An ultrasound extended imaging system and method based on three-dimensional reconstruction

Abstract

The application discloses a kind of based on three-dimensional reconstruction's ultrasonic extended imaging system and method, belong to ultrasonic extended imaging technical field.The system of the present application includes: ultrasonic scanning parameter issuing module, signal transmitting module, signal receiving module, signal processing module and three-dimensional reconstruction module;The ultrasonic scanning parameter issuing module is responsible for sending the scanning parameter required by extended imaging to ultrasonic equipment, to configure device to carry out corresponding scanning;Signal transmitting module emits corresponding signal according to the scanning parameter issued, and receiving module collects echo signal;The signal receiving module receives the ultrasonic echo signal reflected from the scanned object, and records the time of reception;Signal processing module carries out time domain and frequency domain signal processing to the received echo signal, to optimize signal quality;The three-dimensional reconstruction module is reduced to ultrasonic data by position and angle judgment, and finally generates three-dimensional extended image.

Description

Technical Field

[0001] This invention relates to the field of ultrasound extended imaging technology, specifically to an ultrasound extended imaging system and method based on three-dimensional reconstruction. Background Technology

[0002] Medical ultrasound imaging equipment is one of the most commonly used imaging devices. Due to its low cost, radiation-free operation, and real-time capability, it plays a vital role in the diagnosis of many important diseases. With the development of technology, three-dimensional volumetric probes have gradually become more widespread. Volumetric probes acquire multiple two-dimensional images using mechanical scanning and reconstruct three-dimensional information using the spatial relationships between the images.

[0003] Ultrasonic probes vary in size and imaging methods, resulting in limited fields of view and range. To expand the imaging field of view, extended imaging techniques have been proposed. Extended imaging techniques expand the scanning angle and increase the scanning area based on the original image. Existing extended imaging techniques mainly focus on extended imaging of convex array and linear array probes, neglecting extended imaging of volumetric probes. Furthermore, existing extended imaging techniques require more parameters to be transmitted during scanning, which is slower. Summary of the Invention

[0004] The purpose of this invention is to provide an ultrasound extended imaging system and method based on three-dimensional reconstruction to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: A three-dimensional reconstruction-based ultrasound extended imaging method includes the following steps: S100. Determine the number and position of virtual array elements based on the expansion angle, and determine the probe scanning parameters; S200. Based on the virtual array elements and probe scanning parameters, it transmits ultrasonic waves and receives echo signals; S300. Signal processing is performed based on the echo signal to obtain ultrasound data; the signal processing includes time-domain and frequency-domain signal processing, specifically filtering, gain control, noise reduction, etc., to optimize signal quality; S400. Perform three-dimensional reconstruction based on ultrasound data.

[0006] Furthermore, step S100 includes: S101. Based on the set sagittal extension angle AngleExtendImg of the 3D reconstructed image, the electronic scanning radius Offset2d of the volumetric probe, and the maximum scanning depth Depth2d, calculate the electronic scanning extension angle AngleExtend of the volumetric convex array probe. The specific calculation formula is as follows: ; Based on the set sagittal plane expansion angle of the 3D reconstructed image, the electronic scanning radius of the volumetric probe, and the maximum scanning depth, the expansion angle of the electronic scanning of the volumetric convex array probe is calculated. This calculation process ensures that the volumetric convex array probe can cover the specified scanning area and obtain a sufficient field of view in the vertical direction.

[0007] S102. Based on the volumetric convex array probe electronic scanning extension angle AngleExtend calculated in step S101, calculate the number of virtual array elements on one side, VirElementNum. The specific calculation formula is as follows: , Where Pitch is the spacing between array elements; thus, the total number of array elements ElementNum is calculated using the formula: ElementNum = VirElementNum × 2 + RealElementNum, where RealElementNum represents the total number of real array elements; Based on the electronic scanning extension angle of the volumetric convex array probe calculated in step S101, the number of virtual array elements on one side and the total number of array elements are further calculated. Through this calculation process, it can be determined how many virtual array elements are needed to achieve the required scanning range and resolution, and the total number of array elements can be calculated.

