Ultrasonic image generation method, device and program product

Abstract

The invention relates to an ultrasonic image generation method and device and a program product. The method comprises the steps of determining a temporary transmitting angle according to a transmitting angle of a puncture frame used historically, determining a temporary puncture frame obtained by ultrasonic imaging equipment based on the temporary transmitting angle, and generating a fused ultrasonic image according to the temporary puncture frame and a standard ultrasonic image obtained by the ultrasonic imaging equipment based on a preset transmitting angle. Wherein the historically used puncture frame is used for being fused with a standard ultrasonic image obtained by the ultrasonic imaging equipment based on a preset emission angle. By adopting the method, the generation efficiency of the ultrasonic image can be improved.

Description

Technical Field

[0001] The present application relates to the field of ultrasound technology, and in particular to an ultrasound image generation method, device and program product. Background Art

[0002] In ultrasound puncture enhancement technology, the puncture frame corresponding to the puncture needle needs to be fused with the standard ultrasound image to generate a fused ultrasound image. However, due to the smooth surface of the puncture needle, the puncture needle will produce a mirror reflection of the incident ultrasound beam, and as the position of the puncture needle changes, the angle between the puncture needle and the incident ultrasound beam may become smaller and smaller. Therefore, the puncture needle is difficult to develop under ultrasound, resulting in a decrease in the quality of the puncture frame, thereby reducing the quality of the fused ultrasound image.

[0003] Currently, it is necessary to manually adjust the emission angle of the incident beam based on experience, and therefore, the generation efficiency of the fused ultrasound image is currently low. Summary of the invention

[0004] Based on this, it is necessary to provide an ultrasound image generation method, device and program product that can improve the efficiency of ultrasound image generation in order to address the above technical problems.

[0005] In a first aspect, the present application provides a method for generating an ultrasound image, comprising:

[0006] Determine a temporary emission angle according to the emission angle of the historically used puncture frame; the historically used puncture frame is used to fuse with a standard ultrasound image obtained by an ultrasound imaging device based on a preset emission angle;

[0007] Determine a temporary puncture frame obtained by the ultrasound imaging device based on the temporary transmission angle;

[0008] A fused ultrasound image is generated according to the temporary puncture frame and a standard ultrasound image obtained by the ultrasound imaging device based on a preset emission angle.

[0009] In one embodiment, determining a temporary emission angle based on the emission angle of a puncture frame used historically includes:

[0010] A temporary emission angle is determined according to the emission angle of the historically used puncture frame and the quality score of the historically used puncture frame.

[0011] In one embodiment, determining the temporary transmission angle according to the transmission angle of the puncture frame used in history and the quality score of the puncture frame used in history includes:

[0012] Determining whether the historically used puncture frames meet preset conditions according to the emission angle and quality score of the historically used puncture frames;

[0013] When the historically used puncture frames meet the preset conditions, the emission angle corresponding to the same-angle puncture frame is used as the temporary emission angle; the preset conditions include that the emission angles of multiple consecutive historically used puncture frames are the same, and the difference between the maximum and minimum values ​​of the quality scores of the same-angle puncture frames is less than the first threshold; the same-angle puncture frames are multiple consecutive historically used puncture frames with the same emission angle.

[0014] In one embodiment, determining whether the historically used puncture frames meet a preset condition according to the emission angle and quality score of the historically used puncture frames includes:

[0015] Determining storage parameters; the storage parameters include emission angles and quality scores of a plurality of historically used puncture frames arranged in chronological order;

[0016] When the emission angles in the stored parameters are all the same and the difference between the maximum value and the minimum value of the quality scores in the stored parameters is less than a first threshold, it is determined that the preset condition is met.

[0017] In one embodiment, the method further comprises:

[0018] When the historically used puncture frames do not meet the preset conditions, candidate puncture frames obtained by the ultrasonic imaging device based on the candidate emission angles are determined, and a fused ultrasonic image is obtained according to the candidate puncture frames and the standard ultrasonic image.

[0019] In one embodiment, generating a fused ultrasound image based on a temporary puncture frame and a standard ultrasound image obtained by an ultrasound imaging device based on a preset emission angle includes:

[0020] The temporary puncture frame and the standard ultrasound image are fused to generate a fused ultrasound image.

[0021] In one embodiment, generating a fused ultrasound image based on a temporary puncture frame and a standard ultrasound image obtained by an ultrasound imaging device based on a preset emission angle includes:

[0022] Scoring the temporary puncture frame to obtain a quality score of the temporary puncture frame;

[0023] Determine the currently used puncture frame according to the quality score of the temporary puncture frame;

[0024] The currently used puncture frame and the standard ultrasound image are fused to obtain a fused ultrasound image.

[0025] In one embodiment, determining the currently used puncture frame according to the quality score of the temporary puncture frame includes:

[0026] If the difference between the quality score of the temporary puncture frame and the maximum value of the quality score of the puncture frame at the same angle is not greater than the second threshold, the temporary puncture frame is used as the current puncture frame; the puncture frame at the same angle is a plurality of consecutive historical puncture frames with the same transmission angle;

[0027] If the difference between the quality score of the temporary puncture frame and the maximum value of the quality score of the puncture frame at the same angle is greater than the second threshold, the candidate puncture frames obtained by the ultrasonic imaging device based on each candidate emission angle are determined, and a fused ultrasonic image is obtained based on each candidate puncture frame and the standard ultrasonic image.

[0028] In a second aspect, the present application also provides an ultrasonic image generating device, comprising:

[0029] A first determination module is used to determine a temporary transmission angle according to the transmission angle of a historically used puncture frame; the historically used puncture frame is used to fuse with a standard ultrasound image obtained by an ultrasound imaging device based on a preset transmission angle;

[0030] A second determination module is used to determine a temporary puncture frame obtained by the ultrasonic imaging device based on a temporary emission angle;

[0031] The generation module is used to generate a fused ultrasound image according to the temporary puncture frame and the standard ultrasound image obtained by the ultrasound imaging device based on a preset emission angle.

[0032] In a third aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any of the above methods when executing the computer program.

[0033] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of any of the above methods when executed by a processor.

