An ultrasound device, animated presentation of an ultrasound scan, apparatus, and media

Abstract

The application relates to the technical field of image processing, in particular to an ultrasonic device, an animation display method and device for ultrasonic scanning and a medium, which are used to solve the problem of poor consultation effect in traditional remote ultrasonic consultation. The device comprises an ultrasonic probe and a processor. The ultrasonic probe is used for collecting target ultrasonic data of a target object, and the ultrasonic probe comprises a pose sensor which is used for collecting pose data of the ultrasonic probe in the process of ultrasonic scanning on the target object. The processor is used for determining a scanning position on the target object corresponding to the target ultrasonic data according to the target ultrasonic data and a candidate ultrasonic image data set; generating a scanning animation of ultrasonic scanning on the target object according to the pose data and the scanning position, and sending the target ultrasonic data and the scanning animation to a target consultation terminal; the scanning animation is used for indicating an object part associated with an ultrasonic image corresponding to the target ultrasonic data and a pose of the ultrasonic probe on the object part, so as to improve the consultation effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of image processing, in particular to an ultrasound device, an animation display method and device for ultrasound scanning, and a medium. BACKGROUND

[0002] At present, there is obvious regional difference in medical level. Compared with primary hospitals, provincial and municipal hospitals have more clinical experience and can better give accurate diagnosis and treatment, thereby reducing the misdiagnosis rate of primary hospitals. Therefore, remote medical treatment is a major development trend of medical diagnosis.

[0003] In the related art, remote ultrasound consultation is usually based on two video streams. One is a high-definition ultrasound video for presenting each ultrasound image, and the other is a hand camera video for presenting the scanning angle and hand method of the ultrasound probe.

[0004] However, in the related art, the hand camera is usually fixedly installed. Since the viewing angle of the hand camera is fixed, the scanning method of the ultrasound examiner cannot be tracked, and therefore, the consultation expert cannot view the scanning method from a good viewing angle at all times, especially when performing whole-body scanning such as head / leg scanning. The hand camera cannot clearly show the scanning of a part that is far away, thereby affecting the consultation effect of remote ultrasound consultation. SUMMARY

[0005] The purpose of the present application is to provide an ultrasound device, an animation display method and device for ultrasound scanning, and a medium, which can intuitively and timely present the scanning animation demonstration of the ultrasound probe during remote ultrasound consultation, thereby making the consultation more smooth and improving the consultation effect.

[0006] In a first aspect, the present application provides an ultrasound device, which comprises an ultrasound probe and a processor.

[0007] The ultrasound probe is configured to collect target ultrasound data of a target object.

[0008] The ultrasound probe comprises a pose sensor configured to collect pose data of the ultrasound probe during ultrasound scanning of the target object.

[0009] The processor is configured to determine a scanning position on the target object corresponding to the target ultrasound data according to the target ultrasound data and a candidate ultrasound image data set, wherein the ultrasound image data set comprises ultrasound data of multiple different sections of each part of the object and image description data.

[0010] According to the pose data and the scan position, a scan animation of an ultrasound scan on the target object is generated, and the target ultrasound data and the scan animation are sent to a target consultation terminal; wherein, an ultrasound image corresponding to the target ultrasound data and the scan animation are displayed on a screen of the target consultation terminal, the scan animation is used to indicate an object part associated with the ultrasound image and a pose of the ultrasound probe on the object part. Optionally, the processor is specifically configured to:

[0011] feature extraction is performed on the target ultrasound data to obtain a target feature vector;

[0012] According to the target feature vector, reference ultrasound data is filtered from the ultrasound data of the plurality of different sections corresponding to the parts, wherein the reference ultrasound data is ultrasound data with a similarity greater than a similarity threshold to the target ultrasound data;

[0013] According to the image description data corresponding to the reference ultrasound data, a scan position corresponding to the target ultrasound data is determined.

[0014] Optionally, the processor is specifically configured to:

[0015] According to the target feature vector and a candidate feature vector corresponding to candidate ultrasound data, a similarity between the target feature vector and the candidate feature vector is determined, wherein the candidate ultrasound data is any one of the ultrasound data of the plurality of different sections corresponding to the parts;

[0016] The candidate ultrasound data corresponding to a target similarity in the similarities is taken as the reference ultrasound data, wherein the target similarity is the maximum value in the candidate similarities greater than the similarity threshold.

[0017] Optionally, the scan position includes a part name of a scan part and scan point positioning data; and the processor is specifically configured to:

[0018] According to the part name in the image description data corresponding to the reference ultrasound data, a part name corresponding to the target ultrasound data is determined; and according to the image probe positioning data corresponding to the reference ultrasound data, scan point positioning data corresponding to the target ultrasound data is determined.

[0019] Optionally, the processor is specifically configured to:

[0020] According to the part name, a to-be-displayed sub-model is determined in a preset object digital model;

[0021] According to the scan point positioning data, coordinates of a to-be-displayed scan point corresponding to the scan point positioning data in the to-be-displayed sub-model are determined;

[0022] generate the scanning animation according to the pose data, the sub-model to be displayed, and the coordinates of the scanning point to be displayed.

[0023] Optionally, the pose data includes at least one spatial coordinate and angle data associated with the at least one spatial coordinate; and the processor is specifically configured to:

[0024] draw an initial picture containing the sub-model to be displayed according to the sub-model to be displayed and the object digital model;

[0025] draw the scanning point to be displayed in the initial picture according to the coordinates of the scanning point to be displayed, to obtain an intermediate picture;

[0026] draw the ultrasonic probe in the intermediate picture according to the at least one spatial coordinate of the pose data and a preset shape of the ultrasonic probe, and adjust the pose of the ultrasonic probe drawn in the intermediate picture according to the angle data associated with the at least one spatial coordinate, to obtain the scanning animation.

[0027] Optionally, the pose sensor is specifically configured to:

[0028] collect at least one spatial coordinate of the ultrasonic probe in the process of performing ultrasonic scanning on the target object and angle data associated with the at least one spatial coordinate;

[0029] transmit the at least one spatial coordinate and the angle data associated with the at least one spatial coordinate as the pose data to the processor.

