Ultrasonic imaging method and ultrasonic imaging system

Abstract

The invention discloses an ultrasonic imaging method and an ultrasonic imaging system, and the method comprises the steps: obtaining a first three-dimensional shear wave elastic image and a first two-dimensional tissue image of a first stage of a target tissue, and enabling the first three-dimensional shear wave elastic image and the first two-dimensional tissue image to correspond to the same ultrasonic probe position; in a second stage for the target tissue, generating multiple frames of real-time two-dimensional tissue images, matching the multiple frames of real-time two-dimensional tissue images with the first two-dimensional tissue image, and determining a second two-dimensional tissue image matched with the first two-dimensional tissue image; generating two-dimensional shear wave elastic images corresponding to a plurality of sections of the target tissue at the position of the ultrasonic probe corresponding to the second two-dimensional tissue image; generating a second three-dimensional shear wave elastic image based on the two-dimensional shear wave elastic images corresponding to the plurality of sections of the target tissue; displaying the first three-dimensional shear wave elastic image and the second three-dimensional shear wave elastic image on the same screen; and / or obtaining and displaying a contrastive analysis result of the target tissue between the first stage and the second stage based on the first stage and the second stage so as to characterize changes of the target tissue in different stages.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic imaging, and more particularly to an ultrasonic imaging method and an ultrasonic imaging system. Background Art

[0002] Ultrasonic elastography can qualitatively reflect the hardness of the lesion relative to the surrounding tissue, or quantitatively reflect the hardness of the lesion and the surrounding tissue. In recent years, it has been more widely used in clinical research and diagnosis. The judgment of the hardness of tissue can effectively assist in the diagnosis and evaluation of cancer lesions, benign and malignant tumors, and postoperative recovery.

[0003] The current elastic imaging technology mainly includes strain elastic imaging and shear wave elastic imaging. Among them, strain elastic imaging uses a probe to press the tissue and calculate the displacement and strain of the tissue in real time to reflect the elastic parameters of the tissue in the region of interest (ROI) and image it, which indirectly reflects the hardness of different tissues. Shear wave elastic imaging uses an ultrasonic probe to excite a focused ultrasound beam to form an acoustic radiation force, form a shear wave source in the tissue, and generate transversely propagating shear waves. By identifying and detecting the shear waves generated inside the tissue and their propagation parameters and imaging these parameters, the hardness difference of the tissue can be quantitatively and visually obtained.

[0004] The hardness of the lesion is an effective auxiliary evaluation method for the treatment effect of the lesion. In the actual clinical process, compared with the two-dimensional hardness change, doctors prefer to observe the hardness information of the entire lesion space dimension, so as to have a more holistic judgment of the lesion and make a more accurate and comprehensive evaluation of the treatment effect of the lesion. At present, there is a lack of effective evaluation methods for lesions before and after treatment on the market. Summary of the invention

[0005] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0006] An embodiment of the present invention provides an ultrasonic imaging method, the method comprising:

[0007] Acquire a first three-dimensional shear wave elasticity image and a first two-dimensional tissue image of a target tissue, wherein the first three-dimensional shear wave elasticity image and the first two-dimensional tissue image are acquired in a first phase for the target tissue, and the first two-dimensional tissue image and the first three-dimensional shear wave elasticity image correspond to the same ultrasound probe position;

[0008] In the second stage for the target tissue, the ultrasonic probe is controlled to transmit a first ultrasonic wave to the target tissue, an echo signal of the first ultrasonic wave is received, and a multi-frame real-time two-dimensional tissue image of the target tissue is generated according to the echo signal of the first ultrasonic wave;

[0009] Matching the multiple frames of real-time two-dimensional tissue images with the first two-dimensional tissue image, and determining a second two-dimensional tissue image matching the first two-dimensional tissue image in the multiple frames of real-time two-dimensional tissue images;

[0010] At the ultrasound probe position corresponding to the second two-dimensional tissue image, a shear wave propagating in the target tissue is generated, the ultrasound probe is controlled to transmit a second ultrasound wave tracking the shear wave to multiple sections of the target tissue, an echo signal of the second ultrasound wave is received, and a two-dimensional shear wave elastic image corresponding to the multiple sections of the target tissue is generated according to the echo signal of the second ultrasound wave;

[0011] generating a second three-dimensional shear wave elastic image of the target tissue based on the two-dimensional shear wave elastic images corresponding to the multiple sections of the target tissue;

[0012] The first three-dimensional shear wave elastic image and the second three-dimensional shear wave elastic image are displayed on the same screen; and / or, based on the first three-dimensional shear wave elastic image and the second three-dimensional shear wave elastic image, a comparative analysis result between the target tissue in the first stage and the second stage is obtained, and the comparative analysis result is displayed.

[0013] In some embodiments, the ultrasound probe is a volume probe, and a motion control mechanism and array element arrays are disposed inside the volume probe;

[0014] The step of controlling the ultrasonic probe to transmit a second ultrasonic wave tracking the shear wave to a plurality of sections of the target tissue and receiving an echo signal of the second ultrasonic wave comprises:

[0015] The motion control mechanism controls the array of elements to move on a preset path in the volume probe, and different positions of the preset path correspond to different sections of the target tissue;

[0016] The array element array is controlled to transmit the second ultrasonic wave to the target tissue at different positions of the preset path, and an echo signal of the second ultrasonic wave is received.

[0017] In some embodiments, controlling the array element array to move on a preset path in the volume probe by the motion control mechanism includes:

[0018] Controlling the array element array to perform accelerated motion, uniform motion and decelerated motion by the motion control mechanism;

[0019] The controlling of the array element column to transmit the second ultrasonic wave to the target tissue at different positions of the preset path and receiving the echo signal of the second ultrasonic wave includes: during the uniform motion, controlling the array element column to transmit the second ultrasonic wave and receiving the echo signal of the second ultrasonic wave.

[0020] In some embodiments, the method further comprises: determining a preset position of the array element column in the preset path when acquiring the first two-dimensional tissue image;

[0021] The controlling the ultrasonic probe to transmit a first ultrasonic wave to the target tissue and receiving an echo signal of the first ultrasonic wave comprises:

[0022] The motion control mechanism controls the array element column to move to the preset position, and controls the array element column to transmit the first ultrasonic wave to the target tissue at the preset position, and receives the echo signal of the first ultrasonic wave.

[0023] In some embodiments, the method further comprises:

[0024] Controlling the array element array to transmit a third ultrasonic wave to the target tissue at different positions along the preset path, receiving an echo signal of the third ultrasonic wave, and generating a third two-dimensional tissue image corresponding to a plurality of sections of the target tissue according to the echo signal of the third ultrasonic wave;

[0025] A three-dimensional tissue image of the target tissue is generated based on the third two-dimensional tissue images corresponding to the multiple sections of the target tissue, and the three-dimensional tissue image is fused with the second three-dimensional shear wave elasticity image for display.

[0026] In some embodiments, the ultrasound probe is a matrix probe, an array element matrix is ​​arranged inside the matrix probe, the array element matrix includes a plurality of array element columns, and different array element columns correspond to different sections of the target tissue;

[0027] The step of controlling the ultrasonic probe to transmit a second ultrasonic wave tracking the shear wave to a plurality of sections of the target tissue and receiving an echo signal of the second ultrasonic wave comprises:

[0028] The plurality of array element columns are controlled to transmit the second ultrasonic wave to the target tissue, and an echo signal of the second ultrasonic wave is received.

[0029] In some embodiments, the method further comprises: determining, among the plurality of array element columns, a target array element column for acquiring the first two-dimensional tissue image;

[0030] The controlling the ultrasonic probe to transmit a first ultrasonic wave to the target tissue and receiving an echo signal of the first ultrasonic wave comprises:

[0031] The target array element column is controlled to transmit the first ultrasonic wave to the target tissue, and an echo signal of the first ultrasonic wave is received.

[0032] In some embodiments, the method further comprises:

[0033] Controlling different array element columns to sequentially transmit a third ultrasonic wave to the target tissue, receiving echo signals of the third ultrasonic wave, and generating third two-dimensional tissue images corresponding to multiple sections of the target tissue according to the echo signals of the third ultrasonic wave;

[0034] A three-dimensional tissue image of the target tissue is generated based on the third two-dimensional tissue images corresponding to the multiple sections of the target tissue, and the three-dimensional tissue image is fused with the second three-dimensional shear wave elasticity image for display.

[0035] In some embodiments, obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result includes:

[0036] determining a first three-dimensional target region corresponding to the target tissue in the first three-dimensional shear wave elasticity image, and determining a second three-dimensional target region corresponding to the target tissue in the second three-dimensional shear wave elasticity image;

[0037] Based on the first three-dimensional target area and the second three-dimensional target area, obtaining three-dimensional elastic change data of the target tissue;

[0038] A three-dimensional elastic change image is generated based on the three-dimensional elastic change data, and the three-dimensional elastic change image is displayed.

[0039] In some embodiments, obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result, further includes:

[0040] Displaying a first section selection mark in the three-dimensional elastic change image, wherein the first section selection mark is used to select a target section of the target tissue;

[0041] Based on the first section selection identifier, extracting the two-dimensional elastic change data corresponding to the target section from the three-dimensional elastic change data;

[0042] A two-dimensional elastic change image is generated based on the two-dimensional elastic change data, and the two-dimensional elastic change image is displayed.

[0043] In some embodiments, obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result includes:

[0044] Displaying a second section selection mark in the first three-dimensional shear wave elasticity image and / or the second three-dimensional shear wave elasticity image, wherein the second section selection mark is used to select a target section of the target tissue;

[0045] Based on the second section selection identifier, extracting a first two-dimensional shear wave image corresponding to the target section from the first three-dimensional shear wave elastic image, and extracting a second two-dimensional shear wave elastic image corresponding to the target section from the second three-dimensional shear wave elastic image;

[0046] Determining a first two-dimensional target region corresponding to the target tissue in the first two-dimensional shear wave elasticity image, and determining a second two-dimensional target region corresponding to the target tissue in the second two-dimensional shear wave elasticity image;

[0047] Obtaining two-dimensional elastic change data of the target section according to the first two-dimensional target area and the second two-dimensional target area;

[0048] A two-dimensional elastic change image is generated according to the two-dimensional elastic change data, and the two-dimensional elastic change image is displayed.

[0049] In some embodiments, obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result, further includes:

[0050] Setting a reference line in the two-dimensional elastic change image, and extracting one-dimensional elastic change data corresponding to the reference line from the two-dimensional elastic change data;

[0051] An elasticity change curve is generated according to the one-dimensional elasticity change data, and the elasticity change curve is displayed.

[0052] In some embodiments, obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result includes:

[0053] Displaying a third section selection mark in the first three-dimensional shear wave elasticity image and / or the second three-dimensional shear wave elasticity image, wherein the third section selection mark is used to select a target section of the target tissue;

[0054] Based on the third section selection identifier, extracting a first two-dimensional shear wave image corresponding to the target section in the first three-dimensional shear wave elastic image, and extracting a second two-dimensional shear wave elastic image corresponding to the target section in the second three-dimensional shear wave elastic image;

[0055] The first two-dimensional shear wave elasticity image and the second two-dimensional shear wave elasticity image are displayed on the same screen.

[0056] In some embodiments, the method further comprises:

[0057] Setting a reference line in the first two-dimensional shear wave elasticity image and / or the second two-dimensional shear wave elasticity image;

[0058] extracting a first elastic curve corresponding to the reference line in the first two-dimensional shear wave elastic image, and extracting a second elastic curve corresponding to the reference line in the second two-dimensional shear wave elastic image;

[0059] The first elasticity curve and the second elasticity curve are displayed on the same screen, and / or an elasticity change curve is generated according to the first elasticity curve and the second elasticity curve, and the elasticity change curve is displayed.