[0034] In a fifth aspect, the present application also provides a computer program product, including a computer program, which implements the steps of any of the above methods when executed by a processor.

[0035] The above-mentioned ultrasound image generation method, device and program product, since the historically used puncture frame is used to fuse with the standard ultrasound image obtained by the ultrasound imaging device based on the preset emission angle, therefore, according to the emission angle of the historically used puncture frame, a more accurate temporary emission angle can be determined in combination with the historical emission angle. Furthermore, after determining the temporary puncture frame obtained by the ultrasound imaging device based on the temporary emission angle, a fused ultrasound image can be efficiently generated based on the temporary puncture frame and the standard ultrasound image obtained by the ultrasound imaging device based on the preset emission angle. In this process, since there is no need to manually adjust the emission angle of the incident beam based on experience, but the temporary emission angle is automatically determined based on the historical emission angle, the efficiency of ultrasound image generation can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0037] FIG1 is a diagram showing an application environment of an ultrasonic image generation method according to an embodiment;

[0038] Figure 2 is a schematic diagram of a flow chart of a method for generating an ultrasonic image in one embodiment;

[0039] Figure 3 A schematic diagram of a process for determining a temporary emission angle in an embodiment;

[0040] Figure 4 A schematic diagram of a process for determining whether a preset condition is met in one embodiment;

[0041] Figure 5 A schematic diagram of a process for generating a fused ultrasound image in one embodiment;

[0042] Figure 6 A schematic diagram of a flow chart of determining a currently used puncture frame in one embodiment;

[0043] Figure 7 A schematic diagram of a process of generating an ultrasonic image in one embodiment;

[0044] Figure 8 is a schematic diagram of a process of yet another ultrasound image generating method in an embodiment;

[0045] Fig. 9 is a structural block diagram of an ultrasonic image generating device in one embodiment;

[0046] FIG. 10 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] Fig. 1 is an application environment diagram of an ultrasonic image generation method in an embodiment. As shown in Fig. 1, the ultrasonic image generation method provided in this embodiment can be applied to an ultrasonic imaging device 100 shown in Fig. 1. The ultrasonic imaging device 100 may include a computer device 101 and an ultrasonic probe 102 in communication connection.

[0049] Among them, the computer device 101 can be set inside the ultrasonic imaging device 100, which may include but is not limited to a central processing unit (CPU), a digital signal processor (DSP), a field programmable gate array (FPGA) or other programmable logic devices.

[0050] In some embodiments, the computer device 101 can be set outside the ultrasound imaging device 100, and it can be but is not limited to various personal computers, laptops, smart phones, tablet computers. Of course, the computer device 101 can also be implemented using an independent server or a server cluster consisting of multiple servers.

[0051] It should be noted that FIG. 1 only illustrates an optional application environment, and the present embodiment is not limited thereto.

[0052] Figure 2 FIG. 1 is a flow chart of a method for generating an ultrasound image in an embodiment. In an exemplary embodiment, Figure 2 As shown, a method for generating an ultrasound image is provided, which is described by taking the method applied to the computer device in FIG. 1 as an example, and includes the following S201 to S203.

[0053] S201, determining a temporary transmission angle according to the transmission angle of the historically used puncture frame; the historically used puncture frame is used to be fused with a standard ultrasound image obtained by an ultrasound imaging device based on a preset transmission angle.

[0054] In this embodiment, the computer device can determine the historically used puncture frames. The historically used puncture frames are used to fuse with the standard ultrasound images obtained by the ultrasound imaging device based on the preset emission angle. The preset emission angle can be set according to the requirements.

[0055] The standard ultrasound image refers to an ultrasound image obtained by the ultrasound imaging device under a preset imaging mode. Optionally, the standard ultrasound image is a B-mode ultrasound image. The computer device can send a standard B-mode sequence to the ultrasound imaging device to obtain a standard ultrasound image.

[0056] That is, the ultrasonic imaging device can obtain a standard ultrasonic image by imaging at a preset emission angle. Furthermore, the standard ultrasonic image can be fused with the corresponding puncture frame, which refers to the ultrasonic image obtained after the ultrasonic imaging device images the puncture needle.

[0057] Furthermore, at a historical moment, the puncture frame fused with the standard ultrasound image is the historically used puncture frame. It should be noted that the historically used puncture frame and the standard ultrasound image may be updated over time.

[0058] In other words, the historically used puncture frames may be puncture frames fused with the historical standard ultrasound images. For example, at time 1, the computer device may fuse the standard ultrasound image 1 corresponding to time 1 with the puncture frame A, and at time 2, the computer device may fuse the standard ultrasound image 2 corresponding to time 2 with the puncture frame B. Then, at the current time 3, the historically used puncture frames include the puncture frame A and the puncture frame B.

[0059] In one embodiment, optionally, each puncture frame in the historically used puncture frames is arranged in time sequence. Continuing with the above example, for example, puncture frame A and puncture frame B in the historically used puncture frames are arranged in time sequence.

[0060] In one embodiment, optionally, the number of historically used puncture frames is a preset value. Further optionally, the historically used puncture frames include the most recent M historically used puncture frames before the current one, where M is an integer greater than 1.

[0061] Furthermore, the computer device can determine the temporary emission angle according to the emission angle of the puncture frame used in history. For example, the computer device can use the emission angle of the puncture frame used in history as the temporary emission angle. For another example, the computer device can also adjust the emission angle of the puncture frame used in history to obtain the temporary emission angle. In one embodiment, the computer device can also use the emission angle of the puncture frame used in history as the temporary emission angle when the emission angles of the puncture frames used in history are the same. This embodiment does not limit this.

[0062] S202, determining a temporary puncture frame obtained by the ultrasonic imaging device based on a temporary transmission angle.

[0063] In this embodiment, the computer device can determine the temporary puncture frame corresponding to the temporary emission angle. The temporary puncture frame is an ultrasonic image obtained after the ultrasonic imaging device images the puncture needle at the temporary emission angle.

[0064] Optionally, the computer device may send a sequence including temporary emission angles to the ultrasound imaging device, so that the ultrasound imaging device images the puncture needle at the temporary emission angles to obtain a temporary puncture frame, and send the temporary puncture frame to the computer device.

