Ultrasonic endoscope and ultrasonic imaging system and imaging method thereof

Abstract

The present invention discloses an ultrasonic endoscope and an ultrasonic imaging system and an imaging method composed of the same, which belong to the field of ultrasonic imaging processing technology. The ultrasonic endoscope includes an ultrasonic component, which includes an ultrasonic transducer array and an ultrasonic signal acquisition and control module. The ultrasonic transducer array and the ultrasonic signal acquisition and control module are both integrated on the probe. The ultrasonic signal acquisition and control module is connected to the ultrasonic transducer array through a flexible circuit board to realize the connection between the waveform signal generation module and the echo signal receiving and processing module and all ultrasonic transducer array elements. The echo signal receiving and processing module includes a multiplexer and a multi-channel echo signal processing circuit, and the ultrasonic transducer array elements in the ultrasonic transducer array are divided into a plurality of transducer array element groups. When the present invention is applied, the number of coaxial cables used can be reduced while ensuring that the number of ultrasonic transducer array elements remains unchanged, the yield rate and service life of the ultrasonic endoscope can be improved, the cost can be reduced, and the image quality and operation convenience can be improved.

Description

Technical Field

[0001] The invention relates to ultrasonic imaging processing technology, in particular to an ultrasonic endoscope and an ultrasonic imaging system and an imaging method composed thereof. Background Art

[0002] Medical ultrasonic endoscope is an important tool for detecting lesions in the human digestive tract and other tissues in the human body. It includes an ultrasonic component and a camera component, wherein the ultrasonic component is provided with an ultrasonic transducer and an ultrasonic signal acquisition control module for controlling the operation of the ultrasonic transducer and processing the collected signals of the ultrasonic transducer, and the camera component is provided with an optical camera and an image signal acquisition control module for controlling the operation of the optical camera and processing the collected signals of the optical camera. When the ultrasonic endoscope is working, in order to ensure that the ultrasonic component and the camera component can realize the acquisition of information on the lesion site, the ultrasonic transducer of the ultrasonic component is integrated on the probe and enters the patient's body together with the optical camera of the camera component, and the camera takes pictures and images the lesion site, and the ultrasonic component uses ultrasound to synchronously image the lesion site; and in order to avoid the excessive size of the ultrasonic endoscope entering the human body causing discomfort to the patient, the ultrasonic signal acquisition control module and the image signal acquisition control module are both arranged outside the patient's body, the ultrasonic signal acquisition control module is connected to the ultrasonic transducer through a coaxial cable, and the image signal acquisition control module is connected to the optical camera through a coaxial cable. In order to prevent the coaxial cable from entering the human body and causing discomfort to the patient, all coaxial cables connecting the ultrasonic signal acquisition and control module and the ultrasonic transducer, as well as the coaxial cable connecting the image signal acquisition and control module and the optical camera are wrapped in the same tube. In order to aim at the target area for puncture, a section of the tube wrapped around the coaxial cable is set as a rigid tube.

[0003] Ultrasound endoscopes can be divided into single-element circular scanning ultrasound endoscopes and multi-element phased array ultrasound endoscopes according to the number of ultrasonic transducer array elements. Among them, multi-element phased array ultrasound endoscopes are equipped with multiple ultrasonic transducer array elements. They have the advantages of high imaging resolution and high signal-to-noise ratio, and can be used for treatment, so they are more popular. However, the existing multi-element phased array ultrasound endoscopes still have the following problems when applied:

[0004] (1) The echo signal received by the ultrasonic transducer is an analog signal. Each ultrasonic transducer transmits the echo signal to the ultrasonic signal acquisition and control module through a coaxial cable. The transmission of analog signals is unstable and easily interfered with. The transmission through coaxial cables will be attenuated due to the line length and signal interference between the coaxial cables, and the image quality will be affected.