[0008] S103. Based on the total number of array elements ElementNum calculated in step S102, and combined with the fact that the unit of array elements used in a single focused scan is SingleElementNum and the number of array elements in each scan interval IntervalNum, calculate the number of focused scans ScanNum in each electron scan. The specific formula is: ScanNum=ElementNum / (SingleElementNum+IntervalNum). Calculate the number of focused scans ScanVirNum for the virtual array elements, and ScanVirNum=ScanNum-RealElementNum / (SingleElementNum+IntervalNum).

[0009] Based on the total number of array elements calculated in step S102, and combined with the number of array elements used in a single focused scan and the number of array elements in each scan interval, the number of focused scans in each electronic scan and the number of focused scans of the virtual array elements are calculated. This calculation process ensures that all array elements can be used in each scan, and that the virtual array elements can also get enough focused scans, thereby promoting the improvement of imaging quality and resolution.

[0010] Furthermore, step S200 includes: S201. Based on the results calculated in step S100, determine the combination of real and virtual array elements to be used; the specific calculation process is as follows: In the first focused scan, the number of virtual elements is VirElementNum, and the number of real elements is Nn, where Nn = SingleElementNum - VirElementNum. In the next scan, the number of virtual elements becomes (VirElementNum - IntervalNum), decreasing sequentially until all virtual elements are covered, thus forming a combination of virtual and real elements. Through this calculation process, the number of real array elements corresponding to each virtual array element can be determined, and the corresponding real array element can be selected based on the closest distance, thereby forming a combination of virtual array elements and real array elements. Such a combination can make better use of available array element resources and improve the resolution and quality of imaging.

[0011] S202. For each combination of real and virtual array elements, the current focusing area is set to the location of the virtual array element; scanning parameters, including ScanNum, ScanVirNum, SingleElementNum, and IntervalNum, are sent to the probe; ultrasound waves are emitted from the current focusing area, pass through the interior of the scanned object, and interact with the tissue structure; echo signals are received from the real array elements. This process enables parallel scanning and reception of multiple virtual array elements, as well as their collaboration with real array elements, thereby increasing the scanning range and coverage, and improving the resolution and accuracy of the imaging.

[0012] Furthermore, step S400 includes: S401. Using virtual array elements to collect and process ultrasound data, find the corresponding point in the scan data for each ultrasound data point (x, y, z), denoted as (pix, line, slice), where pix represents the horizontal pixel coordinate or column in the image; line represents the vertical pixel coordinate or row in the image; slice represents the depth or slice position in the image; the specific calculation formula for calculating the number of lines to be extended for the electronic scan, LineExtend, is as follows: ; Where LineNum is the number of lines scanned electronically during volumetric probe scanning; Angle2dOri is the initial angle of electronic scanning; Angle2d is the probe's electronic scanning angle, and Angle2d = Angle2dOri + 2 * AngleExtend; S402. Determine whether the data point is in the extended region. When LineExtend≤line≤LineNum-1-LineExtend, the data point is in the non-extended imaging region, and proceed to step S403. When 0≤line<LineExtend and LineNum-1-LineExtend<line≤LineNum-1, the data point is in the extended imaging region, and ultrasound data deletion is required. The standard for deleting data is to determine whether the angle between the data point in the extended region and the boundary vertex is less than the extension angle AngleExtendImg. When the angle between the data point in the extended region and the boundary vertex is greater than the extension angle AngleExtendImg, the ultrasound data needs to be deleted. When the angle between the data point in the extended region and the boundary vertex is less than or equal to the extension angle AngleExtendImg, the ultrasound data is retained, and proceed to step S403. S403. Perform three-dimensional reconstruction on the ultrasound data retained in step S402. The specific calculation process is as follows: First, calculate the length, width, and height of the reconstructed volume data, denoted as Height3d, Width3d, and Depth3d, respectively. The specific calculation formula is as follows: ; Offset3d represents the mechanical scanning radius of the volume probe, SampleNum represents the length of the probe scanning line, and Angle3d represents the mechanical scanning angle of the probe. Next, the angles corresponding to the data points in the mechanical scan are calculated. The data points of the volume data are represented as (x, y, z), and the corresponding data points in the scan data are represented as (pix, line, slice). The specific calculation formula is as follows: ; That is, obtain the slice, and , ImageNum represents the number of images in one volume of ultrasound data; Next, the electronic scanning angle of the data point on the corresponding mechanical scanning angle plane yoz' is calculated. The specific calculation formula is as follows: , Among them, L po It is an intermediate variable, and ; After calculating the corresponding (pix, line, slice) based on the data point (x, y, z), the gray value corresponding to the data point in the volume data is calculated, thereby realizing three-dimensional reconstruction.