[0065] S203, generating a fused ultrasound image according to the temporary puncture frame and a standard ultrasound image obtained by the ultrasound imaging device based on a preset emission angle.

[0066] In this embodiment, the computer device may also determine a standard ultrasonic image obtained by the ultrasonic imaging device based on a preset emission angle. Optionally, the temporary emission angle and the preset emission angle may be emitted in different sequences. For example, the computer device first sends a sequence including a preset emission angle to the ultrasonic imaging device to obtain a standard ultrasonic image based on the ultrasonic imaging device, and then the computer device sends a sequence including a temporary emission angle to the ultrasonic imaging device to obtain a temporary puncture frame based on the ultrasonic imaging device. Of course, in some embodiments, a temporary puncture frame may be obtained first, and then a standard ultrasonic image may be obtained, which is not limited in this embodiment.

[0067] In an exemplary embodiment, the angle difference between the candidate emission angle and the preset emission angle is within a preset difference range, and the preset difference range can be determined according to requirements. For example, the preset difference range can be 30 degrees to 40 degrees.

[0068] Furthermore, the computer device can generate a fused ultrasound image based on the temporary puncture frame and the standard ultrasound image obtained by the ultrasound imaging device based on a preset emission angle.

[0069] In an exemplary embodiment, the computer device may fuse the temporary puncture frame and the standard ultrasound image to generate a fused ultrasound image. The computer device may fuse the temporary puncture frame and the current standard ultrasound image by weighted fusion, fusion model, wavelet transform fusion, etc. to obtain a fused ultrasound image, and this embodiment does not limit the fusion method.

[0070] Further optionally, after determining the fused ultrasound image, the computer device updates the historically used puncture frame according to the temporary puncture frame to obtain a new historically used puncture frame. In this way, when a new fused ultrasound image needs to be determined next time, the computer device can return to step S201 for the new historically used puncture frame, and repeat this process, which will not be described in detail here.

[0071] In an exemplary embodiment, optionally, when it is necessary to generate a fused ultrasound image, the computer device may also score the temporary puncture frame, determine the quality score of the temporary puncture frame, and determine the fused ultrasound image according to the quality score of the temporary puncture frame. Further optionally, when the quality score of the temporary puncture frame meets a preset quality condition, the computer device may fuse the temporary puncture frame with the standard ultrasound image to obtain a fused ultrasound image. When the preset quality condition is not met, the computer device enters a multi-angle emission mode to obtain a fused ultrasound image according to each candidate puncture frame and the standard ultrasound image.

[0072] For example, when the difference between the quality score of the temporary puncture frame and the maximum value of the quality score of the same-angle puncture frame is greater than the second threshold, the computer device can determine each candidate puncture frame obtained by the ultrasound imaging device based on each candidate emission angle, and obtain a fused ultrasound image based on each candidate puncture frame and the standard ultrasound image. The same-angle puncture frame is a continuous historical puncture frame with the same emission angle. The candidate emission angles are multiple different preset emission angles. The multi-angle emission mode can also be understood as a process of obtaining multiple candidate puncture frames.

[0073] In the above-mentioned ultrasound image generation method, since the historically used puncture frame is used to fuse with the standard ultrasound image obtained by the ultrasound imaging device based on the preset emission angle, a more accurate temporary emission angle can be determined based on the emission angle of the historically used puncture frame in combination with the historical emission angle. Furthermore, after determining the temporary puncture frame obtained by the ultrasound imaging device based on the temporary emission angle, a fused ultrasound image can be efficiently generated based on the temporary puncture frame and the standard ultrasound image obtained by the ultrasound imaging device based on the preset emission angle. In this process, since there is no need to manually adjust the emission angle of the incident beam based on experience, but the temporary emission angle is automatically determined based on the historical emission angle, the efficiency of ultrasound image generation can be improved, thereby improving the frame rate of the image.

[0074] In an exemplary embodiment, optionally, the above S201 may be implemented in the following manner:

[0075] A temporary emission angle is determined according to the emission angle of the historically used puncture frame and the quality score of the historically used puncture frame.

[0076] In this embodiment, the computer device may also determine the quality score of the historically used puncture frames. The computer device may score the historically used puncture frames to obtain the quality score of the historically used puncture frames. For example, the quality score may be obtained through a trained machine learning model; the computer device may also receive the quality score of the candidate puncture frames sent by other devices, and the computer device may also obtain the quality score of the historically used puncture frames from a preset storage space, and this embodiment is not limited thereto.

[0077] Further optionally, the quality score of the historical puncture frame can be determined according to the region of interest corresponding to the puncture needle in the historical puncture frame. Exemplarily, the quality score of the historical puncture frame can be obtained by scoring the significant part of the puncture needle in the historical puncture frame.

[0078] Furthermore, the computer device needs not only the emission angle of the historically used puncture frames, but also the quality scores of the historically used puncture frames to determine the temporary emission angle. For example, the computer device can use the emission angle of the historically used puncture frames as the temporary emission angle when the emission angles of the historically used puncture frames are the same and the quality scores of the historically used puncture frames are all within a preset score range. For another example, the computer device can adjust the emission angle of the historically used puncture frames according to the quality scores of the historically used puncture frames to obtain the temporary emission angle, which is not limited in this embodiment.

[0079] In the above embodiment, since the emission angle of the historically used puncture frame and the quality score of the historically used puncture frame can be used, the accuracy of the determined temporary emission angle is further improved, and the quality of the obtained temporary puncture frame is improved.

[0080] Figure 3 FIG. 1 is a flow chart of determining a temporary emission angle in an embodiment. In an exemplary embodiment, as shown in FIG. Figure 3 As shown, the above-mentioned "determining a temporary transmission angle according to the transmission angle of the historically used puncture frames and the quality scores of the historically used puncture frames" includes S301 to S302.

[0081] S301, determining whether the historically used puncture frames meet a preset condition according to the emission angle and quality score of the historically used puncture frames.

