Multi-device communication and coordinated scanning handheld ultrasonic imaging system and method

Abstract

The invention provides a handheld ultrasonic imaging system and method for multi-device communication and coordinated scanning, and relates to the technical field of ultrasonic imaging, and the system comprises a device pairing module which is connected with a plurality of handheld ultrasonic devices and is used for controlling the handheld ultrasonic devices to establish connection with each other, controlling the handheld ultrasonic devices which are connected to perform device time synchronization; the coordinated scanning module is connected with the equipment pairing module and is used for respectively distributing corresponding scanning tasks for scanning to obtain a plurality of ultrasonic data based on the equipment positions of the handheld ultrasonic equipment and a preset scanning scheme for the handheld ultrasonic equipment which has established connection; and the image integration module is connected with the coordinated scanning module and is used for carrying out image reconstruction on the ultrasonic data based on the equipment position of each handheld ultrasonic equipment to obtain a final ultrasonic image. The method has the beneficial effects that automatic pairing and cooperation among multiple devices are realized, medical personnel do not need to manually operate each device, the operation process is greatly simplified, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic imaging, and in particular to a handheld ultrasonic imaging system and method for multi-device communication and coordinated scanning. Background Art

[0002] In the process of medical diagnosis and treatment, ultrasound imaging technology has become one of the important tools for doctors to diagnose diseases due to its non-invasive, real-time and high-resolution characteristics. In recent years, with the continuous development of medical technology, handheld ultrasound devices have gradually been widely used in the medical field due to their portability, ease of carrying and simple operation, especially in emergency, intensive care, telemedicine and other scenarios, showing great potential.

[0003] However, despite the many advantages of handheld ultrasound devices, they still face many challenges when handling complex medical diagnostic tasks. In particular, when it is necessary to obtain comprehensive and accurate ultrasound images of patients from multiple angles, traditional handheld ultrasound devices as standalone devices are unable to cope with the situation.

[0004] Most of the handheld ultrasound devices on the market are designed as single, independent operating units. Each device operates independently and lacks effective communication and collaboration mechanisms. In scenarios where multi-angle scanning is required, medical staff need to manually control and adjust the scanning position and angle of each device to ensure that comprehensive and accurate ultrasound images are obtained. This mode of operation not only increases the workload of medical staff and increases the complexity of the operation, but is also prone to problems such as inaccurate scanning position and missing scanning angles due to human factors, thereby reducing scanning efficiency and image diagnostic accuracy. Technical defects in the prior art:

[0005] Lack of automatic collaboration capabilities: Existing handheld ultrasound devices cannot automatically establish connections with other devices and perform collaborative scanning. As a result, when multi-angle scanning is required, medical staff must manually operate each device, which is a cumbersome and time-consuming operation process.

[0006] Time synchronization problem: During the multi-device collaboration process, if the time between the devices is not synchronized, the collected ultrasound data will deviate on the time axis, which will affect the subsequent image integration and diagnostic accuracy.

[0007] Image integration is difficult: Since each device operates independently, the collected ultrasound data may differ in position, angle, and time, which makes subsequent image integration work complicated and difficult to ensure accuracy.

[0008] Low scanning efficiency: Manually controlling multiple devices for scanning not only increases operation time, but may also result in omissions or repeated scanning during the scanning process, further reducing scanning efficiency.

[0009] In summary, the existing handheld ultrasound devices have defects such as poor collaboration, time synchronization problems, difficulty in image integration, and low scanning efficiency when dealing with complex medical diagnosis tasks. These problems limit the application scope and diagnostic effect of handheld ultrasound devices in the medical field and need to be solved through technological innovation. Summary of the invention

[0010] In view of the problems existing in the prior art, the present invention provides a handheld ultrasound imaging system for multi-device communication and coordinated scanning, comprising:

[0011] A device pairing module, connected to a plurality of handheld ultrasound devices, for controlling the handheld ultrasound devices to establish connections with each other, and controlling the handheld ultrasound devices that have established connections to perform device time synchronization;

[0012] A coordination scanning module, connected to the device pairing module, is used to assign corresponding scanning tasks to each of the handheld ultrasound devices that have been connected, based on the device position of each handheld ultrasound device and a preset scanning scheme, to scan and obtain multiple ultrasound data;

[0013] The image integration module is connected to the coordination scanning module and is used to reconstruct the ultrasound data based on the device position of each handheld ultrasound device to obtain a final ultrasound image.

[0014] Preferably, the device pairing module includes:

[0015] A device pairing unit, used to control each handheld ultrasound device to enter a pairing state, and to wirelessly broadcast a presence signal to the outside world while receiving a signal from the outside world, and for each handheld ultrasound device, to respond when receiving the presence signal sent from the outside world, and to establish a connection according to the received presence signal, and then to select one of the handheld ultrasound devices that have established a connection with each other as a master device, and to use the remaining handheld ultrasound devices as slave devices;

[0016] The device synchronization unit is connected to the device pairing unit and is used to control the master device to send a time synchronization signal to each of the slave devices. After receiving the time synchronization signal, each of the slave devices performs time synchronization to calibrate its own local clock to complete device time synchronization.

