Ultrasonic imaging method and device, computer equipment and storage medium

Abstract

The invention relates to an ultrasonic imaging method and device, computer equipment and a storage medium. The method comprises the following steps: carrying out imaging scanning on a target object by adopting a preset number of divergent waves to obtain echo signals corresponding to the divergent waves respectively; the preset number of divergent waves comprise at least two divergent waves with different deflection angles; for each divergent wave, performing image reconstruction according to the echo signal corresponding to the divergent wave and a preset image reconstruction model to obtain a reconstructed image corresponding to the divergent wave; the preset image reconstruction model is obtained by correcting a frequency domain reconstruction model of the plane wave; and generating an ultrasonic image of the target object based on the reconstructed image corresponding to each divergent wave. By adopting the method, on one hand, the single scanning area is increased by using the divergent waves, the scanning times are reduced, and the phased array imaging frame rate is improved; and on the other hand, by correcting the frequency domain reconstruction model of the plane wave into the frequency domain reconstruction model of the divergent wave, the reconstruction calculation complexity is reduced, the reconstruction time is shortened, and the imaging efficiency is improved.

Description

Technical Field

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

[0002] In the field of ultrasound imaging, when performing cardiac ultrasound, in order to avoid the obstruction of the ribs, the aperture size of the ultrasound phased array probe used needs to be strictly limited so that the ultrasound phased array probe can scan and image the heart between the ribs.

[0003] Traditionally, in order to expand the imaging field of view of the phased array, focused waves are often used for large-angle scanning, which means that a certain number of scans are required to obtain a complete cardiac ultrasound image. However, the traditional focused wave imaging method has the problems of low imaging frame rate and low imaging efficiency. Summary of the invention

[0004] Based on this, it is necessary to provide an ultrasonic imaging method, apparatus, computer device, computer-readable storage medium and computer program product that can reduce the amount of image reconstruction calculations based on divergent waves and improve the imaging efficiency based on divergent waves in order to address the above technical problems.

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

[0006] A preset number of diverging waves are used to perform imaging scanning on the target object to obtain echo signals corresponding to each diverging wave; the preset number of diverging waves includes at least two diverging waves with different deflection angles;

[0007] For each divergent wave, image reconstruction is performed according to the echo signal corresponding to the divergent wave and a preset image reconstruction model to obtain a reconstructed image corresponding to the divergent wave; the preset image reconstruction model is obtained by modifying the frequency domain reconstruction model of the plane wave;

[0008] Based on the reconstructed images corresponding to the divergent waves, an ultrasound image of the target object is generated.

[0009] In one embodiment, image reconstruction is performed according to the echo signal corresponding to the divergent wave and a preset image reconstruction model to obtain a reconstructed image corresponding to the divergent wave, including:

[0010] According to the emission information of the divergent wave and the information of the ultrasonic probe, a preset image reconstruction model corresponding to the divergent wave is obtained from a preset database; the preset database includes image reconstruction models corresponding to the emission information of different divergent waves and the information of different ultrasonic probes;

[0011] Image reconstruction is performed according to the echo signal corresponding to the divergent wave and the preset image reconstruction model corresponding to the divergent wave to obtain a reconstructed image corresponding to the divergent wave.

[0012] In one embodiment, the frequency domain reconstruction model of the plane wave is an explosion reflection sub-model, the preset image reconstruction model is a modified explosion reflection sub-model, and the method for constructing the preset database includes:

[0013] For different divergent waves and different ultrasonic probes, the preset transformation coefficients are determined according to the emission information of the divergent waves, the information of the ultrasonic probe and the explosion reflection sub-model;

[0014] According to the preset transformation coefficient and the wave velocity information of the divergent wave, the explosion reflection sub-model is modified to obtain a modified explosion reflection sub-model corresponding to the divergent wave and the ultrasonic probe; the preset transformation coefficient corresponds to the wave velocity information of the divergent wave;

[0015] A preset database is constructed based on the modified explosion reflection sub-models corresponding to each divergent wave and each ultrasonic probe.

[0016] In one embodiment, the preset transformation coefficient is determined according to the emission information of the divergent wave, the information of the ultrasonic probe and the explosion reflection sub-model, including:

[0017] Determine the two-way propagation time relationship of the divergent wave according to the emission information of the divergent wave and the information of the ultrasonic probe;

[0018] According to the explosion reflection submodel, the one-way propagation time relation of the plane wave is determined;

[0019] Based on the two-way propagation time relationship and the one-way propagation time relationship, a preset transformation coefficient is determined.

[0020] In one embodiment, determining the preset transformation coefficient based on the two-way propagation time relationship and the one-way propagation time relationship includes:

[0021] Based on the two-way propagation time relation and the one-way propagation time relation, a relation equation is constructed;

[0022] The relational equation is solved to obtain preset transformation coefficients; the preset transformation coefficients include wave speed transformation coefficients.

[0023] In one embodiment, determining a two-way propagation time relationship of the divergent wave according to the emission information of the divergent wave and the information of the ultrasonic probe includes:

[0024] If the ultrasonic probe is a phased array probe, the phased array probe is equivalent to a convex array probe, and the two-way propagation time relationship of the divergent wave is determined according to the information of the convex array probe and the emission information of the divergent wave;

[0025] If the ultrasonic probe is a convex array probe, the two-way propagation time relationship of the divergent wave is determined based on the information of the convex array probe and the emission information of the divergent wave.

[0026] In one embodiment, image reconstruction is performed according to the echo signal corresponding to the divergent wave and the preset image reconstruction model corresponding to the divergent wave to obtain a reconstructed image corresponding to the divergent wave, including:

[0027] Performing Fourier transform on the echo signal corresponding to the divergent wave to obtain an echo frequency domain signal of the echo signal corresponding to the divergent wave;

[0028] Mapping and transforming the echo frequency domain signal according to a preset image reconstruction model corresponding to the divergent wave to obtain an image frequency domain signal of the echo signal corresponding to the divergent wave;

[0029] Perform inverse Fourier transform on the image frequency domain signal to obtain the reconstructed image corresponding to the divergent wave.