[0082] S302, when the historically used puncture frames meet preset conditions, the emission angle corresponding to the same-angle puncture frame is used as a temporary emission angle; the preset conditions include that the emission angles of multiple consecutive historically used puncture frames are the same, and the difference between the maximum and minimum values ​​of the quality scores of the same-angle puncture frames is less than a first threshold; the same-angle puncture frame is a consecutive number of historically used puncture frames with the same emission angle.

[0083] In this embodiment, the computer device determines whether the historically used puncture frames meet the preset conditions according to the emission angles and quality scores of the historically used puncture frames. The preset conditions include that the emission angles of a plurality of consecutive historically used puncture frames are the same, and the difference between the maximum and minimum values ​​of the quality scores of the puncture frames at the same angle is less than a first threshold. The first threshold can be set as required.

[0084] In other words, if the emission angles of M consecutive historically used puncture frames are the same and the difference between the maximum and minimum quality scores of the M historically used puncture frames is less than the first threshold, the historically used puncture frames meet the preset condition.

[0085] Further optionally, the consecutive multiple historically used puncture frames are the M most recent historically used puncture frames before the current one. Exemplarily, taking M=3 as an example, if the current time is time 8, assuming that the historically used puncture frame at time 5 is puncture frame A, the historically used puncture frame at time 6 is puncture frame B, and the historically used puncture frame at time 7 is puncture frame C, then the computer device will determine whether the historically used puncture frames meet the preset condition when the emission angles of puncture frames A, puncture frames B, and puncture frames C are the same and the difference between the maximum and minimum values ​​of the quality scores of puncture frames A, puncture frames B, and puncture frames C is less than a first threshold.

[0086] Furthermore, when the historical puncture frames meet the preset conditions, the computer device can use the emission angle corresponding to the same-angle puncture frame as the temporary emission angle, wherein the same-angle puncture frame is a plurality of consecutive historical puncture frames with the same emission angle.

[0087] Continuing with the above example, if the emission angles of puncture frames A, puncture frames B and puncture frames C are all the same, and the difference between the maximum and minimum values ​​of the quality scores of puncture frames A, puncture frames B and puncture frames C is less than a first threshold, and the historically used puncture frames meet the preset conditions, the computer device uses the emission angles of puncture frames A, puncture frames B and puncture frames C as temporary emission angles.

[0088] In the above embodiment, since the preset condition includes that the emission angles of a plurality of consecutive historically used puncture frames are the same, and the difference between the maximum value and the minimum value of the quality scores of the puncture frames at the same angle is less than the first threshold value; the puncture frames at the same angle are consecutively used historically used puncture frames with the same emission angle, therefore, according to the emission angles and quality scores of the historically used puncture frames, it is possible to efficiently determine whether the preset condition is met. Furthermore, since the emission angle corresponding to the puncture frames at the same angle is used as a temporary emission angle when the preset condition is met, the same emission angle can be used as a temporary emission angle when a plurality of consecutive historically used puncture frames are stable. In this way, the temporary emission angle can be efficiently determined without multi-angle emission and other post-processing steps, thereby improving the image generation efficiency.

[0089] Figure 4 FIG. 1 is a flow chart of determining whether a preset condition is satisfied in an embodiment. In an exemplary embodiment, Figure 4 As shown, the above-mentioned S301 includes S401 to S402.

[0090] S401, determining storage parameters; the storage parameters include emission angles and quality scores of a plurality of historically used puncture frames arranged in chronological order.

[0091] In this embodiment, the computer device can determine the storage parameters. Exemplarily, the storage parameters may include but are not limited to the form of a queue or a matrix.

[0092] The stored parameters include the transmission angles and quality scores of multiple historically used puncture frames arranged in chronological order. In other words, the stored parameters may include the transmission angles and quality scores of M historically used puncture frames arranged in chronological order.

[0093] In one embodiment, optionally, the length of the storage parameters can be fixed, and the storage parameters are updated over time so that the historical puncture frames in the storage parameters are the latest M historical puncture frames. Further optionally, the storage parameters can be updated in a "first in, first out" manner. When updating the storage parameters, the oldest historical puncture frames in the storage parameters are deleted, and the latest historical puncture frames are added to the storage parameters. In other words, the computer device can update the storage parameters according to the puncture frames used by the fused ultrasound image.

[0094] For example, assuming that before time 8, the stored parameters include the emission angle and quality score of the puncture frame used in history at time 5, the emission angle and quality score of the puncture frame used in history at time 6, and the emission angle and quality score of the puncture frame used in history at time 7, then after time 8, the stored parameters may include the emission angle and quality score of the puncture frame used in history at time 6, the emission angle and quality score of the puncture frame used in history at time 7, and the emission angle and quality score of the puncture frame used in history at time 8.

[0095] S402: When the emission angles in the stored parameters are all the same and the difference between the maximum value and the minimum value of the quality score in the stored parameters is less than a first threshold, determine that a preset condition is met.

[0096] Further, after determining the storage parameters, the computer device can determine whether the historical use of puncture frames meets the preset conditions according to the storage parameters. The computer device determines that the preset conditions are met when the transmission angles in the storage parameters are the same and the difference between the maximum value and the minimum value of the quality score in the storage parameters is less than a first threshold.

[0097] Optionally, the computer device can first determine whether the emission angles in the stored parameters are all the same. If the emission angles are not all the same, it is determined that the preset condition is not met. If the emission angles are all the same, it is further determined whether the difference between the maximum and minimum values ​​of the quality score in the stored parameters is less than a first threshold. If it is not less than the first threshold, it is determined that the preset condition is not met. If it is less than the first threshold, it is determined that the preset condition is met.

[0098] In the above embodiment, since the storage parameters include the emission angles and quality scores of the historically used puncture frames arranged in chronological order, after determining the storage parameters, it is possible to accurately determine whether the historically used puncture frames meet the preset conditions when the emission angles in the stored parameters are the same and the difference between the maximum value and the minimum value of the quality score in the stored parameters is less than the first threshold.

[0099] In an exemplary embodiment, optionally, the above-mentioned ultrasound image generation method further includes the following steps:

[0100] When the historically used puncture frames do not meet the preset conditions, candidate puncture frames obtained by the ultrasonic imaging device based on the candidate emission angles are determined, and a fused ultrasonic image is obtained according to the candidate puncture frames and the standard ultrasonic image.

