Ultrasonic imaging method and ultrasonic equipment

Abstract

The invention relates to the technical field of medical equipment, and discloses an ultrasonic imaging method and ultrasonic equipment. The method comprises the following steps: acquiring a plurality of groups of ultrasonic echo beams generated by ultrasonic emission of an ultrasonic probe aiming at a target part each time; dividing the multiple groups of ultrasonic echo beams according to a preset grouping mode to obtain a first echo beam set and a second echo beam set; performing incoherent composite processing on the first echo beam set to obtain an incoherent processing result, and performing coherent composite processing on the second echo beam set to obtain a coherent processing result; fusing the incoherent processing result and the coherent processing result to obtain a target echo beam; and performing imaging processing on the target echo beam to generate a target ultrasonic image. By implementing the technical scheme, image errors caused by phase problems near an emission focal region can be reduced to the greatest extent, and the accuracy of focusing imaging is ensured.

Description

Technical Field

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

[0002] In an ultrasonic imaging system, a two-dimensional ultrasonic image is usually obtained by transmitting and receiving ultrasonic echo signals at multiple positions. Specifically, an ultrasonic probe is placed on the part to be examined, and the ultrasonic probe is used to transmit ultrasonic waves at multiple positions of the part to be examined and receive ultrasonic echo signals returned by the part to be examined, and then data processing is performed on the received ultrasonic echo signals, and coherent composite processing is performed on the ultrasonic echo signals obtained by multiple transmissions, and then image processing is performed on the signals obtained after the coherent composite processing, and finally a two-dimensional ultrasonic image is generated.

[0003] However, the above methods all assume that ultrasound waves propagate as spherical waves, and coherently compound the ultrasound echo signals at multiple positions to achieve equivalent full-depth transmission focusing. However, the assumption of spherical wave propagation is only valid within a certain range. Near the transmission focal area, the assumption of spherical waves is not valid. If coherent compounding is still performed at the transmission focal area, the actual generated ultrasound image will be inaccurate. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides an ultrasonic imaging method and an ultrasonic device to solve the problem of inaccurate ultrasonic image generation.

[0005] In a first aspect, an embodiment of the present invention provides an ultrasonic imaging method, comprising: obtaining multiple groups of ultrasonic echo beams generated by an ultrasonic probe each time performing ultrasonic transmission on a target part; dividing the multiple groups of ultrasonic echo beams according to a preset grouping method to obtain a first echo beam set and a second echo beam set, wherein the multiple groups of ultrasonic echo beams in the first echo beam set are different from the multiple groups of ultrasonic echo beams in the second echo beam set; performing incoherent composite processing on the first echo beam set to obtain an incoherent processing result, and performing coherent composite processing on the second echo beam set to obtain a coherent processing result; fusing the incoherent processing result and the coherent processing result to obtain a target echo beam; performing imaging processing on the target echo beam to generate a target ultrasonic image.

[0006] The ultrasonic imaging method provided by the embodiment of the present invention divides multiple groups of ultrasonic echo beams, performs incoherent recombination on some ultrasonic echo beams and coherent conformation on some ultrasonic echo beams, and then fuses the two to obtain a target echo beam. This can minimize image errors caused by phase problems near the emission focal area, and at the same time solve image problems at the emission focal area while placing the emission focus within the imaging area, thereby ensuring image consistency and image accuracy within the imaging range.

[0007] In an optional embodiment, the preset grouping method includes grouping according to the transmission focal area, dividing multiple groups of ultrasonic echo beams according to the preset grouping method to obtain a first echo beam set and a second echo beam set, including: obtaining the transmission focal area of ​​the ultrasonic probe; based on the transmission focal area, dividing multiple groups of ultrasonic echo beams to obtain a first echo beam set within the transmission focal area and a second echo beam set outside the transmission focal area.

[0008] The ultrasonic imaging method provided by the embodiment of the present invention can avoid image errors caused by phase problems near the transmitting focal area by dividing the ultrasonic echo beam according to the transmitting focal area to perform different composite processing on the ultrasonic echo beam.

[0009] In an optional embodiment, obtaining the emission focal area of ​​the ultrasound probe includes: obtaining imaging parameters corresponding to the ultrasound probe; determining the ultrasound field distribution corresponding to the ultrasound probe based on the imaging parameters; and defining the emission focal area and non-emission focal area of ​​the ultrasound probe according to the ultrasound field distribution.

[0010] The ultrasonic imaging method provided in an embodiment of the present invention defines corresponding emission focal area positions and non-emission focal area positions according to imaging parameters, thereby reducing image quality loss at the non-emission focal area positions caused by erroneous incoherent composite processing of the non-emission focal area positions, thereby further improving the imaging accuracy and imaging quality of the image.

[0011] In an optional implementation, acquiring imaging parameters corresponding to the ultrasound probe includes: responding to a parameter setting operation on the ultrasound probe, and determining the imaging parameters of the ultrasound probe based on the parameter setting operation.

[0012] The ultrasonic imaging method provided by the embodiment of the present invention supports flexible setting of imaging parameters, and is convenient for adjusting the imaging parameters according to actual use status.

[0013] In an optional embodiment, the preset grouping method includes grouping according to odd and even transmission times, dividing multiple groups of ultrasonic echo beams according to the preset grouping method to obtain a first echo beam set and a second echo beam set, including: obtaining the ultrasonic transmission times corresponding to each group of ultrasonic echo beams, the ultrasonic transmission times being odd or even times; based on the odd or even times of ultrasonic transmission, grouping and dividing multiple groups of ultrasonic echo beams to obtain a first echo beam set and a second echo beam set.

[0014] The ultrasonic imaging method provided in an embodiment of the present invention divides the ultrasonic echo beam according to the odd and even transmission times to perform different compound processing on the ultrasonic echo beam. It can place the transmission focus within the imaging area while combining coherent compounding and incoherent compounding to avoid image errors caused by phase problems near the transmission focal area.

[0015] In an optional embodiment, the preset grouping method includes grouping according to beam receiving positions, dividing multiple groups of ultrasonic echo beams according to the preset grouping method to obtain a first echo beam set and a second echo beam set, including: obtaining the receiving position of each group of ultrasonic echo beams; based on the receiving position, grouping and dividing multiple groups of ultrasonic echo beams to obtain a first echo beam set with different receiving positions and a second echo beam set with the same receiving position.

