Ultrasonic puncture needle position identification method and ultrasonic equipment

Abstract

The invention discloses a position identification method of an ultrasonic puncture needle and ultrasonic equipment, and belongs to the technical field of ultrasonic image processing, the method comprises the following steps: in a current detection period, collecting multiple frames of ultrasonic images from a video of real-time ultrasonic puncture operation, and when each frame of ultrasonic image is collected, determining the position of the ultrasonic puncture needle; determining a first image based on the currently acquired ultrasonic image and a target ultrasonic image corresponding to the currently acquired ultrasonic image, wherein the target ultrasonic image is the previously acquired ultrasonic image; the first image is used for representing the motion displacement between the currently collected ultrasonic image and the target ultrasonic image, generating a second image based on the gray value of each pixel point in the first image and the gray value of the corresponding pixel point in the intermediate image, and determining the target ultrasonic image based on the gray value of each pixel point in the second image and the needle inserting direction of the puncture needle. And determining the needle body area of the puncture needle in the second image, so that the puncture needle can be detected in real time aiming at the ultrasonic image, and the needle body position of the ultrasonic puncture needle can be positioned more accurately.

Description

Technical Field

[0001] The present application relates to the technical field of ultrasonic image processing, and in particular to a method for identifying the position of an ultrasonic puncture needle and an ultrasonic device. Background Art

[0002] Puncture needles are widely used in medical practice, mainly for puncturing various organs of the human body to collect tissue samples or inject drugs, etc. When relevant personnel use puncture needles to work, in order to improve efficiency and accuracy, they often need to use ultrasonic equipment for visual guidance. Ultrasonic images can be used to see the internal structure of the tissue, the needle tip of the ultrasonic puncture needle, and the needle body of the ultrasonic puncture needle. Therefore, puncture surgery with the help of ultrasound is very important in the medical diagnosis and treatment process. When performing ultrasonic puncture, it is not only necessary to accurately pierce the ultrasonic puncture needle to the puncture site, but also to avoid special sites such as nerve tissue. However, during the actual puncture process, since the surface of the ultrasonic puncture needle is very smooth, the ultrasonic wave is very easy to form a mirror reflection on the outer wall of the ultrasonic puncture needle. If the angle between the ultrasonic puncture needle and the ultrasonic emission beam is smaller, the echo signal of the ultrasonic needle body will be smaller, which will lead to the worse imaging effect of the ultrasonic puncture needle body, which is not conducive to relevant personnel to determine whether the puncture needle is accurately pierced to the puncture site. Summary of the invention

[0003] The embodiments of the present application provide a method for identifying the position of an ultrasonic puncture needle and an ultrasonic device for accurately locating the position of the needle body of the ultrasonic puncture needle.

[0004] In a first aspect, an embodiment of the present application provides a method for identifying the position of an ultrasonic puncture needle, comprising:

[0005] In a current detection cycle, a plurality of frames of ultrasound images are collected from a video of a real-time ultrasound puncture operation;

[0006] Each time a frame of ultrasound image is acquired, a first image is determined based on the currently acquired ultrasound image and a target ultrasound image corresponding to the currently acquired ultrasound image, wherein the target ultrasound image is a previously acquired ultrasound image; and the first image is used to represent the motion displacement between the ultrasound image and the target ultrasound image;

[0007] Generate a second image based on the grayscale value of each pixel in the first image and the grayscale value of the corresponding pixel in the intermediate image, wherein the intermediate image is any first image determined before the current detection cycle;

[0008] Based on the grayscale value of each pixel in the second image and the insertion direction of the puncture needle, the needle body area of ​​the puncture needle in the second image is determined.

[0009] In some embodiments, before determining the first image based on the currently acquired ultrasound image and the target ultrasound image corresponding to the currently acquired ultrasound image, the method further includes:

[0010] The movement of the puncture needle is determined based on the phase and displacement between the currently acquired ultrasound image and a target ultrasound image corresponding to the currently acquired ultrasound image.

[0011] In some embodiments, determining the first image based on the currently acquired ultrasound image and the target ultrasound image corresponding to the currently acquired ultrasound image includes:

[0012] Determine displacement information between a currently acquired ultrasound image and a target ultrasound image corresponding to the currently acquired ultrasound image, wherein the displacement information includes at least one of a mean square error and a displacement amount;

[0013] Based on the displacement information, the first image is determined.

[0014] In some embodiments, determining the first image based on the displacement information includes:

[0015] Based on the displacement information, determining an initial displacement image;

[0016] The grayscale value of the first pixel point in the currently acquired ultrasound image and / or the grayscale value of the second pixel point are weighted to obtain a weighted image processed based on the currently acquired ultrasound image; wherein the grayscale value of the first pixel point is less than a preset first grayscale value, and the grayscale value of the second pixel point is not less than the preset first grayscale value; the difference between the grayscale value of the second pixel point with the smallest grayscale value among the second pixels of the weighted image and the grayscale value of the first pixel point with the largest grayscale value among the first pixels is greater than a set value;

[0017] The first image is generated based on the weight image and the initial displacement image.

[0018] In some embodiments, generating the first image based on the weight image and the initial displacement image includes:

[0019] Based on a preset correspondence between the probe movement range and the suppression coefficient, determining the suppression coefficient corresponding to the probe movement range to which the total displacement belongs, wherein the total displacement is the total displacement of each pixel point in the currently acquired ultrasound image relative to each pixel point in the target ultrasound image corresponding to the currently acquired ultrasound image;

[0020] The first image is generated based on the suppression coefficient, the weight image, and the initial displacement image.

[0021] In some embodiments, generating the second image based on the grayscale value of each pixel in the first image and the grayscale value of the corresponding pixel in the intermediate image includes:

[0022] Compare the grayscale values ​​of pixels at the same position in the first image and the intermediate image, and select the largest grayscale value of the two grayscale values ​​as the grayscale value of the pixel at the corresponding position;

[0023] The second image is generated based on the grayscale value of each selected pixel.