[0030] In a second aspect, the present application also provides an ultrasonic imaging device, comprising:

[0031] A scanning module, used to perform imaging scanning on a target object using a preset number of divergent waves to obtain echo signals corresponding to each divergent wave; the preset number of divergent waves includes at least two divergent waves having different deflection angles;

[0032] A reconstruction module is used to perform image reconstruction for each divergent wave according to the echo signal corresponding to the divergent wave and a preset image reconstruction model to obtain a reconstructed image corresponding to the divergent wave; the preset image reconstruction model is obtained by modifying the frequency domain reconstruction model of the plane wave;

[0033] The imaging module is used to generate an ultrasonic image of the target object based on the reconstructed images corresponding to the divergent waves.

[0034] 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 the ultrasound imaging method in the first aspect when executing the computer program.

[0035] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the ultrasound imaging method in the first aspect.

[0036] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the ultrasound imaging method in the first aspect.

[0037] The ultrasonic imaging method, apparatus, computer device, storage medium and computer program product adopt a preset number of divergent waves to perform imaging scanning on the target object, and obtain echo signals corresponding to each divergent wave; for each divergent wave, image reconstruction is performed according to the echo signal corresponding to the divergent wave and a preset image reconstruction model, and a reconstructed image corresponding to the divergent wave is obtained; based on the reconstructed image corresponding to each divergent wave, an ultrasonic image of the target object is generated; wherein the preset image reconstruction model is obtained by modifying the frequency domain reconstruction model of the plane wave; the preset number of divergent waves includes at least two divergent waves with different deflection angles; that is, the present invention In the ultrasonic imaging method proposed in the application embodiment, on the one hand, the use of divergent waves can increase the single scanning area, thereby reducing the number of scans. Therefore, compared with focused wave imaging, the imaging frame rate of the phased array can be greatly improved; on the other hand, compared with the spatial domain beamforming method, by correcting the frequency domain reconstruction model applicable to plane waves to a frequency domain reconstruction model applicable to divergent waves, a new frequency domain beamforming method for divergent waves is realized. The use of the frequency domain beamforming method for divergent waves for ultrasonic imaging can greatly reduce the complexity of reconstruction calculations and shorten the reconstruction time, thereby further improving the phased array imaging speed, that is, improving the imaging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] FIG1 is a diagram of an application environment of an ultrasonic imaging method according to an embodiment;

[0040] FIG2 is a schematic diagram of a flow chart of an ultrasonic imaging method in one embodiment;

[0041] FIG3 is a schematic diagram of divergent waves at different deflection angles in one embodiment;

[0042] FIG4 is a schematic flow chart of an ultrasound imaging method in another embodiment;

[0043] FIG5 is a schematic flow chart of an ultrasound imaging method in another embodiment;

[0044] FIG6 is a schematic flow chart of an ultrasound imaging method in another embodiment;

[0045] FIG7 is a schematic diagram of calculating the two-way propagation time of divergent waves under a phased array probe in one embodiment;

[0046] FIG8 is a schematic diagram of calculating the radius of an equivalent convex array of diverging waves in one embodiment;

[0047] FIG9 is a schematic diagram of calculating the two-way propagation time of divergent waves under a convex array probe in one embodiment;

[0048] FIG10 is a schematic flow chart of an ultrasound imaging method in another embodiment;

[0049] FIG11 is a schematic flow chart of a frequency domain beamforming method based on diverging waves in one embodiment;

[0050] FIG12 is a block diagram of an ultrasonic imaging device according to an embodiment;

[0051] FIG. 13 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0052] 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.

[0053] In the field of ultrasound imaging, for cardiac ultrasound, in order to avoid the obstruction of the ribs, it is usually necessary to strictly limit the aperture size of the phased array probe used, that is, it is necessary to reduce the length of the phased array so that the probe can scan between the ribs, thereby avoiding the obstruction of the probe by the ribs. In addition, as the aperture size of the probe becomes smaller, in order to expand the imaging field of view of the phased array probe, the classic mode often uses focused waves for large deflection scanning, that is, a certain number of scans are required to obtain a complete cardiac ultrasound image. Therefore, the use of focused wave scanning will greatly reduce the imaging frame rate, and focused wave scanning also has the problem of low imaging efficiency.

[0054] Based on this, the embodiment of the present application proposes a new frequency domain beamforming method based on divergent waves. By performing cardiac imaging scans through divergent waves and adopting a frequency domain beamforming method, not only can the imaging frame rate be improved, but also rapid reconstruction through frequency domain mapping can be achieved. It can also greatly reduce the computational complexity of reconstruction, shorten the reconstruction operation time, and further improve the efficiency of ultrasonic cardiac imaging.

[0055] The ultrasonic imaging method provided in the embodiment of the present application can be applied in the application environment shown in FIG1. ​​The computer device 102 can be an ultrasonic imaging device, or a computing device that is communicatively connected to the ultrasonic imaging device; when the computer device is the computing device, the ultrasonic imaging device can send the collected ultrasonic echo signal to the computing device when the ultrasonic echo signal is collected, so that the computing device can reconstruct the ultrasonic image based on the received ultrasonic echo signal to obtain the ultrasonic image.

[0056] Exemplarily, the computing device may be a computing terminal, a local server, a remote server, a cloud server, etc., which is not specifically limited in the present application. The server may be implemented as an independent server or a server cluster composed of multiple servers.

[0057] In an exemplary embodiment, as shown in FIG2 , an ultrasound imaging method is provided, which is described by taking the method applied to the computer device in FIG1 as an example, and includes the following steps 202 to 206. Among them:

[0058] Step 202: Use a preset number of divergent waves to perform imaging scanning on the target object to obtain echo signals corresponding to each divergent wave.

[0059] Among them, the preset number of divergent waves includes at least two divergent waves with different deflection angles, and the deflection angle of the divergent wave can be defined as the angle between the line between the virtual focus of the divergent wave and the center point of the phased array probe and the axis of the phased array probe. In addition, the preset number can be two or more.