[0016] The ultrasonic imaging method provided by the embodiment of the present invention divides the ultrasonic echo beam according to the receiving position to perform different compound processing on the ultrasonic echo beam, so as to obtain a stronger echo signal when the transmission focus is placed within the imaging area, and at the same time combines coherent compounding and incoherent compounding to solve the image problem in the transmission focal area, thereby avoiding image errors caused by phase problems near the transmission focal area to the greatest extent.

[0017] In an optional implementation, the preset grouping method includes any two or three of grouping according to transmission focal area, grouping according to odd and even transmission times, and grouping according to beam receiving position.

[0018] The ultrasonic imaging method provided by the embodiment of the present invention solves the image problem at the transmission focal area by combining multiple grouping methods.

[0019] In an optional embodiment, the first echo beam set is subjected to incoherent compound processing to obtain an incoherent processing result, and the second echo beam set is subjected to coherent compound processing to obtain a coherent processing result, including: obtaining a first weight coefficient corresponding to each ultrasonic echo beam in the first echo beam set, and a second weight coefficient corresponding to each ultrasonic echo beam in the second echo beam set; performing incoherent compound processing on each ultrasonic echo beam in the first echo beam set according to each first weight coefficient to obtain an incoherent processing result; performing coherent compound processing on each ultrasonic echo beam in the second echo beam set according to each second weight coefficient to obtain a coherent processing result.

[0020] The ultrasonic imaging method provided by the embodiment of the present invention performs weighted coherent compounding or incoherent compounding of the grouped ultrasonic echo beams within the group, which can avoid the grid line problem in the transmission focal area due to inconsistent beam energy, and further improve the imaging quality of the image.

[0021] In an optional implementation, the incoherent processing result and the coherent processing result are fused to obtain the target echo beam, including: splicing the incoherent processing result and the coherent processing result to generate the target echo beam.

[0022] The ultrasonic imaging method provided by the embodiment of the present invention connects the incoherent processing result and the coherent processing result to obtain a complete target echo beam, which includes echo beams of the emission focal area and the non-emission focal area, thereby simply and effectively solving the image problem at the emission focal area.

[0023] In an optional embodiment, the incoherent processing results and the coherent processing results are fused to obtain a target echo beam, including: obtaining a third weight coefficient corresponding to the incoherent processing results and a fourth weight coefficient corresponding to the coherent processing results; and performing weighted fusion on the incoherent processing results and the coherent processing results according to the third weight coefficient and the fourth weight coefficient to generate a target echo beam.

[0024] The ultrasonic imaging method provided in the embodiment of the present invention performs weighted fusion on the incoherent processing results and the coherent processing results to obtain a complete target echo beam, thereby avoiding image problems caused by the inconsistency between the incoherent processing results and the coherent processing results, and ensuring the imaging accuracy of the image.

[0025] In an optional embodiment, obtaining an ultrasonic echo beam generated by the ultrasonic probe each time it transmits ultrasound to a target part includes: obtaining ultrasonic echo channel data generated by the ultrasonic probe transmitting ultrasound at different positions of the target part; parsing the ultrasonic echo channel data to determine the ultrasonic echo beam generated by each ultrasound transmission.

[0026] The ultrasonic imaging method provided by the embodiment of the present invention combines ultrasonic echo channel data to determine the ultrasonic echo beam generated by ultrasonic emission, thereby ensuring the accurate acquisition of the ultrasonic echo beam and improving the processing accuracy of the ultrasonic echo beam.

[0027] In a second aspect, an embodiment of the present invention provides an ultrasound device, comprising: an ultrasound probe and a display; a processor, communicatively connected to the ultrasound probe and the display, the processor being used to execute the ultrasound imaging method of the first aspect or any corresponding embodiment thereof; and the display being used to display a target ultrasound image.

[0028] The ultrasound device provided by the embodiment of the present invention divides multiple groups of ultrasound echo beams, performs incoherent recombination on some ultrasound echo beams and coherent conformation on some ultrasound echo beams, and then fuses the two to obtain a target echo beam, thereby minimizing image errors caused by phase problems near the emission focal area, and solving image problems at the emission focal area while placing the emission focal point within the imaging area, thereby ensuring image consistency and image accuracy within the imaging range.

[0029] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions are used to enable a computer to execute the ultrasound imaging method of the first aspect or any embodiment of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 is a schematic structural diagram of an ultrasonic device according to an embodiment of the present invention;

[0032] Figure 2 is a schematic flow chart of an ultrasonic imaging method according to an embodiment of the present invention;

[0033] Figure 3 is a schematic diagram of an ultrasonic echo beam according to an embodiment of the present invention;

[0034] Figure 4 is a schematic flow chart of another ultrasonic imaging method according to an embodiment of the present invention;

[0035] Figure 5 is a schematic diagram of an emission focal area according to an embodiment of the present invention;

[0036] Figure 6 is a schematic diagram of performing ultrasound signal compounding according to a transmission focal area according to an embodiment of the present invention;

[0037] Figure 7 is a schematic diagram of performing ultrasonic signal compounding according to ultrasonic transmission times according to an embodiment of the present invention;

[0038] Figure 8 is a schematic diagram of performing ultrasound signal compounding according to receiving positions according to an embodiment of the present invention;

[0039] Fig. 9 is a flowchart of another ultrasound imaging method according to some embodiments of the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0041] In the related art, the problem of image error in the focal area during field focusing is usually solved by placing the emission focus outside the imaging area or calculating the correct phase of the signal in the focal area through linear interpolation. The former will cause the signal strength in the imaging area to decrease and the image to be blurred because the emission focus is placed outside the imaging area; the latter uses the linear interpolation method to obtain the correct phase in the focal area. The calculation process is more complicated, and the implementation takes up more hardware and time resources.

[0042] Based on this, the technical solution of the present invention groups the beam data, performs coherent recombination on some of them and incoherent recombination on some of them, and then combines the two. It is possible to simply and effectively solve the image imaging problem at the emission focal area while placing the emission focus within the imaging area, thereby ensuring the consistency of image performance within the entire imaging range.

