximum search area of ​​the ultrasound probe.

6. The scanning method for carotid artery vascular lesions according to claim 5, characterized in that, The confirmation of the maximum search area of ​​the ultrasound probe includes: The ultrasound probe is reciprocated along the x-axis, and the maximum search area is updated in real time. At the maximum search area, the ultrasonic probe is rotated along the z-axis, and the maximum search area is recorded.

7. The scanning method for carotid artery vascular lesions according to claim 2 or 3, characterized in that, The ultrasonic probe that oscillates along the x-axis of the coordinate system includes: Determine whether the lateral force and / or torque applied to the ultrasonic probe is greater than a threshold. If so, swing the ultrasound probe in the opposite direction.

8. An electronic device, characterized in that, The electronic device includes: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the scanning method for carotid artery vascular lesions as described in any one of claims 2-7.

9. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the scanning method for carotid artery vascular lesions as described in any one of claims 2-7.

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