Ultrasonic imaging equipment and method

Abstract

The embodiment of the invention provides an ultrasonic imaging device and method, a probe is excited through a vibration mechanism to generate shear waves in a target object for elasticity measurement, and a transmitting circuit excites the probe to transmit ultrasonic waves to the target object and receives and processes ultrasonic echoes to obtain an ultrasonic image of the target object; meanwhile, the vibration state of the probe is judged after the shear wave is generated, whether the pressure before and after the shear wave of elastic measurement is generated is consistent is judged, and the actual value of the vibration parameter of the probe is controlled to be constant. According to the equipment and the method provided by the invention, whether the probe has empty vibration or sliding or not and whether the measurement result is effective or not are judged by detecting the pressure of the probe between the target objects after the probe starts to vibrate, so that the influence of empty vibration of the probe on the service life of the probe is prevented, and the effectiveness of the elastic measurement result is improved; and the channel signal of the probe is adjusted according to the vibration signal, so that the actual vibration stability of the probe is ensured, and the accuracy of elasticity detection is further improved.

Description

[0001] This application is a divisional application of the invention patent application with application number 202080000807.9, application date May 14, 2020, and name “An Ultrasonic Imaging Device and Method”. Technical Field

[0002] The invention relates to an ultrasonic imaging device and method. Background Art

[0003] Liver fibrosis is the pathological process of various chronic liver diseases developing into cirrhosis. Transient Elastography (TE) reflects the degree of liver fibrosis by detecting the liver stiffness value. Compared with invasive liver biopsy pathological detection, transient elastography is non-invasive, simple, rapid, easy to operate, repeatable, safe and well tolerated. It has been recommended by WHO, AASLD, EASL, Chinese Medical Association Hepatology Branch, etc. as an important means of clinical evaluation of hepatitis B and C virus-related liver fibrosis. Traditional transient elastography is generally performed after the test preparation is completed, by observing the basic image, selecting the appropriate section and pre-loading, and then starting the probe vibration to measure the transient elastography. However, the above-mentioned traditional transient elastography only performs a simple pre-loading judgment before the probe vibrates and uses a fixed driving signal for driving.

[0004] In the actual elasticity measurement process, there may be many reasons that cause the preload to change, such as air vibration or sliding of the probe, human factors of the operator, etc., which cause the preload to change and no longer be suitable for measurement. At this time, the probe will not stop vibrating, resulting in accelerated aging of the probe and inaccurate measurement results. The operator cannot detect that the preload is inappropriate at this time, and cannot make adjustments quickly. Summary of the invention

[0005] The embodiments of the present invention provide an ultrasonic imaging device and method to solve at least one of the above problems.

[0006] In one embodiment, an ultrasonic imaging device is provided, comprising:

[0007] Probe;

[0008] a vibration mechanism that drives the vibrator or the probe to vibrate to generate shear waves that propagate in the target object;

[0009] a transmitting circuit, wherein the transmitting circuit excites the probe to transmit ultrasonic waves toward the target object to detect the shear waves propagating in the target object;

[0010] a receiving circuit, wherein the receiving circuit controls the probe to receive the ultrasonic echo returned from the target object to obtain an ultrasonic echo signal;

[0011] a vibration state detection device, the vibration state detection device detecting the pressure between the vibrator or the probe and the target object;

[0012] a processor, wherein the processor processes the ultrasonic echo signal to obtain a propagation parameter of the shear wave;

[0013] in,

[0014] The vibration state detection device detects the pressure between the vibrator or the probe and the target object during the vibration of the vibrator or the probe to obtain the vibration pressure;

[0015] The processor determines the vibration state of the vibrator or the probe according to the vibration pressure.

[0016] In one embodiment, an ultrasonic imaging device is provided, comprising:

[0017] Probe;

[0018] a vibration mechanism that drives the vibrator or the probe to vibrate to generate shear waves that propagate in the target object;

[0019] a transmitting circuit, wherein the transmitting circuit excites the probe to transmit ultrasonic waves toward the target object to detect the shear waves propagating in the target object;

[0020] a receiving circuit, wherein the receiving circuit controls the probe to receive the ultrasonic echo returned from the target object to obtain an ultrasonic echo signal;

[0021] A vibration state detection device, wherein the vibration state detection device detects the vibration state of the vibrator or the probe during the vibration of the vibrator or the probe to obtain vibration state data;

[0022] a processor, wherein the processor processes the ultrasonic echo signal to obtain a propagation parameter of the shear wave;

[0023] When the vibration status data indicates that the vibration status of the vibrator or the probe is abnormal, the processor performs at least one of the following steps:

[0024] Prompting that the vibrator or the probe is in an abnormal state;

[0025] Controlling the vibrator or the probe to stop vibrating;

[0026] not outputting the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration;

[0027] It is indicated that the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration are abnormal;

[0028] Stop acquiring the propagation parameters of the shear wave through the ultrasonic imaging device.

[0029] In one embodiment, an ultrasonic imaging device is provided, comprising:

[0030] Probe;

[0031] a vibration mechanism that drives the vibrator or the probe to vibrate to generate shear waves that propagate in the target object;

[0032] a transmitting circuit, wherein the transmitting circuit excites the probe to transmit ultrasonic waves toward the target object to detect the shear waves propagating in the target object;

[0033] a receiving circuit, wherein the receiving circuit controls the probe to receive the ultrasonic echo returned from the target object to obtain an ultrasonic echo signal;

[0034] A vibration state detection device, wherein the vibration state detection device detects the vibration state of the vibrator or the probe during the vibration of the vibrator or the probe to obtain vibration state data;

[0035] a processor, wherein the processor processes the ultrasonic echo signal to obtain a propagation parameter of the shear wave;

[0036] in:

[0037] When the vibration status data indicates that the vibration status of the vibrator or the probe is abnormal, the processor performs at least one of the following steps:

[0038] Prompting that the vibrator or the probe is in an abnormal state;

[0039] not outputting the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration;

[0040] It is indicated that the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration are abnormal;

[0041] Stop acquiring the propagation parameters of the shear wave through the ultrasonic imaging device;

[0042] When the vibration status data indicates that the vibration status of the vibrator or the probe returns to normal, the processor performs at least one of the following steps:

[0043] Prompting the vibrator or the probe to return to a normal state;

[0044] Restoring and outputting the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration;

[0045] Prompting that the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration have returned to normal;

[0046] The propagation parameters of the shear wave acquired by the ultrasonic imaging device are restored.

[0047] In one embodiment, an ultrasonic imaging device is provided, comprising:

[0048] Probe;

[0049] a vibration mechanism that drives the vibrator or the probe to vibrate to generate shear waves that propagate in the target object;

[0050] a transmitting circuit, wherein the transmitting circuit excites the probe to transmit ultrasonic waves toward the target object to detect the shear waves propagating in the target object;

[0051] a receiving circuit, wherein the receiving circuit controls the probe to receive the ultrasonic echo returned from the target object to obtain an ultrasonic echo signal;

[0052] a vibration state detection device, the vibration state detection device detecting the pressure between the vibrator or the probe and the target object;

[0053] a processor, wherein the processor processes the ultrasonic echo signal to obtain a propagation parameter of the shear wave;

[0054] in,

[0055] The vibration state detection device detects the pressure between the vibrator or the probe and the target object before the vibrator or the probe vibrates, and detects the pressure between the vibrator or the probe and the target object after the vibrator or the probe vibrates;

[0056] The processor determines whether the pressure between the vibrator or the probe and the target object before and after the vibration of the vibrator or the probe is consistent based on the pressure between the vibrator or the probe and the target object before the vibration of the vibrator or the probe and the pressure between the vibrator or the probe and the target object after the vibration of the vibrator or the probe.

[0057] In one embodiment, an ultrasonic imaging device is provided, comprising:

[0058] Probe;

[0059] a vibration mechanism, wherein the vibration mechanism drives the vibrator or the probe to vibrate under the control of a driving signal to generate a shear wave propagating in the target object;

[0060] a transmitting circuit, wherein the transmitting circuit excites the probe to transmit ultrasonic waves toward the target object to detect the shear waves propagating in the target object;

[0061] a receiving circuit, wherein the receiving circuit controls the probe to receive the ultrasonic echo returned from the target object to obtain an ultrasonic echo signal;

[0062] A vibration parameter detection device, wherein the vibration parameter detection device detects an actual value of a vibration parameter of the vibrator or the probe;

[0063] a processor, wherein the processor processes the ultrasonic echo signal to obtain a propagation parameter of the shear wave;

[0064] In which, the processor is also used to: adjust the working parameters of the vibrator or the probe according to the actual value of the vibration parameter detected by the vibration parameter detection device and the target value of the vibration parameter, so as to change the actual value of the vibration parameter of the vibrator or the probe so that the actual value of the vibration parameter is consistent with or tends to be consistent with the target value of the vibration parameter.