[0043] An embodiment of the present invention provides an ultrasound device, including an ultrasound probe, a display, and a processor, wherein the processor is in communication with the ultrasound probe and the display, the processor is used to execute the method for guiding ultrasound scanning described in any of the following embodiments, and the display is used to display a guidance area and an image display area. Of course, the function of the display is not limited to this, and is specifically set according to actual needs.

[0044] See also Figure 1 , Figure 11 is a schematic diagram of the structure of an ultrasound device provided by an optional embodiment of the present invention, in which the ultrasound device 100 includes an ultrasound probe 110, a transmitting circuit 112, a receiving circuit 114, a processor 116, and a display 118. Further, the ultrasound device may also include a transmitting / receiving selection switch 120 and a beamforming module 122, and the transmitting circuit 112 and the receiving circuit 114 may be connected to the ultrasound probe 110 through the transmitting / receiving selection switch 120.

[0045] Specifically, the ultrasonic probe 110 is used to generate an ultrasonic wave that propagates within the target tissue of the target object; the transmitting circuit 112 is used to excite the ultrasonic probe 110 to transmit a first ultrasonic wave to the target tissue; the receiving circuit 114 is used to control the ultrasonic probe 110 to receive the ultrasonic echo returned by the target tissue to obtain a first echo signal of the first ultrasonic wave; the processor 116 is used to execute the method for guiding ultrasonic scanning described in any of the following embodiments.

[0046] The ultrasonic probe 110 includes a transducer (not shown) composed of a plurality of array elements arranged in an array. The array elements are used to transmit ultrasonic waves according to an excitation electrical signal, or to convert received ultrasonic waves into electrical signals. Therefore, each array element can be used to realize the mutual conversion between electrical pulse signals and ultrasonic waves, thereby transmitting ultrasonic waves to the biological tissue of the target object, and can also be used to receive the echo of ultrasonic waves reflected back by the tissue.

[0047] The transmitting circuit 112 is used to control the ultrasonic probe 110 to transmit ultrasonic waves, for example, according to the control of the processor 116, stimulate the ultrasonic probe 110 to transmit ultrasonic waves toward the target object.

[0048] The receiving circuit 114 is used to control the ultrasonic probe 110 to receive ultrasonic echoes, for example, to receive ultrasonic echoes returned from the target object through the ultrasonic probe 110 to obtain ultrasonic echo signals, and can also process the ultrasonic echo signals. The receiving circuit 114 may include one or more amplifiers, analog-to-digital converters (ADCs), etc.

[0049] The display 118 is used for display or human-computer interaction, such as outputting visual information and receiving user input. The display 118 includes an input device and at least one display screen. The input device is used to receive user input, which can be a keyboard, operation button, mouse, trackball, touch pad, etc., or a touch screen integrated with the display screen.

[0050] The memory 124 is used to store various types of data.

[0051] The ultrasound device may also include a beamforming module 122. The beamforming module 122 is connected to the receiving circuit 114 signal, and is used to perform corresponding delay and weighted summing and other beamforming processing on the echo signal. Since the distances from the ultrasound receiving point in the measured tissue to the receiving array element are different, the channel data of the same receiving point output by different receiving array elements have delay differences, and delay processing is required to align the phases, and weighted summation is performed on the different channel data of the same receiving point to obtain the ultrasound image data after beamforming. The ultrasound image data output by the beamforming module 122 is also called beam data. The beamforming module 122 performs focusing delay, weighting and channel summing and other processing on the ultrasound echo data, and then sends it to the processor 116. The processor 116 performs signal detection, signal enhancement, data conversion, logarithmic compression and other processing on the ultrasound echo signal to form an ultrasound image. The ultrasound image obtained by the processor 116 can be displayed on the display 118 or stored in the memory 124.

[0052] The processor 116 may be implemented as software, hardware, firmware or any combination thereof, and may use a single or multiple application specific integrated circuits (ASICs), a single or multiple general purpose integrated circuits, a single or multiple microprocessors, a single or multiple programmable logic devices, or any combination of the aforementioned circuits and / or devices, or other suitable circuits or devices. In addition, the processor 116 may control other components in the ultrasound device 100 to perform the corresponding steps of the methods in various embodiments of the present specification.

[0053] The display 118 is connected to the processor 116, and the display 118 may be a touch screen, a liquid crystal display, etc.; or, the display 118 may be an independent display such as a liquid crystal display, a television, etc., which is independent of the ultrasound device 100; or, the display 118 may be a display screen of an electronic device such as a smart phone or a tablet computer, etc. The number of the display 118 may be one or more.

[0054] The display 118 can display the ultrasound image obtained by the processor 116. In addition, while displaying the ultrasound image, the display 118 can also provide the user with a graphical interface for human-computer interaction. One or more controlled objects are set on the graphical interface, and the user is provided with a human-computer interaction device to input operation instructions to control these controlled objects, thereby performing corresponding control operations. For example, an icon is displayed on the graphical interface, and the icon can be operated by the human-computer interaction device to perform a specific function, such as drawing a region of interest box on the ultrasound image.

[0055] Optionally, the ultrasound device 100 may further include other human-computer interaction devices in addition to the display 118, which are connected to the processor 116. For example, the processor 116 may be connected to the human-computer interaction device via an external input / output port, and the external input / output port may be a wireless communication module, or a wired communication module, or a combination of the two. The external input / output port may also be implemented based on USB, bus protocols such as CAN, and / or wired network protocols.

[0056] The human-computer interaction device may include an input device for detecting user input information, which may be, for example, a control instruction for ultrasonic transmission / reception timing, an operation input instruction for drawing points, lines or frames on an ultrasonic image, or other instruction types. The input device may include a keyboard, a mouse, a scroll wheel, a trackball, a mobile input device (such as a mobile device with a touch screen, a mobile phone, etc.), a multi-function knob, etc., or a combination of multiple thereof. The human-computer interaction device may also include an output device such as a printer.

[0057] The ultrasound device 100 may further include a memory 124 for storing instructions executed by the processor, storing received ultrasound echoes, storing ultrasound images, etc. The memory may be a flash memory card, a solid-state memory, a hard disk, etc. It may be a volatile memory and / or a non-volatile memory, a removable memory and / or a non-removable memory, etc.