[0060] Exemplarily, the positions of the virtual foci corresponding to a preset number of divergent waves in space may be different. For example, the virtual foci corresponding to each divergent wave may be multiple points on a plane in space, and the plane may be a plane parallel to the plane where the phased array probe is located; that is, the virtual foci corresponding to each divergent wave are above the plane where the phased array probe is located, and the vertical distance between the virtual foci corresponding to each divergent wave and the plane where the phased array probe is located is equal; of course, the plane may also be a plane at a certain angle to the plane where the phased array probe is located, or the virtual foci corresponding to each divergent wave may not be on the same plane, that is, the vertical distance between the virtual foci corresponding to each divergent wave and the plane where the phased array probe is located may also be different.

[0061] Exemplarily, for multiple virtual foci on the same plane, the multiple virtual foci may also be points on the same straight line on the plane, and the straight line may be a straight line above the phased array probe and parallel to the central axis of the phased array probe.

[0062] In an optional implementation, referring to FIG3 , the preset number of divergent waves may include three divergent waves, and the virtual focuses of the three divergent waves are all located on parallel straight lines at a preset distance above the one-dimensional phased array, wherein a line between a first virtual focus of the first divergent wave and the center point of the one-dimensional phased array is perpendicular to the axis of the one-dimensional phased array, that is, the first virtual focus is located directly above the center point of the one-dimensional phased array; the second virtual focus of the second divergent wave and the third virtual focus of the third divergent wave are respectively located on both sides of the first virtual focus, and are equidistant from the first virtual focus, that is, an angle (acute angle) between a line between the second virtual focus of the second divergent wave and the center point of the one-dimensional phased array and the axis of the one-dimensional phased array is equal to an angle (acute angle) between a line between the third virtual focus of the third divergent wave and the center point of the one-dimensional phased array and the axis of the one-dimensional phased array.

[0063] For example, the phased array probe of the ultrasonic imaging device can sequentially transmit divergent waves with different deflection angles to the target object, and the phased array probe can respectively collect the echo signals corresponding to each divergent wave. The target object can be a tissue part suitable for ultrasonic imaging, such as the heart, liver, and kidney, which is not specifically limited in the embodiments of the present application.

[0064] Step 204 , for each divergent wave, image reconstruction is performed according to the echo signal corresponding to the divergent wave and a preset image reconstruction model to obtain a reconstructed image corresponding to the divergent wave; the preset image reconstruction model is obtained by modifying the frequency domain reconstruction model of the plane wave.

[0065] Among them, the frequency domain reconstruction model of the plane wave can be an image reconstruction model obtained by the frequency domain beam synthesis method based on the plane wave; the frequency domain beam synthesis method originated from the field of radar detection and seismic imaging, and uses the full-field mapping calculation in the frequency domain instead of the point-by-point calculation in the spatial domain, which can greatly shorten the operation time; in addition, thanks to the Fast Fourier Transform (FFT) algorithm, the frequency domain beam synthesis can also greatly reduce the computational complexity of the reconstruction and improve the reconstruction efficiency. However, since the current frequency domain beam synthesis is a key technology in the field of plane wave reconstruction, and the present application uses divergent waves, it is necessary to modify the frequency domain reconstruction model of the plane wave to obtain a frequency domain reconstruction model suitable for divergent waves, that is, the above-mentioned preset image reconstruction model, to implement the frequency domain beam synthesis method based on divergent waves to improve the imaging efficiency of divergent waves.

[0066] For example, for diverging waves with different deflection angles, the preset image reconstruction model corresponding to each diverging wave may be different. That is, for each diverging wave, the computer device may modify the frequency domain reconstruction model of the plane wave respectively, so as to obtain the preset image reconstruction model corresponding to each diverging wave.

[0067] Exemplarily, for each divergent wave, a preset image reconstruction model corresponding to the divergent wave can be determined first, and then image reconstruction is performed according to the preset image reconstruction model corresponding to the divergent wave and the echo signal corresponding to the divergent wave, so as to obtain a reconstructed image corresponding to the divergent wave.

[0068] Step 206: Generate an ultrasonic image of the target object based on the reconstructed images corresponding to the divergent waves.

[0069] Exemplarily, when reconstructed images corresponding to the divergent waves are obtained, the ultrasound image of the target object can be obtained by performing fusion processing on the reconstructed images corresponding to the divergent waves. In an optional implementation, the reconstructed images corresponding to the divergent waves can be spatially coherently compounded to obtain the ultrasound image of the target object. It should be noted that the fusion processing can also include other fusion processing methods besides spatial coherent compounding, which is not specifically limited in this embodiment.

[0070] In the above-mentioned ultrasonic imaging method, a preset number of divergent waves are used to perform imaging scanning on the target object to obtain echo signals corresponding to each divergent wave; for each divergent wave, image reconstruction is performed according to the echo signal corresponding to the divergent wave and a preset image reconstruction model to obtain a reconstructed image corresponding to the divergent wave; based on the reconstructed image corresponding to each divergent wave, an ultrasonic image of the target object is generated; wherein the preset image reconstruction model is obtained by modifying the frequency domain reconstruction model of the plane wave; the preset number of divergent waves includes at least two divergent waves with different deflection angles; that is, the ultrasonic imaging method proposed in the embodiment of the present application In the imaging method, on the one hand, the use of divergent waves can increase the single scanning area, thereby reducing the number of scans. Therefore, compared with focused wave imaging, the imaging frame rate of the phased array can be greatly improved; on the other hand, compared with the spatial domain beamforming method, by correcting the frequency domain reconstruction model suitable for plane waves to a frequency domain reconstruction model suitable for divergent waves, a new frequency domain beamforming method for divergent waves is realized. The use of the frequency domain beamforming method for divergent waves for ultrasonic imaging can greatly reduce the complexity of reconstruction calculations and shorten the reconstruction time, thereby further improving the phased array imaging speed, that is, improving the imaging efficiency.

[0071] In an exemplary embodiment, as shown in FIG4 , the above step 204 may include steps 402 to 404. Among them:

[0072] Step 402, according to the emission information of the divergent wave and the information of the ultrasonic probe, a preset image reconstruction model corresponding to the divergent wave is obtained from a preset database; the preset database includes image reconstruction models corresponding to the emission information of different divergent waves and the information of different ultrasonic probes.