[0065] In one embodiment, a method for ultrasonic imaging is provided, comprising:

[0066] driving the vibrator or the probe to vibrate to generate shear waves that propagate in the target object;

[0067] Exciting the probe to transmit ultrasonic waves to the target object to detect the shear waves propagating in the target object;

[0068] receiving an ultrasonic echo returned from the target object to obtain an ultrasonic echo signal;

[0069] Processing the ultrasonic echo signal to obtain propagation parameters of the shear wave;

[0070] Detecting the pressure between the vibrator or the probe and the target object during the vibration of the vibrator or the probe to obtain the vibration pressure;

[0071] The vibration state of the vibrator or the probe is determined according to the vibration pressure.

[0072] In one embodiment, there is provided an ultrasound imaging method, comprising:

[0073] driving the vibrator or the probe to vibrate to generate shear waves that propagate in the target object;

[0074] Exciting the probe to transmit ultrasonic waves to the target object to detect the shear waves propagating in the target object;

[0075] receiving an ultrasonic echo returned from the target object to obtain an ultrasonic echo signal;

[0076] Processing the ultrasonic echo signal to obtain propagation parameters of the shear wave;

[0077] Detecting the vibration state of the vibrator or the probe during the vibration of the vibrator or the probe to obtain vibration state data;

[0078] When the vibration status data indicates that the vibration status of the vibrator or the probe is abnormal, at least one of the following steps is performed:

[0079] Prompting that the vibrator or the probe is in an abnormal state;

[0080] Controlling the vibrator or the probe to stop vibrating;

[0081] not outputting the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration;

[0082] It is indicated that the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration are abnormal;

[0083] Stop acquiring the propagation parameters of the shear wave through the ultrasonic imaging device.

[0084] In one embodiment, there is provided an ultrasound imaging method, comprising:

[0085] driving the vibrator or the probe to vibrate to generate shear waves that propagate in the target object;

[0086] Exciting the probe to transmit ultrasonic waves to the target object to detect the shear waves propagating in the target object;

[0087] receiving an ultrasonic echo returned from the target object to obtain an ultrasonic echo signal;

[0088] Processing the ultrasonic echo signal to obtain propagation parameters of the shear wave;

[0089] Detecting the vibration state of the vibrator or the probe during the vibration of the vibrator or the probe to obtain vibration state data;

[0090] in:

[0091] When the vibration status data indicates that the vibration status of the vibrator or the probe is abnormal, at least one of the following steps is performed:

[0092] Prompting that the vibrator or the probe is in an abnormal state;

[0093] not outputting the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration;

[0094] It is indicated that the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration are abnormal;

[0095] Stop acquiring the propagation parameters of the shear wave through the ultrasonic imaging device;

[0096] When the vibration status data indicates that the vibration status of the vibrator or the probe returns to normal, at least one of the following steps is performed:

[0097] Prompting the vibrator or the probe to return to a normal state;

[0098] Restoring and outputting the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration;

[0099] Prompting that the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration have returned to normal;

[0100] The propagation parameters of the shear wave acquired by the ultrasonic imaging device are restored.

[0101] In one embodiment, there is provided an ultrasound imaging method, comprising:

[0102] driving the vibrator or the probe to vibrate to generate shear waves that propagate in the target object;

[0103] Exciting the probe to transmit ultrasonic waves toward the target object to detect the shear waves propagating in the target object;

[0104] receiving an ultrasonic echo returned from the target object to obtain an ultrasonic echo signal;

[0105] Processing the ultrasonic echo signal to obtain propagation parameters of the shear wave;

[0106] detecting the pressure between the vibrator or the probe and the target object before the vibrator or the probe vibrates, and detecting the pressure between the vibrator or the probe and the target object after the vibrator or the probe vibrates;

[0107] Determine whether the pressure between the vibrator or the probe and the target object before and after the vibration of the vibrator or the probe is consistent based on the pressure between the vibrator or the probe and the target object before and after the vibration of the vibrator or the probe.

[0108] In one embodiment, there is provided an ultrasound imaging method, comprising:

[0109] The vibrator or the probe is driven to vibrate by a driving signal to generate a shear wave that propagates in the target object;

[0110] Exciting the probe to transmit ultrasonic waves toward the target object to detect the shear waves propagating in the target object;

[0111] receiving an ultrasonic echo returned from the target object to obtain an ultrasonic echo signal;

[0112] Processing the ultrasonic echo signal to obtain propagation parameters of the shear wave;

[0113] Detect the actual value of the vibration parameter of the vibrator or the probe, and adjust the working parameters of the vibrator or the probe according to the detected actual value of the vibration parameter of the vibrator or the probe and the target value of the vibration parameter, so as to change the actual value of the vibration parameter of the vibrator or the probe so that the actual value of the vibration parameter is consistent with or tends to be consistent with the target value of the vibration parameter.

[0114] The ultrasonic imaging device and method of the embodiments of the present invention detect the pressure of the probe between the target object after the probe starts to vibrate to determine whether the probe has empty vibration or sliding, and whether the measurement result is valid, thereby preventing the probe from being affected by empty vibration and affecting the service life of the probe, thereby improving the validity of the elasticity measurement result; and adjusting the channel signal of the probe according to the vibration signal to ensure that the actual vibration of the probe is stable, further improving the accuracy of elasticity detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0115] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0116] Figure 1 is a schematic diagram of a structural block diagram of an ultrasonic imaging device according to an embodiment of the present invention;

[0117] Figure 2 is a schematic principle diagram of an ultrasonic imaging method according to an embodiment of the present invention;

[0118] Figure 3a is a schematic flow chart of transient elasticity measurement;

[0119] Figure 3b It is a schematic diagram of the principle of transient elastic measurement;

[0120] Figure 4 is a schematic flow chart of an ultrasonic imaging method according to an embodiment of the present invention;

[0121] Figure 5is a schematic diagram of a pressure curve during a vibration process according to an embodiment of the present invention;

[0122] Figure 6 is a schematic diagram of a pressure curve before and after shear vibration according to an embodiment of the present invention;

[0123] Figure 7 Schematic diagram of the control principle of the ultrasonic imaging method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0124] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0125] Figure 1 FIG. 1 is a schematic diagram showing a structural block diagram of an ultrasonic imaging device according to an embodiment of the present invention. Figure 1 , the ultrasonic imaging device 10 may include:

[0126] The probe 100, the transmitting circuit 101, the vibration mechanism 102, the receiving circuit 103, the vibration state detection device 104, and the processor 105. The transmitting circuit 101 can excite the probe 100 to transmit ultrasonic waves to the target object; the vibration mechanism 102 can excite the probe 100 to vibrate to generate shear waves propagating in the target object; the receiving circuit 103 can receive the ultrasonic echo returned from the target object through the probe 100, thereby obtaining the ultrasonic echo signal / data; the vibration state detection device 104 can detect the actual value of the vibration parameter of the probe 100, such as the actual value of the pressure between the probe 100 and the target object. The processor 105 processes the ultrasonic echo signal / data to obtain an ultrasonic image of the target object.

[0127] In one embodiment, the vibration mechanism 102 may also generate shear waves propagating in the target object by vibrating a separately provided vibrator (not shown) instead of the probe 100. In this embodiment, the probe 100 will not be used to generate shear waves, but only to obtain an ultrasonic image of the target object and / or track the propagation of shear waves in the target object.

[0128] Optionally, the probe 100 may include a transducer and a vibrating device, wherein the transducer is used to receive instructions from the transmitting circuit 101 to transmit ultrasonic waves and / or receive ultrasonic echoes, and the vibrating device is used to vibrate under the drive of the vibrating mechanism 102 to generate shear waves in the target object.

[0129] Optionally, the vibration mechanism 102 may include a motor. Further, the vibration mechanism 102 may be connected to the probe 100 via a transmission mechanism. After the vibration mechanism 102 obtains the driving signal, it drives the transmission mechanism to move, and the transmission mechanism drives the vibration device to vibrate.