[0058] According to an embodiment of the present invention, an embodiment of an ultrasound imaging method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0059] In this embodiment, an ultrasound imaging method is provided, which can be used in ultrasound equipment. Figure 2 is a flow chart of an ultrasonic imaging method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0060] Step S101 , obtaining a plurality of groups of ultrasonic echo beams generated by an ultrasonic probe transmitting ultrasound at a target site.

[0061] The target part is the part of the human body tissue to be detected. The ultrasonic echo beam is the echo beam composed of the ultrasonic echo signal corresponding to each ultrasonic emission. The receiving position of the ultrasonic beam is arbitrary and can be symmetrical or asymmetrical relative to the ultrasonic emission beam position. Specifically, the ultrasonic device controls the ultrasonic probe to emit ultrasonic waves to multiple positions of the target part each time, and receives the ultrasonic echo beams returned from each position. Figure 3 As shown, by transmitting ultrasonic waves to two different positions of the target part through the ultrasonic probe, two groups of ultrasonic echo beams can be received.

[0062] Step S102 : dividing the plurality of groups of ultrasonic echo beams according to a preset grouping method to obtain a first echo beam set and a second echo beam set.

[0063] The multiple groups of ultrasonic echo beams in the first echo beam set are different from the multiple groups of ultrasonic echo beams in the second echo beam set.

[0064] The first echo beam set is an ultrasonic beam participating in incoherent recombination; the second echo beam set is an ultrasonic beam participating in coherent recombination; the preset grouping method is a preset echo beam grouping division rule. Specifically, the ultrasonic device can divide the multiple groups of ultrasonic echo beams it receives into the first echo beam set and the second echo beam set by the preset grouping method.

[0065] Step S103, performing incoherent compound processing on the first echo beam set to obtain an incoherent processing result, and performing coherent compound processing on the second echo beam set to obtain a coherent processing result.

[0066] The ultrasonic echo signals included in the first echo beam set are processed incoherently according to incoherent compounding to obtain corresponding incoherent processing results. Meanwhile, the ultrasonic echo signals included in the second echo beam set are processed coherently according to coherent compounding to obtain corresponding coherent processing results.

[0067] Taking two ultrasonic echo signals as an example, it is assumed that the expressions of the two ultrasonic echo signals are: s1(t)=A1(t)*cos(wt+φ1), s2(t)=A2(t)*cos(wt+φ2). Wherein, t represents time, A1(t) represents the amplitude of ultrasonic echo signal s1(t), A2(t) represents the amplitude of ultrasonic echo signal s2(t), w represents the angular frequency of ultrasonic echo signal, φ1 represents the initial phase of ultrasonic echo signal s1(t), and φ2 represents the initial phase of ultrasonic echo signal s2(t).

[0068] The two ultrasonic echo signals s1(t) and s2(t) are composited to obtain a composite signal s(t)=s1(t)+s2(t)=A(t)*cos(wt+φ).

[0069] Among them, the signal amplitude after non-coherent composite processing is: noncoherent_A(t)=A1(t)+A2(t), that is, the non-coherent composite signal is:

[0070] Among them, the signal amplitude after coherent compound processing is: That is, the coherent composite signal is:

[0071]

[0072] It can be seen that the amplitude of the incoherent composite signal is independent of the phase of the ultrasonic echo signal involved in the composite, and the amplitude of the coherent composite signal is related to the phase of the two ultrasonic echo signals involved in the coherent composite. Therefore, incoherent composite processing is used for some ultrasonic echo signals to avoid focal area image errors caused by phase problems in the transmission focal area when coherent composite processing is used for all ultrasonic echo signals.

[0073] Step S104: Fusing the incoherent processing result and the coherent processing result to obtain a target echo beam.

[0074] The target echo beam is the ultrasonic echo data of the entire scan area. Since both the incoherent processing result and the coherent processing result are for processing of part of the echo beam, after obtaining the incoherent processing result for the first echo beam set and the coherent processing result for the second echo beam set, it is necessary to fuse the incoherent processing result and the coherent processing result to generate the ultrasonic echo data of the entire scan area.

[0075] Step S105 , performing imaging processing on the target echo beam to generate a target ultrasound image.

[0076] The target ultrasound image is an ultrasound scan image corresponding to the target part. Specifically, the target echo beam is processed by the image processor of the ultrasound device for signal processing and image processing to generate a corresponding target ultrasound image, and the target ultrasound image is displayed on the display of the ultrasound device.

[0077] The ultrasonic imaging method provided in this embodiment divides multiple groups of ultrasonic echo beams, performs incoherent recombination on some ultrasonic echo beams and coherent conformation on some ultrasonic echo beams, and then fuses the two to obtain a target echo beam. This can minimize image errors caused by phase problems near the emission focal area, and at the same time solve image problems at the emission focal area while placing the emission focal point within the imaging area, thereby ensuring image consistency and image accuracy within the imaging range.

[0078] In this embodiment, an ultrasound imaging method is provided, which can be used in ultrasound equipment. Figure 4 is a flow chart of an ultrasonic imaging method according to an embodiment of the present invention. Figure 4 As shown, the process includes the following steps:

[0079] Step S201, obtaining multiple groups of ultrasonic echo beams generated by the ultrasonic probe each time transmitting ultrasound at the target part. For detailed description, please refer to the relevant description of the above embodiment, which will not be repeated here.

[0080] Step S202 : dividing the plurality of groups of ultrasonic echo beams according to a preset grouping method to obtain a first echo beam set and a second echo beam set.

[0081] Specifically, the preset grouping method includes grouping according to the emission focal area. Accordingly, the above step S202 may include:

[0082] Step S2021, obtaining the transmitting focal area of ​​the ultrasound probe.

[0083] The emission focal area is the area near the ultrasound emission focus, such as Figure 5 As shown in the figure, different ultrasonic probes have different properties and parameters, and the emission intensity of the ultrasonic beam is also different. Even if it is the same ultrasonic probe, it can be focused on different emission depths by setting different emission parameters. Correspondingly, the emission focus corresponding to the ultrasonic probe is not always the same, and the emission focal area corresponding to the emission focus is also different.

[0084] In some optional embodiments, the above step S2021 includes:

[0085] Step a1, obtaining imaging parameters corresponding to the ultrasound probe.

[0086] Step a2: determining the ultrasonic field distribution corresponding to the ultrasonic probe based on the imaging parameters.

