An ultrasonic imaging system and method

Abstract

An ultrasonic imaging system and method, which emits ultrasonic waves to a tissue of interest containing a uterus, receives corresponding ultrasonic echo signals, acquires three-dimensional ultrasonic data containing the uterus according to the ultrasonic echo signals, acquires left-right direction information of the uterus in the three-dimensional ultrasonic data with the human left-right direction as a reference, and displays the left-right direction information of the uterus. Through the present application, a user can intuitively obtain the left-right direction information of the uterus in the three-dimensional ultrasonic data with the human left-right direction as a reference, which is very convenient, especially for new users.

Description

Technical Field

[0001] This invention relates to the field of ultrasound imaging, and more specifically to an ultrasound imaging system and method. Background Technology

[0002] Three-dimensional ultrasound-based gynecological uterine examinations can conveniently examine uterine lesions, especially on the coronal plane imaging of the uterus, which can more intuitively display the location and condition of lesions, such as... Figure 1 The image shows an example where boxes 1 and 2 visually indicate the location and condition of the lesion.

[0003] After acquiring three-dimensional data and obtaining the imaging results, the ultrasound physician needs to determine the location of the lesion within the uterus. Let's still use... Figure 1 For example, Figure 1 Lesion 2 is located in the right middle part of the uterine cavity. However, when determining the actual location and direction, doctors can determine the position of the cervix and the fundus of the uterus relatively well through ultrasound images. However, the left and right direction of the uterine cavity is affected by factors such as the image acquisition direction, the rendering direction, and the display method settings of different manufacturers. The left and right of the ultrasound tissue in the ultrasound image may not be consistent with the actual left and right of the patient's body. This often causes doctors to be confused, hesitant, and make mistakes when judging the left and right of the uterus or uterine cavity shown in the ultrasound image with the actual left and right of the patient's body. This is especially evident in doctors who are not very experienced or who are new to 3D ultrasound imaging equipment. Summary of the Invention

[0004] In view of the above problems, the present invention provides an ultrasound imaging system and method, which are described in detail below.

[0005] According to a first aspect, one embodiment provides an ultrasound imaging system, comprising:

[0006] An ultrasound probe is used to emit ultrasound waves toward tissues of interest, including the uterus, and to receive the corresponding ultrasound echo signals.

[0007] The transmitting and receiving control circuit is used to control the ultrasonic probe to transmit ultrasonic waves and receive ultrasonic echo signals;

[0008] A processor is configured to process the corresponding ultrasound echo signals to obtain three-dimensional ultrasound data containing the uterus; and,

[0009] Display; wherein:

[0010] The processor obtains the orientation information of the uterus based on the three-dimensional ultrasound data containing the uterus;

[0011] The processor obtains the left-right orientation information of the uterus with reference to the left-right direction of the human body in the three-dimensional ultrasound data based on the orientation information of the uterus and the orientation information of the ultrasound probe during imaging.

[0012] The processor controls the display to show the left-right orientation information of the uterus.

[0013] In one embodiment, the processor obtains the orientation information of the uterus based on the three-dimensional ultrasound data including the uterus, including:

[0014] The processor obtains the location information of the uterus through target localization or direct regression; or...

[0015] The processor segments the target tissue using a segmentation algorithm and obtains the orientation information of the uterus based on its morphology on the segmented target tissue. The target tissue is the uterus or endometrium.

[0016] In one embodiment, the orientation information of the uterus includes the position information of the first uterine tissue relative to the second uterine tissue; the first uterine tissue is the fundus or uterine horn, and the second uterine tissue is the cervix or internal cervical os.

[0017] In one embodiment, the positional information of the first uterine tissue relative to the second uterine tissue includes: information that the first uterine tissue is located to the left or right of a reference line, wherein the reference line is a straight line parallel to the vertical axis of the human body and passes through a reference point of the second uterine tissue.

[0018] In one embodiment, the processor:

[0019] When the first uterine tissue is located to the left of the reference line and the ultrasound probe is facing forward during imaging, the direction in which the first uterine tissue is facing is taken as the front of the human body, and based on the determined front of the human body, the left and right direction information of the uterus in the three-dimensional ultrasound data with reference to the left and right direction of the human body is obtained.

[0020] When the first uterine tissue is located to the left of the reference line and the ultrasound probe is reversed during imaging, the direction in which the first uterine tissue is facing is taken as the posterior side of the human body, and based on the determined posterior side of the human body, the left-right direction information of the uterus in the three-dimensional ultrasound data with the left-right direction of the human body as a reference is obtained.

[0021] When the first uterine tissue is located to the right of the reference line and the ultrasound probe is facing forward during imaging, the direction in which the first uterine tissue is facing is taken as the posterior side of the human body, and based on the determined posterior side of the human body, the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body is obtained.

[0022] When the first uterine tissue is located to the right of the reference line and the ultrasound probe is reversed during imaging, the direction in which the first uterine tissue is facing is taken as the front of the human body, and based on the determined front of the human body, the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body is obtained.

[0023] In one embodiment, the processor controls the display to show the left-right orientation information of the uterus, including:

[0024] The processor determines a coronal image of the uterus from the three-dimensional ultrasound data containing the uterus, the processor controls the display to show the coronal image, and marks the left-right orientation information of the uterus on the coronal image; or,

[0025] The processor determines a coronal image of the uterus from the three-dimensional ultrasound data containing the uterus, and when the left-right direction of the uterus in the coronal image is opposite to the left-right direction of the human body, it mirrors the coronal image along the left-right central axis and controls the display to show the mirrored coronal image.

[0026] According to a second aspect, one embodiment provides an ultrasound imaging system, comprising:

[0027] An ultrasound probe is used to emit ultrasound waves toward tissues of interest, including the uterus, and to receive the corresponding ultrasound echo signals.

[0028] The transmitting and receiving control circuit is used to control the ultrasonic probe to transmit ultrasonic waves and receive ultrasonic echo signals;

[0029] A processor is used to process the corresponding ultrasound echo signals to obtain three-dimensional ultrasound data containing the uterus;

[0030] Display; wherein:

[0031] The processor obtains the orientation information of the uterus based on the three-dimensional ultrasound data containing the uterus;

[0032] The processor obtains the orientation information of the uterus with reference to the direction of the human body in the three-dimensional ultrasound data based on the orientation information of the uterus and the orientation information of the ultrasound probe during imaging.

[0033] The processor controls the display to show the orientation information of the uterus.

[0034] According to a third aspect, one embodiment provides an ultrasound imaging system, comprising:

[0035] An ultrasound probe for emitting ultrasound waves toward a tissue of interest containing the uterus and for receiving corresponding ultrasound echo signals; the ultrasound probe has a first identifier and / or a first structure for indicating a first orientation of the ultrasound probe.

[0036] The transmitting and receiving control circuit is used to control the ultrasonic probe to transmit ultrasonic waves and receive ultrasonic echo signals;

[0037] A processor is configured to process the corresponding ultrasound echo signals to obtain three-dimensional ultrasound data containing the uterus; and,

[0038] Display; wherein:

[0039] The processor obtains the orientation information of the uterus based on the three-dimensional ultrasound data containing the uterus;

[0040] The processor obtains the left-right orientation information of the uterus in the three-dimensional ultrasound data, with reference to the left-right orientation of the human body, based on the orientation information of the uterus.

[0041] The processor controls the display to show the left-right orientation information of the uterus.

[0042] In one embodiment, the processor obtains the orientation information of the uterus based on the three-dimensional ultrasound data including the uterus, including:

[0043] The processor obtains the location information of the uterus through target localization or direct regression; or...

[0044] The processor segments the target tissue using a segmentation algorithm and obtains the orientation information of the uterus based on its morphology on the segmented target tissue. The target tissue is the uterus or endometrium.

[0045] In one embodiment, the orientation information of the uterus includes the position information of the first uterine tissue relative to the second uterine tissue; the first uterine tissue is the fundus or uterine horn, and the second uterine tissue is the cervix or internal cervical os.

[0046] In one embodiment, the positional information of the first uterine tissue relative to the second uterine tissue includes: information that the first uterine tissue is located to the left or right of a reference line, wherein the reference line is a straight line parallel to the vertical axis of the human body and passes through a reference point of the second uterine tissue.

[0047] In one embodiment, the processor:

[0048] When the first uterine tissue is located to the left of the reference line, the direction in which the first uterine tissue faces is taken as the front of the human body, and based on the determined front of the human body, the left and right direction information of the uterus in the three-dimensional ultrasound data with the left and right direction of the human body as a reference is obtained.

[0049] When the first uterine tissue is located to the right of the reference line, the direction in which the first uterine tissue faces is taken as the posterior side of the human body, and based on the determined posterior side of the human body, the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body is obtained.