[0017] Preferably, the device pairing unit comprises:

[0018] Start the pairing subunit, which is used to control each of the handheld ultrasound devices to enter the pairing state. For each of the handheld ultrasound devices in the pairing state, the device information and the device state thereof are integrated into a preset broadcast format as the presence signal and broadcasted externally, while receiving external signals in real time, and the pairing state is exited after a preset pairing time period has passed;

[0019] Establishing a connection subunit, connected to the starting pairing subunit, for each of the handheld ultrasound devices in the pairing state, performing signal analysis upon receiving the presence signal sent by the external handheld ultrasound device to obtain the device pairing address and device status in the device information of the external handheld ultrasound device, and then performing device connection according to the device pairing address when it is determined according to the device status that the connection is not established;

[0020] The master-slave determination subunit is connected to the connection establishment subunit, and is used to obtain the device quality scores of all the handheld ultrasonic devices that have established connections with each other, and use the handheld ultrasonic device with the highest device quality score as the master device, and use the remaining handheld ultrasonic devices as slave devices.

[0021] Preferably, the device pairing unit further includes a device quality scoring subunit, connected to the master-slave determination subunit, including:

[0022] A fuzzy evaluation unit, used for collecting and acquiring data processing performance, connection stability performance and endurance duration of all the handheld ultrasound devices that have established connections with each other to establish an evaluation factor set, and then performing fuzzy evaluation on each evaluation factor in the evaluation factor set to obtain a fuzzy relationship matrix;

[0023] A weight vector determination unit, connected to the fuzzy evaluation unit, for determining the weight vector of each evaluation factor by using a hierarchical analysis method;

[0024] The device scoring unit is connected to the weight vector determination unit and is used to synthesize the fuzzy relationship matrix and the weight vector using a fuzzy synthesis operation to obtain a fuzzy comprehensive evaluation result of each of the handheld ultrasound devices, and then defuzzify each of the fuzzy comprehensive evaluation results to obtain a device quality score of each of the handheld ultrasound devices.

[0025] Preferably, the scanning scheme includes a plurality of standard equipment points, each of which is associated with a scanning task; and the coordinated scanning module includes:

[0026] A distance calculation unit, used for obtaining the scanning scheme and the device position of each of the handheld ultrasound devices that have established a connection, and then respectively calculating the position deviation distance between each of the device positions and each of the standard device points;

[0027] A scheme screening unit is connected to the distance calculation unit and is used to construct multiple initial allocation schemes according to the one-to-one correspondence between the handheld ultrasound device and the standard device points, then calculate the sum of the position deviation distances in each of the initial allocation schemes, select the initial allocation scheme with the smallest sum of the position deviation distances as the optimal allocation scheme, and then allocate the scanning tasks associated with the standard device points in the optimal allocation scheme to the corresponding handheld ultrasound device.

[0028] Preferably, each of the ultrasound data is associated with an acquisition timestamp; and the image integration module comprises:

[0029] A timestamp synchronization unit, used for controlling each of the slave devices to send the collected ultrasound data to the master device, and the master device divides all the received ultrasound data into a plurality of ultrasound data sets according to the associated collection timestamps;

[0030] An image reconstruction unit is connected to the timestamp synchronization unit and is used for the master device to perform three-dimensional reconstruction on each ultrasound data set according to the device position of the slave device associated with each ultrasound data in the ultrasound data set to obtain the ultrasound image.

[0031] The present invention also provides a handheld ultrasound imaging method for multi-device communication and coordinated scanning, which is applied to the above-mentioned handheld ultrasound imaging system, comprising:

[0032] Step S1, the handheld ultrasound imaging system controls the handheld ultrasound devices to establish connections with each other, and controls the handheld ultrasound devices that have established connections to perform device time synchronization;

[0033] Step S2, the handheld ultrasound imaging system assigns corresponding scanning tasks to each handheld ultrasound device that has established a connection based on the device position of each handheld ultrasound device and a preset scanning scheme to perform scanning to obtain a plurality of ultrasound data;

[0034] Step S3: the handheld ultrasound imaging system reconstructs each of the ultrasound data based on the device position of each of the handheld ultrasound devices to obtain a final ultrasound image.

[0035] Preferably, the step S1 comprises:

[0036] Step S11, the handheld ultrasound imaging system controls each handheld ultrasound device to enter a pairing state, and wirelessly broadcasts a presence signal to the outside world while receiving a signal from the outside world, and each handheld ultrasound device responds when receiving the presence signal sent from the outside world, and establishes a connection according to the received presence signal, and then selects one of the handheld ultrasound devices that have established connections with each other as a master device, and the remaining handheld ultrasound devices are used as slave devices;

[0037] Step S12, the handheld ultrasound imaging system controls the master device to send a time synchronization signal to each of the slave devices, and each of the slave devices performs time synchronization and calibrates its own local clock after receiving the time synchronization signal to complete device time synchronization.

