Ultrasonic image acquisition device and method, electronic equipment and storage medium

Abstract

The invention provides an ultrasonic image acquisition device and method, electronic equipment and a storage medium, and is characterized in that an imaging host is connected with an ultrasonic probe driver, the ultrasonic probe driver and an ultrasonic probe are fixed on a constant-speed traction module, and the constant-speed traction module and an ultrasonic probe outer catheter supporting structure are arranged on a platform base; one end of the connector of the ultrasonic probe is connected with the ultrasonic probe driver, the ultrasonic probe sequentially penetrates through the ultrasonic probe outer catheter supporting structure and the ultrasonic probe endoscope connector, and the ultrasonic probe is connected into the endoscope catheter. The front end of the ultrasonic probe is tightly attached to human tissue through the endoscope catheter to conduct annular section scanning processing and spiral scanning processing, and an ultrasonic image set is obtained. The ultrasonic image group can be obtained through spiral scanning processing after annular section scanning processing is completed, section reconstruction is carried out on the ultrasonic image group, and a user can know the form of a lesion from different perspectives.

Description

Technical Field

[0001] The present application relates to the field of ultrasonic image technology, and in particular to an ultrasonic image acquisition device, method, electronic equipment and storage medium. Background Art

[0002] Traditional micro-ultrasound probes are mainly used in endoscopic ultrasound examinations (EUS). The micro-ultrasound probe can be rotated by a transmission spring to achieve ultrasonic circular scanning imaging, and no Z-axis section reconstruction is performed on the frame data. Such a system can only provide images of the circular scanning section and perform limited lesion analysis and diagnosis, and cannot allow users to understand the morphology of the lesion from a specific section. Therefore, how to obtain ultrasonic images of spiral scanning and circular scanning sections has become a technical issue that cannot be underestimated. Summary of the invention

[0003] In view of this, the purpose of the present application is to provide an ultrasonic image acquisition device, method, electronic device and storage medium. The ultrasonic image acquisition device is used to enable the user to perform spiral scanning processing after completing the annular section scanning processing to obtain an ultrasonic image group, so as to reconstruct the section of the ultrasonic image group, which helps the user to understand the morphology of the lesion from different perspectives.

[0004] The present application provides an ultrasonic image acquisition device, which includes an imaging host, an ultrasonic probe driver, an ultrasonic probe, an ultrasonic probe external catheter support structure, an ultrasonic probe endoscope connector, a uniform traction module, a platform base, and an endoscope catheter; wherein,

[0005] The imaging host is connected to the ultrasound probe driver, the ultrasound probe driver and the ultrasound probe are fixed on the uniform traction module, the uniform traction module and the ultrasound probe outer catheter support structure are arranged on the platform base, one end of the connector of the ultrasound probe is connected to the ultrasound probe driver, the ultrasound probe passes through the ultrasound probe outer catheter support structure and the ultrasound probe endoscope connector in sequence, the ultrasound probe is connected to the endoscope catheter, the front end of the ultrasound probe is closely attached to the human tissue through the endoscope catheter to perform annular section scanning processing and spiral scanning processing to obtain an ultrasound image group.

[0006] In a possible implementation manner, the uniform traction module includes a linear guide rail, a probe push-pull slide, a travel limiter baffle and a limit sensor; wherein,

[0007] The probe push-pull slide is arranged on the linear guide rail so that the probe push-pull slide moves on the linear guide rail;

[0008] The stroke limiter baffle is arranged on the linear guide rail, and the limit sensor is arranged on the probe push-pull slide, so that the stroke can be controlled according to the limit sensor and the position of the stroke limiter baffle.

[0009] In a possible implementation manner, the ultrasonic probe driver and the ultrasonic probe are fixed on the probe push-pull slide.

[0010] In a possible implementation manner, the limit sensor includes a first limit sensor and a second limit sensor, and the first limit sensor is arranged on the left side of the second limit sensor.