[0087] Step a3: defining the transmitting focal area and the non-transmitting focal area of ​​the ultrasound probe according to the ultrasound field distribution.

[0088] The imaging parameters are used to characterize the imaging range of the ultrasonic probe emitting an ultrasonic beam for ultrasonic imaging. For the delineation of the emission focal area, the ultrasonic field distribution can be simulated by pre-set imaging parameters. Specifically, the ultrasonic field distribution can be simulated by a geometric calculation method, and the ultrasonic sound field distribution can be simulated and calculated based on the linear / nonlinear superposition theory of the sound field, or the ultrasonic field distribution can be determined by a test method of a test equipment. The ultrasonic field distribution can display the emission focal area and non-emission focal area of ​​the ultrasonic probe, and thus, combined with the ultrasonic field distribution, the emission focal area and non-emission focal area of ​​the ultrasonic probe can be determined.

[0089] In the above-mentioned embodiment, the corresponding emission focal area position and non-emission focal area position are delineated according to the imaging parameters, thereby reducing the image quality loss of the non-emission focal area position caused by erroneous incoherent composite processing of the non-emission focal area position, thereby further improving the imaging accuracy and imaging quality of the image.

[0090] In some optional implementations, the preset grouping method may also be to perform grouping arbitrarily along the imaging depth, and is not limited to the focal area and the non-focal area.

[0091] In some optional embodiments, the above step a1 may include: in response to a parameter setting operation on the ultrasound probe, determining an imaging parameter of the ultrasound probe based on the parameter setting operation.

[0092] The ultrasound device is connected to a display, which can display the parameter setting interface of the ultrasound probe. The parameter setting interface has multiple parameter setting items. Medical personnel can set various parameters of the ultrasound probe according to actual needs through input devices (touch screen, mouse, keyboard, etc.). Correspondingly, the ultrasound device can respond to the parameter setting operation of the medical personnel and determine the imaging parameters corresponding to the parameter setting operation. In this way, it can support flexible setting of imaging parameters and facilitate adjustment of imaging parameters according to actual usage status.

[0093] Step S2022: based on the transmit focal zone, the ultrasonic echo beam is divided to obtain a first echo beam set within the transmit focal zone and a second echo beam set outside the transmit focal zone.

[0094] After determining the transmission focal area and the non-transmission focal area corresponding to the ultrasonic probe, the received ultrasonic echo beams can be grouped according to whether they are in the transmission focal area, and a first echo beam set in the transmission focal area and a second echo beam set in the non-transmission focal area (i.e., outside the transmission focal area) are obtained. Then, the first echo beam set in the transmission focal area is subjected to incoherent compound processing, and the second echo beam set in the non-transmission focal area is subjected to coherent compound processing.

[0095] like Figure 6 The schematic diagram of ultrasonic echo signal compounding shown in FIG. 1 represents ultrasonic emission signals at different positions, 2 represents ultrasonic echo beams r1, r2, r3, and r4 calculated from ultrasonic echo channel data obtained by emitting ultrasonic waves at the first emission position, and 3 represents ultrasonic echo beams r5, r6, r7, and r8 calculated from ultrasonic echo channel data obtained by emitting ultrasonic waves at the second emission position. The middle line represents the range of the emission focal area divided according to the simulated ultrasonic field distribution, and the lines on both sides represent the range of the non-emission focal area divided according to the simulated ultrasonic field distribution. The echo data at the emission focal area of ​​r3 and r5 are incoherently compounded, and the echo data at the non-emission focal area are coherently compounded, and then the composite results of the emission focal area and the non-emission focal area are spliced ​​to obtain beam data b3. Correspondingly, r4 and r6 are processed to obtain beam data b4. r1 and r2 correspond to b1 and b2, respectively, and r7 and r8 correspond to b5 and b6, respectively. Combine b1, b2, b3, b4, b5 and b6 into the final target echo data.

[0096] Specifically, the preset grouping method includes grouping according to odd and even transmission times. Accordingly, the above step S202 may include:

[0097] Step S2023, obtaining the number of ultrasonic transmissions corresponding to each group of ultrasonic echo beams.

[0098] The ultrasonic emission times are odd-numbered times or even-numbered times.

[0099] The ultrasonic probe will transmit multiple ultrasonic waves to the target part, and the number of ultrasonic transmissions is used to indicate whether the current transmission is an odd number of transmissions or an even number of transmissions. Specifically, the number of ultrasonic transmissions can be determined according to the number of ultrasonic transmissions.

[0100] Step S2024: based on the odd or even number of ultrasonic transmissions, the plurality of groups of ultrasonic echo beams are grouped and divided to obtain a first echo beam set and a second echo beam set.

[0101] In a specific embodiment, multiple groups of ultrasonic echo beams can be grouped and divided according to the odd and even alternation of ultrasonic transmissions to obtain the corresponding first echo beam set and second echo beam set. For example, the first transmission and the second transmission are used as the first echo beam set, and the third transmission and the fourth transmission are used as the second echo beam set. For example, the first transmission to the fifth transmission are used as the first echo beam set, and the sixth transmission to the tenth transmission are used as the first echo beam set. For example, the first transmission to the eighth transmission are used as the first echo beam set, and the ninth transmission to the tenth transmission are used as the first echo beam set. Flexible configuration can be performed here according to actual needs, and no specific limitation is made.

[0102] In a specific embodiment, multiple groups of ultrasonic echo beams can be grouped and divided according to the odd and even numbers of ultrasonic transmissions to obtain the corresponding first echo beam set and second echo beam set. For example, the first transmission and the third transmission are used as the first echo beam set, and the second transmission and the fourth transmission are used as the second echo beam set.

[0103] like Figure 7The partial composite schematic diagram of the ultrasonic echo signal shown in FIG. 1 represents the ultrasonic wave emitted at multiple positions, b represents the ultrasonic echo beam calculated from the ultrasonic echo channel data obtained by emitting ultrasonic waves at different positions, and c represents the beam data output after composite processing. Beam 13, beam 25, beam 37, and beam 49 are composited to obtain beam b1. Specifically, beam 13 and beam 25 can be divided into a first echo beam set, and beam 37 and beam 49 can be divided into a second echo beam set. Then, beam 13 and beam 25 are subjected to incoherent composite processing to obtain result b11, beam 37 and beam 49 are subjected to coherent composite processing to obtain result b12, and then b11 and b12 are subjected to incoherent composite processing to obtain beam b1.

