Ultrasonic imaging method, ultrasonic imaging system and non-transient computer readable medium

Abstract

The invention provides an ultrasonic imaging method. The ultrasonic imaging method comprises the following steps: receiving an ultrasonic echo signal from a to-be-imaged tissue by using a probe; processing the ultrasonic echo signal to generate a volume ultrasonic image of the tissue to be imaged; identifying a to-be-intervened tissue in the volume ultrasound image; and generating and displaying a movement guide for the probe based on the identified image information of the tissue to be intervened. The invention further provides an ultrasonic imaging system and a non-transient computer readable medium.

Description

Technical Field

[0001] The present invention relates to the field of ultrasonic imaging, and in particular to an ultrasonic imaging method, an ultrasonic imaging system and a non-transient computer-readable medium. Background Art

[0002] Ultrasound imaging is a real-time, non-destructive imaging technology that uses a probe to receive ultrasonic echo signals from the part to be imaged, and then processes the ultrasonic echo signals to form an image. In some application scenarios, ultrasound imaging can assist in determining the location of lesions in real time during interventional surgery, thereby facilitating doctors to perform biopsy or removal of lesions.

[0003] Since the size, morphology, location and other information of lesions vary greatly from individual to individual, doctors usually need to observe and analyze the lesions extensively before performing interventional surgery and ultimately determine the optimal surgical plan. The above process consumes a lot of time and energy. In addition, during the interventional surgery, doctors need to pay attention to the interventional object on the one hand, and constantly observe the ultrasound image to adjust the ultrasound probe on the other hand, which also increases the burden on doctors. Summary of the invention

[0004] The above-mentioned deficiencies, disadvantages and problems are addressed herein and will be understood by reading and understanding the following description.

[0005] Some embodiments of the present application provide an ultrasound imaging method, comprising: using a probe to receive an ultrasound echo signal from tissue to be imaged; processing the ultrasound echo signal to generate a volume ultrasound image of the tissue to be imaged; identifying the tissue to be intervened in the volume ultrasound image; and, based on the identified image information of the tissue to be intervened, generating and displaying movement guidance for the probe.

[0006] Some embodiments of the present application provide an ultrasound imaging system, comprising: a probe; a processor; and a display device for receiving a signal from the processor for display. The processor is configured to execute the following method: using the probe to receive an ultrasound echo signal from a tissue to be imaged; processing the ultrasound echo signal to generate a volume ultrasound image of the tissue to be imaged; identifying the tissue to be intervened in the volume ultrasound image; and, based on the image information of the identified tissue to be intervened, generating and displaying a movement guide for the probe.

[0007] Some embodiments of the present application provide a non-transitory computer-readable medium storing a computer program having at least one code segment, and the at least one code segment can be used by a machine to execute the steps of the following method: using a probe to receive an ultrasonic echo signal from a tissue to be imaged; processing the ultrasonic echo signal to generate a volume ultrasonic image of the tissue to be imaged; identifying the tissue to be intervened in the volume ultrasonic image; and, based on the identified image information of the tissue to be intervened, generating and displaying movement guidance for the probe.

[0008] It should be understood that the brief description above is provided to introduce some concepts further described in the detailed description in a simplified form. It is not meant to identify key or essential features of the claimed subject matter, the scope of which is solely defined by the claims that follow the detailed description. Furthermore, the claimed subject matter is not limited to implementations that solve any disadvantages mentioned above or in any section of this disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The present application will be better understood by reading the following description of non-limiting embodiments with reference to the accompanying drawings, in which:

[0010] Figure 1 is a schematic diagram of an ultrasound imaging system according to some embodiments of the present application;

[0011] Figure 2 is a schematic diagram of an ultrasound imaging method according to some embodiments of the present application;

[0012] Figure 3 is a schematic diagram of guiding the movement of the probe in some embodiments of the present application;

[0013] Figure 4 is a schematic diagram of an ultrasonic imaging method in some other embodiments of the present application;

[0014] Figure 5 is a schematic diagram of performing two-dimensional ultrasonic imaging of an interventional object in some embodiments of the present application;

[0015] Figure 6 It is a schematic diagram of imaging the sampling needle in some embodiments of the present application. DETAILED DESCRIPTION

[0016] The specific embodiments of the present invention will be described below. It should be noted that in the specific description of these embodiments, in order to be concise, it is impossible for the present invention to provide a detailed description of all the features of the actual embodiments. It should be understood that in the actual implementation of any embodiment, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one embodiment to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content disclosed by the present invention, some changes such as design, manufacturing or production based on the technical content disclosed in the present disclosure are just conventional technical means, and should not be understood as insufficient content of the present disclosure.

[0017] Unless otherwise defined, the technical or scientific terms used in the claims and the specification shall have the usual meanings understood by persons with ordinary skills in the relevant technical field. The words "first", "second" and similar words used in the present invention and the claims do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "one" or "a" do not indicate a quantitative limitation, but indicate the existence of at least one. Words such as "include" or "comprise" and similar words mean that the elements or objects appearing before "include" or "comprises" include the elements or objects listed after "include" or "comprises" and their equivalent elements, and do not exclude other elements or objects. The words "connected" or "connected" and the like are not limited to physical or mechanical connections, or to direct or indirect connections.

[0018] Figure 1 A schematic block diagram of an embodiment of an ultrasound imaging system 100 is shown. The ultrasound imaging system 100 may include a controller circuit 102 operably connected to a communication circuit 104, a display device 138, a user interface 142, a probe 126, and a memory 106.