[0038] Preferably, the step S11 includes:

[0039] Step S111, the handheld ultrasound imaging system controls each handheld ultrasound device to enter a pairing state, and for each handheld ultrasound device in the pairing state, integrates its own device information and its own device state into a preset broadcast format as the presence signal and broadcasts it externally, while receiving external signals in real time, and exits the pairing state after continuing a preset pairing time;

[0040] Step S112, the handheld ultrasound imaging system performs signal analysis for each handheld ultrasound device in the pairing state when receiving the presence signal sent by the external handheld ultrasound device to obtain the device pairing address and device status in the device information of the external handheld ultrasound device, and then performs device connection according to the device pairing address when it is determined according to the device status that the connection is not established;

[0041] Step S113, the handheld ultrasound imaging system obtains device quality scores of all the handheld ultrasound devices that have established connections with each other, uses the handheld ultrasound device with the highest device quality score as the master device, and uses the remaining handheld ultrasound devices as slave devices.

[0042] Preferably, before executing step S113, a device quality scoring process is also included, including:

[0043] Step A1, the handheld ultrasound imaging system collects and obtains the data processing performance, connection stability performance and battery life of all the handheld ultrasound devices that have established connections with each other to establish an evaluation factor set, and then performs fuzzy evaluation on each evaluation factor in the evaluation factor set to obtain a fuzzy relationship matrix;

[0044] Step A2, the handheld ultrasound imaging system uses a hierarchical analysis method to determine the weight vector of each evaluation factor;

[0045] Step A3, the handheld ultrasound imaging system uses a fuzzy synthesis operation to synthesize the fuzzy relationship matrix and the weight vector to obtain a fuzzy comprehensive evaluation result of each handheld ultrasound device, and then defuzzifies each fuzzy comprehensive evaluation result to obtain a device quality score of each handheld ultrasound device.

[0046] The above technical solution has the following advantages or beneficial effects:

[0047] 1) Through wireless broadcasting and signal receiving mechanisms, each handheld ultrasound device can automatically enter the pairing state and establish a connection. This module is also responsible for selecting the master and slave devices to ensure the coordination and consistency of subsequent operations. Automatic pairing and collaboration between multiple devices is achieved, eliminating the need for medical staff to manually operate each device, greatly simplifying the operation process and improving work efficiency.

[0048] 2) After the devices are paired successfully, the master device sends a time synchronization signal to the slave devices, and each slave device performs time calibration based on the received signal to ensure time synchronization of all devices. This solves the problem of data deviation caused by time asynchrony between multiple devices and provides an accurate time reference for subsequent image integration.

[0049] 3) Coordinated scanning module: Automatically allocate scanning tasks according to the location of each device and the preset scanning plan. Select the optimal allocation plan by calculating the position deviation distance between the device location and the standard device point. It realizes the intelligent allocation and coordinated execution of scanning tasks, avoids omissions and repeated scanning problems in manual operation, and improves the accuracy and efficiency of scanning. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a structural schematic diagram of a handheld ultrasound imaging system for multi-device communication and coordinated scanning in a preferred embodiment of the present invention;

[0051] Figure 2 A schematic flow chart of a handheld ultrasound imaging method for multi-device communication and coordinated scanning in a preferred embodiment of the present invention;

[0052] Figure 3 A schematic diagram of a sub-process of step S1 in a preferred embodiment of the present invention;

[0053] Figure 4 This is a schematic diagram of a sub-process of step S11 in a preferred embodiment of the present invention;

[0054] Figure 5 The figure is a flowchart of the equipment quality scoring process in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0055] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. The present invention is not limited to this embodiment, and other embodiments may also fall within the scope of the present invention as long as they conform to the gist of the present invention.

[0056] In a preferred embodiment of the present invention, based on the above problems existing in the prior art, a handheld ultrasound imaging system for multi-device communication and coordinated scanning is provided. Figure 1 As shown, including:

[0057] Device pairing module 1, connected to multiple handheld ultrasound devices, used to control the handheld ultrasound devices to establish connections with each other, and control the handheld ultrasound devices that have established connections to perform device time synchronization;

[0058] The coordination scanning module 2 and the connection device pairing module 1 are used to assign corresponding scanning tasks to each handheld ultrasound device that has been connected based on the device position of each handheld ultrasound device and a preset scanning scheme to scan and obtain multiple ultrasound data;

[0059] The image integration module 3 is connected to the coordination scanning module 2 and is used to reconstruct each ultrasound data based on the device position of each handheld ultrasound device to obtain a final ultrasound image.

[0060] Specifically, in response to the problem in the prior art that existing handheld ultrasound devices cannot automatically establish connections with other devices and perform collaborative scanning, the device pairing module in this embodiment can establish connections between multiple handheld ultrasound devices for device pairing to support multi-device assisted scanning, and after the pairing is established, the time of each device is also synchronized to avoid time asynchrony between devices, which will cause deviations in the collected ultrasound data on the timeline, thereby affecting subsequent image integration and diagnostic accuracy.

[0061] Furthermore, after the device connection is established, multiple scanning tasks in the preset scanning scheme are assigned to each handheld ultrasound device based on the device position of each handheld ultrasound device. Subsequently, each handheld ultrasound device performs ultrasound scanning according to the assigned scanning tasks. Finally, image reconstruction is performed based on all ultrasound scans to obtain the final ultrasound image. The position of each device is taken into account in the image reconstruction, which improves the accuracy of subsequent image integration work. In addition, the automatic scanning method can improve the scanning efficiency and avoid omissions or repeated scanning during the scanning process.

