Ultrasonic imaging method and device, computer equipment and storage medium

Abstract

The invention relates to the technical field of ultrasonic imaging, and discloses an ultrasonic imaging method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring the time when an array element transmits ultrasonic waves to a transmitting focus, adjusting the transmitting time delay of the array element to enable the time when the array element transmits the ultrasonic waves to the transmitting focus to be the same, taking the transmitting focus as a receiving focus, calculating the first receiving time delay of the array element based on the position of the receiving focus, and calculating the second receiving time delay of the array element based on the first receiving time delay. And performing beam forming on the channel data received by the array element to obtain first beam forming data, demodulating the first beam forming data, and performing bidirectional dynamic focusing beam forming on the demodulated first beam forming data. According to the method, the receiving line of the first time of beam forming is demodulated, then the second time of beam forming is carried out, through the superposition process of the two-step beam forming, the delay calculation amount is reduced, the signal-to-noise ratio is also improved, and bidirectional dynamic focusing is efficiently achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic imaging, and in particular to an ultrasonic imaging method, device, computer equipment and storage medium. Background Art

[0002] Currently, there are roughly two types of signal flows for ultrasound imaging. One is to first perform beamforming on the received RF channel data, then demodulate the beamformed signal, and finally perform subsequent signal processing operations on the demodulated beamformed signal according to different imaging modes; the second is to first demodulate the channel data at the analog front end, then perform beamforming on the demodulated channel data, and finally perform subsequent signal processing operations on the beamformed signal according to different imaging modes.

[0003] However, these processing methods have certain problems. For example, beamforming based on demodulated channel data is relatively difficult in principle and difficult to implement. Although the amount of channel data after demodulation is greatly reduced, it is not suitable for low-end and portable devices due to the lack of computing and storage resources. In particular, in order to achieve parallel beamforming, the computing resources required are still large, which makes it impossible to achieve two-way dynamic focusing. Summary of the invention

[0004] In view of this, the present invention provides an ultrasonic imaging method, apparatus, computer equipment and storage medium to solve the problem of excessive data volume in the process of realizing bidirectional dynamic focusing in ultrasonic imaging.

[0005] In a first aspect, the present invention provides an ultrasound imaging method, comprising:

[0006] Obtain the time it takes for an array element to transmit an ultrasonic wave to the emission focus;

[0007] Adjust the emission delay of the array element so that the time it takes for the ultrasonic wave to propagate from the array element to the emission focus is the same;

[0008] Taking the transmitting focus as the receiving focus, and calculating the first receiving delay of the array element based on the position of the receiving focus;

[0009] Based on the first receiving delay, beamforming is performed on the channel data received by the array element to obtain first beamforming data;

[0010] Demodulating the first beamformation data;

[0011] Bidirectional dynamic focusing beamforming is performed on the demodulated first beamforming data.

[0012] The ultrasonic imaging method provided by the embodiment of the present invention is divided into two-step beamforming. For the beamforming in the first stage, a single-point focusing beamforming method is adopted, that is, the receiving focus and the transmitting focus are made the same. Then, the beamforming data of the first stage is demodulated, and the beamforming in the second stage is performed. Through the superposition process of the two beamformings, the delay calculation amount is reduced, and a more efficient and low-cost bidirectional dynamic focusing process is achieved. At the same time, the signal-to-noise ratio of the signal is also improved, so that the quality of the ultrasonic image is significantly improved.

[0013] In an optional implementation, the calculation formula for the first receiving delay is as follows:

[0014]

[0015] Among them, f focal is the depth of the emission focus;

[0016] For the launch focus;

[0017] c is the speed of ultrasound propagation in tissue;

[0018] t e It is the time for each array element to transmit the ultrasonic wave to the transmitting focus;

[0019] is the position of the beam synthesis point on the lth ultrasonic receiving line.

[0020] The ultrasonic imaging method provided by the embodiment of the present invention adjusts the receiving delay of each receiving array element and compensates for these time differences, so that the signals received by each array element can be superimposed in phase during beam synthesis, thereby enhancing the signal strength at the target point to improve the imaging quality of the image. The calculation of the receiving delay is related to the transmission focus position, depth, ultrasonic propagation speed and the position of each array element. By adopting a single-point focusing method, the calculation of the receiving delay can fully reuse the transmission delay of each array element to reduce the amount of calculation.