[0005] (2) The number of ultrasonic transducer elements determines the quality of ultrasonic images. Existing multi-element phased array ultrasonic endoscopes are usually equipped with about 100 ultrasonic transducer elements. They need to be equipped with the same number of coaxial cables as the ultrasonic transducer elements to transmit echo signals. The ultrasonic transducer elements need to be welded on the coaxial cables. The welding process is cumbersome and costly. In addition, the complex process makes it difficult to guarantee the yield rate.

[0006] (3) When the existing multi-element phased array ultrasound endoscope is used, the tube wrapped around the coaxial cable is located at a small section of the probe, which is a flexible tube connected to a rigid tube. The end of the rigid tube connected to the flexible tube is equipped with a lifting device. The rigid tube is provided with an operating component that controls the movement of the lifting device to control the upward, downward, left and right angle deflection of the probe. The operating component and the lifting device are connected through a linkage component provided in the rigid tube. However, due to the large number of coaxial cables in the rigid tube, this seriously affects the portability of the above operations. In addition, during mechanical operations such as deflection angle, there is a friction problem between the large number of coaxial cables, which can easily lead to cable damage or welding detachment, which will affect the service life of the ultrasound endoscope. Summary of the invention

[0007] The purpose of the present invention is to solve the shortcomings of existing multi-element phased array ultrasonic endoscopes, such as image quality being affected, yield rate being unable to be guaranteed, operation convenience being poor, and service life being easily affected due to excessive coaxial cables being laid. An ultrasonic endoscope and an ultrasonic imaging system and an imaging method composed of the same are provided. When used, the number of coaxial cables used can be reduced while ensuring that the number of ultrasonic transducer elements remains unchanged, the yield rate and service life of the ultrasonic endoscope can be improved, the cost can be reduced, and the image quality and operation convenience can be improved.

[0008] The purpose of the present invention is mainly achieved through the following technical solutions:

[0009] An ultrasonic endoscope comprises an ultrasonic component, wherein the ultrasonic component comprises an ultrasonic transducer array and an ultrasonic signal acquisition and control module, wherein all ultrasonic transducer array elements of the ultrasonic transducer array are integrated on a probe, wherein the ultrasonic signal acquisition and control module is integrated on the probe, wherein the ultrasonic signal acquisition and control module comprises a waveform signal generating module and an echo signal receiving and processing module integrated on the same circuit board, wherein the ultrasonic signal acquisition and control module is connected to the ultrasonic transducer array through a flexible circuit board to realize the connection between the waveform signal generating module and the echo signal receiving and processing module and all ultrasonic transducer array elements; wherein the echo signal receiving and processing module comprises an echo signal processing circuit having a multiplexer and a multi-channel output end connected to an input end of the multiplexer, wherein the ultrasonic transducer array elements in the ultrasonic transducer array are divided into a plurality of transducer array element groups, wherein the number of ultrasonic transducer array elements in each transducer array element group is not greater than the number of echo signal processing circuits, and wherein all ultrasonic transducer array elements in each transducer array element group are respectively connected to one echo signal processing circuit correspondingly;

[0010] A waveform signal generating module, used for receiving a control instruction sent by a host, generating a waveform and sending it to a transducer array element group associated with the control instruction at a set pulse frequency, triggering all ultrasonic transducers in the transducer array element group associated with the control instruction to emit ultrasonic waves;

[0011] The echo signal processing circuit is used to receive the echo signal sent by an ultrasonic transducer connected to the ultrasonic transducer array element group, and send the received echo signal to the multiplexer after performing echo limiting, amplification, filtering and analog-to-digital conversion;

[0012] The multiplexer is used to compress multiple digital signals sent by all echo signal processing circuits in the same set time period into one channel and send it to the host.