[0130] In one embodiment, the vibration mechanism 102 may also directly drive the transducer to vibrate to generate shear waves propagating in the target object, that is, the vibration device may be the transducer itself.

[0131] Optionally, the vibration state detection device 104 may include at least one of the following: a pressure sensor, a displacement sensor, a velocity sensor, an acceleration sensor, and the like.

[0132] Optionally, the vibration parameters include at least one of the following: pressure between the vibrator or probe and the target object, the vibration frequency of the vibrator or probe, the vibration displacement (vibration amplitude) of the vibrator or probe, the vibration phase of the vibrator or probe, the vibration duration of the vibrator or probe, the vibration velocity of the vibrator or probe, and the vibration acceleration of the vibrator or probe, etc.

[0133] Optionally, the ultrasonic imaging device 10 may further include: a display 106 , which may be used to display the ultrasonic image obtained by the processor 105 .

[0134] In some embodiments, the display 106 of the aforementioned ultrasound imaging device 10 may be a touch screen, a liquid crystal display, etc., or it may be an independent display device such as a liquid crystal display, a television, etc. that is independent of the ultrasound imaging device 10, or it may be a display screen on electronic devices such as mobile phones and tablet computers, and so on.

[0135] Optionally, the ultrasonic imaging device 10 may further include: a memory 107 , which may be used to store the ultrasonic image obtained by the processor 105 .

[0136] In some embodiments, the memory 107 can be a volatile memory (volatile memory), such as a random access memory (Random Access Memory, RAM); or a non-volatile memory (non-volatile memory), such as a read-only memory (Read Only Memory, ROM), a flash memory (flash memory), a hard disk drive (Hard Disk Drive, HDD) or a solid-state drive (SSD); or a combination of the above types of memory, and provide instructions and data to the processor.

[0137] Optionally, the ultrasound imaging device 10 may also include: a transmit / receive selection switch 108, which is respectively connected to the probe 100, the transmit circuit 101, the receive circuit 103, and the processor 105, and the processor 105 controls the transmit / receive selection switch 108 to connect the probe 100 to the transmit circuit 101 or the receive circuit 103.

[0138] Optionally, the ultrasonic imaging device 10 may further include: a beamforming circuit 109 , and the ultrasonic echo signal / data obtained by the receiving circuit 103 is sent to the processor 105 after being subjected to beamforming processing by the beamforming circuit 109 .

[0139] In practical applications, the processor 105 can be implemented through software, hardware, firmware or a combination thereof, and can use circuits, single or multiple application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), central processing units (CPU), controllers, microcontrollers, and at least one of microprocessors, so that the processor 105 can execute some or all of the steps in the ultrasound imaging in the various embodiments of the present application or any combination of the steps therein.

[0140] According to the embodiment of the present invention, the ultrasonic imaging device 10 can provide a corresponding operation interface for the operator to operate when it is running. The above-mentioned operation interface can include controls corresponding to each slice group, such as an identification box or a menu bar, so that the operator can input operation instructions on the operation interface according to actual usage to realize ultrasonic imaging through the ultrasonic imaging device 10.

[0141] In some embodiments, see Figure 2 , Figure 2 A schematic principle diagram of an ultrasound imaging method according to an embodiment of the present invention is shown. The ultrasound imaging method may include:

[0142] After the operator completes the preparation for elastic measurement, after obtaining the basic image of the target object by conventional two-dimensional B-mode imaging, the operator selects the appropriate section and the appropriate pressure between the probe and the target object before vibration through the operation interface;

[0143] The operator holds the probe so that the probe contacts the surface position of the target object corresponding to the target area, and performs an operation to trigger a single elastic measurement; after receiving the instruction of the operation, the front-end control and processing module in the processor sends a vibration instruction to the vibration control module, and the vibration control module sends a driving signal to the vibration mechanism on the probe according to the vibration instruction. After receiving the driving signal, the vibration mechanism starts to work, and the transmission mechanism connected to the vibration mechanism starts to move. The transmission mechanism drives the vibration device to vibrate on the surface of the target object, generating a shear wave that propagates in the target object, and the shear wave causes the displacement of the tissue in the target area to change; the front-end control and processing module sends instructions to the transmitting circuit according to the scanning control (timing or method) in the real-time ultrasonic imaging method of the present invention, The transmitting circuit receives the instruction and stimulates the transducer on the probe to emit ultrasonic waves. The ultrasonic waves track the propagation of shear waves, continuously track and record the displacement changes of tissues caused by shear waves in the target area, and the ultrasonic waves are reflected by the target area to obtain ultrasonic echoes; the ultrasonic echoes reach the receiving circuit through the transducer on the probe, and the receiving circuit sends the obtained ultrasonic echo signals to the front-end control and processing module in the processor after beam synthesis processing by the beam synthesis circuit; the front-end control and processing module processes the ultrasonic echoes to obtain the propagation parameters of the shear waves, such as shear wave velocity, shear wave modulus, shear wave attenuation, shear wave elasticity and shear wave viscosity, etc.; the front-end control and processing module can store at least one propagation parameter of the shear wave and send it to the display for display. In addition, the ultrasonic probe can also be used to obtain other modes of images of the target object, such as B images, color blood flow images, etc., and these images can be displayed together with the propagation parameters of the shear wave.

[0144] An embodiment of the present invention also provides a computer-readable storage medium, which stores multiple program instructions. After the multiple program instructions are called and executed by the processor 105, some or all of the steps in the ultrasound imaging method in each embodiment of the present application or any combination of the steps can be executed.

[0145] See also Figure 3a , Figure 3a A schematic flow chart of transient elasticity measurement is shown. Figure 3a As shown, after the operator has made preparations for the test, he selects a suitable detection area, i.e., a section, by observing the basic image of the target object (e.g., B image), and selects a suitable pre-pressure based on the pressure detection, and then starts multiple elasticity measurements. Each elasticity measurement obtains a measurement result, and each measurement result is relatively independent. The operator needs to compare the data to select reliable and valid data; then, the validity of the measurement result and the statistical results of multiple measurement results are judged to see whether they meet the clinical requirements. If so, the measurement is terminated; if not, the elasticity measurement is repeated until the clinical requirements are met.

[0146] See also Figure 3b , Figure 3b A schematic diagram of the transient elastic measurement is shown. Figure 3b As shown in the figure, each instantaneous elastic measurement is mainly performed by external vibration of the vibrating mechanism of the probe, such as motor vibration, to generate shear waves in the tissue. The shear waves propagate in the target object. The ultrasonic transducer on the probe emits ultrasonic waves and receives ultrasonic echoes to track and observe the propagation process of the shear waves in the tissue and detect the displacement of the tissue. The propagation speed of the shear waves Cs (m / s) is calculated. The corresponding image can also be displayed on the monitor, and the elastic modulus E (kPa) of the tissue is further estimated, thereby reflecting the degree of tissue fibrosis. The transmission speed of the shear wave in the tissue is positively correlated with the hardness of the liver tissue. The greater the tissue hardness, the faster the propagation speed of the shear wave and the greater the elastic modulus.

[0147] In the above-mentioned transient elastic measurement process, the external vibration is equivalent to the signal source of the shear wave, and the external vibration comes from the motor movement under the driving signal. The motor drives the vibration mechanism of the probe through a series of mechanical transmission structures, and further generates vibration on the surface of the target object. The external vibration process can be simplified as a forced damped simple harmonic vibration process, and the relationship between the driving signal F(t) and the actual vibration x(t) can be expressed as:

[0148]

[0149] Among them, b and ω are the damping coefficient and resonance coefficient respectively, which are related to the internal mechanical structure of the probe and the target object.

[0150] Traditional elasticity measurement is based on the assumption that b and ω are basically consistent within a certain preload range, and the actual vibration is also basically consistent. For different target objects, the same fixed drive signal is used, and only a simple preload judgment is performed before the probe vibrates. In practical applications, although the section and preload selection are performed before the probe vibrates to avoid empty vibration to a certain extent, it depends on the control of the operator, which affects the measurement efficiency in multiple elasticity measurements; moreover, even if the section and preload selection are performed before vibration, the probe still has empty vibration after the probe vibration begins. The empty vibration of the probe away from the body surface will cause certain damage to the internal mechanical structure and accelerate the aging of the probe.