[0060] In some embodiments, obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result includes:

[0061] determining a third three-dimensional target region corresponding to the target tissue in the first three-dimensional shear wave elasticity image, and determining a fourth three-dimensional target region corresponding to the target tissue in the second three-dimensional shear wave data;

[0062] Based on the morphology of the third three-dimensional target area and the morphology of the fourth three-dimensional target area, obtaining three-dimensional morphological change data of the target tissue;

[0063] A three-dimensional shape change image is generated based on the three-dimensional shape change data, and the three-dimensional shape change image is displayed.

[0064] In some embodiments, obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result, further includes:

[0065] Displaying a fourth section selection mark in the three-dimensional morphological change image, wherein the fourth section selection mark is used to select a target section of the target tissue;

[0066] Based on the fourth section selection identifier, extracting the two-dimensional morphological change data corresponding to the target section from the three-dimensional morphological change data;

[0067] A two-dimensional morphological change image is generated according to the two-dimensional morphological change data, and the two-dimensional morphological change image is displayed.

[0068] In some embodiments, obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result includes:

[0069] displaying a fifth section selection mark in the first three-dimensional shear wave elasticity image and / or the second three-dimensional shear wave elasticity image, wherein the fifth section selection mark is used to select a target section of the target tissue;

[0070] Based on the fifth section selection identifier, extracting a third two-dimensional shear wave elastic image corresponding to the target section from the first three-dimensional shear wave elastic image, and extracting a fourth two-dimensional shear wave elastic image corresponding to the target section from the second three-dimensional shear wave data;

[0071] determining a third two-dimensional target region corresponding to the target tissue in the third two-dimensional shear wave elasticity image, and determining a fourth two-dimensional target region corresponding to the target tissue in the fourth two-dimensional shear wave elasticity image;

[0072] Obtaining two-dimensional morphological change data of the target tissue according to the morphology of the third two-dimensional target area and the morphology of the fourth two-dimensional target area;

[0073] A two-dimensional morphological change image is generated according to the two-dimensional morphological change data, and the two-dimensional morphological change image is displayed.

[0074] A second aspect of an embodiment of the present invention provides an ultrasonic imaging method, the method comprising:

[0075] Acquire a first three-dimensional elastic image and a first two-dimensional tissue image of a target tissue, wherein the first three-dimensional elastic image and the first two-dimensional tissue image are acquired in a first phase for the target tissue, and the first two-dimensional tissue image and the first three-dimensional elastic image correspond to the same ultrasound probe position;

[0076] In the second stage for the target tissue, multiple frames of real-time two-dimensional tissue images of the target tissue are collected by an ultrasonic probe;

[0077] Matching the multiple frames of real-time two-dimensional tissue images with the first two-dimensional tissue image, and determining a second two-dimensional tissue image matching the first two-dimensional tissue image in the multiple frames of real-time two-dimensional tissue images;

[0078] At the ultrasound probe position corresponding to the second two-dimensional tissue image, acquiring two-dimensional elastic images corresponding to multiple sections of the target tissue;

[0079] generating a second three-dimensional elastic image of the target tissue based on the two-dimensional elastic images corresponding to the multiple sections of the target tissue;

[0080] displaying the first three-dimensional elastic image and the second three-dimensional elastic image on the same screen,

[0081] And / or, based on the first three-dimensional elastic image and the second three-dimensional elastic image, a comparative analysis result of the target tissue between the first stage and the second stage is obtained, and the comparative analysis result is displayed.

[0082] In some embodiments, the first three-dimensional elastic image and the second three-dimensional elastic image are three-dimensional shear wave elastic images, or the first three-dimensional elastic image and the second three-dimensional elastic image are three-dimensional strain elastic images.

[0083] A third aspect of an embodiment of the present invention provides an ultrasonic imaging method, the method comprising:

[0084] In the second stage for the target tissue, multiple frames of real-time two-dimensional tissue images of the target tissue are generated in real time, and the real-time two-dimensional tissue images and a first two-dimensional tissue image of the target tissue are displayed on the same screen, where the first two-dimensional tissue image is acquired in the first stage for the target tissue;

[0085] Matching the multiple frames of real-time two-dimensional tissue images with the first two-dimensional tissue image, and determining a second two-dimensional tissue image matching the first two-dimensional tissue image in the multiple frames of real-time two-dimensional tissue images;

[0086] generating a second three-dimensional shear wave elasticity image of the target tissue at the ultrasound probe position corresponding to the second two-dimensional tissue image;

[0087] Acquire a first three-dimensional shear wave elastic image of the target tissue collected in the first stage of the target tissue, and display the first three-dimensional shear wave elastic image and the second three-dimensional shear wave elastic image on the same screen; and / or, based on the first three-dimensional shear wave elastic image and the second three-dimensional shear wave elastic image, obtain a comparative analysis result between the target tissue in the first stage and the second stage, and display the comparative analysis result.

[0088] In some embodiments, displaying the comparative analysis result includes: displaying a three-dimensional elastic change image of the target tissue, wherein the three-dimensional elastic change image reflects the elastic change of the target tissue between the first stage and the second stage.

[0089] In some embodiments, displaying the comparative analysis result further includes:

[0090] Displaying a first section selection mark in the three-dimensional elastic change image, wherein the first section selection mark is used to select a target section of the target tissue;

[0091] Based on the first section selection identifier, a two-dimensional elastic change image corresponding to the target section is displayed.

[0092] In some embodiments, obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result includes:

[0093] Displaying a second section selection mark in the first three-dimensional shear wave elasticity image and / or the second three-dimensional shear wave elasticity image, wherein the second section selection mark is used to select a target section of the target tissue;

[0094] Based on the second section selection identifier, extracting a first two-dimensional shear wave image corresponding to the target section from the first three-dimensional shear wave elastic image, and extracting a second two-dimensional shear wave elastic image corresponding to the target section from the second three-dimensional shear wave elastic image;

[0095] Determining a first two-dimensional target region corresponding to the target tissue in the first two-dimensional shear wave elasticity image, and determining a second two-dimensional target region corresponding to the target tissue in the second two-dimensional shear wave elasticity image;

[0096] Obtaining two-dimensional elastic change data of the target section according to the first two-dimensional target area and the second two-dimensional target area;

[0097] A two-dimensional elastic change image is generated according to the two-dimensional elastic change data, and the two-dimensional elastic change image is displayed.

[0098] In some embodiments, displaying the comparative analysis result further includes:

[0099] A reference line is set in the two-dimensional elastic change image, and a one-dimensional elastic change curve corresponding to the reference line is displayed.

[0100] In some embodiments, obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result includes:

[0101] Displaying a third section selection mark in the first three-dimensional shear wave elasticity image and / or the second three-dimensional shear wave elasticity image, wherein the third section selection mark is used to select a target section of the target tissue;

[0102] Based on the third section selection identifier, extracting a first two-dimensional shear wave image corresponding to the target section in the first three-dimensional shear wave elastic image, and extracting a second two-dimensional shear wave elastic image corresponding to the target section in the second three-dimensional shear wave elastic image;

[0103] The first two-dimensional shear wave elasticity image and the second two-dimensional shear wave elasticity image are displayed on the same screen.

[0104] In some embodiments, the method further comprises:

[0105] Setting a reference line in the first two-dimensional shear wave elasticity image and / or the second two-dimensional shear wave elasticity image;

[0106] extracting a first elastic curve corresponding to the reference line in the first two-dimensional shear wave elastic image, and extracting a second elastic curve corresponding to the reference line in the second two-dimensional shear wave elastic image;

[0107] The first elasticity curve and the second elasticity curve are displayed on the same screen, and / or an elasticity change curve is generated according to the first elasticity curve and the second elasticity curve, and the elasticity change curve is displayed.

[0108] In some embodiments, obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result includes:

[0109] determining a third three-dimensional target region corresponding to the target tissue in the first three-dimensional shear wave elasticity image, and determining a fourth three-dimensional target region corresponding to the target tissue in the second three-dimensional shear wave data;

[0110] Based on the morphology of the third three-dimensional target area and the morphology of the fourth three-dimensional target area, obtaining three-dimensional morphological change data of the target tissue;

[0111] A three-dimensional shape change image is generated based on the three-dimensional shape change data, and the three-dimensional shape change image is displayed.

[0112] In some embodiments, obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result, further includes:

[0113] Displaying a fourth section selection mark in the three-dimensional morphological change image, wherein the fourth section selection mark is used to select a target section of the target tissue;

[0114] Based on the fourth section selection identifier, extracting the two-dimensional morphological change data corresponding to the target section from the three-dimensional morphological change data;

[0115] A two-dimensional morphological change image is generated according to the two-dimensional morphological change data, and the two-dimensional morphological change image is displayed.

[0116] In some embodiments, obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result includes:

[0117] displaying a fifth section selection mark in the first three-dimensional shear wave elasticity image and / or the second three-dimensional shear wave elasticity image, wherein the fifth section selection mark is used to select a target section of the target tissue;

[0118] Based on the fifth section selection identifier, extracting a third two-dimensional shear wave elastic image corresponding to the target section from the first three-dimensional shear wave elastic image, and extracting a fourth two-dimensional shear wave elastic image corresponding to the target section from the second three-dimensional shear wave data;

[0119] determining a third two-dimensional target region corresponding to the target tissue in the third two-dimensional shear wave elasticity image, and determining a fourth two-dimensional target region corresponding to the target tissue in the fourth two-dimensional shear wave elasticity image;

[0120] Obtaining two-dimensional morphological change data of the target tissue according to the morphology of the third two-dimensional target area and the morphology of the fourth two-dimensional target area;

[0121] A two-dimensional morphological change image is generated according to the two-dimensional morphological change data, and the two-dimensional morphological change image is displayed.

[0122] A fourth aspect of an embodiment of the present invention provides an ultrasonic imaging system, the ultrasonic imaging system comprising:

[0123] Ultrasound probe;

[0124] A transmitting circuit, used for stimulating the ultrasonic probe to transmit ultrasonic waves to the target tissue;

[0125] A receiving circuit, used for controlling the ultrasonic probe to receive the ultrasonic echo and obtain the ultrasonic echo signal;

[0126] A processor, configured to execute the ultrasound imaging method as described above;

[0127] A display is used to display the ultrasound image generated by the processor.