[0013] The ultrasonic transducer and ultrasonic signal acquisition and control module of the present invention are both integrated on the probe, and the ultrasonic signal acquisition and control module is connected to the ultrasonic transducer through a flexible circuit board. In specific applications, the ultrasonic transducer and the ultrasonic signal acquisition and control module are both placed in the patient's body. The present invention divides the ultrasonic transducer array elements in the ultrasonic transducer array into multiple transducer array element groups, and the multiple transducer array element groups work in turn, sending ultrasonic waves and receiving and processing echo signals one by one, and converting the echo signals into digital signals for transmission to the host, which can overcome the problems of instability and susceptibility to interference in the use of analog signals for transmission to the host. The present invention adopts a method of sending ultrasonic waves and receiving and processing echo signals in batches, and compresses the echo signals received by the same transducer array element group into multiple digital signals through a multiplexer to send to one channel to the host, which can further reduce the number of coaxial cables used in the present invention and avoid a series of problems caused by too many coaxial cables.

[0014] Furthermore, the waveform signal generating module includes a waveform generator for receiving a control instruction sent by a host to generate a waveform, and a pulse generator for sending the waveform generated by the waveform generator to a transducer array group associated with the control instruction at a set pulse frequency, and the transducer array group sends an ultrasonic wave after receiving a trigger pulse signal sent by the pulse generator.

[0015] Furthermore, the echo signal processing circuit includes an analog signal processing circuit and an analog-to-digital converter connected in series, wherein the analog signal processing circuit is used to perform echo limiting, amplification and filtering on the echo signal it receives, and the analog-to-digital converter is used to convert the analog signal filtered by the analog signal processing circuit into a digital signal and send it to the multiplexer.

[0016] Furthermore, the ultrasonic signal acquisition control module also includes a clock management module connected to the host, and the clock management module is used to receive control instructions sent by the host to perform timing control on each module and component in the ultrasonic signal acquisition control module.

[0017] The ultrasonic imaging system based on the above-mentioned ultrasonic endoscope also includes a host and a display connected to the host, the host includes a controller and a digital signal processing module connected to the controller, the digital signal processing module is used to receive the echo signal sent by the multiplexer, perform beam synthesis, dynamic filtering, envelope detection and logarithmic compression processing, and then send it to the controller, the controller converts the signal processed by the digital signal processing module into a visual image for display on the display; all transducer array element groups are sorted in the controller, and the controller generates control instructions associated with a certain transducer array element group in sequence according to the sorting order of the transducer array element groups and sends them to the waveform signal generating module, so that the waveform signal generating module generates a waveform signal and sends a pulse signal to the transducer array element group associated with the control instruction.

[0018] The ultrasonic imaging method based on the above ultrasonic imaging system comprises the following steps:

[0019] Step S1, the controller generates a control instruction for sending a pulse signal to the transducer array element group ranked first in the transducer array element group and sends it to the waveform signal generating module;

[0020] Step S2: the waveform signal generating module generates a waveform and sends it to the first ranked transducer array element group at a set pulse frequency, triggering all ultrasonic transducers in the first ranked transducer array element group to emit ultrasonic waves;

[0021] Step S3, the echo signal receiving and processing module receives the echo signal sent by the transducer array element group ranked first, and after limiting, amplifying, filtering and analog-to-digital conversion of the received echo signal, compresses multiple digital signals sent by all echo signal processing circuits in the same set time period into one channel and sends it to the host;

[0022] Step S4, repeating steps S1 to S3, and making all transducer array element groups complete the transmission and reception of ultrasonic signals in sequence according to the order in which the transducer array element groups are arranged;

[0023] Step S5, the digital signal processing module receives the echo signals sent by all transducer array element groups processed by the echo signal receiving and processing module, performs beam synthesis, dynamic filtering, envelope detection and logarithmic compression processing, and then sends them to the controller. The controller converts the signals processed by the digital signal processing module into a visual image for display on the display.

[0024] Furthermore, the waveform signal sending path includes a waveform generator for generating a waveform, and a pulse generator for receiving the waveform generated by the waveform generator and converting it into a pulse signal to send to the ultrasonic transducer array. The ultrasonic transducer array sends an ultrasonic wave after receiving the pulse signal sent by the pulse generator.