[0151] In addition, in actual clinical applications, due to factors such as the operator's grip pre-pressure or the target object's rib spacing, body fat thickness, etc., the actual vibrations generated for different target objects are difficult to be consistent, resulting in inconsistent shear waves, which has a great impact on the final test results.

[0152] Based on the above considerations, see Figure 4 , Figure 4FIG. 2 is a schematic flow chart of an ultrasonic imaging method according to an embodiment of the present invention. Figure 4 As shown, the ultrasonic imaging method 400 provided in the embodiment of the present invention includes:

[0153] Step S410, exciting the probe or the vibrator to vibrate to generate a shear wave propagating in the target object to perform elasticity measurement, and transmitting an ultrasonic wave to the target object to detect the shear wave propagating in the target object;

[0154] Step S420, controlling the probe to receive the ultrasonic echo returned from the target object to obtain an ultrasonic echo signal;

[0155] Step S430, detecting the pressure between the probe and the target object, or the actual value of the vibration parameter of the probe vibrating on the target object;

[0156] Step S440, processing the ultrasonic echo signal to obtain an ultrasonic image of the target object; wherein the processor further performs at least one of the following steps:

[0157] Step S441, determining the vibration state of the probe after the shear wave is generated;

[0158] Or step S442, determining whether the pressures before and after the shear wave of elastic measurement are consistent;

[0159] Or step S443, controlling the actual value of the vibration parameter of the probe to remain constant.

[0160] It should be noted that the above step sequence is only an example and does not mean that the ultrasound imaging method according to the embodiment of the present invention must be in this order; it can be adjusted as needed. For example, step S430 can be performed before step S420, or simultaneously with step S420, or after step S420, and there is no limitation here.

[0161] In some embodiments, before step S410 , the method further includes: receiving an operation instruction from an operator to trigger elasticity measurement.

[0162] Specifically, the processor 105 of the ultrasonic imaging device 10 receives an operation instruction. The operation instruction may be a protocol (the protocol may be a corresponding workflow) trigger instruction after the operator starts the ultrasonic imaging device 10, and the protocol trigger instruction may be a trigger instruction of a function displayed on a display interface (such as a touch screen), which is not limited here.

[0163] According to an embodiment of the present invention, in step S410, exciting the probe to generate shear waves in the target object to perform elasticity measurement may include:

[0164] The excitation probe generates external vibration on the target object, and the external vibration generates shear waves that are transmitted into a target area in the target object.

[0165] In some embodiments, the external vibration comprises a low frequency vibration.

[0166] Specifically, after receiving the trigger instruction from the operator, the processor 105 sends a driving signal to the vibration mechanism 102, and the vibration mechanism 102 drives the vibration device on the probe 100 to perform low-frequency pulsating mechanical motion on the target object, thereby generating shear waves in the target object. The shear waves are transmitted from the surface of the target object to the target area deep in the tissue of the target object, causing elastic displacement of the target area.

[0167] The target area can be selected and determined by any applicable method, such as by preliminary detection using conventional two-dimensional B-mode imaging, conventional elastic imaging E-mode and other applicable basic imaging detection methods, or can be selected according to the needs of elasticity measurement. After selecting a suitable target area based on the above basic image of the target object, shear waves are generated in the target object through external vibration at the surface position of the target object corresponding to the target area. For example, the target area can be the liver, or other tissues, which are not limited here.

[0168] In some embodiments, the target area may be one or more. When the number of target areas is multiple, the longitudinal depths or transverse positions of the multiple target areas may be different. It is understood that when multiple target areas are measured at the same time, the average distance ratio between the multiple target areas can be obtained through subsequent steps, thereby reflecting the elasticity difference between the multiple target areas.

[0169] According to an embodiment of the present invention, in step S410, exciting the probe to transmit ultrasonic waves to the target object may include: exciting the probe to transmit ultrasonic waves to a target area of ​​the target object to detect propagation of shear waves in the target area.

[0170] Specifically, the processor 105 in the ultrasonic imaging device 10 controls the transmit / receive selection switch 108, switches the probe to be connected to the transmit circuit 101, controls the transmit circuit 101 to excite the transducer on the ultrasonic probe 100 to transmit ultrasonic waves to the target area of ​​the object under test, and ultrasonically tracks and detects the propagation process of the shear wave in the target area, and measures the propagation parameters of the shear wave, such as shear wave velocity, shear wave modulus, shear wave attenuation, shear wave elasticity and shear wave viscosity.

[0171] It should be understood that the ultrasonic wave can be emitted before the shear wave, simultaneously with the shear wave, or at a preset time after the shear wave, and there is no limitation here; the preset time is the time interval between the shear wave entering the target object and the generation of the ultrasonic wave, and the preset time can be set as needed, and there is no limitation here.

[0172] According to an embodiment of the present invention, in step S420, controlling the probe to receive the ultrasonic echo returned from the target object to obtain the ultrasonic echo signal may include:

[0173] The probe is switched to be connected to the receiving circuit, and the receiving circuit receives the ultrasonic echo through the probe.

[0174] Specifically, after transmitting the ultrasonic wave, the processor 105 controls the transmit / receive selection switch 108 to switch the probe to connect with the receiving circuit 103. The ultrasonic wave reaches the target area from the surface of the target object and then returns. The receiving circuit 103 receives the ultrasonic echo of the ultrasonic wave returned from the target area through the transducer of the probe 100 to obtain the ultrasonic echo data. After receiving the ultrasonic echo data, the receiving circuit 103 sends the ultrasonic echo data as the measurement data to the processor 105.

[0175] According to an embodiment of the present invention, in step S430, detecting the pressure between the probe and the target object may include: detecting the pressure by a vibration state detection device.

[0176] Specifically, the vibration state detection device 104 may be a pressure sensor, which collects the pressure between the probe 100 and the target object based on a predetermined frequency to obtain a pressure signal, and sends the pressure signal to the processor 105 for processing.

[0177] According to an embodiment of the present invention, in step S430, detecting the actual value of the vibration parameter of the probe vibrating on the target object may include: detecting the actual value of the vibration parameter by a vibration state detection device.

[0178] Specifically, the vibration state detection device 104 can be a pressure sensor, in which case the actual value of the vibration parameter corresponds to a pressure signal; and the vibration state detection device 104 can also be a displacement sensor, a velocity sensor, or an acceleration sensor, and the actual values ​​of the corresponding vibration parameters are a displacement signal, a velocity signal, and an acceleration signal, respectively. It should be understood that the vibration state detection device 104 can include one of the above-mentioned various sensors to detect the actual value of one vibration parameter, and can also include a combination of them to detect the actual values ​​of multiple vibration parameters, which is not limited here.

[0179] Optionally, the actual value of each vibration parameter may include at least one of amplitude, frequency, and phase. For example, when the actual value of the vibration parameter collected by the pressure sensor is a pressure signal, the pressure signal includes data such as pressure amplitude, frequency, and phase.

[0180] In some embodiments, the actual value of the vibration parameter may be waveform data, wherein the waveform data may reflect amplitude, frequency, and phase.

[0181] According to an embodiment of the present invention, in step S440, processing the ultrasonic echo signal to obtain an ultrasonic image of the target object may include:

[0182] The ultrasonic echo signal is processed by beamforming and then sent to the processor for processing to obtain an ultrasonic image.

[0183] Specifically, the ultrasonic echo signal obtained by the receiving circuit 103 is sent to the processor 105 after being subjected to beam synthesis processing by the beam synthesis circuit 109; the processor 105 processes the ultrasonic echo signal, such as filtering to extract useful data and converting it into a preset data format, so as to obtain an ultrasonic image and / or elastic parameters of the target area.

[0184] In addition, the processor can send ultrasonic echo signals at various stages to the memory for storage, such as ultrasonic echo signals received by the processor, processed ultrasonic echo signals, etc. In addition, the memory has a cache function. When the processor does not have time to process certain ultrasonic echo signals, they can be temporarily stored in the memory. When idle, the processor takes out the ultrasonic echo signals from the memory for processing, and then sends the processed ultrasonic echo signals to the memory for storage. This can speed up the processing speed of the processor. When the processor is busy, the data is cached; when the processor is idle, the previously cached data is taken out for processing. The data in the memory can be transmitted to the display within a preset period or in real time.

[0185] In some embodiments, elastic parameters may be calculated for ultrasonic echo signals collected and returned multiple times at the same collection position.