[0062] In a preferred embodiment of the present invention, Figure 2 As shown, the device pairing module 1 includes:

[0063] The device pairing unit 11 is used to control each handheld ultrasound device to enter a pairing state, and to wirelessly broadcast a presence signal to the outside world and receive a signal from the outside world. Each handheld ultrasound device responds when receiving a presence signal from the outside world, and establishes a connection according to the received presence signal, and then selects one of the handheld ultrasound devices that have established a connection with each other as a master device 100, and the remaining handheld ultrasound devices are used as slave devices 200;

[0064] The device synchronization unit 12 is connected to the device pairing unit 11 and is used to control the master device 100 to send a time synchronization signal to each slave device 200. After receiving the time synchronization signal, each slave device 200 performs time synchronization to calibrate its own local clock to complete device time synchronization.

[0065] Specifically, in this embodiment, during the pairing process between devices, each device is first controlled to enter the pairing state. In the pairing state, each handheld ultrasound device will broadcast its own presence signal to the outside world, and will also receive the presence signal broadcast by the outside world. When receiving the presence signal sent by a certain device, a connection is established with the device. In this way, all handheld ultrasound devices are connected to each other to provide a hardware basis for subsequent assisted scanning.

[0066] After all the handheld ultrasound devices are established in pairs, one handheld ultrasound device is selected as the master device 100 and the others are selected as slave devices 200. The coordination and consistency of subsequent operations are ensured by selecting the master and slave devices 200.

[0067] Subsequently, the master device 100 sends a time synchronization signal to the remaining slave devices 200, and each slave device 200 performs time calibration according to the received signal to ensure time synchronization of all devices. This solves the problem of data deviation caused by time asynchrony between multiple devices and provides an accurate time reference for subsequent image integration.

[0068] In a preferred embodiment of the present invention, Figure 1 As shown, the device pairing unit 11 includes:

[0069] Start the pairing subunit 111, which is used to control each handheld ultrasound device to enter the pairing state. For each handheld ultrasound device in the pairing state, the device information and the device state thereof are integrated into a preset broadcast format as a presence signal and broadcasted externally, while receiving external signals in real time, and exit the pairing state after the preset pairing time period is continued;

[0070] The connection establishment subunit 112 is connected to the pairing start subunit 111, and is used for performing signal analysis for each handheld ultrasound device in the pairing state when receiving a presence signal sent by an external handheld ultrasound device to obtain a device pairing address and a device state in the device information of the external handheld ultrasound device, and then performing device connection according to the device pairing address when it is determined according to the device state that a connection is not established;

[0071] The master-slave determination subunit 113 and the connection establishment subunit 112 are used to obtain the device quality scores of all the handheld ultrasound devices that have established connections with each other, and use the handheld ultrasound device with the highest device quality score as the master device 100, and use the remaining handheld ultrasound devices as slave devices 200.

[0072] Specifically, in this embodiment, pairing between handheld ultrasound devices is based on device information and device status to establish a connection;

[0073] More specifically, the handheld ultrasound device integrates its own device information and its own device status into a preset broadcast format as a presence signal and broadcasts it externally, wherein its own device information at least includes a device pairing address of its own communication module and its own device serial number, and its own device status at least includes a device serial number of a connected device;

[0074] The handheld ultrasound devices can only be connected through the device pairing address, and after the connection is established, the device serial number of the established connection is stored separately in the device state. For example, assuming that the B device receives the presence signal S_A sent by the A device and the presence signal S_C sent by the C device, the B device parses S_A to obtain the device pairing address AD_A of the A device and the device serial number N0_A of the A device and the device list L_A that the A device has established a connection with, and the B device parses S_C to obtain the device pairing address AD_C of the C device and the device serial number N0_C of the C device and the device list L_C that the C device has established a connection with;

[0075] Subsequently, if device B does not find its own device serial number N0_B in list L_A, it means that device A and device B have not yet established a connection. At this time, device B initiates a connection request with device A according to device pairing address AD_A. The connection process can use an encrypted handshake protocol to ensure the security of communication between devices. This usually involves public key infrastructure (PKI) and certificate exchange, as well as possible cryptographic algorithms such as AES or RSA. The connection process can be implemented using existing technologies and will not be described here.

[0076] When device B finds its own device serial number N0_B in list L_C, it means that a connection has been established between device C and device B.