[0128] The ultrasonic imaging method and ultrasonic imaging system of the embodiments of the present invention perform three-dimensional shear wave elastic imaging and two-dimensional tissue imaging on the target tissue at different stages, and find the three-dimensional shear wave elastic image under the same perspective for comparison based on matching the two-dimensional tissue image, so as to effectively evaluate the changes of the target tissue at different stages. BRIEF DESCRIPTION OF THE DRAWINGS

[0129] The above and other purposes, features and advantages of the present invention will become more apparent by describing the embodiments of the present invention in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0130] Figure 1 A structural block diagram of an ultrasound imaging system according to an embodiment of the present invention is shown;

[0131] Figure 2 A schematic flow chart showing an ultrasonic imaging method according to an embodiment of the present invention;

[0132] Figure 3 A schematic diagram showing a volume probe according to an embodiment of the present invention;

[0133] Figure 4 A schematic diagram showing a matrix probe according to an embodiment of the present invention;

[0134] Figure 5 A diagram showing the corresponding relationship between the movement and scanning of a volume probe according to an embodiment of the present invention;

[0135] Figure 6 A schematic diagram showing the preset positions of array element columns according to an embodiment of the present invention;

[0136] Figure 7 A schematic diagram showing a method of displaying a first two-dimensional tissue image and a real-time two-dimensional tissue image on the same screen according to an embodiment of the present invention;

[0137] Figure 8 A schematic diagram showing generation of a three-dimensional elastic change image according to an embodiment of the present invention;

[0138] Fig. 9 A schematic diagram showing generation of a two-dimensional elastic variation image from a three-dimensional elastic variation image according to an embodiment of the present invention;

[0139] Fig.10 A schematic diagram showing selection of a target section according to a first three-dimensional shear wave elasticity image or a second three-dimensional shear wave elasticity image according to one embodiment of the present invention;

[0140] Fig.11 A schematic diagram showing setting of a reference line in a first two-dimensional shear wave elasticity image or a second two-dimensional shear wave elasticity image according to an embodiment of the present invention;

[0141] Fig.12 A schematic diagram showing an elasticity variation curve according to an embodiment of the present invention;

[0142] Fig.13 A schematic diagram showing a three-dimensional morphology change image and a two-dimensional morphology change image according to an embodiment of the present invention;

[0143] Fig.14 A schematic diagram showing a display interface according to an embodiment of the present invention;

[0144] Fig.15 A schematic flow chart showing an ultrasonic imaging method according to another embodiment of the present invention;

[0145] Fig.16 A schematic flow chart of an ultrasound imaging method according to yet another embodiment of the present invention is shown. DETAILED DESCRIPTION

[0146] In order to make the purpose, technical scheme and advantages of the present invention more obvious, the exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without creative work should fall within the protection scope of the present invention.

[0147] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0148] It should be understood that the present invention can be implemented in different forms and should not be interpreted as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to make the disclosure thorough and complete and to fully convey the scope of the present invention to those skilled in the art.

[0149] The purpose of the terms used herein is only to describe specific embodiments and is not intended to be limiting of the present invention. When used herein, the singular forms "one", "an" and "said / the" are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "consisting of" and / or "comprising", when used in this specification, determine the presence of the features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups. When used herein, the term "and / or" includes any and all combinations of the relevant listed items.

[0150] In order to fully understand the present invention, a detailed structure will be proposed in the following description to illustrate the technical solution proposed by the present invention. The optional embodiments of the present invention are described in detail as follows, but in addition to these detailed descriptions, the present invention may also have other implementations.

[0151] Next, first refer to Figure 1 An ultrasound imaging system according to an embodiment of the present invention is described. Figure 1 FIG. 1 is a schematic structural block diagram of an ultrasound imaging system 100 according to an embodiment of the present invention.

[0152] like Figure 1 As shown, the ultrasound imaging system 100 includes an ultrasound probe 110, a transmitting circuit 112, a receiving circuit 114, a processor 116, and a display 118. Further, the ultrasound imaging system may also include a transmit / receive selection switch 120 and a beamforming module 122, and the transmitting circuit 112 and the receiving circuit 114 may be connected to the ultrasound probe 110 through the transmit / receive selection switch 120.

[0153] The ultrasonic probe 110 includes a transducer array element, which is used to transmit ultrasonic waves according to an excitation electrical signal, or to convert received ultrasonic waves into electrical signals. Therefore, each array element can be used to realize the mutual conversion between electrical pulse signals and ultrasonic waves, thereby transmitting ultrasonic waves to the target tissue of the object under test, and can also be used to receive ultrasonic echoes reflected by the tissue. When performing ultrasonic testing, the transmission sequence and the reception sequence can be used to control which array elements are used to transmit ultrasonic waves and which array elements are used to receive ultrasonic waves, or to control the array elements to transmit ultrasonic waves or receive ultrasonic echoes in time slots. The array elements participating in ultrasonic wave transmission can be excited by electrical signals at the same time, thereby transmitting ultrasonic waves at the same time; or, the array elements participating in ultrasonic wave beam transmission can also be excited by several electrical signals with a certain time interval, thereby continuously transmitting ultrasonic waves with a certain time interval.

[0154] During the ultrasonic imaging process, the processor 116 controls the transmitting circuit 112 to send the delayed focused transmitting pulse to the ultrasonic probe 110 through the transmitting / receiving selection switch 120. The ultrasonic probe 110 is stimulated by the transmitting pulse to transmit an ultrasonic beam to the tissue of the target area of ​​the object to be measured, and receives the ultrasonic echo with tissue information reflected from the tissue of the target area after a certain delay, and reconverts the ultrasonic echo into an electrical signal. The receiving circuit 114 receives the electrical signal converted and generated by the ultrasonic probe 110, obtains the ultrasonic echo signal, and sends these ultrasonic echo signals to the beamforming module 122, which performs focusing delay, weighting and channel summing on the ultrasonic echo data, and then sends them to the processor 116. The processor 116 performs signal detection, signal enhancement, data conversion, logarithmic compression and other processing on the ultrasonic echo signal to form an ultrasonic image. The ultrasonic image obtained by the processor 116 can be displayed on the display 118 or stored in the memory 124.

[0155] Optionally, the processor 116 may be implemented as software, hardware, firmware or any combination thereof, and may use a single or multiple application specific integrated circuits (ASICs), a single or multiple general purpose integrated circuits, a single or multiple microprocessors, a single or multiple programmable logic devices, or any combination of the aforementioned circuits and / or devices, or other suitable circuits or devices. Furthermore, the processor 116 may control other components in the ultrasound imaging system 100 to perform the corresponding steps of the methods in various embodiments of the present specification.

[0156] The display 118 is connected to the processor 116, and the display 118 may be a touch screen, a liquid crystal display, etc.; or, the display 118 may be an independent display such as a liquid crystal display, a television, etc., which is independent of the ultrasound imaging system 100; or, the display 118 may be a display screen of an electronic device such as a smart phone or a tablet computer, etc. The number of the display 118 may be one or more.

[0157] The display 118 can display the ultrasound image obtained by the processor 116. In addition, while displaying the ultrasound image, the display 118 can also provide the user with a graphical interface for human-computer interaction. One or more controlled objects are set on the graphical interface, and the user is provided with a human-computer interaction device to input operation instructions to control these controlled objects, thereby performing corresponding control operations. For example, an icon is displayed on the graphical interface, and the icon can be operated by the human-computer interaction device to perform a specific function, such as drawing a region of interest box on the ultrasound image.

[0158] Optionally, the ultrasound imaging system 100 may further include other human-machine interaction devices in addition to the display 118, which are connected to the processor 116. For example, the processor 116 may be connected to the human-machine interaction device via an external input / output port, and the external input / output port may be a wireless communication module, or a wired communication module, or a combination of the two. The external input / output port may also be implemented based on USB, bus protocols such as CAN, and / or wired network protocols.

[0159] The human-computer interaction device may include an input device for detecting user input information, which may be, for example, a control instruction for ultrasonic transmission / reception timing, an operation input instruction for drawing points, lines or frames on an ultrasonic image, or other instruction types. The input device may include a keyboard, a mouse, a scroll wheel, a trackball, a mobile input device (such as a mobile device with a touch screen, a mobile phone, etc.), a multi-function knob, etc., or a combination of multiple thereof. The human-computer interaction device may also include an output device such as a printer.

[0160] The ultrasound imaging system 100 may further include a memory 124 for storing instructions executed by the processor, storing received ultrasound echoes, storing ultrasound images, etc. The memory may be a flash memory card, a solid-state memory, a hard disk, etc. It may be a volatile memory and / or a non-volatile memory, a removable memory and / or a non-removable memory, etc.

[0161] It should be understood that Figure 1 The components included in the ultrasonic imaging system 100 are only exemplary, and the ultrasonic imaging system 100 may include more or fewer components, and the present invention is not limited thereto.

[0162] Next, we will refer to Figure 2 The ultrasonic imaging method according to an embodiment of the present invention is described. The method can be implemented in the ultrasonic imaging system 100 described above. Figure 2 is a schematic flow chart of an ultrasonic imaging method 200 according to an embodiment of the present invention.

[0163] like Figure 2 As shown, an ultrasonic imaging method 200 according to an embodiment of the present invention comprises the following steps:

[0164] In step S210, a first three-dimensional shear wave elasticity image and a first two-dimensional tissue image of a target tissue are acquired, wherein the first three-dimensional shear wave elasticity image and the first two-dimensional tissue image are acquired in a first stage for the target tissue, and the first two-dimensional tissue image and the first three-dimensional shear wave elasticity image correspond to the same ultrasound probe position;

[0165] In step S220, in the second stage for the target tissue, the ultrasonic probe is controlled to transmit a first ultrasonic wave to the target tissue, an echo signal of the first ultrasonic wave is received, and a multi-frame real-time two-dimensional tissue image of the target tissue is generated according to the echo signal of the first ultrasonic wave;

[0166] In step S230, the multiple frames of real-time two-dimensional tissue images are matched with the first two-dimensional tissue image, and a second two-dimensional tissue image matching the first two-dimensional tissue image is determined in the multiple frames of real-time two-dimensional tissue images;

[0167] In step S240, at the ultrasound probe position corresponding to the second two-dimensional tissue image, a shear wave propagating in the target tissue is generated, the ultrasound probe is controlled to transmit a second ultrasound wave tracking the shear wave to multiple sections of the target tissue, an echo signal of the second ultrasound wave is received, and a two-dimensional shear wave elastic image corresponding to the multiple sections of the target tissue is generated according to the echo signal of the second ultrasound wave;

[0168] In step S250, a second three-dimensional shear wave elastic image of the target tissue is generated based on the two-dimensional shear wave elastic images corresponding to the multiple sections of the target tissue;

[0169] In step S260, the first three-dimensional shear wave elastic image and the second three-dimensional shear wave elastic image are displayed on the same screen; and / or, based on the first three-dimensional shear wave elastic image and the second three-dimensional shear wave elastic image, a comparative analysis result between the target tissue in the first stage and the second stage is obtained, and the comparative analysis result is displayed.

[0170] The ultrasonic imaging method 200 of the embodiment of the present invention performs three-dimensional shear wave elastic imaging and two-dimensional tissue imaging on the target tissue at different stages, and finds the three-dimensional shear wave elastic image at the same perspective for comparison based on the matching of the two-dimensional tissue image, thereby effectively evaluating the changes of the target tissue at different stages.

[0171] Among them, the first stage and the second stage for the target tissue can be before or after treatment of the target tissue, or different stages in the treatment process of the target tissue. The first stage and the second stage for the target tissue can also be any two different time periods; the following mainly describes the first stage as the stage before treatment of the target tissue and the second stage as the stage after treatment of the target tissue. Taking neoadjuvant chemotherapy (NAC) for breast cancer as an example, neoadjuvant chemotherapy is a systemic chemotherapy for patients without distant metastasis before surgical treatment or surgery plus radiotherapy local treatment. After NAC, the lesions will change to varying degrees. Early and accurate evaluation of the efficacy of chemotherapy is particularly critical for individualized preoperative treatment and prognosis. In the early stage of the NAC process, there are varying degrees of necrosis and tissue fibrosis in the tumor. Hardness changes are an important feature of early NAC. Three-dimensional shear wave elastography can quantitatively evaluate the overall and local soft and hard changes of the tumor, provide important evaluation information for the treatment effect, and effectively supplement clinical diagnosis.