[0186] According to an embodiment of the present invention, in step S441, determining the vibration state of the probe after the shear wave is generated may include:

[0187] The vibration state of the probe is determined based on the pressure after the shear wave is generated.

[0188] Among them, as mentioned above, the traditional method only performs pressure detection and basic image scanning before vibration. However, in practical applications, see Figure 5 , Figure 5 FIG. 2 is a schematic diagram showing a pressure curve of a vibration process of an embodiment of the present invention. Figure 5As shown, the vibration process of generating shear waves by exciting the probe includes, in addition to the pre-vibration link in which the vibration mechanism such as a motor is working, the residual vibration link in which the vibration mechanism stops working but continues to vibrate (the vibration link and the residual vibration link are collectively referred to as the "mid-vibration" link in this article), and the post-vibration link in which the vibration is basically finished; wherein, the upper limit value of the no-load pressure range when the probe is vibrating is smaller than the lower limit value of the appropriate pressure range when the probe is vibrating normally. The ultrasonic imaging method of the embodiment of the present invention is based on the traditional method, and continuously detects the pressure between the probe and the target object after the shear wave is generated, thereby judging the state of the probe vibration during the entire process of a single elastic measurement based on the pressure, preventing the probe from being in the no-load pressure range for a long time during and / or after vibration, and avoiding damage to the probe caused by the probe's no-load vibration.

[0189] Optionally, judging the vibration state of the probe based on the pressure after the shear wave is generated includes:

[0190] When the pressure is always less than the first threshold value within a preset time range, it is determined that the probe is in an empty vibration state;

[0191] When the pressure is less than the second threshold or greater than the third threshold, it is determined that the probe is in an abnormal working state;

[0192] When the pressure is greater than or equal to the second threshold and less than or equal to the third threshold, it is determined that the probe is in a normal working state.

[0193] Among them, the first threshold value is less than the second threshold value and less than the third threshold value. The first threshold value, the second threshold value and the third threshold value can all be set as needed and are not limited here.

[0194] Specifically, after the external vibration generates a shear wave in the target object, the vibration state detection device 104 continuously detects the pressure between the probe 100 (or vibrator) and the target object and sends the detected pressure data to the processor 105, that is, during the vibration of the probe 100 (or vibrator), the vibration state detection device 104 also detects the pressure between the probe 100 (or vibrator) and the target object. When the processor 105 finds that the pressure is less than the first threshold, it further determines whether the pressure within a preset time range is always less than the first threshold. If the pressure is always less than the first threshold, the processor 105 determines that the probe 100 (or vibrator) is in an empty vibration state. If the pressure is not always less than the first threshold, that is, the pressure has been greater than the first threshold within the preset time range, the processor 105 continues to receive pressure data from the vibration state detection device 104; when the processor 105 finds that the pressure is less than the second threshold or greater than the third threshold, the processor 105 determines that the probe 100 (or vibrator) is in an abnormal working state. The abnormal working state may refer to an abnormal working state that is neither an empty vibration state, which may be due to hand slippage or other reasons, resulting in the probe 100 (or vibrator) and the target object not being separated, and there is a small pressure or excessive pressure, but it is not suitable for elasticity detection; when the processor 105 finds that the pressure is greater than or equal to the second threshold and less than or equal to the third threshold, the processor 105 determines that the probe 100 (or vibrator) is in a normal working state.

[0195] According to an embodiment of the present invention, the method further includes: when the probe is in the abnormal working state, prompting the user that the probe is in the abnormal working state.

[0196] In some embodiments, when the probe is in an abnormal working state, the probe may slip or other factors may cause the probe to not be completely separated from the target object, and the user may be prompted that the probe is working abnormally and / or needs to adjust the appropriate preload. Furthermore, at this time, the probe may be controlled to stop vibrating, and / or not output the measurement results of the elasticity measurement, and / or not start the next measurement, and / or exit the current detection.

[0197] Optionally, when it is determined that the probe is in an empty vibration state after the shear wave is generated, the method further includes at least one of the following: prompting the user that the probe is in an empty vibration state, controlling the probe to stop vibrating, or not outputting the measurement result of the elasticity measurement. Further, at this time, the next measurement may not be started, and / or the current detection may be exited.

[0198] In some embodiments, when it is determined that the probe is in an air-vibration state after the shear wave is detected, the user may only be prompted that the probe is experiencing air-vibration and / or that a suitable pre-pressure needs to be selected without performing other actions. At this time, the user may decide the next action based on actual conditions, such as whether to continue the test; or the user may be prompted that the probe is experiencing air-vibration and the vibration of the probe may be stopped to protect the probe; further, since the air-vibration of the probe may have a significant impact on the test results, resulting in inaccurate test results, the measurement results of the elastic measurement may not be output and the test may be exited.

[0199] According to an embodiment of the present invention, the method further includes: when the user separates the probe from the target object, controlling the probe to stop vibrating.

[0200] In some embodiments, the operator can use the ultrasonic imaging method of the embodiment of the present invention to facilitate the actual operation. During the elasticity detection operation, when the operator needs to end the current elasticity detection for various reasons (such as reselecting the section, etc.), the operator can actively operate the probe to separate the probe from the surface of the target object. At this time, the probe stops vibrating, and the operator can quickly and conveniently stop the detection based on this function, which is convenient and easy to operate, greatly improving the operator's experience. In the traditional method, even if the probe is separated from the target object, the probe may be in a vibrating state before the processor receives the operator's instruction to stop vibration. At this time, not only will the probe be damaged due to its own air vibration, but also because no effective detection is performed at this time, resulting in a waste of resources.

[0201] Ideally, the preload of the probe before and after vibration should be consistent, but if it is inconsistent, it may be related to the probe slipping or unstable holding during the vibration process. This will cause the generated shear wave to be inconsistent with the expected one, which may affect the final measurement result. Figure 6 , Figure 6 FIG. 2 is a schematic diagram showing a pressure curve before and after shear vibration according to an embodiment of the present invention. Figure 6 As shown, if the pressure difference before and after the vibration is small, it means that the shear wave is close to the expectation, and if the pressure difference before and after the vibration is large, it means that the shear wave is inconsistent with the expectation. The ultrasonic imaging method of the embodiment of the present invention determines whether the probe has slipped and / or whether the detection result is valid by detecting whether the pressure before and after the shear wave is generated is consistent. If the pressure before and after the shear wave is generated is inconsistent, the user can be prompted to determine whether to continue the detection.

[0202] According to an embodiment of the present invention, in step S442, determining whether the pressures before and after the shear wave of elastic measurement are consistent includes:

[0203] obtaining an average value of the pressure before the shear wave is generated as the first pressure;

[0204] obtaining an average value of the pressure after the shear wave is generated as the second pressure;

[0205] Determining whether the difference between the first pressure and the second pressure is within a set range;

[0206] If the difference is within the set range, it is determined that the pressures before and after the shear wave of the elastic measurement are consistent;

[0207] If the difference is not within the set range, it is determined that the pressures before and after the shear wave of the elastic measurement are inconsistent.

[0208] Specifically, the processor 105 receives pressure data collected by the vibration state detection device 104. The vibration state detection device 104 can collect the pressure between the probe 100 and the target object before the operator triggers the elastic measurement at least once based on the first frequency or the first time interval within a first time period before the operator triggers the elastic measurement as a first set of pressure data, and send the first set of pressure data to the processor 105. The processor 105 calculates the average value of the first set of pressure data as the first pressure. For example, if the processor 105 only obtains the pressure once before the probe 100 vibrates, the pressure is used as the first pressure. After the processor 105 receives the operation instruction of the operator and triggers the vibration mechanism 102 to excite the probe 100 to vibrate on the target object to generate shear waves, the vibration state detection device 104 can collect the pressure between the probe 100 and the target object before the operator triggers the elastic measurement at least once based on the preset second frequency or second time interval within a second time period. The pressure between the probe 100 and the target object is collected as a second set of pressure data, and the second set of pressure data is sent to the processor 105. The processor 105 calculates the average value of the second set of pressure data as the second pressure. For example, if the processor 105 obtains the pressure only once after the probe 100 vibrates, the pressure is used as the second pressure. The processor 105 can also calculate the difference between the first pressure and the second pressure based on the third frequency or the third time interval or the preset time, and determine whether the difference is within a set range. If the difference is within the set range, it is determined that the pressures before and after the shear wave is generated are consistent. In this case, the validity of the measurement result is high. If the difference is not within the set range, it is determined that the pressures before and after the shear wave is generated are inconsistent. In this case, the validity of the measurement result is low. The probe may slip during the measurement process, or the pressure between the probe 100 and the target object before and after the shear wave is generated (i.e., before and after vibration) may be inconsistent due to other reasons.