[0024] In some embodiments, determining the needle body area of ​​the puncture needle in the second image based on the grayscale value of each pixel point in the second image and the insertion direction of the puncture needle includes:

[0025] Based on the insertion direction of the puncture needle, determining candidate pixel points of the puncture needle body from the pixel points of the second image;

[0026] Based on the grayscale values ​​of the candidate pixels, determining target pixels from the candidate pixels, wherein the target pixels have a grayscale value greater than a preset second grayscale value;

[0027] The area formed by the target pixel points is used as the needle body area of ​​the puncture needle.

[0028] In a second aspect, an embodiment of the present application provides an ultrasound device, the ultrasound device comprising a display unit, a processor, and a probe;

[0029] The probe is used to transmit an ultrasonic beam and receive an echo signal from the puncture needle;

[0030] The display unit is used to display the needle body area of ​​the puncture needle in the currently acquired ultrasound image;

[0031] The processor is connected to the probe and the display unit respectively, and is configured to execute:

[0032] In a current detection cycle, a plurality of frames of ultrasound images are collected from a video of a real-time ultrasound puncture operation;

[0033] Each time a frame of ultrasound image is acquired, a first image is determined based on the currently acquired ultrasound image and a target ultrasound image corresponding to the currently acquired ultrasound image, wherein the target ultrasound image is a previously acquired ultrasound image; and the first image is used to represent the motion displacement between the ultrasound image and the target ultrasound image;

[0034] Generate a second image based on the grayscale value of each pixel in the first image and the grayscale value of the corresponding pixel in the intermediate image, wherein the intermediate image is any first image determined before the current detection cycle;

[0035] Based on the grayscale value of each pixel in the second image and the insertion direction of the puncture needle, the needle body area of ​​the puncture needle in the second image is determined.

[0036] In a third aspect, an embodiment of the present application provides a device for identifying the position of an ultrasonic puncture needle, comprising:

[0037] An acquisition module, used for acquiring multiple frames of ultrasound images from a video of a real-time ultrasound puncture operation within a current detection cycle;

[0038] A first determination module is configured to determine a first image based on a currently acquired ultrasound image and a target ultrasound image corresponding to the currently acquired ultrasound image each time an ultrasound image is acquired, wherein the target ultrasound image is a previously acquired ultrasound image; and the first image is used to represent a motion displacement between the ultrasound image and the target ultrasound image;

[0039] A generating module, configured to generate a second image based on the grayscale value of each pixel in the first image and the grayscale value of the corresponding pixel in the intermediate image, wherein the intermediate image is any first image determined before the current detection cycle;

[0040] The second determination module is used to determine the needle body area of ​​the puncture needle in the second image based on the grayscale value of each pixel point in the second image and the insertion direction of the puncture needle.

[0041] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising: at least one processor, and a memory communicatively connected to the at least one processor, wherein:

[0042] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by the at least one processor so that the at least one processor can perform the above-mentioned ultrasonic puncture needle position identification method.

[0043] In a fifth aspect, an embodiment of the present application provides a storage medium. When a computer program in the storage medium is executed by a processor of an electronic device, the electronic device can execute the above-mentioned method for identifying the position of an ultrasonic puncture needle.

[0044] In an embodiment of the present application, within the current detection cycle, multiple frames of ultrasound images are collected from a video of a real-time ultrasound puncture surgery. Each time a frame of ultrasound image is collected, a first image is determined based on the currently collected ultrasound image and a target ultrasound image corresponding to the currently collected ultrasound image, wherein the target ultrasound image is a previously collected ultrasound image; the first image is used to characterize the motion displacement between the currently collected ultrasound image and the target ultrasound image, and a second image is generated based on the grayscale value of each pixel in the first image and the grayscale value of the corresponding pixel in the intermediate image, wherein the intermediate image is any first image determined before the current detection cycle; based on the grayscale value of each pixel in the second image and the insertion direction of the puncture needle, the needle body area of ​​the puncture needle in the second image is determined, so that the puncture needle detection can be performed in real time on the ultrasound image, thereby more accurately positioning the needle body position of the ultrasound puncture needle.

[0045] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0047] Figure 1 A hardware configuration block diagram of an ultrasound device provided in an embodiment of the present application;

[0048] Figure 2 A schematic diagram of an application scenario of a method for identifying the position of an ultrasonic puncture needle provided in an embodiment of the present application;

[0049] Figure 3 A flow chart of a method for identifying the position of an ultrasonic puncture needle provided in an embodiment of the present application;

[0050] Figure 4 A schematic diagram of a currently acquired ultrasound image provided by an embodiment of the present application;

[0051] Figure 5 A schematic diagram of a target ultrasound image corresponding to a currently acquired ultrasound image provided in an embodiment of the present application;

[0052] Figure 6 A schematic diagram of an initial displacement image provided in an embodiment of the present application;

[0053] Figure 7A schematic diagram of a weight image provided in an embodiment of the present application;

[0054] Figure 8 A schematic diagram of a first image provided in an embodiment of the present application;

[0055] Fig. 9 A schematic diagram of a second image provided in an embodiment of the present application;

[0056] Fig.10 A schematic diagram of pixel distribution provided in an embodiment of the present application;

[0057] Fig.11 A schematic diagram of the structure of a device for identifying the position of an ultrasonic puncture needle provided in an embodiment of the present application;

[0058] Fig.12 A schematic diagram of the hardware structure of an electronic device for implementing a method for identifying the position of an ultrasonic puncture needle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to accurately locate the needle body of an ultrasonic puncture needle, an embodiment of the present application provides a method for identifying the position of an ultrasonic puncture needle and an ultrasonic device.

[0060] The preferred embodiments of the present application are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments and features in the embodiments of the present application may be combined with each other if there is no conflict.

[0061] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or. For example, A / B can mean A or B. The “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two, and other quantifiers are similar.

[0062] The terms "first", "second", "third", etc. in the specification and claims of this application and the above drawings are used to distinguish similar or similar objects or entities, and do not necessarily mean to limit a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, for example, they can be implemented in an order other than those given in the diagrams or descriptions of the embodiments of this application.

[0063] In addition, the terms "include" and "have" and any variations thereof are intended to cover but not exclude inclusion, for example, a product or device comprising a series of components is not necessarily limited to those components explicitly listed, but may include other components not explicitly listed or inherent to such products or devices.