[0077] Further, the device quality score of each handheld ultrasound device is obtained, and the handheld ultrasound device with the highest device quality score is used as the master device 100, and the remaining handheld ultrasound devices are used as slave devices 200. In this embodiment, the device pairing unit 11 also includes a device quality scoring subunit 114, which is connected to the master-slave determination subunit 113, including:

[0078] The fuzzy evaluation unit 1141 is used to collect and obtain the data processing performance, connection stability performance and endurance time of all handheld ultrasound devices that have established connections with each other to establish an evaluation factor set, and then perform fuzzy evaluation on each evaluation factor in the evaluation factor set to obtain a fuzzy relationship matrix;

[0079] The weight vector determination unit 1142 is connected to the fuzzy evaluation unit 1141 and is used to determine the weight vector of each evaluation factor by using a hierarchical analysis method;

[0080] The device scoring unit 1143 is connected to the weight vector determining unit 1142 and is used to synthesize the fuzzy relationship matrix and the weight vector using a fuzzy synthesis operation to obtain a fuzzy comprehensive evaluation result of each handheld ultrasound device, and then defuzzify each fuzzy comprehensive evaluation result to obtain a device quality score of each handheld ultrasound device.

[0081] Specifically, in this embodiment, the fuzzy comprehensive evaluation method (FCE) is preferably used for scoring the equipment quality;

[0082] Step 1: Determine the evaluation factor set and comment set

[0083] Evaluation factor set: {data processing performance, connection stability, battery life}.

[0084] Comment set: {very bad, poor, average, good, very good}, each comment corresponds to a fuzzy number or membership function.

[0085] Step 2: Construct fuzzy relationship matrix

[0086] A fuzzy evaluation is performed on each evaluation factor for each handheld ultrasound device to obtain a fuzzy relationship matrix (membership matrix).

[0087] Step 3: Determine the weight vector

[0088] The AHP or other methods can be used to determine the weight vector of the evaluation factors.

[0089] Step 4: Synthesize fuzzy comprehensive evaluation results

[0090] The fuzzy relationship matrix and the weight vector are synthesized using a fuzzy synthesis operation (such as a fuzzy weighted average operator) to obtain a fuzzy comprehensive evaluation result of each handheld ultrasound device.

[0091] The fuzzy comprehensive evaluation results are defuzzified (such as maximum membership method, weighted average method, etc.) to obtain the final score of each handheld ultrasound device.

[0092] The fuzzy comprehensive evaluation method can comprehensively consider multiple evaluation factors, such as data processing performance, connection stability, and battery life, so as to more comprehensively evaluate the overall quality of the device. This multi-factor comprehensive evaluation method is more systematic and comprehensive than a single indicator evaluation.

[0093] By constructing a fuzzy relationship matrix and determining a weight vector, the fuzzy comprehensive evaluation method can quantify the importance of each evaluation factor and the performance of the equipment on each factor. This method reduces the influence of subjective judgment and improves the objectivity and accuracy of the evaluation.

[0094] The fuzzy comprehensive evaluation method allows the use of different membership functions and fuzzy synthesis operation methods to adapt to different evaluation scenarios and needs. This flexibility enables the method to better adapt to complex and changing actual situations.

[0095] In a preferred embodiment of the present invention, the scanning scheme includes a plurality of standard equipment points, each of which is associated with a scanning task; the coordinated scanning module 2 includes:

[0096] A distance calculation unit 21 is used to obtain the scanning plan and the device position of each handheld ultrasound device that has been connected, and then calculate the position deviation distance between each device position and each standard device point;

[0097] The scheme screening unit 22 is connected to the distance calculation unit 21, and is used to construct multiple initial allocation schemes according to the one-to-one correspondence between the handheld ultrasound device and the standard device points, and then calculate the sum of the deviation distances of each position in each initial allocation scheme, and select the initial allocation scheme with the smallest sum of the deviation distances of each position as the optimal allocation scheme, and then allocate the scanning tasks associated with the standard device points in the optimal allocation scheme to the corresponding handheld ultrasound device.

[0098] Specifically, in this embodiment, in the process of allocating scanning schemes, scanning tasks are automatically allocated according to the positions of each device and the preset scanning scheme. The optimal allocation scheme is selected by calculating the position deviation distance between the device position and the standard device point. Intelligent allocation and coordinated execution of scanning tasks are achieved, avoiding omissions and repeated scanning problems in manual operations, and improving the accuracy and efficiency of scanning.

[0099] More specifically, by intelligently calculating the distance deviation between the device position and the standard point, and optimizing the task allocation scheme accordingly, the scanning efficiency and accuracy can be improved. The following is a detailed analysis of this embodiment:

[0100] Scanning Protocol: Contains multiple standard equipment points, each with a specific scanning task to be completed. These points may be pre-set in a hospital, clinic or other medical environment to ensure comprehensiveness and consistency of ultrasound scanning.

[0101] Standard equipment point: refers to the specific location defined in the scanning plan. Each location is associated with a specific scanning task.

[0102] The coordinated scanning module is the core of the system and is responsible for optimizing and allocating scanning tasks based on the positional relationship between the equipment position and the standard points.

[0103] Distance calculation unit: Receives the scanning scheme and the device location information of the connected handheld ultrasound device. Obtains the specific location of each device through a certain positioning technology (such as GPS, Bluetooth beacon, Wi-Fi positioning, etc.).

[0104] For each handheld ultrasound device, the position deviation distance between its position and each standard device point is calculated. These distances can be obtained by using the Euclidean distance formula or other suitable spatial distance calculation methods in the prior art.