[0172] In the first stage for the target tissue, a first three-dimensional shear wave elastic image and a first two-dimensional tissue image of the target tissue are collected, and the first two-dimensional tissue image and the first three-dimensional shear wave elastic image correspond to the same ultrasound probe position, wherein the first three-dimensional shear wave elastic image is used to reflect the three-dimensional elastic state of the target tissue before treatment, and the first two-dimensional tissue image is used to calibrate the ultrasound probe position corresponding to the first three-dimensional shear wave elastic image, so that a second three-dimensional shear wave elastic image is collected at the same position after treatment and compared with the first three-dimensional shear wave elastic image.

[0173] For example, Figure 3 As shown, the ultrasonic probe used to acquire the first three-dimensional shear wave elasticity image and the first two-dimensional tissue image can be a volume probe. A motion control mechanism and an array element array are provided inside the volume probe, and the motion control mechanism is used to control the movement of the array element array on a preset path. The array element array of the volume probe can be a linear array, and the motion control mechanism can control the linear array to translate in the volume probe. Alternatively, the array element array of the volume probe can also be a convex array, and the motion control mechanism can control the array element array to swing in the volume probe.

[0174] Before performing 3D shear wave elastography, first enter the 2D inspection mode, and the motion control mechanism controls the array element column to move to the preset position, or uses the current position of the array element column as the preset position, and performs 2D tissue imaging at the preset position. The preset position can be selected and recorded by the user according to the actual situation. The preset position can be any position inside the volume probe, such as the leftmost, rightmost, middle position, etc. Figure 6 In the example, the preset position is located in the middle of the volume probe. During the two-dimensional tissue imaging, the user can move the volume probe to determine the location of the target tissue and select a suitable first two-dimensional tissue image containing clearer tissue features as a subsequent matching reference. After that, the ultrasound probe is kept fixed at the current position and a three-dimensional shear wave elastic image is performed.

[0175] For example, Figure 5 As shown, during the three-dimensional shear wave elastic imaging, the motion control mechanism controls the array element to perform a set of continuous movements on a preset path in the volume probe, wherein a set of continuous movements includes an acceleration movement, a uniform speed movement, and a deceleration movement performed in sequence. During the uniform speed movement, the volume probe performs multiple shear wave elastic imaging scans to obtain two-dimensional shear wave elastic images corresponding to multiple sections of the target tissue, and three-dimensionally reconstructs the two-dimensional shear wave elastic images corresponding to the multiple sections, thereby obtaining a first three-dimensional shear wave elastic image.

[0176] Specifically, the scanning of shear wave elastic imaging includes: generating shear waves propagating in the target tissue; controlling the array element column to emit ultrasonic waves to the target tissue to track the shear waves, receiving the echo signals of the ultrasonic waves, and generating a frame of two-dimensional shear wave elastic data according to the echo signals of the ultrasonic waves. Among them, the focused ultrasonic beam can be excited by the volume probe to form an acoustic radiation force, form a shear wave source in the target tissue, and generate transversely propagating shear waves. Based on the ultrasonic echo signal, the shear waves generated inside the target tissue and their propagation parameters (such as propagation velocity, Young's modulus, etc., which can be calculated by propagation velocity and tissue density) can be identified and detected, and then two-dimensional shear wave elastic data can be obtained. The two-dimensional shear wave elastic data can quantitatively and visually present the hardness differences of the tissues.

[0177] In the process of three-dimensional shear wave elastic imaging, three-dimensional tissue imaging can also be performed synchronously, so that the three-dimensional shear wave elastic image and the three-dimensional tissue image are fused and displayed. Specifically, the array element is controlled to perform tissue imaging scanning at different positions of the preset path, that is, ultrasonic waves are emitted to the target tissue, echo signals of the ultrasonic waves are received, and the echo signals are processed by logarithmic compression, dynamic range adjustment, digital scan conversion, etc., so as to obtain two-dimensional tissue data for reflecting the morphological structure of the target tissue. By performing two-dimensional tissue imaging on multiple sections of the target tissue at multiple different positions, two-dimensional tissue data of multiple sections can be obtained, and three-dimensional reconstruction of the two-dimensional tissue images corresponding to the multiple sections can obtain a first three-dimensional tissue image of the target tissue, and then the first three-dimensional tissue image is fused and displayed with the first three-dimensional shear wave elastic image. The scanning of tissue imaging and the scanning of shear wave elastic imaging can be performed alternately, or a shear wave elastic imaging scan can be performed after at least two tissue imaging scans.

[0178] In another embodiment, the motion control mechanism can also control the array element column to alternately enter the motion state and the static state on a preset path, and perform two-dimensional tissue imaging and two-dimensional shear wave elastic imaging in each static state. Since there is a motion state between each two adjacent static states, the position of the array element column in different static states is different, that is, the static states in different positions correspond to different sections of the target tissue. Afterwards, a first three-dimensional shear wave elastic image is generated based on the two-dimensional shear wave elastic images corresponding to the multiple sections of the target tissue, and a first three-dimensional tissue image is generated based on the two-dimensional tissue images corresponding to the multiple sections of the target tissue.

[0179] Optionally, the ultrasound probe may also be a matrix probe, such as Figure 4 As shown, an array element matrix is ​​arranged inside the matrix probe, and the array element matrix includes a plurality of array element columns, and different array element columns correspond to different sections of the target tissue. When performing two-dimensional tissue imaging, the Nth array element column in the array element matrix can be controlled to transmit ultrasound to the target tissue, receive the echo signal of the ultrasound, and generate the first two-dimensional ultrasound image of the target tissue according to the echo signal. The Nth array element column can be the first array element column, the last array element column, the array element column in the middle position, or any array element column in the array element matrix.

[0180] In the process of performing three-dimensional shear wave elastography using a matrix probe, multiple array element columns are controlled to transmit a second ultrasonic wave to the target tissue and receive echo signals of the second ultrasonic wave. Since different array element columns are located at different spatial positions, the ultrasonic images generated based on the echo signals received by different array element columns correspond to different sections of the target tissue.

[0181] Furthermore, the multiple array element columns of the matrix probe can be controlled to transmit ultrasonic waves to the target tissue, receive ultrasonic echo signals, and generate two-dimensional tissue images of multiple sections of the target tissue based on the ultrasonic echo signals. The two-dimensional tissue images of multiple sections of the target tissue can be reconstructed in three dimensions to obtain a first three-dimensional tissue image of the target tissue.

[0182] The first three-dimensional shear wave elasticity image, the first three-dimensional tissue image, and the first two-dimensional tissue image acquired in the first stage of the target tissue can be stored in the memory of the ultrasonic imaging system, together with the position information of the array element column corresponding to the first two-dimensional tissue image. Alternatively, the first three-dimensional shear wave elasticity image, the first three-dimensional tissue image, the first two-dimensional tissue image, and the position information of the array element column corresponding to the first two-dimensional tissue image can also be obtained by other means.

[0183] In the second stage for the target tissue, the ultrasonic probe is controlled to transmit the first ultrasonic wave to the target tissue, the echo signal of the first ultrasonic wave is received, and multiple frames of real-time two-dimensional tissue images of the target tissue are generated according to the echo signal of the first ultrasonic wave. In the process of generating the real-time two-dimensional tissue image, the multiple frames of real-time two-dimensional tissue image are matched with the first two-dimensional tissue image, so as to determine the second two-dimensional tissue image matching the first two-dimensional tissue image in the multiple frames of real-time two-dimensional tissue image. When the real-time two-dimensional tissue image matches the first two-dimensional tissue image, it indicates that the current position of the ultrasonic probe is consistent with the position when the first two-dimensional tissue image was collected, so the second three-dimensional shear wave elastic image collected at the current position also corresponds to the same spatial position as the first three-dimensional shear wave elastic image, which can accurately compare the changes in the target tissue before and after treatment, which is of great significance for evaluating the treatment effect.

[0184] Wherein, when the ultrasonic probe is a volume probe, the preset position of the array element column in the preset path when acquiring the first two-dimensional tissue image is determined, and the array element column is controlled to move to the preset position by the motion control mechanism to acquire the echo signal of the first ultrasonic wave. For example, if the array element column is located in the middle position of the preset path when acquiring the first two-dimensional tissue image, then when acquiring the real-time two-dimensional tissue image, the array element column is still controlled to move to the middle position of the preset path by the motion control mechanism to obtain the echo signal of the first ultrasonic wave. When the ultrasonic probe is a matrix probe, the target array element column used when acquiring the first two-dimensional tissue image is determined, and the same target array element column is used to acquire the echo signal of the first ultrasonic wave. For example, if the first two-dimensional tissue image is acquired by the array element column located in the middle position in the array element matrix, then when acquiring the real-time two-dimensional tissue image, the ultrasonic echo data is still acquired by the array element column in the middle position, thereby ensuring that when the real-time two-dimensional tissue image matches the first two-dimensional tissue image, not only the array element column is located at the same spatial position, but also the ultrasonic probe as a whole is located at the same spatial position.

[0185] Exemplarily, the real-time two-dimensional tissue image and the first two-dimensional tissue image can be displayed on the same screen, such as Figure 7 As shown, the first two-dimensional tissue image acquired before treatment is displayed on the left side of the display interface, and the real-time two-dimensional tissue image acquired in real time after treatment is displayed on the right side of the display interface. The method of matching the two may include calculating the similarity between the first two-dimensional tissue image and each frame of the real-time two-dimensional tissue image. When the similarity is higher than a preset threshold, it indicates that the current real-time two-dimensional tissue image matches the first two-dimensional tissue image, and the current real-time two-dimensional tissue image can be defined as the second two-dimensional tissue image. Alternatively, the user may compare the real-time two-dimensional tissue image and the first two-dimensional tissue image displayed on the same screen, and manually select the second two-dimensional tissue image with a higher degree of similarity to the first two-dimensional tissue image.

[0186] Next, in step S240, at the ultrasound probe position corresponding to the second two-dimensional tissue image, a shear wave propagating in the target tissue is generated, the ultrasound probe is controlled to transmit a second ultrasound wave that tracks the shear wave to multiple sections of the target tissue, the echo signal of the second ultrasound wave is received, and a two-dimensional shear wave elastic image corresponding to the multiple sections of the target tissue is generated according to the echo signal of the second ultrasound wave. Among them, the ultrasound probe position corresponding to the second two-dimensional tissue image refers to the position of the ultrasound probe shell, that is, in the process of generating the two-dimensional shear wave elastic images corresponding to the multiple sections of the target tissue, the position of the ultrasound probe shell is always maintained or initially maintained at the position corresponding to the second two-dimensional tissue image, and the position of the array element column inside the ultrasound probe may or may not move at this time. Alternatively, the ultrasound probe is moved with the position corresponding to the second two-dimensional tissue image as the base point or reference point to obtain a three-dimensional shear wave elastic image.

[0187] The three-dimensional shear wave elastic image in the embodiment of the present invention can be a three-dimensional shear wave elastic image obtained by scanning based on any probe used for three-dimensional imaging. When obtaining two-dimensional shear wave elastic images corresponding to multiple sections for three-dimensional shear wave elastic imaging, the ultrasound probe as a whole is maintained at the ultrasound probe position corresponding to the second two-dimensional tissue image, and the array element columns therein can scan multiple sections of the target tissue in a moving or stationary manner. Alternatively, the ultrasound probe as a whole is initially maintained at the ultrasound probe position corresponding to the second two-dimensional tissue image, and then the ultrasound probe housing is moved with the position corresponding to the second two-dimensional tissue image as the base point or reference point to obtain the three-dimensional shear wave elastic image.