[0064] The following is an introduction to the application scenarios of the method for identifying the position of an ultrasonic puncture needle provided in an embodiment of the present application in conjunction with the accompanying drawings.

[0065] The embodiment of the present application provides a method for identifying the position of an ultrasonic puncture needle, which can be applied to an ultrasonic device. The structure of the ultrasonic device is described below in conjunction with the accompanying drawings. Figure 1 A hardware configuration block diagram of an ultrasound device provided in an embodiment of the present application includes:

[0066] like Figure 1 As shown, the ultrasound device may include, for example: a processor 110, a display unit 120 and a probe 130; wherein,

[0067] The probe 130 is used to transmit an ultrasonic beam and receive an echo signal from the puncture needle;

[0068] The display unit 120 is used to display the needle body area of ​​the puncture needle in the currently acquired ultrasound image;

[0069] The processor 110 is connected to the probe 130 and the display unit 120 respectively, and is configured to perform: in a current detection cycle, collecting multiple frames of ultrasound images from a video of a real-time ultrasound puncture operation;

[0070] Each time a frame of ultrasound image is acquired, a first image is determined based on the currently acquired ultrasound image and a target ultrasound image corresponding to the currently acquired ultrasound image, wherein the target ultrasound image is a previously acquired ultrasound image; and the first image is used to represent the motion displacement between the ultrasound image and the target ultrasound image;

[0071] Generate a second image based on the grayscale value of each pixel in the first image and the grayscale value of the corresponding pixel in the intermediate image, wherein the intermediate image is any first image determined before the current detection cycle;

[0072] Based on the grayscale value of each pixel in the second image and the insertion direction of the puncture needle, the needle body area of ​​the puncture needle in the second image is determined.

[0073] In some embodiments, before determining the first image based on the currently acquired ultrasound image and the target ultrasound image corresponding to the currently acquired ultrasound image, the processor 110 is further configured to execute:

[0074] The movement of the puncture needle is determined based on the phase and displacement between the currently acquired ultrasound image and a target ultrasound image corresponding to the currently acquired ultrasound image.

[0075] In some embodiments, when determining the first image based on the currently acquired ultrasound image and the target ultrasound image corresponding to the currently acquired ultrasound image, the processor 110 is specifically configured to execute:

[0076] Determine displacement information between a currently acquired ultrasound image and a target ultrasound image corresponding to the currently acquired ultrasound image, wherein the displacement information includes at least one of a mean square error and a displacement amount;

[0077] Based on the displacement information, the first image is determined.

[0078] In some embodiments, when determining the first image based on the displacement information, the processor 110 is specifically configured to execute:

[0079] Based on the displacement information, determining an initial displacement image;

[0080] The grayscale value of the first pixel point in the currently acquired ultrasound image and / or the grayscale value of the second pixel point are weighted to obtain a weighted image processed based on the currently acquired ultrasound image; wherein the grayscale value of the first pixel point is less than a preset first grayscale value, and the grayscale value of the second pixel point is not less than the preset first grayscale value; the difference between the grayscale value of the second pixel point with the smallest grayscale value among the second pixels of the weighted image and the grayscale value of the first pixel point with the largest grayscale value among the first pixels is greater than a set value;

[0081] The first image is generated based on the weight image and the initial displacement image.

[0082] In some embodiments, when generating the first image based on the weight image and the initial displacement image, the processor 110 is specifically configured to execute:

[0083] Based on a preset correspondence between the probe movement range and the suppression coefficient, determining the suppression coefficient corresponding to the probe movement range to which the total displacement belongs, wherein the total displacement is the total displacement of each pixel point in the currently acquired ultrasound image relative to each pixel point in the target ultrasound image corresponding to the currently acquired ultrasound image;

[0084] The first image is generated based on the suppression coefficient, the weight image, and the initial displacement image.

[0085] In some embodiments, when generating the second image based on the grayscale value of each pixel in the first image and the grayscale value of the corresponding pixel in the intermediate image, the processor 110 is specifically configured to execute:

[0086] Compare the grayscale values ​​of pixels at the same position in the first image and the intermediate image, and select the largest grayscale value of the two grayscale values ​​as the grayscale value of the pixel at the corresponding position;

[0087] The second image is generated based on the grayscale value of each selected pixel.

[0088] In some embodiments, when determining the needle body area of ​​the puncture needle in the second image based on the grayscale value of each pixel point in the second image and the insertion direction of the puncture needle, the processor 110 is specifically configured to execute:

[0089] Based on the insertion direction of the puncture needle, determining candidate pixel points of the puncture needle body from the pixel points of the second image;

[0090] Based on the grayscale values ​​of the candidate pixels, determining target pixels from the candidate pixels, wherein the target pixels have a grayscale value greater than a preset second grayscale value;

[0091] The area formed by the target pixel points is used as the needle body area of ​​the puncture needle.

[0092] Figure 2 A schematic diagram of an application scenario of a method for identifying the position of an ultrasonic puncture needle provided in an embodiment of the present application. Figure 1 The partial modules or functional components of the ultrasonic device shown are implemented, and only the main components will be described below, while other components, such as memory, controller, control circuit, etc., will not be described here in detail.

[0093] like Figure 2 As shown, the application scenario may include a user interface 210 to be operated by a user provided via an input and output unit, a display unit 220 for displaying the user interface, and a processor 230 .

[0094] The display unit 220 may include a display panel 221 and a backlight assembly 222. The display panel 221 is configured to display an ultrasound image, the backlight assembly 222 is located behind the display panel 221, and the backlight assembly 222 may include a plurality of backlight partitions (not shown in the figure), each of which may emit light to illuminate the display panel 221.

[0095] The processor 230 may be configured to control the brightness of the backlight source of each backlight partition in the backlight assembly 222 , and control the probe to transmit a wide beam and receive an echo signal.