[0101] In this embodiment, when the historically used puncture frames do not meet the preset conditions, it means that the emission angles of the historically used puncture frames are not stable enough. Therefore, the computer device determines the candidate puncture frames obtained by the ultrasonic imaging device based on the candidate emission angles, and obtains a fused ultrasonic image based on the candidate puncture frames and the standard ultrasonic image.

[0102] The computer device can control the ultrasound imaging device to image according to each candidate emission angle, and obtain a candidate puncture frame corresponding to each candidate emission angle. The candidate emission angle can be an emission angle specified by the user, or an emission angle generated by the computer device from a preset angle range, which is not limited in this embodiment. For example, the candidate emission angle is , n is an integer greater than or equal to 2.

[0103] Furthermore, the computer device may send a sequence including multiple candidate emission angles to the ultrasound imaging device, so that the ultrasound imaging device images the puncture needle at each candidate emission angle to obtain a candidate puncture frame corresponding to the candidate emission angle. Continuing with the above example, the candidate puncture frame is It can be understood that the candidate puncture frame The candidate launch angle is Corresponding puncture frames, candidate puncture frames The candidate launch angle is Corresponding puncture frames, ..., candidate puncture frames The candidate launch angle is The corresponding puncture frame.

[0104] Further optionally, the computer device can score each candidate puncture frame to obtain a quality score of each candidate puncture frame, and determine a puncture frame to be fused with the standard ultrasound image from the candidate puncture frames based on the quality score of each candidate puncture frame, so as to fuse the puncture frame with the standard ultrasound image to obtain a fused ultrasound image.

[0105] The computer device may score the candidate puncture frame to obtain a quality score of the candidate puncture frame, for example, the quality score may be obtained through a trained machine learning model. The computer device may also receive the quality score of the candidate puncture frame sent by other devices, and the present embodiment is not limited thereto. Similarly, the quality score of the candidate puncture frame may be determined based on the region of interest corresponding to the puncture needle in the candidate puncture frame. For example, the significant part of the puncture needle in the candidate puncture frame may be scored to obtain the quality score of the candidate puncture frame.

[0106] Continuing with the above example, let the quality score of the candidate puncture frame be ,in, Candidate puncture frame The quality rating of Candidate puncture frame The quality rating of... Candidate puncture frame Quality rating.

[0107] Further optionally, the computer device may determine the puncture frame to be fused with the standard ultrasound image based on the candidate puncture frame with the highest quality score.

[0108] In this way, when the preset conditions are not met, the multi-angle transmission mode can be entered to obtain a fused ultrasound image according to each candidate puncture frame and the standard ultrasound image.

[0109] In the above embodiment, even when the historically used puncture frames do not meet the preset conditions, the candidate puncture frames obtained by the ultrasound imaging device based on the candidate emission angles can be determined, and a fused ultrasound image can be obtained based on the candidate puncture frames and the standard ultrasound image, thereby improving the flexibility and reliability of obtaining the fused ultrasound image.

[0110] Figure 5 FIG. 1 is a flow chart of generating a fused ultrasound image in one embodiment. In an exemplary embodiment, as shown in FIG. Figure 5 As shown, the above-mentioned S203 includes S501 to S502.

[0111] S501, scoring the temporary puncture frame to obtain a quality score of the temporary puncture frame.

[0112] In this embodiment, optionally, the computer device can identify the region of interest of the puncture needle in the temporary puncture frame, and determine the quality score of the temporary puncture frame based on the evaluation index of the region of interest, and the evaluation index is not limited to contrast, signal-to-noise ratio, etc. The computer device can also input the temporary puncture frame into a trained machine learning model, and the machine learning model outputs the quality score of the temporary puncture frame. The machine learning model can be trained based on different puncture frame samples and quality score labels corresponding to the puncture frame samples, and this embodiment is not limited to this.

[0113] S502: Determine a currently used puncture frame according to the quality score of the temporary puncture frame.

[0114] In this embodiment, after determining the quality score of the temporary puncture frame, the currently used puncture frame can be determined according to the quality score of the temporary puncture frame. For example, the computer device can use the temporary puncture frame as the currently used puncture frame when the quality score of the temporary puncture frame is within a preset score range. For another example, the computer device can use the temporary puncture frame as the currently used puncture frame when the quality score difference between the quality score of the temporary puncture frame and the quality score of the puncture frame at the same angle is less than a preset difference.

[0115] S503, fusing the currently used puncture frame and the standard ultrasound image to obtain a fused ultrasound image.

[0116] Further, after determining the currently used puncture frame and the standard ultrasound image, the computer device can fuse the currently used puncture frame and the standard ultrasound image to obtain a fused ultrasound image. Similarly, the computer device can fuse the currently used puncture frame and the standard ultrasound image by weighted fusion, fusion model, wavelet transform fusion, etc. to obtain a fused ultrasound image, and this embodiment does not limit the fusion method.

[0117] In the above embodiment, since the temporary puncture frame can be scored to obtain the quality score of the temporary puncture frame, and the currently used puncture frame is determined according to the quality score of the temporary puncture frame, the fused ultrasound image can be obtained efficiently and accurately by fusing the currently used puncture frame and the standard ultrasound image.

[0118] Figure 6 FIG. 1 is a flow chart of determining a currently used puncture frame in one embodiment. In an exemplary embodiment, as shown in FIG. Figure 6 As shown, the above-mentioned S502 includes S601 to S602.

[0119] S601, if the difference between the quality score of the temporary puncture frame and the maximum value of the quality score of the same-angle puncture frame is not greater than the second threshold, the temporary puncture frame is used as the current puncture frame; the same-angle puncture frame is a plurality of consecutive historical puncture frames with the same transmission angle.

[0120] S602: If the difference between the quality score of the temporary puncture frame and the maximum value of the quality score of the puncture frame at the same angle is greater than a second threshold, determine the candidate puncture frames obtained by the ultrasound imaging device based on the candidate emission angles, and obtain a fused ultrasound image based on the candidate puncture frames and the standard ultrasound image.