[0188] When the ultrasonic probe is a volume probe, the motion control mechanism in the volume probe controls the array element column to move on a preset path in the volume probe, controls the array element column to emit the second ultrasonic wave to the target tissue at different positions of the preset path, and receives the echo signal of the second ultrasonic wave. Exemplarily, the motion control mechanism can control the array element column to perform accelerated motion, uniform motion, and decelerated motion. During the uniform motion, the array element column is controlled to emit the second ultrasonic wave and receive the echo signal of the second ultrasonic wave. Alternatively, the motion control mechanism can control the array element column to alternately enter a moving state and a stationary state. In the stationary state, the array element column is controlled to emit the second ultrasonic wave and receive the echo signal of the second ultrasonic wave. When the ultrasonic probe is a matrix probe, multiple array element columns in the array element matrix can be controlled to emit the second ultrasonic wave to the target tissue and receive the echo signal of the second ultrasonic wave. When the ultrasonic probe is a conventional probe, the array element column is controlled to move by moving the ultrasonic probe so that the array element column transmits a second ultrasonic wave to the target tissue and receives the echo signal of the second ultrasonic wave, wherein the ultrasonic probe can be moved by manual control or machine control, and the array element column transmits the second ultrasonic wave to the target tissue by a flat scan along a preset direction or by a fan scan based on a certain position, which is not specifically limited here. Then, in step S250, a second three-dimensional shear wave elastic image of the target tissue is generated based on the two-dimensional shear wave elastic images corresponding to multiple sections of the target tissue. The specific method for generating the second three-dimensional shear wave elastic image can refer to the above description of the first three-dimensional shear wave elastic image, which will not be repeated here.

[0189] Since the ultrasound probe is located at the same spatial position when acquiring the second 3D shear wave elasticity image and the first 3D shear wave elasticity, the second 3D shear wave elasticity image and the first 3D shear wave elasticity image reflect the elasticity information of the target tissue at the same spatial position. By comparing the second 3D shear wave elasticity image with the first 3D shear wave elasticity image, the changes of the target tissue at different stages can be reflected, thereby presenting the treatment effect on the target tissue.

[0190] In the process of generating the second three-dimensional shear wave elastic image, a three-dimensional tissue image of the target tissue can also be generated synchronously, and the three-dimensional tissue image and the second three-dimensional shear wave elastic image are fused and displayed. Wherein, when the ultrasonic probe is a volume probe, the array element column is controlled to transmit the third ultrasonic wave to the target tissue at different positions of the preset path, the echo signal of the third ultrasonic wave is received, and the third two-dimensional tissue image corresponding to multiple sections of the target tissue is generated according to the echo signal of the third ultrasonic wave; the three-dimensional tissue image of the target tissue is generated based on the third two-dimensional tissue image corresponding to multiple sections of the target tissue. When the ultrasonic probe is a matrix probe, different array element columns are controlled to transmit the third ultrasonic wave to the target tissue in sequence, the echo signal of the third ultrasonic wave is received, and the third two-dimensional tissue image corresponding to multiple sections of the target tissue is generated according to the echo signal of the third ultrasonic wave; the three-dimensional tissue image of the target tissue is generated based on the third two-dimensional tissue image corresponding to multiple sections of the target tissue. Exemplarily, the three-dimensional tissue image collected in the first stage can be referred to as the first three-dimensional tissue image, and the three-dimensional tissue stage collected in the second stage can be referred to as the second three-dimensional tissue image.

[0191] Finally, in step S260, the changes of the target tissue at different stages are reflected by comparing the first three-dimensional shear wave elastic image and the second three-dimensional shear wave elastic image. The first three-dimensional shear wave elastic image and the second three-dimensional shear wave elastic image can be displayed on the same screen, so that the user can understand the changes of the target tissue at different stages by observing the difference between the first three-dimensional shear wave elastic image and the second three-dimensional shear wave elastic image. Alternatively, a comparative analysis result between the first stage and the second stage of the target tissue can be obtained based on the first three-dimensional shear wave elastic image and the second three-dimensional shear wave elastic image, and the comparative analysis result can be displayed.

[0192] For example, the comparative analysis result obtained based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image may be an elasticity change image reflecting the elasticity change of the target tissue. Figure 8 As shown, a first three-dimensional target area corresponding to the target tissue is determined in the first three-dimensional shear wave elastic image, and a second three-dimensional target area corresponding to the target tissue is determined in the second three-dimensional shear wave elastic image; based on the first three-dimensional target area and the second three-dimensional target area, three-dimensional elastic change data of the target tissue is obtained; based on the three-dimensional elastic change data, a three-dimensional elastic change image is generated, and the three-dimensional elastic change image is displayed.

[0193] Among them, a threshold determination method can be used to determine a first three-dimensional target area corresponding to the target tissue in the first three-dimensional shear wave elastic image, and to determine a second three-dimensional target area corresponding to the target tissue in the second three-dimensional shear wave elastic image, that is, to determine an area whose elasticity value exceeds a preset threshold as an area corresponding to the target tissue, and the preset threshold can be adjusted by the user. Then, the elasticity value of each pixel point in the first three-dimensional target area and the second three-dimensional target area is subtracted to obtain the three-dimensional elastic change data of the target tissue.

[0194] Alternatively, the elastic changes of the target tissue can also be presented in a two-dimensional manner. In one embodiment, the target section of interest can be selected through the obtained three-dimensional elastic change image, and the elastic changes of the selected target section can be displayed in a two-dimensional manner. The user can select a two-dimensional display elastic change mode, at which time a first section selection mark can be displayed in the three-dimensional elastic change image, and the first section selection mark is used to select the target section of the target tissue; based on the first section selection mark, the two-dimensional elastic change data corresponding to the target section is extracted from the three-dimensional elastic change data; and a two-dimensional elastic change image is generated based on the two-dimensional elastic change data.

[0195] The first section selection mark may be a two-dimensional auxiliary observation section, such as Fig. 9 The two-dimensional auxiliary observation section and the three-dimensional elastic change image can be translated and rotated. The user can move or rotate the auxiliary observation section or the three-dimensional elastic change image to place the auxiliary observation section at the position of interest, select the target section corresponding to the position, and generate the two-dimensional elastic change image of the target section, as shown in Fig. 9 As shown in the figure on the right.

[0196] Alternatively, a second section selection mark for selecting a target section may be displayed in the first three-dimensional shear wave elastic image or the second three-dimensional shear wave elastic image; based on the second section selection mark, a first two-dimensional shear wave image corresponding to the target section is extracted in the first three-dimensional shear wave elastic image, and a second two-dimensional shear wave elastic image corresponding to the target section is extracted in the second three-dimensional shear wave elastic image; a first two-dimensional target area corresponding to the target tissue is determined in the first two-dimensional shear wave elastic image, and a second two-dimensional target area corresponding to the target tissue is determined in the second two-dimensional shear wave elastic image; two-dimensional elastic change data of the target section is obtained based on the first two-dimensional target area and the second two-dimensional target area; a two-dimensional elastic change image is generated based on the two-dimensional elastic change data, and the two-dimensional elastic change image is displayed.

[0197] like Fig.10As shown, the second section selection mark can also be a two-dimensional auxiliary observation section. After activating the two-dimensional auxiliary observation section, the two-dimensional auxiliary observation section or the three-dimensional shear wave elastic image can be moved or rotated to select the target section of interest, thereby obtaining the two-dimensional shear wave elastic data of the target section at different stages. The two-dimensional shear wave elastic data at different stages are subtracted to obtain the two-dimensional elastic change data of the target section.

[0198] In another embodiment, a third section selection mark may be displayed in the first three-dimensional shear wave elastic image or the second three-dimensional shear wave elastic image, and the third section selection mark is used to select the target section of the target tissue; based on the third section selection mark, a first two-dimensional shear wave image corresponding to the target section is extracted from the first three-dimensional shear wave elastic image, and a second two-dimensional shear wave elastic image corresponding to the target section is extracted from the second three-dimensional shear wave elastic image; the first two-dimensional shear wave elastic image and the second two-dimensional shear wave elastic image are displayed on the same screen. The user can observe the difference between the first two-dimensional shear wave elastic image and the second two-dimensional shear wave elastic image, so as to judge the changes in the elastic distribution of the target section of the target tissue at different stages.

[0199] The one-dimensional display of target tissue elasticity change is a supplement to the two-dimensional display. Specifically, a reference line can be set in the two-dimensional elasticity change image, and the one-dimensional elasticity change data corresponding to the reference line can be extracted from the two-dimensional elasticity change data, and an elasticity change curve can be generated according to the one-dimensional elasticity change data, and the elasticity change curve can be displayed.

[0200] Or, if Fig.11 As shown, a reference line may also be set in the first two-dimensional shear wave elastic image or the second two-dimensional shear wave elastic image; a first elastic curve corresponding to the reference line is extracted from the first two-dimensional shear wave elastic image, and a second elastic curve corresponding to the reference line is extracted from the second two-dimensional shear wave elastic image. Fig.12 As shown, the first elastic curve and the second elastic curve can be displayed on the same screen, or an elastic change curve can be generated based on the first elastic curve and the second elastic curve, and the elastic change curve can be displayed. For example, the elastic values ​​corresponding to the position coordinates of the first elastic curve and the second elastic curve can be subtracted to obtain the elastic change values ​​corresponding to the position coordinates, and then the elastic change curve can be generated.

[0201] In addition to the above-mentioned images reflecting the elastic changes of the target tissue, the comparative analysis results between the target tissue in the first stage and the second stage can also reflect the morphological changes of the target tissue. Specifically, a third three-dimensional target area corresponding to the target tissue is determined in the first three-dimensional shear wave elastic image, and a fourth three-dimensional target area corresponding to the target tissue is determined in the second three-dimensional shear wave data; based on the morphology of the third three-dimensional target area and the morphology of the fourth three-dimensional target area, three-dimensional morphological change data of the target tissue is obtained; based on the three-dimensional morphological change data, a three-dimensional morphological change image is generated and displayed.

[0202] Among them, a threshold determination method can be used to determine the three-dimensional target area corresponding to the target tissue in the three-dimensional shear wave elastic image. That is, the area in the three-dimensional shear wave elastic image with an elasticity value greater than a preset threshold is determined as the three-dimensional target area corresponding to the target tissue. Afterwards, the three-dimensional target area can be binarized, that is, the three-dimensional target area is set to 1, and other areas are set to 0, and then the three-dimensional target areas at different stages are subjected to Boolean operations to obtain a three-dimensional morphological change image of the target tissue. When performing threshold judgment, the preset threshold used can be adjusted by the user.

[0203] Furthermore, a two-dimensional display method can be used to present the morphological changes of the target tissue. Fig.13 As shown, a fourth section selection mark can be displayed in the three-dimensional morphological change image, and the fourth section selection mark is used to select the target section of the target tissue; based on the fourth section selection mark, the two-dimensional morphological change data corresponding to the target section is extracted from the three-dimensional morphological change data; a two-dimensional morphological change image is generated according to the two-dimensional morphological change data, and the two-dimensional morphological change image is displayed. Among them, the fourth section selection mark can be a two-dimensional auxiliary observation section, and the fourth section selection mark and the three-dimensional morphological change image can be moved or rotated to allow the user to select the target section of interest.