[0096] The processor 230 may include a focusing processing unit 231, a beamforming unit 232, and a spectrum generating unit 233. The focusing processing unit 231 may be configured to perform focusing processing on the current frame ultrasound image, and the focusing processing includes: taking the ultrasound puncture needle in the current frame ultrasound image as the focusing position of the wide beam, emitting a wide beam to the target detection area according to the emission coefficient of the ultrasound puncture needle; and receiving the echo signal fed back by the ultrasound puncture needle body. The beamforming unit 232 is configured to perform beamforming on the echo signal fed back by the same ultrasound puncture needle after completing the focusing processing on the ultrasound puncture needle in the target detection area to obtain scanning information. The spectrum generating unit 233 is configured to perform Doppler imaging based on the scanning information of each ultrasound puncture needle.

[0097] Puncture needles are widely used in medical practice, mainly for puncturing various organs of the human body to collect tissue samples or inject drugs, etc. When relevant personnel use puncture needles to work, in order to improve efficiency and accuracy, they often need to use ultrasonic equipment for visual guidance. Ultrasonic images can be used to see the internal structure of the tissue, the needle tip of the ultrasonic puncture needle, and the needle body of the ultrasonic puncture needle. Therefore, puncture surgery with the help of ultrasound is very important in the medical diagnosis and treatment process. When performing ultrasonic puncture, it is not only necessary to accurately pierce the ultrasonic puncture needle to the puncture site, but also to avoid special sites such as nerve tissue. However, during the actual puncture process, since the surface of the ultrasonic puncture needle is very smooth, the ultrasonic wave is very easy to form a mirror reflection on the outer wall of the ultrasonic puncture needle. If the angle between the ultrasonic puncture needle and the ultrasonic emission beam is smaller, the echo signal of the ultrasonic needle body will be smaller, which will lead to the worse imaging effect of the ultrasonic puncture needle body, which is not conducive to relevant personnel to determine whether the puncture needle is accurately pierced to the puncture site.

[0098] In the related art, in order to solve the problem of the needle body reflecting the incident sound waves, a frame of ultrasound image with a large deflection angle of the probe is usually added to the transmission process to ensure that the ultrasound emission direction is as perpendicular to the puncture needle body as possible, so as to enhance the visualization of the needle body. However, this method is only applicable to linear array probes. For non-linear array probes, it is difficult to make the ultrasound beam and the ultrasound needle body perpendicular because each array element has a different emission beam angle. Therefore, the puncture needle detection method in the prior art has poor applicability between different probes.

[0099] To solve the above problems, an embodiment of the present application provides a method for identifying the position of an ultrasonic puncture needle. The method determines the motion displacement between the two frames of images by using the currently acquired ultrasonic image and the corresponding target ultrasonic image for calculation, and then compares the first image representing the motion displacement of the two frames of images with the intermediate image determined before the current detection cycle to generate a second image. Finally, the grayscale value of each pixel in the second image and the insertion direction of the puncture needle are used to determine the needle body area of ​​the puncture needle in the second image.

[0100] Therefore, the embodiment of the present application can determine the needle body area of ​​the puncture needle by calculating the motion information between adjacent frames. The recognition complexity is low, which facilitates real-time puncture needle detection on the ultrasound image, thereby more accurately locating the needle body position of the ultrasonic puncture needle. At the same time, compared with the prior art, the embodiment of the present application does not need to change the ultrasound emission process, and does not require manual adjustment, thereby improving the applicability of the puncture needle detection method between different probes.

[0101] It should be noted that the ultrasonic puncture needle position identification method provided in the embodiment of the present application can be executed by an ultrasonic device, and can also be executed by a device with processing capabilities other than the ultrasonic device, such as a computer, a server, etc.

[0102] After introducing the application scenarios of the embodiments of the present application, the method for identifying the position of the ultrasonic puncture needle proposed in the present application is described below with a specific embodiment. Figure 3 A flow chart of a method for identifying the position of an ultrasonic puncture needle provided in an embodiment of the present application, and the method includes the following steps.

[0103] In step 301, in a current detection cycle, multiple frames of ultrasound images are collected from a video of a real-time ultrasound puncture operation.

[0104] The number of ultrasound image frames in each detection cycle can be set by a technician.

[0105] In step 302, each time a frame of ultrasound image is acquired, a first image is determined based on the currently acquired ultrasound image and a target ultrasound image corresponding to the currently acquired ultrasound image, wherein the target ultrasound image is the previously acquired ultrasound image; the first image is used to characterize the motion displacement between the currently acquired ultrasound image and the target ultrasound image.

[0106] Among them, the currently acquired ultrasound image and the target ultrasound image should include the puncture needle, the target ultrasound image is the previously acquired ultrasound image, and the target ultrasound image corresponding to the currently acquired ultrasound image can be the previous frame ultrasound image continuously of the currently acquired ultrasound image, or it can be any frame ultrasound image acquired in the previous detection cycle continuously before the current detection cycle, or it can be an ultrasound image with preset equally spaced frames with the currently acquired ultrasound image. The specific form of the target ultrasound image corresponding to the currently acquired ultrasound image is not limited here.

[0107] The following is an example in which the target ultrasound image corresponding to the currently acquired ultrasound image is an ultrasound image that is 4 frames apart from the currently acquired ultrasound image to introduce the embodiment of the present application. Figure 4 As shown, Figure 4 A schematic diagram of a currently acquired ultrasound image provided by an embodiment of the present application; Figure 5 A schematic diagram of a target ultrasound image corresponding to a currently acquired ultrasound image provided in an embodiment of the present application;

[0108] In a specific implementation, the displacement information between the currently acquired ultrasound image and the target ultrasound image corresponding to the currently acquired ultrasound image may be determined, wherein the displacement information includes at least one of a mean square error and a displacement amount; and then the first image is determined based on the displacement information.

[0109] For example, I t Represents the currently acquired ultrasound image, I t-1 represents the target ultrasound image, and the mean square error (I t -I t-1 ) 2 , and the displacement abs(I t -I t-1 ), and then the mean square error is combined with the displacement as the displacement information between the two frames of images.

[0110] During specific implementation, since the needle body will drive the movement of surrounding tissues during surgical needle insertion, and since the artifacts generated by the movement of tissues other than the needle body in the currently acquired ultrasound image will also be considered as the movement of the needle body, in order to overcome the interference of artifacts, the movement of tissues other than the needle body can also be screened out, thereby more accurately detecting the movement of the needle body.