[0013] Through the above three steps, precise positioning, screening, and three-dimensional reconstruction of ultrasound data can be achieved. This can improve the quality and accuracy of imaging, while reducing unnecessary information interference, providing a more reliable data foundation for medical imaging diagnosis and other applications, and supporting more accurate structural analysis and lesion assessment.

[0014] An extended ultrasound imaging system based on three-dimensional reconstruction, the system includes: an ultrasound scanning parameter sending module, a signal transmitting module, a signal receiving module, a signal processing module, and a three-dimensional reconstruction module; The ultrasound scanning parameter sending module is responsible for sending the scanning parameters required for extended imaging to the ultrasound equipment to configure the equipment for corresponding scanning; the signal transmitting module transmits the corresponding signals according to the sent scanning parameters, and the receiving module collects the echo signals; the signal receiving module receives the ultrasound echo signals reflected from the scanned object and records the reception time; the signal processing module performs time-domain and frequency-domain signal processing on the received echo signals to optimize signal quality; the three-dimensional reconstruction module reduces the ultrasound data by judging the position and angle, and finally generates a three-dimensional extended image.

[0015] Furthermore, the ultrasound scanning parameter distribution module includes an extended angle determination unit and a probe scanning parameter determination unit; The extension angle determination unit calculates the number and position of virtual array elements based on the set extension angle, and determines the probe scanning parameters; the probe scanning parameter determination unit determines the transmission and reception mode of ultrasonic waves based on the virtual array elements and the scanning parameters.

[0016] Furthermore, the signal processing module includes a time-domain signal processing unit, a frequency-domain signal processing unit, and a signal synthesis and superposition unit; The time-domain signal processing unit filters, controls gain, and denoises the received echo signal; the frequency-domain signal processing unit performs frequency domain analysis on the time-domain signal; and the signal synthesis and superposition unit synthesizes and superimposes the echo signals after time-domain and frequency-domain analysis.

[0017] Furthermore, the 3D reconstruction module includes a position determination unit, an angle determination unit, a data reduction unit, and a 3D reconstruction unit; The position determination unit uses the received echo signal and scanning parameters to determine the position of the ultrasound data in space; the angle determination unit uses the scanning parameters to determine the angle information of the ultrasound data; the data reduction unit reduces the ultrasound data based on the position and angle determination, removing data from non-extended imaging areas; the three-dimensional reconstruction unit uses the reduced ultrasound data to perform three-dimensional reconstruction and generate an extended image.

[0018] Compared with existing technologies, the beneficial effects achieved by this invention are as follows: When implementing extended imaging, this invention uses a small number of virtual array elements, resulting in fewer parameters being sent per probe scan and improved scanning efficiency; it allows for a reasonable combination of virtual and real array elements, enabling the ultrasound extended imaging system to improve scanning speed and efficiency while ensuring imaging quality, providing more comprehensive, detailed, and accurate three-dimensional reconstructed images; and by using a volumetric probe combined with three-dimensional reconstruction technology, it extends two-dimensional extended imaging to three-dimensional volumetric ultrasound imaging, expanding the application scenarios of ultrasound imaging technology. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of a module of an ultrasound extended imaging system based on three-dimensional reconstruction according to the present invention; Figure 2 This is a scanning focusing schematic diagram of an ultrasound extended imaging method based on three-dimensional reconstruction according to the present invention; Figure 3 This is a flowchart of a three-dimensional reconstruction-based ultrasound extended imaging method according to the present invention. Figure 4 This is a schematic diagram of ultrasound data reduction in an ultrasound extended imaging method based on three-dimensional reconstruction according to the present invention. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figure 1 The present invention provides the following technical solution: A three-dimensional reconstruction-based ultrasound extended imaging method includes the following steps: S100. Determine the number and position of virtual array elements based on the expansion angle, and determine the probe scanning parameters; S101. Based on the set sagittal extension angle AngleExtendImg of the 3D reconstructed image, the electronic scanning radius Offset2d of the volumetric probe, and the maximum scanning depth Depth2d, calculate the electronic scanning extension angle AngleExtend of the volumetric convex array probe. The specific calculation formula is as follows: ; Based on the set sagittal plane expansion angle of the 3D reconstructed image, the electronic scanning radius of the volumetric probe, and the maximum scanning depth, the expansion angle of the electronic scanning of the volumetric convex array probe is calculated. This calculation process ensures that the volumetric convex array probe can cover the specified scanning area and obtain a sufficient field of view in the vertical direction.