[0030] In a second aspect, the present application provides an animation display method of ultrasonic scanning, applied to an ultrasonic device, the ultrasonic device including an ultrasonic probe, and the method including:

[0031] collect target ultrasonic data of a target object, and collect pose data of the ultrasonic probe in the process of performing ultrasonic scanning on the target object by a pose sensor included in the ultrasonic probe;

[0032] determine a scanning position on the target object corresponding to the target ultrasonic data according to the target ultrasonic data and a candidate ultrasonic image data set, wherein the ultrasonic image data set includes ultrasonic data and image description data of multiple different sections corresponding to each part of an object;

[0033] Based on the pose data and the scanning position, a scanning animation of an ultrasound scan performed on the target object is generated, and the target ultrasound data and the scanning animation are sent to the target consultation terminal; wherein, the screen of the target consultation terminal displays the ultrasound image corresponding to the target ultrasound data and the scanning animation, and the scanning animation is used to indicate the object region associated with the ultrasound image, and the posture of the ultrasound probe on the object region. Optionally, determining the scanning position on the target object corresponding to the target ultrasound data based on the target ultrasound data and candidate ultrasound image datasets includes:

[0034] Feature extraction is performed on the target ultrasound data to obtain the target feature vector;

[0035] Based on the target feature vector, reference ultrasound data are selected from ultrasound data of multiple different sections corresponding to each part, wherein the reference ultrasound data is ultrasound data whose similarity to the target ultrasound data is greater than a similarity threshold.

[0036] Based on the image description data corresponding to the reference ultrasound data, the scanning location corresponding to the target ultrasound data is determined.

[0037] Optionally, the step of selecting reference ultrasound data from ultrasound data of multiple different sections corresponding to each part based on the target feature vector includes:

[0038] Based on the target feature vector and the candidate feature vector corresponding to the candidate ultrasound data, the similarity between the target feature vector and the candidate feature vector is determined, wherein the candidate ultrasound data is any one of the ultrasound data from multiple different sections corresponding to each part;

[0039] The candidate ultrasound data corresponding to the target similarity in each similarity is used as the reference ultrasound data, wherein the target similarity is the maximum value among the candidate similarities that is greater than the similarity threshold.

[0040] Optionally, the scanning location includes the name of the scanning site and the scanning point location data; then, determining the scanning location corresponding to the target ultrasound data based on the image description data corresponding to the reference ultrasound data includes:

[0041] Based on the location name in the image description data corresponding to the reference ultrasound data, determine the location name corresponding to the target ultrasound data; and based on the image probe positioning data corresponding to the reference ultrasound data, determine the scanning point positioning data corresponding to the target ultrasound data.

[0042] Optionally, the generating the scan animation of the ultrasound scan on the target object according to the pose data and the scan position comprises:

[0043] According to the part name, a sub-model to be displayed is determined in a preset object digital model;

[0044] According to the scan point positioning data, coordinates of a scan point to be displayed corresponding to the scan point positioning data in the sub-model to be displayed are determined;

[0045] According to the pose data, the sub-model to be displayed and the coordinates of the scan point to be displayed, the scan animation is generated.

[0046] Optionally, the pose data comprises at least one spatial coordinate and angle data associated with the at least one spatial coordinate; and the processor is specifically configured to:

[0047] According to the sub-model to be displayed, the initial picture containing the sub-model to be displayed is drawn in combination with the object digital model;

[0048] According to the coordinates of the scan point to be displayed, the scan point to be displayed is drawn in the initial picture to obtain an intermediate picture;

[0049] According to the at least one spatial coordinate of the pose data and a preset shape of the ultrasound probe, the ultrasound probe is drawn in the intermediate picture; and according to the angle data associated with the at least one spatial coordinate, the pose of the ultrasound probe drawn in the intermediate picture is adjusted to obtain the scan animation.

[0050] Optionally, the pose data of the ultrasound probe in the process of the ultrasound scan on the target object is collected by a pose sensor included in the ultrasound probe, comprising:

[0051] At least one spatial coordinate of the ultrasound probe in the process of the ultrasound scan on the target object and angle data associated with the at least one spatial coordinate are collected by the pose sensor;

[0052] The at least one spatial coordinate and the angle data associated with the at least one spatial coordinate are taken as the pose data.

[0053] In a third aspect, the present application provides an animation display device for ultrasound scan, applied to an ultrasound device, the ultrasound device comprising an ultrasound probe, the device comprising:

[0054] The collection module is configured to collect target ultrasound data of a target object by the ultrasound probe and collect pose data of the ultrasound probe in an ultrasound scanning process of the target object by a pose sensor included in the ultrasound probe;

[0055] The determination module is configured to determine a scanning position on the target object corresponding to the target ultrasound data according to the target ultrasound data and a candidate ultrasound image data set, wherein the ultrasound image data set includes ultrasound data of multiple different sections corresponding to each part of an object and image description data;

[0056] The animation generation module is configured to generate a scanning animation of ultrasound scanning performed on the target object according to the pose data and the scanning position, and send the target ultrasound data and the scanning animation to a target consultation terminal; wherein an ultrasound image corresponding to the target ultrasound data and the scanning animation are displayed on a screen of the target consultation terminal, the scanning animation is used to indicate an object part associated with the ultrasound image and a pose of the ultrasound probe on the object part.

[0057] In a fourth aspect, the present application provides a computer-readable storage medium, when instructions in the computer-readable storage medium are executed by an ultrasound device, the ultrasound device is enabled to perform the animation display method of ultrasound scanning as described in the second aspect above.

[0058] In a fifth aspect, the present application provides a computer program product, including a computer program:

[0059] When the computer program is executed by a processor, the computer program implements the animation display method of ultrasound scanning as described in the second aspect above.

[0060] The technical solutions provided by the embodiments of the present application at least bring the following beneficial effects:

[0061] Since the ultrasound device in the embodiment of the present application comprises an ultrasound probe embedded with a pose sensor, the pose data of the ultrasound probe in the process of performing ultrasound scanning on the target object can be collected, so that the ultrasound device can obtain the spatial coordinates of the ultrasound probe in space and the angle data associated with the spatial coordinates, i.e., the motion data such as rotation and inclination, direction and angular velocity in the spatial coordinate system associated with the pose sensor of the ultrasound probe, to prepare for subsequent generation of scanning animation for ultrasound scanning on the target object. Meanwhile, according to the target ultrasound data of the target object collected through the ultrasound probe and the candidate ultrasound image data set, part / position analysis of the target ultrasound data can be implemented to determine the part name to which the current scanning obtained target ultrasound data belongs and the scanning point positioning data at which the cross-sectional image is located. Then, according to the part name and scanning point positioning data corresponding to the pose data and the target ultrasound data, the scanning animation for ultrasound scanning on the target object is drawn and generated, which can intuitively and real-timely present the scanning animation demonstration of the ultrasound probe in remote ultrasound consultation, improving the consultation effect in remote ultrasound consultation. Especially when the ultrasound device is used to perform whole-body scanning on the target object, the part / position analysis of the collected target ultrasound data can be performed to timely generate the scanning animation screen of the corresponding sub-model, and the switching between parts scanned by the ultrasound probe can be intuitively and real-timely presented, further improving the consultation effect in remote ultrasound consultation. BRIEF DESCRIPTION OF DRAWINGS

[0062] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced as follows. Obviously, the drawings introduced below are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0063] Figure 1 An application scenario of an optional ultrasound scanning animation display method in the embodiments of the present application;