[0105] Solution screening:

[0106] Constructing an initial allocation scheme: Based on the one-to-one correspondence between handheld ultrasound devices and standard device locations, construct multiple possible allocation schemes. Each scheme attempts to assign each device to one or more standard locations.

[0107] Evaluation and selection: Calculate the sum of all position deviation distances in each initial allocation scheme. Select the scheme with the smallest sum as the optimal allocation scheme. This step ensures that the average distance between the device and the standard point is the shortest overall, which may improve scanning efficiency and accuracy.

[0108] Assign tasks: Assign the scanning tasks associated with each standard device point in the optimal allocation plan to the corresponding handheld ultrasound device. In this way, each device can receive the scanning task that best suits its current location.

[0109] The advantages are: 1. Intelligence: By automatically calculating and selecting the optimal allocation plan, the need for manual intervention is reduced, and the efficiency and accuracy of task allocation are improved. 2. Flexibility: It can adapt to different numbers and locations of handheld ultrasound devices, as well as changing scanning needs. 3. Efficiency: By reducing equipment movement and waiting time, the overall scanning efficiency is improved.

[0110] In a preferred embodiment of the present invention, each ultrasound data is associated with an acquisition timestamp; the image integration module 3 includes:

[0111] The timestamp synchronization unit 31 is used to control each slave device 200 to send the collected ultrasound data to the master device 100, and the master device 100 divides all the received ultrasound data into a plurality of ultrasound data sets according to the associated collection timestamps;

[0112] The image reconstruction unit 32 is connected to the timestamp synchronization unit 31 and is used for the master device 100 to perform three-dimensional reconstruction on each ultrasound data set according to the device position of the slave device 200 associated with each ultrasound data in the ultrasound data set to obtain an ultrasound image.

[0113] Specifically, in this embodiment, the timestamp synchronization unit is responsible for controlling the slave device 200 to send the collected ultrasound data to the master device 100. In the process of data transmission, it is critical to ensure the integrity of each data packet and the accuracy of the timestamp. After receiving all the ultrasound data, the master device 100 will classify the data into several ultrasound data sets according to the acquisition timestamp associated with each data. Each data set contains all the ultrasound data collected within a specific time period. This classification method helps to reconstruct the ultrasound image in chronological order or specific events.

[0114] The image reconstruction unit receives the ultrasound data set from the timestamp synchronization unit. Three-dimensional reconstruction: For each ultrasound data set, the image reconstruction unit performs three-dimensional reconstruction based on the device position of the slave device 200 associated with each ultrasound data in the data set. Here, the device location information may be obtained through GPS, Bluetooth beacon, Wi-Fi positioning or other positioning technologies in the prior art. Using this information, the relative position of the ultrasound data in space can be estimated, thereby performing more accurate three-dimensional image reconstruction. Finally, ultrasound images are generated and output. These images may be three-dimensional and can more intuitively show the internal structure of the scanned object.

[0115] The advantages of this embodiment are:

[0116] 1. Time synchronization: Timestamp synchronization ensures that ultrasound data can be processed in the correct order, avoiding data confusion or loss.

[0117] 2. Position perception: The three-dimensional reconstruction is performed in combination with the device position information of the slave device 200, thereby improving the accuracy and authenticity of the ultrasound image. This position-based reconstruction method can better reflect the spatial structure of the scanned object.

[0118] 3. Efficiency: The system can automatically process large amounts of ultrasound data and quickly generate high-quality ultrasound images, improving work efficiency and diagnostic accuracy.

[0119] The present invention also provides a handheld ultrasound imaging method for multi-device communication and coordinated scanning, which is applied to the above-mentioned handheld ultrasound imaging system, such as Figure 2 As shown, including:

[0120] Step S1, the handheld ultrasound imaging system controls each handheld ultrasound device to establish a connection with each other, and controls each handheld ultrasound device that has established a connection to perform device time synchronization;

[0121] Step S2, the handheld ultrasound imaging system assigns corresponding scanning tasks to each handheld ultrasound device that has established a connection based on the device position of each handheld ultrasound device and a preset scanning scheme to perform scanning to obtain a plurality of ultrasound data;

[0122] Step S3: The handheld ultrasound imaging system reconstructs each ultrasound data based on the device position of each handheld ultrasound device to obtain a final ultrasound image.

[0123] In a preferred embodiment of the present invention, Figure 3 As shown, step S1 includes:

[0124] Step S11, the handheld ultrasound imaging system controls each handheld ultrasound device to enter a pairing state, and wirelessly broadcasts a presence signal to the outside world while receiving a signal from the outside world. Each handheld ultrasound device responds when receiving a presence signal from the outside world, and establishes a connection according to the received presence signal, and then selects one of the handheld ultrasound devices that have established a connection with each other as the master device 100, and the remaining handheld ultrasound devices are used as slave devices 200;

[0125] Step S12, the handheld ultrasound imaging system controls the master device 100 to send a time synchronization signal to each slave device 200, and each slave device 200 performs time synchronization and calibrates its own local clock after receiving the time synchronization signal to complete device time synchronization.