[0073] Exemplarily, the emission information of the divergent wave may include the divergence angle of the divergent wave, and the information of the ultrasonic probe may include the aperture length of the ultrasonic probe phased array.

[0074] Exemplarily, the frequency domain reconstruction model of the plane wave can be modified in advance for different divergent waves and different ultrasonic probes, so as to obtain an image reconstruction model corresponding to the emission information of the divergent wave and the information of the ultrasonic probe, and add it to a preset database; based on this, when different ultrasonic probes and different divergent waves are used for imaging scanning, the preset image reconstruction model corresponding to the emission information of the divergent wave and the information of the ultrasonic probe can be directly obtained from the preset database for subsequent image reconstruction.

[0075] Exemplarily, the frequency domain reconstruction model of a plane wave (also referred to as a plane wave Fourier reconstruction module) may include, but is not limited to, an explosion reflection sub-model, an ultrasonic Fourier slice (Ultrasound Fourier Slice Beamforming, UFSB) model, and a Lu model, etc.; when different plane wave frequency domain reconstruction models are used, a modified frequency domain reconstruction model that matches the divergent wave and the ultrasonic probe can be obtained as a frequency domain reconstruction module for the divergent wave, that is, an image reconstruction model suitable for the divergent wave. It should be noted that for different divergent waves and different ultrasonic probes, the types of corresponding image reconstruction models may be the same or different; for example: the image reconstruction model corresponding to the divergent wave A and the ultrasonic probe A is obtained after correction based on the explosion reflection sub-model of the plane wave, and the image reconstruction model corresponding to the divergent wave B and the ultrasonic probe B is obtained after correction based on the UFSB model of the plane wave. The embodiments of the present application do not make specific limitations on this.

[0076] Step 404 , performing image reconstruction according to the echo signal corresponding to the divergent wave and the preset image reconstruction model corresponding to the divergent wave, to obtain a reconstructed image corresponding to the divergent wave.

[0077] In this embodiment, for different divergent waves and different ultrasonic probes, the frequency domain reconstruction model of the plane wave can be corrected in advance according to the divergence information of the divergent wave and the information of the ultrasonic probe, so as to obtain a corrected frequency domain reconstruction model corresponding to the divergence information of the divergent wave and the information of the ultrasonic probe, and store it in a preset database; so that in actual application scenarios, the image reconstruction model matching the currently used divergent wave and ultrasonic probe can be directly obtained from the preset database to perform image reconstruction of the divergent wave, thereby shortening the calculation time and improving the imaging efficiency.

[0078] In an exemplary embodiment, taking the frequency domain reconstruction model of a plane wave as an explosion reflection submodel as an example, the construction process of the preset database is described in detail. Accordingly, the preset image reconstruction model may be a modified explosion reflection submodel. Based on this, on the basis of the above embodiment, as shown in FIG5 , the construction method of the preset database may include steps 502 to 506, wherein:

[0079] Step 502: for different divergent waves and different ultrasonic probes, a preset transformation coefficient is determined according to the emission information of the divergent wave, the information of the ultrasonic probe and the explosion reflection sub-model.

[0080] Among them, the preset transformation coefficients may include one or more transformation coefficients, such as wave velocity transformation coefficients, target horizontal and vertical coordinate transformation coefficients, etc. The wave velocity transformation coefficients can be used to convert the wave velocity information of the divergent wave into the wave velocity information of the plane wave applicable to the explosion reflection submodel, and the target horizontal and vertical coordinate transformation coefficients can be used to convert the position information of the target under the divergent wave into the position information of the target under the plane wave applicable to the explosion reflection submodel. In addition, the explosion reflection submodel refers to the field of radar detection and seismic imaging, which regards the underground grounding body target as the explosion source, sets the various parts of the grounding body target to explode at time t=0 and form corresponding explosion waves to be transmitted to the radar; when used in the ultrasonic imaging of the present application, the explosion reflection submodel can be understood as treating the target in the target object as the explosion source, setting the various parts of the target to explode at time 0 and form corresponding explosion waves to be transmitted to the ultrasonic probe.

[0081] Exemplarily, the computer device may determine an equivalent model between the divergent wave and the plane wave based on the emission information of the divergent wave, the information of the ultrasonic probe and the explosion reflection sub-model, and then determine the preset transformation coefficient between the divergent wave and the plane wave according to the equivalent model. Exemplarily, the equivalent model may be a propagation time equivalent model determined based on the explosion reflection sub-model, that is, the propagation time of the signal under the divergent wave is equal to the propagation time of the signal under the plane wave.

[0082] Step 504: modify the explosion reflection sub-model according to the preset transformation coefficient and the wave velocity information of the divergent wave to obtain a modified explosion reflection sub-model corresponding to the divergent wave and the ultrasonic probe.

[0083] Among them, the preset transformation coefficient may include a wave velocity transformation coefficient of the divergent wave.

[0084] Exemplarily, multiplying the wave velocity information of the divergent wave by the wave velocity transformation coefficient can be converted into the wave velocity information of the plane wave. That is, the wave velocity information of the plane wave in the explosion reflection sub-model can be replaced by the product of the wave velocity information of the divergent wave and the wave velocity transformation coefficient, thereby obtaining a modified explosion reflection sub-model as a frequency domain reconstruction model corresponding to the divergent wave and the ultrasonic probe.

[0085] It should be noted that the explosion reflection sub-model is used to map the signal frequency domain to the image frequency domain during the image reconstruction process, that is, by performing frequency domain mapping based on the explosion reflection sub-model, a frequency domain mapping relationship based on the explosion reflection sub-model can be obtained. The wave velocity information of the plane wave in the frequency domain mapping relationship is replaced by the product of the wave velocity information of the divergent wave and the wave velocity transformation coefficient, and then the corrected frequency domain mapping relationship can be obtained, which is a frequency domain reconstruction model suitable for divergent waves.

[0086] Step 506: construct a preset database based on the modified explosion reflection sub-models corresponding to each divergent wave and each ultrasonic probe.