[0064] Figure 2 A structural schematic diagram of an optional ultrasound probe in the embodiments of the present application;

[0065] Figure 3 A flowchart of an ultrasound scanning animation display method in the embodiments of the present application;

[0066] Figure 4 An example schematic diagram of image description data in the embodiments of the present application;

[0067] Figure 5 An implementation logic schematic diagram of determining the scanning position of the ultrasound probe through target ultrasound data in the embodiments of the present application;

[0068] Figure 6 A flow chart of a specific determination method of a scanning position in an embodiment of the present application;

[0069] Figure 7 A flow chart of a specific generation method of a scanning animation in an embodiment of the present application;

[0070] Figure 8 A flow chart of a method of obtaining a scanning animation in an embodiment of the present application;

[0071] Figure 9A A schematic diagram of an obtained initial picture in an embodiment of the present application;

[0072] Figure 9B A schematic diagram of an obtained intermediate picture in an embodiment of the present application;

[0073] Figure 9C A schematic diagram of a scanning animation frame picture of a scanning animation in an embodiment of the present application;

[0074] Figure 9D A schematic diagram of a plurality of scanning animation frame pictures of a scanning animation in an embodiment of the present application;

[0075] Figure 10 A schematic diagram of an application interface in a remote ultrasound consultation in an embodiment of the present application;

[0076] Figure 11 A flow chart of another ultrasound scanning animation display method in an embodiment of the present application;

[0077] Figure 12 A schematic diagram of another application interface in a remote ultrasound consultation in an embodiment of the present application;

[0078] Figure 13 A flow chart of a scanning animation display method of an ultrasound device in an embodiment of the present application;

[0079] Figure 14 A schematic diagram of a scanning animation display interface of an ultrasound device in an embodiment of the present application;

[0080] Figure 15 A specific implementation logic diagram in a remote ultrasound consultation in an embodiment of the present application;

[0081] Figure 16 A structural diagram of an ultrasound scanning animation display device in an embodiment of the present application. DETAILED DESCRIPTION

[0082] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. The described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0083] In addition, in the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0084] Hereinafter, the terms "first" and "second" are only used for description purposes, and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "multiple" is two or more than two.

[0085] The application scenario of an optional animation display method of an ultrasound scan provided by the embodiments of the present application will be introduced below in combination with the drawings. As shown in Figure 1 , the application scenario corresponds to a remote ultrasound consultation scenario in actual application. As shown in Figure 1 , the application scenario includes an ultrasound device 10 used by a primary physician and a target consultation terminal 20 of a consultation specialist. The ultrasound device 10 and the target consultation terminal 20 establish a connection through a remote ultrasound cloud service and transmit data in an ultrasound scan process, such as target ultrasound data of a target object collected by the ultrasound device 10; wherein,

[0086] The ultrasound device 10 includes an ultrasound probe 101 and a processor 102, wherein, as shown in Figure 2 , a structure diagram of an optional ultrasound probe in the embodiments of the present application. As shown in Figure 2 , the top of the ultrasound probe 101 is embedded with a pose sensor, which is used to collect pose data of the ultrasound probe in the process of performing ultrasound scan on a target object, wherein the pose data includes at least one spatial coordinate and angle data corresponding to the at least one spatial coordinate, such as angular velocity, angular displacement, angular acceleration and other parameter values of the ultrasound probe on a coordinate axis corresponding to a certain spatial coordinate.

[0087] In the implementation, the above-mentioned pose sensor can be a micro chip based on Micro-electromechanical Systems (MEMS) technology, wherein the MEMS can utilize the principle of Coriolis force to perceive the rotation angle and angular velocity, and realize the measurement of the angular velocity, angular displacement, angular acceleration and other parameters of the measured object (i.e., the ultrasonic probe 101) in the x, y and z axial directions. In the embodiment of the present application, the installation position of the above-mentioned micro chip 1011 based on the MEMS technology in the ultrasonic probe 101 is shown in FIG. 10. Figure 2 As shown in FIG. 10, the micro chip is embedded in the rear part of the hand-held part of the ultrasonic probe 101. Figure 2 As shown in FIG. 10, the micro chip is embedded in the rear part of the hand-held part of the ultrasonic probe 101.

[0088] It should be noted that the micro chip based on the MEMS technology and its installation position in the ultrasonic probe in the embodiment of the present application are only examples, and the present application does not specifically limit the sensor type of the pose sensor for acquiring the pose data of the ultrasonic probe and the installation position of the pose sensor.

[0089] As shown in FIG. 10, the micro chip is embedded in the rear part of the hand-held part of the ultrasonic probe 101. Figure 1 As shown in FIG. 10, the micro chip is embedded in the rear part of the hand-held part of the ultrasonic probe 101.

[0090] The pose sensor is configured to acquire the pose data of the ultrasonic probe 101 during the ultrasonic scanning of the target object, and transmit the acquired pose data to the processor 102.

[0091] The processor 102 is configured to determine the scanning position on the target object corresponding to the target ultrasonic data according to the target ultrasonic data and the candidate ultrasonic image data set, wherein the ultrasonic image data set includes the ultrasonic data and image description data of multiple different sections corresponding to each part of the object; generate a scanning animation of the ultrasonic scanning performed on the target object according to the pose data and the scanning position, and send the target ultrasonic data and the scanning animation to the remote ultrasonic cloud service, so that the remote ultrasonic cloud service distributes the received target ultrasonic data and the scanning animation to the associated target consultation terminal 20.

[0092] The target consultation terminal 20 is configured to display the ultrasonic image corresponding to the received target ultrasonic data and the scanning animation in the screen, wherein the scanning animation is used to indicate the object part associated with the ultrasonic image and the pose of the ultrasonic probe on the object part.

[0093] It should be noted that, Figure 1 The position of the processor 102 shown in the figure is only an example, and the installation position of the processor 102 is not specifically limited in the embodiment of the present application.

[0094] In some optional embodiments, as shown in FIG. 10, the ultrasonic probe 101 is configured to acquire the target ultrasonic data of the target object, and transmit the acquired target ultrasonic data to the processor 102.Figure 1 As shown, the ultrasound device 10 further includes a display screen 103 for displaying the target ultrasound data and a scan animation in a display interface, which is used to add a special display function in the existing display interface of the ultrasound device to meet the user's demand for displaying the corresponding scan animation at the ultrasound device end.

[0095] Of course, the method provided by the embodiments of the present application is not limited to Figure 1 The application scenario shown can also be used in other possible application scenarios, which are not limited in the embodiments of the present application. After introducing one optional application scenario and the structure of one optional ultrasound probe in the embodiments of the present application, the method for animating the ultrasound scan in the embodiments of the present application will be introduced in detail in combination with the drawings.