[0209] In some embodiments, obtaining the pressure before the shear wave is generated and obtaining the pressure after the shear wave is generated may include collecting pressure once or multiple times to obtain the first pressure and the second pressure.

[0210] In some embodiments, acquiring the pressure before the shear wave is generated may include: acquiring the pressure at least once within a first time period before the shear wave is generated.

[0211] In some embodiments, acquiring the pressure after the shear wave is generated may include: collecting the pressure at least once within a second time period after the shear wave is generated.

[0212] It should be understood that the above-mentioned first frequency, second frequency and third frequency, first time interval, second time interval and third time interval, preset time point and setting range can all be set as needed and are not limited here.

[0213] Further, step S442 may be used in combination with step S441, and specifically includes:

[0214] After the processor 105 executes step S442, it determines that the pressure before and after the shear wave currently being detected is inconsistent. After prompting the user, the user can actively separate the probe 100 from the target object. The processor 105 sends a corresponding instruction to the vibration mechanism 102, and the vibration mechanism 102 controls the probe 100 to stop vibrating according to the instruction, thereby ending the detection.

[0215] Optionally, the method further includes: determining the validity of the measurement result of the elasticity measurement and / or whether the probe is slipping.

[0216] In some embodiments, determining the validity of the measurement result of the elasticity measurement and / or whether the probe is slipping includes:

[0217] If the pressures before and after the shear wave of the elastic measurement are consistent, it is determined that the measurement result is valid and / or the probe has not slipped;

[0218] If the pressures before and after the shear wave generation of the elastic measurement are inconsistent, it is determined that the measurement result is invalid and / or the probe has slipped.

[0219] In some embodiments, when the pressure before and after the shear wave of the elastic measurement is inconsistent, the probe may slip and / or the measurement result may be invalid. At this time, the user may be prompted that the pressure before and after the shear wave of the current detection is inconsistent, the probe may slip and / or the reliability of the measurement result of the current detection is low. Further, at this time, the probe can be controlled to stop vibrating, and / or not output the measurement result of the elastic measurement, and / or not start the next measurement, and / or exit the current detection.

[0220] Optionally, the method further includes: obtaining valid measurement results from multiple elasticity measurements, and using a median of the valid measurement results as the elasticity measurement result of the target object.

[0221] In some embodiments, when performing n elastic measurements, the pressure of the probe and the target object is detected during the entire vibration process of each elastic measurement, and it is determined whether the pressure before and after the shear wave of each elastic measurement is consistent; if the pressure before and after the shear wave of one or several elastic measurements is inconsistent, then during the elastic measurements with inconsistent pressure before and after vibration, the user is prompted that the pressure before and after vibration is inconsistent, but the median of the measurement results of all n elastic measurements can still be used as the elastic measurement result of the target object. Alternatively, the test results that are prompted that the pressure before and after vibration is inconsistent in the n elastic measurement results can also be removed and not participate in the calculation of the elastic measurement results, that is, only the median of the test results that are not prompted that the pressure before and after vibration is inconsistent in the n elastic measurement results is used as the elastic measurement result of the target object. Alternatively, the operator can also decide the measurement results that participate in the calculation of the n elastic measurement results. For example, based on the prompt of inconsistent pressure before and after vibration, the operator can judge whether the result is valid and whether it can participate in the calculation of the elastic measurement result of the target object, and then the median of the valid measurement results (the test results that are not prompted that the pressure before and after vibration is inconsistent and the measurement results determined by the operator to be valid) in the n elastic measurement results is used as the elastic measurement result of the target object.

[0222] In the complex environment of actual clinical application, the traditional elasticity measurement method adopts an open-loop control method. The vibration mechanism excites the probe under a fixed driving signal. Affected by external factors, the actual vibration may often fail to reach the expected target vibration, and the vibration process cannot be effectively controlled. For example, different target objects use the same driving signal to vibrate, and the shear waves generated are different; even for the same target object, the vibration of each elastic measurement may be different, and the shear waves generated may also be different, which will have a certain impact on the accuracy of elasticity measurement. Based on the above considerations, the ultrasonic imaging method according to the embodiment of the present invention actively controls the driving signal of the vibration mechanism by feedback adjustment according to the actual vibration of the probe or vibrator. After calculating the corresponding adjustment amount with the vibration signal in the actual vibration process as the feedback input, the adjustment amount is used to dynamically control the driving signal of the vibration mechanism to form a closed-loop control. Regardless of whether the target object or objective factors change, the actual vibration waveform is finally made consistent with the expected target to generate a stable and expected shear wave. In addition, after the mechanical properties of the probe or vibrator decrease, the vibration of the probe or vibrator can be made to reach a normal level by adjusting the driving signal of the vibration mechanism, which makes up for the insufficient hardware performance of the probe or vibrator from the control perspective.

[0223] According to an embodiment of the present invention, in step S443, controlling the actual value of the vibration parameter of the probe or the vibrator to remain constant may include:

[0224] The working parameters of the probe or vibrator are adjusted according to the actual value of the vibration parameter.

[0225] In one embodiment, the working parameter of the probe or vibrator to be adjusted can be a driving signal for controlling the vibration mechanism to drive the probe or vibrator to vibrate. For example, when the processor 105 triggers elasticity measurement based on the operating instruction of the operator, the vibration mechanism 102 receives the driving signal to excite the probe 100 to start vibrating, and the vibration state detection device 104 collects the actual value of the vibration parameter of the probe 100, calculates the driving signal adjustment amount of the vibration mechanism 104 according to the actual value of the vibration parameter, and adjusts the driving signal with the driving signal adjustment amount to obtain an updated driving signal, and then drives the vibration mechanism 104 with the updated driving signal, thereby driving the probe or vibrator to vibrate, so that the vibration waveform generated on the target object is consistent with the expected target waveform, and the actual vibration process remains stable, then a stable and expected shear wave is generated accordingly, thereby ensuring the stability and accuracy of the elasticity measurement.

[0226] In one embodiment, the adjusted working parameter of the probe or vibrator may also be the resonance coefficient and / or damping coefficient of the probe or vibrator. Figure 7 The damping coefficient b and / or the resonance coefficient ω of the probe or the vibrator can be adjusted by adjusting the parameters of the transmission mechanism shown in the figure, such as the size, so that the actual vibration remains stable and meets the expectations.

[0227] As shown in the above formula (1), the vibration of the probe 100 on the target object is a forced damping resonance process. However, different target objects or different probes will actually cause the damping coefficient b and the resonance coefficient ω to change. Therefore, in addition to adjusting the driving signal of the vibration mechanism 102, the actual vibration can also be controlled by adjusting the damping coefficient b and the resonance coefficient ω of the probe or vibrator.

[0228] Optionally, calculating the drive signal adjustment amount of the vibration mechanism 104 according to the actual value of the vibration parameter may include:

[0229] Calculating a vibration adjustment amount of the vibration mechanism based on an actual value of the vibration parameter and a target value of the vibration parameter;

[0230] The aforementioned drive signal adjustment amount is calculated based on the vibration adjustment amount.

[0231] Here, the target value of the vibration parameter may refer to the value of the vibration parameter that is expected to be achieved in actual work, and this target value may be preset.

[0232] Specifically, see Figure 7 , Figure 7 FIG. 2 shows a schematic diagram of the control principle of the ultrasonic imaging method according to an embodiment of the present invention. Figure 7 As shown, the motor (i.e., the vibration mechanism) receives the driving signal and starts to rotate, and drives the vibration device of the probe 100 to rotate through the transmission mechanism, the vibration state detection device 104 collects the actual value of the vibration parameter of the vibration device, the active control module in the processor 105 receives the actual value of the vibration parameter of the probe 100 collected by the vibration state detection device 104, and calculates the difference between the actual value of the vibration parameter and the target value of the vibration parameter to obtain the vibration adjustment amount, thereby calculating the driving signal adjustment amount of the driving signal according to the damped simple harmonic oscillation equation of the aforementioned formula (1), and adjusting the driving signal with the driving signal adjustment amount to obtain an updated driving signal, and then using the updated driving signal as the input of the vibration mechanism 102, thereby realizing the adjustment of the vibration mechanism 102 according to the actual value of the vibration parameter.