[0121] In this embodiment, the same-angle puncture frames are a plurality of consecutive historically used puncture frames with the same emission angle. The introduction of the same-angle puncture frames can refer to the above embodiment and will not be repeated here.

[0122] If the difference between the quality score of the temporary puncture frame and the maximum value of the quality score of the puncture frame at the same angle is not greater than the second threshold, it means that the temporary puncture frame is relatively stable and can continue to be used for fusion. Then, the computer device can use the temporary puncture frame as the currently used puncture frame.

[0123] If the difference between the quality score of the temporary puncture frame and the maximum value of the quality score of the puncture frame at the same angle is greater than the second threshold, it means that the temporary puncture frame is not stable. Therefore, the computer device can enter the multi-angle emission mode to determine the candidate puncture frames obtained by the ultrasound imaging device based on the candidate emission angles, and obtain a fused ultrasound image based on the candidate puncture frames and the standard ultrasound image. The process of determining the candidate puncture frames obtained by the ultrasound imaging device based on the candidate emission angles and obtaining a fused ultrasound image based on the candidate puncture frames and the standard ultrasound image can refer to the process after the historical use of the puncture frame does not meet the preset conditions in the above embodiment, which will not be repeated here.

[0124] In one embodiment, the computer device can compare the quality score of the currently used puncture frame with the maximum value of the quality scores in the stored parameters, and when the quality score of the currently used puncture frame and the maximum value of the quality scores in the stored parameters are not greater than a second threshold, use the temporary puncture frame as the currently used puncture frame; when the quality score of the currently used puncture frame and the maximum value of the quality score in the stored parameters are greater than the second threshold, determine each candidate puncture frame obtained by the ultrasound imaging device based on each candidate emission angle, and obtain a fused ultrasound image based on each candidate puncture frame and the standard ultrasound image.

[0125] In the above embodiment, when the difference between the quality score of the temporary puncture frame and the maximum value of the quality score of the puncture frame at the same angle is not greater than the second threshold, the temporary puncture frame is used as the current puncture frame, which reduces the steps of multi-angle transmission and post-processing, and improves the efficiency of ultrasonic image generation. When the difference between the quality score of the temporary puncture frame and the maximum value of the quality score of the puncture frame at the same angle is greater than the second threshold, the candidate puncture frames obtained by the ultrasonic imaging device based on the candidate transmission angles are determined, and a fused ultrasonic image is obtained based on the candidate puncture frames and the standard ultrasonic image. Therefore, when the transmission angle is unstable, it is possible to return to the multi-angle transmission mode in time, thereby improving the reliability of the determined fused ultrasonic image.

[0126] In order to more clearly introduce the ultrasonic image generation method of the present application, Figure 7 Provide explanation. Figure 7 The figure is a process diagram of an ultrasound image generation method in an embodiment. The computer device can execute the ultrasound image generation method according to the following process.

[0127] S701, determine a temporary transmission angle according to the transmission angle of the puncture frame used in history and the quality score of the puncture frame used in history, and then enter S702.

[0128] S702, determining whether the historically used puncture frames meet a preset condition based on the transmission angle and quality score of the historically used puncture frames. The stored parameters are determined, and when the transmission angles in the stored parameters are the same and the difference between the maximum value and the minimum value of the quality score in the stored parameters is less than a first threshold, it is determined that the preset condition is met.

[0129] S703, when the historically used puncture frames meet the preset conditions, the emission angle corresponding to the puncture frame with the same angle is used as the temporary emission angle, and then enters S705.

[0130] S704, when the historically used puncture frames do not meet the preset conditions, determine candidate puncture frames obtained by the ultrasonic imaging device based on the candidate emission angles, and obtain a fused ultrasonic image according to the candidate puncture frames and the standard ultrasonic image.

[0131] S705, determining a temporary puncture frame obtained by the ultrasonic imaging device based on the temporary transmission angle, and then proceeding to S706.

[0132] S706, generating a fused ultrasound image according to the temporary puncture frame and a standard ultrasound image obtained by the ultrasound imaging device based on a preset emission angle.

[0133] The processes of S701 to S706 may refer to the above embodiment and will not be described in detail here.

[0134] Figure 8 FIG. 1 is a schematic diagram of a process of another ultrasound image generation method in an embodiment. Figure 8 As shown, taking the storage parameter as a matrix as an example, in one embodiment, before transmitting the next puncture angle, the computer device first determines whether the transmission angles in the matrix are the same. If the transmission angles in the matrix are not the same, the multi-angle transmission mode is returned; if the transmission angles in the matrix are the same, it is further determined whether the difference between the maximum value and the minimum value of the quality score in the matrix is ​​less than the first threshold value. If it is not less than the first threshold value, the multi-angle transmission mode is still returned. If it is less than the first threshold value, the transmission angle in the matrix is ​​used as a temporary transmission angle, and the temporary puncture frame corresponding to the temporary transmission angle is determined, and the temporary puncture frame is scored to determine the quality score of the temporary puncture frame. Afterwards, the computer device determines whether the difference between the quality score of the temporary puncture frame and the maximum value of the quality score in the matrix is ​​greater than the second threshold value. If it is greater than the second threshold value, the multi-angle transmission mode is still returned. If it is not greater than the second threshold value, the temporary puncture frame and the standard ultrasound image are fused. Then, the computer device can update the matrix and obtain the fused ultrasound image.

[0135] Among them, the multi-angle emission mode is that the computer equipment controls the ultrasound imaging equipment to image according to each candidate emission angle, obtains the candidate puncture frame corresponding to each candidate emission angle, and scores each candidate puncture frame to obtain the quality score of each candidate puncture frame, and fuses the candidate puncture frame with the highest quality score with the standard ultrasound image to obtain a fused ultrasound image.

[0136] It can be understood that no matter which method is used to obtain the fused ultrasound image, the computer device can update the matrix, that is, store the emission angle and quality score corresponding to the puncture frame used for the fused ultrasound image in the matrix.

[0137] In the following, an example is used to illustrate that the ultrasound imaging device is an ultrasound device and the standard ultrasound image is a standard ultrasound image. The computer device can execute the ultrasound image generation method in the following manner.