[0104] Of course, beam 13 and beam 25 can also be divided into the second echo beam set, and beam 37 and beam 49 can be divided into the first echo beam set. Then, beam 13 and beam 25 are coherently compounded to obtain result b11, beam 37 and beam 49 are incoherently compounded to obtain result b12, and then b11 and b12 are incoherently compounded to obtain beam b1.

[0105] When b11 and b12 are incoherently compounded, a corresponding weight coefficient can be assigned, that is, b1=weight coefficient 1*b11+weight coefficient 2*b12.

[0106] Of course, beam 13 and beam 37 can also be grouped together for coherent composite processing, and beam 25 and beam 49 can be grouped together for incoherent composite processing. Then, the two groups of composite results are incoherently composited to obtain beam b1. The grouping method and the composite method can be flexibly configured and are not specifically limited here.

[0107] In the above embodiment, by dividing the ultrasonic echo beam according to odd and even transmission times to perform different compounding processing on the ultrasonic echo beam, it is possible to place the transmission focus within the imaging area while combining coherent compounding and incoherent compounding to avoid image errors caused by phase problems near the transmission focal area.

[0108] Specifically, the preset grouping method includes grouping according to beam receiving positions. Accordingly, the above step S202 may include:

[0109] Step S2025, obtaining the receiving position of each group of ultrasonic echo beams.

[0110] The receiving position is the position of the ultrasonic echo beam corresponding to the ultrasonic emission. The position of the ultrasonic echo beam obtained by each ultrasonic emission can be arbitrary, and can be equally spaced and symmetrical about the emission position, or unequally spaced and asymmetrical about the emission position. Therefore, for each ultrasonic emission, the ultrasonic device can receive the ultrasonic echo beam corresponding to each ultrasonic emission according to the preset ultrasonic echo receiving parameters.

[0111] Step S2026: based on the receiving positions, the multiple groups of ultrasonic echo beams are grouped and divided to obtain a first echo beam set with different receiving positions and a second echo beam set with the same receiving position.

[0112] The beams at the same receiving position and the beams at different receiving positions can be determined according to the receiving position. By grouping multiple groups of ultrasonic echo beams according to whether the receiving positions are the same, a first echo beam set with the same receiving position and a second echo beam set with different receiving positions can be obtained.

[0113] like Figure 8 The partial composite schematic diagram of the ultrasonic echo signal shown, a represents the ultrasonic transmission signal, b represents the ultrasonic echo beam calculated from the ultrasonic echo channel data obtained in each transmission, and c represents the beam data output after composite processing.

[0114] Beam 13, beam 25, beam 37, and beam 49 are composited to obtain beam b1. Beam 25 and beam 37 have the same receiving position, so beams 25 and 37 can be grouped together for coherent composite processing to obtain beam b11. Beam 13 and beam 49 have different receiving positions, so beam 13 and beam 49 are grouped together for incoherent composite processing to obtain beam b12. Beams b11 and b12 are composited incoherently to obtain output beam b1. When beams b11 and b12 are composited incoherently, corresponding weight coefficients can be assigned, i.e., b1 = weight coefficient 1*b11 + weight coefficient 2*b12.

[0115] It should be noted that the closer the echo signal is to the center of the transmission line, the stronger it is, and the farther the echo signal is from the center of the transmission line, the weaker it is. In order to obtain a stronger beam signal, the position and beam spacing of the receiving beam can be arbitrarily specified. Figure 8 The beam 13 in FIG. 1 is the result of the calculation of the echo channel data of the transmission line t1, and it is located on the right side of the transmission line t1. The beam 49 is the result of the calculation of the echo channel data of the transmission line t4, and it is located on the left side of the transmission line t4. In order to obtain a stronger beam signal, the receiving position of the beam 13 can be set further to the left, close to the center of the transmission line t1; the receiving position of the beam 49 can be set further to the right, close to the center of the transmission line t4.

[0116] In the above-mentioned embodiment, by dividing the ultrasonic echo beam according to the receiving position and performing different compound processing on the ultrasonic echo beam, a stronger echo signal can be obtained by placing the transmission focus within the imaging area. At the same time, coherent compounding and incoherent compounding are combined to solve the image problem in the transmission focal area, thereby avoiding image errors caused by phase problems near the transmission focal area to the greatest extent.

[0117] In some optional implementations, the preset grouping methods may include any two or three of grouping according to transmission focal areas, grouping according to odd and even transmissions, and grouping according to beam receiving positions.

[0118] Specifically, the ultrasound device can divide the multiple groups of ultrasound echo beams it receives according to any two grouping methods. Taking grouping according to the transmission focal area and grouping according to the beam receiving position as an example, the ultrasound device groups part of the ultrasound echo beams according to the transmission focal area to obtain a first echo beam subset that needs to be processed incoherently and a second echo beam subset that needs to be processed incoherently. The other part is grouped according to the beam receiving position to obtain a third echo beam subset that needs to be processed incoherently and a fourth echo beam subset that needs to be processed incoherently. Then, the first echo beam subset and the third echo beam subset are merged into a first echo beam set, and the second echo beam subset and the fourth echo beam subset are merged into a second echo beam set.

[0119] Specifically, the ultrasound device can divide the multiple groups of ultrasound echo beams it receives according to the above three grouping methods. Group some ultrasound echo beams according to the transmission focal area to obtain the first echo beam subset that needs to be processed incoherently and the second echo beam subset that needs to be processed incoherently. Group some according to the odd and even transmissions to obtain the third echo beam subset that needs to be processed incoherently and the fourth echo beam subset that needs to be processed incoherently. Group the remaining part according to the beam receiving position to obtain the fifth echo beam subset that needs to be processed incoherently and the sixth echo beam subset that needs to be processed incoherently. Then, merge the first echo beam subset, the third echo beam subset and the fifth echo beam subset into the first echo beam set, and merge the second echo beam subset, the fourth echo beam subset and the sixth echo beam subset into the second echo beam set.

[0120] Therefore, the image problem at the emission focal area can be solved by combining a plurality of grouping methods.