[0096] As shown in the flow chart of the method for animating the ultrasound scan in the embodiments of the present application, the specific steps of the method are as follows: Figure 3

[0097] Step S301, target ultrasound data of a target object is collected, and pose data of an ultrasound probe in the process of performing ultrasound scan on the target object is collected through a pose sensor included in the ultrasound probe.

[0098] Still referring to the application scenario shown, in the implementation, a primary doctor performs ultrasound scan on a target object through an ultrasound probe included in an ultrasound device, executes step S301 to collect target ultrasound data of the target object, and collects pose data of the ultrasound probe in the process of performing ultrasound scan on the target object through a pose sensor in the ultrasound probe, wherein the pose data includes at least one spatial coordinate and angle data associated with the at least one spatial coordinate. Figure 1 In the related art, the ultrasound data of a target object is collected through an ultrasound device to obtain an ultrasound video containing a preset region of the target object in a preset time period, the ultrasound video collected by the ultrasound device is processed through a pre-set frame extraction interval to obtain corresponding target ultrasound data of each frame, wherein the frame extraction interval can be determined by the device hardware performance and the internal parameters of the software system, if the frame extraction interval is small, the algorithm has a large amount of calculation, and the details of the part contour change in the ultrasound image corresponding to each frame of target ultrasound data obtained are more; if the frame extraction interval is large, the algorithm has a small amount of calculation and a faster processing speed, and the part contour change between the ultrasound images corresponding to each frame of target ultrasound data obtained is smoother, which is not limited in the embodiments of the present application, and can be set according to actual needs in the implementation.

[0099]

[0100] ​​In a specific implementation, when the pose sensor included in the ultrasound probe collects the pose data of the ultrasound probe in the process of performing the ultrasound scan on the target object in step S301, at least one spatial coordinate and angle data associated with the at least one spatial coordinate of the ultrasound probe in the process of performing the ultrasound scan on the target object are collected; and the at least one spatial coordinate and the angle data associated with the at least one spatial coordinate are taken as the pose data.

[0101] In step S302, a scan position on the target object corresponding to the target ultrasound data is determined according to the target ultrasound data and the candidate ultrasound image data set, where the ultrasound image data set includes ultrasound data and image description data of multiple different sections corresponding to each part of the object.

[0102] In an embodiment of the present application, the ultrasound image data set is constructed in advance, and the ultrasound image data set includes ultrasound data and image description data of multiple different sections corresponding to each part of the object, where the image description data includes basic data, associated part data, associated section data, image probe information, and associated human body model data corresponding to the ultrasound data.

[0103] For example, taking a human body as the target object. It is assumed that according to the target ultrasound data and the ultrasound image data set, the reference ultrasound data corresponding to the target ultrasound data is an ultrasound data of a thyroid image ID 540045896.

[0104] In an embodiment of the present application, the ultrasound data of the thyroid image ID 540045896 corresponds to the image description data as shown in Figure 4 Figure 4 ​As shown, the image description data includes basic data, associated part data, associated section data, image probe information, and associated human body model data corresponding to the ultrasound image with the thyroid image ID 540045896. The basic data includes but is not limited to: image ID (540045896), image number (11249), image classification (thyroid transverse section), storage location of ultrasound data (S3: / 10102 / 540045896.jpg), image size (11458), image size (1920*1080), archiving date (2023-04-28), image clarity score value (0.97545), etc. The associated part data includes but is not limited to: the first-level part to which it belongs (head), the first-level part ID (101), the second-level part to which it belongs (neck), the second-level part ID (10102), the part ID, the organ / part name to which it belongs (thyroid), the organ ID (10102004), etc. The associated section data includes but is not limited to: left / right / side (0, representing left), the section to which it belongs (transverse section), the section ID (501). The image probe information includes but is not limited to: image probe positioning data (in this embodiment of the application, the image probe positioning data is combined with the preset object digital model scanning position point anchoring data) (0.002451, 0.085614, 0.958123), default probe shape storage location (S3: / probe / gpxz20.obj), etc. The associated human body model data includes but is not limited to: the associated human body model orientation / side, the associated organ 3D model storage location (S3: / module / 10102004.obj), the associated organ 3D model three-dimensional size (56*60*20), etc.

[0105] In this embodiment of the application, the scanning position determined in step S302 includes the part name of the scanning part and the scanning point positioning data. Figure 5 The implementation logic for determining the scanning position of the ultrasound probe corresponding to the target ultrasound data in this embodiment of the application is shown in the following figure. Figure 5 As shown, the target ultrasound data is acquired by the ultrasound probe, and then the image feature vectorization model is used to determine the scanning position on the target object corresponding to the target ultrasound data, i.e., the scanning part and the scanning point positioning data, based on the target ultrasound data and the ultrasound image data set, using image feature matching.

[0106] In this embodiment of the application, Figure 5The image feature vectorization model shown is used for feature extraction of target ultrasound data, and the extracted target feature vector is respectively matched with the candidate feature vectors corresponding to the ultrasound data of each section of each part of the subject included in the ultrasound image data set, so that reference ultrasound data with a similarity greater than a preset similarity threshold is matched from the ultrasound image data set.

[0107] In implementation, when step S302 is performed, reference is made to Figure 6 As shown, the following steps are specifically performed:

[0108] Step S3021, feature extraction is performed on the target ultrasound data to obtain a target feature vector.

[0109] In the embodiments of the present application, in order to facilitate comparison, after obtaining the target ultrasound data, step S3021 is performed to represent the target ultrasound data in the form of a feature vector to obtain the target feature vector.

[0110] In some possible embodiments, when step S3021 is performed, the target ultrasound data can be input into a pre-trained deep learning model, such as the image feature vectorization model described above, and the features of the target ultrasound data are extracted based on the convolutional neural network structure (CNN) in the image feature vectorization model, so as to obtain the target feature vector corresponding to the target ultrasound data.

[0111] Step S3022, according to the target feature vector, reference ultrasound data is screened from the ultrasound data of different sections corresponding to each part, wherein the reference ultrasound data is ultrasound data with a similarity greater than a similarity threshold.

[0112] In implementation, when step S3022 is performed, the similarity between the target feature vector and the candidate feature vector corresponding to the candidate ultrasound data is determined according to the target feature vector and the candidate feature vector, wherein the candidate ultrasound data is any one of the ultrasound data of different sections corresponding to each part; the candidate ultrasound data corresponding to the target similarity is taken as the reference ultrasound data, wherein the target similarity is the maximum value among the candidate similarities greater than the similarity threshold.

[0113] In some possible embodiments, the image feature vectorization model described above can be a TextImage Residual Gating (TIRG) model, and when steps S3021-S3022 are performed, the target ultrasound data is input into the TIRG model, features of the target ultrasound data are extracted by the TIRG model to obtain a target feature vector, and then the target feature vector corresponding to the target ultrasound data is compared with candidate feature vectors corresponding to ultrasound data of each section of each part in the ultrasound image data set to filter out the reference ultrasound data. The model structure of the TIRG model is not specifically limited in the present application, and an existing model structure can be used to implement the comparison and retrieval process of the present application.