[0022] S102. Based on the volumetric convex array probe electronic scanning extension angle AngleExtend calculated in step S101, calculate the number of virtual array elements on one side, VirElementNum. The specific calculation formula is as follows: , Where Pitch is the spacing between array elements; thus, the total number of array elements ElementNum is calculated using the formula: ElementNum = VirElementNum × 2 + RealElementNum, where RealElementNum represents the total number of real array elements; Based on the electronic scanning extension angle of the volumetric convex array probe calculated in step S101, the number of virtual array elements on one side and the total number of array elements are further calculated. Through this calculation process, it can be determined how many virtual array elements are needed to achieve the required scanning range and resolution, and the total number of array elements can be calculated.

[0023] S103. Based on the total number of array elements ElementNum calculated in step S102, and considering the unit digit of the array elements used in a single focused scan as SingleElementNum and the number of array elements in each scan interval IntervalNum, calculate the number of focused scans ScanNum in each electron scan. The specific formula is as follows: ScanNum=ElementNum / (SingleElementNum+IntervalNum); Calculate the number of focused scans ScanVirNum for the virtual array elements, and ScanVirNum=ScanNum-RealElementNum / (SingleElementNum+IntervalNum).

[0024] Based on the total number of array elements calculated in step S102, and combined with the number of array elements used in a single focused scan and the number of array elements in each scan interval, the number of focused scans in each electronic scan and the number of focused scans of the virtual array elements are calculated. This calculation process ensures that all array elements can be used in each scan, and that the virtual array elements can also get enough focused scans, thereby promoting the improvement of imaging quality and resolution.

[0025] S200. Based on the virtual array elements and probe scanning parameters, it transmits ultrasonic waves and receives echo signals; S201. Based on the results calculated in step S100, determine the combination of real and virtual array elements to be used; the specific calculation process is as follows: In the first focused scan, the number of virtual elements is VirElementNum, and the number of real elements is Nn, where Nn = SingleElementNum - VirElementNum. In the next scan, the number of virtual elements becomes (VirElementNum - IntervalNum), decreasing sequentially until all virtual elements are covered, thus forming a combination of virtual and real elements. Through this calculation process, the number of real array elements corresponding to each virtual array element can be determined, and the corresponding real array element can be selected based on the closest distance, thereby forming a combination of virtual array elements and real array elements. Such a combination can make better use of available array element resources and improve the resolution and quality of imaging.

[0026] S202. For each combination of real and virtual array elements, the current focusing area is set to the location of the virtual array element; scanning parameters, including ScanNum, ScanVirNum, SingleElementNum, and IntervalNum, are sent to the probe; ultrasound waves are emitted from the current focusing area, pass through the interior of the scanned object, and interact with the tissue structure; echo signals are received from the real array elements. This process enables parallel scanning and reception of multiple virtual array elements, as well as their collaboration with real array elements, thereby increasing the scanning range and coverage, and improving the resolution and accuracy of the imaging.

[0027] In this embodiment, as Figure 2 As shown, taking a single scan focusing as an example: F is the focal point, O_2d is the virtual center of the probe's electronic scanning, and during scanning focusing, the signal is emitted in the direction from O_2d to F. The line connecting the array element and the focal point represents the path of the array element signal emission. Each scan focusing requires a total of Sen array elements, of which M are virtual array elements, the dashed line represents their virtual signal emission path, which do not actually emit signals, and N are actual array elements, the solid line represents the actual signal emission path, i.e., Sen=M+N.