[0138] S1, after transmitting the standard B-mode sequence, transmit multiple large-angle Sequence, get the corresponding multiple candidate puncture frames .

[0139] S2, for multiple candidate puncture frames Score and get the corresponding quality score ,Will ~ highest score in The corresponding candidate puncture frame is the object to be fused in this standard ultrasound image.

[0140] S3, before transmitting the next transmission angle, the highest score of the candidate puncture frame obtained in each transmission and the transmission angle corresponding to the highest score are counted. If the highest score obtained by multiple consecutive transmissions is The corresponding launch angles are all the same angle, and the highest score is obtained by launching multiple times in a row With the lowest score If the difference between the two is less than the first threshold, the highest score The corresponding emission angle is regarded as the temporary emission angle of the next frame. If it is not less than, return to S1.

[0141] S4, transmitting a temporary transmission angle, calculating a quality score of a temporary puncture frame corresponding to the temporary transmission angle, and comparing the quality score of the temporary puncture frame with the highest score obtained by multiple consecutive transmissions. A comparison is performed. If the difference is not greater than the second threshold, the temporary puncture frame is used to composite with the standard B-mode image, that is, fusion is performed. If the difference is greater than the second threshold, the process returns to S1 before proceeding to the next frame.

[0142] At present, in ultrasonic puncture enhancement technology, since the insertion angle of the puncture needle is not perpendicular to the angle of the traditional ultrasonic transmission beam, the sound beam can be tilted to increase the angle between the ultrasonic beam and the puncture needle, thereby increasing the echo intensity of the puncture needle and making the puncture needle appear more obvious.

[0143] The emission angle used in puncture enhancement in the related art is a fixed angle. When the puncture direction changes, the probe emission angle needs to be manually adjusted. However, this method is inconvenient and the image generation efficiency is not high. In some related technologies, after emitting a normal ultrasonic beam for standard B-mode imaging, multiple sound beams at larger angles can be emitted to obtain puncture frames at different angles, and the significant parts of the puncture needle body can be scored respectively, and the puncture frame with the highest score is selected as the fusion with the standard B-mode image. However, although the significance of the puncture frame can be improved by no longer using a single large-angle emission beam, the frame rate in real-time imaging is low because this method emits multiple angles each time and requires image scoring in post-processing.

[0144] It can be seen that the present application can solve the problem that the puncture needle cannot be automatically deflected for imaging during ultrasonic puncture enhanced imaging, and proposes an adaptive angle deflection scheme. When the sequence is initially issued, multiple larger angles are emitted to image the puncture needle, and then the puncture frame with a high score is selected as the object of fusion with the standard ultrasonic image. When the emission angles of multiple consecutive puncture frames fused with the standard ultrasonic image are the same, the emission angle can be selected as the temporary optimal angle, and only the puncture frame with the emission angle is emitted for fusion imaging before the next frame imaging, until the puncture frame score is low, then switch to the multi-angle emission mode, so as to adaptively adjust the angle of the puncture needle imaging, and after stabilization, only one angle can be emitted for puncture imaging, thereby reducing the image post-processing steps and improving the image frame rate.

[0145] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0146] Based on the same inventive concept, the embodiment of the present application also provides an ultrasonic image generation device for implementing the ultrasonic image generation method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more ultrasonic image generation device embodiments provided below can refer to the limitations of the ultrasonic image generation method above, and will not be repeated here.

[0147] Fig. 9 FIG. 1 is a block diagram of a structure of an ultrasonic image generating device in an embodiment. In an exemplary embodiment, as shown in FIG. Fig. 9 As shown, an ultrasonic image generating device 900 is provided, comprising: a first determining module 901, a second determining module 902 and a generating module 903, wherein:

[0148] The first determination module 901 is used to determine a temporary transmission angle according to the transmission angle of the historically used puncture frame; the historically used puncture frame is used to fuse with a standard ultrasound image obtained by an ultrasound imaging device based on a preset transmission angle.

[0149] The second determination module 902 is used to determine a temporary puncture frame obtained by the ultrasonic imaging device based on a temporary transmission angle.

[0150] The generating module 903 is used to generate a fused ultrasound image according to the temporary puncture frame and the standard ultrasound image obtained by the ultrasound imaging device based on a preset emission angle.

[0151] In the above-mentioned ultrasonic image generation device, since the historically used puncture frame is used to fuse with the standard ultrasonic image obtained by the ultrasonic imaging device based on the preset emission angle, a more accurate temporary emission angle can be determined based on the emission angle of the historically used puncture frame in combination with the historical emission angle. Furthermore, after determining the temporary puncture frame obtained by the ultrasonic imaging device based on the temporary emission angle, a fused ultrasonic image can be efficiently generated based on the temporary puncture frame and the standard ultrasonic image obtained by the ultrasonic imaging device based on the preset emission angle. In this process, since there is no need to manually adjust the emission angle of the incident beam based on experience, but the temporary emission angle is automatically determined based on the historical emission angle, the efficiency of ultrasonic image generation can be improved, thereby improving the frame rate of the image.

[0152] Optionally, the first determining module 901 is configured to determine a temporary transmission angle according to transmission angles of puncture frames used in history and quality scores of puncture frames used in history.

[0153] Optionally, the first determining module 901 includes:

[0154] The first determining unit is used to determine whether the historically used puncture frame meets a preset condition according to the emission angle and quality score of the historically used puncture frame.

[0155] The second determination unit is used to use the emission angle corresponding to the same-angle puncture frame as a temporary emission angle when the historically used puncture frame meets a preset condition; the preset condition includes that the emission angles of multiple consecutive historically used puncture frames are the same, and the difference between the maximum and minimum values ​​of the quality scores of the same-angle puncture frames is less than a first threshold; the same-angle puncture frame is a consecutive number of historically used puncture frames with the same emission angle.

[0156] Optionally, a first determination unit is used to determine storage parameters; when the emission angles in the stored parameters are the same and the difference between the maximum and minimum values ​​of the quality scores in the stored parameters is less than a first threshold, it is determined that the preset conditions are met; the storage parameters include the emission angles and quality scores of multiple historical puncture frames arranged in chronological order.