[0025] Furthermore, the number of the echo signal receiving circuits is the same as the number of ultrasonic transducer array elements, and each echo signal receiving circuit receives an echo signal sent by an ultrasonic transducer array element; the echo signal receiving circuit includes a serially connected analog signal processing circuit, an analog-to-digital converter and a digital signal processing circuit. After receiving the echo signal sent by the ultrasonic transducer array element, the echo signal receiving circuit sequentially performs analog signal processing by the analog signal processing circuit, converts it into a digital signal by the analog-to-digital converter, and performs digital signal processing by the digital signal processing circuit before sending it to the serializer.

[0026] Furthermore, the ultrasonic processing module is also provided with a clock management module, and the clock management module is used for clock control of each module of the ultrasonic processing module.

[0027] The ultrasound imaging system based on the above-mentioned ultrasound endoscope further includes a host and a display connected to the host, wherein the host is used to receive the signal sent by the ultrasound processing module and convert it into a visual image for display on the display.

[0028] In summary, compared with the prior art, the present invention has the following beneficial effects: the ultrasonic signal acquisition and control module of the present invention is connected to the ultrasonic transducer array through a flexible circuit board, the echo signal receiving and processing module of the ultrasonic signal acquisition and control module includes a multiplexer and an echo signal processing circuit having a multi-channel output end connected to the multiplexer input end, and the ultrasonic transducer array elements in the ultrasonic transducer array are divided into multiple transducer array element groups. When the present invention is applied, the transducer array element groups in the ultrasonic transducer array work in batches, and the echo signals collected by the same transducer array element group are compressed into one channel and sent to the host. The structure of the ultrasonic signal acquisition and control module integrated on the probe is greatly simplified, and the number of coaxial cables required to be used is greatly reduced, so that there can be more space for the lifting clamp to move, and the outer diameter of the inserted pipe can also be reduced, which can not only reduce the difficulty of the welding process, but also make the pipe wrapped around the coaxial cable thinner, and the pipe of the non-rigid part also soften, thereby improving the controllability. The digital transmission of source-end signals in the present invention has strong anti-interference performance, which avoids the problem that traditional ultrasound is easily interfered by active instruments in the operating room and ensures image quality. The ultrasound signal acquisition and control module and the ultrasound transducer are combined through a flexible circuit board to avoid too many wire harnesses being concentrated in the cavity of the ultrasound endoscope. The endoscope is softer, has a longer life, a higher yield and a lower cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0030] Figure 1 It is a schematic diagram of the module framework of the ultrasonic endoscope system in a specific embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0032] Example:

[0033] like Figure 1As shown, an ultrasonic endoscope includes an ultrasonic component, and the ultrasonic component includes an ultrasonic transducer array and an ultrasonic signal acquisition and control module. All ultrasonic transducer array elements of the ultrasonic transducer array are integrated on the probe. The ultrasonic signal acquisition and control module of this embodiment is also integrated on the probe. The ultrasonic signal acquisition and control module includes a waveform signal generating module and an echo signal receiving and processing module integrated on the same circuit board. In the specific implementation of this embodiment, the ultrasonic transducer array and the ultrasonic signal acquisition and control module can be integrated into one, or can be independently arranged on two circuit boards. The ultrasonic signal acquisition and control module of this embodiment is connected to the ultrasonic transducer array through a flexible circuit board to realize the connection between the waveform signal generating module and the echo signal receiving and processing module and all ultrasonic transducer array elements. The echo signal receiving and processing module of this embodiment includes a multiplexer and an echo signal processing circuit whose multi-channel output end is connected to the input end of the multiplexer. The ultrasonic transducer array elements in the ultrasonic transducer array are divided into a plurality of transducer array element groups. The number of ultrasonic transducer array elements in each transducer array element group is not greater than the number of echo signal processing circuits, and all ultrasonic transducer array elements in each transducer array element group are respectively connected to one echo signal processing circuit. The waveform signal generating module is used to receive the control instruction sent by the host to generate a waveform and send it to the transducer array element group associated with the control instruction at a set pulse frequency, triggering all ultrasonic transducers in the transducer array element group associated with the control instruction to emit ultrasonic waves; the echo signal processing circuit is used to receive the echo signal sent by an ultrasonic transducer connected to it in the transducer array element group that emits ultrasonic waves, and send the received echo signal to the multiplexer after echo limiting, amplification, filtering and analog-to-digital conversion; the multiplexer is used to compress multiple digital signals sent by all echo signal processing circuits in the same set time period into one channel and send it to the host. The ultrasonic signal acquisition control module of this embodiment also includes a clock management module connected to the host, which is used to receive the control instruction sent by the host to perform timing control on each module and component in the ultrasonic signal acquisition control module, so that the information sent and received in this embodiment has a timestamp. In this embodiment, the multiplexer compresses multiple digital signals received in the same set time period into one channel. The set time period is specifically set to a time period in which a group of transducer array elements completes transmitting ultrasonic waves and realizes echo reception and processing into digital signals.