[0019] The controller circuit 102 is configured to control the operation of the ultrasound imaging system 100. The controller circuit 102 may include one or more processors. Optionally, the controller circuit 102 may include a central processing unit (CPU), one or more microprocessors, a graphics processing unit (GPU), or any other electronic component capable of processing input data according to specific logic instructions. Optionally, the controller circuit 102 may include and / or represent one or more hardware circuits or circuit systems, which include, connect, or include and connect one or more processors, controllers, and / or other hardware logic-based devices. Additionally or alternatively, the controller circuit 102 may execute instructions stored on a tangible and non-transitory computer-readable medium (e.g., memory 106).

[0020] The controller circuit 102 may be operably connected to and / or control the communication circuit 104. The communication circuit 104 is configured to receive and / or transmit information along a bidirectional communication link with one or more optional ultrasound imaging systems, remote servers, etc. The remote server may represent a remotely stored medical image including patient information, machine learning algorithms, previous scans and / or treatments of the patient, etc. The communication circuit 104 may represent hardware for transmitting and / or receiving data along a bidirectional communication link. The communication circuit 104 may include a transceiver, a receiver, a transceiver, etc., and associated circuit systems (e.g., antennas) for communicating (e.g., transmitting and / or receiving) in a wired and / or wireless manner with the one or more optional ultrasound imaging systems, remote servers, etc. For example, protocol firmware for transmitting and / or receiving data along a bidirectional communication link may be stored in a memory 106 accessed by the controller circuit 102. The protocol firmware provides the controller circuit 102 with a network protocol grammar to assemble data packets, build and / or segment data received along a bidirectional communication link, etc.

[0021] The bidirectional communication link may be a wired (e.g., via physical conductors) and / or wireless communication (e.g., utilizing radio frequency (RF)) link for exchanging data (e.g., data packets) between the one or more alternative ultrasound imaging systems, remote servers, etc. The bidirectional communication link may be based on a standard communication protocol, such as Ethernet, TCP / IP, WiFi, 802.11, a custom communication protocol, Bluetooth, etc.

[0022] The controller circuit 102 is operably connected to a display device 138 and a user interface 142. The display device 138 may include one or more liquid crystal display devices (e.g., light emitting diode (LED) backlights), organic light emitting diode (OLED) display devices, plasma display devices, CRT display devices, etc. The display device 138 may display patient information, one or more medical images and / or videos, a graphical user interface or component, one or more 2D, 3D, or 4D ultrasound image data sets from ultrasound data stored in the memory 106, or currently acquired anatomical measurements, diagnoses, processing information, etc., received by the display device 138 from the controller circuit 102.

[0023] The user interface 142 controls the operation of the controller circuit 102 and the ultrasound imaging system 100. The user interface 142 is configured to receive input from a clinician and / or an operator of the ultrasound imaging system 100. The user interface 142 may include a keyboard, a mouse, a trackball, a touchpad, one or more physical buttons, and the like. Alternatively, the display device 138 may be a touch screen display device that includes at least a portion of the user interface 142. For example, a portion of the user interface 142 may correspond to a graphical user interface (GUI) generated by the controller circuit 102 and displayed on the display device 138. The touch screen display device may detect the presence of a touch from an operator on the display device 138, and may also identify the location of the touch relative to the surface area of ​​the display device 138. For example, a user may select one or more user interface components of the user interface (GUI) displayed on the display device by touching or contacting the display device 138. The user interface components may correspond to icons, text boxes, menu bars, and the like displayed on the display device 138. The user interface components may be selected, manipulated, utilized, interacted with, and the like by a clinician to instruct the controller circuit 102 to perform one or more operations as described herein. For example, the touch may be applied by at least one of a person's hand, a glove, a stylus, and the like.

[0024] The memory 106 includes parameters, algorithms, one or more ultrasound examination protocols, data values, etc. used by the controller circuit 102 to perform one or more operations described in the present application. The memory 106 can be a tangible and non-transitory computer-readable medium, such as a flash memory, RAM, ROM, EEPROM, etc. The memory 106 may include one or more learning algorithms configured to define an image analysis algorithm (for example, a deep learning algorithm including a convolutional neural network algorithm, a machine learning algorithm such as a decision tree learning algorithm, or a traditional computer vision algorithm, etc.). When executing the image analysis algorithm, the controller circuit 102 is configured to identify a section (or view, anatomical plane) of an anatomical structure of interest in a medical image. Optionally, the image analysis algorithm can be received by the communication circuit 104 along one of the two-way communication links and stored in the memory 106. It can be understood that the anatomical structure of interest can be a specific anatomical feature in the part to be scanned, for example, it can be a muscle, a blood vessel, a tissue to be intervened (such as a tumor), etc.

[0025] The image analysis algorithm may be defined by one or more algorithms to identify a section of an object of interest to be scanned based on one or more anatomical features within the medical image (e.g., boundaries, thicknesses, pixel value changes, valves, cavities, chambers, edges or inner layers, vascular structures, etc.), modalities or patterns of the medical image (e.g., color flow), etc. The one or more anatomical features may represent features of pixels and / or voxels of the medical image, such as histogram oriented gradients, point features, covariance features, binary pattern features, etc. For example, the image analysis algorithm may be defined using predictions of object recognition within a medical image using one or more deep neural networks.

[0026] The image analysis algorithm may correspond to an artificial neural network formed by the controller circuit 102 and / or the remote server. The image analysis algorithm may be divided into two or more layers, such as an input layer that receives an input image, an output layer that outputs an output image, and / or one or more intermediate layers. The layers of the neural network represent different groups or sets of artificial neurons, which may represent different functions that are executed by the controller circuit 102 on an input image (e.g., an ultrasound image acquired and / or generated by the ultrasound imaging system 100) to identify an object of the input image and determine a section of an anatomical structure of interest shown in the input image. The artificial neurons in the layers of the neural network may examine each pixel in the input image. The artificial neurons apply different weights in the function applied to the input image in an attempt to identify the object in the input image. The neural network generates an output image by assigning or associating different pixels in the output image with different anatomical features based on an analysis of the pixel characteristics.