[0050] In one embodiment, the processor controls the display to show the left-right orientation information of the uterus, including:

[0051] The processor determines a coronal image of the uterus from the three-dimensional ultrasound data containing the uterus, the processor controls the display to show the coronal image, and marks the left-right orientation information of the uterus on the coronal image; or,

[0052] The processor determines a coronal image of the uterus from the three-dimensional ultrasound data containing the uterus, and when the left-right direction of the uterus in the coronal image is opposite to the left-right direction of the human body, the processor mirrors the coronal image along the left-right central axis, and controls the display to show the mirrored coronal image.

[0053] In one embodiment, the processor further performs:

[0054] Output a first reminder message, which is used to remind the operator to determine whether the orientation of the ultrasound probe during imaging is forward or reverse based on the first identifier and / or the first structure of the first orientation of the ultrasound probe.

[0055] In one embodiment, the processor further performs:

[0056] Output a second reminder message, which is used to remind the operator to hold the ultrasound probe in the correct orientation during use of the ultrasound probe based on the first identifier and / or the first structure of the first orientation of the ultrasound probe.

[0057] According to one embodiment of the fourth aspect, an ultrasound imaging system is provided, comprising:

[0058] An ultrasound probe for emitting ultrasound waves toward a tissue of interest containing the uterus and for receiving corresponding ultrasound echo signals; the ultrasound probe has a first identifier and / or a first structure for indicating a first orientation of the ultrasound probe.

[0059] The transmitting and receiving control circuit is used to control the ultrasonic probe to transmit ultrasonic waves and receive ultrasonic echo signals;

[0060] A processor is configured to process the corresponding ultrasound echo signals to obtain three-dimensional ultrasound data containing the uterus; and,

[0061] Display; wherein:

[0062] The processor obtains the orientation information of the uterus based on the three-dimensional ultrasound data containing the uterus;

[0063] The processor obtains the orientation information of the uterus with reference to the direction of the human body in the three-dimensional ultrasound data based on the orientation information of the uterus.

[0064] The processor controls the display to show the orientation information of the uterus.

[0065] According to a fifth aspect, one embodiment provides an ultrasound display method, comprising:

[0066] Emit ultrasound waves to tissues of interest, including the uterus;

[0067] Receive the corresponding ultrasonic echo signal;

[0068] Three-dimensional ultrasound data, including the uterus, are obtained based on the ultrasound echo signal.

[0069] Obtain the left-right orientation information of the uterus with reference to the left-right orientation of the human body from the three-dimensional ultrasound data;

[0070] This displays the left-right orientation information of the uterus.

[0071] In one embodiment, obtaining the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body includes:

[0072] Obtain the location information of the uterus;

[0073] The left-right orientation information of the uterus is determined at least based on the uterus's orientation information.

[0074] In one embodiment, acquiring the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body includes: acquiring the orientation information of the ultrasound probe during imaging.

[0075] Determining the left-right orientation information of the uterus based at least on the orientation information of the uterus includes: determining the left-right orientation information of the uterus based on the orientation information of the uterus and the orientation information of the ultrasound probe during imaging.

[0076] In one embodiment, obtaining the location information of the uterus includes:

[0077] The location information of the uterus can be obtained through target localization or direct regression; or,

[0078] The target tissue is segmented using a segmentation algorithm, and the orientation information of the uterus is obtained based on its morphology on the segmented target tissue. The target tissue is the uterus or endometrium.

[0079] In one embodiment, the orientation information of the uterus includes the position information of the first uterine tissue relative to the second uterine tissue; the first uterine tissue is the fundus or uterine horn, and the second uterine tissue is the cervix or internal cervical os.

[0080] In one embodiment, the positional information of the first uterine tissue relative to the second uterine tissue includes: information that the first uterine tissue is located to the left or right of a reference line, wherein the reference line is a straight line parallel to the vertical axis of the human body and passes through a reference point of the second uterine tissue.

[0081] In one embodiment:

[0082] When the first uterine tissue is located to the left of the reference line, the direction in which the first uterine tissue faces is taken as the front of the human body, and based on the determined front of the human body, the left and right direction information of the uterus in the three-dimensional ultrasound data with the left and right direction of the human body as a reference is obtained.

[0083] When the first uterine tissue is located to the right of the reference line, the direction in which the first uterine tissue faces is taken as the posterior side of the human body, and based on the determined posterior side of the human body, the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body is obtained.

[0084] In one embodiment:

[0085] When the first uterine tissue is located to the left of the reference line and the ultrasound probe is facing forward during imaging, the direction in which the first uterine tissue is facing is taken as the front of the human body, and based on the determined front of the human body, the left and right direction information of the uterus in the three-dimensional ultrasound data with reference to the left and right direction of the human body is obtained.

[0086] When the first uterine tissue is located to the left of the reference line and the ultrasound probe is reversed during imaging, the direction in which the first uterine tissue is facing is taken as the posterior side of the human body, and based on the determined posterior side of the human body, the left-right direction information of the uterus in the three-dimensional ultrasound data with the left-right direction of the human body as a reference is obtained.

[0087] When the first uterine tissue is located to the right of the reference line and the ultrasound probe is facing forward during imaging, the direction in which the first uterine tissue is facing is taken as the posterior side of the human body, and based on the determined posterior side of the human body, the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body is obtained.

[0088] When the first uterine tissue is located to the right of the reference line and the ultrasound probe is reversed during imaging, the direction in which the first uterine tissue is facing is taken as the front of the human body, and based on the determined front of the human body, the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body is obtained.

[0089] In one embodiment, displaying the left-right direction information of the uterus includes:

[0090] A coronal image of the uterus is determined and displayed from the three-dimensional ultrasound data containing the uterus, and the left-right orientation information of the uterus is marked on the coronal image; or,

[0091] A coronal image of the uterus is determined from the three-dimensional ultrasound data containing the uterus. When the left-right direction of the uterus in the coronal image is opposite to that of the human body, the coronal image is mirrored along the left-right central axis, and the mirrored coronal image is displayed.

[0092] According to a seventh aspect, one embodiment provides an ultrasound imaging system, comprising:

[0093] An ultrasound probe is used to emit ultrasound waves toward tissues of interest and to receive the corresponding ultrasound echo signals.

[0094] A transmitting and receiving control circuit is used to control the ultrasonic probe to transmit ultrasonic waves and receive ultrasonic echo signals; and,

[0095] A processor for performing the methods described in any of the embodiments herein.

[0096] According to an eighth aspect, one embodiment provides a computer-readable storage medium including a program that can be executed by a processor to perform the methods as described in any of the embodiments herein.

[0097] According to the ultrasound imaging system, method, and computer-readable storage medium of the above embodiments, three-dimensional ultrasound data including the uterus is acquired based on the ultrasound echo signal, the orientation information of the uterus with reference to the human body direction in the three-dimensional ultrasound data is acquired, and the orientation information of the uterus is displayed, so that users can intuitively obtain the orientation information of the uterus with reference to the human body direction in the three-dimensional ultrasound data, which is very convenient, especially for new users. Attached Figure Description

[0098] Figure 1 This is a schematic diagram of an ultrasound image;

[0099] Figure 2 This is a schematic diagram of an ultrasound image;

[0100] Figure 3 This is a schematic diagram of the structure of an ultrasound imaging system in one embodiment;

[0101] Figure 4 This is a schematic diagram of the structure of an ultrasound imaging system in one embodiment;

[0102] Figure 5 This is a schematic diagram illustrating the positional information of the fundus of the uterus relative to the cervix in one embodiment;

[0103] Figures 6(a) and 6(b) are two schematic diagrams showing the left-right orientation of the uterus;

[0104] Figure 7 This is a schematic diagram illustrating the method of obtaining the positional information of the fundus relative to the cervix based on two-dimensional cross-sections or three-dimensional data target localization or direct regression.

[0105] Figure 8 This is a schematic diagram illustrating the positional information of the fundus relative to the cervix obtained through a segmentation algorithm based on two-dimensional cross-sections or three-dimensional data.

[0106] Figure 9 This is a flowchart illustrating an ultrasound display method in one embodiment;

[0107] Figure 10 This is a schematic diagram illustrating the process of obtaining uterine orientation information with reference to the human body direction in three-dimensional ultrasound data in one embodiment. Detailed Implementation

[0108] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of this application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to this application are not shown or described in the specification. This is to avoid obscuring the core parts of this application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0109] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0110] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0111] When doctors determine the actual left-right orientation of the uterus in an ultrasound image, factors such as the image acquisition direction, rendering direction, and display method settings of different manufacturers can affect the left-right orientation of the ultrasound tissue in the image, which may not necessarily match the actual left-right orientation of the patient's body. Experienced doctors need to combine the probe direction, the orientation of the uterus, and the imaging method of the equipment to comprehensively determine the actual orientation of the uterus in the ultrasound image, such as the anterior-posterior or lateral orientation, in order to further determine the actual position of the patient corresponding to the lesion in the ultrasound image. Inexperienced doctors or those who are new to 3D ultrasound imaging equipment often experience confusion, hesitation, and errors at this stage.

