An ultrasonic imaging apparatus, imaging method, controller, and storage medium

Abstract

The application discloses an ultrasonic imaging device, an imaging method, a controller and a storage medium, relates to the technical field of ultrasonic image generation, and the ultrasonic imaging device comprises an ultrasonic catheter, a mounting seat, an ultrasonic probe, a transmission shaft and a processor, the ultrasonic catheter comprises a side wall and an end wall; the side wall is provided with a rotating position and a mounting position which are sequentially arranged along the axial direction of the ultrasonic catheter, the rotating position is arranged close to the end wall, the rotating position comprises a plurality of positioning grooves which are uniformly arranged on the inner surface of the side wall along the circumferential direction of the ultrasonic catheter, the mounting seat is in position correspondence with the rotating position, the ultrasonic probe is arranged on the mounting seat, and the processor is used for processing ultrasonic image data to obtain a target ultrasonic image corresponding to a target position. Due to the arrangement of the positioning grooves in combination with the processor, the ultrasonic image obtained by the transmission shaft after aging and the ultrasonic probe rotating unevenly can be prevented from being distorted, so that the corrected target ultrasonic image of the target position is obtained, and the accuracy of diagnosis is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ultrasound image generation, and more particularly to an ultrasound imaging device, an imaging method, a controller and a storage medium. BACKGROUND

[0002] In-vivo ultrasound imaging technology is a medical technology that uses ultrasound waves to image the inside of a body lumen. Typically, an ultrasound probe is mounted on a catheter or guide wire, the ultrasound probe is introduced into the body lumen, and then high-quality images of the inside of the lumen are generated in real time through the emission and reception of ultrasound waves. Traditional ultrasound probes use springs as transmission shafts to transmit power and rotate the ultrasound probe. However, as the number of uses and time increases, the springs age, causing the ultrasound probe to rotate unevenly, resulting in distortion of the final ultrasound image, which makes it impossible to accurately obtain images of the inside of the lumen and affects the accuracy of the diagnostic results. SUMMARY

[0003] The present application provides an ultrasound imaging device, an imaging method, a controller and a storage medium, which can effectively improve the accuracy of diagnostic results.

[0004] The present application provides an ultrasound imaging device, comprising:

[0005] An ultrasound catheter, comprising a side wall and an end wall, which enclose a mounting cavity that is open at one end and closed at the other end; the side wall is provided with a rotation position and a mounting position arranged in sequence along the axial direction of the ultrasound catheter, the rotation position is arranged close to the end wall, and the rotation position comprises a plurality of positioning grooves arranged uniformly on the inner surface of the side wall along the circumferential direction of the ultrasound catheter;

[0006] A mounting seat, which is arranged in the mounting cavity and corresponds to the position of the rotation position;

[0007] An ultrasound probe, which is arranged on the mounting seat and is used to obtain ultrasound image data of a target position;

[0008] A transmission shaft, which extends along the axial direction of the ultrasound catheter, one end of which is connected to the mounting seat, and the other end of which is connected to a driving mechanism, and the end of the mounting seat close to the transmission shaft is in interference fit with the mounting position;

[0009] and a processor, which is used to process the ultrasound image data to obtain a target ultrasound image corresponding to the target position.

[0010] In an alternative embodiment, the mounting position comprises a limiting groove arranged on the inner surface of the side wall, and the end of the mounting seat close to the transmission shaft is in interference fit with the limiting groove.

[0011] In an alternative embodiment, the mounting base is provided with a limiting protrusion on the outer wall of one end of the transmission shaft, and the limiting protrusion is in interference fit with the limiting groove.

[0012] In an alternative embodiment, the limiting groove is an annular groove structure arranged along the circumference of the inner surface of the side wall of the ultrasonic catheter.

[0013] In an alternative embodiment, the limiting groove is provided with a plurality of limiting grooves, and the plurality of limiting grooves are uniformly arranged along the circumference of the inner surface of the side wall of the ultrasonic catheter.

[0014] In an alternative embodiment, the limiting groove is provided with four limiting grooves, and the four limiting grooves are uniformly and spacedly arranged along the circumference of the ultrasonic catheter.