[0126] In a preferred embodiment of the present invention, Figure 4 As shown, step S11 includes:

[0127] Step S111, the handheld ultrasound imaging system controls each handheld ultrasound device to enter a pairing state, and for each handheld ultrasound device in the pairing state, integrates its own device information and its own device state into a preset broadcast format as a presence signal and broadcasts it externally, while receiving external signals in real time, and exits the pairing state after continuing a preset pairing time;

[0128] Step S112, the handheld ultrasound imaging system performs signal analysis for each handheld ultrasound device in the pairing state when receiving a presence signal sent by an external handheld ultrasound device to obtain a device pairing address and a device state in the device information of the external handheld ultrasound device, and then performs device connection according to the device pairing address when judging according to the device state that a connection is not established;

[0129] Step S113 , the handheld ultrasound imaging system obtains device quality scores of all handheld ultrasound devices that have established connections with each other, uses the handheld ultrasound device with the highest device quality score as the master device 100 , and uses the remaining handheld ultrasound devices as slave devices 200 .

[0130] In a preferred embodiment of the present invention, Figure 5 As shown, before executing step S113, a device quality scoring process is also included, including:

[0131] Step A1, the handheld ultrasound imaging system collects and obtains the data processing performance, connection stability performance and battery life of all handheld ultrasound devices that have established connections with each other to establish an evaluation factor set, and then performs fuzzy evaluation on each evaluation factor in the evaluation factor set to obtain a fuzzy relationship matrix;

[0132] Step A2, the handheld ultrasound imaging system uses a hierarchical analysis method to determine the weight vector of each evaluation factor;

[0133] Step A3, the handheld ultrasound imaging system uses a fuzzy synthesis operation to synthesize the fuzzy relationship matrix and the weight vector to obtain a fuzzy comprehensive evaluation result of each handheld ultrasound device, and then defuzzifies each fuzzy comprehensive evaluation result to obtain a device quality score for each handheld ultrasound device.

[0134] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the contents of this specification and illustrations should be included in the protection scope of the present invention.

Claims

1. A handheld ultrasound imaging system for multi-device communication and coordinated scanning, characterized in that: include: A device pairing module, connected to a plurality of handheld ultrasound devices, for controlling the handheld ultrasound devices to establish connections with each other, and controlling the handheld ultrasound devices that have established connections to perform device time synchronization; A coordination scanning module, connected to the device pairing module, is used to assign corresponding scanning tasks to each of the handheld ultrasound devices that have been connected, based on the device position of each handheld ultrasound device and a preset scanning scheme, to scan and obtain multiple ultrasound data; The image integration module is connected to the coordination scanning module and is used to reconstruct the ultrasound data based on the device position of each handheld ultrasound device to obtain a final ultrasound image.

2. The handheld ultrasound imaging system according to claim 1, characterized in that: The device pairing module includes: A device pairing unit, used to control each handheld ultrasound device to enter a pairing state, and to wirelessly broadcast a presence signal to the outside world while receiving a signal from the outside world, and for each handheld ultrasound device, to respond when receiving the presence signal sent from the outside world, and to establish a connection according to the received presence signal, and then to select one of the handheld ultrasound devices that have established a connection with each other as a master device, and to use the remaining handheld ultrasound devices as slave devices; The device synchronization unit is connected to the device pairing unit and is used to control the master device to send a time synchronization signal to each of the slave devices. After receiving the time synchronization signal, each of the slave devices performs time synchronization to calibrate its own local clock to complete device time synchronization.

3. The handheld ultrasonic imaging system according to claim 2, characterized in that: The device pairing unit comprises: Start the pairing subunit, which is used to control each of the handheld ultrasound devices to enter the pairing state. For each of the handheld ultrasound devices in the pairing state, the device information and the device state thereof are integrated into a preset broadcast format as the presence signal and broadcasted externally, while receiving external signals in real time, and the pairing state is exited after a preset pairing time period has passed; Establishing a connection subunit, connected to the starting pairing subunit, for each of the handheld ultrasound devices in the pairing state, performing signal analysis upon receiving the presence signal sent by the external handheld ultrasound device to obtain the device pairing address and device status in the device information of the external handheld ultrasound device, and then performing device connection according to the device pairing address when it is determined according to the device status that the connection is not established; The master-slave determination subunit is connected to the connection establishment subunit, and is used to obtain the device quality scores of all the handheld ultrasonic devices that have established connections with each other, and use the handheld ultrasonic device with the highest device quality score as the master device, and use the remaining handheld ultrasonic devices as slave devices.

4. The handheld ultrasonic imaging system according to claim 3, characterized in that: The device pairing unit also includes a device quality scoring subunit, connected to the master-slave determination subunit, including: A fuzzy evaluation unit, used for collecting and acquiring data processing performance, connection stability performance and endurance duration of all the handheld ultrasound devices that have established connections with each other to establish an evaluation factor set, and then performing fuzzy evaluation on each evaluation factor in the evaluation factor set to obtain a fuzzy relationship matrix; A weight vector determination unit, connected to the fuzzy evaluation unit, for determining the weight vector of each evaluation factor by using a hierarchical analysis method; The device scoring unit is connected to the weight vector determination unit and is used to synthesize the fuzzy relationship matrix and the weight vector using a fuzzy synthesis operation to obtain a fuzzy comprehensive evaluation result of each of the handheld ultrasound devices, and then defuzzify each of the fuzzy comprehensive evaluation results to obtain a device quality score of each of the handheld ultrasound devices.