[0112] In one example, a 3D ultrasound imaging device does not mark the position of the patient's body corresponding to the imaging results; it only marks the direction of the imaging. Figure 2 This is a common example. Figure 2 Point 1 on plane A and point 3 on plane D represent the same direction; point 2 on plane B and point 4 on plane D represent the same direction; however, the direction on the rendered image of plane D does not necessarily correspond to the left-right direction of the human body. Therefore, doctors need to infer the actual direction of the human body based on the probe direction, the direction of the rendered image and the 3D data, and the correspondence between the 3D data and the human body direction.

[0113] In some embodiments of this application, the orientation information of the uterus relative to the cervix is ​​automatically determined based on the orientation information of the uterus, such as the position information of the fundus relative to the cervix and the orientation information of the ultrasound probe during imaging, and the orientation information of the uterus with reference to the direction of the human body in the three-dimensional ultrasound data is displayed intuitively, such as the left and right orientation information with reference to the left and right direction of the human body.

[0114] Please refer to Figure 3 The ultrasound imaging system of some embodiments of the present invention includes an ultrasound probe 10, a transmission and reception control circuit 20, a processor 30, and a display 40, which are described in detail below.

[0115] An ultrasound probe 10 is used to emit ultrasound waves toward a region of interest, such as tissue containing the uterus, and to receive corresponding ultrasound echo signals. In some embodiments, the ultrasound probe 10 includes multiple array elements for converting electrical pulse signals and ultrasound waves, thereby emitting ultrasound waves toward, for example, tissue containing the uterus and receiving ultrasound echoes reflected from the tissue to obtain ultrasound echo signals. In some embodiments, the multiple array elements included in the ultrasound probe 10 can be arranged in a row to form a linear array. In some embodiments, the multiple array elements included in the ultrasound probe 10 are arranged in a two-dimensional matrix to form a planar array. The array elements can emit ultrasound waves according to an excitation electrical signal, or convert received ultrasound waves into electrical signals. Therefore, each array element can be used to emit ultrasound waves toward the region of interest, or to receive ultrasound echoes returned by the tissue. During ultrasound detection, the transmission and reception sequences can be used to control which array elements are used to emit ultrasound waves and which array elements are used to receive ultrasound waves, or the array elements can be time-slotted to emit ultrasound waves or receive ultrasound echoes. All array elements involved in ultrasonic wave emission can be simultaneously excited by an electrical signal, thereby emitting ultrasonic waves at the same time; or the array elements involved in ultrasonic wave emission can also be excited by several electrical signals with a certain time interval, thereby continuously emitting ultrasonic waves with a certain time interval.

[0116] In some embodiments, the ultrasonic probe 10 can be a one-dimensional ultrasonic probe equipped with a robotic arm, which drives the spatial movement of the one-dimensional ultrasonic probe. In some embodiments, the ultrasonic probe 10 can be a volumetric probe. In some embodiments, the ultrasonic probe 10 can be an area array probe.

[0117] Please refer to Figure 4 In some embodiments, the ultrasonic probe 10 is equipped with a direction sensor 11, which is used to acquire the orientation information of the ultrasonic probe. The direction sensor 11 can be implemented in various ways, such as by using a gyroscope.

[0118] In some embodiments, the ultrasound probe 10 has a first marking and / or a first structure for indicating a first orientation of the ultrasound probe. The first orientation can be the forward or reverse orientation of the ultrasound probe. The first marking can be, for example, text, an image, or a prompt, which is placed on the front of the ultrasound probe to indicate to the user how to hold the ultrasound probe 10 correctly in the forward orientation without mistakenly holding the ultrasound probe 10 upside down.

[0119] The transmit and receive control circuit 20 controls the ultrasound probe 10 to transmit ultrasound waves and receive ultrasound echo signals. For example, the transmit and receive control circuit 20 controls the ultrasound probe 10 to transmit ultrasound waves towards, for example, a tissue of interest containing the uterus, and also controls the ultrasound probe 10 to receive ultrasound echoes reflected from the tissue. In some specific embodiments, the transmit and receive control circuit 20 generates transmit and receive sequences and outputs them to the ultrasound probe 10. The transmit sequence controls some or all of the multiple array elements in the ultrasound probe 10 to transmit ultrasound waves towards, for example, a tissue of interest containing the uterus. The parameters of the transmit sequence include the number of array elements for transmission and ultrasound transmission parameters (e.g., amplitude, frequency, number of transmissions, transmission interval, transmission angle, waveform, and / or focusing position). The receive sequence controls some or all of the multiple array elements to receive the echoes of the ultrasound waves after they have passed through the tissue. The parameters of the receive sequence include the number of array elements for reception and the reception parameters of the echoes (e.g., reception angle, depth, etc.). The ultrasound parameters in the transmit sequence and the echo parameters in the receive sequence may vary depending on the intended use of the ultrasound echo or the image generated by the ultrasound echo.

[0120] The processor 30 is used to process the ultrasound echo signals received by the ultrasound probe 10. In some embodiments, the ultrasound probe 10 emits ultrasound waves toward a tissue of interest containing the uterus and receives the corresponding ultrasound echo signals. The processor 30 processes the corresponding ultrasound echo signals to obtain three-dimensional ultrasound data containing the uterus. In some embodiments, the processor 30 processes the ultrasound echo signals (i.e., the echo signals of ultrasound waves) by performing one or more stages of data processing, such as analog-to-digital conversion, signal demodulation, amplification, filtering, downsampling, and beamforming.

[0121] The display 40 can be used to display information, such as parameters and images calculated by the processor 40.

[0122] The above is an explanation of ultrasound imaging systems.

[0123] In some embodiments, the processor 30 obtains the orientation information of the uterus based on three-dimensional ultrasound data including the uterus. Based on the orientation information of the uterus and the orientation information of the ultrasound probe during imaging, the processor obtains the orientation information of the uterus in the three-dimensional ultrasound data with reference to the direction of the human body. The processor then controls the display 40 to display this orientation information (which can be simply referred to as the orientation information of the uterus), for example, the anterior-posterior orientation information with reference to the anterior-posterior direction of the human body (which can be simply referred to as the anterior-posterior orientation information of the uterus), or the left-right orientation information with reference to the left-right direction of the human body (which can be simply referred to as the left-right orientation information of the uterus). Through the anterior-posterior orientation information of the uterus, the user can also intuitively determine the left-right orientation information of the uterus.

[0124] Taking the left-right direction as an example, in some embodiments, the processor 30 obtains the orientation information of the uterus based on the three-dimensional ultrasound data including the uterus, obtains the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body based on the orientation information of the uterus, and controls the display 40 to display the left-right direction information of the uterus with reference to the left-right direction of the human body (which can be simply referred to as the left-right direction information of the uterus).

[0125] In some embodiments, the processor 30 assumes that the user holds the ultrasound probe 10 in a certain gripping direction for imaging, such as the user holding the ultrasound probe 10 in a forward gripping manner for imaging. The user can easily and correctly hold the ultrasound probe 10 (i.e., forward gripping) without holding the ultrasound probe 10 upside down for imaging because the ultrasound probe 10 has a first mark and / or a first structure on it for indicating the first orientation of the ultrasound probe.

[0126] In some embodiments where the ultrasound probe 10 is equipped with a orientation sensor 11, the orientation information of the orientation sensor 11 can be used to prompt the user whether the ultrasound probe 10 is held upright or upside down.

[0127] Therefore, in some embodiments, the processor 30 acquires the orientation information of the ultrasound probe 10 during imaging via the orientation sensor 11. When it is determined that the orientation information of the ultrasound probe 10 during imaging does not match the first orientation information, the processor 30 issues a prompt message. When it is determined that the orientation information of the ultrasound probe 10 during imaging matches the first orientation information, the processor 30 obtains the orientation information of the uterus in the three-dimensional ultrasound data with reference to the direction of the human body, such as the position information of the fundus of the uterus relative to the cervix, based on the orientation information of the uterus. For example, it obtains the left-right orientation information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body. The processor 30 obtains the orientation information of the uterus, such as the position information of the fundus of the uterus relative to the cervix, based on the three-dimensional ultrasound data containing the uterus. The processor 30 controls the display 40 to display the orientation information of the uterus with reference to the direction of the human body, such as the left-right orientation information of the uterus with reference to the left-right direction of the human body (which can be simply referred to as the left-right orientation information of the uterus). In some embodiments, the first orientation information is the positive direction of the ultrasound probe.