[0087] That is to say, when the explosion reflection sub-model is modified for different divergent waves and different ultrasonic probes to obtain the modified explosion reflection sub-model corresponding to the divergent waves and the ultrasonic probe, the modified explosion reflection sub-model corresponding to each divergent wave and each ultrasonic probe can be added to the database to construct a preset database of image reconstruction models corresponding to the emission information of different divergent waves and the information of different ultrasonic probes.

[0088] In this embodiment, corresponding preset transformation coefficients and modified explosion reflection sub-models are determined for different divergent wave emission information and different ultrasonic probe information, respectively, so as to construct a preset database; by adopting this method, frequency domain reconstruction models matching different divergent waves and different ultrasonic probes can be determined in advance, so that when actually performing ultrasonic imaging, frequency domain image reconstruction of divergent waves can be quickly realized, thereby improving image reconstruction efficiency and further improving ultrasonic imaging efficiency.

[0089] In an exemplary embodiment, as shown in FIG6 , the above step 502 may include steps 602 to 606. Among them:

[0090] Step 602: Determine a two-way propagation time relationship of the divergent wave according to the emission information of the divergent wave and the information of the ultrasonic probe.

[0091] The information of the ultrasonic probe may include but is not limited to the length of the ultrasonic probe phased array.

[0092] Exemplarily, the computer device can determine a two-way propagation time relationship of the divergent wave based on the emission information of the divergent wave and the length of the ultrasonic probe phased array; the two-way propagation time relationship is used to characterize the two-way propagation time required for the divergent wave to be emitted from the ultrasonic phased array to the target object and reflected by the target object to the ultrasonic phased array.

[0093] For example, since there is a phase delay when the divergent wave is imaged, that is, the emission is delayed sequentially from the center to the outside, for a phased array probe, that is, a planar phased array, its emission of divergent waves can be equivalent to the emission of divergent waves by a curved phased array; based on this, when the ultrasonic probe is an ultrasonic phased array probe, the phased array probe can be equivalent to a convex array probe, that is, an ultrasonic curved phased array; then, based on the information of the convex array probe and the emission information of the divergent wave, the two-way propagation time relationship of the divergent wave is determined. Among them, the convex array probe is a convex array that bulges toward one side of the target object.

[0094] Taking the divergent wave as the first divergent wave mentioned above as an example, the two-way propagation time relationship is briefly described. Referring to FIG7 , the divergence angle of the divergent wave is defined as θ, and the aperture length of the one-dimensional planar phased array is defined as L. Then, the one-dimensional planar phased array is equivalent to a one-dimensional convex array, that is, a one-dimensional curved phased array, and the divergent wave with a wave speed of c passing through the target point on the target object is calculated. After scattering, it is reflected by the elements on the one-dimensional plane phased array. The two-way propagation time relationship at reception It can be expressed as:

[0095] (1)

[0096] The target coordinates is based on the position of a point on a circle defined with the virtual focus of the diverging wave as the center, r is the radius of the circle, is the deflection angle of the target relative to the central axis (the vertical dotted line in Figure 7); the coordinates of the target can also be expressed based on the phased array coordinate system, that is, expressed as ,in, , ; The radius of the equivalent one-dimensional convex array is R, .

[0097] Taking the divergent wave as the second divergent wave (such as the right divergent wave of the first divergent wave) as an example, referring to FIG8 , the deflection angle of the divergent wave is defined as δ, and the aperture length of the one-dimensional planar phased array is defined as L. Then, after the one-dimensional planar phased array is equivalent to a one-dimensional convex array, the radius of the obtained one-dimensional convex array is R, that is,

[0098] (2)

[0099] Wherein, h is the vertical distance between the second virtual focus of the second divergent wave and the one-dimensional planar phased array.

[0100] Substituting the radius R of the equivalent one-dimensional convex array corresponding to the second divergent wave shown in formula (2) into the above formula (1), the two-way propagation time relationship of the second divergent wave can be obtained.

[0101] It should be noted that the radius expression of the equivalent one-dimensional convex array shown in formula (2) can also be applied to other divergent waves, that is, when the vertical distance between the virtual focus of other divergent waves and the one-dimensional plane phased array and the deflection angle are determined, the radius of the equivalent one-dimensional convex array corresponding to other divergent waves can be determined by using formula (2), and then, the radius is substituted into the above formula (1) to obtain the corresponding two-way propagation time relationship. Among them, when the deflection angle of the divergent wave is 90°, the divergent wave is the first divergent wave mentioned above, and the corresponding radius is .

[0102] For example, if the ultrasonic probe is a convex array probe, the two-way propagation time relationship of the divergent wave can be determined directly based on the information of the convex array probe and the emission information of the divergent wave; that is, the two-way propagation time relationship of the divergent wave is determined using the above formula (1), wherein the information of the convex array probe may include the radius information of the convex array probe.

[0103] Step 604, determining a one-way propagation time relation of a plane wave according to the explosion reflection sub-model.

[0104] For example, based on the explosion reflection sub-model, it can be determined that after the plane wave reaches the target, assuming that this moment is t=0, the one-way propagation time required for the reflection from the target to the phased array probe can be expressed as:

[0105] (3)

[0106] in, It is expressed as the converted wave velocity after the diverging wave is converted into a plane wave, Expressed as the horizontal and vertical coordinates after the divergent wave is converted into a plane wave.

[0107] Step 606: Determine a preset transformation coefficient based on the two-way propagation time relationship and the one-way propagation time relationship.

[0108] Exemplarily, a relational equation can be constructed based on the two-way propagation time relationship and the one-way propagation time relationship, and then the relational equation is solved to obtain preset transformation coefficients; wherein the preset transformation coefficients may include wave speed transformation coefficients, and of course may also include horizontal and vertical coordinate transformation coefficients, that is, horizontal coordinate transformation coefficients and vertical coordinate transformation coefficients.

[0109] Optionally, based on the two-way propagation time relationship and the one-way propagation time The constructed relational equation can be expressed as:

[0110] (4)

[0111] in, The two-way propagation time relationship is The first derivative of The two-way propagation time relationship is The second-order derivative of The one-way propagation time relationship is The first derivative of The one-way propagation time relationship is The second derivative of .