[0021] In an optional implementation manner, based on the first receiving delay, a calculation formula for performing beamforming on the channel data received by the array element is as follows:

[0022]

[0023] Among them, x le (t) is the channel signal received by the e-th array element in the l-th transmission;

[0024] w le is the weight coefficient of the e-th array element to the l-th first beam synthesis line;

[0025] t tofl1The first receiving delay.

[0026] The ultrasonic imaging method provided by the embodiment of the present invention sets different weight coefficients for different signal channels and then sums them to obtain a beam synthesis receiving line to form a more directional and concentrated ultrasonic beam, thereby improving the lateral resolution of imaging. The synthesis of multiple signals can enhance the total signal energy, reduce noise interference, and improve the contrast and clarity of the image.

[0027] In an optional implementation manner, a calculation formula for demodulating the first beamforming data is as follows:

[0028]

[0029] Among them, BF 1l (t) is the lth receiving line of the first beamforming stage;

[0030] e is the base of natural logarithms;

[0031] j is the imaginary unit;

[0032] For demodulation phase;

[0033] QBF 1l (t) is the lth receiving line of the first beamforming stage after demodulation.

[0034] The ultrasonic imaging method provided in the embodiment of the present invention performs filtering processing on the beamformed signal to remove noise and unnecessary interference, so as to improve the contrast and clarity of the image, which is very important in the field of medical diagnosis.

[0035] In an optional implementation, performing bidirectional dynamic focusing beamforming on the demodulated first beamforming data includes:

[0036] Low-pass filtering the demodulated beamforming signal to obtain a filtered beam signal;

[0037] Extracting the filter beam signal to obtain a target filter beam signal;

[0038] Calculating a second receiving delay of the array element based on the target filtered beam signal;

[0039] Based on the second receiving delay, bidirectional dynamic focusing beamforming is performed.

[0040] The ultrasonic imaging method provided by the embodiment of the present invention performs low-pass filtering on the demodulated beam synthesis signal to obtain the target filtered beam signal, calculates the bandwidth of the signal, calculates the decimation rate, and extracts the filtered beam signal, so that the amount of signal data after extraction is reduced, reducing the calculation burden and storage requirements of subsequent processing. At the same time, the second stage of beam synthesis also further improves the signal-to-noise ratio of the signal and reduces the impact of noise on signal quality, thereby improving imaging quality or communication performance, so as to achieve efficient and low-cost bidirectional dynamic focusing beam synthesis.

[0041] In an optional implementation, the calculation formula for the second receiving delay is as follows:

[0042]

[0043] Among them, f focal is the launch focus depth;

[0044] is the position of the focal depth of the lth beam synthesis line in the first beam synthesis stage;

[0045] is the position of each point on the kth beam synthesis line in the bidirectional dynamic focusing beam synthesis stage;

[0046] c is the speed of ultrasound propagation in tissue.

[0047] The ultrasonic imaging method provided by the embodiment of the present invention selects different calculation formulas according to the different positional relationships between the depths of points on the second-stage beam synthesis line and the transmission focus, so as to accurately calculate the receiving delay of any receiving line.

[0048] In an optional implementation, a calculation formula for performing bidirectional dynamic focusing beamforming based on the second receiving delay is as follows:

[0049]

[0050] Among them, BF 2k (t) is the kth receiving line in the bidirectional dynamic focusing beam synthesis stage;

[0051] w l is the weight coefficient of the lth first beamforming stage receiving line to the kth bidirectional dynamic focusing beamforming stage receiving line;

[0052] t tofl2 Delay for the second reception.

[0053] The ultrasonic imaging method provided by the embodiment of the present invention realizes dynamic receiving focusing because each receiving delay represents the receiving delay from each transmitting focus to any receiving point on a receiving line. At the same time, based on the receiving delay calculation, the signals from each transmitting focus to the same receiving point are added together to complete the transmitting dynamic focusing. Therefore, the calculation process as a whole realizes two-way dynamic focusing of transmitting and receiving.