[0128] In some embodiments, the processor 30 is also configured to output a first reminder message, which is used to remind the operator / user to determine whether the orientation of the ultrasound probe during imaging is forward or reverse based on the first identifier and / or the first structure of the first orientation of the ultrasound probe. For example, the first reminder message can be displayed on the display 40 to remind the user that the orientation of the ultrasound probe can be determined by the first identifier and / or the first structure of the first orientation of the ultrasound probe.

[0129] In some embodiments, the processor 30 outputs a second reminder message to remind the operator to hold the ultrasound probe orally based on a first identifier and / or a first structure of the ultrasound probe's first orientation during use. For example, after initiating ultrasound imaging, the processor 30 continuously displays the second reminder message on the display 40 during the imaging process to guide the user / operator to hold the ultrasound probe orally during imaging.

[0130] In some embodiments, the uterine orientation information includes the positional information of a first uterine tissue relative to a second uterine tissue; the first uterine tissue is the fundus or uterine horn, and the second uterine tissue is the cervix or internal cervical os. For example, the uterine orientation information includes the position of the fundus relative to the cervix; another example is the position of the fundus relative to the internal cervical os; yet another example is the position of the uterine horn relative to the cervix; yet another example is the position of the uterine horn relative to the internal cervical os.

[0131] The fundus is the base of the uterus, consisting of the myometrium. The uterine horn is the junction of the uterine lining and the fallopian tubes. The cervix is ​​the structure connecting the uterus and vagina. The internal cervical os is the junction between the uterine lining and the cervix.

[0132] In some embodiments, the positional information of the first uterine tissue relative to the second uterine tissue includes: information that the first uterine tissue is located to the left or right of a reference line, wherein the reference line is a straight line parallel to the vertical axis of the human body and passes through a reference point of the second uterine tissue.

[0133] In some embodiments, the reference point for the cervix and the internal cervical os can be the same point.

[0134] In some embodiments, when the first uterine tissue is the fundus of the uterus, "the first uterine tissue is located to the left of the reference line" means that the entire fundus of the uterus is located to the left of the reference line, and "the first uterine tissue is located to the right of the reference line" means that the entire fundus of the uterus is located to the right of the reference line. For example... Figure 5 The diagram shows the position of the fundus of the uterus relative to the second uterine tissue (cervix or internal cervical os) in two cases: anteverted uterus and retroverted uterus. The solid black dots represent reference points for the cervix or internal cervical os, and the dashed lines represent reference lines—straight lines parallel to the vertical axis of the body and passing through the reference points for the cervix or internal cervical os. It can be seen that in the example of an anteverted uterus, the fundus is located to the left of the reference line, while in the example of a retroverted uterus, the fundus is located to the left of the reference line.

[0135] The uterus includes two uterine horns. Therefore, in some embodiments, when the first uterine tissue is the uterine horn, "the first uterine tissue is to the left of the reference line" means that both uterine horns are to the left of the reference line, and "the first uterine tissue is to the right of the reference line" means that both uterine horns are to the right of the reference line. For example... Figure 5The diagram shows the position of the uterine horns relative to the second uterine tissue (cervix or internal cervical os) in two cases: anteverted uterus and retroverted uterus. The solid black dots represent reference points for the cervix or internal cervical os, and the dashed lines represent reference lines—straight lines parallel to the vertical axis of the body and passing through the reference points for the cervix or internal cervical os. It can be seen that in the example of an anteverted uterus, the two uterine horns are located to the left of the reference line, while in the example of a retroverted uterus, the two uterine horns are located to the left of the reference line.

[0136] In some embodiments, when the first uterine tissue is located to the left of the reference line, the processor 30 takes the direction in which the first uterine tissue is facing as the front of the human body, and based on the determined front of the human body, obtains the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body.

[0137] In some embodiments, when the first uterine tissue is located to the right of the reference line, the processor 30 takes the direction in which the first uterine tissue faces as the posterior side of the human body, and based on the determined posterior side of the human body, obtains the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body.

[0138] Understandably, the orientation defined by the two uterine horns and the orientation of the fundus are the same. For example... Figure 5 In a mid-anteroposterior uterus, the fundus faces to the left in the diagram, and the two uterine horns also face to the left in the diagram; Figure 5 In a mid-to-retroverted uterus, the fundus faces the right side of the diagram, as do the two uterine horns.

[0139] In some cases, a portion of the uterus, including the first uterine tissue, can be considered as a surface (in three dimensions) or a curve (in two dimensions), with the convex direction of the surface or curve being the orientation of the first uterine tissue.

[0140] In some embodiments, the user can also use an input tool (such as a mouse or keyboard) to indicate that they are holding the ultrasound probe 10 in a specific gripping direction for imaging. That is, the processor 30 obtains the orientation information of the ultrasound probe during imaging through the user's input.

[0141] In some embodiments where the ultrasound probe 10 is equipped with a direction sensor 11, the processor 30 can obtain the orientation information of the ultrasound probe 10 during imaging through the direction sensor 11, and combine it with the orientation information of the uterus, such as the position information of the fundus of the uterus relative to the cervix, to obtain the orientation information of the uterus with reference to the direction of the human body, such as the left-right orientation information of the uterus with reference to the left-right direction of the human body, or the front-back orientation information of the uterus with reference to the front-back direction of the human body.

[0142] Therefore, in some embodiments, the processor 30 obtains the orientation information of the uterus based on the three-dimensional ultrasound data including the uterus, and obtains the orientation information of the uterus with reference to the direction of the human body in the three-dimensional ultrasound data based on the orientation information of the uterus and the orientation information of the ultrasound probe 10 during imaging. For example, the left-right orientation information of the uterus with reference to the left-right direction of the human body, or the front-back orientation information of the uterus with reference to the front-back direction of the human body. The processor 30 controls the display 40 to display the orientation information of the uterus with reference to the direction of the human body. For example, the left-right orientation information of the uterus with reference to the left-right direction of the human body (which can be simply referred to as the left-right orientation information of the uterus), or the front-back orientation information of the uterus with reference to the front-back direction of the human body (which can be simply referred to as the front-back orientation information of the uterus).

[0143] In some embodiments, the uterine orientation information includes the positional information of a first uterine tissue relative to a second uterine tissue; the first uterine tissue is the fundus or uterine horn, and the second uterine tissue is the cervix or internal cervical os. For example, the uterine orientation information includes the position of the fundus relative to the cervix; another example is the position of the fundus relative to the internal cervical os; yet another example is the position of the uterine horn relative to the cervix; yet another example is the position of the uterine horn relative to the internal cervical os.

[0144] In some embodiments, the positional information of the first uterine tissue relative to the second uterine tissue includes: information that the first uterine tissue is located to the left or right of a reference line, wherein the reference line is a straight line parallel to the vertical axis of the human body and passes through a reference point of the second uterine tissue.

[0145] In some embodiments, when the first uterine tissue is located to the left of the reference line and the ultrasound probe 10 is facing forward during imaging (i.e., the user holds the ultrasound probe 10 facing forward during imaging), the processor 30 takes the direction in which the first uterine tissue is facing as the front of the human body, and based on the determined front of the human body, obtains the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body.

[0146] In some embodiments, when the first uterine tissue is located to the left of the reference line and the ultrasound probe 10 is reversed during imaging (i.e., the user holds the ultrasound probe 10 in the reverse direction during imaging), the processor 30 takes the direction in which the first uterine tissue is facing as the posterior side of the human body, and based on the determined posterior side of the human body, obtains the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body.

[0147] In some embodiments, when the first uterine tissue is located to the right of the reference line and the ultrasound probe 10 is facing forward during imaging (i.e., the user holds the ultrasound probe 10 facing forward during imaging), the processor 30 takes the direction in which the first uterine tissue is facing as the posterior side of the human body, and based on the determined posterior side of the human body, obtains the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body.

[0148] In some embodiments, when the first uterine tissue is located to the right of the reference line and the ultrasound probe 10 is reversed during imaging (i.e., the user holds the ultrasound probe 10 in the reverse direction during imaging), the processor 30 takes the direction in which the first uterine tissue is facing as the front of the human body, and based on the determined front of the human body, obtains the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body.

[0149] The foregoing mentions displaying left-right orientation information of the uterus with reference to the left-right orientation of the human body (which can be simply referred to as the left-right orientation information of the uterus). In some embodiments, the processor controls the display to display the left-right orientation information of the uterus, including at least one of the following methods:

[0150] (1) The processor 30 determines a coronal image of the uterus from the three-dimensional ultrasound data containing the uterus, and the processor 30 controls the display 40 to display the coronal image and marks the left and right direction information of the uterus on the coronal image; for example, Figures 6(a) and 6(b) are two examples. In Figure 6(a), the left and right direction information of the uterus is marked, indicating that the left in the image is the left of the actual human body and the right in the image is the right of the actual human body. In Figure 6(b), the opposite is true, the left in the image is the right of the actual human body and the right in the image is the left of the actual human body.