[0028] S300. Signal processing is performed based on the echo signal to obtain ultrasound data; the signal processing includes time-domain and frequency-domain signal processing, specifically filtering, gain control, noise reduction, etc., to optimize signal quality; S400. Perform three-dimensional reconstruction based on ultrasound data.

[0029] S401. Using virtual array elements to collect and process ultrasound data, find the corresponding point in the scan data for each ultrasound data point (x, y, z), denoted as (pix, line, slice), where pix represents the horizontal pixel coordinate or column in the image; line represents the vertical pixel coordinate or row in the image; slice represents the depth or slice position in the image; the specific calculation formula for calculating the number of lines to be extended for the electronic scan, LineExtend, is as follows: ; Where LineNum is the number of lines scanned electronically during volumetric probe scanning; Angle2dOri is the initial angle of electronic scanning; Angle2d is the probe's electronic scanning angle, and Angle2d = Angle2dOri + 2 * AngleExtend; S402. Determine if the data point is within the extended region. If LineExtend ≤ line ≤ LineNum-1 - LineExtend, the data point is within the non-extended imaging region, proceed to step S403. If 0 ≤ line < LineExtend and LineNum-1 - LineExtend < line ≤ LineNum-1, the data point is within the extended imaging region, requiring deletion of ultrasound data. The criterion for deletion is whether the angle between the data point within the extended region and the boundary vertex is less than the extension angle AngleExtendImg. If the angle between the data point within the extended region and the boundary vertex is greater than the extension angle AngleExtendImg, the ultrasound data needs to be deleted. If the angle between the data point within the extended region and the boundary vertex is less than or equal to the extension angle AngleExtendImg, the ultrasound data is retained, and proceed to step S403. After the volume probe acquires data using virtual array elements, echo signal processing is performed to obtain ultrasound data and perform three-dimensional reconstruction. The reconstruction flowchart is as follows. Figure 3 As shown; S403. Perform three-dimensional reconstruction on the ultrasound data retained in step S402. The specific calculation process is as follows: First, calculate the length, width, and height of the reconstructed volume data, denoted as Height3d, Width3d, and Depth3d, respectively. The specific calculation formula is as follows: ; Offset3d represents the mechanical scanning radius of the volume probe, SampleNum represents the length of the probe scanning line, and Angle3d represents the mechanical scanning angle of the probe. Next, the angles corresponding to the data points in the mechanical scan are calculated. The data points of the volume data are represented as (x, y, z), and the corresponding data points in the scan data are represented as (pix, line, slice). The specific calculation formula is as follows: ; That is, obtain the slice, and , ImageNum represents the number of images in one volume of ultrasound data; Next, the electronic scanning angle of the data point on the corresponding mechanical scanning angle plane yoz' is calculated. The specific calculation formula is as follows: , Among them, L po It is an intermediate variable, and ; After calculating the corresponding (pix, line, slice) based on the data point (x, y, z), the gray value corresponding to the data point in the volume data is calculated, thereby realizing three-dimensional reconstruction.

[0030] Through the above three steps, precise positioning, screening, and three-dimensional reconstruction of ultrasound data can be achieved. This can improve the quality and accuracy of imaging, while reducing unnecessary information interference, providing a more reliable data foundation for medical imaging diagnosis and other applications, and supporting more accurate structural analysis and lesion assessment.

[0031] In this embodiment, since the virtual array elements do not emit signals in the actual acquired data, similar to extended imaging in two-dimensional ultrasound B-mode images, ultrasound data reduction is required. For example... Figure 3 Within the expanded area, only the triangle ACD region is retained. The criterion for deleting data is whether the angle between the data point within the expanded area and the boundary vertex is less than the expansion angle Ae. The calculation process is as follows: Given: , The coordinates of point B can be obtained by vector calculation. Point B rotates clockwise and counterclockwise around O_3d respectively. The boundary vertices of the extended region are obtained. Taking the extended region on the left as an example, point A is the boundary vertex. When ∠PAC > AngleExtendImg, the ultrasound data needs to be deleted. When ∠PAC ≤ AngleExtendImg, the data is retained and reconstructed using the same three-dimensional reconstruction method as the non-extended region.