[0054] In a second aspect, the present invention provides an ultrasonic imaging device, comprising:

[0055] An acquisition module is used to acquire the time it takes for an array element to transmit an ultrasonic wave to a transmission focus after transmitting the ultrasonic wave;

[0056] An adjustment module, used to adjust the transmission delay of the array element so that the time it takes for the array element to transmit the ultrasonic wave to the transmission focus is the same;

[0057] A delay calculation module, used to use the transmission focus as the receiving focus and calculate the first receiving delay of the array element based on the position of the receiving focus;

[0058] A data calculation module, configured to perform beam synthesis on the channel data received by the array element based on the first receiving delay to obtain first beam synthesis data;

[0059] A demodulation module, used for demodulating the first beamforming data;

[0060] The synthesis module is used to perform bidirectional dynamic focusing beam synthesis on the demodulated first beam synthesis data.

[0061] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the ultrasound imaging method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0062] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the ultrasound imaging method of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0064] Figure 1is a schematic flow chart of an ultrasonic imaging method according to an embodiment of the present invention;

[0065] Figure 2 is a structural block diagram of an ultrasonic imaging device according to an embodiment of the present invention;

[0066] Figure 3 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0068] The current processing methods of ultrasound imaging signals have certain defects, including poor image quality, difficulty in implementation, and the high requirements for the front-end circuit to demodulate the RF channel data first by the analog front-end circuit. Since the channel data generally has a low signal-to-noise ratio, directly demodulating the channel data may cause signal loss.

[0069] Therefore, an embodiment of the present invention provides an ultrasonic imaging method, which realizes bidirectional dynamic focusing through two beam synthesis. Specifically, in the beam synthesis process of the first stage, a single-point focusing beam synthesis method is adopted to reduce the amount of calculation during delay calculation and improve imaging efficiency. At the same time, the beam synthesis of the first stage superimposes the signals of each channel, so that the signal-to-noise ratio is significantly improved, thereby improving the quality of ultrasonic imaging.

[0070] According to an embodiment of the present invention, an embodiment of an ultrasound imaging method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0071] In this embodiment, an ultrasonic imaging method is provided, which can be used for the above-mentioned, Figure 1 is a flow chart of an ultrasonic imaging method according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0072] Step S101, the time taken for the ultrasonic wave emitted by the array element to propagate to the emission focus is obtained. Specifically, the time taken for the ultrasonic wave emitted by each array element to propagate to the emission focus is obtained respectively.

[0073] Optionally, some array elements may be used as transmitting array elements to transmit ultrasound, and some array elements may be used as receiving array elements to receive ultrasound echoes. Alternatively, all array elements may be used as transmitting array elements to transmit ultrasound, and then some or all array elements may be switched to receiving mode to receive ultrasound echoes.

[0074] Step S102, adjusting the transmission delay of the array element so that the time it takes for the array element to transmit the ultrasonic wave to the transmission focus is the same.

[0075] Specifically, the emission time of the array element is adjusted by first determining the longest propagation time of each emission array element to reach the emission focus, and then subtracting the propagation time corresponding to the remaining array elements from the longest propagation time to obtain the delayed emission time of each emission array element.

[0076] Step S103: Taking the transmitting focus as the receiving focus, and calculating the first receiving delay of the array element based on the position of the receiving focus.

[0077] Specifically, the first receiving delay is used to characterize the time it takes for the ultrasonic echo to propagate from the receiving focus to the receiving array element.

[0078] Furthermore, when the transmitting focus and the receiving focus are the same point, a single-point focusing beamforming method can be implemented.

[0079] Step S104: Based on the first receiving delay, beamforming is performed on the channel data received by the array element to obtain first beamforming data.

[0080] Specifically, by adjusting the receiving delay of the receiving array element, the ultrasonic signals received by multiple array elements are time-aligned (ie, delay compensation) and weighted summed, thereby forming an enhanced signal beam in a specific direction.

[0081] Step S105: demodulate the first beamforming data.

[0082] Step S106: performing bidirectional dynamic focusing beamforming on the demodulated first beamforming data.

