A wearable ultrasound imaging method and apparatus

Abstract

The present application relates to the field of medical imaging technology, and in particular to a wearable ultrasonic imaging method and device, the method comprising: measuring the included angle between two ultrasonic probes by a Hall sensor, and establishing an imaging region coordinate system, a first sub-coordinate system corresponding to a first phased array ultrasonic probe, and a second sub-coordinate system corresponding to a second phased array ultrasonic probe, respectively; then performing ultrasonic receiving and transmitting operations on the two ultrasonic probes based on the corresponding sub-coordinate systems and ultrasonic receiving and transmitting subsequences; and finally, for a target point in the imaging region, performing complex superposition processing on a first received signal received in the first ultrasonic receiving and transmitting operation and a second received signal received in the second ultrasonic receiving and transmitting operation to obtain an ultrasonic image at the target point. The present application solves the problems of existing wearable ultrasonic patch imaging results distortion and poor imaging quality, expands the imaging field of view and improves the imaging quality.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical imaging technology, in particular to a wearable ultrasonic imaging method and device. BACKGROUND

[0002] Continuous imaging of human tissues or organs is essential for assessing the progression of most chronic diseases and for the clinical management of critically ill patients. And the wearable ultrasonic device is to realize the real-time monitoring and continuous imaging of the internal organs of the human body by combining the characteristics of ultrasonic technology and wearable devices.

[0003] In recent years, wearable flexible phased array ultrasonic patches have been gradually applied to the medical field to realize long-term monitoring of deep tissues and organs of the human body. This handheld-free technology makes data collection more convenient and flexible, and has great potential for medical applications. Existing wearable ultrasonic patches mostly adopt a "purely flexible" scheme. That is, each array element of the ultrasonic probe is connected by a flexible circuit, so that the ultrasonic patch has high stretchability and bendability, and can be attached to a large curvature skin surface. This method improves the disadvantage that the rigid array ultrasonic patch does not closely adhere to the large curvature skin surface.

[0004] However, in the "purely flexible" scheme, the relative positions of the array elements are changed with the body movement and the skin deformation, so the relative position relationship between the array elements cannot be obtained by the patch itself, resulting in distorted imaging results. In addition, the center frequency of the ultrasonic probe in the "purely flexible" scheme is low, and the imaging resolution is also reduced accordingly, resulting in poor imaging quality of the purely flexible ultrasonic patch. SUMMARY

[0005] Therefore, the present application provides a wearable ultrasonic imaging method to solve the problems of distorted imaging results and poor imaging quality of existing wearable ultrasonic patches.

[0006] In a first aspect, the present application provides a wearable ultrasonic imaging method, which is applied to a wearable ultrasonic imaging device, the device comprising a first phased array ultrasonic probe, a second phased array ultrasonic probe, and a coaxially connected Hall sensor and bearing; the first phased array ultrasonic probe, the second phased array ultrasonic probe and the bearing constitute a hinge to form an included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe.

[0007] The method comprises:

[0008] measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor;

[0009] establish an imaging region coordinate system of the wearable ultrasonic imaging device based on the positional relationship of the hinge, the first phased array ultrasonic probe and the second phased array ultrasonic probe;

[0010] establish a first sub-coordinate system corresponding to the first phased array ultrasonic probe and a second sub-coordinate system corresponding to the second phased array ultrasonic probe respectively based on the position of the included angle in the imaging region coordinate system;

[0011] perform a first ultrasonic transceiving operation on the first phased array ultrasonic probe based on the first sub-coordinate system and a first ultrasonic transceiving sub-sequence;

[0012] perform a second ultrasonic transceiving operation on the second phased array ultrasonic probe based on the second sub-coordinate system and a second ultrasonic transceiving sub-sequence;

[0013] for a target point in the imaging region, perform complex superposition processing on a first received signal received in the first ultrasonic transceiving operation and a second received signal received in the second ultrasonic transceiving operation to obtain an ultrasonic image at the target point.

[0014] The above scheme connects the first phased array ultrasonic probe and the second phased array ultrasonic probe through a hinge to form a relatively flexible wearable ultrasonic imaging device, obtains the included angle information between the two ultrasonic probes based on the hinge angle sensing of the Hall sensor, and realizes accurate beam synthesis and high-resolution imaging based on the compound angle phased array imaging algorithm. The present scheme is suitable for large-curvature skin surfaces, can accurately obtain the relative positions of the array elements of the probes, and thus realizes high-quality wearable ultrasonic imaging. Moreover, the present scheme combines the advantages of wearable flexible ultrasonic arrays and wearable rigid ultrasonic arrays, can be highly attached to large-curvature skin surfaces, can realize high-quality imaging at the same time, expands the imaging field of view and improves the imaging quality.

[0015] In an optional implementation, the measuring, by the Hall sensor, of the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe includes:

[0016] measuring, by the Hall sensor, the ambient magnetic field intensity of the wearable ultrasonic imaging device;

[0017] calculating the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe based on the ambient magnetic field intensity.

[0018] The above scheme obtains the included angle information between the two ultrasonic probes based on the hinge angle sensing of the Hall sensor, and is used to realize accurate beam synthesis and high-resolution imaging.

[0019] In an optional implementation, the establishing of the imaging area coordinate system of the wearable ultrasonic imaging device based on the positional relationship among the hinge, the first phased-array ultrasonic probe and the second phased-array ultrasonic probe comprises:

[0020] The imaging area coordinate system of the wearable ultrasonic imaging device is established with the rotation axis of the hinge as the origin, with the symmetry axis of the first phased-array ultrasonic probe and the second phased-array ultrasonic probe as the Z axis, and with the vertical direction of the Z axis as the X axis.

[0021] In an optional implementation, the establishing of the first sub-coordinate system corresponding to the first phased-array ultrasonic probe and the second sub-coordinate system corresponding to the second phased-array ultrasonic probe based on the position of the included angle angle in the imaging area coordinate system comprises:

[0022] The position of the included angle angle in the imaging area coordinate system is obtained, and the first position information of the first phased-array ultrasonic probe in the imaging area coordinate system and the second position information of the second phased-array ultrasonic probe in the imaging area coordinate system are obtained;

[0023] The first sub-coordinate system corresponding to the first phased-array ultrasonic probe is established based on the first position information, with the normal direction of the plane of the first phased-array ultrasonic probe as the Z1 axis and with the element arrangement direction of the first phased-array ultrasonic probe as the X1 axis;

[0024] The second sub-coordinate system corresponding to the second phased-array ultrasonic probe is established based on the second position information, with the normal direction of the plane of the second phased-array ultrasonic probe as the Z2 axis and with the element arrangement direction of the second phased-array ultrasonic probe as the X2 axis.