[0015] The present application provides an ultrasonic image imaging method using the ultrasonic imaging device as described above, and the steps include:

[0016] Moving the ultrasonic probe to the target position using the ultrasonic catheter;

[0017] Rotating the ultrasonic probe to rotate and scan a circle and obtain a plurality of ultrasonic image data of the target position using the driving mechanism;

[0018] Processing the plurality of ultrasonic image data to obtain a target ultrasonic image corresponding to the target position.

[0019] In an alternative embodiment, the processing of the plurality of ultrasonic image data to obtain a target ultrasonic image corresponding to the target position includes:

[0020] Each of the positioning grooves has two mutation points, the angle difference between any two adjacent mutation points is the same, and target ultrasonic data between any two adjacent mutation points is obtained according to the plurality of ultrasonic image data;

[0021] Performing interpolation calculation on the target ultrasonic data to obtain a corrected target ultrasonic image corresponding to the target position.

[0022] The present application provides a controller, comprising:

[0023] A memory for storing a computer program;

[0024] A processor for executing the computer program to implement the steps of the ultrasonic image imaging method as described above.

[0025] The present application provides a storage medium, and the storage medium stores a computer program, and the computer program can be executed by a processor to implement the steps of the ultrasonic image imaging method as described above.

[0026] According to the ultrasonic imaging device in the above embodiment, the ultrasonic imaging device comprises an ultrasonic catheter, a mounting seat, an ultrasonic probe, a transmission shaft and a processor, the ultrasonic catheter comprises a side wall and an end wall, the side wall and the end wall enclose a mounting cavity which is open at one end and closed at the other end; the side wall is provided with a rotating position and a mounting position which are arranged in sequence along the axial direction of the ultrasonic catheter, the rotating position is arranged close to the end wall, and the rotating position comprises a plurality of positioning grooves which are uniformly arranged on the inner surface of the side wall in the circumferential direction of the ultrasonic catheter. Due to the arrangement of the positioning grooves in combination with the processor, the distortion of the ultrasonic image obtained by the ultrasonic probe after the transmission shaft is aged and the rotation of the ultrasonic probe is uneven can be avoided, so that the corrected target ultrasonic image of the target position is obtained, the accuracy of diagnosis is improved, and the service life of the ultrasonic imaging device is prolonged. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 FIG. 1 is a structural schematic diagram of an ultrasonic imaging device in an embodiment;

[0028] Figure 2 FIG. 2 is a structural sectional view of an ultrasonic catheter in an embodiment;

[0029] Figure 3 FIG. 3 is a schematic diagram of an A-A cross section in FIG. 1; Figure 2

[0030] FIG. 4 is a schematic diagram of a B portion in FIG. 3; Figure 4 Figure 2 FIG. 5 is a schematic diagram of a mutation point in an embodiment;

[0031] Figure 5 FIG. 6 is a distorted ultrasonic image;

[0032] Figure 6 FIG. 7 is a schematic diagram of an ultrasonic signal;

[0033] Figure 7 FIG. 8 is a schematic diagram of a difference of the ultrasonic signal;

[0034] Figure 8 FIG. 9 is a corrected ultrasonic image.

[0035] Figure 9 In the figure, 1 is an ultrasonic catheter; 11 is a side wall; 111 is a rotating position; 1111 is a positioning groove; 112 is a mounting position; 1121 is a limiting groove; 12 is an end wall; 13 is a mounting cavity; 2 is a mounting seat; 21 is a limiting protrusion; 3 is an ultrasonic probe; 4 is a transmission shaft; and O is an axial line of the ultrasonic catheter. DETAILED DESCRIPTION

[0036]

[0037] ​​The application will be described in further detail below with specific reference being made to the drawings. Like elements are marked with the same reference numerals throughout the various figures. In the following description, numerous specific details are described to provide a thorough understanding of the application. However, it will be apparent to one skilled in the art that the application can be practiced without many of the specific details. In other instances, well-known methods have not been described in detail in order to avoid unnecessarily obscuring the application. As used in this description, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise.

[0038] In addition, characteristics, operations or features described in the specification can be combined in any appropriate manner in various embodiments, and the order of the steps involved in the embodiments can be adjusted or modified in a manner that is apparent to those skilled in the art. Therefore, the specification and drawings are only intended to clearly describe one embodiment, and do not mean that the composition and / or order are necessarily required.