[0151] (2) The processor 30 determines a coronal image of the uterus from the three-dimensional ultrasound data containing the uterus. When the left-right direction of the uterus in the coronal image is opposite to that of the human body, the processor mirrors the coronal image along the left-right central axis and controls the display 40 to display the mirrored coronal image. In this way, in the displayed coronal image of the uterus, the left side of the image always corresponds to the left side of the actual human body, and the right side of the image always corresponds to the right side of the actual human body. The user can intuitively judge the left and right of the human body based on the left and right sides of the image.

[0152] (3) The processor 30 controls the display 40 to display a human body model. The left and right orientation information of the uterus is displayed by the orientation information of the human body model. For example, the processor 30 determines a coronal image of the uterus from the three-dimensional ultrasound data containing the uterus. The processor 30 controls the display 40 to display the coronal image and display a human body model. When the human body model is facing away from the user, it means that the left in the image is the left of the actual human body and the right in the image is the right of the actual human body. When the human body model is facing forward from the user, it means that the left in the image is the right of the actual human body and the right in the image is the left of the actual human body.

[0153] The above text refers to displaying the anteroposterior orientation information of the uterus with reference to the anterior-posterior direction of the human body (which can be simply referred to as the anteroposterior orientation information of the uterus). In some embodiments, the processor controls the display to display the anteroposterior orientation information of the uterus, including various methods, some of which are described below.

[0154] For example, processor 30 determines a coronal image of the uterus from three-dimensional ultrasound data containing the uterus. Processor 30 controls display 40 to display the coronal image and marks the anteroposterior orientation information of the uterus on the coronal image. The user can also intuitively determine whether the left and right sides of the coronal image are the same as or opposite to the left and right sides of the actual human body through this anteroposterior orientation information.

[0155] For example, the processor 30 controls the display 40 to display a human body model. The orientation information of the human body model is used to display the anterior-posterior orientation information of the uterus. For example, the processor 30 determines a coronal image of the uterus from three-dimensional ultrasound data containing the uterus. The processor 30 controls the display 40 to display the coronal image and a human body model. Through the orientation of the human body model, the user can intuitively judge whether the left and right sides of the coronal image are the same as or opposite to the left and right sides of the actual human body.

[0156] The above text also mentions obtaining the uterus's location information through three-dimensional ultrasound data containing the uterus, which can be done in several ways. For example, processor 30 obtains the uterus's location information through target localization or direct regression; another example is that processor 30 segments the target tissue—the uterus or endometrium—using a segmentation algorithm, and obtains the uterus's location information based on its morphology on the segmented target tissue. These will be explained in detail below.

[0157] Please refer to Figure 7 The location information of the uterus can be obtained through target localization or direct regression, which can be achieved on two-dimensional ultrasound data or on three-dimensional ultrasound data.

[0158] (I) Achieving on ultrasound three-dimensional data

[0159] In some embodiments, obtaining the uterine location information based on target localization can be achieved by locating the regions of a first uterine tissue and a second uterine tissue; the first uterine tissue is the fundus or uterine horn, and the second uterine tissue is the cervix or internal cervical os. In some embodiments, in the direct regression scheme, a regression algorithm model can be used to learn the mapping relationship between two-dimensional or three-dimensional image features and corresponding location information (the location information of the fundus relative to the cervix, the location information of the uterine horn relative to the internal cervical os, the location information of the uterine horn relative to the cervix, the location information of the uterine horn relative to the cervix, etc.).

[0160] (II) Realization on two-dimensional ultrasound data

[0161] For solutions implemented on two-dimensional ultrasound data, a longitudinal or coronal section of the uterus can be taken from the three-dimensional data. After obtaining the two-dimensional section, the target localization and regression algorithms used are similar to those used in the three-dimensional implementation, and will not be elaborated here.

[0162] Therefore, in some embodiments, machine learning or deep learning-based algorithms can be used to obtain the orientation information of the uterus, such as the position information of the first uterine tissue relative to the second uterine tissue. For example, algorithms such as keypoint regression and object detection can be used. The keypoint regression model extracts features from the input data, then learns from the features and maps them to keypoint positions; the detection model learns to locate the position and size of a specific target by extracting features from the input data, usually learning a bounding box of a target. In the context of this application, to obtain the position information of the first uterine tissue relative to the second uterine tissue, the implementation process involves extracting features from two-dimensional cross-sectional or three-dimensional volume data, and the algorithm model learns to locate the cervix and fundus.

[0163] The detection method based on machine learning mainly consists of the following three steps:

[0164] 1) First, select the region by setting different scales and aspect ratios of sliding windows;

[0165] 2) Then, relevant features (such as Haar features, HOG features, etc.) are extracted based on image patches within the region;

[0166] 3) Finally, the extracted features are fed into a classifier (such as SVM, Adaboost, etc.) for classification to determine whether the current window position is a target to be detected, and the category of the target.

[0167] Another approach is a deep learning-based object detection method, the main steps of which are:

[0168] 1) Database construction steps: This algorithm requires a large amount of data and its corresponding data calibration results. The data calibration results are generated by manually marking the target area or target point in the database to be located, such as the marker box or marker point coordinates.

[0169] 2) Detection Algorithm Construction: This involves constructing an end-to-end 2D / 3D detection algorithm, typically a hierarchical network structure. In some embodiments, the object detection network is mainly divided into two types: one is a candidate region plus deep learning classification method, which mainly extracts candidate regions and then performs deep learning-based classification on the corresponding regions, such as R-CNN (Selective Search + CNN + SVM), SPP-Net (ROIPooling), Fast R-CNN (Selective Search + CNN + ROI), Faster R-CNN (RPN + CNN + ROI), R-FCN, etc.; the other is a deep learning-based regression method, whose main steps are to first divide the image into N×N grids, then have each grid responsible for detecting objects whose center falls on that grid, and finally the network outputs the coordinates of each position of the object (such as the center point coordinates, length and width, etc.) and the probability of the object belonging to the category, such as the YOLO series (YOLO V1, YOLO V2, YOLO V3), SSD, DenseBox, etc.

[0170] 3) Optimize the detection model using the database built in the previous steps, and use the optimized detection model to calculate the target location, size, and category.

[0171] Regression-based methods can regress the position of the cervix and fundus (coordinates in 3D data) or directly regress directional information (position information of the first uterine tissue relative to the second uterine tissue). For example, the direction of the first uterine tissue on the left is defined as "0", and the case on the right is defined as "1". The regression model only needs to learn the correspondence between image features and "0" and "1" to determine the direction.

[0172] Specific regression algorithm models can use either machine learning or deep learning methods. The construction steps are similar to those of the detection-based algorithms described earlier. For machine learning algorithms, the steps also include: 1) extracting features; 2) using a classifier or regressor (e.g., logistic regression) to output specific regression values. For deep learning-based regression models, the steps also include: 1) building a database; 2) building a deep learning network; and 3) model learning and application. The difference lies only in the final learning objective. Detection algorithms learn position and magnitude, while regression tasks learn specific values.

[0173] The positional information of the first uterine tissue relative to the second uterine tissue was obtained based on the segmentation algorithm, as follows: Figure 8As shown, its core is to segment the endometrium or uterus from ultrasound images using a segmentation algorithm, and obtain the uterine orientation information, such as the position information of the first uterine tissue relative to the second uterine tissue, based on the segmented target morphology. Similar to the orientation determination scheme based on target localization, the orientation determination scheme based on the segmentation algorithm can also be implemented in two or three dimensions. Again, the description here is based on three-dimensional segmentation; the two-dimensional segmentation process is a special case of three-dimensional segmentation and will not be repeated. It should be noted that two-dimensional segmentation can also be implemented based on either a longitudinal section or a coronal section of the uterus.

[0174] The step of segmenting the uterus and / or endometrium from ultrasound data can be achieved based on traditional image processing algorithms or deep learning algorithms.

[0175] Traditional image processing segmentation algorithms, such as level set-based segmentation, random walk, graph cut, and snake methods, can achieve three-dimensional segmentation based on the gray value statistics, gray-level difference information, and gradient information of uterine three-dimensional ultrasound data.

[0176] The main steps of the deep learning-based image segmentation algorithm are similar to those of the deep learning-based detection model described earlier, including:

[0177] 1) Database construction steps: This algorithm requires a large amount of data and its corresponding data labeling results. The data labeling results are generated by manually marking the target regions to be segmented in the database. For example, a mask is used to indicate the category of each pixel in the image data.