[0011] In a possible implementation, the ultrasound probe outer catheter support structure includes an ultrasound probe outer catheter connector, an ultrasound probe rear section movable outer catheter, an ultrasound probe middle section fixed outer catheter, a support structure and an outer catheter support base; wherein,

[0012] A support structure is arranged on the outer catheter support base, and the ultrasonic probe outer catheter connector, the ultrasonic probe rear section movable outer catheter and the ultrasonic probe middle section fixed outer catheter are sequentially connected and installed on the support structure.

[0013] The present application also provides an ultrasonic image acquisition method, which includes:

[0014] Controlling the ultrasonic probe to perform annular section scanning on human tissue based on scanning parameter information set by the user on the imaging host;

[0015] Controlling the uniform traction module to operate in response to the homing motion instruction of the imaging host, and driving the ultrasonic probe to perform two spiral scanning processes on the human tissue to obtain an ultrasonic image group, and storing the ultrasonic image group;

[0016] Based on user requirements, section path division is performed on any image frame of the ultrasound image group, effective pixel points are extracted from the image frame according to the section path, and section reconstruction is performed based on the effective pixel points.

[0017] In a possible implementation manner, the control uniform traction module operates in response to the homing motion instruction of the imaging host, and drives the ultrasonic probe to perform two spiral scanning processes on the human tissue, including:

[0018] Controlling the probe to push and pull the slide table to perform a forward return process, and when it is detected that the second limit sensor is located at the position of the travel limiter baffle, the ultrasonic probe completes the first spiral scanning process on the human tissue;

[0019] The probe push-pull slide is controlled to perform a rear return process, and when it is detected that the first limit sensor is located at the position of the travel limit baffle, the ultrasonic probe completes a second spiral scanning process on the human tissue.

[0020] In a possible implementation manner, the dividing of the section path on any image frame of the ultrasound image group based on user requirements, and extracting effective pixel points of the image frame according to the section path, includes:

[0021] Determine the position information of two intersection points between the section path and the image frame;

[0022] Calculating the length information of the section path based on the position information of the two intersection points;

[0023] The number of pixels covered by the section path on the image frame is determined based on the length information of the section path, and a plurality of valid pixels are uniformly extracted from the covered pixel points.

[0024] An embodiment of the present application also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the ultrasound image acquisition method as described above are performed.

[0025] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the ultrasound image acquisition method as described above are executed.

[0026] The embodiment of the present application provides an ultrasonic image acquisition device, method, electronic device and storage medium, wherein the ultrasonic image acquisition device includes an imaging host, an ultrasonic probe driver, an ultrasonic probe, an ultrasonic probe external catheter support structure, an ultrasonic probe endoscope connector, a uniform traction module, a platform base and an endoscope catheter; wherein the imaging host is connected to the ultrasonic probe driver, the ultrasonic probe driver and the ultrasonic probe are fixed on the uniform traction module, the uniform traction module and the ultrasonic probe external catheter support structure are arranged on the platform base, one end of the connector of the ultrasonic probe is connected to the ultrasonic probe driver, the ultrasonic probe passes through the ultrasonic probe external catheter support structure and the ultrasonic probe endoscope connector in sequence, the ultrasonic probe is connected to the endoscope catheter, the front end of the ultrasonic probe is closely attached to the human tissue through the endoscope catheter to perform annular section scanning and spiral scanning to obtain an ultrasonic image group. The section reconstruction of the ultrasonic image group helps users understand the morphology of the lesion from different perspectives.

[0027] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 This is one of the structural schematic diagrams of an ultrasonic image acquisition device provided in an embodiment of the present application;

[0030] Figure 2 The second structural schematic diagram of an ultrasonic image acquisition device provided in an embodiment of the present application;

[0031] Figure 3 A flowchart of an ultrasonic image acquisition method provided in an embodiment of the present application;

[0032] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0033] Icons: 100-ultrasound image acquisition device; 110-imaging host; 120-ultrasound probe driver; 130-ultrasound probe; 140-ultrasound probe external catheter support structure; 141-ultrasound probe external catheter connector; 142-ultrasound probe rear section movable external channel tube; 143-ultrasound probe middle section fixed external catheter; 144-support structure; 145-external catheter bracket base; 150-ultrasound probe endoscope connector; 160-uniform speed traction module; 161-linear guide; 162-probe push-pull slide; 163-travel limiter baffle; 164-first limit sensor; 165-second limit sensor; 170-platform base; 180-endoscopic catheter; 400-electronic equipment; 410-processor; 420-memory; 430-bus. DETAILED DESCRIPTION

[0034] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0035] First, the application scenarios to which the present application is applicable are introduced. The present application can be applied in the field of ultrasonic imaging technology.