[0025] In an optional implementation, the performing of the first ultrasonic transmission and reception operation on the first phased-array ultrasonic probe based on the first sub-coordinate system and the first ultrasonic transmission and reception sub-sequence comprises:

[0026] The first delay law of the first phased-array ultrasonic probe is obtained through first delay calculation based on the first sub-coordinate system;

[0027] The first ultrasonic transmission and reception operation is performed on the first phased-array ultrasonic probe according to the first delay law and the first ultrasonic transmission and reception sub-sequence;

[0028] The performing of the second ultrasonic transmission and reception operation on the second phased-array ultrasonic probe based on the second sub-coordinate system and the second ultrasonic transmission and reception sub-sequence comprises:

[0029] The second delay law of the second phased-array ultrasonic probe is obtained through second delay calculation based on the second sub-coordinate system;

[0030] performing a second ultrasonic transmission and reception operation on the second phased array ultrasonic probe according to the second delay rule and the second ultrasonic transmission and reception subsequence; the ultrasonic transmission and reception subsequence includes a beam emission starting point, a beam emission angle, a beam focusing depth, a receiving event and an order of different transmission events and receiving events of the corresponding phased array ultrasonic probe in each ultrasonic transmission event.

[0031] In an optional implementation, the performing the first ultrasonic transmission and reception operation on the first phased array ultrasonic probe according to the first delay rule and the first ultrasonic transmission and reception subsequence includes:

[0032] performing a first ultrasonic transmission and reception operation of a target angle on each array element in the first phased array ultrasonic probe according to the first delay rule, with a first wave beam emission starting point being a first origin of the first phased array ultrasonic probe in the first sub-coordinate system;

[0033] the performing the second ultrasonic transmission and reception operation on the second phased array ultrasonic probe according to the second delay rule includes:

[0034] performing a second ultrasonic transmission and reception operation of a target angle on each array element in the second phased array ultrasonic probe according to the second delay rule, with a second wave beam emission starting point being a second origin of the second phased array ultrasonic probe in the second sub-coordinate system.

[0035] In an optional implementation, the performing the first ultrasonic transmission and reception operation on the first phased array ultrasonic probe according to the first delay rule and the first ultrasonic transmission and reception subsequence includes:

[0036] obtaining a target point in an imaging region of the wearable ultrasonic imaging device;

[0037] obtaining a first receiving signal received by the first phased array ultrasonic probe at the target point in the first ultrasonic transmission and reception operation;

[0038] obtaining a second receiving signal received by the second phased array ultrasonic probe at the target point in the second ultrasonic transmission and reception operation;

[0039] performing superposition processing on the first receiving signal and the second receiving signal to obtain an ultrasonic image at the target point.

[0040] The above scheme expands the imaging field of view and improves the imaging quality through the compound angle phased array imaging algorithm.

[0041] In a second aspect, the present application provides a wearable ultrasonic imaging device, which is applied to a wearable ultrasonic imaging apparatus, the apparatus comprising a first phased array ultrasonic probe, a second phased array ultrasonic probe, and a Hall sensor and a bearing coaxially connected; the first phased array ultrasonic probe, the second phased array ultrasonic probe and the bearing constitute a hinge to form an included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe.

[0042] The device comprises:

[0043] An included angle measuring module is configured to measure an included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor.

[0044] An imaging area coordinate system establishing module is configured to establish an imaging area coordinate system of the wearable ultrasonic imaging apparatus based on a positional relationship of the hinge, the first phased array ultrasonic probe and the second phased array ultrasonic probe.

[0045] A sub-coordinate system establishing module is configured to establish a first sub-coordinate system corresponding to the first phased array ultrasonic probe and a second sub-coordinate system corresponding to the second phased array ultrasonic probe based on positions of the included angle in the imaging area coordinate system.

[0046] A first ultrasonic transceiving operation executing module is configured to execute a first ultrasonic transceiving operation on the first phased array ultrasonic probe based on the first sub-coordinate system and a first ultrasonic transceiving sub-sequence.

[0047] A second ultrasonic transceiving operation executing module is configured to execute a second ultrasonic transceiving operation on the second phased array ultrasonic probe based on the second sub-coordinate system and a second ultrasonic transceiving sub-sequence.

[0048] An ultrasonic image generating module is configured to perform complex superposition processing on a target point in an imaging area by combining a first received signal received in the first ultrasonic transceiving operation and a second received signal received in the second ultrasonic transceiving operation, to obtain an ultrasonic image at the target point.

[0049] In a third aspect, the present application provides a computer device, comprising a memory and a processor, which are communicatively connected with each other, and the memory stores computer instructions, and the processor executes the computer instructions to perform the wearable ultrasonic imaging method of the first aspect or any of the corresponding embodiments thereof.

[0050] In a fourth aspect, the present application provides a computer readable storage medium, which stores computer instructions, and the computer instructions are used to make a computer execute the wearable ultrasonic imaging method of the first aspect or any of the corresponding embodiments thereof.

[0051] In a fifth aspect, the present application provides a computer program product comprising computer instructions for causing a computer to perform the wearable ultrasound imaging method of the first aspect above or any of its corresponding embodiments.

[0052] The technical solutions provided by the present application can include the following beneficial effects:

[0053] The present application connects the first phased array ultrasonic probe and the second phased array ultrasonic probe through a hinge to form a relatively flexible wearable ultrasonic imaging device, and obtains the included angle information between the two ultrasonic probes based on the hinge angle sensing of the Hall sensor, so as to realize accurate beam synthesis and high-resolution imaging based on the composite angle phased array imaging algorithm. The present application is suitable for large-curvature skin surfaces, can accurately obtain the relative positions of each array element of the probe, and thus realizes high-quality wearable ultrasonic imaging; and combines the advantages of wearable flexible ultrasonic arrays and wearable rigid ultrasonic arrays, can be highly attached to large-curvature skin surfaces, and can also realize high-quality imaging, expand the imaging field of view, and improve the imaging quality. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the specific embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0055] Figure 1 is an exploded view of a wearable ultrasonic imaging device according to an embodiment of the present application;

[0056] Figure 2 is a bottom view of a wearable ultrasonic imaging device according to an embodiment of the present application;

[0057] Figure 3 is a top view of a wearable ultrasonic imaging device according to an embodiment of the present application;

[0058] Figure 4 is an exploded view of a hinge design according to an embodiment of the present application;

[0059] Figure 5 is a flowchart of a wearable ultrasonic imaging method according to an embodiment of the present application;

[0060] Figure 6 is a flowchart of another wearable ultrasonic imaging method according to an embodiment of the present application;

[0061] Figure 7is a first ultrasound transceiving operation schematic diagram of an imaging algorithm according to an embodiment of the present application;

[0062] Figure 8 is a second ultrasound transceiving operation schematic diagram of an imaging algorithm according to an embodiment of the present application;

[0063] Figure 9 is an ultrasound sequence schematic diagram of an imaging algorithm according to an embodiment of the present application;

[0064] Figure 10 is a signal composition schematic diagram of an imaging region and a point P in the region according to an embodiment of the present application;

[0065] Figure 11 is a structural block diagram of a wearable ultrasound imaging device according to an embodiment of the present application;

[0066] Figure 12 is a hardware structure schematic diagram of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0067] To make the objects, technical solutions and advantages of embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0068] It should be noted that a dynamic electrocardiogram is often used in clinic to record and analyze the electrocardiogram change condition of a human heart in an active and quiet state for a long time. Although this non-image method can achieve long-time monitoring of the heart, it contains less information than an image.