5. The handheld ultrasound imaging system according to claim 1, characterized in that: The scanning scheme includes a plurality of standard equipment points, each of which is associated with a scanning task; the coordinated scanning module includes: A distance calculation unit, used for obtaining the scanning scheme and the device position of each of the handheld ultrasound devices that have established a connection, and then respectively calculating the position deviation distance between each of the device positions and each of the standard device points; A scheme screening unit is connected to the distance calculation unit and is used to construct multiple initial allocation schemes according to the one-to-one correspondence between the handheld ultrasound device and the standard device points, then calculate the sum of the position deviation distances in each of the initial allocation schemes, select the initial allocation scheme with the smallest sum of the position deviation distances as the optimal allocation scheme, and then allocate the scanning tasks associated with the standard device points in the optimal allocation scheme to the corresponding handheld ultrasound device.

6. The handheld ultrasound imaging system according to claim 2, characterized in that: Each of the ultrasound data is associated with an acquisition timestamp; the image integration module comprises: A timestamp synchronization unit, used for controlling each of the slave devices to send the collected ultrasound data to the master device, and the master device divides all the received ultrasound data into a plurality of ultrasound data sets according to the associated collection timestamps; An image reconstruction unit is connected to the timestamp synchronization unit and is used for the master device to perform three-dimensional reconstruction on each ultrasound data set according to the device position of the slave device associated with each ultrasound data in the ultrasound data set to obtain the ultrasound image.

7. A handheld ultrasound imaging method for multi-device communication and coordinated scanning, characterized in that: A handheld ultrasonic imaging system as claimed in any one of claims 1 to 6, comprising: Step S1, the handheld ultrasound imaging system controls the handheld ultrasound devices to establish connections with each other, and controls the handheld ultrasound devices that have established connections to perform device time synchronization; Step S2, the handheld ultrasound imaging system assigns corresponding scanning tasks to each handheld ultrasound device that has established a connection based on the device position of each handheld ultrasound device and a preset scanning scheme to perform scanning to obtain a plurality of ultrasound data; Step S3: the handheld ultrasound imaging system reconstructs each of the ultrasound data based on the device position of each of the handheld ultrasound devices to obtain a final ultrasound image.

8. The handheld ultrasonic imaging method according to claim 7, characterized in that: The step S1 comprises: Step S11, the handheld ultrasound imaging system controls each handheld ultrasound device to enter a pairing state, and wirelessly broadcasts a presence signal to the outside world while receiving a signal from the outside world, and each handheld ultrasound device responds when receiving the presence signal sent from the outside world, and establishes a connection according to the received presence signal, and then selects one of the handheld ultrasound devices that have established connections with each other as a master device, and the remaining handheld ultrasound devices are used as slave devices; Step S12, the handheld ultrasound imaging system controls the master device to send a time synchronization signal to each of the slave devices, and each of the slave devices performs time synchronization and calibrates its own local clock after receiving the time synchronization signal to complete device time synchronization.

9. The handheld ultrasonic imaging method according to claim 8, characterized in that: The step S11 comprises: Step S111, the handheld ultrasound imaging system controls each handheld ultrasound device to enter a pairing state, and for each handheld ultrasound device in the pairing state, integrates its own device information and its own device state into a preset broadcast format as the presence signal and broadcasts it externally, while receiving external signals in real time, and exits the pairing state after continuing a preset pairing time; Step S112, the handheld ultrasound imaging system performs signal analysis for each handheld ultrasound device in the pairing state when receiving the presence signal sent by the external handheld ultrasound device to obtain the device pairing address and device status in the device information of the external handheld ultrasound device, and then performs device connection according to the device pairing address when it is determined according to the device status that the connection is not established; Step S113, the handheld ultrasound imaging system obtains device quality scores of all the handheld ultrasound devices that have established connections with each other, uses the handheld ultrasound device with the highest device quality score as the master device, and uses the remaining handheld ultrasound devices as slave devices.

10. The handheld ultrasonic imaging method according to claim 9, characterized in that: Before executing step S113, a device quality scoring process is also included, including: Step A1, the handheld ultrasound imaging system collects and obtains the data processing performance, connection stability performance and battery life of all the handheld ultrasound devices that have established connections with each other to establish an evaluation factor set, and then performs fuzzy evaluation on each evaluation factor in the evaluation factor set to obtain a fuzzy relationship matrix; Step A2, the handheld ultrasound imaging system uses a hierarchical analysis method to determine the weight vector of each evaluation factor; Step A3, the handheld ultrasound imaging system uses a fuzzy synthesis operation to synthesize the fuzzy relationship matrix and the weight vector to obtain a fuzzy comprehensive evaluation result of each handheld ultrasound device, and then defuzzifies each fuzzy comprehensive evaluation result to obtain a device quality score of each handheld ultrasound device.

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