[0036] Research has found that traditional micro-ultrasound probes are mainly used in endoscopic ultrasound examinations (EUS). The micro-ultrasound probe can be rotated by a transmission spring to achieve ultrasonic circular scanning imaging and reconstruct the Z-axis section of the frame data. Such a system can only provide images of the circular scanning section and perform limited lesion analysis and diagnosis, and cannot allow users to understand the morphology of the lesion from a specific section. Therefore, how to obtain ultrasonic images of spiral scanning and circular scanning sections has become a technical issue that cannot be underestimated.

[0037] Based on this, an embodiment of the present application provides an ultrasonic image acquisition method, which uses an ultrasonic image acquisition device to perform annular section scanning and spiral scanning, and reconstructs the section of the obtained ultrasonic image group, which helps users understand the morphology of the lesion from different perspectives.

[0038] See also Figure 1 , Figure 1 This is one of the structural schematic diagrams of an ultrasonic image acquisition device provided in an embodiment of the present application. Figure 1 As shown in the figure, the ultrasound image acquisition device 100 provided in the embodiment of the present application includes: an imaging host 110, an ultrasound probe driver 120, an ultrasound probe 130, an ultrasound probe external catheter support structure 140, an ultrasound probe endoscope connector 150, a uniform speed traction module 160, a platform base 170 and an endoscope catheter 180.

[0039] Specifically, the imaging host 110 is connected to the ultrasound probe driver 120, the ultrasound probe driver 120 and the ultrasound probe 130 are fixed on the uniform traction module 160, the uniform traction module 160 and the ultrasound probe outer catheter support structure 140 are arranged on the platform base 170, one end of the connector of the ultrasound probe 130 is connected to the ultrasound probe driver 120, the ultrasound probe 130 passes through the ultrasound probe outer catheter support structure 140 and the ultrasound probe endoscope connector in sequence, the ultrasound probe 130 is connected to the endoscope catheter 180, and the front end of the ultrasound probe is close to the human tissue through the endoscope catheter 180 to perform annular section scanning processing and spiral scanning processing to obtain an ultrasound image group.

[0040] For further information, see Figure 2 , Figure 2 FIG. 2 is a second structural diagram of an ultrasonic image acquisition device 100 provided in an embodiment of the present application. Figure 2 As shown, the uniform speed traction module 160 includes a linear guide rail 161, a probe push-pull slide 162, a travel limiter baffle 163 and a limit sensor.

[0041] Specifically, the probe push-pull slide 162 is arranged on the linear guide 161 so that the probe push-pull slide 162 can move on the linear guide 161; the stroke limit baffle 163 is arranged on the linear guide 161, and the limit sensor is arranged on the probe push-pull slide 162 so that the stroke can be controlled according to the position of the limit sensor and the stroke limit baffle 163.

[0042] Further, such as Figure 2 As shown, the ultrasonic probe driver 120 and the ultrasonic probe 130 are fixed on the probe push-pull slide 162 .

[0043] Further, such as Figure 2 As shown, the limit sensor includes a first limit sensor 164 and a second limit sensor 165 , and the first limit sensor 164 is arranged on the left side of the second limit sensor 165 .

[0044] Further, such as Figure 2As shown, the ultrasound probe outer catheter support structure 140 includes an ultrasound probe outer catheter connector, an ultrasound probe rear section movable outer catheter 142, an ultrasound probe middle section fixed outer catheter 143, a support structure 144 and an outer catheter support base 145; wherein, the support structure 144 is arranged on the outer catheter support base 145, and the ultrasound probe outer catheter connector, the ultrasound probe rear section movable outer catheter 142 and the ultrasound probe middle section fixed outer catheter 143 are sequentially connected and installed on the support structure 144.