[0069] Clinically common medical imaging methods include X-ray imaging technology, CT imaging technology, nuclear magnetic resonance imaging technology and ultrasound imaging technology. Among them, X-ray imaging and CT imaging cannot be applied to long-time continuous monitoring scenarios due to radiation; nuclear magnetic resonance imaging is not suitable for long-time continuous imaging of human tissues or organs due to problems such as large equipment volume, large floor area and high cost; and ultrasound imaging has an innate advantage in long-time continuous monitoring scenarios due to no radiation, small floor area and relatively low cost, but the conventional ultrasound widely used in clinic relies on professional medical staff's handheld operation, which will lead to long-time occupation of medical resources; and wearable ultrasound greatly meets this clinical demand and releases the tight medical resources.

[0070] In recent years, there has been a research boom on wearable ultrasound patches at home and abroad. Long-term continuous monitoring of human neck blood vessels, heart, liver and other tissues and organs using wearable ultrasound devices has become a frontier research direction in biomedical ultrasound. For example, the team of Xu Sheng from the University of California, San Diego, has developed a wearable flexible phased array ultrasound patch that realizes long-term monitoring of human deep tissues and organs. This handheld-free technology makes data collection more convenient and flexible, and has great potential for medical applications.

[0071] However, most wearable ultrasound patches in the related art adopt a "purely flexible" scheme. That is, each array element of the ultrasound probe is connected by a flexible circuit, so that the ultrasound patch has high stretchability and bendability, and is attached to the skin surface with large curvature. This method improves the disadvantage that the rigid array ultrasound patch does not closely attach to the skin surface with large curvature, but has the following problems:

[0072] 1. Unable to obtain the relative positions between array elements. Since the array elements are connected by a flexible circuit, the relative positions between the array elements will change with the body movement and skin deformation, so the relative position relationship between the array elements cannot be obtained by the patch itself. This inherent defect will cause random and unpredictable phase differences when the ultrasound probe performs beamforming, resulting in a larger focal point of the focused beam and distorted imaging results.

[0073] 2. Poor imaging quality. In order to minimize the imaging errors caused by flexible arrays, the center frequency of the array elements is often designed to be low, thereby increasing the wavelength of the ultrasound waves and reducing the phase difference caused by the skin curvature. However, the lower the center frequency of the ultrasound probe, the lower the imaging resolution, which results in poor imaging quality of the purely flexible ultrasound patch.

[0074] 3. As the skin surface curvature increases or the probe center frequency increases, the phase difference will be further amplified.

[0075] To solve the above problems, the present application proposes a relatively flexible wearable ultrasound imaging method and device, which connects a first phased array ultrasound probe and a second phased array ultrasound probe through a hinge to form a relatively flexible wearable ultrasound imaging device, and obtains the included angle information between the two ultrasound probes based on the hinge angle sensing of the Hall sensor, to realize accurate beamforming and high-resolution imaging based on the composite angle phased array imaging algorithm. The advantages are as follows: suitable for large curvature skin surface, can accurately obtain the relative positions between the array elements of the probe, thereby realizing high-quality wearable ultrasound imaging; and also combines the advantages of wearable flexible ultrasound arrays and wearable rigid ultrasound arrays, can be highly attached to the large curvature skin surface, while realizing high-quality imaging, expanding the imaging field of view and improving the imaging quality.

[0076] Figure 1 is an exploded view of a wearable ultrasonic imaging device according to an embodiment of the present application, as Figure 1 shown, the device includes a first phased array ultrasonic probe 13, a second phased array ultrasonic probe 14, and a coaxial Hall sensor 8 and bearing 12; the first phased array ultrasonic probe 13, the second phased array ultrasonic probe 14 and the bearing 12 form a hinge to form an included angle between the first phased array ultrasonic probe 13 and the second phased array ultrasonic probe 14.

[0077] Further, please refer to Figure 2 , which shows a bottom view of a wearable ultrasonic imaging device, the present embodiment fixes small-sized first phased array ultrasonic probe 13 and second phased array ultrasonic probe 14 by first probe clamp 1 and second probe clamp 2 respectively, and the size, center frequency, and array element number of the first phased array ultrasonic probe 13 and the second phased array ultrasonic probe 14 are completely the same.

[0078] Further, as Figure 2 shown, the device further includes first ultrasonic probe array element 3, second ultrasonic probe array element 4, first ultrasonic probe circuit interface 5 and second ultrasonic probe circuit interface 6. Among them, the ultrasonic probe array element is a component of the piezoelectric crystal located at the head of the probe. These piezoelectric crystals are evenly cut into several parts, each part is the smallest unit that can independently transmit and receive ultrasonic waves, these units are called array elements, which are used to transmit and receive ultrasonic signals. Ultrasonic probe circuit interface is commonly used for transmission of high-frequency signals and video signals. In the ultrasonic probe, the ultrasonic probe circuit interface is mainly used to connect the ultrasonic probe and the ultrasonic instrument.

[0079] Further, as Figure 2 shown, the device further includes angle sensing circuit 9 and angle sensing circuit interface 10; the angle sensing circuit 9 is a circuit used to measure or detect angle changes, and the core component is the Hall sensor 8, which is used to detect the change of angle and convert these changes into electrical signal output. The main function of the angle sensing circuit interface 10 is to realize the connection and communication between the Hall sensor 8 and other circuits or systems. This interface allows the Hall sensor 8 to convert the angle changes it detects into electrical signals and transmit these signals to other circuits or systems for processing, analysis and display.

[0080] Further, as Figure 2 shown, the device further includes adhesive patch 7, which adheres the hinge to the skin by using the adhesive patch 7 with adhesion, realizing wearable wearing.

[0081] Further, please refer to Figure 3The first probe clamp 1, the second probe clamp 2 and the bearing 12 constitute a micro hinge, so that the two ultrasonic probes form a certain included angle, thereby being applicable to large-curvature skin surfaces and realizing a relatively flexible wearable ultrasonic imaging.