[0111] In specific implementation, before determining the first image based on the currently acquired ultrasound image and the target ultrasound image corresponding to the currently acquired ultrasound image, it is also possible to determine that the puncture needle has moved based on the phase and displacement between the currently acquired ultrasound image and the target ultrasound image corresponding to the currently acquired ultrasound image.

[0112] For example, It The ultrasound image currently being acquired is represented by I t-1 Represents the target ultrasound image after translation (x0, y0), that is, I t (x,y)=I t-1 (x-x0, y-y0), the Fourier transform formula (1) corresponds to the Fourier time-shift property:

[0113]

[0114] Calculate the frequency domain cross power spectrum to get formula (2)

[0115]

[0116] Among them, FI is FI t-1 Finally, an attack function can be obtained by performing IFFT transformation on the cross power spectrum. By finding the peak coordinates (x0, y0) of the function, the position of the peak coordinates is the displacement between the two frames of images.

[0117] For another example, the echo data of two frames of images are obtained, and the phase difference between the two frames is determined based on the echo data. If the displacement is greater than a preset displacement threshold and the phase difference is also greater than a preset phase value, it is determined that the puncture needle has moved and needle body detection continues.

[0118] In a specific implementation, determining the first image based on the displacement information may include the following steps.

[0119] Step 1: Determine the initial displacement image based on the displacement information.

[0120] The initial displacement image is the displacement difference result image of each pixel point in the currently acquired ultrasound image and the target ultrasound image. Figure 6 A schematic diagram of an initial displacement image provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the upper left corner area and some areas in the initial displacement image are obviously brighter, indicating that there are moving objects (including the needle body and tissue parts) in this area. Therefore, in order to further increase the proportion of this part in the initial displacement image, make the part containing the puncture needle in the initial displacement image more obvious, and reduce the influence of the part not containing the puncture needle on the puncture needle detection, it is necessary to suppress each pixel in the initial displacement image.

[0121] Step 2: Perform weighted processing on the grayscale value of the first pixel point in the currently acquired ultrasound image, and / or the grayscale value of the second pixel point, to obtain a weighted image processed based on the currently acquired ultrasound image; wherein the grayscale value of the first pixel point is less than the preset first grayscale value, and the grayscale value of the second pixel point is not less than the preset first grayscale value; the difference between the grayscale value of the second pixel point with the smallest grayscale value among the second pixels of the weighted image and the grayscale value of the first pixel point with the largest grayscale value among the first pixels is greater than a set value.

[0122] For example, the grayscale value of the first pixel point can be reduced, the grayscale value of the first pixel point is multiplied by the first weight coefficient, wherein the value of the first weight coefficient is (0, 1), and then the grayscale value of the second pixel point is controlled to remain unchanged, so that the difference between the grayscale value of the second pixel point with the smallest grayscale value among the second pixels of the weighted image and the grayscale value of the first pixel point with the largest grayscale value among the first pixels is greater than the set value;

[0123] Alternatively, the grayscale value of the second pixel point may be increased, the grayscale value of the second pixel point may be multiplied by a second weight coefficient, wherein the value of the second weight coefficient is greater than 1, and then the grayscale value of the first pixel point may be kept unchanged, so that the difference between the grayscale value of the second pixel point with the smallest grayscale value among the second pixels of the weighted image and the grayscale value of the first pixel point with the largest grayscale value among the first pixels is greater than a set value;

[0124] It is also possible to reduce the grayscale value of the first pixel, multiply the grayscale value of the first pixel by a first weight coefficient, where the value of the first weight coefficient is (0, 1), and then increase the grayscale value of the second pixel, multiply the grayscale value of the second pixel by a second weight coefficient, where the value of the second weight coefficient is greater than 1, so that the difference between the grayscale value of the second pixel with the smallest grayscale value among the second pixels of the weighted image and the grayscale value of the first pixel with the largest grayscale value among the first pixels is greater than a set value.

[0125] In this way, the area containing the puncture needle or the area with a high probability of containing the puncture needle in the currently acquired ultrasound image can be made more obvious than the area containing the puncture needle or the area with a low probability of containing the puncture needle. Figure 7 A schematic diagram of a weight image provided in an embodiment of the present application.

[0126] Step 3: Generate a first image based on the weight image and the initial displacement image.

[0127] In a specific implementation, the weight image may be multiplied by the corresponding position in the initial displacement image to generate the first image. Figure 8 A first image schematic diagram provided in an embodiment of the present application.

[0128] In specific implementation, if during the puncture operation, the doctor moves the handheld ultrasound probe significantly and continues to use motion detection to detect the needle, the inter-frame displacement calculated by the large ultrasound probe movement will cause the entire image to be judged as needle tip movement, and motion detection will fail. Therefore, it can be further suppressed to eliminate the interference of ultrasound probe movement on needle detection.

[0129] Based on the correspondence between the preset probe movement range and the suppression coefficient, the suppression coefficient corresponding to the probe movement range to which the total displacement belongs is determined, wherein the total displacement is the total displacement of each pixel point in the currently acquired ultrasound image relative to each pixel point in the target ultrasound image corresponding to the currently acquired ultrasound image.

[0130] In a specific implementation, a first ultrasonic image when the ultrasonic probe is not moving and second ultrasonic images of different movement ranges, such as when the ultrasonic probe has a large movement, a small movement, and no movement, can be collected in advance. Then, the sum of the displacement of each pixel point between each second ultrasonic image and the first ultrasonic image is calculated respectively, and the influence of the probe movement range belonging to different displacements on the interference of needle body detection is statistically analyzed. Based on the statistical results, a corresponding relationship between the probe movement range and the suppression coefficient is established. That is to say, the suppression coefficient is determined according to the influence of different movement ranges of the probe on the needle body detection of the puncture needle.

[0131] In practical applications, the total displacement can be divided into three different levels of thresholds as an example. The three different levels of thresholds are a first threshold that the probe moves a range greater than a preset first range, a second threshold that the probe moves a range not greater than the preset first range and greater than a preset second range, and a third threshold that the probe moves a range not greater than the preset second range. When the total displacement is not less than the first threshold, it is determined that the probe moves a large range, and the detection of the needle body is greatly interfered at this time. The suppression coefficient can be confirmed as 0, and the detection of the needle body in the image is stopped during the current detection cycle. When the total displacement is less than the third threshold, it is determined that the probe itself moves slightly or basically does not move, which meets the needle body detection requirements, and the suppression coefficient at this time can be determined as 1. When the total displacement is not less than the second threshold and greater than the first threshold, and when the total displacement is not less than the third threshold and greater than the second threshold, the corresponding suppression coefficient can be (0, 1).