[0027] The image analysis algorithm is defined by multiple training images. When targeting 2D images, the multiple training images can be grouped into different anatomical planes of interest of the anatomical structure of interest. The training images can represent different orientations and / or cross-sections of the anatomical structure of interest corresponding to different fields of view. When targeting 4D images, the multiple training images can be grouped into volumetric images of the entire or partial anatomical structure of interest. The training images can represent different orientations and / or outer contours in space of the anatomical structure of interest corresponding to different fields of view. Additionally or alternatively, the image analysis algorithm can be defined by the controller circuit based on a classification model. The classification model can correspond to a machine learning algorithm based on a classifier (e.g., a random forest classifier, principal component analysis, etc.), which is configured to identify and / or assign anatomical features to multiple categories or classes based on overall shape, spatial position relative to the anatomical structure of interest, intensity, etc.

[0028] Based on the relationship of anatomical features to each other, modality, etc., the controller circuit 102 executing an image analysis algorithm (eg, an image analysis algorithm) may determine a cut plane / outer contour to which the current ultrasound image corresponds.

[0029] Additionally or alternatively, the controller circuit 102 may define separate image analysis algorithms that are customized and / or configured for different selected anatomical structures of interest. For example, a plurality of image analysis algorithms may be stored in the memory 106. Each of the plurality of image analysis algorithms may be customized and / or configured based on different training images (e.g., a set of input images) to configure layers of different neural networks to select anatomical structures of interest, classification models, supervised learning models, and the like.

[0030] Continue to refer Figure 1, the ultrasound imaging system 100 may include a probe 126. The probe 126 has components such as an ultrasound transducer, a transmitter, a transmit beamformer, and a detector / SAP electronic component (not shown). The detector / SAP electronic component can be used to control the switching of the transducer elements. The detector / SAP electronic component can also be used to group the transducer elements into one or more sub-holes. The configuration of the probe 126 will also be described exemplarily below. Among them, the probe 126 can be any type of probe, including a linear probe, a curved array probe, a 1.25D array, a 1.5D array, a 1.75D array, or a 2D array probe. According to a preferred embodiment of the present application, the probe 126 can be a probe for volume imaging. For example, it can be an electronic 4D (E4D) probe. In addition, it can also be a mechanical probe, such as a mechanical 4D probe or a hybrid probe. The probe 126 can be used to collect 4D ultrasound data, which contains information about how the volume changes over time, and after processing, a volume ultrasound image related to the part to be imaged can be obtained. It will be appreciated that each volume may include multiple 2D images or slices, and accordingly, the controller circuit may select the desired 2D image from the volumetric ultrasound image.

[0031] The probe 126 can be configured to acquire ultrasound data or information from a patient's tissue to be imaged (e.g., organs such as a breast, heart, and corresponding skin surfaces outside the organs, etc.). The probe 126 is communicatively connected to the controller circuit via a transmitter. The transmitter transmits a signal to a transmit beamformer based on an acquisition setting received by the controller circuit 102. The acquisition setting can define the amplitude, pulse width, frequency, gain setting, scanning angle, power, time gain compensation (TGC), resolution, etc. of the ultrasound pulses emitted by the ultrasound transducer. The ultrasound transducer transmits a pulsed ultrasound signal into the patient (e.g., the body). The acquisition setting can be defined by a user operating the user interface 142. The signal transmitted by the transmitter then drives the ultrasound transducer.

[0032] The ultrasonic transducer transmits a pulsed ultrasonic signal into a body (e.g., a patient) or volume corresponding to an acquisition setting along one or more scanning planes. The ultrasonic signal may include, for example, one or more reference pulses, one or more push pulses (e.g., shear waves), and / or one or more pulsed wave Doppler pulses. At least a portion of the pulsed ultrasonic signal is backscattered from the tissue to be imaged (e.g., organs, bones, heart, breast tissue, liver tissue, heart tissue, prostate tissue, neonatal brain, embryo, abdomen, etc.) to produce an echo. Depending on the depth or movement, the echo is delayed in time and / or frequency and received by the ultrasonic transducer. The ultrasonic signal can be used for imaging, for generating and / or tracking shear waves, for measuring changes in position or velocity within an anatomical structure, differences in compression displacement of tissue (e.g., strain), and / or for treatment and other purposes. For example, the probe 126 can deliver low energy pulses during imaging and tracking, deliver medium and high energy pulses to generate shear waves, and deliver high energy pulses during treatment.

[0033] The ultrasonic transducer converts the received echo signal into an electrical signal that can be received by the receiver. The receiver may include one or more amplifiers, analog / digital converters (ADCs), etc. The receiver may be configured to amplify the received echo signal after appropriate gain compensation, and convert these analog signals received from each transducer element into digitized signals sampled uniformly in time. The digitized signal representing the received echo is temporarily stored in the memory 106. The digitized signal corresponds to the backscattered wave received by each transducer element at different times. After digitization, the signal can still retain the amplitude, frequency, and phase information of the backscattered wave.

[0034] Alternatively, the controller circuit 102 may retrieve the digitized signal stored in the memory 106 for use by the beamformer processor. For example, the controller circuit 102 may convert the digitized signal to a baseband signal or compress the digitized signal.