[0233] In some embodiments, calculating the adjustment amount of the vibration mechanism based on the actual value of the vibration parameter and the target value of the vibration parameter may include:

[0234] Calculating the difference between the actual value of the vibration parameter and the target value of the vibration parameter to obtain the vibration adjustment amount;

[0235] The adjustment amount is calculated based on the vibration adjustment amount and the damped simple harmonic oscillation equation.

[0236] In the process of controlling the vibration mechanism, it is necessary not only to consider the structure itself, but also to consider the needs of clinical applications. Since instantaneous elasticity measurement is usually nonlinear, there are certain requirements for the dynamics and accuracy of the control process. The ultrasonic imaging method according to the embodiment of the present invention can be used to meet different clinical needs. If the clinical requirements for timeliness are high, a real-time adjustment dynamic control method can be used to adjust the next moment of the current vibration while the probe is vibrating, and the actual vibration state is controlled in real time to maintain a stable target vibration state. It is suitable for occasions that require rapid response; if the clinical requirements for timeliness are low, a non-real-time adjustment dynamic control method can be used. After the current vibration ends, the adjustment amount is calculated based on the actual value of the current vibration parameter, and the next vibration is adjusted. This method is low-cost and reduces the requirements for hardware. It is suitable for occasions where hardware requirements are not high.

[0237] Optionally, the adjustment amount is used to adjust the waveform or amplitude of the actual value of the vibration parameter. When the adjustment amount is used to adjust the waveform of the actual value of the vibration parameter, it is actually to adjust the amplitude, rate, phase and other indicators of the vibration signal at the same time. This comprehensive adjustment method is highly complex, but has a good effect of controlling vibration stability. Alternatively, since the vibration signal is most affected by the amplitude and is more sensitive to the adjustment of the amplitude, only the amplitude of the vibration signal can be adjusted in situations where the complexity requirement is not high.

[0238] Specifically, in actual clinical applications, the appropriate combination of timeliness and integrity can be selected according to actual needs and software and hardware platform limitations. For example, in routine examinations, multiple independent elasticity measurements are usually performed, and the final result is obtained by statistics of multiple elasticity measurement results. At this time, low-cost non-real-time amplitude adjustment can meet the requirements; for scenarios with higher requirements for single elasticity measurements, real-time or waveform adjustment solutions can be used to ensure the stability of actual vibration.

[0239] In some embodiments, adjusting the drive signal according to the actual value of the vibration parameter includes:

[0240] Acquire the actual value of the vibration parameter in real time and calculate the adjustment amount of the driving signal of the vibration mechanism;

[0241] The driving signal is supplemented according to the driving signal adjustment amount to obtain an updated driving signal.

[0242] Specifically, after the probe 100 starts to vibrate, the vibration state detection device 104 can collect and detect the actual values ​​of the vibration parameters of the probe 100 in real time based on a certain frequency or time interval, and send the actual values ​​of the vibration parameters to the active control module. After the active control module calculates the drive signal adjustment amount in real time, it uses the drive signal adjustment amount to supplement the drive signal to obtain an updated drive signal, and then outputs the updated drive signal to the vibration mechanism 102 to drive the vibration mechanism 102 to drive the probe or vibrator to vibrate, so as to achieve real-time dynamic adjustment of the actual vibration.

[0243] In some embodiments, adjusting the shear wave drive signal according to the actual value of the vibration parameter includes:

[0244] Obtaining an actual value of at least one vibration parameter in a current elastic measurement;

[0245] Calculating a drive signal adjustment amount based on an average value or a median of an actual value of at least one vibration parameter, and further supplementing the drive signal according to the drive signal adjustment amount to obtain an updated drive signal;

[0246] The updated driving signal is used to drive the vibration mechanism 102 during the next elasticity measurement to drive the probe or the vibrator to vibrate.

[0247] Specifically, after the probe 100 starts the current vibration, the vibration state detection device 104 can collect the actual values ​​of the vibration parameters of the detection probe 100 based on a certain frequency or time interval, and send the actual values ​​of the vibration parameters collected during the current vibration process to the active control module. The active control module calculates the drive signal adjustment amount based on the actual values ​​of at least part of the vibration parameters. For example, the average signal of the actual value of the vibration parameter is calculated based on the actual value of at least part of the vibration parameter, and the vibration adjustment amount is obtained according to the difference between the average signal and the target value of the vibration parameter. The drive signal adjustment amount is obtained based on the vibration adjustment amount and the damped resonance equation, and the drive signal is adjusted according to the drive signal adjustment amount to obtain an updated drive signal; when the probe 100 starts the next vibration, the updated drive signal is output to the vibration mechanism 102 to drive the vibration mechanism 102 to drive the probe or vibrator to vibrate, so as to achieve adjustment of the actual vibration.

[0248] Optionally, the method further includes: increasing or decreasing the drive signal adjustment amount based on a user's operation instruction to control the actual value of the vibration parameter accordingly.

[0249] In some embodiments, the operator can also optimize the operation based on the function of step S431 to facilitate the operation. Each target object has different perception and acceptance of the probe 100 and the same degree of vibration. When the target object cannot accept a certain degree of vibration and cannot cooperate to complete the elasticity detection, it is necessary to reduce the pressure between the probe 100 and the target object under the premise of being able to complete the elasticity detection to increase the comfort and cooperation of the target object. The operator can issue an instruction to reduce the vibration pressure through the corresponding button or operation interface, and the active processing module in the processor 105 obtains the instruction, and then reduces the drive signal adjustment amount based on the predetermined amplitude, and adjusts the drive signal with the reduced drive signal adjustment amount to obtain the aforementioned updated drive signal, and inputs the updated drive signal into the vibration mechanism to reduce the vibration degree of the probe 100 and the pressure between the target object and the probe, so as to improve the comfort of the target object during detection. Alternatively, when the vibration pressure needs to be increased, such as when factors such as the target object's own fat content require an increase in the vibration level to complete the elasticity measurement, the operator can issue an instruction to increase or decrease the vibration pressure through the corresponding button or operation interface, and the active processing module in the processor 105 obtains the instruction, and then increases the drive signal adjustment amount based on a predetermined amplitude, and adjusts the drive signal with the increased drive signal adjustment amount to obtain the aforementioned updated drive signal, and inputs the updated drive signal into the vibration mechanism to increase the vibration level of the probe 100 and the pressure between the target object and the probe, thereby facilitating the smooth completion of the elasticity measurement.

[0250] In one embodiment, as described above, the vibrator or probe can be driven to vibrate to generate a shear wave propagating in the target object, and then the probe can be stimulated to transmit ultrasonic waves to the target object to detect the shear wave propagating in the target object. Subsequently, the ultrasonic echo returned from the target object is received by the probe to obtain an ultrasonic echo signal, and the ultrasonic echo signal is processed, for example, by the aforementioned processor, to obtain the propagation parameters of the shear wave. During the period of vibration of the vibrator or probe (for example, Figure 5 During the vibration phase and / or the after-vibration phase), the pressure between the vibrator or probe and the target object can be detected to obtain the vibration center pressure, and the vibration state of the vibrator or probe can be determined based on the vibration center pressure.

[0251] In one embodiment, the vibration pressure can be compared with a preset threshold to determine the vibration state of the vibrator or probe. For example, when the vibration pressure is always less than the first threshold within a preset time range, it is determined that the vibrator or probe is in an empty vibration state; and / or, when the vibration pressure is less than the second threshold or greater than the third threshold, it is determined that the vibrator or probe is in an abnormal working state; and / or, when the vibration pressure is greater than or equal to the second threshold and less than or equal to the third threshold, it is determined that the vibrator or probe is in a normal working state; and so on.

[0252] In one embodiment, when it is determined that the vibrator or the probe is in an abnormal working state, the user may be prompted that the vibrator or the probe is in an abnormal working state.

[0253] In one embodiment, when it is determined that the vibrator or the probe is in an idle state, at least one of the following steps can be performed: prompting the user that the vibrator or the probe is in an idle state; controlling the vibrator or the probe to stop vibrating; not outputting the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration; and, prompting the user that the propagation parameters of the shear wave obtained during the current vibration are abnormal.