[0132] Based on the suppression coefficient, the weight image and the initial displacement image, a first image is generated.

[0133] In a specific implementation, the weight image may be multiplied by the corresponding position in the initial displacement image, and then multiplied by the corresponding suppression coefficient to generate the first image.

[0134] In step 303, a second image is generated based on the grayscale value of each pixel in the first image and the grayscale value of the corresponding pixel in the intermediate image, wherein the intermediate image is any first image determined before the current detection cycle.

[0135] In specific implementation, the grayscale values ​​of pixels at the same position in the first image and the intermediate image can be compared, the largest grayscale value of the two grayscale values ​​can be selected as the grayscale value of the pixel at the corresponding position, and then the second image can be generated based on the grayscale values ​​of the selected pixels.

[0136] Among them, the intermediate image is any first image determined before the current detection cycle, such as the first image determined in the first detection cycle, or the first image determined in the detection cycle of a preset interval period before the current detection cycle. The first image determined in the previous detection cycle adjacent to the current detection cycle can also be selected as the intermediate image, so as to ensure the real-time and accuracy of the detection.

[0137] In specific implementation, after determining the grayscale value of each selected pixel, since the processed grayscale value is not within the range of 0-255, the grayscale value of each pixel can be multiplied by a coefficient and then normalized. Fig. 9 As shown, Fig. 9 A schematic diagram of a second image provided in an embodiment of the present application.

[0138] In step 304, based on the grayscale value of each pixel point in the second image and the insertion direction of the puncture needle, the needle body area of ​​the puncture needle in the second image is determined.

[0139] In a specific implementation, based on the insertion direction of the puncture needle, the candidate pixel points of the puncture needle body are determined from the pixel points of the second image. For example, according to the insertion direction of the puncture needle, the position of the needle body in the currently collected ultrasound image can be determined, such as whether the needle body is in the positive diagonal direction or the negative diagonal direction of the image. According to the grayscale value of each pixel point, each candidate pixel point can be determined, that is, the candidate area of ​​the needle body is determined.

[0140] Then, based on the grayscale value of each candidate pixel point, each target pixel point is determined from each candidate pixel point, wherein the target pixel point has a grayscale value greater than a preset second grayscale value.

[0141] During specific implementation, any pixel among the candidate pixels and the adjacent pixels around the pixel, such as the four neighborhoods in the up, down, left and right directions, can also be analyzed. If the grayscale value of the pixel is greater than the second grayscale value, and the grayscale values ​​of the adjacent pixels around the pixel are greater than the third grayscale value, and the second grayscale value is greater than the third grayscale value, then the pixel is determined to be the target pixel. According to the diagonal direction to which the needle body belongs, a preset number of pixels adjacent to the pixel in the diagonal direction can be further analyzed. If the grayscale value of the pixel and the grayscale values ​​of the preset number of pixels adjacent to the pixel in the diagonal direction are greater than the second grayscale value, and the grayscale values ​​of the pixels in the four neighborhoods in the up, down, left and right directions around the pixel are greater than the third grayscale value, then the pixel is determined to be the target pixel.

[0142] like Fig.10 As shown, Fig.10 A schematic diagram of pixel point distribution is provided for an embodiment of the present application. Taking the above-mentioned pixel point as pixel point 1 as an example, the needle body direction is the diagonal direction, then pixel point 2 and pixel point 3 are the pixel points adjacent to pixel point 1 in the diagonal direction, pixel point 4, pixel point 5, pixel point 6, and pixel point 7 are the pixel points in the four neighborhoods of the upper, lower, left and right directions adjacent to the pixel point. If pixel point 1, pixel point 2, and pixel point 3 are all greater than the second grayscale value and pixel point 4, pixel point 5, pixel point 6, and pixel point 7 are all greater than the third grayscale value, then pixel point 1 is confirmed to be the target pixel point, and so on, until all candidate pixel points are analyzed, and the area composed of the target pixel points is used as the needle body area of ​​the puncture needle.

[0143] The embodiment of the present application can determine the needle body area of ​​the puncture needle by calculating the motion information between adjacent frames. The recognition complexity is low, which facilitates real-time puncture needle detection on the ultrasound image, thereby more accurately locating the needle body position of the ultrasound puncture needle. At the same time, compared with the prior art, the embodiment of the present application does not need to change the ultrasound emission process, and does not require manual adjustment, thereby improving the applicability of the puncture needle detection method between different probes.

[0144] In practical applications, the detection results can be marked with special colors, such as red, green, etc., to achieve the purpose of enhanced display of the detection results. Therefore, after the area composed of each target pixel point is used as the needle body area of ​​the puncture needle, the coordinates of the needle body area can be obtained, and the corresponding area on the currently acquired ultrasound image corresponding to the needle body area coordinates can be displayed in enhanced color. In order to make the development more natural and prevent the color display from interfering with the doctor, and make the needle tip color display more natural without blocking the approximate position of the needle tip in the original image, the color of the needle tip display position can be further blurred along the axial direction and processed with gradient transparency, and the final processing result can be displayed on the current frame ultrasound image.

[0145] Based on the same technical concept, an embodiment of the present application also provides a device for identifying the position of an ultrasonic puncture needle. The principle of solving the problem by the device for identifying the position of an ultrasonic puncture needle is similar to that of the above-mentioned method for identifying the position of an ultrasonic puncture needle. Therefore, the implementation of the device for identifying the position of an ultrasonic puncture needle can refer to the implementation of the method for identifying the position of an ultrasonic puncture needle, and the repeated parts will not be repeated.

[0146] Fig.11 A schematic diagram of the structure of an ultrasonic puncture needle position recognition device provided in an embodiment of the present application includes an acquisition module 1101, a first determination module 1102, a generation module 1103, and a second determination module 1104.