[0083] Specifically, the bidirectional dynamic focusing process means that during the ultrasonic imaging process, not only the transmitted ultrasonic waves need to be focused, but the received echo signals also need to be dynamically focused. This technology can significantly improve the resolution and imaging quality of ultrasonic images.

[0084] Furthermore, through the calculation of each receiving delay, the echo signals from different directions and depths can be correctly converged together to form a clear image, thus realizing receiving dynamic focusing; the process of adding the signals from each transmitting point to the same receiving point realizes transmitting dynamic focusing, and the combined receiving dynamic focusing process and transmitting dynamic focusing process realizes two-way dynamic focusing of transmitting and receiving.

[0085] In some optional implementations, the above step S106 includes:

[0086] Low-pass filtering the demodulated beamforming signal to obtain a filtered beam signal;

[0087] Extracting the filter beam signal to obtain a target filter beam signal;

[0088] Calculating a second receiving delay of the array element based on the target filtered beam signal;

[0089] Based on the second receiving delay, bidirectional dynamic focusing beamforming is performed.

[0090] The received ultrasonic signal is demodulated to recover the baseband signal. The demodulation process usually includes frequency shift and low-pass filtering. The demodulated beam synthesis signal is low-pass filtered to obtain the target filtered beam signal. The bandwidth of the signal is calculated according to the characteristics of the signal and the system requirements. The decimation rate is calculated according to the bandwidth of the signal. The decimation rate should ensure that the signal will not be aliased while reducing the amount of data. The signal is extracted according to the determined decimation rate, that is, one point is retained every certain number of points, and the remaining points are discarded, so that the amount of signal data after extraction is reduced, but sufficient information is retained for subsequent processing. The decimation process significantly reduces the amount of signal data and reduces the computational burden and storage requirements of subsequent processing. At the same time, the second stage of beam synthesis also further improves the signal-to-noise ratio of the signal and reduces the impact of noise on signal quality, thereby improving imaging quality or communication performance.

[0091] The ultrasonic imaging method provided in this embodiment adopts two-step beamforming for bidirectional dynamic focusing. In the first stage of beamforming, a single-point focusing beamforming method with the same transmitting focus and receiving focus is adopted, so that the calculation of the receiving delay can completely reuse the transmitting delay to reduce the amount of calculation. Since the first stage of beamforming has superimposed the signals of each channel, the signal-to-noise ratio is significantly improved, ensuring that the demodulation operation based on the first stage of beamforming is more reliable. At the same time, the first stage of beamforming reduces the amount of data to a certain extent, reducing the computing resources and storage resources required for subsequent demodulation and bidirectional passband focusing beamforming.

[0092] In some optional implementations, the calculation formula for the first receiving delay is as follows:

[0093]

[0094] Among them, f focal is the depth of the emission focus;

[0095] For the launch focus;

[0096] c is the speed of ultrasound propagation in tissue;

[0097] t e It is the time for each array element to transmit the ultrasonic wave to the transmitting focus;

[0098] is the position of the beam synthesis point on the lth ultrasonic receiving line.

[0099] Different calculation formulas are used according to the different relationship between the depth of the beam synthesis point on the ultrasonic receiving line and the position of the transmitting focus, where t e is the time it takes for each array element to transmit the ultrasonic wave to the transmitting focus, which can be calculated according to the formula Perform calculations.

[0100] In some optional implementations, based on the first receiving delay, a calculation formula for performing beamforming on the channel data received by the array element is as follows:

[0101]

[0102] Among them, x le (t) is the channel signal received by the e-th array element in the l-th transmission;

[0103] w le is the weight coefficient of the e-th array element to the l-th first beam synthesis line;

[0104] t tofl1 The first receiving delay.

[0105] The first stage of beamforming data can be obtained by performing beamforming on the received channel data according to the receiving delay. Specifically, the receiving delay of the signal of each channel is calculated respectively and the weight coefficient is set and then summed to obtain a beamformed receiving line.

[0106] In some optional implementations, a calculation formula for demodulating the first beamforming data is as follows:

[0107]

[0108] Among them, BF 1l (t) is the lth receiving line of the first beamforming stage;

[0109] e is the base of natural logarithms;

[0110] j is the imaginary unit;

[0111] For demodulation phase;

[0112] QBF 1l(t) is the lth receiving line of the first beamforming stage after demodulation.