[0035] In some embodiments, the controller circuit 102 may also include a beamforming processor. The beamformer processor may include one or more processors. Optionally, the beamformer processor may include a central processing unit (CPU), one or more microprocessors, or any other electronic component capable of processing input data according to specific logic instructions. Additionally or alternatively, the beamformer processor may execute instructions stored on a tangible and non-transitory computer-readable medium (e.g., memory 106) to perform beamforming calculations using any suitable beamforming method, such as adaptive beamforming, synthetic transmit focusing, aberration correction, synthetic aperture, clutter suppression, and / or adaptive noise control, etc.

[0036] In some embodiments, the controller circuit 102 may also include a radio frequency (RF) processor. The beamformer processor performs beamforming on the digitized signals of the transducer elements and outputs an RF signal. The RF signal is then provided to the RF processor that processes the RF signal. The RF processor may include one or more processors. As required, the RF processor may include a central processing unit (CPU), one or more microprocessors, or any other electronic component capable of processing input data according to specific logic instructions. Additionally or alternatively, the RF processor may execute instructions stored on a tangible and non-temporary computer-readable medium (e.g., memory 106). Optionally, the RF processor may be integrated with the controller circuit 102 and / or as part of the controller circuit. For example, operations described as being performed by the RF processor may be configured to be performed by the controller circuit 102.

[0037] The RF processor may generate different ultrasound image data types and / or modes for multiple scan planes or different scan modes based on the predetermined settings of the first model, such as B-mode, color Doppler (e.g., color blood flow, velocity / power / variance), tissue Doppler (velocity), and Doppler energy. For example, the RF processor may generate tissue Doppler data for multiple scan planes. The RF processor collects information related to multiple data slices (e.g., I / Q, B-mode, color Doppler, tissue Doppler, and Doppler energy information) and stores the data information in the memory 106, which may include timestamps and orientation / rotation information.

[0038] Optionally, the RF processor may include a complex demodulator (not shown) that demodulates the RF signal to form an IQ data pair representing the echo signal. The RF or IQ signal data may then be provided directly to the memory 106 for storage (e.g., temporary storage). Optionally, the output of the beamformer processor may be communicated directly to the controller circuit 102.

[0039] The controller circuit 102 may be configured to process the acquired ultrasound data (e.g., RF signal data or IQ data pairs) and prepare and / or generate ultrasound image data frames representing anatomical structures of interest for display on the display device 138. The acquired ultrasound data may be processed by the controller circuit 102 in real time as echo signals are received during a scanning or treatment procedure for an ultrasound examination. Additionally or alternatively, the ultrasound data may be temporarily stored in the memory 106 during the scanning procedure and processed in a less real-time manner in an on-the-go or off-line operation.

[0040] The memory 106 may be used to store processed frames of acquired ultrasound data that are not intended for immediate display, or to store post-processed images (e.g., shear wave images, strain images), firmware or software corresponding to, for example, a graphical user interface, one or more default image display settings, programmed instructions, and the like. The memory 106 may store medical images such as volumetric ultrasound image datasets of ultrasound data, where such volumetric ultrasound image datasets are accessed to present two-dimensional and volumetric images. For example, the volumetric ultrasound image datasets may be mapped into the corresponding memory 106 and one or more reference planes. The processing of ultrasound data including the ultrasound image dataset may be based in part on user input, such as a user selection received at the user interface 142.

[0041] In some embodiments, the above-mentioned ultrasound imaging system 100 can be used to assist doctors in performing interventional surgery. As described above in this application, in existing ultrasound-guided interventional surgery, doctors usually use ultrasound probes to perform two-dimensional ultrasound imaging to determine the position of the tissue to be intervened (for example, a tumor or other lesions) and to track the interventional object. In the above process, on the one hand, it is necessary to pay attention to whether the positioning of the interventional object relative to the tissue to be intervened is accurate, and on the other hand, it is necessary to adjust the position of the ultrasound probe to ensure a good imaging effect. Therefore, the whole process requires a lot of manpower and has high requirements for the doctor's operating skills. At least in order to solve the above-mentioned technical problems, improvements are proposed in the embodiments of the present application. An exemplary description will be given below.

[0042] refer to Figure 2 , shows a schematic diagram of an ultrasound imaging method 200 in some embodiments of the present application. The method 200 can be implemented by the ultrasound imaging system disclosed in any embodiment of this document.

[0043] In step 201, the probe is used to receive the ultrasonic echo signal from the tissue to be imaged. This step can be implemented by a processor, for example, it can be implemented by a processor in the controller circuit 102 in the ultrasonic imaging system 100. Specifically, the ultrasonic probe can be controlled by the processor to transmit an ultrasonic signal to the tissue to be imaged, and then the ultrasonic echo signal of the tissue to be imaged can be received by the probe and subsequently processed by the processor. Among them, the probe is a probe that can perform volume ultrasonic imaging. For example, it can be an E4D probe or a mechanical 4D probe as described above in this application. The specific type of tissue to be imaged can be arbitrary, for example, it can be a breast, a muscle or other human organs. In some examples below, the breast will be used as an example for schematic illustration, but it is not the only limitation.

[0044] In step 203, the ultrasonic echo signal is processed to generate a volume ultrasonic image of the tissue to be imaged. After receiving the ultrasonic echo signal from the tissue to be imaged, the processor can perform real-time volume ultrasonic imaging of the tissue to be imaged by processing the echo signal. Volume ultrasonic imaging can obtain three-dimensional internal information about the tissue to be imaged. For example, information on anatomical features such as organs inside the tissue to be imaged and information on lesions.

[0045] In step 205, the tissue to be intervened in the volume ultrasound image is identified. In some examples, this can be achieved by a processor performing image recognition on the volume ultrasound image. The specific image recognition method can be performed by artificial intelligence, or by any other method in the art such as a threshold algorithm, which has been exemplarily described above and will not be repeated here. In addition, the processor can also directly process the volume ultrasound signal obtained in step 201 to identify the tissue to be intervened. The tissue to be intervened can be a specific lesion, for example, a tumor, etc.