[0121] Step S203, perform incoherent compound processing on the first echo beam set to obtain an incoherent processing result, and perform coherent compound processing on the second echo beam set to obtain a coherent processing result. For detailed description, please refer to the relevant description corresponding to the above embodiment, which will not be repeated here.

[0122] Step S204: Fusing the incoherent processing result and the coherent processing result to obtain a target echo beam. For detailed description, please refer to the corresponding description of the above embodiment, which will not be repeated here.

[0123] Step S205, imaging processing is performed on the target echo beam to generate a target ultrasound image. For detailed description, please refer to the relevant description of the above embodiment, which will not be repeated here.

[0124] The ultrasonic imaging method provided in this embodiment divides the ultrasonic echo beam to perform different compound processing on the ultrasonic echo beam. It can place the transmission focus within the imaging area while combining coherent compounding and incoherent compounding to solve image problems in the transmission focal area, avoid image errors caused by phase problems near the transmission focal area, and improve the image accuracy of global focused imaging.

[0125] In this embodiment, an ultrasound imaging method is provided, which can be used in ultrasound equipment. Fig. 9 is a flow chart of an ultrasonic imaging method according to an embodiment of the present invention. Fig. 9 As shown, the process includes the following steps:

[0126] Step S301 , obtaining multiple groups of ultrasonic echo beams generated by the ultrasonic probe each time transmitting ultrasound at a target site.

[0127] Specifically, the above step S301 may include:

[0128] Step S3011, obtaining ultrasonic echo channel data generated by the ultrasonic probe transmitting ultrasonic waves at different positions of the target part.

[0129] Ultrasonic echo channel data is the echo data returned by each channel received by the ultrasonic probe. Specifically, the ultrasonic wave emitted by the ultrasonic probe is multi-channel, and accordingly, the ultrasonic echo data is also multi-channel. After the ultrasonic probe emits ultrasonic waves at different positions of the target part, the ultrasonic probe can receive the ultrasonic echo data of each channel returned from different positions, and transmit the ultrasonic echo data of each channel to the ultrasonic device, and the ultrasonic device can obtain the ultrasonic echo channel data generated by the ultrasonic probe emitting ultrasonic waves at different positions of the target part.

[0130] Step S3012, analyzing the ultrasonic echo channel data to determine the ultrasonic echo beam generated by each ultrasonic transmission.

[0131] The ultrasonic device analyzes the acquired ultrasonic echo channel data to determine the receiving position corresponding to the ultrasonic echo data of each channel, arranges the ultrasonic echo data of each channel according to the receiving position, and obtains the ultrasonic echo beam generated by the ultrasonic emission.

[0132] Step S302: divide the multiple groups of ultrasonic echo beams according to a preset grouping method to obtain a first echo beam set and a second echo beam set. For detailed description, please refer to the relevant description of the above embodiment, which will not be repeated here.

[0133] Step S303: performing incoherent compound processing on the first echo beam set to obtain an incoherent processing result, and performing coherent compound processing on the second echo beam set to obtain a coherent processing result.

[0134] Specifically, the above step S303 may include:

[0135] Step S3031: Acquire a first weight coefficient corresponding to each ultrasonic echo beam in the first echo beam set, and a second weight coefficient corresponding to each ultrasonic echo beam in the second echo beam set.

[0136] The first weight coefficient and the second weight coefficient are composite weights pre-set for each ultrasonic echo beam in the group according to composite requirements. Specifically, the first weight coefficient and the second weight coefficient can be pre-set by a technician and saved in the ultrasonic device. Accordingly, when the ultrasonic device performs weighted composite processing on each ultrasonic echo beam, the pre-set first weight coefficient and the second weight coefficient can be called.

[0137] Step S3032: performing incoherent composite processing on each ultrasonic echo beam in the first echo beam set according to each first weight coefficient to obtain an incoherent processing result.

[0138] Each first weight coefficient is multiplied with each corresponding ultrasonic echo beam in the first echo beam set to obtain each multiplication result, and then each multiplication result is subjected to incoherent composite processing to obtain an incoherent processing result.

[0139] Step S3033: performing coherent composite processing on each ultrasonic echo beam in the second echo beam set according to each second weight coefficient to obtain a coherent processing result.

[0140] Each second weight coefficient is multiplied with each corresponding ultrasonic echo beam in the second echo beam set to obtain each multiplication result, and then each multiplication result is subjected to coherent composite processing to obtain a coherent processing result.

[0141] by Figure 6As shown in the figure, corresponding weight coefficients a1, a2, a3 and a4 can be assigned to beam r3, beam r5, beam r4 and beam r6 respectively. Beam r11 is obtained by combining beam r3 and beam r5, and beam r12 is obtained by combining beam r4 and beam r6.

[0142] Different weight coefficients are assigned during compounding, then beam r11 = a1*beam r3 + a2*beam r5; beam r12 = a3*beam r4 + a4*beam r6.

[0143] Step S304: fuse the incoherent processing result and the coherent processing result to obtain a target echo beam.

[0144] In some optional implementations, the above step S304 may include: splicing the incoherent processing result and the coherent processing result to generate a target echo beam.

[0145] like Figure 5 As shown in the schematic diagram of ultrasonic echo information composite, the incoherent processing result corresponding to the transmitting focal area and the coherent processing result corresponding to the non-transmitting focal area are directly spliced ​​to obtain the final composite result, that is, the target echo beam.

[0146] In some optional implementations, the above step S304 may further include:

[0147] Step b1, obtaining a third weight coefficient corresponding to the incoherent processing result and a fourth weight coefficient corresponding to the coherent processing result.

[0148] The third weight coefficient and the fourth weight coefficient are weights set for the incoherent processing result and the coherent processing result, respectively. Specifically, the third weight coefficient and the fourth weight coefficient can be pre-set by a technician and saved in the ultrasound device. Accordingly, when the ultrasound device performs weighted fusion processing, the pre-set third weight coefficient and the fourth weight coefficient can be called.

[0149] Step b2: performing weighted fusion on the incoherent processing result and the coherent processing result according to the third weight coefficient and the fourth weight coefficient to generate a target echo beam.

[0150] The third weight coefficient is multiplied by the incoherent processing result, and the fourth weight coefficient is multiplied by the coherent processing result to obtain the corresponding multiplication result, and then the two multiplication results are subjected to incoherent composite processing to obtain the final composite result, that is, the target echo beam.