[0032] During the volume data reconstruction process, taking a point p(x,y,z) in the volume data as an example, it is necessary to find the corresponding point p'(pix,line,slice) in the scanned data.

[0033] First, calculate the angle corresponding to point p in the mechanical scanning: ; Get slice: ; ImageNum represents the number of images in one volume of the ultrasound data.

[0034] Next, calculate the electronic scanning angle of p on the corresponding mechanical scanning angle plane yoz'. ; in: ; Therefore, we can conclude that: ; After calculating the corresponding p'(pix,line,slice) based on point p(x,y,z), spatial interpolation, such as three-dimensional linear interpolation, is used to calculate the gray value corresponding to point p in the volume data, thereby realizing three-dimensional reconstruction.

[0035] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0036] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for ultrasound extended imaging based on three-dimensional reconstruction, characterized in that: The method includes the following steps: S100. Determine the number and position of virtual array elements based on the expansion angle, and determine the probe scanning parameters; S200. Based on the virtual array elements and probe scanning parameters, emit ultrasonic waves and receive echo signals; S300. Signal processing is performed based on the echo signal to obtain ultrasound data; S400. Perform three-dimensional reconstruction based on ultrasound data; Step S100 includes: S101. Based on the set sagittal extension angle AngleExtendImg of the 3D reconstructed image, the electronic scanning radius Offset2d of the volumetric probe, and the maximum scanning depth Depth2d, calculate the electronic scanning extension angle AngleExtend of the volumetric convex array probe. The specific calculation formula is as follows: ； S102. Based on the volumetric convex array probe electronic scanning extension angle AngleExtend calculated in step S101, calculate the number of virtual array elements on one side, VirElementNum. The specific calculation formula is as follows: ， Where Pitch is the spacing between array elements; thus, the total number of array elements, ElementNum, is calculated using the following formula: ElementNum = VirElementNum × 2 + RealElementNum, where RealElementNum represents the total number of real array elements; S103. Based on the total number of array elements ElementNum calculated in step S102, and considering that the units digit of the array elements used in a single focused scan is SingleElementNum and the number of array elements in each scan interval is IntervalNum, calculate the number of focused scans ScanNum in each electronic scan. The specific formula is: ScanNum=ElementNum / (SingleElementNum+IntervalNum); calculate the number of focused scans ScanVirNum for virtual array elements, and ScanVirNum=ScanNum-RealElementNum / (SingleElementNum+IntervalNum).

2. The ultrasound extended imaging method based on three-dimensional reconstruction according to claim 1, characterized in that: Step S200 includes: S201. Based on the results calculated in step S100, determine the combination of real and virtual array elements to be used; the specific calculation process is as follows: In the first focused scan, the number of virtual elements is VirElementNum, and the number of real elements is Nn, where Nn = SingleElementNum - VirElementNum. In the next scan, the number of virtual elements becomes (VirElementNum - IntervalNum), decreasing sequentially until all virtual elements are covered, thus forming a combination of virtual and real elements. S202. For each combination of real and virtual array elements, set the current focusing area to the location of the virtual array element; send the scanning parameters, including ScanNum, ScanVirNum, SingleElementNum, IntervalNum, etc., to the probe; emit ultrasound waves from the current focusing area, pass through the inside of the scanned object, and interact with the tissue structure; receive the echo signal, which is the echo signal from the real array element.