[0082] Further, the present embodiment realizes the measurement of the included angle between the two ultrasonic probes through the Hall sensor 8, the angle sensing circuit 9, the hinge and the coaxially arranged radial permanent magnet 11. Please refer to Figure 4 The hinge design explosion view is shown, the cylindrical protrusion 16 of the second probe clamp 2 is inserted into the inner ring of the bearing 12, and the cylindrical groove 15 of the first probe clamp 1 is inserted into the outer ring of the bearing 12, thereby constituting a micro hinge, so that the first phased array ultrasonic probe 13 and the second phased array ultrasonic probe 14 fixed by the probe clamps can rotate around Figure 4 the axis shown by the dashed line. As shown in Figure 4 the Hall sensor 8, the cylindrical protrusion 16, the bearing 12, the cylindrical groove 15 and the radial permanent magnet 11 satisfy the coaxial relationship, thereby optimizing the hinge angle detection accuracy. The model of the Hall sensor 8 can be the Hall sensor AK09973D, which can realize an angle sensing with an accuracy less than 0.1° through experiments. Since the Hall sensor 8 indirectly measures the angle by measuring the magnetic field strength based on the Hall effect, in order to avoid magnetic field interference, the probe clamps and the bearing 12 adopt non-magnetic conductive materials.

[0083] According to the embodiment of the present application, a wearable ultrasonic imaging method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0084] In the present embodiment, a wearable ultrasonic imaging method is provided, which is applied to the wearable ultrasonic imaging device as shown in Figures 1 to 4 , Figure 5 is a flowchart of a wearable ultrasonic imaging method according to the embodiment of the present application, as shown in Figure 5 , the flowchart includes the following steps:

[0085] In step S501, the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe is measured through a Hall sensor.

[0086] Further, in the present embodiment, the first phased array ultrasonic probe, the second phased array ultrasonic probe and the bearing constitute a hinge structure, which enables the two ultrasonic probes to form a variable included angle; and since the Hall sensor is coaxially connected with the bearing, the Hall sensor can monitor the change of the included angle.

[0087] During the measurement of the included angle by the Hall sensor, a potential difference, i.e., the Hall voltage, is generated when the conductor current in the magnetic field changes. The Hall sensor is located in the magnetic field generated by the radial permanent magnet. When the bearing rotates, causing a change in the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe, the direction or intensity of the magnetic field where the Hall sensor is located also changes accordingly, resulting in a change in the Hall voltage. This changing Hall voltage can be converted into angle information, thereby accurately measuring the included angle between the two ultrasonic probes. Therefore, the wearable ultrasonic imaging device of this embodiment can monitor and adjust the angle of the ultrasonic probes in real time through the Hall sensor to obtain the best imaging effect.

[0088] As described above, the Hall sensor in this embodiment uses Hall sensor AK09973D. Hall sensor AK09973D has high sensitivity and a wide measurement range, and can independently detect the magnetic field along the x-axis, y-axis, and z-axis. The absolute angular position information is obtained by calculating the angle between the magnetic field vector on the sensor surface and the x-axis. In this embodiment, the absolute angular position P (i.e., the aforementioned angle) can be calculated using the following formula:

[0089] P = arctan(I) y / I x );

[0090] Among them, I x and I y These represent the magnetic field strength along the x-axis and y-axis, respectively.

[0091] Step S502: Based on the positional relationship between the hinge, the first phased array ultrasonic probe, and the second phased array ultrasonic probe, establish the imaging area coordinate system of the wearable ultrasonic imaging device.

[0092] Furthermore, in this embodiment, a Hall sensor is used to measure the angle between the two probes, and the relative positional relationship between the first phased array ultrasonic probe and the second phased array ultrasonic probe is defined based on this angle. Considering the scanning range and angle of the two probes, this embodiment constructs an imaging area coordinate system. This imaging area is jointly determined by the scanning planes of the two probes and the angle between them.

[0093] Step S503: Based on the position of the included angle in the coordinate system of the imaging area, establish the first sub-coordinate system corresponding to the first phased array ultrasonic probe and the second sub-coordinate system corresponding to the second phased array ultrasonic probe.

[0094] Further, in the wearable ultrasound imaging device, when two phased array ultrasound probes are connected by a hinge and form an included angle, in order to process the data collected by each probe, the embodiment establishes a sub-coordinate system for each probe, which will be based on the main coordinate system of the imaging region (i.e. the imaging region coordinate system described above) and take into account the included angle between the probes.

[0095] Step S504, based on the first sub-coordinate system and the first ultrasound transmission and reception sub-sequence, performing a first ultrasound transmission and reception operation on the first phased array ultrasound probe.

[0096] Further, the embodiment determines the first sub-coordinate system of the first phased array ultrasound probe according to the imaging region coordinate system defined earlier and the included angle between the probes, which will be used to guide the scanning path and data processing of the first phased array ultrasound probe. Then, based on the first sub-coordinate system and the preset first ultrasound transmission and reception sub-sequence, a first ultrasound transmission and reception operation (including transmitting ultrasound waves and receiving echo signals) is performed. The first ultrasound transmission and reception sub-sequence includes the beam emission starting point, beam emission angle, beam focusing depth, reception event and sequence of different transmission events and reception events of the first phased array ultrasound probe in each ultrasound transmission event. The first ultrasound transmission and reception sub-sequence indicates the transmission event execution rule and reception event execution rule of the first phased array ultrasound probe in the time dimension. Step S505, based on the second sub-coordinate system and the second ultrasound transmission and reception sub-sequence, performing a second ultrasound transmission and reception operation on the second phased array ultrasound probe.

[0097] Further, the embodiment determines the second sub-coordinate system of the second phased array ultrasound probe according to the imaging region coordinate system defined earlier and the included angle between the probes, which will be used to guide the scanning path and data processing of the second phased array ultrasound probe, and then performs a second ultrasound transmission and reception operation (including transmitting ultrasound waves and receiving echo signals). The second ultrasound transmission and reception sub-sequence includes the beam emission starting point, beam emission angle, beam focusing depth, reception event and sequence of different transmission events and reception events of the second phased array ultrasound probe in each ultrasound transmission event. The second ultrasound transmission and reception sub-sequence indicates the transmission event execution rule and reception event execution rule of the second phased array ultrasound probe in the time dimension.

[0098] Step S506, for a target point in the imaging region, performing complex superposition processing on the first received signal received in the first ultrasound transmission and reception operation and the second received signal received in the second ultrasound transmission and reception operation, to obtain an ultrasound image at the target point.

[0099] Furthermore, in order to obtain a more accurate ultrasound image of the target point within the imaging area, this embodiment performs composite superposition processing on the received signals from different probes (the first phased array ultrasound probe and the second phased array ultrasound probe). This composite superposition processing can be beamforming processing or data fusion processing, aiming to improve the signal-to-noise ratio and resolution of the image.

[0100] In summary, this invention connects a first phased array ultrasonic probe and a second phased array ultrasonic probe via a hinge, forming a relatively flexible wearable ultrasonic imaging device. Based on the hinge angle sensing of a Hall sensor, the included angle information between the two ultrasonic probes is obtained, enabling precise beamforming and high-resolution imaging using a composite angle phased array imaging algorithm. This invention is suitable for skin surfaces with high curvature, accurately acquiring the relative positions of each array element of the probe, thereby achieving high-quality wearable ultrasonic imaging. Furthermore, it combines the advantages of both wearable flexible and wearable rigid ultrasonic arrays, allowing for high-fitting contact with skin surfaces with high curvature while simultaneously achieving high-quality imaging, expanding the imaging field of view and improving image quality.