[0114] Step S3023, determining a scan position corresponding to the target ultrasound data according to the image description data corresponding to the reference ultrasound data.

[0115] In the embodiments of the present application, the scan position includes a part name of a scan part and scan point positioning data, and therefore, in the implementation, when step S3023 is performed, the part name corresponding to the target ultrasound data is determined according to the part name in the image description data corresponding to the reference ultrasound data, and the scan point positioning data corresponding to the target ultrasound data is determined according to the image probe positioning data corresponding to the reference ultrasound data.

[0116] In some possible embodiments, when step S3023 is performed, the part name in the image description data corresponding to the reference ultrasound data is specifically determined as the part name corresponding to the target ultrasound data, and the image probe positioning data corresponding to the reference ultrasound data is specifically determined as the scan point positioning data corresponding to the target ultrasound data.

[0117] Step S303, generating a scan animation of an ultrasound scan performed on the target object according to the pose data and the scan position.

[0118] In the implementation, when step S303 is performed, the following steps are specifically performed with reference to FIG. 3B. Figure 7

[0119] Step S3031, determining a to-be-displayed sub-model in a preset object digital model according to the part name.

[0120] Still with reference to FIG. 3B, the following steps are specifically performed. Figure 4 ​As shown, in the embodiment of the present application, the associated human body model data included in the image description data further contains associated human body part model sub-model code, associated human body model organ code, associated organ 3D model storage location, associated organ 3D model solid size and the like data; then, after obtaining the part name corresponding to the target ultrasound data, step S3031 is performed to determine the to-be-displayed sub-model in the subsequent scanning animation, i.e., the information of the associated human body model sub-model in the image description data corresponding to the reference ultrasound data, and the associated human body model organ and the like. It should be noted that, when determining the to-be-displayed sub-model, the present application selects the first-level part in the image description data corresponding to the reference ultrasound data. Referring to the foregoing example, in combination with Figure 4 As shown, when the part name in the scanning position is the thyroid, the determined to-be-displayed sub-model can be the sub-model corresponding to the head.

[0121] Step S3032, according to the scanning point positioning data, determining the coordinates of the to-be-displayed scanning point corresponding to the scanning point positioning data in the to-be-displayed sub-model.

[0122] For example, still taking the human body as the target object, it is assumed that the object digital model corresponding to the target object is a human body 3D model, and the solid size of the associated organ 3D model in the image description data corresponding to the reference ultrasound data is 56*60*20 (unit: mm), which represents a cuboid peripheral size of the organ, wherein the middle point (x0, y0, z0) of the cuboid solid space is taken as the origin, and the coordinates thereof are represented by (0, 0, 0).

[0123] Then, according to the scanning point positioning data, still referring to Figure 4 As shown, the image probe positioning data (0.002451, 0.085614, 0.958123) (representing unit percentage, positive value representing positive direction offset of the corresponding axis to the origin, and negative value representing negative direction offset to the origin) corresponding to the reference ultrasound data can be used to determine the specific position of the scanning point of the ultrasound probe, i.e., the specific coordinates on the associated organ 3D model.

[0124] In the implementation, the coordinates of the to-be-displayed scanning point of the scanning point positioning data in the 3D model are (0.002451*56, 0.085614*60, 0.958123*20).

[0125] Step S3033, generating the scanning animation according to the pose data, the to-be-displayed sub-model and the coordinates of the to-be-displayed scanning point.

[0126] In this embodiment, the digital model of the object is a model composed of multiple sub-models, each of which has two display formats: one is displayed in a full-body model, and the other is displayed in close-up. In practice, if the scanning position corresponding to the target ultrasound data is determined based on the acquired target ultrasound data and candidate ultrasound image datasets, then a close-up view of the sub-model corresponding to that scanning position is displayed in the scanning animation. This allows for a more obvious display of the details and subtle changes in the ultrasound scanning technique. If the target ultrasound data is not acquired within a preset time period, and only the pose data of the ultrasound probe is acquired within that time period (e.g., before or after the ultrasound scan, or when certain characteristics during the ultrasound scan cause interruptions), then the scanning animation can display a full-body model of the object. This allows consulting experts in remote ultrasound consultations to promptly obtain real-time information from primary care physicians during remote ultrasound consultations.

[0127] For example, let's continue with the human body as the target object. Suppose that the location to be scanned is determined to be the thyroid gland based on the ultrasound data of the target. Then, when displaying the aforementioned thyroid gland scan animation, the generated scan animation is constructed by combining the pose data obtained by the pose sensor embedded in the ultrasound probe.

[0128] During implementation, when performing step S3033, refer to... Figure 8 As shown, the specific steps are as follows:

[0129] Step S801: Based on the sub-model to be displayed and combined with the object digital model, draw the initial screen containing the sub-model to be displayed.

[0130] During implementation, when executing step S800, the sub-model to be displayed is drawn by combining the object's digital model, thereby obtaining the initial screen.

[0131] For example, see Figure 9A As shown, taking the human body as the target object as an example, assuming that the location name determined based on the image description data of the reference ultrasound data corresponding to the target ultrasound data is the thyroid gland, then the associated human body model sub-model corresponding to the sub-model to be displayed obtained based on this image description data is the sub-model corresponding to the primary location (head). Then, step S801 is executed: combining the human 3D model, based on the sub-model to be displayed, an initial image containing the sub-model to be displayed is drawn, as shown below. Figure 9A The image shown contains an initial view of a 3D model of a human head.

[0132] Step S802: Draw the scan points to be displayed on the initial screen according to their coordinates to obtain the intermediate screen.

[0133] For example, still taking the human body as the target object. According to the coordinates of the to-be-displayed scanning point, that is, (0.002451*56, 0.085614*60, 0.958123*20), the to-be-displayed scanning point is drawn in the initial picture, and the to-be-displayed scanning point positioned by the to-be-displayed scanning point is as shown by the black point A in FIG. 8, so as to obtain the intermediate picture. Figure 9B

[0134] In step S803, the ultrasound probe is drawn in the intermediate picture according to at least one spatial coordinate of the pose data and a preset shape of the ultrasound probe, and the pose of the ultrasound probe drawn in the intermediate picture is adjusted according to the angle data associated with the at least one spatial coordinate, so as to obtain the scanning animation.

[0135] In the embodiment of the present application, the pose data of the ultrasound probe can be collected in real time by the pose sensor. Then, the scanning animation frames can be generated according to the collection period of the pose data, or the scanning animation frames can be generated by using a fixed collection period (for example, consistent with the frame extraction period of the target ultrasound data), or the frequency of generating the scanning animation frames can be determined according to the specific situation of the obtained pose data. The above is determined by the hardware performance of the equipment and the internal parameter setting of the software system, and the present application does not make a specific limitation.