[0113] Calculate the decimation rate based on the signal bandwidth, and 1l (t) Perform low-pass filtering and then extract the IQBF after extraction. 1l (t) Perform the subsequent second stage of beam synthesis.

[0114] In some optional implementations, the calculation formula for the second receiving delay is as follows:

[0115]

[0116] Among them, f focal is the launch focus depth;

[0117] is the position of the focal depth of the lth beam synthesis line in the first beam synthesis stage;

[0118] is the position of each point on the kth beam synthesis line in the bidirectional dynamic focusing beam synthesis stage;

[0119] c is the speed of ultrasound propagation in tissue.

[0120] Different calculation formulas are selected according to the different positional relationships between the depth of a point on the second-stage beam synthesis line and the transmit focus. When the depth of a point on the second-stage beam synthesis line is less than the depth of the transmit focus, the above numerator takes a minus sign, otherwise it takes a plus sign, so as to calculate the receive delay of the lth receive line.

[0121] In some optional implementations, a calculation formula for performing bidirectional dynamic focusing beamforming based on the second receiving delay is as follows:

[0122]

[0123] Among them, BF 2k (t) is the kth receiving line in the bidirectional dynamic focusing beam synthesis stage;

[0124] w l is the weight coefficient of the lth first beamforming stage receiving line to the kth bidirectional dynamic focusing beamforming stage receiving line;

[0125] t tofl2 Delay for the second reception.

[0126] Due to the above t tofl2It is used to characterize the receiving delay from each transmitting focus to any receiving point on the kth receiving line of the second stage beam synthesis. Therefore, this process realizes receiving dynamic focusing. At the same time, the above formula adds up the signals from l transmitting focuses to the same receiving point, so it realizes transmitting dynamic focusing. Therefore, the two processes are combined to realize the two-way dynamic focusing of transmitting and receiving.

[0127] In this embodiment, an ultrasonic imaging device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0128] This embodiment provides an ultrasonic imaging device, such as Figure 2 As shown, including:

[0129] The acquisition module 501 is used to acquire the time it takes for an array element to transmit an ultrasonic wave to a transmission focus.

[0130] The adjustment module 502 is used to adjust the transmission delay of the array element so that the time it takes for the array element to transmit the ultrasonic wave to the transmission focus is the same.

[0131] The delay calculation module 503 is used to use the transmission focus as the receiving focus and calculate the first receiving delay of the array element based on the position of the receiving focus.

[0132] The data calculation module 504 is used to perform beam synthesis on the channel data received by the array element based on the first receiving delay to obtain first beam synthesis data.

[0133] The demodulation module 505 is configured to demodulate the first beamforming data.

[0134] The synthesis module 506 is configured to perform bidirectional dynamic focusing beam synthesis on the demodulated first beam synthesis data.

[0135] In some optional implementations, the delay calculation module 503 includes:

[0136] The first receiving delay submodule is used to calculate the first receiving delay.

[0137] In some optional implementations, the calculation data module 504 includes:

[0138] The first beamforming data submodule is used to calculate first beamforming data.

[0139] In some optional implementations, the demodulation module 505 includes:

[0140] The first demodulation submodule is used to demodulate the first beamforming data.

[0141] In some optional implementations, the synthesis module 506 includes:

[0142] The low-pass filter submodule is used to perform low-pass filtering on the demodulated beam synthesis signal to obtain a filtered beam signal.

[0143] The extraction submodule is used to extract the filter beam signal to obtain the target filter beam signal.

[0144] The second delay calculation submodule is used to calculate the second receiving delay of the array element based on the target filtered beam signal.

[0145] The bidirectional dynamic focusing beamforming submodule is used to perform bidirectional dynamic focusing beamforming based on the second receiving delay.

[0146] In some optional implementations, calculating the second delay submodule includes:

[0147] The second receiving delay calculation unit is used to calculate the second receiving delay.