[0045] Here, the conventional miniature ultrasonic probe driver and miniature ultrasonic probe 130 on the market do not have the image group function, while the present device realizes the uniform traction module 160 and related structures. After the common ultrasonic microprobe system is installed, the image group acquisition function can be realized. Specifically, the miniature ultrasonic probe driver and the miniature ultrasonic probe 130 are fixed on a uniform traction device containing a linear guide rail 161, and the travel limiter baffle 163 on this guide rail can ensure that the travel is controllable. The miniature ultrasonic probe 130 is connected to the endoscope catheter 180 through the ultrasonic probe external catheter connector 141, the ultrasonic probe rear section movable external channel tube 142, the ultrasonic probe middle section fixed external catheter 143, the disposable support structure 144 and the ultrasonic probe endoscope connector. The front end of the ultrasonic microprobe enters the human body through the endoscope catheter 180, and the front end is exposed in the water or close to the human tissue for imaging scanning.

[0046] In a specific embodiment, the operator sends a scan button command to the ultrasonic probe driver 120 through the imaging host 110, allowing the endoscopic microprobe to perform normal plane scanning, and then uses the return button command to let the ultrasonic image acquisition device 100 try to return. Specifically, when the return button command is a front return button command, the probe push-pull slide 162 is controlled to execute the motor uniform speed return operation, and spiral scanning is performed during the uniform speed return operation. When the second limit sensor 165 is located at the travel limit baffle 163, the spiral scanning is stopped. When the return button command is a rear return button command, the probe push-pull slide 162 is controlled to execute the motor uniform speed return operation, and spiral scanning is performed during the uniform speed return operation. When the first limit sensor 164 is located at the travel limit baffle 163, the spiral scanning is stopped to obtain an ultrasonic image group.

[0047] An embodiment of the present application provides an ultrasonic image acquisition device, which includes an imaging host, an ultrasonic probe driver, an ultrasonic probe, an ultrasonic probe external catheter support structure, an ultrasonic probe endoscope connector, a uniform traction module, a platform base 170 and an endoscope catheter 180; wherein the imaging host is connected to the ultrasonic probe driver, the ultrasonic probe driver and the ultrasonic probe are fixed on the uniform traction module, the uniform traction module and the ultrasonic probe external catheter support structure are arranged on the platform base 170, one end of the connector of the ultrasonic probe is connected to the ultrasonic probe driver, the ultrasonic probe passes through the ultrasonic probe external catheter support structure and the ultrasonic probe endoscope connector in sequence, the ultrasonic probe is connected to the endoscope catheter 180, and the front end of the ultrasonic probe is closely attached to the human tissue through the endoscope catheter 180 to perform annular section scanning processing and spiral scanning processing to obtain an ultrasonic image group.

[0048] See also Figure 3 , Figure 3 This is a flow chart of an ultrasound image acquisition method provided in an embodiment of the present application. Figure 3 As shown in , the ultrasound image acquisition method provided in the embodiment of the present application includes:

[0049] S301: Controlling the ultrasonic probe to perform annular section scanning on human tissue based on scanning parameter information set by the user on the imaging host.

[0050] In this step, the ultrasonic probe is controlled to perform annular section scanning processing on human tissue according to the scanning parameter information set by the user on the imaging host.

[0051] S302: Control the uniform traction module to operate in response to the homing motion instruction of the imaging host, and drive the ultrasonic probe to perform two spiral scanning processes on the human tissue to obtain an ultrasonic image group, and store the ultrasonic image group.

[0052] In this step, after completing the annular section scanning process, the uniform speed traction module is controlled to perform uniform speed homing operation in response to the homing motion instruction sent by the imaging host, and drives the ultrasonic probe to perform two spiral scanning processes on the human tissue to obtain an ultrasonic image group, and store the ultrasonic image group.

[0053] The ultrasound image group is composed of image frames in the process of annular section scanning and spiral scanning.

[0054] In a possible implementation manner, the control uniform traction module operates in response to the homing motion instruction of the imaging host, and drives the ultrasonic probe to perform two spiral scanning processes on the human tissue, including:

[0055] (1): Control the probe to push and pull the slide to perform forward return processing. When it is detected that the second limit sensor is located at the position of the travel limit baffle, the ultrasonic probe completes the first spiral scanning processing of the human tissue.