[0136] In the implementation, when step S803 is performed, first, the pose data collected by the pose sensor that is aligned with the collection time of the target ultrasound data is determined based on the collection time of the target ultrasound data. Then, the ultrasound probe is drawn in the intermediate picture according to the spatial coordinate included in the pose data aligned with the collection time and the preset shape of the ultrasound probe. In addition, the pose of the ultrasound probe is adjusted according to the angle data associated with the spatial coordinate, so as to obtain a scanning animation frame in the scanning animation as shown in FIG. 9. Figure 9C

[0137] In some preferred embodiments, the collection period of the pose sensor is inconsistent with the aforementioned frame extraction period, and generally, the collection period is shorter than the frame extraction period. Then, after the target ultrasound data is collected, a plurality of groups of pose data are obtained. For each pose data obtained subsequently, the spatial position of the ultrasound probe in the intermediate picture is adjusted according to the spatial coordinate of the pose data, and the pose of the ultrasound probe is adjusted according to the angle data associated with the spatial coordinate of the pose data. In this way, a plurality of scanning animation frames are obtained. The plurality of scanning animation frames are as shown in FIG. 10. Figure 9D

[0138] In step S304, the target ultrasound data and the scanning animation are sent to the target consultation terminal. The ultrasound image corresponding to the target ultrasound data and the scanning animation are displayed in the screen of the target consultation terminal. The scanning animation is used to indicate the object part associated with the ultrasound image and the pose of the ultrasound probe on the object part. ​​​

[0139] An optional application interface in remote ultrasound consultation in an embodiment of the present application is shown in FIG. 12. As shown in FIG. 12, the application interface is an interface of a remote ultrasound consultation cloud clinic; the middle part in the interface is an ultrasound image display area (for displaying an ultrasound image corresponding to target ultrasound data), the middle part on the right side is a scanning animation display area (for displaying a scanning animation), and the lower part is a function display area, which includes functions such as creating a medical record, a microphone, a camera, sharing, a pen, a laser pen, recording, screenshot, a timer, setting, and ending a meeting, to meet various use requirements of a remote ultrasound consultation scene. Figure 10 Figure 10 As shown in FIG. 12, the application interface is an interface of a remote ultrasound consultation cloud clinic; the middle part in the interface is an ultrasound image display area (for displaying an ultrasound image corresponding to target ultrasound data), the middle part on the right side is a scanning animation display area (for displaying a scanning animation), and the lower part is a function display area, which includes functions such as creating a medical record, a microphone, a camera, sharing, a pen, a laser pen, recording, screenshot, a timer, setting, and ending a meeting, to meet various use requirements of a remote ultrasound consultation scene.

[0140] In actual application, remote ultrasound consultation opportunities are relatively rare, and usually multiple target objects are arranged to participate in remote ultrasound consultation. Therefore, a period of time without ultrasound scanning occurs between two target objects. At this time, in order to enable the scanning animation to intuitively and real-timely present the idle time, another ultrasound scanning animation method is provided in an embodiment of the present application, as shown in FIG. 13, which includes the following steps. Figure 11

[0141] Step S1101: If the ultrasound probe does not acquire target ultrasound data within a preset time length, a scanning animation is generated according to the pose data and a preset object digital model.

[0142] Step S1102: The scanning animation is sent to a target consultation terminal.

[0143] In an embodiment of the present application, for steps S1101-S1102, if target ultrasound data is not acquired within a preset time length, as shown in FIG. 12, the scanning animation display area in the application interface in remote ultrasound consultation can display a scanning animation corresponding to a whole body model, so that a consultation expert in remote ultrasound consultation can intuitively know that there is no ultrasound image at this time, and more importantly, can intuitively and real-timely convey real-time conditions of an ultrasound scanning site to the consultation expert in remote ultrasound consultation. Figure 12

[0144] ​​​In the embodiment of the present application, the pose data of the ultrasonic probe is collected by the pose sensor included in the ultrasonic probe, the spatial coordinates of the ultrasonic probe in space can be obtained, and the angle data associated with the spatial coordinates, i.e. the motion data such as rotation and inclination, direction and angular velocity in the spatial coordinate system associated with the pose sensor of the ultrasonic probe, are prepared for generating the scan animation of the ultrasonic scan on the target object subsequently; at the same time, according to the target ultrasonic data of the target object collected by the ultrasonic probe and the candidate ultrasonic image data set, the part / position analysis of the target ultrasonic data can be realized, so as to determine the object part to which the target ultrasonic data obtained by the current scan belongs, and the scan point positioning data in which the cross-sectional image is located; then, according to the object part corresponding to the pose data and the target ultrasonic data, and the scan point positioning data, the scan animation of the ultrasonic scan on the target object is generated, especially when the whole body of the target object is scanned, the scan animation of the corresponding sub-model can be generated in time by analyzing the part / position of the collected target ultrasonic data, and the scan animation demonstration of the ultrasonic probe is intuitively and real-timely presented, so as to assist in the diagnosis of the target object and improve the consultation effect of the remote ultrasonic consultation.

[0145] Further, in the related art, the manual camera video is usually a true color manual video, and the bandwidth of the true color manual video is relatively large, which is basically about 2M. Therefore, in the remote ultrasonic consultation with poor network performance, such as non-5G network or 4G network, the manual camera video will occupy the transmission bandwidth of the ultrasonic image video in the remote ultrasonic consultation, and even when the network bandwidth is poor, the video will also be stuck, which further affects the consultation effect of the remote ultrasonic consultation. By using the animation display method of the ultrasonic scan provided in the embodiment of the present application, the data amount of the obtained animation video can be relatively small, which can save a part of transmission bandwidth to some extent, so that the consultation is smooth, the consultation effect is improved to some extent, and the hardware configuration requirement of the remote ultrasonic consultation is reduced.

[0146] In some possible embodiments, still referring to Figure 1 The ultrasonic device further includes a display screen; after the scan animation of the ultrasonic scan on the target object is generated in step S303, referring to Figure 13 The following steps can be further performed:

[0147] In step S1301, the scan animation is transmitted to the display screen.

[0148] In step S1302, the scan animation is displayed in the display interface of the display screen.

[0149] In the implementation, still referring to Figure 1As shown, by performing steps S1301-S1302, the scan animation can also be displayed in the display screen of the ultrasound device on the side of the primary physician. The schematic diagram of the ultrasound device displaying the scan animation is as shown in Figure 14 As shown, the scan animation displayed in the ultrasound device is used to add a special display function in the existing display interface of the ultrasound device to meet the user's demand for displaying the corresponding scan animation on the ultrasound device side.