[0101] This embodiment provides another wearable ultrasound imaging method, which is applied to, for example... Figures 1 to 4 The wearable ultrasound imaging device shown, Figure 6 This is a flowchart of another wearable ultrasound imaging method according to an embodiment of the present invention, such as... Figure 6 As shown, the process includes the following steps:

[0102] Step S601: The angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe is measured using the Hall sensor.

[0103] In one optional implementation, step S601 includes:

[0104] The Hall sensor measures the strength of the surrounding magnetic field of the wearable ultrasound imaging device.

[0105] Based on the surrounding magnetic field strength, the angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe is calculated.

[0106] Furthermore, the Hall sensor in this embodiment indirectly measures the included angle by measuring the magnetic field strength (magnetic field strength along the x-axis and y-axis) based on the Hall effect. The formula for calculating the included angle can be found in [link to relevant documentation]. Figure 5 Step S501 of the illustrated embodiment will not be described again here.

[0107] Step S602: Establish the imaging area coordinate system of the wearable ultrasound imaging device with the hinge axis as the origin, the axis of symmetry of the first phased array ultrasound probe and the second phased array ultrasound probe as the Z-axis, and the direction perpendicular to the Z-axis as the X-axis.

[0108] Further, please refer to Figure 7 The first ultrasound transceiving operation schematic diagram of the imaging algorithm is shown in FIG. 1, and Figure 8 The second ultrasound transceiving operation schematic diagram of the imaging algorithm is shown in FIG. 2, in which the phased array ultrasonic probe A is the first phased array ultrasonic probe, the phased array ultrasonic probe B is the second phased array ultrasonic probe, and if the angle between the two phased array ultrasonic probes measured by the Hall sensor is 2θ, a coordinate system about the imaging region is established with the rotation axis of the hinge as the origin and the symmetry axis of the first phased array ultrasonic probe and the second phased array ultrasonic probe as the Z axis, and the vertical direction of the Z axis is the X axis (as shown in FIG. 2). Figure 7 The angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe and the Z axis is θ.

[0109] In step S603, based on the angle and the position in the imaging region coordinate system, a first sub-coordinate system corresponding to the first phased array ultrasonic probe and a second sub-coordinate system corresponding to the second phased array ultrasonic probe are respectively established.

[0110] In an optional embodiment, the step S603 includes:

[0111] The angle and the position in the imaging region coordinate system are obtained, and first position information of the first phased array ultrasonic probe in the imaging region coordinate system and second position information of the second phased array ultrasonic probe in the imaging region coordinate system are obtained.

[0112] Based on the first position information, the normal direction of the plane of the first phased array ultrasonic probe is taken as the Z1 axis, and the element arrangement direction of the first phased array ultrasonic probe is taken as the X1 axis, to establish the first sub-coordinate system corresponding to the first phased array ultrasonic probe.

[0113] Based on the second position information, the normal direction of the plane of the second phased array ultrasonic probe is taken as the Z2 axis, and the element arrangement direction of the second phased array ultrasonic probe is taken as the X2 axis, to establish the second sub-coordinate system corresponding to the second phased array ultrasonic probe.

[0114] Further, as shown in FIG. 2, the first sub-coordinate system about the first phased array ultrasonic probe is established with the normal direction of the plane of the first phased array ultrasonic probe as the z1 axis and the element arrangement direction as the x1 axis. The second sub-coordinate system about the first phased array ultrasonic probe is established with the normal direction of the plane of the first phased array ultrasonic probe as the z2 axis and the element arrangement direction as the x2 axis. Figure 7

[0115] ​To ensure the consistency and accuracy of the data, the embodiment needs to convert the data in the first sub-coordinate system and the second sub-coordinate system to the imaging area coordinate system XOY through a coordinate transformation matrix after establishing the first sub-coordinate system corresponding to the first phased array ultrasonic probe and the second sub-coordinate system corresponding to the second phased array ultrasonic probe. The coordinate transformation matrix is usually a rotation matrix used to describe the rotation from the first sub-coordinate system and the second sub-coordinate system to the imaging area coordinate system XOY. Then the conversion relationship between the imaging area coordinate system XOY and the first sub-coordinate system is obtained through the following formula:

[0116]

[0117] The conversion relationship between the imaging area coordinate system XOY and the second sub-coordinate system is obtained through the following formula:

[0118]

[0119] Wherein, and are the distances from the origins of the first phased array ultrasonic probe and the second phased array ultrasonic probe to the origin of the imaging area coordinate system XOY.

[0120] Step S604, performing first delay calculation based on the first sub-coordinate system to obtain a first delay rule of the first phased array ultrasonic probe.

[0121] Step S605, performing first ultrasonic transmission and reception operation on the first phased array ultrasonic probe according to the first delay rule and the first ultrasonic transmission and reception sub-sequence.

[0122] In an optional embodiment, the step S605 comprises:

[0123] In the first sub-coordinate system, taking the first origin of the first phased array ultrasonic probe as the starting point of the first beam transmission, each array element in the first phased array ultrasonic probe performs first ultrasonic transmission and reception operation of the target angle according to the first delay rule.

[0124] Further, the imaging algorithm of the embodiment has two ultrasonic transmission and reception sub-sequences. In the first sub-sequence, only the first phased array ultrasonic probe performs beam transmission and reception, and the second phased array ultrasonic probe does not work. As shown in Figure 7 The first phased array ultrasonic probe takes its first origin o1 as the starting point of beam transmission, and each array element completes the scanning of the fixed focusing depth from-45° (corresponding to Line 1) to +45° (corresponding to Line N) in the first sub-coordinate system according to the corresponding delay rule.

[0125] The first delay rule followed by the first ultrasonic transmission and reception operation is obtained through the following formula:

[0126]

[0127] wherein a represents the beam steering angle of the first phased array ultrasonic probe in the first sub-coordinate system, F represents the focal length, c represents the sound speed in the propagation medium, p represents the center-to-center distance of the elements, t A represents the time when the central element of the first phased array ultrasonic probe transmits the sound wave, i = 0, ±1, ±2, … represents the equally-spaced single elements of the array center of the first phased array ultrasonic probe enumerated in the positive and negative directions of x1.

[0128] Step S606, performing second delay calculation based on the second sub-coordinate system to obtain a second delay law of the second phased array ultrasonic probe.

[0129] Step S607, performing second ultrasonic transmission and reception operation on the second phased array ultrasonic probe according to the second delay law and a second ultrasonic transmission and reception sub-sequence; the ultrasonic transmission and reception sub-sequence includes the beam transmission starting point, the beam transmission angle, the beam focal depth, the reception event and the order of different transmission events and reception events of the phased array ultrasonic probe in each sound wave transmission event.