[0147] The acquisition module 1101 is used to acquire multiple frames of ultrasound images from the video of the real-time ultrasound puncture surgery in the current detection cycle;

[0148] A first determination module 1102 is configured to determine a first image based on a currently acquired ultrasound image and a target ultrasound image corresponding to the currently acquired ultrasound image, each time an ultrasound image is acquired, wherein the target ultrasound image is a previously acquired ultrasound image; and the first image is used to represent a motion displacement between the ultrasound image and the target ultrasound image;

[0149] A generating module 1103, configured to generate a second image based on the grayscale value of each pixel in the first image and the grayscale value of the corresponding pixel in the intermediate image, wherein the intermediate image is any first image determined before the current detection cycle;

[0150] The second determination module 1104 is used to determine the needle body area of ​​the puncture needle in the second image based on the gray value of each pixel point in the second image and the insertion direction of the puncture needle.

[0151] In some embodiments, it also includes:

[0152] The third determination module 1105 is used to determine that the puncture needle has moved based on the phase and displacement between the currently acquired ultrasound image and the target ultrasound image corresponding to the currently acquired ultrasound image before the first determination module 1102 determines the first image based on the currently acquired ultrasound image and the target ultrasound image corresponding to the currently acquired ultrasound image.

[0153] In some embodiments, the first determining module 1102 is specifically configured to:

[0154] Determine displacement information between a currently acquired ultrasound image and a target ultrasound image corresponding to the currently acquired ultrasound image, wherein the displacement information includes at least one of a mean square error and a displacement amount;

[0155] Based on the displacement information, the first image is determined.

[0156] In some embodiments, the first determining module 1102 is specifically configured to:

[0157] Based on the displacement information, determining an initial displacement image;

[0158] The grayscale value of the first pixel point in the currently acquired ultrasound image and / or the grayscale value of the second pixel point are weighted to obtain a weighted image processed based on the currently acquired ultrasound image; wherein the grayscale value of the first pixel point is less than a preset first grayscale value, and the grayscale value of the second pixel point is not less than the preset first grayscale value; the difference between the grayscale value of the second pixel point with the smallest grayscale value among the second pixels of the weighted image and the grayscale value of the first pixel point with the largest grayscale value among the first pixels is greater than a set value;

[0159] The first image is generated based on the weight image and the initial displacement image.

[0160] In some embodiments, the first determining module 1102 is specifically configured to:

[0161] Based on a preset correspondence between the probe movement range and the suppression coefficient, determining the suppression coefficient corresponding to the probe movement range to which the total displacement belongs, wherein the total displacement is the total displacement of each pixel point in the currently acquired ultrasound image relative to each pixel point in the target ultrasound image corresponding to the currently acquired ultrasound image;

[0162] The first image is generated based on the suppression coefficient, the weight image, and the initial displacement image.

[0163] In some embodiments, the generating module 1103 is specifically used to:

[0164] Compare the grayscale values ​​of pixels at the same position in the first image and the intermediate image, and select the largest grayscale value of the two grayscale values ​​as the grayscale value of the pixel at the corresponding position;

[0165] The second image is generated based on the grayscale value of each selected pixel.

[0166] In some embodiments, the second determining module 1104 is specifically configured to:

[0167] Based on the insertion direction of the puncture needle, determining candidate pixel points of the puncture needle body from the pixel points of the second image;

[0168] Based on the grayscale values ​​of the candidate pixels, determining target pixels from the candidate pixels, wherein the target pixels have a grayscale value greater than a preset second grayscale value;

[0169] The area formed by the target pixel points is used as the needle body area of ​​the puncture needle.

[0170] The division of modules in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, the functional modules in the embodiments of the present application may be integrated in a processor, or may exist physically separately, or two or more modules may be integrated in one module. The coupling between the modules may be achieved through some interfaces, which are usually electrical communication interfaces, but it is not excluded that they may be mechanical interfaces or other forms of interfaces. Therefore, the modules described as separate components may or may not be physically separated, and may be located in one place or distributed to different locations of the same or different devices. The above-mentioned integrated modules may be implemented in the form of hardware or in the form of software functional modules.

[0171] After introducing the method and device for identifying the position of an ultrasonic puncture needle according to an exemplary embodiment of the present application, next, an electronic device according to another exemplary embodiment of the present application is introduced.

[0172] Refer to the following Fig.12 The electronic device 130 implemented according to this embodiment of the present application is described. Fig.12 The electronic device 130 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0173] like Fig.12 As shown, the electronic device 130 is in the form of a general electronic device. The components of the electronic device 130 may include but are not limited to: the at least one processor 131, the at least one memory 132, and a bus 133 connecting different system components (including the memory 132 and the processor 131).

[0174] Bus 133 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a processor, or a local bus using any of a variety of bus architectures.

[0175] The memory 132 may include a readable medium in the form of a volatile memory, such as a random access memory (RAM) 1321 and / or a cache memory 1322 , and may further include a read-only memory (ROM) 1323 .

[0176] The memory 132 may also include a program / utility 1325 having a set (at least one) of program modules 1324, such program modules 1324 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0177] The electronic device 130 may also communicate with one or more external devices 134 (e.g., keyboards, pointing devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 130, and / or communicate with any device that enables the electronic device 130 to communicate with one or more other electronic devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 135. Furthermore, the electronic device 130 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 136. As shown, the network adapter 136 communicates with other modules for the electronic device 130 via a bus 133. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 130, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0178] In an exemplary embodiment, a storage medium is also provided, and when a computer program in the storage medium is executed by a processor of an electronic device, the electronic device can perform the above-mentioned ultrasonic puncture needle position identification method. Optionally, the storage medium can be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0179] In an exemplary embodiment, the electronic device of the present application may include at least one processor and a memory communicatively connected to the at least one processor, wherein the memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor may execute the steps of any ultrasonic puncture needle position identification method provided in the embodiments of the present application.

[0180] In an exemplary embodiment, a computer program product is also provided. When the computer program product is executed by an electronic device, the electronic device can implement any exemplary method provided in the present application.