3. The ultrasound extended imaging method based on three-dimensional reconstruction according to claim 1, characterized in that: Step S400 includes: S401. Using virtual array elements to collect and process ultrasound data, find the corresponding point in the scan data for each ultrasound data point (x, y, z), denoted as (pix, line, slice), where pix represents the horizontal pixel coordinate or column in the image; line represents the vertical pixel coordinate or row in the image; slice represents the depth or slice position in the image; the specific calculation formula for calculating the number of lines to be extended for the electronic scan, LineExtend, is as follows: ； Where LineNum is the number of lines scanned electronically during volumetric probe scanning; Angle2dOri is the initial angle of electronic scanning; Angle2d is the probe's electronic scanning angle, and Angle2d = Angle2dOri + 2 * AngleExtend; S402. Determine whether the data point is in the extended region. When LineExtend≤line≤LineNum-1-LineExtend, the data point is in the non-extended imaging region, and proceed to step S403. When 0≤line<LineExtend and LineNum-1-LineExtend<line≤LineNum-1, the data point is in the extended imaging region, and ultrasound data deletion is required. The standard for deleting data is to determine whether the angle between the data point in the extended region and the boundary vertex is less than the extension angle AngleExtendImg. When the angle between the data point in the extended region and the boundary vertex is greater than the extension angle AngleExtendImg, the ultrasound data needs to be deleted. When the angle between the data point in the extended region and the boundary vertex is less than or equal to the extension angle AngleExtendImg, the ultrasound data is retained, and proceed to step S403. S403. Perform three-dimensional reconstruction on the ultrasound data retained in step S402. The specific calculation process is as follows: First, calculate the length, width, and height of the reconstructed volume data, denoted as Height3d, Width3d, and Depth3d, respectively. The specific calculation formula is as follows: ； Offset3d represents the mechanical scanning radius of the volume probe, SampleNum represents the length of the probe scanning line, and Angle3d represents the mechanical scanning angle of the probe. Next, the angles corresponding to the data points in the mechanical scan are calculated. The data points of the volume data are represented as (x, y, z), and the corresponding data points in the scan data are represented as (pix, line, slice). The specific calculation formula is as follows: ； That is, obtain the slice, and ， ImageNum represents the number of images in one volume of ultrasound data; Next, the electronic scanning angle of the data point on the corresponding mechanical scanning angle plane yoz' is calculated. The specific calculation formula is as follows: ， Among them, L po It is an intermediate variable, and ； After calculating the corresponding (pix, line, slice) based on the data point (x, y, z), the gray value corresponding to the data point in the volume data is calculated, thereby realizing three-dimensional reconstruction.

4. A three-dimensional reconstruction-based ultrasound extended imaging system, applied to the three-dimensional reconstruction-based ultrasound extended imaging method according to any one of claims 1-3, characterized in that: The system includes: an ultrasound scanning parameter sending module, a signal transmitting module, a signal receiving module, a signal processing module, and a three-dimensional reconstruction module; The ultrasound scanning parameter sending module is responsible for sending the scanning parameters required for extended imaging to the ultrasound equipment to configure the equipment to perform the corresponding scan; the signal transmitting module transmits the corresponding signal according to the sent scanning parameters, and the receiving module collects the echo signal; the signal receiving module receives the ultrasound echo signal reflected from the scanned object and records the reception time; the signal processing module performs time-domain and frequency-domain signal processing on the received echo signal to optimize the signal quality; the three-dimensional reconstruction module reduces the ultrasound data by judging the position and angle, and finally generates a three-dimensional extended image.

5. The ultrasound extended imaging system based on three-dimensional reconstruction according to claim 4, characterized in that: The ultrasound scanning parameter distribution module includes an extended angle determination unit and a probe scanning parameter determination unit; The extension angle determination unit calculates the number and position of virtual array elements according to the set extension angle, and determines the probe scanning parameters; the probe scanning parameter determination unit determines the transmission and reception mode of ultrasonic waves according to the virtual array elements and the scanning parameters.

6. The ultrasound extended imaging system based on three-dimensional reconstruction according to claim 4, characterized in that: The signal processing module includes a time-domain signal processing unit, a frequency-domain signal processing unit, and a signal synthesis and superposition unit; The time-domain signal processing unit performs filtering, gain control, and noise reduction on the received echo signal; the frequency-domain signal processing unit performs frequency domain analysis on the time-domain signal; and the signal synthesis and superposition unit synthesizes and superimposes the echo signals after time-domain and frequency-domain analysis.

7. The ultrasound extended imaging system based on three-dimensional reconstruction according to claim 4, characterized in that: The 3D reconstruction module includes a position determination unit, an angle determination unit, a data deletion unit, and a 3D reconstruction unit. The position determination unit uses the received echo signal and scanning parameters to determine the position of the ultrasound data in space; the angle determination unit determines the angle information of the ultrasound data through the scanning parameters; the data reduction unit reduces the ultrasound data according to the position and angle determination, removing data from non-extended imaging areas; the three-dimensional reconstruction unit uses the reduced ultrasound data to perform three-dimensional reconstruction and generate an extended image.

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