[0204] Alternatively, a fifth section selection mark may be displayed in the first three-dimensional shear wave elastic image or the second three-dimensional shear wave elastic image, and the fifth section selection mark is used to select the target section of the target tissue; based on the fifth section selection mark, a third two-dimensional shear wave elastic image corresponding to the target section is extracted in the first three-dimensional shear wave elastic image, and a fourth two-dimensional shear wave elastic image corresponding to the target section is extracted in the second three-dimensional shear wave data; a third two-dimensional target area corresponding to the target tissue is determined in the third two-dimensional shear wave elastic image, and a fourth two-dimensional target area corresponding to the target tissue is determined in the fourth two-dimensional shear wave elastic image; two-dimensional morphological change data of the target tissue is obtained according to the morphology of the third two-dimensional target area and the morphology of the fourth two-dimensional target area; a two-dimensional morphological change image is generated according to the two-dimensional morphological change data, and the two-dimensional morphological change image is displayed. Among them, the fifth section selection mark can be a two-dimensional auxiliary observation section, and the fifth section selection mark, the first three-dimensional shear wave elastic image, and the second three-dimensional shear wave elastic image can all be moved or rotated for the user to select the target section of interest. After selecting the target section, the two-dimensional morphology of the target tissue on the target section can be obtained through threshold judgment, tracing or other area selection methods. The obtained two-dimensional morphology of the target tissue is binarized, and then the two target areas are subjected to Boolean operations to obtain a two-dimensional morphological change map of the target tissue.

[0205] Through the above method, one-dimensional / two-dimensional / three-dimensional elastic images, elastic change images, morphological images and morphological change images of the target tissue are obtained, and the above information can be freely combined and presented to display one or more of them. Fig.14 An exemplary presentation method is shown, and the final presentation method can be selected according to needs in actual use.

[0206] like Fig.14 As shown, the three-dimensional elastic change image, three-dimensional morphological change image, two-dimensional elastic change image and elastic change curve of the target tissue can be displayed simultaneously. The two-dimensional elastic change image can change in real time according to the change of the section selected in the three-dimensional elastic change image; the elastic change curve can change in real time according to the change of the reference line selected in the two-dimensional elastic change image.

[0207] To summarize, the ultrasound imaging method 200 of the embodiment of the present invention performs three-dimensional shear wave elastic imaging and two-dimensional tissue imaging on the target tissue at different stages, and searches for three-dimensional shear wave elastic images at the same perspective for comparison based on matching the two-dimensional tissue images, thereby effectively evaluating the changes of the target tissue at different stages.

[0208] Another aspect of the present invention provides an ultrasonic imaging method, such as Fig.15 As shown, the ultrasound imaging method 1500 includes the following steps:

[0209] In step S1510, a first three-dimensional elastic image and a first two-dimensional tissue image of a target tissue are acquired, wherein the first three-dimensional elastic image and the first two-dimensional tissue image are acquired in a first stage for the target tissue, and the first two-dimensional tissue image and the first three-dimensional elastic image correspond to the same ultrasound probe position;

[0210] Step S1520: in the second stage for the target tissue, a multi-frame real-time two-dimensional tissue image of the target tissue is acquired by an ultrasonic probe;

[0211] In step S1530, the multiple frames of real-time two-dimensional tissue images are matched with the first two-dimensional tissue image, and a second two-dimensional tissue image matching the first two-dimensional tissue image is determined in the multiple frames of real-time two-dimensional tissue images;

[0212] In step S1540, at the ultrasound probe position corresponding to the second two-dimensional tissue image, two-dimensional elastic images corresponding to multiple sections of the target tissue are acquired;

[0213] In step S1550, a second three-dimensional elastic image of the target tissue is generated based on the two-dimensional elastic images corresponding to the multiple sections of the target tissue;

[0214] In step S1560, the first three-dimensional elastic image and the second three-dimensional elastic image are displayed on the same screen, and / or, based on the first three-dimensional elastic image and the second three-dimensional elastic image, a comparative analysis result of the target tissue between the first stage and the second stage is obtained, and the comparative analysis result is displayed.

[0215] In the ultrasonic imaging method 1500, the first three-dimensional elastic image and the second three-dimensional elastic image are three-dimensional shear wave elastic images, or the first three-dimensional elastic image and the second three-dimensional elastic image may also be three-dimensional strain elastic images. When the first three-dimensional elastic image and the second three-dimensional elastic image are three-dimensional strain elastic images, if a volume probe is used, the array element column can be controlled to generate at least two frames of two-dimensional tissue data of the current section at each position, thereby obtaining at least two frames of two-dimensional tissue data of each section. If a matrix probe is used, each array in the array element matrix can be controlled to generate at least two frames of two-dimensional tissue data of the current section, thereby obtaining at least two frames of two-dimensional tissue data of each section. Strain elastic imaging calculation is performed on at least two frames of two-dimensional tissue data of each section, and two-dimensional strain elastic data of each section can be obtained. The three-dimensional strain elastic data of the target tissue can be obtained by performing three-dimensional reconstruction on the two-dimensional strain elastic data of multiple sections.

[0216] Among them, strain elastic imaging calculation refers to calculating the displacement occurring at the same position in at least two frames of two-dimensional tissue data through a related algorithm, that is, the spatial position change information of the target tissue at two different times; by calculating the axial gradient of the displacement, the strain value of each point of the target tissue can be obtained. Under the same force state, the greater the strain, the softer the tissue, and the smaller the strain, the harder the tissue. Tissue strain can be caused by external pressure or by the tissue itself. For example, the user can be prompted to use different pressing states for the volume probe during the scanning process, so as to detect the strain caused by different pressing states and obtain two-dimensional strain elastic data; alternatively, the strain of the tissue itself caused by vascular pulsation can be detected to obtain two-dimensional strain elastic data, or the strain of the tissue itself caused by breathing can be detected to obtain two-dimensional strain elastic data.

[0217] In some embodiments, speckle tracking can be used to generate two-dimensional strain elastic data based on at least two frames of two-dimensional tissue data corresponding to the same section. Specifically, the previous frame of two-dimensional tissue data can be defined as a reference frame, and the next frame of two-dimensional tissue data can be defined as a current frame. The displacement of the current frame relative to the reference frame is calculated by the speckle tracking method, that is, for a certain position in the reference frame data, a matching position is searched in the search area of ​​the current frame data, thereby obtaining the displacement between the two positions, and the strain size of the tissue can be calculated by the obtained displacement information, thereby obtaining the two-dimensional strain elastic data. Exemplarily, the strain elastic imaging calculation can be performed based on the region of interest of the two-dimensional tissue data, and the region of interest can be determined by the user, or automatically determined by identifying the target tissue in the two-dimensional tissue data.

[0218] The ultrasonic imaging method 1500 of the embodiment of the present invention has many identical or similar details to the ultrasonic imaging method 200 described above, which can be specifically referred to above and will not be elaborated here.

[0219] Another aspect of the present invention provides an ultrasonic imaging method, such as Fig.16 As shown, the ultrasound imaging method 1600 includes the following steps:

[0220] In step S1610, in the second stage for the target tissue, multiple frames of real-time two-dimensional tissue images of the target tissue are generated in real time, and the real-time two-dimensional tissue images and a first two-dimensional tissue image of the target tissue are displayed on the same screen, where the first two-dimensional tissue image is acquired in the first stage for the target tissue;

[0221] In step S1620, the multiple frames of real-time two-dimensional tissue images are matched with the first two-dimensional tissue image, and a second two-dimensional tissue image matching the first two-dimensional tissue image is determined in the multiple frames of real-time two-dimensional tissue images;

[0222] In step S1630, a second three-dimensional shear wave elasticity image of the target tissue is generated at the ultrasound probe position corresponding to the second two-dimensional tissue image;

[0223] In step S1640, a first three-dimensional shear wave elastic image of the target tissue collected in the first stage of the target tissue is acquired, and the first three-dimensional shear wave elastic image and the second three-dimensional shear wave elastic image are displayed on the same screen; and / or, based on the first three-dimensional shear wave elastic image and the second three-dimensional shear wave elastic image, a comparative analysis result between the target tissue in the first stage and the second stage is obtained, and the comparative analysis result is displayed.

[0224] On the basis of displaying the first three-dimensional shear wave elastic image and the second three-dimensional shear wave elastic image on the same screen, a third section selection identifier can also be displayed in the first three-dimensional shear wave elastic image and / or the second three-dimensional shear wave elastic image, and the third section selection identifier is used to select the target section of the target tissue; based on the third section selection identifier, a first two-dimensional shear wave image corresponding to the target section is extracted from the first three-dimensional shear wave elastic image, and a second two-dimensional shear wave elastic image corresponding to the target section is extracted from the second three-dimensional shear wave elastic image; the first two-dimensional shear wave elastic image and the second two-dimensional shear wave elastic image are displayed on the same screen.

[0225] In one embodiment, the comparative analysis result is used to reflect the elastic change of the target tissue. The comparative analysis result can be presented in a three-dimensional manner. Specifically, a three-dimensional elastic change image of the target tissue is displayed, and the three-dimensional elastic change image reflects the elastic change of the target tissue between the first stage and the second stage.

[0226] Alternatively, the comparative analysis results may also be presented in a two-dimensional manner. Specifically, a first section selection identifier may be displayed in a three-dimensional elastic change image, and the first section selection identifier is used to select a target section of a target tissue; based on the first section selection identifier, a two-dimensional elastic change image corresponding to the target section is displayed. Alternatively, a second section selection identifier may also be displayed in a first three-dimensional shear wave elastic image or a second three-dimensional shear wave elastic image, and the second section selection identifier is used to select a target section of a target tissue; based on the second section selection identifier, a first two-dimensional shear wave image corresponding to the target section is extracted from the first three-dimensional shear wave elastic image, and a second two-dimensional shear wave elastic image corresponding to the target section is extracted from the second three-dimensional shear wave elastic image; a first two-dimensional target area corresponding to the target tissue is determined in the first two-dimensional shear wave elastic image, and a second two-dimensional target area corresponding to the target tissue is determined in the second two-dimensional shear wave elastic image; two-dimensional elastic change data of the target section is obtained based on the first two-dimensional target area and the second two-dimensional target area; a two-dimensional elastic change image is generated based on the two-dimensional elastic change data, and the two-dimensional elastic change image is displayed.

[0227] In one embodiment, the comparative analysis results can be presented in a one-dimensional manner. Among them, a reference line can be set in the two-dimensional elastic change image, and a one-dimensional elastic change curve corresponding to the reference line can be displayed. Alternatively, a reference line can be set in the first two-dimensional shear wave elastic image and / or the second two-dimensional shear wave elastic image; a first elastic curve corresponding to the reference line can be extracted in the first two-dimensional shear wave elastic image, and a second elastic curve corresponding to the reference line can be extracted in the second two-dimensional shear wave elastic image; the first elastic curve and the second elastic curve can be displayed on the same screen, and / or an elastic change curve can be generated based on the first elastic curve and the second elastic curve, and the elastic change curve can be displayed.

[0228] In another embodiment, the comparative analysis result is used to reflect the morphological changes of the target tissue. In this case, a third three-dimensional target area corresponding to the target tissue can be determined in the first three-dimensional shear wave elasticity image, and a fourth three-dimensional target area corresponding to the target tissue can be determined in the second three-dimensional shear wave data; based on the morphology of the third three-dimensional target area and the morphology of the fourth three-dimensional target area, three-dimensional morphological change data of the target tissue is obtained; based on the three-dimensional morphological change data, a three-dimensional morphological change image is generated, and the three-dimensional morphological change image is displayed.