[0034] In the specific configuration of this embodiment, the transducer array elements are evenly divided among all transducer array element groups as far as possible. When even division cannot be achieved, only one transducer array element group has a smaller number of ultrasonic transducer array elements than the remaining transducer array element groups, while the remaining transducer array element groups have an equal number of ultrasonic transducer array elements. In addition, the number of ultrasonic transducer array elements in the multiple transducer array element groups whose number of echo signal processing circuits is consistent with the number of ultrasonic transducer array elements is consistent, so that when this embodiment is applied, the echo signal receiving and processing module can work more efficiently.

[0035] In addition to the ultrasonic transducer array of the existing ultrasonic endoscope, the ultrasonic endoscope of this embodiment also adds an ultrasonic signal acquisition and control module to the probe, and moves the existing ultrasonic signal processing part to the front-end processing. The ultrasonic transducer array of this embodiment is connected to the ultrasonic signal acquisition and control module through a flexible circuit board (FPC), and the length of the flexible circuit board (FPC) is about 5mm.

[0036] This embodiment can be equipped with a camera assembly at the same time. The optical camera and image signal acquisition and control module of the camera assembly are consistent with the prior art and will not be described in detail here.

[0037] The waveform signal generating module of this embodiment includes a waveform generator for receiving a control instruction sent by the host to generate a waveform, and a pulse generator for sending the waveform generated by the waveform generator to the transducer array element group associated with the control instruction at a set pulse frequency, and the transducer array element group sends an ultrasonic wave after receiving the trigger pulse signal sent by the pulse generator. In this embodiment, the control instruction information sent by the host to the waveform signal generating module includes the associated transducer array element group information and the pulse frequency setting information of the pulse generator.

[0038] The echo signal processing circuit of this embodiment includes an analog signal processing circuit and an analog-to-digital converter connected in series, wherein the analog signal processing circuit is used to perform echo limiting, amplification and filtering on the echo signal received by it, and the analog-to-digital converter is used to convert the analog signal filtered by the analog signal processing circuit into a digital signal and send it to the multiplexer. The analog signal processing circuit and the analog-to-digital converter of this embodiment can be implemented based on the existing technology and will not be described in detail here.

[0039] The ultrasonic imaging system based on the above-mentioned ultrasonic endoscope also includes a host and a display connected to the host, wherein the host includes a controller and a digital signal processing module connected to the controller, the digital signal processing module is used to receive the echo signal sent by the multiplexer, perform beam synthesis, dynamic filtering, envelope detection and logarithmic compression processing, and then send it to the controller, the controller converts the signal processed by the digital signal processing module into a visual image for display on the display; the controller sorts all the transducer array element groups, and the controller generates control instructions associated with a certain transducer array element group in the order of the transducer array element group sorting, and sends them to the waveform signal generating module, so that the waveform signal generating module generates a waveform signal and sends a pulse signal to the transducer array element group associated with the control instruction. The controller of this embodiment can be implemented based on an existing computer system, and the digital signal processing module can be implemented based on an existing digital signal processor, FPGA and other chips. When this embodiment is applied, the ultrasonic endoscope is controlled by the host to transmit and receive ultrasonic signals, and the received ultrasonic signals are processed to generate ultrasonic images. In this embodiment, the digital signal processing part of the ultrasonic signal acquisition and control module of the prior art is moved to the host to avoid the probe being too large.