[0181] Furthermore, the computer program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a RAM, a ROM, an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a compact disk read only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0182] The program product for ultrasonic puncture needle position identification in the embodiment of the present application may adopt a CD-ROM and include program code, and may be run on a computing device. However, the program product of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, apparatus, or device.

[0183] The readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, wherein the readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable signal medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0184] The program code contained on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

[0185] Program code for performing the operations of the present application may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device via any type of network such as a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0186] It should be noted that, although several units or subunits of the device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided into multiple units to be embodied.

[0187] In addition, although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that the operations must be performed in this specific order, or that all the operations shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0188] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0189] The present application is described with reference to the flowcharts and / or block diagrams of the methods, apparatus (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0190] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0191] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0192] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0193] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for identifying the position of an ultrasonic puncture needle, characterized in that: include: In a current detection cycle, a plurality of frames of ultrasound images are collected from a video of a real-time ultrasound puncture operation; Each time a frame of ultrasound image is acquired, a first image is determined based on the currently acquired ultrasound image and a target ultrasound image corresponding to the currently acquired ultrasound image, wherein the target ultrasound image is a previously acquired ultrasound image; and the first image is used to represent the motion displacement between the ultrasound image and the target ultrasound image; Generate a second image based on the grayscale value of each pixel in the first image and the grayscale value of the corresponding pixel in the intermediate image, wherein the intermediate image is any first image determined before the current detection cycle; Based on the grayscale value of each pixel in the second image and the insertion direction of the puncture needle, the needle body area of ​​the puncture needle in the second image is determined.

2. The method according to claim 1, characterized in that Before determining the first image based on the currently acquired ultrasound image and the target ultrasound image corresponding to the currently acquired ultrasound image, the method further includes: The movement of the puncture needle is determined based on the phase and displacement between the currently acquired ultrasound image and a target ultrasound image corresponding to the currently acquired ultrasound image.

3. The method according to claim 1, characterized in that The determining of the first image based on the currently acquired ultrasound image and the target ultrasound image corresponding to the currently acquired ultrasound image includes: Determine displacement information between a currently acquired ultrasound image and a target ultrasound image corresponding to the currently acquired ultrasound image, wherein the displacement information includes at least one of a mean square error and a displacement amount; Based on the displacement information, the first image is determined.

4. The method according to claim 3, characterized in that The determining the first image based on the displacement information includes: Based on the displacement information, determining an initial displacement image; The grayscale value of the first pixel point in the currently acquired ultrasound image and / or the grayscale value of the second pixel point are weighted to obtain a weighted image processed based on the currently acquired ultrasound image; wherein the grayscale value of the first pixel point is less than a preset first grayscale value, and the grayscale value of the second pixel point is not less than the preset first grayscale value; the difference between the grayscale value of the second pixel point with the smallest grayscale value among the second pixels of the weighted image and the grayscale value of the first pixel point with the largest grayscale value among the first pixels is greater than a set value; The first image is generated based on the weight image and the initial displacement image.

5. The method according to claim 4, characterized in that The generating the first image based on the weight image and the initial displacement image comprises: Based on a preset correspondence between the probe movement range and the suppression coefficient, determining the suppression coefficient corresponding to the probe movement range to which the total displacement belongs, wherein the total displacement is the total displacement of each pixel point in the currently acquired ultrasound image relative to each pixel point in the target ultrasound image corresponding to the currently acquired ultrasound image; The first image is generated based on the suppression coefficient, the weight image, and the initial displacement image.

6. The method according to claim 1, characterized in that The step of generating a second image based on the grayscale value of each pixel in the first image and the grayscale value of the corresponding pixel in the intermediate image includes: Compare the grayscale values ​​of pixels at the same position in the first image and the intermediate image, and select the largest grayscale value of the two grayscale values ​​as the grayscale value of the pixel at the corresponding position; The second image is generated based on the grayscale value of each selected pixel.

7. The method according to any one of claims 1 to 6, characterized in that: The determining of the needle body area of ​​the puncture needle in the second image based on the grayscale value of each pixel point in the second image and the insertion direction of the puncture needle includes: Based on the insertion direction of the puncture needle, determining candidate pixel points of the puncture needle body from the pixel points of the second image; Based on the grayscale values ​​of the candidate pixels, determining target pixels from the candidate pixels, wherein the target pixels have a grayscale value greater than a preset second grayscale value; The area formed by the target pixel points is used as the needle body area of ​​the puncture needle.

8. An ultrasonic device, characterized in that: The ultrasound device includes a display unit, a processor and a probe; The probe is used to transmit an ultrasonic beam and receive an echo signal from the puncture needle; The display unit is used to display the needle body area of ​​the puncture needle in the currently acquired ultrasound image; The processor is connected to the probe and the display unit respectively, and is configured to execute: In a current detection cycle, a plurality of frames of ultrasound images are collected from a video of a real-time ultrasound puncture operation; Each time a frame of ultrasound image is acquired, a first image is determined based on the currently acquired ultrasound image and a target ultrasound image corresponding to the currently acquired ultrasound image, wherein the target ultrasound image is a previously acquired ultrasound image; and the first image is used to represent the motion displacement between the ultrasound image and the target ultrasound image; Generate a second image based on the grayscale value of each pixel in the first image and the grayscale value of the corresponding pixel in the intermediate image, wherein the intermediate image is any first image determined before the current detection cycle; Based on the grayscale value of each pixel in the second image and the insertion direction of the puncture needle, the needle body area of ​​the puncture needle in the second image is determined.

9. The ultrasonic device according to claim 8, characterized in that Before determining the first image based on the currently acquired ultrasound image and the target ultrasound image corresponding to the currently acquired ultrasound image, the processor is further configured to execute: The movement of the puncture needle is determined based on the phase and displacement between the currently acquired ultrasound image and a target ultrasound image corresponding to the currently acquired ultrasound image.

10. The ultrasonic device according to claim 8, characterized in that When determining the first image based on the currently acquired ultrasound image and the target ultrasound image corresponding to the currently acquired ultrasound image, the processor is specifically configured to execute: Determine displacement information between a currently acquired ultrasound image and a target ultrasound image corresponding to the currently acquired ultrasound image, wherein the displacement information includes at least one of a mean square error and a displacement amount; Based on the displacement information, the first image is determined.

Images