[0039] In this document, ordinal numbers assigned to components, such as "first", "second", etc., are used only to distinguish the described objects, and do not have any sequential or technical meaning. In this application, "connection" and "coupling" include direct and indirect connections (couplings) unless otherwise specified.

[0040] It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or there can be intervening elements. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements can be present. As used herein the terms "vertical", "horizontal", "left", "right", and similar expressions are used for illustrative purposes only.

[0041] In this application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the application and its embodiments, and are not intended to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to indicating the orientation or positional relationship, some of the above terms can also be used to indicate other meanings, for example, the term "upper" can also be used to indicate a certain dependent relationship or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances.

[0042] In addition, the terms "mount", "set", "provided with", "connected", "linked" should be broadly understood. For example, it can be fixed connection, detachable connection, or integral structure; it can be mechanical connection, or electrical connection; it can be directly linked, or indirectly linked through an intermediate medium, or internal communication between two devices, elements or components. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0043] In order to more clearly describe the structure of the present application, "proximal end" and "distal end" are used as directional words, "proximal end" means the end of the structure close to the operator during use, and "distal end" means the end of the structure away from the operator during use, i.e. close to the patient or inserted into the patient's body.

[0044] The present application provides an ultrasonic imaging device, which can acquire ultrasonic images of a target position (such as abdominal cavity, pelvic cavity, etc.) for better lesion viewing and diagnosis.

[0045] Please refer to Figures 1 to 4 , the ultrasonic imaging device comprises an ultrasonic catheter 1, a mounting seat 2, an ultrasonic probe 3, a transmission shaft 4 and a processor (not shown in the figure), the ultrasonic catheter 1 can enter the body to reach the target position and provide a working channel for the ultrasonic probe 3, the ultrasonic catheter 1 comprises a side wall 11 and an end wall 12, the side wall 11 and the end wall 12 form a mounting cavity 13 which is open at one end and closed at the other end, i.e. the distal end of the ultrasonic catheter 1 is closed and the proximal end is open, the opening is used for mounting the ultrasonic probe 3 and perfusing coupling agent, etc., the closed arrangement can avoid leakage of the coupling agent; the side wall 11 is provided with a rotating position 111 and a mounting position 112 which are arranged in sequence along the axial direction (the direction of the axis O of the ultrasonic catheter) of the ultrasonic catheter 1, the rotating position 111 is arranged close to the end wall 12, the rotating position 111 comprises a plurality of positioning grooves 1111 which are uniformly arranged on the inner surface of the side wall 11 along the circumferential direction of the ultrasonic catheter 1. The ultrasonic probe 3 is arranged on the mounting seat 2, the mounting seat 2 is used for carrying and protecting the ultrasonic probe 3, is arranged in the mounting cavity 13, and corresponds to the position of the rotating position 111, so that the ultrasonic probe 3 can be mounted corresponding to the rotating position 111 to rotate and scan to acquire ultrasonic image data of different angles of the target position at the rotating position 111. The transmission shaft 4 extends along the axial direction of the ultrasonic catheter 1, one end of the transmission shaft 4 is connected with the mounting seat 2, and the other end of the transmission shaft 4 is connected with a driving mechanism (not shown in the figure), the end of the mounting seat 2 close to the transmission shaft 4 is in interference fit with the mounting position 112, and the transmission shaft 4 is used for power transmission between the mounting seat 2 and the driving mechanism, so that the mounting seat 2 can rotate under the action of the driving mechanism to realize the rotating scanning of the ultrasonic probe 3 at the target position. The processor is used for processing the ultrasonic image data to obtain a target ultrasonic image corresponding to the target position, which can be generally arranged in an external computer device.

[0046] The driving mechanism can include a small rotary motor, which can directly drive the mounting seat 2 and the ultrasonic probe 3 arranged thereon to rotate through the transmission shaft 4 after starting. The transmission shaft 4 is a spring made of flat steel wire or round steel wire, which has a relatively simple structure and is convenient to prepare.