[0130] In an optional embodiment, the step S607 includes:

[0131] In the second sub-coordinate system, taking the second origin of the second phased array ultrasonic probe as the second beam transmission starting point, performing the second ultrasonic transmission and reception operation of the target angle on each element in the second phased array ultrasonic probe according to the second delay law.

[0132] Further, after the first phased array ultrasonic probe completes the scanning, a second sub-sequence is performed. In the second sub-sequence, only the second phased array ultrasonic probe performs the transmission and reception of the beam, and the first phased array ultrasonic probe does not work. As shown in FIG. 6B, Figure 8 the second phased array ultrasonic probe takes its second origin o2 as the beam transmission starting point, and each element completes the scanning of the fixed focal depth from -45° (corresponding to Line N+1) to +45° (corresponding to Line 2N) in the second sub-coordinate system according to the corresponding delay law.

[0133] The second delay law followed by the second ultrasonic transmission and reception operation is obtained by the following formula:

[0134]

[0135] wherein β represents the beam steering angle of the second phased array ultrasonic probe in the second sub-coordinate system, t BThe time for the second phased array ultrasonic probe to emit sound waves for the central array element, j = 0, ±1, ±2, … represents the array center of the second phased array ultrasonic probe to enumerate the equally spaced single array elements in the positive and negative directions of x2.

[0136] In step S608, for a target point in the imaging region, the first received signal received in the first ultrasonic transceiving operation and the second received signal received in the second ultrasonic transceiving operation are complexly superimposed to obtain an ultrasonic image at the target point.

[0137] In an optional embodiment, the step S608 includes:

[0138] Obtaining a target point in the imaging region of the wearable ultrasonic imaging device;

[0139] Obtaining a first received signal received by the first phased array ultrasonic probe at the target point in the first ultrasonic transceiving operation;

[0140] Obtaining a second received signal received by the second phased array ultrasonic probe at the target point in the second ultrasonic transceiving operation;

[0141] Superimposing the first received signal and the second received signal to obtain an ultrasonic image at the target point.

[0142] Further, please refer to Figure 9 The imaging algorithm ultrasonic sequence schematic diagram is shown as follows, as shown in the figure, each sub-sequence has a respective beam emission reference starting point and beam emission angle, and the embodiment uses E to represent a sound wave emission event. Figure 9 The interval time between two adjacent beam emission events is A represents that only the array element channel of the first phased array ultrasonic probe is opened, B represents that only the array element channel of the first phased array ultrasonic probe is opened. N represents the total number of times of emission of each group of array elements in a single frame image, and in a general case, N is selected to be 100 to 128. A And S B Respectively represent the beam emission reference starting points o1 and o2, and α and β represent the beam emission angles of the first phased array ultrasonic probe and the second phased array ultrasonic probe under the references of the first sub-coordinate system and the second sub-coordinate system respectively, and F represents the focal length.

[0143] Further, please refer to Figure 10 The imaging region and the signal composition of a point P in the region are shown in the figure, and the image at the point P (X, Z) is composed of the signals R A (α, i, t) received by the first phased array ultrasonic probe and the signals R B (β, j, t) received by the second phased array ultrasonic probe, and the point P (X, Z) is the target point.

[0144] The signal intensity of the image after the composite superposition processing at the point P(X, Z) can be obtained by the following formula:

[0145]

[0146] Wherein, NE represents the number of elements of the first phased array ultrasonic probe or the second phased array ultrasonic probe, τ A (X, Z) and τ B (X, Z) respectively represent the time of flight of the sound wave from the point P(X, Z) to the beam emission reference starting points o1 and o2.

[0147] In summary, the present application connects the first phased array ultrasonic probe and the second phased array ultrasonic probe through the hinge to form a relatively flexible wearable ultrasonic imaging device, and obtains the included angle information between the two ultrasonic probes based on the hinge angle sensing of the Hall sensor, so as to realize accurate beam synthesis and high-resolution imaging based on the composite angle phased array imaging algorithm. The present application is suitable for large-curvature skin surfaces, can accurately obtain the relative positions between the elements of the probes, and thus realizes high-quality wearable ultrasonic imaging; and combines the advantages of wearable flexible ultrasonic arrays and wearable rigid ultrasonic arrays, can be highly attached to large-curvature skin surfaces, and can also realize high-quality imaging, expands the imaging field of view and improves the imaging quality.

[0148] In the present embodiment, a wearable ultrasonic imaging device is also provided, which is used to realize the above-mentioned embodiments and preferred embodiments, and will not be described again. As used below, the term "module" can be a combination of software and / or hardware that realizes a predetermined function. Although the device described in the following embodiments is preferably realized in software, hardware, or a combination of software and hardware is also possible and is conceived.

[0149] The present embodiment provides a wearable ultrasonic imaging device, which is applied to a wearable ultrasonic imaging device as shown in the figure; as shown in the figure, the device comprises: Figures 1 to 4 The device comprises: Figure 11 An included angle measuring module 1101 is configured to measure the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe through the Hall sensor;

[0150] An imaging region coordinate system establishing module 1102 is configured to establish an imaging region coordinate system of the wearable ultrasonic imaging device based on the position relationship of the hinge, the first phased array ultrasonic probe and the second phased array ultrasonic probe;

[0151]

[0152] ​The sub-coordinate system establishing module 1103 is configured to establish a first sub-coordinate system corresponding to the first phased-array ultrasonic probe and a second sub-coordinate system corresponding to the second phased-array ultrasonic probe based on the position of the included angle angle in the imaging area coordinate system.

[0153] The first ultrasonic transmitting and receiving operation executing module 1104 is configured to execute a first ultrasonic transmitting and receiving operation on the first phased-array ultrasonic probe based on the first sub-coordinate system and a first ultrasonic transmitting and receiving sub-sequence.

[0154] The second ultrasonic transmitting and receiving operation executing module 1105 is configured to execute a second ultrasonic transmitting and receiving operation on the second phased-array ultrasonic probe based on the second sub-coordinate system and a second ultrasonic transmitting and receiving sub-sequence.

[0155] The ultrasonic image generating module 1106 is configured to, for a target point in the imaging area, perform complex superposition processing on a first received signal received in the first ultrasonic transmitting and receiving operation and a second received signal received in the second ultrasonic transmitting and receiving operation to obtain an ultrasonic image at the target point.

[0156] In some optional embodiments, the included angle angle measuring module 1101 is further configured to:

[0157] measure the ambient magnetic field strength of the wearable ultrasonic imaging device through the Hall sensor;

[0158] calculate the included angle angle between the first phased-array ultrasonic probe and the second phased-array ultrasonic probe based on the ambient magnetic field strength.

[0159] In some optional embodiments, the imaging area coordinate system establishing module 1102 is further configured to:

[0160] establish an imaging area coordinate system of the wearable ultrasonic imaging device with the rotation axis of the hinge as the origin, with the symmetry axis of the first phased-array ultrasonic probe and the second phased-array ultrasonic probe as the Z axis, and with the vertical direction of the Z axis as the X axis.