[0112] Based on the relationship equation shown in the above formula (4), the wave velocity conversion coefficient of the divergent wave can be calculated: and the target point's horizontal and vertical coordinate transformation coefficients and .

[0113] Based on the wave velocity transformation coefficient and the horizontal and vertical coordinate transformation coefficient of the target point The transformed wave velocity can be obtained , and the transformed horizontal and vertical coordinates of the target point :

[0114] (5)

[0115] Where c is the velocity of the divergent wave, is the horizontal and vertical coordinates of the target point under the divergent wave, that is, the position of the target point; is the velocity of the transformed plane wave, is the position of the target point under the transformed plane wave.

[0116] That is to say, based on the preset transformation coefficient, the assumption of the explosion reflection sub-model of the plane wave can be corrected to the assumption of the explosion reflection sub-model of the divergent wave.

[0117] In this embodiment, the computer device can determine the two-way propagation time relationship of the divergent wave according to the emission information of the divergent wave and the information of the ultrasonic probe; and determine the one-way propagation time relationship of the plane wave according to the explosion reflection sub-model; then, based on the two-way propagation time relationship and the one-way propagation time relationship, determine the preset transformation coefficient. By adopting this method, the assumption of the explosion reflection sub-model on which the frequency domain beam synthesis of the plane wave depends can be corrected, thereby realizing a new frequency domain beam synthesis method of the divergent wave, and obtaining the assumption of the explosion reflection sub-model applicable to the divergent wave; compared with the spatial domain reconstruction, the use of frequency domain reconstruction can reduce the reconstruction calculation amount, improve the image reconstruction efficiency, and thus improve the ultrasonic imaging efficiency.

[0118] In an exemplary embodiment, for a convex array probe, the above equivalent process does not need to be performed. Referring to FIG9 , when the ultrasonic probe is a convex array probe, that is, a curved phased array, taking the first divergent wave as an example, according to the divergence angle θ of the divergent wave and the curvature radius R of the one-dimensional convex array, the divergent wave with a wave speed of c passes through the target point. After scattering, the two-way propagation time relationship when received by the array element (R, ω) can be expressed as:

[0119] (6)

[0120] in, , .

[0121] Accordingly, the one-way propagation time relationship of the explosion reflection sub-model in the above step 604 can be expressed as:

[0122] (7)

[0123] Next, based on the two-way propagation time relationship and the one-way propagation time The relation equation can be constructed, namely the above formula (4), and the wave velocity transformation coefficient of the divergent wave and the horizontal and vertical coordinate transformation coefficient of the target point can be further calculated. , and the transformed wave velocity is obtained And the transformed horizontal and vertical coordinates of the target , which is the above formula (5).

[0124] In an exemplary embodiment, as shown in FIG10 , the above step 404 may include steps 1002 to 1006. Among them:

[0125] Step 1002: Perform Fourier transform on the echo signal corresponding to the divergent wave to obtain an echo frequency domain signal of the echo signal corresponding to the divergent wave.

[0126] The echo frequency domain signal can be expressed as a frequency domain signal in the signal domain.

[0127] For example, it is assumed that the echo signal corresponding to the divergent wave is , the echo signal is Performing a two-dimensional Fourier transform can obtain the echo frequency domain signal corresponding to the echo signal. .

[0128] It should be noted that the echo signal corresponding to the divergent wave collected here is It includes the echo signals collected by all array elements in the ultrasonic phased array.

[0129] Step 1004 , mapping and transforming the echo frequency domain signal according to a preset image reconstruction model corresponding to the divergent wave to obtain an image frequency domain signal of the echo signal corresponding to the divergent wave.

[0130] The image frequency domain signal can be expressed as a frequency domain signal in the image domain.

[0131] For example, taking the assumption of the explosion reflection sub-model as an example, after obtaining the preset transformation coefficient corresponding to the divergent wave, that is, the wave velocity transformation coefficient In the case of , the mapping relationship from the signal frequency domain to the image frequency domain determined by the explosion reflection sub-model based on the plane wave is modified to obtain a mapping relationship suitable for the divergent wave; for example, the mapping relationship M0 determined by the explosion reflection sub-model based on the plane wave can be expressed as:

[0132] (8)

[0133] Among them, sign() refers to the sign function, which determines the positive or negative sign of the parameter f.

[0134] Then, based on the wave velocity transformation coefficient and the wave velocity information c of the divergent wave. After the mapping relationship is corrected, the mapping relationship M applicable to the divergent wave can be expressed as:

[0135] (9)

[0136] Based on the mapping relationship M of the above formula (9), the echo frequency domain signal corresponding to the echo signal of the divergent wave can be Perform mapping transformation to obtain the image frequency domain signal corresponding to the echo signal of the divergent wave .

[0137] It should be noted that the mapping relationship in the above formulas (8) and (9) is only an example and is not used to limit the mapping relationship. In other words, when the frequency domain reconstruction model of the plane wave does not rely on the assumption of the explosion reflection sub-model, the formula expression of the mapping relationship M0 is not the expression form of the above formula (8), and the formula expression of the mapping relationship M0 corresponds to the type of the frequency domain reconstruction model of the plane wave.

[0138] Step 1006: Perform inverse Fourier transform on the image frequency domain signal to obtain a reconstructed image corresponding to the divergent wave.

[0139] For example, the image frequency domain signal can be Perform a two-dimensional inverse Fourier transform and get , that is, the reconstructed image corresponding to the transmitted wave.

[0140] In this embodiment, the frequency domain beamforming process based on the diverging wave may include: performing Fourier transform on the echo signal corresponding to the diverging wave to obtain the echo frequency domain signal of the echo signal corresponding to the diverging wave; then, mapping and transforming the echo frequency domain signal according to the preset image reconstruction model corresponding to the diverging wave to obtain the image frequency domain signal of the echo signal corresponding to the diverging wave; finally, performing inverse Fourier transform on the image frequency domain signal to obtain the reconstructed image corresponding to the diverging wave. By adopting this method, the explosive reflection submodel assumption that the frequency domain beamforming method of the plane wave relies on can be corrected, and the explosive reflection submodel assumption applicable to the diverging wave can be obtained, so as to realize a new frequency domain beamforming method of the diverging wave, improve the image reconstruction efficiency of the diverging wave, and further improve the ultrasonic imaging efficiency of the diverging wave.