[0150] After the flow of the ultrasound scan animation display method in the embodiments of the present application is introduced in detail, the specific implementation logic of the above method in remote ultrasound consultation is briefly summarized as follows: Figure 15 As shown, in the application scenario Figure 1 The application scenario shown is combined with Figure 1 The specific implementation logic of the scheme of the present application is briefly summarized as follows:

[0151] In the process of the primary physician using the ultrasound probe to perform ultrasound scanning on the target object, the ultrasound device acquires target ultrasound data of the target object through the ultrasound probe, and the target ultrasound data is transmitted to the remote software ultrasound end in the ultrasound device through the data line 1 between the ultrasound probe and the processor. At the same time, the pose data of the ultrasound probe, i.e., the data of the movement and rotation of the ultrasound probe by the primary physician in the process of performing ultrasound scanning on the target object, is acquired through the pose sensor included in the ultrasound probe, and then the pose data is transmitted to the remote software ultrasound end through the corresponding data line 2.

[0152] Then, the remote software ultrasound end analyzes the target ultrasound data for the part / position to obtain the scanning position of the target ultrasound data on the target object, analyzes the pose data for the probe direction / angle to obtain the motion data and attitude data of the ultrasound probe, and generates a scan animation in combination with a preset object digital model, and transmits the scan animation to the remote ultrasound cloud service. Correspondingly, the target ultrasound data is also transmitted to the remote ultrasound cloud service.

[0153] The remote ultrasound cloud service downloads the target ultrasound data and the scan animation to the corresponding remote software expert end, i.e., the target consultation terminal, so as to realize the display of the scan animation and the ultrasound image corresponding to the target ultrasound data in the corresponding display area on the screen of the target consultation terminal. The consultation expert performs auxiliary diagnosis on the target object through the displayed ultrasound image and scan animation, wherein the ultrasound image corresponding to the target ultrasound data is determined by the target consultation terminal according to the target ultrasound data; the scan animation is used to indicate the object part associated with the ultrasound image and the attitude of the ultrasound probe on the object part.

[0154] Optionally, the remote ultrasound cloud service can also update the specific algorithm data used for the part / position analysis, and can also update the specific algorithm data used for the probe orientation / angle analysis, to meet the consultation requirements in real time during the remote ultrasound consultation.

[0155] As shown in Figure 16 The embodiment of the present application provides an animation display device 1600 for ultrasound scanning, which can be applied to the ultrasound device in the above embodiment. The ultrasound device includes an ultrasound probe, and the device includes:

[0156] A collection module 1601 is configured to collect target ultrasound data of a target object by the ultrasound probe, and collect pose data of the ultrasound probe in the process of ultrasound scanning on the target object by a pose sensor included in the ultrasound probe.

[0157] A determination module 1602 is configured to determine a scanning position on the target object corresponding to the target ultrasound data according to the target ultrasound data and a candidate ultrasound image data set, wherein the ultrasound image data set includes ultrasound data and image description data of a plurality of different sections corresponding to each part of the object.

[0158] An animation generation module 1603 is configured to generate a scanning animation for ultrasound scanning on the target object according to the pose data and the scanning position, and send the target ultrasound data and the scanning animation to a target consultation terminal. An ultrasound image corresponding to the target ultrasound data and the scanning animation are displayed on the screen of the target consultation terminal, the scanning animation is used to indicate the part of the object associated with the ultrasound image and the posture of the ultrasound probe on the part of the object. Optionally, the determination module 1602 is specifically configured to:

[0159] extract features from the target ultrasound data to obtain a target feature vector;

[0160] According to the target feature vector, filter reference ultrasound data from the ultrasound data of a plurality of different sections corresponding to each part, wherein the reference ultrasound data is ultrasound data with a similarity greater than a similarity threshold to the target ultrasound data;

[0161] According to the image description data corresponding to the reference ultrasound data, determine the scanning position corresponding to the target ultrasound data.

[0162] Optionally, the determination module 1602 is specifically configured to:

[0163] determine a similarity between the target feature vector and a candidate feature vector corresponding to candidate ultrasound data, wherein the candidate ultrasound data is any one of ultrasound data of different sections corresponding to the part;

[0164] take the candidate ultrasound data corresponding to a target similarity as the reference ultrasound data, wherein the target similarity is the maximum value among the candidate similarities greater than the similarity threshold.

[0165] Optionally, the scan position includes a part name of the scanned part and scan point positioning data; and the determination module 1602 is specifically configured to:

[0166] determine a part name corresponding to the target ultrasound data according to the part name in the image description data corresponding to the reference ultrasound data, and determine scan point positioning data corresponding to the target ultrasound data according to the image probe positioning data corresponding to the reference ultrasound data.

[0167] Optionally, the animation generation module 1603 is specifically configured to:

[0168] determine a to-be-displayed sub-model in a preset object digital model according to the part name;

[0169] determine coordinates of a to-be-displayed scan point corresponding to the scan point positioning data in the to-be-displayed sub-model according to the scan point positioning data;

[0170] generate the scan animation according to the pose data, the to-be-displayed sub-model, and the coordinates of the to-be-displayed scan point.

[0171] Optionally, the pose data includes at least one spatial coordinate and angle data associated with the at least one spatial coordinate; and the animation generation module 1603 is specifically configured to:

[0172] draw an initial picture containing the to-be-displayed sub-model according to the to-be-displayed sub-model and the object digital model;

[0173] draw the to-be-displayed scan point in the initial picture according to the coordinates of the to-be-displayed scan point, to obtain an intermediate picture;

[0174] draw the ultrasound probe in the intermediate picture according to the at least one spatial coordinate of the pose data and a preset shape of the ultrasound probe, and adjust the posture of the ultrasound probe drawn in the intermediate picture according to the angle data associated with the at least one spatial coordinate, to obtain the scan animation.

[0175] Optionally, the collection module 1601 is specifically configured to:

[0176] The pose sensor is used to collect at least one spatial coordinate of the ultrasound probe during the ultrasound scanning of the target object, and angle data associated with the at least one spatial coordinate.

[0177] The at least one spatial coordinate and the angle data associated with the at least one spatial coordinate are taken as the pose data, and the pose data is transmitted to the determination module 1602.

[0178] Based on the same inventive concept, the embodiments of the present application provide a computer readable storage medium, when instructions in the computer readable storage medium are executed by an ultrasound device, the ultrasound device can perform the animation display method of the ultrasound scanning as described in the above embodiments. Since the above computer readable storage medium solves the problem by the similar principle to the animation display method of the ultrasound scanning, the implementation of the above computer readable storage medium can be referred to the implementation of the method, and the repeated parts will not be described here.

[0179] Based on the same inventive concept, the embodiments of the present application provide a computer program product, comprising a computer program: the computer program is executed by a processor to realize the animation display method of the ultrasound scanning as described in the above embodiments.