[0178] 2) Segmentation Algorithm Construction: This involves constructing an end-to-end 2D / 3D segmentation algorithm. Its structure is typically a hierarchical network, divided into two stages. The first stage extracts features from the input data, mapping the data to a feature space. The second stage decodes the features obtained in the first stage, mapping them to a classifiable space. Finally, classification is performed based on the decoded features to obtain the classification result for each point in the input data. This method is supervised learning, and common methods used in the two stages include stacked convolutional computation and nonlinear computation. Common networks include FCN, U-Net, Mask R-CNN, and Transformer.

[0179] 3) Use the database to optimize the segmentation model, and use the optimized segmentation model to calculate the segmentation results.

[0180] After segmenting the uterus and / or endometrial region using a segmentation algorithm, the position of the uterine fundus relative to the cervix can be obtained based on the segmented tissue morphology. The judgment method can be directly based on the segmented uterine or endometrial morphology, such as... Figure 8 As shown, the side with a wider endometrial width in the coronal plane is usually the fundus of the uterus, while the side with a narrower endometrial width is the cervix. After obtaining the endometrial segmentation results, this information can be used to obtain the position information of the fundus relative to the cervix.

[0181] In addition, based on the segmented uterus or endometrium, the target localization or regression methods described above can be used to obtain information on the position of the fundus relative to the cervix. The only difference is that the input becomes the segmented outline of the uterus or endometrium. The specific details are very similar to those described above, so they will not be repeated here.

[0182] Some embodiments of the present invention also disclose an ultrasonic display method. Please refer to... Figure 9 Some embodiments of the ultrasound display method include the following steps:

[0183] Step 100: Emit ultrasound waves to the tissue of interest containing the uterus.

[0184] Step 110: Receive the corresponding ultrasonic echo signal.

[0185] Step 120: Obtain three-dimensional ultrasound data including the uterus based on the ultrasound echo signal.

[0186] Step 130: Obtain the orientation information of the uterus in the three-dimensional ultrasound data with reference to the direction of the human body. For example, Step 130 obtains the left-right orientation information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body; another example is that Step 130 obtains the front-back orientation information of the uterus in the three-dimensional ultrasound data with reference to the front-back direction of the human body.

[0187] Please refer to Figure 10 In some embodiments, step 130, which involves obtaining the directional information of the uterus relative to the human body in the three-dimensional ultrasound data, includes the following steps:

[0188] Step 131: Obtain the location information of the uterus.

[0189] In some embodiments, step 131, obtaining the uterine orientation information, can be implemented in various ways. For example, step 131 can obtain the uterine orientation information by target localization or direct regression. Another example is that step 131 can segment the target tissue—the target tissue being the uterus or endometrium—using a segmentation algorithm, and obtain the uterine orientation information based on the morphology of the segmented target tissue.

[0190] In some embodiments, the uterine orientation information includes the positional information of a first uterine tissue relative to a second uterine tissue; the first uterine tissue is the fundus or uterine horn, and the second uterine tissue is the cervix or internal cervical os. For example, the uterine orientation information includes the position of the fundus relative to the cervix; another example is the position of the fundus relative to the internal cervical os; yet another example is the position of the uterine horn relative to the cervix; yet another example is the position of the uterine horn relative to the internal cervical os.

[0191] In some embodiments, the positional information of the first uterine tissue relative to the second uterine tissue includes: information that the first uterine tissue is located to the left or right of a reference line, wherein the reference line is a straight line parallel to the vertical axis of the human body and passes through a reference point of the second uterine tissue.

[0192] Step 133: Determine the orientation information of the uterus based at least on the orientation information of the uterus.

[0193] In some embodiments, step 133 determines the orientation information of the uterus based on the uterus's location information, such as anterior-posterior orientation information or lateral orientation information. In some embodiments, when the first uterine tissue is located to the left of the reference line, step 133 takes the direction in which the first uterine tissue faces as the front of the body, and based on the determined front of the body, obtains the lateral orientation information of the uterus in the three-dimensional ultrasound data with reference to the left-right orientation of the body. In some embodiments, when the first uterine tissue is located to the right of the reference line, step 133 takes the direction in which the first uterine tissue faces as the back of the body, and based on the determined back of the body, obtains the lateral orientation information of the uterus in the three-dimensional ultrasound data with reference to the left-right orientation of the body. In such embodiments, the system assumes a default orientation when the user holds the ultrasound probe for imaging, for example, the system assumes the user is holding the ultrasound probe in a standard forward orientation.

[0194] Therefore, in some embodiments, the ultrasound probe involved in emitting ultrasound waves to the tissue of interest containing the uterus and receiving the corresponding ultrasound echo signals in steps 100 and 110 may have a first identifier and / or a first structure for indicating the first orientation of the ultrasound probe—for example, by having a first identifier and / or a first structure for indicating the first orientation of the ultrasound probe, the user can easily and correctly hold the ultrasound probe (i.e., hold it upright) without holding the ultrasound probe upside down and performing imaging.

[0195] In some embodiments, a first reminder message is output to remind the operator / user to determine whether the orientation of the ultrasound probe during imaging is forward or reverse based on the first identifier and / or first structure of the first orientation of the ultrasound probe. For example, the first reminder message is displayed on the display 40 to remind the user that they can determine the current orientation of their holding the ultrasound probe by using the first identifier and / or first structure of the first orientation of the ultrasound probe.

[0196] In some embodiments, a second reminder message is output to remind the operator to hold the ultrasound probe orally during use, based on a first identifier and / or a first structure of the ultrasound probe's first orientation. For example, after initiating ultrasound imaging, the second reminder message is continuously displayed on the display 40 during imaging to guide the user / operator to hold the ultrasound probe orally during imaging.

[0197] In some embodiments, the orientation information of the ultrasound probe during imaging can also be obtained. When it is determined that the orientation information of the ultrasound probe during imaging does not match the first orientation information, a prompt message is issued. When it is determined that the orientation information of the ultrasound probe during imaging matches the first orientation information, step 133 obtains the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body based on the orientation information of the uterus. In some embodiments, the first orientation information is the positive direction of the ultrasound probe.

[0198] In some embodiments, the orientation information of the ultrasound probe during imaging can also be obtained. Step 133 determines the orientation information of the uterus, such as anterior-posterior orientation information or lateral orientation information, based on the orientation information of the uterus and the orientation information of the ultrasound probe during imaging.

[0199] In some embodiments, the user can also use an input tool (such as a mouse or keyboard) to indicate that they are holding the ultrasound probe in a specific orientation for imaging. That is, step 133 obtains the orientation information of the ultrasound probe during imaging through the user's input.

[0200] In some embodiments where the ultrasound probe 10 is equipped with a direction sensor 11, step 133 can obtain the orientation information of the ultrasound probe 10 during imaging through the direction sensor 11, and combine it with the orientation information of the uterus, such as the position information of the fundus of the uterus relative to the cervix, to obtain the orientation information of the uterus with reference to the direction of the human body, such as the left-right orientation information of the uterus with reference to the left-right direction of the human body, or the front-back orientation information of the uterus with reference to the front-back direction of the human body.

[0201] In some embodiments, when the first uterine tissue is located to the left of the reference line and the ultrasound probe is facing forward during imaging (i.e., the user holds the ultrasound probe facing forward during imaging), step 133 takes the direction in which the first uterine tissue is facing as the front of the human body, and based on the determined front of the human body, obtains the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body.

[0202] In some embodiments, when the first uterine tissue is located to the left of the reference line and the ultrasound probe is reversed during imaging (i.e., the user holds the ultrasound probe in the opposite direction during imaging), step 133 takes the direction in which the first uterine tissue is facing as the posterior side of the human body, and based on the determined posterior side of the human body, obtains the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body.

[0203] In some embodiments, when the first uterine tissue is located to the right of the reference line and the ultrasound probe is facing forward during imaging (i.e., the user holds the ultrasound probe facing forward during imaging), step 133 takes the direction in which the first uterine tissue is facing as the posterior side of the human body, and based on the determined posterior side of the human body, obtains the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body.

[0204] In some embodiments, when the first uterine tissue is located to the right of the reference line and the ultrasound probe is reversed during imaging (i.e., the user holds the ultrasound probe in the opposite direction during imaging), step 133 takes the direction in which the first uterine tissue is facing as the front of the human body, and based on the determined front of the human body, obtains the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body.

[0205] Step 140: Display the directional information of the uterus, such as front-back directional information, such as left-right directional information.

[0206] In some embodiments, step 140 determines and displays a coronal image of the uterus from the three-dimensional ultrasound data containing the uterus, and marks the orientation information of the uterus, such as left-right orientation information, on the coronal image; for example, Figures 6(a) and 6(b) above are two examples. In Figure 6(a), the left-right orientation information of the uterus is marked, indicating that the left in the image is the left of the actual human body and the right in the image is the right of the actual human body, while in Figure 6(b), the opposite is true, with the left in the image being the right of the actual human body and the right in the image being the left of the actual human body.