[0141] In an exemplary embodiment, as shown in FIG11 , a frequency domain beamforming method for diverging waves is provided, taking the ultrasonic probe as a planar phased array probe as an example, comprising the following steps:

[0142] Step S1, estimating the two-way propagation time of the divergent wave based on the divergence angle of the divergent wave and the aperture length of the phased array .

[0143] Step S2, combining the one-way propagation time given by the explosion reflection submodule , solve the divergent wave velocity transformation coefficient and the target point horizontal and vertical coordinate transformation coefficient , and obtain the transformed wave velocity and the horizontal and vertical coordinates of the target point ( , , ).

[0144] Step S3: Perform a two-dimensional Fourier transform on the received radio frequency (RF) signal, i.e., the echo signal, to obtain a frequency domain signal. .

[0145] Step S4, according to the transformation coefficient , and obtain the mapping relationship M.

[0146] Step S5: According to the mapping relationship M, the frequency domain signal Perform mapping transformation to obtain spatial domain signal .

[0147] Step S6: Perform a two-dimensional inverse Fourier transform and get , that is, a single frame image, which is also the reconstructed image corresponding to the transmitted wave.

[0148] Step S7, performing spatial coherence compounding on the single-frame images obtained at different deflection angles to obtain a final ultrasonic image.

[0149] The new frequency domain beamforming method of divergent waves proposed in this embodiment realizes rapid reconstruction of frequency domain mapping of divergent waves by correcting the ERM assumption of plane waves, thereby greatly reducing the computational complexity of reconstruction, shortening the reconstruction operation time, and further improving the frame rate and imaging efficiency of ultrasonic cardiac imaging.

[0150] 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.

[0151] Based on the same inventive concept, the embodiment of the present application also provides an ultrasonic imaging device for implementing the ultrasonic imaging 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 imaging device embodiments provided below can refer to the limitations on the ultrasonic imaging method above, and will not be repeated here.

[0152] In an exemplary embodiment, as shown in FIG. 12 , an ultrasound imaging device is provided, including: a scanning module 1202, a reconstruction module 1204 and an imaging module 1206, wherein:

[0153] The scanning module 1202 is used to perform imaging scanning on the target object using a preset number of divergent waves to obtain echo signals corresponding to each divergent wave; the preset number of divergent waves includes at least two divergent waves with different deflection angles.

[0154] The reconstruction module 1204 is used to reconstruct an image for each divergent wave according to the echo signal corresponding to the divergent wave and a preset image reconstruction model, so as to obtain a reconstructed image corresponding to the divergent wave; the preset image reconstruction model is obtained by modifying the frequency domain reconstruction model of the plane wave.

[0155] The imaging module 1206 is used to generate an ultrasonic image of the target object based on the reconstructed images corresponding to the divergent waves.

[0156] In one embodiment, the reconstruction module 1204 includes:

[0157] An acquisition unit, used to acquire a preset image reconstruction model corresponding to the divergent wave from a preset database according to the emission information of the divergent wave and the information of the ultrasonic probe; the preset database includes image reconstruction models corresponding to the emission information of different divergent waves and the information of different ultrasonic probes;

[0158] The reconstruction unit is used to perform image reconstruction according to the echo signal corresponding to the divergent wave and the preset image reconstruction model corresponding to the divergent wave to obtain a reconstructed image corresponding to the divergent wave.

[0159] In one embodiment, the frequency domain reconstruction model of the plane wave is an explosion reflection sub-model, the preset image reconstruction model is a modified explosion reflection sub-model, and the device further includes: a construction module for constructing a preset database; the construction module includes:

[0160] A determination unit, for determining preset transformation coefficients for different divergent waves and different ultrasonic probes according to emission information of the divergent waves, information of the ultrasonic probe and an explosion reflection sub-model;

[0161] A correction unit, used to correct the explosion reflection sub-model according to a preset transformation coefficient and the wave velocity information of the divergent wave, so as to obtain a corrected explosion reflection sub-model corresponding to the divergent wave and the ultrasonic probe; the preset transformation coefficient corresponds to the wave velocity information of the divergent wave;

[0162] The construction unit is used to construct a preset database based on the modified explosion reflection sub-models corresponding to each divergent wave and each ultrasonic probe.

[0163] In one of the embodiments, the determination unit is used to determine the two-way propagation time relationship of the divergent wave based on the emission information of the divergent wave and the information of the ultrasonic probe; determine the one-way propagation time relationship of the plane wave based on the explosion reflection sub-model; and determine the preset transformation coefficient based on the two-way propagation time relationship and the one-way propagation time relationship.

[0164] In one of the embodiments, the determination unit is specifically used to construct a relationship equation based on the two-way propagation time relationship equation and the one-way propagation time relationship equation; solve the relationship equation to obtain preset transformation coefficients; the preset transformation coefficients include wave speed transformation coefficients.

[0165] In one of the embodiments, the determination unit is used to, when the ultrasonic probe is a phased array probe, treat the phased array probe as equivalent to a convex array probe; and determine the two-way propagation time relationship of the divergent wave based on the information of the convex array probe and the emission information of the divergent wave; when the ultrasonic probe is a convex array probe, determine the two-way propagation time relationship of the divergent wave based on the information of the convex array probe and the emission information of the divergent wave.

[0166] In one of the embodiments, the reconstruction unit is used to perform Fourier transform on the echo signal corresponding to the divergent wave to obtain an echo frequency domain signal of the echo signal corresponding to the divergent wave; perform mapping transformation on the echo frequency domain signal according to a preset image reconstruction model corresponding to the divergent wave to obtain an image frequency domain signal of the echo signal corresponding to the divergent wave; and perform inverse Fourier transform on the image frequency domain signal to obtain a reconstructed image corresponding to the divergent wave.