[0046] In step 207, based on the image information of the identified tissue to be intervened, a movement guide for the probe is generated and displayed. After identifying the tissue to be intervened, the processor can analyze the tissue to be intervened in the volume image to obtain its image information. Further, based on the image information of the tissue to be intervened, the processor can automatically determine a better probe position (or a target probe position), and generate and display a movement guide for the probe based on the difference between the current probe position and the target probe position. It can be understood that the above-mentioned target probe position can be a probe position that is more conducive to imaging of the tissue to be intervened and is determined by the processor after analyzing the current image information of the tissue to be intervened.

[0047] The configuration of the above-mentioned embodiment can ensure that the doctor can find the relative position of the tissue to be intervened more quickly and accurately when imaging the inside of the tissue to be imaged. The reason is that compared with the two-dimensional ultrasound images that are widely used in interventional procedures, volume ultrasound images can provide more image information in a larger range. Accordingly, the tissue to be intervened will be more easily detected by the probe. Moreover, in the above-mentioned embodiment, the movement guidance of the probe is automatically generated according to the identified image information to be intervened, guiding the doctor to place the probe at the target position, which is more conducive to ultrasound scanning and improving the efficiency of interventional procedures. Especially for novices, the display of movement guidance will greatly improve the scanning efficiency.

[0048] In some examples, the volume ultrasound image and the image of the object to be intervened are configured to be displayed on the display device along with the movement guide of the probe. In this way, the doctor can more intuitively feel the changes in the image, especially the changes in the object to be intervened in the field of view, during the process of moving the probe. In other embodiments, the volume ultrasound image and the image of the object to be intervened can be configured not to be displayed, but only the movement guide of the probe is displayed.

[0049] The image information of the tissue to be intervened may include multiple types. In one example, the above image information may include the size information of the tissue to be intervened. For example, it may include the specific morphology of the outer contour of the tissue to be intervened, the longest length direction of the tissue to be intervened, and the widest width direction. In some scenarios, such information will affect the doctor's planning of the intervention path. For example, interventional surgery from the length direction is usually conducive to better sampling or elimination of lesions. The acquisition of the above size information will help the processor to plan the movement guidance of the probe. In another example, the above image information may include the orientation information of the tissue to be intervened in the volume ultrasound image. For example, it may include the position of the tissue to be intervened in the field of view of the volume ultrasound image, the orientation of the tissue to be intervened in the field of view of the volume ultrasound image, etc. In some scenarios, placing the tissue to be intervened in the center of the field of view and aligning the field of view with the tissue to be intervened will be more conducive to the intervention operation. In addition, in other examples, the above image information may also include the size information of the tissue to be intervened and the orientation information in the volume ultrasound image.

[0050] Furthermore, the movement guide may be configured to: guide the probe to move so that the tissue to be intervened is substantially located in the middle of the volume ultrasound image, and the length direction of the tissue to be intervened is substantially parallel to the lateral plane of the volume ultrasound image.

[0051] Such a configuration can ensure that the tissue to be intervened is in the best imaging position, providing better conditions for the subsequent interventional imaging process. For example, the tissue to be intervened is basically located in the middle of the volume ultrasound image, which can ensure that in the subsequent imaging, the intervention object and the tissue to be intervened can be completely and clearly exposed within the field of view of the ultrasound image, which can be beneficial for imaging the intervention object and the tissue to be intervened during the entire intervention process. The length of the tissue to be intervened is basically parallel to the lateral plane of the volume ultrasound image, which can ensure that when the probe performs two-dimensional imaging later, the two-dimensional ultrasound image can overlap with the cross-section of the length direction of the tissue to be intervened as much as possible, so as to ensure that the intervention object falls into the ultrasound image plane as much as possible and is completely imaged (because the intervention path of the intervention object is usually planned in the length direction of the tissue to be intervened). In addition, such a configuration can also ensure that the ultrasonic transmission wave and the length direction of the intervention object are kept as perpendicular as possible, thereby ensuring higher echo intensity and imaging effect of the intervention object.

[0052] In other words, the above movement guidance can be understood as guiding the probe to move so as to move the field of view of the volume ultrasound image, so that the tissue to be intervened is properly positioned in the volume ultrasound image. Figure 3 For detailed description. Figure 3 , showing a schematic diagram 300 of guiding the movement of the probe in some embodiments of the present application.

[0053] First, please refer to the schematic diagram 310 of the probe 126 not completing the movement guidance. Among them, the probe 126 has a 4D imaging function, which can obtain volume data (or volume image) 301 of the tissue to be imaged (not shown). In order to facilitate the description of the parameters of the volume ultrasound image in the three-dimensional direction, the industry usually uses the probe depth direction as its axial direction, such as Figure 3 The Z-axis direction is shown in the figure. The plane parallel to the surface wafer of the probe is called the lateral plane, such as Figure 3 The plane where the XY axis is shown. In addition, in the mechanical 4D probe, the X-axis and the Y-axis can also represent the pitch direction and the scanning direction, respectively. Among them, the scanning direction can be understood as the direction in which the wafer in the mechanical 4D probe is driven to scan, and the pitch direction can be understood as the direction perpendicular to the above scanning direction. It can be understood that the definition of the direction of the E4D probe is similar to that of the mechanical 4D probe.