[0047] Since the transmission shaft 4 has the risk of aging after multiple or long-time use, the aged transmission shaft 4 is prone to cause uneven rotation of the ultrasonic probe 3 when driving the ultrasonic probe 3 to rotate, and the ultrasonic image obtained is distorted when there is a large resistance. The target ultrasonic image after correction of the target position is obtained through the arrangement of the plurality of positioning grooves 1111 and the processing of the ultrasonic image data by the processor.

[0048] In some optional embodiments, the mounting position 112 includes a limiting groove 1121 arranged on the inner surface of the side wall 11, and the end of the mounting seat 2 close to the transmission shaft 4 is in interference fit with the limiting groove 1121. When assembling, the transmission shaft 4 is inserted into the mounting seat 2, and the mounting seat 2 and the transmission shaft 4 are inserted into the ultrasonic catheter 1 in an interference manner until the end of the mounting seat 2 close to the transmission shaft 4 forms an assembly structure with the limiting groove 1121.

[0049] In some optional embodiments, a limiting protrusion 21 is arranged on the outer wall of the end of the mounting seat 2 close to the transmission shaft 4, and the limiting protrusion 21 is in interference fit with the limiting groove 1121. The assembly structure of the limiting protrusion 21 and the limiting groove 1121 can limit the axial expansion and contraction of the transmission shaft 4, which can effectively avoid the abnormal phenomenon that the insertion depth of the ultrasonic probe 3 is reduced due to the axial expansion and contraction of the transmission shaft 4 caused by aging, thereby effectively avoiding the accuracy decline caused by the aging of the transmission shaft 4.

[0050] In some optional embodiments, the limiting groove 1121 is an annular groove structure arranged along the circumferential direction of the ultrasonic catheter 1 around the inner surface of the side wall 11, and the limiting protrusion 41 is arranged around the circumference of the transmission shaft 4, and is in clamping fit with the limiting groove 1121.

[0051] In some optional embodiments, the limiting groove 1121 is provided with a plurality of limiting grooves 1121, which are uniformly arranged on the inner surface of the side wall 11 along the circumferential direction of the ultrasonic catheter 1. For example, the limiting groove 1121 can be provided with 2, 4 or 6, etc. The number of limiting grooves 1121 is consistent with the number of limiting protrusions 41, which can not only limit the insertion depth of the mounting seat 2 and the ultrasonic probe 3, but also fix the position of the transmission shaft 4 in the ultrasonic catheter 1 in the axial direction.

[0052] In some optional embodiments, the positioning groove 1111 is provided with four positioning grooves 1111, which are uniformly and spacedly arranged along the circumferential direction of the ultrasonic catheter 1, that is, the angle corresponding to each positioning groove 1111 is the same, and the angle between adjacent two positioning grooves 1111 is also the same.

[0053] In some optional embodiments, the cross-sectional area of ​​the positioning groove 1111 in the axial direction (direction of the axis O of the ultrasonic catheter) near the center of the ultrasonic catheter 1 is smaller than the cross-sectional area in the axial direction away from the center of the ultrasonic catheter 1. The cross-section of the positioning groove 1111 (a cross-section perpendicular to the axial direction) is generally trapezoidal.

[0054] The present application also provides an ultrasonic imaging method, the steps of which include:

[0055] S101: Using the ultrasound catheter 1, the ultrasound probe 3 is moved to the target position;

[0056] S102: rotating the ultrasonic probe 3 by a driving mechanism to perform a rotation scan and acquire multiple ultrasonic image data of a target position;

[0057] S103: Processing the plurality of ultrasound image data to obtain a target ultrasound image corresponding to the target position.

[0058] In some optional embodiments, processing the plurality of ultrasound image data to obtain a target ultrasound image corresponding to the target position includes:

[0059] Each positioning groove 1111 has two mutation points, and the angle difference between any two adjacent mutation points is the same. The target ultrasound data between any two adjacent mutation points is obtained based on multiple ultrasound image data;

[0060] The target ultrasound data is interpolated to obtain a target ultrasound image corresponding to the corrected target position.

[0061] like Figure 4 As shown, the interior of the ultrasonic catheter 1 is uniformly provided with four positioning grooves 1111. Assume that the original image data after the envelope of the ultrasonic image data is V(r,t), where t is the time coordinate and r is the radial coordinate. When the ultrasonic probe 3 rotates uniformly, the angle θ of the ultrasonic probe 3 is proportional to time, that is, θ = ωt, where ω is the uniform angular velocity. From V(r,t), we can calculate Figure 5 The cross-sectional view of the ultrasonic catheter 1 shown in FIG. 4 shows that the transmission shaft 4 rotates unevenly when it ages. The conventional calculation method is used to calculate the Figure 6 The distorted image affects the judgment of the final result.