[0161] In some optional embodiments, the sub-coordinate system establishing module 1103 is further configured to:

[0162] obtain the position of the included angle angle in the imaging area coordinate system, and obtain first position information of the first phased-array ultrasonic probe in the imaging area coordinate system and second position information of the second phased-array ultrasonic probe in the imaging area coordinate system;

[0163] establish the first sub-coordinate system corresponding to the first phased-array ultrasonic probe based on the first position information, with the normal direction of the plane of the first phased-array ultrasonic probe as the Z1 axis and with the element arrangement direction of the first phased-array ultrasonic probe as the X1 axis;

[0164] Based on the second position information, a second sub-coordinate system corresponding to the second phased-array ultrasonic probe is established with a normal direction of a plane of the second phased-array ultrasonic probe as a Z2 axis and an array element arrangement direction of the second phased-array ultrasonic probe as an X2 axis.

[0165] In some optional embodiments, the first ultrasonic transmission and reception operation execution module 1104 is further configured to:

[0166] Based on the first sub-coordinate system, first delay calculation is performed to obtain a first delay law of the first phased-array ultrasonic probe;

[0167] According to the first delay law and the first ultrasonic transmission and reception sub-sequence, first ultrasonic transmission and reception operation is performed on the first phased-array ultrasonic probe;

[0168] The second ultrasonic transmission and reception operation execution module 1105 is further configured to:

[0169] Based on the second sub-coordinate system, second delay calculation is performed to obtain a second delay law of the second phased-array ultrasonic probe;

[0170] According to the second delay law and the first ultrasonic transmission and reception sub-sequence, second ultrasonic transmission and reception operation is performed on the second phased-array ultrasonic probe; the ultrasonic transmission and reception sub-sequence includes a beam emission starting point, a beam emission angle and a received signal of the corresponding phased-array ultrasonic probe under each acoustic wave emission event.

[0171] In some optional embodiments, the first ultrasonic transmission and reception operation execution module 1104 is further configured to:

[0172] In the first sub-coordinate system, the first wave beam emission starting point is set as the first origin of the first phased-array ultrasonic probe, and each array element in the first phased-array ultrasonic probe performs first ultrasonic transmission and reception operation at a target angle according to the first delay law;

[0173] The second ultrasonic transmission and reception operation execution module 1105 is further configured to:

[0174] In the second sub-coordinate system, the second wave beam emission starting point is set as the second origin of the second phased-array ultrasonic probe, and each array element in the second phased-array ultrasonic probe performs second ultrasonic transmission and reception operation at a target angle according to the second delay law.

[0175] In some optional embodiments, the ultrasonic image generation module 1106 is further configured to:

[0176] Obtain a target point in an imaging region of the wearable ultrasonic imaging device;

[0177] Obtain a target point in an imaging region of the wearable ultrasonic imaging device;

[0178] obtaining a first receiving signal received by the first phased array ultrasonic probe at the target point in the first ultrasonic transmitting and receiving operation;

[0179] obtaining a second receiving signal received by the second phased array ultrasonic probe at the target point in the second ultrasonic transmitting and receiving operation;

[0180] superimposing the first receiving signal and the second receiving signal to obtain an ultrasonic image at the target point.

[0181] In summary, the present application connects the first phased array ultrasonic probe and the second phased array ultrasonic probe through a hinge to form a relatively flexible wearable ultrasonic imaging device, and obtains the included angle information between the two ultrasonic probes based on the hinge angle sensing of the Hall sensor, so as to realize accurate beam synthesis and high-resolution imaging based on the composite angle phased array imaging algorithm. The present application is suitable for large-curvature skin surfaces, can accurately obtain the relative positions between the array elements of the probes, and thus realizes high-quality wearable ultrasonic imaging. In addition, the present application combines the advantages of wearable flexible ultrasonic arrays and wearable rigid ultrasonic arrays, can be highly attached to large-curvature skin surfaces, and can also realize high-quality imaging, expand the imaging field of view, and improve the imaging quality.

[0182] Further function descriptions of the above-mentioned modules and units are the same as those of the corresponding embodiments, and will not be repeated here.

[0183] The wearable ultrasonic imaging device in the embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and a memory executing one or more software or fixed programs, and / or other devices that can provide the above functions.

[0184] The embodiment of the present application also provides a computer device having the above-mentioned Figure 11 wearable ultrasonic imaging device.

[0185] Please refer to Figure 12 , Figure 12 is a structural schematic diagram of a computer device provided by an optional embodiment of the present application, as shown in Figure 12As shown, the computer device includes one or more processors 1210, memory 1220, and interfaces 1230 for external devices such as a keyboard and a mouse and a display device. The one or more processors 1210 can be a single-core processor or multiple-core processor, which is capable of processing instructions stored in the memory 1220 to enable the device to perform any of the processes described herein. The interfaces 1230 can include a wide variety of interface types. For example, the interfaces 1230 can enable wired or wireless communication with servers, computers, and other information devices via electrical, optical, or electromagnetic connections. Some of the examples of interfaces 1230 include a USB connection, a Bluetooth connection, an Ethernet connection, a wireless connection, and a cable connection. Figure 12 The processor 1210 is used in the description as an example.

[0186] The processor 1210 can be a central processing unit, a network processor, or a combination thereof. The processor 1210 can further include a hardware chip. The hardware chip can be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device can be a complex programmable logic device, a field programmable logic device, a general array logic, or any combination thereof.

[0187] The memory 1220 stores instructions that can be executed by the at least one processor 1210 to cause the at least one processor 1210 to perform the methods described above.

[0188] The memory 1220 can include a program region and a data region. The program region can store an operating system, application programs required by at least one function, and the like. The data region can store data created according to the use of the computer device, and the like. In addition, the memory 1220 can include a high-speed random access memory, and can further include a non-transitory memory such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid state storage device. In some alternative embodiments, the memory 1220 can optionally include a memory disposed remotely from the processor 1210, and these remote memories can be connected to the computer device via a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0189] The memory 1220 can include a volatile memory, such as a random access memory, and can also include a non-volatile memory, such as a flash memory, a hard disk, or a solid state disk, and can further include a combination of the above-mentioned kinds of memories.

[0190] The computer device also includes a communication interface 1230 for the computer device to communicate with other devices or communication networks.

[0191] The embodiments of the present application also provide a computer readable storage medium, the method according to the embodiments of the present application can be implemented in hardware, firmware, or recorded in a storage medium, or stored in a remote storage medium or a non-transitory machine readable storage medium and downloaded from a network and stored in a local storage medium, so that the method described herein can be processed by such software on a storage medium using a general purpose computer, a special purpose processor, or programmable or special purpose hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk or a solid state disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that the computer, processor, microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code, when the software or computer code is accessed and executed by the computer, processor or hardware, the method shown in the above embodiments is implemented.