[0040] The ultrasonic imaging method based on the above ultrasonic imaging system comprises the following steps: step S1, a controller generates a control instruction for sending a pulse signal to the transducer array element group ranked first in the transducer array element group and sends it to a waveform signal generating module; step S2, the waveform signal generating module generates a waveform and sends it to the transducer array element group ranked first at a set pulse frequency, triggering all ultrasonic transducers in the transducer array element group ranked first to emit ultrasonic waves; step S3, an echo signal receiving and processing module receives the echo signal sent by the transducer array element group ranked first, and performs echo limiting, amplification, filtering and After analog-to-digital conversion, multiple digital signals sent by all echo signal processing circuits in the same set time period are compressed into one channel and sent to the host; step S4, repeat steps S1 to S3, and make all transducer array groups complete the transmission and reception of ultrasonic signals in sequence according to the sorting order of the transducer array groups; step S5, the digital signal processing module receives the echo signals sent by all transducer array groups processed by the echo signal receiving and processing module, performs beam synthesis, dynamic filtering, envelope detection and logarithmic compression processing, and then sends them to the controller, and the controller converts the signals processed by the digital signal processing module into visual images for display on the display.

[0041] The echo signal receiving and processing module in the ultrasonic signal acquisition and control module of the present embodiment integrates functions such as echo limiting, amplification, filtering, analog-to-digital conversion and digital signal compression. The high-speed signal is transmitted on a cable several meters long after being serialized, and the number of core wires is greatly reduced. The reduction in the number of core wires reduces the space occupied by the endoscope in the insertion tube, thereby reducing the density of the contents of the inserted tube and reducing the friction between the cables. Therefore, the force required for the bending operation is smaller, and the number of bending lifespans is correspondingly increased. The higher the density of the contents, the shorter the length of the non-bendable part of the probe end, and the smaller the bending radius.

[0042] Traditional ultrasonic endoscopes connect the signals of each array element to a multi-core cable for parallel transmission. The signals between the signal transmission lines are in the same frequency band. If they are not well shielded, it is easy to cause crosstalk between the lines. Because the cable length is several meters, the analog signal is transmitted on a cable several meters long, which is also easily interfered by various external signals, thereby generating interfering noise signals on the ultrasonic image. Ultrasonic endoscopes use a phased array method, that is, different phases are generated on different array elements, so that the synthesized beam performs spatial scanning. The traditional analog parallel transmission method will produce phase errors due to the different lengths between the cables, thereby affecting the phase accuracy and the accuracy of spatial scanning. This embodiment adopts a digital serial transmission method, that is, after converting the signals on different array elements into digital signals, the signals are transmitted on one channel after serialization, and because the digital signal is encoded specifically, the clock signal can be embedded in the data signal, avoiding the influence of the error caused by the cable length. Digital signals have stronger anti-interference than analog signals. Because the number of wire bundle cores is small, the cable can be well shielded, so the digital ultrasonic endoscope has better anti-interference.