[0054] As shown in part 310, the method described in the embodiment of the present application can use the probe 126 to obtain a volume ultrasonic image of a larger range of tissue to be imaged, so as to quickly and accurately identify the tissue to be intervened 302 (for example, a tumor). As described above in the present application, the processor can identify the tissue to be intervened 302 and obtain its image information through an image recognition algorithm. In a non-limiting embodiment, the image information may include size information of the tissue to be intervened 302, for example, the size of its outer contour. Accordingly, the length direction 303 of the tissue to be intervened 302 can also be determined. Based on this, the processor is able to generate and display the movement guide 304 for the probe 126 (not shown in the display). Through such a configuration, it can be ensured that the doctor can quickly perceive the part to be intervened from the field of view, and then it can also ensure that the auxiliary doctor can efficiently adjust the probe position to achieve the optimal imaging effect.

[0055] In a non-limiting embodiment, the movement guide 304 may include at least one of a rotation guide for the probe and a translation guide for the probe along the surface of the tissue to be imaged. Figure 3 As shown, the movement guide 304 may include a rotation guide 341 for the probe 126 and a translation guide 342 for the probe 126 along the surface of the tissue to be imaged (not shown in the figure). Figure 3In the example shown, the rotation guide 341 directly indicates the angle (for example, 30°) by which the probe needs to be rotated. The translation guide 342 gives the direction in which the probe needs to be translated. In a preferred example, the translation guide 342 can also give the distance the probe needs to be translated. For example, the distance of the end point of the arrow relative to the rotation guide 341 (also used to indicate the current position of the probe) can be understood as the distance the probe needs to move. The direction of the arrow can also be used to indicate the direction in which the probe needs to be rotated, for example, clockwise or counterclockwise. In addition, in order to remind the doctor more clearly, the rotation guide 341 and the translation guide 342 can also be represented by a first color, such as red, when they appear. In this way, the doctor can intuitively know the movement operation that needs to be performed. It should be noted that Figure 3 The illustrated movement guide 304 is only a preferred implementation of the present application, but is not intended to be the only limitation.

[0056] Continuing to refer to the schematic diagram 320 of completing the movement guidance of the reference probe 126. After the doctor positions the probe 126 at a suitable position according to the movement guidance 304, the display state of the movement guidance 304 will change significantly, for example, the rotation guidance 341 and the translation guidance 342 will no longer provide guidance. In other words, the movement guidance 304 can also include an indication of whether the probe has reached a predetermined movement position. In a preferred example, the above guidance can also be changed to a second color display, such as green. The doctor can quickly understand whether the rotation operation or the translation operation has been completed.

[0057] As shown in part 320 of FIG. 300 , after the probe 126 is operated, its field of view will change, and the obtained volume data or volume image 301 has a significant change in direction compared to part 310. It can be seen that the tissue 302 to be intervened at this time is basically located in the middle of the volume image 301. In addition, the length direction 303 of the tissue 302 to be intervened can also be made substantially parallel to the lateral plane (XY plane) of the volume image. Although the volume image 301 shown in FIG. 300 is tilted, it can be understood that when the image is reflected on the display device of the ultrasound imaging system, the user can perceive the change in the position and orientation of the tissue 302 to be intervened in the image. It can be understood that being basically located in the middle position and basically parallel to the lateral plane means that a certain error within a reasonable range is allowed. In addition, in some cases, considering various factors such as the surface of the tissue to be imaged and the direction of the tissue 302 to be intervened, it may be difficult to make the lateral plane parallel to the length direction of the tissue to be intervened, and the deviation caused by the above factors does not deviate from the spirit of the present application.

[0058] Furthermore, it is understandable that although Figure 3Only the probe movement guide 304 before the probe 126 is moved (part 310 of FIG. 310 ) and after the probe 126 is moved (part 320 of FIG. 311 ), but the movement guide 304 can be dynamically changed according to the real-time volume image 301 and the tissue to be intervened 302 during the real-time movement of the probe 126. Specifically, the processor can perform real-time volume imaging of the tissue to be imaged during the movement of the probe 126, and generate and display the movement guide 304 for the probe 126 in real time during the movement of the probe 126. Such a configuration can make the movement guide 304 more timely and accurate, and fit the actual ultrasound scanning process. During the process of adjusting the probe movement, the doctor can focus more on the more intuitive movement guide 304, thereby improving the efficiency of probe adjustment.

[0059] Furthermore, the inventors realize that a complete interventional procedure will usually include anesthesia, and / or sampling (including biopsy or lesion removal). In view of this, some embodiments of the present application have made improvements to improve the accuracy and efficiency of the interventional process. Figure 4 , showing a schematic diagram of an ultrasound imaging method 400 in some other embodiments of the present application.

[0060] In step 401, two-dimensional ultrasonic imaging is performed using the probe to generate a two-dimensional ultrasonic image. This process can be implemented by the processor described in any of the above embodiments. In some embodiments, the two-dimensional ultrasonic imaging can be performed in a two-dimensional mode by the processor controlling the 4D probe. The above has described in detail the movement guidance of the 4D probe using the embodiments disclosed in the present application. The 4D probe after movement guidance can align the interventional object even in the two-dimensional imaging mode to ensure that the interventional object is exposed in the field of view. In another embodiment, the two-dimensional ultrasonic imaging can be controlled by the processor to control the 4D probe to collect volume ultrasonic data and select a suitable ultrasonic section from it to generate a two-dimensional ultrasonic image. It can be understood that in this mode, the movement guidance recorded in any of the above embodiments can also ensure that the two-dimensional ultrasonic section containing the interventional object has a good imaging effect.

[0061] In step 402, the intervention object and the tissue to be intervened in the two-dimensional ultrasound image are identified. The image recognition method of the processor for the intervention object and the tissue to be intervened has been described in detail above, and will not be repeated here.