[0157] Optionally, the ultrasonic image generating device 900 further includes:

[0158] The third determination module is used to determine each candidate puncture frame obtained by the ultrasonic imaging device based on each candidate emission angle when the historically used puncture frame does not meet the preset condition, and obtain a fused ultrasonic image according to each candidate puncture frame and the standard ultrasonic image.

[0159] Optionally, the generating module 903 is used to fuse the temporary puncture frame and the standard ultrasound image to generate a fused ultrasound image.

[0160] Optionally, the generating module 903 includes:

[0161] The scoring unit is used to score the temporary puncture frame to obtain a quality score of the temporary puncture frame.

[0162] The third determining unit is configured to determine the currently used puncture frame according to the quality score of the temporary puncture frame.

[0163] The fusion unit is used to fuse the currently used puncture frame with the standard ultrasound image to obtain a fused ultrasound image.

[0164] Optionally, a third determination unit is used to use the temporary puncture frame as the currently used puncture frame if the difference between the quality score of the temporary puncture frame and the maximum value of the quality score of the puncture frame at the same angle is not greater than a second threshold; the puncture frame at the same angle is a historically used puncture frame with the same consecutive emission angle; if the difference between the quality score of the temporary puncture frame and the maximum value of the quality score of the puncture frame at the same angle is greater than the second threshold, determine each candidate puncture frame obtained by the ultrasonic imaging device based on each candidate emission angle, and obtain a fused ultrasonic image based on each candidate puncture frame and the standard ultrasonic image.

[0165] Each module in the above-mentioned ultrasound image generation device can be implemented in whole or in part by software, hardware or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0166] FIG10 is an internal structure diagram of a computer device in an embodiment. In an exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG10. The computer device includes a processor, a memory, an input / output interface (I / O for short) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store relevant data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for generating an ultrasonic image is implemented.

[0167] Those skilled in the art will understand that the structure shown in FIG. 10 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0168] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0169] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0170] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0171] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0172] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0173] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for generating an ultrasonic image, characterized in that: The method comprises: Determining a temporary emission angle according to an emission angle of a historically used puncture frame; the historically used puncture frame is used to fuse with a standard ultrasound image obtained by an ultrasound imaging device based on a preset emission angle; Determine a temporary puncture frame obtained by the ultrasonic imaging device based on the temporary emission angle; A fused ultrasound image is generated according to the temporary puncture frame and a standard ultrasound image obtained by the ultrasound imaging device based on a preset emission angle.

2. The method according to claim 1, characterized in that The step of determining the temporary emission angle according to the emission angle of the puncture frame used in history includes: The temporary transmission angle is determined according to the transmission angle of the historically used puncture frame and the quality score of the historically used puncture frame.

3. The method according to claim 2, characterized in that The determining the temporary transmission angle according to the transmission angle of the historically used puncture frame and the quality score of the historically used puncture frame comprises: Determining whether the historically used puncture frame meets a preset condition according to the emission angle and quality score of the historically used puncture frame; When the historical puncture frames meet the preset conditions, the emission angle corresponding to the same-angle puncture frames is used as the temporary emission angle; the preset conditions include that the emission angles of multiple consecutive historical puncture frames are the same, and the difference between the maximum and minimum values ​​of the quality scores of the same-angle puncture frames is less than a first threshold; the same-angle puncture frames are multiple consecutive historical puncture frames with the same emission angle.

4. The method according to claim 3, characterized in that The determining, according to the emission angle and the quality score of the historically used puncture frame, whether the historically used puncture frame meets a preset condition comprises: Determine storage parameters; the storage parameters include emission angles and quality scores of a plurality of the historically used puncture frames arranged in chronological order; When the emission angles in the stored parameters are all the same and the difference between the maximum value and the minimum value of the quality scores in the stored parameters is less than the first threshold, it is determined that the preset condition is met.

5. The method according to claim 3, characterized in that: The method further comprises: When the historically used puncture frames do not satisfy the preset condition, candidate puncture frames obtained by the ultrasonic imaging device based on candidate emission angles are determined, and the fused ultrasonic image is obtained according to the candidate puncture frames and the standard ultrasonic image.

6. The method according to any one of claims 1 to 5, characterized in that: The step of generating a fused ultrasound image according to the temporary puncture frame and a standard ultrasound image obtained by the ultrasound imaging device based on a preset emission angle includes: The temporary puncture frame and the standard ultrasound image are fused to generate the fused ultrasound image.

7. The method according to any one of claims 1 to 5, characterized in that: The step of generating a fused ultrasound image according to the temporary puncture frame and a standard ultrasound image obtained by the ultrasound imaging device based on a preset emission angle includes: Scoring the temporary puncture frame to obtain a quality score of the temporary puncture frame; Determining a currently used puncture frame according to the quality score of the temporary puncture frame; The currently used puncture frame and the standard ultrasound image are fused to obtain the fused ultrasound image.

8. The method according to claim 7, characterized in that The step of determining the currently used puncture frame according to the quality score of the temporary puncture frame includes: If the difference between the quality score of the temporary puncture frame and the maximum value of the quality score of the same-angle puncture frame is not greater than the second threshold, the temporary puncture frame is used as the current puncture frame; the same-angle puncture frame is a plurality of consecutive historical puncture frames with the same emission angle; If the difference between the quality score of the temporary puncture frame and the maximum value of the quality score of the puncture frame at the same angle is greater than the second threshold, the candidate puncture frames obtained by the ultrasonic imaging device based on each candidate emission angle are determined, and the fused ultrasonic image is obtained based on each candidate puncture frame and the standard ultrasonic image.

9. An ultrasonic image generating device, characterized in that: The device comprises: A first determination module is used to determine a temporary transmission angle according to the transmission angle of a historically used puncture frame; the historically used puncture frame is used to fuse with a standard ultrasound image obtained by an ultrasound imaging device based on a preset transmission angle; A second determination module is used to determine a temporary puncture frame obtained by the ultrasonic imaging device based on the temporary emission angle; A generating module is used to generate a fused ultrasonic image according to the temporary puncture frame and a standard ultrasonic image obtained by the ultrasonic imaging device based on a preset emission angle.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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