[0229] Furthermore, a fourth section selection identifier can be displayed in the three-dimensional morphological change image, and the fourth section selection identifier is used to select a target section of the target tissue; based on the fourth section selection identifier, two-dimensional morphological change data corresponding to the target section is extracted from the three-dimensional morphological change data; a two-dimensional morphological change image is generated based on the two-dimensional morphological change data, and the two-dimensional morphological change image is displayed.

[0230] Alternatively, a fifth section selection identifier can be displayed in the first three-dimensional shear wave elastic image and / or the second three-dimensional shear wave elastic image, and the fifth section selection identifier is used to select a target section of the target tissue; based on the fifth section selection identifier, a third two-dimensional shear wave elastic image corresponding to the target section is extracted from the first three-dimensional shear wave elastic image, and a fourth two-dimensional shear wave elastic image corresponding to the target section is extracted from the second three-dimensional shear wave data; a third two-dimensional target area corresponding to the target tissue is determined in the third two-dimensional shear wave elastic image, and a fourth two-dimensional target area corresponding to the target tissue is determined in the fourth two-dimensional shear wave elastic image; two-dimensional morphological change data of the target tissue is obtained based on the morphology of the third two-dimensional target area and the morphology of the fourth two-dimensional target area; a two-dimensional morphological change image is generated based on the two-dimensional morphological change data, and the two-dimensional morphological change image is displayed.

[0231] Through the above method, one-dimensional / two-dimensional / three-dimensional elastic images, elastic change images, morphological images, and morphological change images of the target tissue are obtained, and the above information can be freely combined and presented to display one or more of them. For example, a three-dimensional elastic change image, a three-dimensional morphological change image, a two-dimensional elastic change image, and an elastic change curve of the target tissue can be displayed simultaneously. Among them, the two-dimensional elastic change image can change in real time according to the change of the section selected in the three-dimensional elastic change image; the elastic change curve can change in real time according to the change of the reference line selected in the two-dimensional elastic change image.

[0232] The ultrasonic imaging method 1600 of the embodiment of the present invention has many identical or similar details to the ultrasonic imaging method 200 described above, which can be specifically referred to above and will not be described in detail here.

[0233] The embodiment of the present invention further provides an ultrasonic imaging system, which is used to implement the ultrasonic imaging method 200, the ultrasonic imaging method 1500 and the ultrasonic imaging method 1600 described above. Figure 1 The ultrasound imaging system 100 includes an ultrasound probe 110, a transmitting circuit 112, a receiving circuit 114, a processor 116 and a display 118. Optionally, the ultrasound imaging system 100 may also include a transmit / receive selection switch 120, a beamforming module 122 and a memory 124. The transmitting circuit 112 and the receiving circuit 114 may be connected to the ultrasound probe 110 via the transmit / receive selection switch 120.

[0234] Among them, the ultrasonic probe 110 can be a volume probe or a matrix probe; the transmitting circuit 112 is used to excite the array element columns in the ultrasonic probe 110 to transmit ultrasonic waves to the target tissue; the receiving circuit 114 is used to control the array element columns to receive ultrasonic echoes to obtain ultrasonic echo signals; the processor 116 is used to execute the ultrasonic imaging method 200, the ultrasonic imaging method 1500 and the ultrasonic imaging method 1600; the display 118 is used to display ultrasonic images or comparative analysis results.

[0235] The above only describes the main functions of the components of the ultrasound imaging system 100. For more specific details of the ultrasound imaging system 100, please refer to the above and will not be described in detail here.

[0236] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present invention thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as required by the appended claims.

[0237] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0238] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0239] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0240] Similarly, it should be understood that in order to streamline the present invention and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present invention should not be interpreted as reflecting the following intention: the claimed invention requires more features than the features explicitly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present invention.

[0241] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0242] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0243] The various component embodiments of the present invention can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all of the functions of some modules according to embodiments of the present invention. The present invention can also be implemented as a device program (e.g., a computer program and a computer program product) for executing part or all of the methods described herein. Such a program implementing the present invention can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0244] It should be noted that the above embodiments illustrate rather than limit the invention, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of means, several of these means may be embodied by the same hardware item. The use of the words first, second, and third, etc., does not indicate any order. These words may be interpreted as names.

[0245] The above is only a specific embodiment of the present invention or an explanation of a specific embodiment. The protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An ultrasonic imaging method, characterized in that: The method comprises: Acquire a first three-dimensional shear wave elasticity image and a first two-dimensional tissue image of a target tissue, wherein the first three-dimensional shear wave elasticity image and the first two-dimensional tissue image are acquired in a first phase for the target tissue, and the first two-dimensional tissue image and the first three-dimensional shear wave elasticity image correspond to the same ultrasound probe position; In the second stage for the target tissue, the ultrasonic probe is controlled to transmit a first ultrasonic wave to the target tissue, an echo signal of the first ultrasonic wave is received, and a multi-frame real-time two-dimensional tissue image of the target tissue is generated according to the echo signal of the first ultrasonic wave; Matching the multiple frames of real-time two-dimensional tissue images with the first two-dimensional tissue image, and determining a second two-dimensional tissue image matching the first two-dimensional tissue image in the multiple frames of real-time two-dimensional tissue images; At the ultrasound probe position corresponding to the second two-dimensional tissue image, a shear wave propagating in the target tissue is generated, the ultrasound probe is controlled to transmit a second ultrasound wave tracking the shear wave to multiple sections of the target tissue, an echo signal of the second ultrasound wave is received, and a two-dimensional shear wave elastic image corresponding to the multiple sections of the target tissue is generated according to the echo signal of the second ultrasound wave; generating a second three-dimensional shear wave elastic image of the target tissue based on the two-dimensional shear wave elastic images corresponding to the multiple sections of the target tissue; The first three-dimensional shear wave elastic image and the second three-dimensional shear wave elastic image are displayed on the same screen; and / or, based on the first three-dimensional shear wave elastic image and the second three-dimensional shear wave elastic image, a comparative analysis result between the target tissue in the first stage and the second stage is obtained, and the comparative analysis result is displayed.

2. The method according to claim 1, characterized in that The ultrasonic probe is a volume probe, and a motion control mechanism and array element arrays are arranged inside the volume probe; The step of controlling the ultrasonic probe to transmit a second ultrasonic wave tracking the shear wave to a plurality of sections of the target tissue and receiving an echo signal of the second ultrasonic wave comprises: The motion control mechanism controls the array of elements to move on a preset path in the volume probe, and different positions of the preset path correspond to different sections of the target tissue; The array element array is controlled to transmit the second ultrasonic wave to the target tissue at different positions of the preset path, and an echo signal of the second ultrasonic wave is received.

3. The method according to claim 2, characterized in that The step of controlling the array element array to move on a preset path in the volume probe by the motion control mechanism includes: Controlling the array element array to perform accelerated motion, uniform motion and decelerated motion by the motion control mechanism; The controlling of the array element column to transmit the second ultrasonic wave to the target tissue at different positions of the preset path and receiving the echo signal of the second ultrasonic wave includes: during the uniform motion, controlling the array element column to transmit the second ultrasonic wave and receiving the echo signal of the second ultrasonic wave.

4. The method according to claim 2, characterized in that: The method further includes: determining a preset position of the array element column in the preset path when acquiring the first two-dimensional tissue image; The controlling the ultrasonic probe to transmit a first ultrasonic wave to the target tissue and receiving an echo signal of the first ultrasonic wave comprises: The motion control mechanism controls the array element column to move to the preset position, and controls the array element column to transmit the first ultrasonic wave to the target tissue at the preset position, and receives the echo signal of the first ultrasonic wave.

5. The method according to claim 2, characterized in that: The method further comprises: Controlling the array element array to transmit a third ultrasonic wave to the target tissue at different positions along the preset path, receiving an echo signal of the third ultrasonic wave, and generating a third two-dimensional tissue image corresponding to a plurality of sections of the target tissue according to the echo signal of the third ultrasonic wave; A three-dimensional tissue image of the target tissue is generated based on the third two-dimensional tissue images corresponding to the multiple sections of the target tissue, and the three-dimensional tissue image is fused with the second three-dimensional shear wave elasticity image for display.

6. The method according to claim 1, characterized in that The ultrasound probe is a matrix probe, an array element matrix is ​​arranged inside the matrix probe, the array element matrix includes a plurality of array element columns, and different array element columns correspond to different sections of the target tissue; The step of controlling the ultrasonic probe to transmit a second ultrasonic wave tracking the shear wave to a plurality of sections of the target tissue and receiving an echo signal of the second ultrasonic wave comprises: The plurality of array element columns are controlled to transmit the second ultrasonic wave to the target tissue, and an echo signal of the second ultrasonic wave is received.

7. The method according to claim 6, characterized in that The method further includes: determining, among the plurality of array element columns, a target array element column for acquiring the first two-dimensional tissue image; The controlling the ultrasonic probe to transmit a first ultrasonic wave to the target tissue and receiving an echo signal of the first ultrasonic wave comprises: The target array element column is controlled to transmit the first ultrasonic wave to the target tissue, and an echo signal of the first ultrasonic wave is received.

8. The method according to claim 6, characterized in that The method further comprises: Controlling different array element columns to sequentially transmit a third ultrasonic wave to the target tissue, receiving echo signals of the third ultrasonic wave, and generating third two-dimensional tissue images corresponding to multiple sections of the target tissue according to the echo signals of the third ultrasonic wave; A three-dimensional tissue image of the target tissue is generated based on the third two-dimensional tissue images corresponding to the multiple sections of the target tissue, and the three-dimensional tissue image is fused with the second three-dimensional shear wave elasticity image for display.

9. The method according to claim 1, characterized in that: The step of obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result comprises: determining a first three-dimensional target region corresponding to the target tissue in the first three-dimensional shear wave elasticity image, and determining a second three-dimensional target region corresponding to the target tissue in the second three-dimensional shear wave elasticity image; Based on the first three-dimensional target area and the second three-dimensional target area, obtaining three-dimensional elastic change data of the target tissue; A three-dimensional elastic change image is generated based on the three-dimensional elastic change data, and the three-dimensional elastic change image is displayed.

10. The method according to claim 9, characterized in that The method of obtaining a comparative analysis result between the first stage and the second stage of the target tissue based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result, further includes: Displaying a first section selection mark in the three-dimensional elastic change image, wherein the first section selection mark is used to select a target section of the target tissue; Based on the first section selection identifier, extracting the two-dimensional elastic change data corresponding to the target section from the three-dimensional elastic change data; A two-dimensional elastic change image is generated based on the two-dimensional elastic change data, and the two-dimensional elastic change image is displayed.

11. The method according to claim 1, characterized in that: The step of obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result comprises: Displaying a second section selection mark in the first three-dimensional shear wave elasticity image and / or the second three-dimensional shear wave elasticity image, wherein the second section selection mark is used to select a target section of the target tissue; Based on the second section selection identifier, extracting a first two-dimensional shear wave image corresponding to the target section from the first three-dimensional shear wave elastic image, and extracting a second two-dimensional shear wave elastic image corresponding to the target section from the second three-dimensional shear wave elastic image; determining a first two-dimensional target region corresponding to the target tissue in the first two-dimensional shear wave elasticity image, and determining a second two-dimensional target region corresponding to the target tissue in the second two-dimensional shear wave elasticity image; Obtaining two-dimensional elastic change data of the target section according to the first two-dimensional target area and the second two-dimensional target area; A two-dimensional elastic change image is generated according to the two-dimensional elastic change data, and the two-dimensional elastic change image is displayed.