[0062] In the above implementation scheme, volumetric ultrasound imaging is used in the probe position adjustment stage before the interventional process, and the probe is further used for two-dimensional ultrasound imaging during the interventional process to provide an intuitive and clear image of the interventional object. On the one hand, the probe position can be quickly and accurately located, and on the other hand, clear image information is provided for the intervention.

[0063] Optionally, the ultrasound imaging method 400 of the present application may further include the following additional steps. The specific details and technical effects of these steps are described in detail below.

[0064] In some optional embodiments, depending on the type of the interventional object, the ultrasound imaging method 400 may further include steps 421-423, or the ultrasound imaging method 400 may further include step 431. Steps 421-423 may be selected when the interventional object includes an anesthesia needle; and step 431 may be selected when the interventional object includes an interventional needle. In some examples, the above steps 421-423 and step 431 may be included in a complete workflow.

[0065] When the interventional object includes an anesthesia needle, steps 421 - 423 may be performed.

[0066] In step 421, at least one anatomical feature in the two-dimensional ultrasound image is identified. The image recognition method is described in any of the above embodiments and will not be repeated here. The anatomical feature may be a key position inside the tissue to be imaged. The breast is used as an example for illustration. Figure 5 , shows a schematic diagram 500 of performing two-dimensional ultrasound imaging of an interventional object in some embodiments of the present application. The two-dimensional image 501 of the tissue to be imaged includes the tissue to be intervened (tumor) 512 and anatomical features 513. The anatomical features 513 may be different depending on the tissue to be imaged. Figure 5 The anatomical feature 513 shown may be the pectoralis major muscle. It is understood that in other embodiments, one or more anatomical features may also be present. In addition, the two-dimensional image 501 also includes an interventional object, i.e., an anesthetic needle 514.

[0067] Further, in step 422, the target intervention position of the anesthesia needle is determined based on the relative position of the at least one anatomical feature and the tissue to be intervened. The above determination process can be automatically performed by the processor. Compared with the traditional intervention path planning, the implementation of the present application reduces the doctor's workflow and improves work efficiency. Continuing to refer to the two-dimensional image 501, the target intervention position 515 can be determined based on the positional relationship between the anatomical feature 513 and the tissue to be intervened 512. For example, it can be located between the two, which can ensure the anesthesia effect on the one hand, and will not have too much impact on the tissue structure of the two on the other hand.

[0068] In step 423, based on the current position of the anesthesia needle and the target intervention position, intervention guidance is provided for the anesthesia needle. Such a configuration can improve the doctor's work efficiency and reduce manual workload. The intervention guidance can be visually displayed on a display device. Figure 5An exemplary description is given. With reference to two-dimensional image 501 and two-dimensional image 502, different expressions of interventional guidance 516 when interventional object 514 has not reached the target position and has reached the target position are respectively shown. In two-dimensional image 501, interventional object 514 has not yet reached the target intervention position 515 at this time. At this time, interventional guidance 516 may include a text prompt of "not reached" on the one hand, and may also include a first color prompt of the border of the target intervention position 515, such as red, on the other hand. The doctor can intuitively observe the progress of the intervention from the image. Further, in two-dimensional image 502, interventional object 514 has reached the target intervention position 515 at this time. At this time, interventional guidance 516 may include a text prompt of "reached" on the one hand, and may also include a second color prompt of the border of the target intervention position 515, such as green, on the other hand. It should be noted that the above-mentioned visual representation of interventional guidance is a preferred implementation method of the present application, but it is not the only limitation.

[0069] When the interventional object includes a sampling needle, step 431 can be performed. It should be noted that the sampling needle can be any sampling needle in the art, and can be selected based on various factors such as the doctor's usage habits, the tissue to be intervened, and the site to be intervened. This disclosure is not limited. In addition, sampling is suitable for a variety of purposes, for example, it can include the extraction of a small amount of sample from the object to be intervened for purposes such as biopsy, and it can also include the complete elimination of the object to be intervened.

[0070] In step 431, it is determined whether the sampling needle has reached the target intervention position based on the relative position of the sampling needle and the tissue to be intervened, thereby providing intervention guidance for the sampling needle. This step can refer to steps 423 and Figure 5 The description of the corresponding embodiment is mainly different in that the target intervention position of the sampling needle is the position close to or in contact with the tissue to be intervened. Whether the sampling needle reaches the target intervention position mainly depends on the relative position of the sampling needle and the tissue to be intervened.

[0071] It is understood that the above-mentioned identification of the type of sampling needle can be based on user input, for example, the doctor can select a specific imaging category, whether it is imaging of an anesthesia needle or imaging of a sampling needle. Alternatively, the identification of the sampling needle can be automatically performed by the processor, for example, it can be automatically determined based on the morphology of the sampling needle in the image.

[0072] In addition to guiding the process of the interventional object reaching the target position, some embodiments of the present application can also guide the process of the interventional object being operated after reaching the target position. For example, when the interventional object is a sampling needle, some embodiments of the present application can also perform real-time auxiliary imaging of the sampling process of the sampling needle. Specifically, the above-mentioned two-dimensional ultrasound image may include a first image and a second image, and the length direction of the sampling needle passes through the plane where the first image is located and is perpendicular to the plane where the second image is located.

[0073] Such a configuration can provide image information of the sampling needle in two dimensions at the same time. Among them, the above-mentioned first image can provide information about the length direction of the sampling needle, that is, the longitudinal direction, to ensure that the sampling port can be positioned at the location of the tissue to be intervened, such as a tumor. The second image can provide information perpendicular to the length direction of the sampling needle, that is, the lateral direction, to ensure that the sampling needle will not deviate from the tissue to be intervened. Such a configuration cannot be achieved by using a two-dimensional probe in conventional interventional surgery. Because a two-dimensional probe can usually only obtain image information on one section. In the present application, a 4D probe is used to image the sampling process, and multiple two-dimensional images on different sections can be obtained as needed, thereby providing valuable multi-dimensional image information.