[0192] Part of the present application can be applied as a computer program product, for example, computer program instructions, when executed by a computer, through the operation of the computer, the method and / or technical solutions according to the present application can be called or provided. Those skilled in the art should understand that the form of computer program instructions in computer readable medium includes but is not limited to source file, executable file, installation package file, etc., accordingly, the way of computer program instructions executed by computer includes but is not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Here, the computer readable medium can be any available computer readable storage medium or communication medium accessible to the computer.

[0193] Although the embodiments of the present application are described in conjunction with the accompanying drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A wearable ultrasound imaging method, characterized by, The method is applied to a wearable ultrasonic imaging device, the device comprising a first phased array ultrasonic probe, a second phased array ultrasonic probe, and a Hall sensor and a bearing coaxially connected; the first phased array ultrasonic probe, the second phased array ultrasonic probe and the bearing constitute a hinge to form an included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; establishing an imaging area coordinate system of the wearable ultrasonic imaging device based on the position relationship of the hinge, the first phased array ultrasonic probe and the second phased array ultrasonic probe; establishing a first sub-coordinate system corresponding to the first phased array ultrasonic probe and a second sub-coordinate system corresponding to the second phased array ultrasonic probe based on the position of the included angle in the imaging area coordinate system; performing a first ultrasonic transmitting and receiving operation on the first phased array ultrasonic probe based on the first sub-coordinate system and a first ultrasonic transmitting and receiving sub-sequence; performing a second ultrasonic transmitting and receiving operation on the second phased array ultrasonic probe based on the second sub-coordinate system and a second ultrasonic transmitting and receiving sub-sequence; for a target point in the imaging area, performing complex superposition processing on a first received signal received in the first ultrasonic transmitting and receiving operation and a second received signal received in the second ultrasonic transmitting and receiving operation to obtain an ultrasonic image at the target point.

2. The method of claim 1, wherein, The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; 3. The method of claim 1, wherein, The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; 4. The method of claim 1, wherein, measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; The method comprises: measuring the included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe by the Hall sensor; measuring the included angle between the first phased Based on the second position information, a second sub-coordinate system corresponding to the second phased array ultrasonic probe is established, with a normal direction of a plane of the second phased array ultrasonic probe as a Z2 axis and an array element arrangement direction of the second phased array ultrasonic probe as an X2 axis.

5. The method of claim 1, wherein, The first ultrasonic transmission and reception operation performed on the first phased array ultrasonic probe based on the first sub-coordinate system and a first ultrasonic transmission and reception sub-sequence includes: First delay calculation is performed based on the first sub-coordinate system to obtain a first delay law of the first phased array ultrasonic probe; The first ultrasonic transmission and reception operation performed on the first phased array ultrasonic probe according to the first delay law and the first ultrasonic transmission and reception sub-sequence; The second ultrasonic transmission and reception operation performed on the second phased array ultrasonic probe based on the second sub-coordinate system and a second ultrasonic transmission and reception sub-sequence includes: Second delay calculation is performed based on the second sub-coordinate system to obtain a second delay law of the second phased array ultrasonic probe; The second ultrasonic transmission and reception operation performed on the second phased array ultrasonic probe according to the second delay law and the second ultrasonic transmission and reception sub-sequence; the ultrasonic transmission and reception sub-sequence includes a beam transmission starting point, a beam transmission angle, a beam focusing depth, a receiving event and an order of different transmission events and receiving events of the corresponding phased array ultrasonic probe in each sound wave transmission event.

6. The method of claim 5, wherein, The first ultrasonic transmission and reception operation performed on the first phased array ultrasonic probe according to the first delay law and the first ultrasonic transmission and reception sub-sequence includes: In the first sub-coordinate system, the first wave beam transmission starting point is taken as the first origin of the first phased array ultrasonic probe, and each array element in the first phased array ultrasonic probe performs first ultrasonic transmission and reception operation of a target angle according to the first delay law; The second ultrasonic transmission and reception operation performed on the second phased array ultrasonic probe according to the second delay law includes: In the second sub-coordinate system, the second wave beam transmission starting point is taken as the second origin of the second phased array ultrasonic probe, and each array element in the second phased array ultrasonic probe performs second ultrasonic transmission and reception operation of a target angle according to the second delay law.

7. The method according to any one of claims 1 to 6, characterized in that, The first receiving signal received at the target point by the first phased array ultrasonic probe in the first ultrasonic transmission and reception operation and the second receiving signal received at the target point by the second phased array ultrasonic probe in the second ultrasonic transmission and reception operation are subjected to complex superposition processing to obtain an ultrasonic image at the target point, including: A target point in an imaging region of the wearable ultrasonic imaging device is acquired; A first receiving signal received at the target point by the first phased array ultrasonic probe in the first ultrasonic transmission and reception operation is acquired; A second receiving signal received at the target point by the second phased array ultrasonic probe in the second ultrasonic transmission and reception operation is acquired; The first receiving signal and the second receiving signal are subjected to superposition processing to obtain an ultrasonic image at the target point.

8. A wearable ultrasound imaging device, characterized by, The device is applied to a wearable ultrasonic imaging device, the device comprising a first phased array ultrasonic probe, a second phased array ultrasonic probe, and a coaxial Hall sensor and bearing; the first phased array ultrasonic probe, the second phased array ultrasonic probe, and the bearing constitute a hinge to form an included angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe; The device comprises: An included angle angle measurement module for measuring an included angle angle between the first phased array ultrasonic probe and the second phased array ultrasonic probe through the Hall sensor; An imaging area coordinate system establishment module for establishing an imaging area coordinate system of the wearable ultrasonic imaging device based on a positional relationship of the hinge, the first phased array ultrasonic probe, and the second phased array ultrasonic probe; A sub-coordinate system establishment module for establishing a first sub-coordinate system corresponding to the first phased array ultrasonic probe and a second sub-coordinate system corresponding to the second phased array ultrasonic probe in the imaging area coordinate system based on a position of the included angle angle; A first ultrasonic transceiving operation execution module for executing a first ultrasonic transceiving operation on the first phased array ultrasonic probe based on the first sub-coordinate system and a first ultrasonic transceiving sub-sequence; A second ultrasonic transceiving operation execution module for executing a second ultrasonic transceiving operation on the second phased array ultrasonic probe based on the second sub-coordinate system and a second ultrasonic transceiving sub-sequence; An ultrasonic image generation module for, for a target point in an imaging area, performing complex superposition processing on a first received signal received in the first ultrasonic transceiving operation and a second received signal received in the second ultrasonic transceiving operation to obtain an ultrasonic image at the target point.

9. A computer device, comprising: Comprise: A memory and a processor, which are in communication connection with each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the wearable ultrasonic imaging method in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing a computer to perform the wearable ultrasonic imaging method in any one of claims 1 to 7.

11. A computer program product, characterised in that, Comprise computer instructions for causing a computer to perform the wearable ultrasonic imaging method in any one of claims 1 to 7.

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