12. The method according to claim 10 or 11, characterized in that: The method of obtaining a comparative analysis result between the first stage and the second stage of the target tissue based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result, further includes: Setting a reference line in the two-dimensional elastic change image, and extracting one-dimensional elastic change data corresponding to the reference line from the two-dimensional elastic change data; An elasticity change curve is generated according to the one-dimensional elasticity change data, and the elasticity change curve is displayed.

13. The method according to claim 1, characterized in that The step of obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result comprises: Displaying a third section selection mark in the first three-dimensional shear wave elasticity image and / or the second three-dimensional shear wave elasticity image, wherein the third section selection mark is used to select a target section of the target tissue; Based on the third section selection identifier, extracting a first two-dimensional shear wave image corresponding to the target section in the first three-dimensional shear wave elastic image, and extracting a second two-dimensional shear wave elastic image corresponding to the target section in the second three-dimensional shear wave elastic image; The first two-dimensional shear wave elasticity image and the second two-dimensional shear wave elasticity image are displayed on the same screen.

14. The method according to claim 13, characterized in that The method further comprises: Setting a reference line in the first two-dimensional shear wave elasticity image and / or the second two-dimensional shear wave elasticity image; extracting a first elastic curve corresponding to the reference line in the first two-dimensional shear wave elastic image, and extracting a second elastic curve corresponding to the reference line in the second two-dimensional shear wave elastic image; The first elasticity curve and the second elasticity curve are displayed on the same screen, and / or an elasticity change curve is generated according to the first elasticity curve and the second elasticity curve, and the elasticity change curve is displayed.

15. The method according to claim 1, characterized in that The step of obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result comprises: determining a third three-dimensional target region corresponding to the target tissue in the first three-dimensional shear wave elasticity image, and determining a fourth three-dimensional target region corresponding to the target tissue in the second three-dimensional shear wave data; Based on the morphology of the third three-dimensional target area and the morphology of the fourth three-dimensional target area, obtaining three-dimensional morphological change data of the target tissue; A three-dimensional shape change image is generated based on the three-dimensional shape change data, and the three-dimensional shape change image is displayed.

16. The method according to claim 15, characterized in that The method of obtaining a comparative analysis result between the first stage and the second stage of the target tissue based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result, further includes: Displaying a fourth section selection mark in the three-dimensional morphological change image, wherein the fourth section selection mark is used to select a target section of the target tissue; Based on the fourth section selection identifier, extracting the two-dimensional morphological change data corresponding to the target section from the three-dimensional morphological change data; A two-dimensional morphological change image is generated according to the two-dimensional morphological change data, and the two-dimensional morphological change image is displayed.

17. The method according to claim 1, characterized in that The step of obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result comprises: displaying a fifth section selection mark in the first three-dimensional shear wave elasticity image and / or the second three-dimensional shear wave elasticity image, wherein the fifth section selection mark is used to select a target section of the target tissue; Based on the fifth section selection identifier, extracting a third two-dimensional shear wave elastic image corresponding to the target section from the first three-dimensional shear wave elastic image, and extracting a fourth two-dimensional shear wave elastic image corresponding to the target section from the second three-dimensional shear wave data; determining a third two-dimensional target region corresponding to the target tissue in the third two-dimensional shear wave elasticity image, and determining a fourth two-dimensional target region corresponding to the target tissue in the fourth two-dimensional shear wave elasticity image; Obtaining two-dimensional morphological change data of the target tissue according to the morphology of the third two-dimensional target area and the morphology of the fourth two-dimensional target area; A two-dimensional morphological change image is generated according to the two-dimensional morphological change data, and the two-dimensional morphological change image is displayed.

18. An ultrasonic imaging method, characterized in that: The method comprises: Acquire a first three-dimensional elastic image and a first two-dimensional tissue image of a target tissue, wherein the first three-dimensional elastic image and the first two-dimensional tissue image are acquired in a first phase for the target tissue, and the first two-dimensional tissue image and the first three-dimensional elastic image correspond to the same ultrasound probe position; In the second stage for the target tissue, multiple frames of real-time two-dimensional tissue images of the target tissue are collected by an ultrasonic probe; Matching the multiple frames of real-time two-dimensional tissue images with the first two-dimensional tissue image, and determining a second two-dimensional tissue image matching the first two-dimensional tissue image in the multiple frames of real-time two-dimensional tissue images; At the ultrasound probe position corresponding to the second two-dimensional tissue image, acquiring two-dimensional elastic images corresponding to multiple sections of the target tissue; generating a second three-dimensional elastic image of the target tissue based on the two-dimensional elastic images corresponding to the multiple sections of the target tissue; Displaying the first three-dimensional elastic image and the second three-dimensional elastic image on the same screen; and / or, based on the first three-dimensional elastic image and the second three-dimensional elastic image, obtaining a comparative analysis result of the target tissue between the first stage and the second stage, and displaying the comparative analysis result.

19. The method according to claim 18, characterized in that The first three-dimensional elastic image and the second three-dimensional elastic image are three-dimensional shear wave elastic images, or the first three-dimensional elastic image and the second three-dimensional elastic image are three-dimensional strain elastic images.

20. An ultrasonic imaging method, characterized in that: The method comprises: In the second stage for the target tissue, multiple frames of real-time two-dimensional tissue images of the target tissue are generated in real time, and the real-time two-dimensional tissue images and a first two-dimensional tissue image of the target tissue are displayed on the same screen, where the first two-dimensional tissue image is acquired in the first stage for the target tissue; Matching the multiple frames of real-time two-dimensional tissue images with the first two-dimensional tissue image, and determining a second two-dimensional tissue image matching the first two-dimensional tissue image in the multiple frames of real-time two-dimensional tissue images; generating a second three-dimensional shear wave elasticity image of the target tissue at the ultrasound probe position corresponding to the second two-dimensional tissue image; acquiring a first three-dimensional shear wave elasticity image of the target tissue acquired in the first stage of the target tissue; The first three-dimensional shear wave elastic image and the second three-dimensional shear wave elastic image are displayed on the same screen; and / or, based on the first three-dimensional shear wave elastic image and the second three-dimensional shear wave elastic image, a comparative analysis result between the target tissue in the first stage and the second stage is obtained, and the comparative analysis result is displayed.

21. The method according to claim 20, characterized in that The displaying of the comparative analysis result includes: displaying a three-dimensional elastic change image of the target tissue, wherein the three-dimensional elastic change image reflects the elastic change of the target tissue between the first stage and the second stage.

22. The method according to claim 21, characterized in that The displaying of the comparative analysis result further includes: Displaying a first section selection mark in the three-dimensional elastic change image, wherein the first section selection mark is used to select a target section of the target tissue; Based on the first section selection identifier, a two-dimensional elastic change image corresponding to the target section is displayed.

23. The method according to claim 20, characterized in that The step of obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result comprises: Displaying a second section selection mark in the first three-dimensional shear wave elasticity image and / or the second three-dimensional shear wave elasticity image, wherein the second section selection mark is used to select a target section of the target tissue; Based on the second section selection identifier, extracting a first two-dimensional shear wave image corresponding to the target section from the first three-dimensional shear wave elastic image, and extracting a second two-dimensional shear wave elastic image corresponding to the target section from the second three-dimensional shear wave elastic image; Determining a first two-dimensional target region corresponding to the target tissue in the first two-dimensional shear wave elasticity image, and determining a second two-dimensional target region corresponding to the target tissue in the second two-dimensional shear wave elasticity image; Obtaining two-dimensional elastic change data of the target section according to the first two-dimensional target area and the second two-dimensional target area; A two-dimensional elastic change image is generated according to the two-dimensional elastic change data, and the two-dimensional elastic change image is displayed.

24. The method according to claim 23 or 24, characterized in that The displaying of the comparative analysis result further includes: A reference line is set in the two-dimensional elastic change image, and a one-dimensional elastic change curve corresponding to the reference line is displayed.

25. The method according to claim 20, characterized in that The step of obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result comprises: Displaying a third section selection mark in the first three-dimensional shear wave elasticity image and / or the second three-dimensional shear wave elasticity image, wherein the third section selection mark is used to select a target section of the target tissue; Based on the third section selection identifier, extracting a first two-dimensional shear wave image corresponding to the target section in the first three-dimensional shear wave elastic image, and extracting a second two-dimensional shear wave elastic image corresponding to the target section in the second three-dimensional shear wave elastic image; The first two-dimensional shear wave elasticity image and the second two-dimensional shear wave elasticity image are displayed on the same screen.

26. The method according to claim 25, characterized in that The method further comprises: Setting a reference line in the first two-dimensional shear wave elasticity image and / or the second two-dimensional shear wave elasticity image; extracting a first elastic curve corresponding to the reference line in the first two-dimensional shear wave elastic image, and extracting a second elastic curve corresponding to the reference line in the second two-dimensional shear wave elastic image; The first elasticity curve and the second elasticity curve are displayed on the same screen, and / or an elasticity change curve is generated according to the first elasticity curve and the second elasticity curve, and the elasticity change curve is displayed.

27. The method according to claim 26, characterized in that The step of obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result comprises: determining a third three-dimensional target region corresponding to the target tissue in the first three-dimensional shear wave elasticity image, and determining a fourth three-dimensional target region corresponding to the target tissue in the second three-dimensional shear wave data; Based on the morphology of the third three-dimensional target area and the morphology of the fourth three-dimensional target area, obtaining three-dimensional morphological change data of the target tissue; A three-dimensional shape change image is generated based on the three-dimensional shape change data, and the three-dimensional shape change image is displayed.

28. The method according to claim 27, characterized in that The method of obtaining a comparative analysis result between the first stage and the second stage of the target tissue based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result, further includes: Displaying a fourth section selection mark in the three-dimensional morphological change image, wherein the fourth section selection mark is used to select a target section of the target tissue; Based on the fourth section selection identifier, extracting the two-dimensional morphological change data corresponding to the target section from the three-dimensional morphological change data; A two-dimensional morphological change image is generated according to the two-dimensional morphological change data, and the two-dimensional morphological change image is displayed.

29. The method according to claim 20, characterized in that The step of obtaining a comparative analysis result of the target tissue between the first stage and the second stage based on the first three-dimensional shear wave elasticity image and the second three-dimensional shear wave elasticity image, and displaying the comparative analysis result comprises: displaying a fifth section selection mark in the first three-dimensional shear wave elasticity image and / or the second three-dimensional shear wave elasticity image, wherein the fifth section selection mark is used to select a target section of the target tissue; Based on the fifth section selection identifier, extracting a third two-dimensional shear wave elastic image corresponding to the target section from the first three-dimensional shear wave elastic image, and extracting a fourth two-dimensional shear wave elastic image corresponding to the target section from the second three-dimensional shear wave data; determining a third two-dimensional target region corresponding to the target tissue in the third two-dimensional shear wave elasticity image, and determining a fourth two-dimensional target region corresponding to the target tissue in the fourth two-dimensional shear wave elasticity image; Obtaining two-dimensional morphological change data of the target tissue according to the morphology of the third two-dimensional target area and the morphology of the fourth two-dimensional target area; A two-dimensional morphological change image is generated according to the two-dimensional morphological change data, and the two-dimensional morphological change image is displayed.

30. An ultrasonic imaging system, characterized in that: The ultrasonic imaging system comprises: Ultrasound probe; A transmitting circuit, used for stimulating the ultrasonic probe to transmit ultrasonic waves to the target tissue; A receiving circuit, used for controlling the ultrasonic probe to receive the ultrasonic echo and obtain the ultrasonic echo signal; A processor, configured to execute the ultrasound imaging method according to any one of claims 1 to 29; A display is used to display the ultrasound image generated by the processor.

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