[0043] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An ultrasonic endoscope, comprising an ultrasonic component, wherein the ultrasonic component comprises an ultrasonic transducer array and an ultrasonic signal acquisition and control module, wherein all ultrasonic transducer array elements of the ultrasonic transducer array are integrated on a probe, and wherein: The ultrasonic signal acquisition control module is integrated on the probe, and the ultrasonic signal acquisition control module includes a waveform signal generating module and an echo signal receiving and processing module integrated on the same circuit board. The ultrasonic signal acquisition control module is connected to the ultrasonic transducer array through a flexible circuit board to realize the connection between the waveform signal generating module and the echo signal receiving and processing module and all ultrasonic transducer array elements; the echo signal receiving and processing module includes a multiplexer and an echo signal processing circuit whose multi-channel output end is connected to the multiplexer input end. The ultrasonic transducer array elements in the ultrasonic transducer array are divided into a plurality of transducer array element groups, the number of ultrasonic transducer array elements in each transducer array element group is not greater than the number of echo signal processing circuits, and all ultrasonic transducer array elements in each transducer array element group are respectively connected to one echo signal processing circuit; A waveform signal generating module, used for receiving a control instruction sent by a host, generating a waveform and sending it to a transducer array element group associated with the control instruction at a set pulse frequency, triggering all ultrasonic transducers in the transducer array element group associated with the control instruction to emit ultrasonic waves; The echo signal processing circuit is used to receive the echo signal sent by an ultrasonic transducer connected to the ultrasonic transducer array element group, and send the received echo signal to the multiplexer after performing echo limiting, amplification, filtering and analog-to-digital conversion; The multiplexer is used to compress multiple digital signals sent by all echo signal processing circuits in the same set time period into one channel and send it to the host.

2. An ultrasonic endoscope according to claim 1, characterized in that: The waveform signal generating module includes a waveform generator for receiving a control instruction sent by a host to generate a waveform, and a pulse generator for sending the waveform generated by the waveform generator to a transducer array group associated with the control instruction at a set pulse frequency. The transducer array group sends an ultrasonic wave after receiving a trigger pulse signal sent by the pulse generator.

3. The ultrasonic endoscope according to claim 1, characterized in that: The echo signal processing circuit includes an analog signal processing circuit and an analog-to-digital converter connected in series. The analog signal processing circuit is used to perform echo limiting, amplification and filtering on the echo signal it receives, and the analog-to-digital converter is used to convert the analog signal filtered by the analog signal processing circuit into a digital signal and send it to the multiplexer.

4. The ultrasonic endoscope according to claim 1, characterized in that: The ultrasonic signal acquisition control module also includes a clock management module connected to the host, and the clock management module is used to receive control instructions sent by the host to perform timing control on each module and component in the ultrasonic signal acquisition control module.

5. An ultrasonic imaging system based on an ultrasonic endoscope according to any one of claims 1 to 4, characterized in that: It also includes a host and a display connected to the host, the host includes a controller and a digital signal processing module connected to the controller, the digital signal processing module is used to receive the echo signal sent by the multiplexer, perform beam synthesis, dynamic filtering, envelope detection and logarithmic compression processing, and then send it to the controller, the controller converts the signal processed by the digital signal processing module into a visual image for display on the display; all transducer array element groups are sorted in the controller, and the controller generates control instructions associated with a certain transducer array element group in the order of the transducer array element group sorting, and sends them to the waveform signal generating module, so that the waveform signal generating module generates a waveform signal and sends a pulse signal to the transducer array element group associated with the control instruction.

6. The imaging method based on the ultrasonic imaging system according to claim 5, characterized in that: The following steps are involved: Step S1, the controller generates a control instruction for sending a pulse signal to the transducer array element group ranked first in the transducer array element group and sends it to the waveform signal generating module; Step S2: the waveform signal generating module generates a waveform and sends it to the first ranked transducer array element group at a set pulse frequency, triggering all ultrasonic transducers in the first ranked transducer array element group to emit ultrasonic waves; Step S3, the echo signal receiving and processing module receives the echo signal sent by the transducer array element group ranked first, and after limiting, amplifying, filtering and analog-to-digital conversion of the received echo signal, compresses multiple digital signals sent by all echo signal processing circuits in the same set time period into one channel and sends it to the host; Step S4, repeating steps S1 to S3, and making all transducer array element groups complete the transmission and reception of ultrasonic signals in sequence according to the order in which the transducer array element groups are arranged; Step S5, the digital signal processing module receives the echo signals sent by all transducer array element groups processed by the echo signal receiving and processing module, performs beam synthesis, dynamic filtering, envelope detection and logarithmic compression processing, and then sends them to the controller. The controller converts the signals processed by the digital signal processing module into a visual image for display on the display.

Images