[0056] (2): Control the probe push-pull slide to perform a rear return process. When it is detected that the first limit sensor is located at the position of the travel limit baffle, the ultrasonic probe completes a second spiral scanning process on the human tissue.

[0057] The ultrasonic endoscope is advanced or retreated inside the object to be measured, and a spiral scanning method is used to obtain a group of ultrasonic images that can be used for section reconstruction.

[0058] S303: Performing section path division on any image frame of the ultrasound image group based on user requirements, extracting effective pixel points from the image frame according to the section path, and reconstructing the section based on the effective pixel points.

[0059] Here, the frame data received during this period (stored in memory in the form of pixel arrays) will be used for section reconstruction. The pulling speed of the device's Z axis is configurable. The slower the speed, the more data received for section reconstruction, the higher the accuracy, but it will take longer to complete the scan.

[0060] In a possible implementation manner, section path division is performed on any image frame of the ultrasound image group based on user requirements, and effective pixel points are extracted from the image frame according to the section path, including:

[0061] A: Determine the position information of two intersection points between the section path and the image frame.

[0062] Here, on a square bitmap, there is a circle C with a radius equal to the side length R of the square. Press the mouse to draw a line to generate a line segment, and calculate the two intersection points of the line segment extension and the circle C to define as the starting point P a End point P b , circle C is located at the center of the square and has a radius of Its equation is:

[0063]

[0064] The line segment generated by drawing with the mouse can be expressed as a straight line equation of y=mx+c. Substituting the straight line equation into the circle equation, we get:

[0065]

[0066] Here, after expansion and rearrangement, we get a quadratic equation:

[0067]

[0068] Solving this quadratic equation gives us two solutions, x1 and x2. Substituting these two x-values ​​into the equation of the line, we can calculate the corresponding y-coordinates:

[0069] y1=mx1+c,y2=mx2+c

[0070] Thus we get two intersection points P a (x1,y1) and P b (x2,y2), where P a is the intersection point close to the starting point of the line segment, and P b It is the far intersection point of the extended lines.

[0071] B: Calculate the length information of the section path based on the position information of the two intersection points.

[0072] Here, the section path L cut The length information can be calculated by the distance formula between two points:

[0073]

[0074] C: Determine the number of pixels covered by the section path on the image frame based on the length information of the section path, and evenly extract a plurality of valid pixels from the covered pixels.

[0075] Here, the number of pixels covered by the section path on the image frame is determined according to the length information of the section path, and multiple valid pixels are evenly extracted from the covered pixels to perform section reconstruction based on the multiple valid pixels.

[0076] Among them, from P b Start along L cut Evenly take N cut pixels. cut The average score is N cut -1 segment, the coordinates of each point are:

[0077]

[0078] Where i = 0, 1, 2, ..., N cut -1. Point P0 corresponds to P b , and point Close to P a. An ultrasonic image acquisition method provided in an embodiment of the present application includes: controlling the ultrasonic probe to perform annular section scanning on human tissue based on scanning parameter information set by the user on the imaging host; controlling the uniform traction module to operate in response to the homing motion instruction of the imaging host, and driving the ultrasonic probe to perform two spiral scanning processes on the human tissue to obtain an ultrasonic image group, and storing the ultrasonic image group; performing section path division on any image frame of the ultrasonic image group based on user needs, and extracting effective pixel points from the image frame according to the section path, and reconstructing the section based on the effective pixel points. The ultrasonic image acquisition device is used to implement annular section scanning and spiral scanning and obtain an ultrasonic image group, and the section reconstruction of the ultrasonic image group helps users understand the morphology of lesions from different perspectives.

[0079] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 4 As shown in , the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .

[0080] The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 communicates with the memory 420 via the bus 430. When the machine-readable instructions are executed by the processor 410, the above-mentioned Figure 3 The specific implementation of the steps of the ultrasound image acquisition method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0081] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 3 The specific implementation of the steps of the ultrasound image acquisition method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0082] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0083] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0084] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0085] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0086] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0087] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. An ultrasonic image acquisition device, characterized in that: The ultrasonic image acquisition device includes an imaging host, an ultrasonic probe driver, an ultrasonic probe, an ultrasonic probe external catheter support structure, an ultrasonic probe endoscope connector, a uniform traction module, a platform base and an endoscope catheter; wherein, The imaging host is connected to the ultrasound probe driver, the ultrasound probe driver and the ultrasound probe are fixed on the uniform traction module, the uniform traction module and the ultrasound probe external catheter support structure are arranged on the platform base, one end of the connector of the ultrasound probe is connected to the ultrasound probe driver, the ultrasound probe passes through the ultrasound probe external catheter support structure and the ultrasound probe endoscope connector in sequence, the ultrasound probe is connected to the endoscope catheter, the front end of the ultrasound probe is closely attached to the human tissue through the endoscope catheter to perform annular section scanning processing and spiral scanning processing to obtain an ultrasound image group.

2. The ultrasonic image acquisition device according to claim 1, characterized in that: The uniform speed traction module includes a linear guide rail, a probe push-pull slide, a travel limiter baffle and a limit sensor; wherein, The probe push-pull slide is arranged on the linear guide rail so that the probe push-pull slide moves on the linear guide rail; The stroke limiter baffle is arranged on the linear guide rail, and the limit sensor is arranged on the probe push-pull slide, so that the stroke can be controlled according to the limit sensor and the position of the stroke limiter baffle.

3. The ultrasonic image acquisition device according to claim 2, characterized in that: The ultrasonic probe driver and the ultrasonic probe are fixed on the probe push-pull slide.

4. The ultrasonic image acquisition device according to claim 2, characterized in that: The limit sensor includes a first limit sensor and a second limit sensor, and the first limit sensor is arranged on the left side of the second limit sensor.

5. The ultrasonic image acquisition device according to claim 1, characterized in that: The ultrasonic probe outer catheter support structure includes an ultrasonic probe outer catheter connector, an ultrasonic probe rear section movable outer catheter, an ultrasonic probe middle section fixed outer catheter, a support structure and an outer catheter support base; wherein, A support structure is arranged on the outer catheter support base, and the outer catheter connector of the ultrasonic probe and the outer catheter fixed in the middle section of the ultrasonic probe are connected in sequence and then installed on the support structure.

6. An ultrasonic image acquisition method, characterized in that: The ultrasonic image acquisition method is applied to the ultrasonic image acquisition device according to claim 5, and the ultrasonic image acquisition method comprises: Controlling the ultrasonic probe to perform annular section scanning on human tissue based on scanning parameter information set by the user on the imaging host; Controlling the uniform traction module to operate in response to the homing motion instruction of the imaging host, and driving the ultrasonic probe to perform two spiral scanning processes on the human tissue to obtain an ultrasonic image group, and storing the ultrasonic image group; Based on user requirements, section path division is performed on any image frame of the ultrasound image group, effective pixel points are extracted from the image frame according to the section path, and section reconstruction is performed based on the effective pixel points.

7. The ultrasonic image acquisition method according to claim 6, characterized in that: The control uniform traction module operates in response to the homing motion instruction of the imaging host, and drives the ultrasonic probe to perform two spiral scanning processes on the human tissue, including: Controlling the probe push-pull slide to perform forward return processing, when detecting that the second limit sensor is located at the position of the travel limiter baffle, the ultrasonic probe completes the first spiral scanning processing of the human tissue; The probe push-pull slide is controlled to perform a rear return process, and when it is detected that the first limit sensor is located at the position of the travel limit baffle, the ultrasonic probe completes a second spiral scanning process on the human tissue.

8. The ultrasonic image acquisition method according to claim 6, characterized in that: The dividing of the section path on any image frame of the ultrasound image group based on user requirements, and extracting effective pixel points of the image frame according to the section path, comprises: Determine the position information of two intersection points between the section path and the image frame; Calculating the length information of the section path based on the position information of the two intersection points; The number of pixels covered by the section path on the image frame is determined based on the length information of the section path, and a plurality of valid pixels are uniformly extracted from the covered pixel points.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the ultrasound image acquisition method as described in any one of claims 6 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the ultrasound image acquisition method according to any one of claims 6 to 8 are executed.

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