[0151] Step S305: Perform imaging processing on the target echo beam to generate a target ultrasound image. For detailed description, please refer to the relevant description of the above embodiment, which will not be repeated here.

[0152] The ultrasonic imaging method provided in this embodiment combines ultrasonic echo channel data to determine the ultrasonic echo beam generated by ultrasonic emission, thereby ensuring the accurate acquisition of the ultrasonic echo beam and improving the processing accuracy of the ultrasonic echo beam. The grouped ultrasonic echo beams are weighted coherently compounded or incoherently compounded within the group, which can avoid the grid line problem at the emission focal area due to inconsistent beam energy, further improving the imaging quality of the image. At the same time, the incoherent processing results and the coherent processing results are weightedly fused to obtain a complete target echo beam, avoiding image problems caused by the inconsistency between the incoherent processing results and the coherent processing results, and further improving the imaging accuracy.

[0153] The embodiments of the present disclosure also provide a computer-readable storage medium. The above-mentioned method according to the embodiments of the present disclosure can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium and downloaded through a network, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0154] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An ultrasonic imaging method, characterized in that: The method comprises: Acquire multiple groups of ultrasonic echo beams generated by the ultrasonic probe transmitting ultrasound at the target part; Dividing the multiple groups of ultrasonic echo beams according to a preset grouping method to obtain a first echo beam set and a second echo beam set, wherein the multiple groups of ultrasonic echo beams in the first echo beam set are different from the multiple groups of ultrasonic echo beams in the second echo beam set; Performing incoherent composite processing on the first echo beam set to obtain an incoherent processing result, and performing coherent composite processing on the second echo beam set to obtain a coherent processing result; Fusing the incoherent processing result and the coherent processing result to obtain a target echo beam; The target echo beam is subjected to imaging processing to generate a target ultrasound image.

2. The method according to claim 1, characterized in that The preset grouping method includes grouping according to the transmission focal area, and the plurality of groups of ultrasonic echo beams are divided according to the preset grouping method to obtain a first echo beam set and a second echo beam set, including: Acquiring the emission focal area of ​​the ultrasonic probe; Based on the transmit focal zone, the plurality of groups of ultrasonic echo beams are divided to obtain the first echo beam set within the transmit focal zone and the second echo beam set outside the transmit focal zone.

3. The method according to claim 2, characterized in that The step of obtaining the emission focal area of ​​the ultrasound probe comprises: Acquiring imaging parameters corresponding to the ultrasound probe; Based on the imaging parameters, determining the ultrasonic field distribution corresponding to the ultrasonic probe; The transmitting focal area and the non-transmitting focal area of ​​the ultrasonic probe are delineated according to the ultrasonic field distribution.

4. The method according to claim 3, characterized in that The obtaining of imaging parameters corresponding to the ultrasound probe includes: In response to a parameter setting operation on the ultrasound probe, an imaging parameter of the ultrasound probe is determined based on the parameter setting operation.

5. The method according to claim 1, characterized in that The preset grouping method includes grouping according to odd and even transmission times, and dividing the plurality of groups of ultrasonic echo beams according to the preset grouping method to obtain a first echo beam set and a second echo beam set includes: Acquire the ultrasonic emission times corresponding to each group of the ultrasonic echo beams, where the ultrasonic emission times are odd-numbered times or even-numbered times; Based on the odd or even times of ultrasonic transmission, the plurality of groups of ultrasonic echo beams are grouped and divided to obtain the first echo beam set and the second echo beam set.

6. The method according to claim 1, characterized in that The preset grouping method includes grouping according to beam receiving positions, and the plurality of groups of ultrasonic echo beams are divided according to the preset grouping method to obtain a first echo beam set and a second echo beam set, including: Acquiring a receiving position of each group of the ultrasonic echo beams; Based on the receiving positions, the plurality of groups of ultrasonic echo beams are grouped and divided to obtain a first echo beam set with the same receiving position and a second echo beam set with different receiving positions.

7. The method according to claim 2, 5 or 6, characterized in that: The preset grouping methods include any two or three of grouping according to transmission focal areas, grouping according to odd and even transmissions, and grouping according to beam receiving positions.

8. The method according to claim 1, characterized in that The performing incoherent composite processing on the first echo beam set to obtain an incoherent processing result, and performing coherent composite processing on the second echo beam set to obtain a coherent processing result, comprises: Acquire a first weight coefficient corresponding to each of the ultrasonic echo beams in the first echo beam set, and a second weight coefficient corresponding to each of the ultrasonic echo beams in the second echo beam set; Performing incoherent composite processing on each of the ultrasonic echo beams in the first echo beam set according to each of the first weight coefficients to obtain the incoherent processing result; The coherent composite processing is performed on each of the ultrasonic echo beams in the second echo beam set according to each of the second weight coefficients to obtain the coherent processing result.

9. The method according to claim 1 or 8, characterized in that: The incoherent processing result and the coherent processing result are fused to obtain a target echo beam, including: The incoherent processing result and the coherent processing result are spliced ​​to generate the target echo beam.

10. The method according to claim 1 or 8, characterized in that: The incoherent processing result and the coherent processing result are fused to obtain a target echo beam, including: Acquire a third weight coefficient corresponding to the incoherent processing result and a fourth weight coefficient corresponding to the coherent processing result; The incoherent processing result and the coherent processing result are weightedly fused according to the third weight coefficient and the fourth weight coefficient to generate the target echo beam.

11. The method according to claim 1, characterized in that: The step of obtaining an ultrasonic echo beam generated by the ultrasonic probe transmitting ultrasound at the target part each time includes: Acquiring ultrasonic echo channel data generated by the ultrasonic probe transmitting ultrasonic waves at different positions of the target part; The ultrasonic echo channel data is analyzed to determine the ultrasonic echo beam generated by each ultrasonic transmission.

12. An ultrasonic device, characterized in that: include: Ultrasound probe and display; A processor, connected to the ultrasound probe and the display, the processor being configured to execute the ultrasound imaging method according to any one of claims 1 to 11; The display is used for displaying the target ultrasound image.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the ultrasound imaging method according to any one of claims 1 to 11.

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