[0148] In some optional embodiments, the bidirectional dynamic focusing beamforming submodule includes:

[0149] The bidirectional dynamic focusing unit is used for bidirectional dynamic focusing beam synthesis.

[0150] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0151] The ultrasonic imaging device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0152] The embodiment of the present invention also provides a computer device having the above Figure 2 The ultrasonic imaging device shown.

[0153] See also Figure 3 , Figure 3 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 3As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 3 A processor 10 is taken as an example.

[0154] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0155] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0156] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0157] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0158] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 3 The example of connecting through bus is taken in the following.

[0159] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0160] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0161] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0162] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An ultrasonic imaging method, characterized in that: The method comprises: Obtain the time it takes for an array element to transmit an ultrasonic wave to the emission focus; Adjusting the emission delay of the array element so that the time it takes for the array element to transmit the ultrasonic wave to the emission focus is the same; Taking the transmitting focus as the receiving focus, and calculating the first receiving delay of the array element based on the position of the receiving focus; Based on the first receiving delay, beamforming is performed on the channel data received by the array element to obtain first beamforming data; Demodulating the first beamforming data; Bidirectional dynamic focusing beamforming is performed on the demodulated first beamforming data.

2. The method according to claim 1, characterized in that The calculation formula of the first receiving delay is as follows: Among them, f focal is the depth of the emission focus; is the emission focus; c is the speed of ultrasound propagation in tissue; t e The time taken by each array element to transmit the ultrasonic wave to the transmitting focus; is the position of the beam synthesis point on the lth ultrasonic receiving line.

3. The method according to claim 2, characterized in that The calculation formula for performing beamforming on the channel data received by the array element based on the first receiving delay is as follows: Among them, x le (t) is the channel signal received by the e-th array element in the l-th transmission; w le is the weight coefficient of the e-th array element to the l-th first beam synthesis line; t tofl1 is the first receiving delay.

4. The method according to claim 1, characterized in that: The calculation formula for demodulating the first beamforming data is as follows: Among them, BF 1l (t) is the lth receiving line of the first beamforming stage; e is the base of natural logarithms; j is the imaginary unit; For demodulation phase; QBF 1l (t) is the lth receiving line of the first beamforming stage after demodulation.

5. The method according to claim 4, characterized in that The performing bidirectional dynamic focusing beamforming on the demodulated first beamforming data comprises: Performing low-pass filtering on the demodulated beamforming signal to obtain a filtered beam signal; Extracting the filter beam signal to obtain a target filter beam signal; Calculating a second receiving delay of the array element based on the target filtered beam signal; Based on the second receiving delay, bidirectional dynamic focusing beamforming is performed.

6. The method according to claim 5, characterized in that The calculation formula of the second receiving delay is as follows: Among them, f focal is the launch focus depth; is the position of the focal depth of the lth beam synthesis line in the first beam synthesis stage; is the position of each point on the kth beam synthesis line in the bidirectional dynamic focusing beam synthesis stage; c is the speed of ultrasound propagation in tissue.

7. The method according to claim 6, characterized in that The calculation formula for performing bidirectional dynamic focusing beamforming based on the second receiving delay is as follows: Among them, BF 2k (t) is the kth receiving line in the bidirectional dynamic focusing beam synthesis stage; w l is the weight coefficient of the lth first beamforming stage receiving line to the kth bidirectional dynamic focusing beamforming stage receiving line; t tofl2 The second receiving delay.

8. An ultrasonic imaging device, characterized in that: The device comprises: An acquisition module is used to acquire the time it takes for an array element to transmit an ultrasonic wave to a transmission focus after transmitting the ultrasonic wave; An adjustment module, used for adjusting the transmission delay of the array element so that the time taken for the array element to transmit the ultrasonic wave to the transmission focus is the same; A delay calculation module, configured to use the transmitting focus as a receiving focus and calculate a first receiving delay of the array element based on a position of the receiving focus; a data calculation module, configured to perform beam synthesis on the channel data received by the array element based on the first receiving delay to obtain first beam synthesis data; A demodulation module, used for demodulating the first beamforming data; A synthesis module is used to perform bidirectional dynamic focusing beam synthesis on the demodulated first beam synthesis data.

9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 7.

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