[0207] In some embodiments, step 140 determines a coronal image of the uterus from the three-dimensional ultrasound data containing the uterus, and when the left-right direction of the uterus in the coronal image is opposite to the left-right direction of the human body, the coronal image is mirrored along the left-right central axis, and the mirrored coronal image is displayed. In this way, in the displayed coronal image of the uterus, the left side of the image always corresponds to the left side of the actual human body, and the right side of the image always corresponds to the right side of the actual human body, allowing the user to intuitively determine the left and right of the human body based on the left and right sides of the image.

[0208] This document describes various exemplary embodiments with reference to them. However, those skilled in the art will recognize that changes and modifications can be made to the exemplary embodiments without departing from the scope of this document. For example, various operational steps and components for performing operational steps can be implemented in different ways depending on the specific application or considering any number of cost functions associated with the operation of the system (e.g., one or more steps can be deleted, modified, or combined with other steps).

[0209] In the above embodiments, implementation can be achieved, in whole or in part, by software, hardware, firmware, or any combination thereof. Furthermore, as those skilled in the art will understand, the principles herein can be reflected in a computer program product on a computer-readable storage medium pre-loaded with computer-readable program code. Any tangible, non-transitory computer-readable storage medium may be used, including magnetic storage devices (hard disks, floppy disks, etc.), optical storage devices (CD-ROMs, DVDs, Blu-ray discs, etc.), flash memory, and / or the like. These computer program instructions can be loaded onto a general-purpose computer, special-purpose computer, or other programmable data processing apparatus to form a machine, such that instructions executing on the computer or other programmable data processing apparatus can generate means for implementing a specified function. These computer program instructions can also be stored in a computer-readable storage medium that can instruct the computer or other programmable data processing apparatus to operate in a particular manner, such that instructions stored in the computer-readable storage medium can form an article of manufacture including means for implementing the specified function. The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to perform a series of operational steps on the computer or other programmable apparatus to produce a computer-implemented process, such that instructions executing on the computer or other programmable apparatus can provide steps for implementing the specified function.

[0210] While the principles herein have been illustrated in various embodiments, numerous modifications to the structure, arrangement, proportions, elements, materials, and components, particularly suited to specific environmental and operational requirements, may be used without departing from the principles and scope of this disclosure. These modifications and other alterations or alterations will be included within the scope of this document.

[0211] The foregoing specific descriptions have been described with reference to various embodiments. However, those skilled in the art will recognize that various modifications and changes can be made without departing from the scope of this disclosure. Therefore, considerations for this disclosure are to be illustrative rather than restrictive, and all such modifications are to be included within its scope. Similarly, advantages, other advantages, and solutions to problems with respect to various embodiments have been described above. However, benefits, advantages, solutions to problems, and any elements that produce these, or make them more explicit, should not be construed as critical, essential, or necessary. The term “comprising” and any other variations thereof as used herein are non-exclusive inclusion, meaning that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed or not part of the process, method, system, article, or apparatus. Furthermore, the term “coupled” and any other variations thereof as used herein refer to physical connections, electrical connections, magnetic connections, optical connections, communication connections, functional connections, and / or any other connections.

[0212] Those skilled in the art will recognize that many changes can be made to the details of the above embodiments without departing from the basic principles of the invention. Therefore, the scope of the invention should be determined only by the claims.

Claims

1. An ultrasound imaging system, characterized by, include: An ultrasound probe is used to emit ultrasound waves toward tissues of interest, including the uterus, and to receive the corresponding ultrasound echo signals. The transmitting and receiving control circuit is used to control the ultrasonic probe to transmit ultrasonic waves and receive ultrasonic echo signals; A processor is configured to process the corresponding ultrasound echo signals to obtain three-dimensional ultrasound data containing the uterus; and, Display; wherein: The processor obtains the orientation information of the uterus based on the three-dimensional ultrasound data including the uterus; the orientation information of the uterus includes the position information of the first uterine tissue relative to the second uterine tissue; the position information of the first uterine tissue relative to the second uterine tissue includes: the information that the first uterine tissue is located to the left or right of a reference line, the reference line being a straight line parallel to the vertical axis of the human body and passing through a reference point of the second uterine tissue; the first uterine tissue is the fundus or uterine horn, and the second uterine tissue is the cervix or internal cervical os; The processor obtains the left-right orientation information of the uterus with reference to the left-right direction of the human body in the three-dimensional ultrasound data based on the orientation information of the uterus and the orientation information of the ultrasound probe during imaging. The processor controls the display to show the left-right orientation information of the uterus.

2. The ultrasound imaging system of claim 1, wherein, The processor obtains the uterine location information based on the three-dimensional ultrasound data including the uterus, including: The processor obtains the location information of the uterus through target localization or direct regression; or, The processor segments the target tissue using a segmentation algorithm and obtains the orientation information of the uterus based on its morphology on the segmented target tissue. The target tissue is the uterus or endometrium.

3. The ultrasound imaging system of claim 1, wherein, The processor: When the first uterine tissue is located to the left of the reference line and the ultrasound probe is facing forward during imaging, the direction in which the first uterine tissue is facing is taken as the front of the human body, and based on the determined front of the human body, the left and right direction information of the uterus in the three-dimensional ultrasound data with reference to the left and right direction of the human body is obtained. When the first uterine tissue is located to the left of the reference line and the ultrasound probe is reversed during imaging, the direction in which the first uterine tissue is facing is taken as the posterior side of the human body, and based on the determined posterior side of the human body, the left-right direction information of the uterus in the three-dimensional ultrasound data with the left-right direction of the human body as a reference is obtained. When the first uterine tissue is located to the right of the reference line and the ultrasound probe is facing forward during imaging, the direction in which the first uterine tissue is facing is taken as the posterior side of the human body, and based on the determined posterior side of the human body, the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body is obtained. When the first uterine tissue is located to the right of the reference line and the ultrasound probe is reversed during imaging, the direction in which the first uterine tissue is facing is taken as the front of the human body, and based on the determined front of the human body, the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body is obtained.

4. The ultrasound imaging system of claim 1, wherein, The processor controls the display to show the left-right orientation information of the uterus, including: The processor determines a coronal image of the uterus from the three-dimensional ultrasound data containing the uterus, the processor controls the display to show the coronal image, and marks the left-right orientation information of the uterus on the coronal image; or, The processor determines a coronal image of the uterus from the three-dimensional ultrasound data containing the uterus, and when the left-right direction of the uterus in the coronal image is opposite to the left-right direction of the human body, it mirrors the coronal image along the left-right central axis and controls the display to show the mirrored coronal image.

5. An ultrasound imaging system, characterized in that, include: An ultrasound probe is used to emit ultrasound waves toward tissues of interest, including the uterus, and to receive the corresponding ultrasound echo signals. The transmitting and receiving control circuit is used to control the ultrasonic probe to transmit ultrasonic waves and receive ultrasonic echo signals; A processor is configured to process the corresponding ultrasound echo signals to obtain three-dimensional ultrasound data containing the uterus; and, Display; wherein: The processor obtains the orientation information of the uterus based on the three-dimensional ultrasound data including the uterus; the orientation information of the uterus includes the position information of the first uterine tissue relative to the second uterine tissue; the position information of the first uterine tissue relative to the second uterine tissue includes: the information that the first uterine tissue is located to the left or right of a reference line, the reference line being a straight line parallel to the vertical axis of the human body and passing through a reference point of the second uterine tissue; the first uterine tissue is the fundus or uterine horn, and the second uterine tissue is the cervix or internal cervical os; The processor obtains the orientation information of the uterus with reference to the direction of the human body in the three-dimensional ultrasound data based on the orientation information of the uterus and the orientation information of the ultrasound probe during imaging. The processor controls the display to show the orientation information of the uterus.

6. The ultrasound imaging system as described in claim 5, characterized in that, The processor obtains the uterine location information based on the three-dimensional ultrasound data including the uterus, including: The processor obtains the location information of the uterus through target localization or direct regression; or, The processor segments the target tissue using a segmentation algorithm and obtains the orientation information of the uterus based on its morphology on the segmented target tissue. The target tissue is the uterus or endometrium.

7. The ultrasound imaging system as described in claim 5, characterized in that, The processor: When the first uterine tissue is located to the left of the reference line, the direction in which the first uterine tissue faces is taken as the front of the human body, and based on the determined front of the human body, the left and right direction information of the uterus in the three-dimensional ultrasound data with the left and right direction of the human body as a reference is obtained. When the first uterine tissue is located to the right of the reference line, the direction in which the first uterine tissue faces is taken as the posterior side of the human body, and based on the determined posterior side of the human body, the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body is obtained.