[0062] It can be understood that ultrasound will only be reflected at the interface. There is no ultrasound reflection at the non-interface, and the signal is 0. Therefore, its signal wave is in the form of a square wave, such as Figure 7 As shown, the interface is Figure 5 The radial coordinate shown in is the position corresponding to r2, that is, the position of the bottom wall of the positioning groove 1111. Therefore, the data at r=r2 is selected for calculation. There is a mutation point between the interface and the non-interface, that is, Figure 5The positions of the middle markers r1 are mutation points, each positioning slot 1111 is provided with two mutation points, when the positioning slot 1111 is provided with four, the mutation points are eight, the angles between adjacent two mutation points are same, all Δθ=360° / 8. The mutation points correspond Figure 7 to the positions of the middle square wave signal changes, the ultrasound signals are differentiated and the absolute values are taken, the time points of each mutation point can be calculated as shown in FIG. 8. Figure 8 In the embodiment, the data between adjacent two mutation points are re-interpolated and calculated, the image data can be corrected to obtain the target ultrasound image as shown in FIG. 9. Figure 9

[0063] Suppose the two mutation points are Nc1 and Nc2, the data between Nc1 and Nc2 is Vc=V[Nc1+1:Nc2,r], that is, the data V from the Nc1+1th row to the Nc2th row, it has k0=Nc2-Nc1 rows of data in total, k0 is actually the total amount of data actually sampled between the two mutation points. k1 is the total amount of data that should be sampled when rotating uniformly, that is, the amount of data that needs to be interpolated, k1 can be set as 1024 / 8=128. For the jth data V1(j,r) that needs to be calculated, according to the properties of real numbers, there is a unique i (integer) that satisfies the following formula (1), where i is the largest integer not greater than k0 / k1*j:

[0064] i / k0≤j / k1<(i+1) / k0 (1)

[0065] The linear interpolation formula (2) is used to obtain (3) as follows:

[0066] Vc(i+1)-V1(j)=a(j)*[V1(j)-Vc(i)] (2)

[0067] V1(j)=[Vc(i+1)+a(j)*Vc(i)] / [1+a(j)] (3)

[0068] Wherein:

[0069] a(j)=[k1*(i+1)-k0*j] / (k0*j-k1*j) (4)

[0070] a(j) is calculated according to (4), and finally V1(j) that needs to be interpolated is calculated, and finally the image is corrected as shown in FIG. 9. Figure 9

[0071] The above application of specific examples is used to illustrate the present application, which is only used to help understand the present application, and does not limit the present application. For those skilled in the art to which the present application belongs, according to the idea of the present application, a number of simple deductions, deformations or substitutions can be made.​​

Claims

1. An ultrasound imaging apparatus, characterized by, The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method.

2. The ultrasound imaging apparatus of claim 1, wherein, The application relates to an ultrasonic imaging device and an ultrasonic imaging method.

3. The ultrasound imaging apparatus of claim 2, wherein, The application relates to an ultrasonic imaging device and an ultrasonic imaging method.

4. The ultrasound imaging apparatus of claim 2 or 3, characterized in that, The application relates to an ultrasonic imaging device and an ultrasonic imaging method.

5. The ultrasound imaging apparatus of claim 2 or 3, wherein, The application relates to an ultrasonic imaging device and an ultrasonic imaging method.

6. The ultrasound imaging apparatus of claim 1, wherein, The application relates to an ultrasonic imaging device and an ultrasonic imaging method.

7. An ultrasound image imaging method, characterized by, The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method.

8. The ultrasound image imaging method of claim 7, characterized by, The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method.

9. A controller characterized by comprising: The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method. The application relates to an ultrasonic imaging device and an ultrasonic imaging method. 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10. A storage medium, characterized by The storage medium has stored thereon a computer program, which can be executed by the processor to implement the steps of the ultrasonic image imaging method according to claim 7.

Images