[0074] For a clearer explanation of the above solution, please refer to Figure 6 . Figure 6 A schematic diagram 600 of imaging a sampling needle in some embodiments of the present application is shown.

[0075] As shown in FIG. 600 , the tissue to be imaged is described by taking a breast 601 as an example. After the sampling needle 602 reaches the tissue to be sampled 603, the probe (not shown) can perform imaging from two planes, a first plane 611 and a second plane 621, wherein the first plane 611 includes the sampling needle 602, and the second plane 621 is perpendicular to the sampling needle 602.

[0076] Further, after ultrasonic imaging, a first image 612 of the first plane 611 and a second image 622 of the second plane 621 can be generated respectively. In the first image 612, the extension of the sampling needle 602 in the length direction can be clearly observed, especially the positional relationship relative to the tissue to be sampled 603 in the length direction. In the second image 622, the cross-sectional direction of the sampling needle 602 can be clearly observed. Compared with the first image 612, the second image 622 can provide additional image information on whether the sampling needle 602 deviates from the tissue to be sampled 603 in the lateral direction. In summary, the above two-dimensional image information can ensure that doctors can perform efficient and accurate sampling.

[0077] Some embodiments of the present application also provide an ultrasound imaging system, which can be as follows Figure 1As shown, it can also be any other. The system includes: a probe; a processor, the processor is configured to execute the method recorded in any of the above embodiments of the present application; and a display device, which is used to receive a signal from the processor for display.

[0078] Some embodiments of the present application also provide a non-transitory computer-readable medium, which stores a computer program, wherein the computer program has at least one code segment, and the at least one code segment can be executed by a machine so that the machine performs the steps of the method described in any of the above embodiments.

[0079] Accordingly, the present disclosure may be implemented in hardware, software, or a combination of hardware and software. The present disclosure may be implemented in a centralized manner in at least one computer system, or in a distributed manner in which different elements are distributed over several interconnected computer systems. Any type of computer system or other device suitable for implementing the methods described herein is suitable.

[0080] The various embodiments may also be embedded in a computer program product comprising all the features enabling the implementation of the methods described herein and which, when loaded into a computer system, is able to carry out these methods. A computer program in this context means any expression in any language, code or notation of a set of instructions intended to cause a system having information processing capabilities to perform certain functions, either directly or after either or both of the following: a) conversion into another language, code or notation; b) reproduction in a different material form.

[0081] The purpose of providing the above specific embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive, but the present invention is not limited to these specific embodiments. It should be understood by those skilled in the art that various modifications, equivalent substitutions and changes, etc., may also be made to the present invention, as long as these changes do not violate the spirit of the present invention, they should all be within the protection scope of the present invention.

Claims

1. An ultrasonic imaging method, comprising: Using the probe to receive ultrasonic echo signals from the tissue to be imaged; Processing the ultrasound echo signal to generate a volume ultrasound image of the tissue to be imaged; identifying a tissue to be intervened in the volumetric ultrasound image; as well as Based on the recognized image information of the tissue to be intervened, a movement guide for the probe is generated and displayed.

2. The method of claim 1, wherein: The image information of the tissue to be intervened includes: The size information of the tissue to be intervened, and / or the orientation information of the tissue to be intervened in the volume ultrasound image.

3. The method of claim 1, wherein: The movement guide is configured to: guide the probe to move so that the tissue to be intervened is substantially located in the middle of the volume ultrasound image, and / or so that the length direction of the tissue to be intervened is substantially parallel to the lateral plane of the volume ultrasound image.

4. The method of claim 1, wherein: The movement guidance includes at least one of rotation guidance of the probe, translation guidance of the probe along the surface of the tissue to be imaged, and indication of whether the probe reaches a predetermined movement position.

5. The method of claim 1, wherein: Also includes: Performing real-time volume imaging of the tissue to be imaged during the movement of the probe; as well as During the movement of the probe, a movement guide for the probe is generated and displayed in real time.

6. The method of claim 1, wherein: Also includes: Performing two-dimensional ultrasonic imaging using the probe to generate a two-dimensional ultrasonic image; The intervention object and the tissue to be intervened in the two-dimensional ultrasound image are identified.

7. The method of claim 6, wherein: The interventional object includes an anesthesia needle, and the method further includes: identifying at least one anatomical feature in the two-dimensional ultrasound image; Determining a target intervention position of the anesthesia needle based on the relative position of the at least one anatomical feature and the tissue to be intervened; and Based on the current position of the anesthesia needle and the target intervention position, intervention guidance is provided for the anesthesia needle.

8. The method of claim 6, wherein: The intervening object comprises a sampling needle, and the method further comprises: Whether the sampling needle reaches the target intervention position is determined based on the relative position of the sampling needle and the tissue to be intervened, thereby providing intervention guidance for the sampling needle.

9. The method of claim 6, wherein: The intervention object includes a sampling needle, the two-dimensional ultrasound image includes a first image and a second image, and the length direction of the sampling needle passes through the plane where the first image is located and is perpendicular to the plane where the second image is located.

10. An ultrasound imaging system, comprising: Probe; A processor, the processor being configured to execute the method according to any one of claims 1 to 9; as well as A display device is used to receive the signal from the processor for display.

11. A non-transitory computer-readable medium storing a computer program, wherein the computer program has at least one code segment, and the at least one code segment can be executed by a machine to enable the machine to perform the steps of the method according to any one of claims 1 to 9.

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