[0180] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0181] The present application is described with reference to flowcharts and / or block diagrams according to the methods, devices (systems), and computer program products of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices produce a device that implements the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0182] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks and / or flowchart flow or flows and / or block or blocks of the block diagrams.

[0183] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks and / or flowchart flow or flows and / or block or blocks of the block diagrams.

[0184] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. An ultrasound apparatus, characterized by, The ultrasonic device comprises an ultrasonic probe and a processor; The ultrasonic probe is configured to collect target ultrasonic data of a target object; The ultrasonic probe comprises a pose sensor configured to collect pose data of the ultrasonic probe during an ultrasonic scanning process of the target object; The processor is configured to determine a scanning position on the target object corresponding to the target ultrasonic data according to the target ultrasonic data and a candidate ultrasonic image data set, wherein the ultrasonic image data set comprises ultrasonic data of multiple different sections corresponding to each part of the object and image description data; According to the pose data and the scanning position, a scanning animation of the ultrasonic scanning of the target object is generated, and the target ultrasonic data and the scanning animation are sent to a target consultation terminal; wherein an ultrasonic image corresponding to the target ultrasonic data and the scanning animation are displayed on a screen of the target consultation terminal, the scanning animation is used to indicate a part of the object associated with the ultrasonic image and a pose of the ultrasonic probe on the part of the object.

2. The ultrasonic device of claim 1, wherein, The processor is specifically configured to: extract features from the target ultrasonic data to obtain a target feature vector; According to the target feature vector, reference ultrasonic data is selected from the ultrasonic data of the multiple different sections corresponding to each part, wherein the reference ultrasonic data is ultrasonic data with a similarity greater than a similarity threshold to the target ultrasonic data; According to image description data corresponding to the reference ultrasonic data, the scanning position corresponding to the target ultrasonic data is determined.

3. The ultrasonic device of claim 2, wherein, The processor is specifically configured to: According to the target feature vector and a candidate feature vector corresponding to candidate ultrasonic data, a similarity between the target feature vector and the candidate feature vector is determined, wherein the candidate ultrasonic data is any one of the ultrasonic data of the multiple different sections corresponding to each part; The candidate ultrasonic data corresponding to a target similarity in each similarity is taken as the reference ultrasonic data, wherein the target similarity is the maximum value of each candidate similarity greater than the similarity threshold.

4. The ultrasonic device of claim 3, wherein, The scanning position comprises a part name of a scanning part and scanning point positioning data; then the processor is specifically configured to: According to the part name in the image description data corresponding to the reference ultrasonic data, the part name corresponding to the target ultrasonic data is determined; and according to image probe positioning data corresponding to the reference ultrasonic data, scanning point positioning data corresponding to the target ultrasonic data is determined.

5. The ultrasonic device of claim 4, wherein, The processor is specifically configured to: According to the part name, a to-be-displayed sub-model is determined in a preset object digital model; According to the scanning point positioning data, coordinates of a to-be-displayed scanning point corresponding to the scanning point positioning data in the to-be-displayed sub-model are determined; According to the pose data, the to-be-displayed sub-model and the coordinates of the to-be-displayed scanning point, the scanning animation is generated.

6. The ultrasonic device of claim 5, wherein, The pose data comprises at least one spatial coordinate and angle data associated with the at least one spatial coordinate; then the processor is specifically configured to: According to the sub-model to be displayed, an initial picture containing the sub-model to be displayed is drawn in combination with the object digital model; According to the coordinates of the scanning point to be displayed, the scanning point to be displayed is drawn in the initial picture to obtain an intermediate picture; According to at least one spatial coordinate of the pose data and a preset shape of the ultrasonic probe, the ultrasonic probe is drawn in the intermediate picture, and the pose of the ultrasonic probe drawn in the intermediate picture is adjusted according to angle data associated with the at least one spatial coordinate to obtain the scanning animation.

7. Ultrasonic apparatus according to any of claims 1-6, characterized in that The pose sensor is specifically used for: collecting at least one spatial coordinate of the ultrasonic probe in the process of ultrasonic scanning on the target object and angle data associated with the at least one spatial coordinate; transmitting the at least one spatial coordinate and the angle data associated with the at least one spatial coordinate as the pose data to the processor.

8. An animated display method of an ultrasonic scan, characterized by, The method is applied to an ultrasonic device, and the ultrasonic device includes an ultrasonic probe, and the method includes: collecting target ultrasonic data of a target object and collecting pose data of the ultrasonic probe in the process of ultrasonic scanning on the target object by a pose sensor included in the ultrasonic probe; determining a scanning position on the target object corresponding to the target ultrasonic data according to the target ultrasonic data and a candidate ultrasonic image data set, wherein the ultrasonic image data set includes ultrasonic data and image description data of multiple different sections corresponding to each part of an object; generating a scanning animation of ultrasonic scanning on the target object according to the pose data and the scanning position, and sending the target ultrasonic data and the scanning animation to a target consultation terminal; wherein an ultrasonic image corresponding to the target ultrasonic data and the scanning animation displayed on the screen of the target consultation terminal, the scanning animation is used to indicate an object part associated with the ultrasonic image and a pose of the ultrasonic probe on the object part.

9. An animated display device for an ultrasonic scan, characterized by The device is applied to an ultrasonic device, and the ultrasonic device includes an ultrasonic probe, and the device includes: a collecting module configured to collect target ultrasonic data of a target object by the ultrasonic probe and collect pose data of the ultrasonic probe in the process of ultrasonic scanning on the target object by a pose sensor included in the ultrasonic probe; a determining module configured to determine a scanning position on the target object corresponding to the target ultrasonic data according to the target ultrasonic data and a candidate ultrasonic image data set, wherein the ultrasonic image data set includes ultrasonic data and image description data of multiple different sections corresponding to each part of an object; a generating module configured to generate a scanning animation of ultrasonic scanning on the target object according to the pose data and the scanning position, and send the target ultrasonic data and the scanning animation to a target consultation terminal; wherein an ultrasonic image corresponding to the target ultrasonic data and the scanning animation displayed on the screen of the target consultation terminal, the scanning animation is used to indicate an object part associated with the ultrasonic image and a pose of the ultrasonic probe on the object part. The animation generation module is configured to generate a scan animation of an ultrasound scan on the target object according to the pose data and the scan position, and send the target ultrasound data and the scan animation to a target consultation terminal; wherein an ultrasound image corresponding to the target ultrasound data and the scan animation are displayed on a screen of the target consultation terminal, the scan animation is used to indicate a part of an object associated with the ultrasound image and a pose of the ultrasound probe on the part of the object.

10. A computer-readable storage medium, characterized in that, When the instructions in the computer-readable storage medium are executed by the ultrasound device, the ultrasound device is enabled to perform the animation display method of the ultrasound scan according to claim 8.

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