8. An ultrasound imaging system, characterized in that, include: An ultrasound probe for emitting ultrasound waves toward a tissue of interest containing the uterus and for receiving corresponding ultrasound echo signals; the ultrasound probe has a first identifier and / or a first structure for indicating a first orientation of the ultrasound probe. The transmitting and receiving control circuit is used to control the ultrasonic probe to transmit ultrasonic waves and receive ultrasonic echo signals; A processor is configured to process the corresponding ultrasound echo signals to obtain three-dimensional ultrasound data containing the uterus; and, Display; wherein: The processor obtains the orientation information of the uterus based on the three-dimensional ultrasound data including the uterus; the orientation information of the uterus includes the position information of the first uterine tissue relative to the second uterine tissue; the position information of the first uterine tissue relative to the second uterine tissue includes: the information that the first uterine tissue is located to the left or right of a reference line, the reference line being a straight line parallel to the vertical axis of the human body and passing through a reference point of the second uterine tissue; the first uterine tissue is the fundus or uterine horn, and the second uterine tissue is the cervix or internal cervical os; The processor obtains the left-right orientation information of the uterus in the three-dimensional ultrasound data, with reference to the left-right orientation of the human body, based on the orientation information of the uterus. The processor controls the display to show the left-right orientation information of the uterus.

9. The ultrasound imaging system as described in claim 8, characterized in that, The processor obtains the uterine location information based on the three-dimensional ultrasound data including the uterus, including: The processor obtains the location information of the uterus through target localization or direct regression; or, The processor segments the target tissue using a segmentation algorithm and obtains the orientation information of the uterus based on its morphology on the segmented target tissue. The target tissue is the uterus or endometrium.

10. The ultrasound imaging system as described in claim 8, characterized in that, The processor: When the first uterine tissue is located to the left of the reference line, the direction in which the first uterine tissue faces is taken as the front of the human body, and based on the determined front of the human body, the left and right direction information of the uterus in the three-dimensional ultrasound data with the left and right direction of the human body as a reference is obtained. When the first uterine tissue is located to the right of the reference line, the direction in which the first uterine tissue faces is taken as the posterior side of the human body, and based on the determined posterior side of the human body, the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body is obtained.

11. The ultrasound imaging system as described in claim 8, characterized in that, The processor controls the display to show the left-right orientation information of the uterus, including: The processor determines a coronal image of the uterus from the three-dimensional ultrasound data containing the uterus, the processor controls the display to show the coronal image, and marks the left-right orientation information of the uterus on the coronal image; or, The processor determines a coronal image of the uterus from the three-dimensional ultrasound data containing the uterus, and when the left-right direction of the uterus in the coronal image is opposite to the left-right direction of the human body, the processor mirrors the coronal image along the left-right central axis, and controls the display to show the mirrored coronal image.

12. The ultrasound imaging system as described in claim 8, characterized in that, The processor also performs: Output a first reminder message, which is used to remind the operator to determine whether the orientation of the ultrasound probe during imaging is forward or reverse based on the first identifier and / or the first structure of the first orientation of the ultrasound probe.

13. The ultrasound imaging system as described in claim 8, characterized in that, The processor also performs: Output a second reminder message, which is used to remind the operator to hold the ultrasound probe in the correct orientation during use of the ultrasound probe based on the first identifier and / or the first structure of the first orientation of the ultrasound probe.

14. An ultrasound imaging system, characterized in that, include: An ultrasound probe for emitting ultrasound waves toward a tissue of interest containing the uterus and for receiving corresponding ultrasound echo signals; the ultrasound probe has a first identifier and / or a first structure for indicating a first orientation of the ultrasound probe. The transmitting and receiving control circuit is used to control the ultrasonic probe to transmit ultrasonic waves and receive ultrasonic echo signals; A processor is configured to process the corresponding ultrasound echo signals to obtain three-dimensional ultrasound data containing the uterus; and, Display; wherein: The processor obtains the orientation information of the uterus based on the three-dimensional ultrasound data including the uterus; the orientation information of the uterus includes the position information of the first uterine tissue relative to the second uterine tissue; the position information of the first uterine tissue relative to the second uterine tissue includes: the information that the first uterine tissue is located to the left or right of a reference line, the reference line being a straight line parallel to the vertical axis of the human body and passing through a reference point of the second uterine tissue; the first uterine tissue is the fundus or uterine horn, and the second uterine tissue is the cervix or internal cervical os; The processor obtains the orientation information of the uterus with reference to the direction of the human body in the three-dimensional ultrasound data based on the orientation information of the uterus. The processor controls the display to show the orientation information of the uterus.

15. An ultrasound display method, characterized in that, include: Emit ultrasound waves to tissues of interest, including the uterus; Receive the corresponding ultrasonic echo signal; Three-dimensional ultrasound data, including the uterus, are obtained based on the ultrasound echo signal. Acquiring the left-right orientation information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body includes: acquiring the orientation information of the uterus, and determining the left-right orientation information of the uterus based at least on the orientation information of the uterus; the orientation information of the uterus includes the position information of the first uterine tissue relative to the second uterine tissue; the position information of the first uterine tissue relative to the second uterine tissue includes: the information that the first uterine tissue is located to the left or right of the reference line, the reference line being a straight line parallel to the vertical axis of the human body and passing through the reference point of the second uterine tissue; the first uterine tissue is the fundus or horn of the uterus, and the second uterine tissue is the cervix or internal cervical os; This displays the left-right orientation information of the uterus.

16. The method as described in claim 15, characterized in that, The step of acquiring the left-right direction information of the uterus with reference to the left-right direction of the human body in the three-dimensional ultrasound data includes: acquiring the orientation information of the ultrasound probe during imaging; Determining the left-right orientation information of the uterus based at least on the orientation information of the uterus includes: determining the left-right orientation information of the uterus based on the orientation information of the uterus and the orientation information of the ultrasound probe during imaging.

17. The method as described in claim 16, characterized in that, The acquisition of the uterine location information includes: The location information of the uterus can be obtained through target localization or direct regression; or, The target tissue is segmented using a segmentation algorithm, and the orientation information of the uterus is obtained based on its morphology on the segmented target tissue. The target tissue is the uterus or endometrium.

18. The method as described in claim 15, characterized in that: When the first uterine tissue is located to the left of the reference line, the direction in which the first uterine tissue faces is taken as the front of the human body, and based on the determined front of the human body, the left and right direction information of the uterus in the three-dimensional ultrasound data with the left and right direction of the human body as a reference is obtained. When the first uterine tissue is located to the right of the reference line, the direction in which the first uterine tissue faces is taken as the posterior side of the human body, and based on the determined posterior side of the human body, the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body is obtained.

19. The method as described in claim 16, characterized in that: When the first uterine tissue is located to the left of the reference line and the ultrasound probe is facing forward during imaging, the direction in which the first uterine tissue is facing is taken as the front of the human body, and based on the determined front of the human body, the left and right direction information of the uterus in the three-dimensional ultrasound data with reference to the left and right direction of the human body is obtained. When the first uterine tissue is located to the left of the reference line and the ultrasound probe is reversed during imaging, the direction in which the first uterine tissue is facing is taken as the posterior side of the human body, and based on the determined posterior side of the human body, the left-right direction information of the uterus in the three-dimensional ultrasound data with the left-right direction of the human body as a reference is obtained. When the first uterine tissue is located to the right of the reference line and the ultrasound probe is facing forward during imaging, the direction in which the first uterine tissue is facing is taken as the posterior side of the human body, and based on the determined posterior side of the human body, the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body is obtained. When the first uterine tissue is located to the right of the reference line and the ultrasound probe is reversed during imaging, the direction in which the first uterine tissue is facing is taken as the front of the human body, and based on the determined front of the human body, the left-right direction information of the uterus in the three-dimensional ultrasound data with reference to the left-right direction of the human body is obtained.

20. The method as described in claim 15, characterized in that, The information displaying the left-right orientation of the uterus includes: A coronal image of the uterus is determined and displayed from the three-dimensional ultrasound data containing the uterus, and the left-right orientation information of the uterus is marked on the coronal image; or, A coronal image of the uterus is determined from the three-dimensional ultrasound data containing the uterus. When the left-right direction of the uterus in the coronal image is opposite to that of the human body, the coronal image is mirrored along the left-right central axis, and the mirrored coronal image is displayed.

21. An ultrasound imaging system, characterized in that, include: An ultrasound probe is used to emit ultrasound waves toward tissues of interest and to receive the corresponding ultrasound echo signals. A transmitting and receiving control circuit is used to control the ultrasonic probe to transmit ultrasonic waves and receive ultrasonic echo signals; and, A processor for performing the method as described in any one of claims 15 to 20.

22. A computer-readable storage medium, characterized in that, Includes a program that can be executed by a processor to implement the method as described in any one of claims 15 to 20.

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