[0167] Each module in the above-mentioned ultrasonic imaging 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.

[0168] In an exemplary embodiment, a computer device is provided, which may be an ultrasonic imaging device or a computing device connected to the ultrasonic imaging device in communication, and its internal structure diagram may be shown in FIG13. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, the memory, and the input / output interface are connected via a system bus, and the communication interface, the display unit, and the input device are 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 and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. 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 in a wired or wireless manner, and the wireless manner may be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, an ultrasonic imaging method is implemented. The display unit of the computer device is used to form a visually visible picture, which may be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0169] Those skilled in the art will understand that the structure shown in FIG. 13 is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme 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.

[0170] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps of the ultrasound imaging method in any of the above embodiments are implemented.

[0171] 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 of the ultrasound imaging method in any of the above embodiments are implemented.

[0172] In one embodiment, a computer program product is provided, comprising a computer program, which implements the steps of the ultrasound imaging method in any of the above embodiments when executed by a processor.

[0173] It should be noted that the data involved in this application (including but not limited to data used for analysis, storage, display, etc.) are all information and data fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0174] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods 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 this application can include at least one of non-volatile 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), magnetoresistive 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, etc., but are not limited to this.

[0175] 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 specification.

[0176] 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. An ultrasonic imaging method, characterized in that: The method comprises: Using a preset number of divergent waves to perform imaging scanning on the target object, and obtaining echo signals corresponding to each of the divergent waves; the preset number of divergent waves includes at least two divergent waves with different deflection angles; For each of the divergent waves, image reconstruction is performed according to the echo signal corresponding to the divergent wave and a preset image reconstruction model to obtain a reconstructed image corresponding to the divergent wave; the preset image reconstruction model is obtained by modifying the frequency domain reconstruction model of the plane wave; An ultrasonic image of the target object is generated based on the reconstructed images corresponding to the divergent waves.

2. The method according to claim 1, characterized in that The image reconstruction is performed according to the echo signal corresponding to the divergent wave and a preset image reconstruction model to obtain a reconstructed image corresponding to the divergent wave, including: According to the emission information of the divergent wave and the information of the ultrasonic probe, a preset image reconstruction model corresponding to the divergent wave is obtained from a preset database; the preset database includes image reconstruction models corresponding to the emission information of different divergent waves and the information of different ultrasonic probes; Image reconstruction is performed according to the echo signal corresponding to the divergent wave and a preset image reconstruction model corresponding to the divergent wave to obtain a reconstructed image corresponding to the divergent wave.

3. The method according to claim 2, characterized in that The frequency domain reconstruction model of the plane wave is an explosion reflection sub-model, the preset image reconstruction model is a modified explosion reflection sub-model, and the method for constructing the preset database includes: For different divergent waves and different ultrasonic probes, a preset transformation coefficient is determined according to the emission information of the divergent waves, the information of the ultrasonic probe and the explosion reflection sub-model; According to the preset transformation coefficient and the wave velocity information of the divergent wave, the explosion reflection sub-model is modified to obtain a modified explosion reflection sub-model corresponding to the divergent wave and the ultrasonic probe; the preset transformation coefficient corresponds to the wave velocity information of the divergent wave; The preset database is constructed based on the modified explosion reflection sub-models corresponding to each of the divergent waves and each of the ultrasonic probes.

4. The method according to claim 3, characterized in that The step of determining the preset transformation coefficient according to the emission information of the divergent wave, the information of the ultrasonic probe and the explosion reflection sub-model comprises: Determining a two-way propagation time relation of the divergent wave according to the emission information of the divergent wave and the information of the ultrasonic probe; Determining a one-way propagation time relation of the plane wave according to the explosion reflection sub-model; Based on the two-way propagation time relationship and the one-way propagation time relationship, a preset transformation coefficient is determined.

5. The method according to claim 4, characterized in that The step of determining a preset transformation coefficient based on the two-way propagation time relationship and the one-way propagation time relationship comprises: Constructing a relational equation based on the two-way propagation time relational equation and the one-way propagation time relational equation; The relationship equation is solved to obtain the preset transformation coefficient; the preset transformation coefficient includes a wave speed transformation coefficient.

6. The method according to claim 4, characterized in that Determining the two-way propagation time relationship of the divergent wave according to the emission information of the divergent wave and the information of the ultrasonic probe includes: If the ultrasonic probe is a phased array probe, the phased array probe is equivalent to a convex array probe, and the two-way propagation time relationship of the divergent wave is determined according to the information of the convex array probe and the emission information of the divergent wave; If the ultrasonic probe is a convex array probe, the two-way propagation time relationship of the divergent wave is determined according to the information of the convex array probe and the emission information of the divergent wave.

7. The method according to any one of claims 2 to 6, characterized in that: The image reconstruction is performed according to the echo signal corresponding to the divergent wave and the preset image reconstruction model corresponding to the divergent wave to obtain the reconstructed image corresponding to the divergent wave, including: Performing Fourier transform on the echo signal corresponding to the divergent wave to obtain an echo frequency domain signal of the echo signal corresponding to the divergent wave; Mapping and transforming the echo frequency domain signal according to a preset image reconstruction model corresponding to the divergent wave to obtain an image frequency domain signal of the echo signal corresponding to the divergent wave; Performing inverse Fourier transform on the image frequency domain signal to obtain a reconstructed image corresponding to the divergent wave.

8. An ultrasonic imaging device, characterized in that: The device comprises: A scanning module, used to perform imaging scanning on a target object using a preset number of divergent waves to obtain echo signals corresponding to each of the divergent waves; the preset number of divergent waves includes at least two divergent waves having different deflection angles; A reconstruction module, used for performing image reconstruction for each of the divergent waves according to the echo signal corresponding to the divergent wave and a preset image reconstruction model, to obtain a reconstructed image corresponding to the divergent wave; the preset image reconstruction model is obtained by modifying the frequency domain reconstruction model of the plane wave; An imaging module is used to generate an ultrasonic image of the target object based on the reconstructed images corresponding to the divergent waves.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, 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 7 are implemented.

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