[0254] In one embodiment, as described above, the vibrator or the probe can be driven to vibrate to generate a shear wave propagating in the target object, and then the probe can be stimulated to transmit ultrasonic waves to the target object to detect the shear wave propagating in the target object. Subsequently, the ultrasonic echo returned from the target object is received by the probe to obtain an ultrasonic echo signal, and the ultrasonic echo signal is processed, for example, by the aforementioned processor, to obtain the propagation parameters of the shear wave.

[0255] During the vibration of the vibrator or the probe, the vibration state of the vibrator or the probe can be detected to obtain vibration state data, and when the vibration state data indicates that there is an abnormality in the vibration state of the vibrator or the probe, at least one of the following steps is performed: prompting that the vibrator or the probe is in an abnormal state; controlling the vibrator or the probe to stop vibrating; not outputting the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration; prompting that the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration are abnormal; and stopping obtaining the propagation parameters of the shear wave through the ultrasonic imaging device.

[0256] Alternatively, when the vibration status data indicates that there is an abnormality in the vibration state of the vibrator or the probe, at least one of the following steps is performed: prompting that the vibrator or the probe is in an abnormal state; not outputting the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration; prompting that the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration are abnormal; and stopping obtaining the propagation parameters of the shear wave through the ultrasonic imaging device.

[0257] Subsequently, the diagnostic status of the vibrator or the probe can be continuously detected to obtain vibration status data, and when the vibration status data indicates that the vibration status of the vibrator or the probe has returned to normal, at least one of the following steps is performed: prompting the vibrator or the probe to return to normal; restoring the output of the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration; prompting that the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration have returned to normal; and, restoring the propagation parameters of the shear wave obtained by the ultrasonic imaging device.

[0258] In one embodiment, the vibration state data may be contact state detection data obtained by a contact detection device, and when the contact state detection data obtained by the contact detection device indicates that the vibrator or the probe is out of contact with the target object, it is determined that the vibration state of the vibrator or the probe is abnormal. The contact detection device may be at least one of a temperature sensor, a distance sensor, a pressure sensor, a resistance sensor, a capacitance sensor, and a magnetic field sensor.

[0259] In one embodiment, the vibration state data may be the vibration pressure between the vibrator or probe and the target object obtained by a pressure sensor, and when the vibration pressure is always less than a first threshold value within a preset time range, it is determined that the vibration state of the vibrator or probe is abnormal; and / or, when the vibration pressure is less than a second threshold value or greater than a third threshold value, it is determined that the vibration state of the vibrator or probe is abnormal. In addition, when the vibration pressure is greater than or equal to the second threshold value and less than or equal to the third threshold value, it is determined that the vibration state of the vibrator or probe has returned to normal.

[0260] In one embodiment, as described above, the vibrator or probe can be driven to vibrate to generate a shear wave propagating in the target object, and then the probe can be stimulated to emit ultrasonic waves to the target object to detect the shear wave propagating in the target object. Subsequently, the ultrasonic echo returned from the target object is received by the probe to obtain an ultrasonic echo signal, and the ultrasonic echo signal is processed, for example, by the aforementioned processor to obtain the propagation parameters of the shear wave. In addition, the pressure between the vibrator or probe and the target object before the vibration of the vibrator or probe can be detected, and the pressure between the vibrator or probe and the target object after the vibration of the vibrator or probe can be detected, and based on the pressure between the vibrator or probe and the target object before and after the vibration of the vibrator or probe, it is determined whether the pressure between the vibrator or probe and the target object before and after the vibration of the vibrator or probe is consistent.

[0261] In one embodiment, the average value of the pressure between the vibrator or probe and the target object before the vibrator or probe vibrates can be obtained as the first pressure, and the average value of the pressure between the vibrator or probe and the target object after the vibrator or probe vibrates can be obtained as the second pressure, and it is determined whether the difference between the first pressure and the second pressure is within a set range. When the difference is within the set range, it is determined that the pressure between the vibrator or probe and the target object before and after the vibrator or probe vibrates is consistent; when the difference is not within the set range, it is determined that the pressure between the vibrator or probe and the target object before and after the vibrator or probe vibrates is inconsistent.

[0262] In one embodiment, when it is determined that the pressure between the vibrator or probe and the target object before and after the vibration of the vibrator or probe is inconsistent, at least one of the following steps can be performed: prompting that the vibrator or probe is in an abnormal state; controlling the vibrator or probe to stop vibrating; not outputting the propagation parameters of the shear wave obtained during the current vibration; prompting that the propagation parameters of the shear wave obtained during the current vibration are abnormal; and stopping obtaining the propagation parameters of the shear wave.

[0263] In one embodiment, as described above, the vibrator or probe can be driven to vibrate to generate a shear wave propagating in the target object, and then the probe can be stimulated to emit ultrasonic waves to the target object to detect the shear wave propagating in the target object. Subsequently, the ultrasonic echo returned from the target object is received by the probe to obtain an ultrasonic echo signal, and the ultrasonic echo signal is processed, for example, by the aforementioned processor, to obtain the propagation parameters of the shear wave. In addition, the actual value of the vibration parameter of the vibrator or probe can be detected, and the working parameters of the vibrator or probe can be adjusted according to the detected actual value of the vibration parameter of the vibrator or probe and the target value of the vibration parameter, so as to change the actual value of the vibration parameter of the vibrator or probe so that the actual value of the vibration parameter is consistent with or tends to be consistent with the target value of the vibration parameter.

[0264] In one embodiment, the driving signal used to drive the vibrator or probe to vibrate can be adjusted according to the actual value of the vibration parameter and the target value of the vibration parameter to obtain an updated driving signal, and the updated driving signal is used to drive the vibrator or probe to vibrate, thereby changing the actual value of the vibration parameter of the vibrator or probe so that the actual value of the vibration parameter is consistent with or tends to be consistent with the target value of the vibration parameter.

[0265] In one embodiment, the drive signal adjustment amount may be calculated based on the actual value of the vibration parameter and the target value of the vibration parameter, and the drive signal adjustment amount may be used to adjust the aforementioned drive signal to obtain the updated drive signal.

[0266] In one embodiment, the difference between the actual value of the vibration parameter and the target value of the vibration parameter may be calculated to obtain the vibration adjustment amount, and the aforementioned drive signal adjustment amount may be calculated based on the vibration adjustment amount.

[0267] In one embodiment, the calculated drive signal adjustment amount may be increased or decreased based on a user's operation instruction.

[0268] In one embodiment, the resonance coefficient and / or damping coefficient of the vibrator or probe can also be adjusted according to the actual value of the vibration parameter and the target value of the vibration parameter, thereby changing the actual value of the vibration parameter of the vibrator or probe so that the actual value of the vibration parameter is consistent with or tends to be consistent with the target value of the vibration parameter.

[0269] In one embodiment, the target value of the aforementioned vibration parameter can also be directly adjusted. The target value of the vibration parameter can be adjusted based on the input instruction of the user. For example, when the user wishes to increase or reduce the pressure between the probe or vibrator and the target object, the instruction to increase or reduce the pressure can be input through corresponding buttons or operation interface. After receiving the instruction, the processor 105 can increase or reduce the target value (here, target pressure) of the vibration parameter accordingly. Then, the processor 105 calculates the drive signal adjustment amount according to the actual value of the current vibration parameter and the target value of the vibration parameter after adjustment, and adjusts the drive signal with the drive signal adjustment amount, obtains and updates the drive signal, and then drives the vibration mechanism 102 to drive the probe or vibrator to vibrate with the updated drive signal, thereby realizing the purpose of increasing or reducing the pressure between the probe or vibrator and the target object.

[0270] Or, the target value of the vibration parameter can also be automatically adjusted by the ultrasonic imaging system (for example, by its processor). For example, when the actual value of the current vibration parameter detected by the ultrasonic imaging system is not suitable (for example, the pressure between the probe or vibrator and the target object is too large or too small, etc.), the instruction of the target value of the corresponding vibration parameter that increases or decreases can be directly and automatically generated. After receiving the instruction, the processor 105 can increase or decrease the target value of the vibration parameter accordingly (for example, in the present example, the target pressure between the probe or vibrator and the target object). Then, the processor 105 calculates the drive signal adjustment amount according to the actual value of the current vibration parameter and the target value of the vibration parameter after adjustment, and adjusts the drive signal with the drive signal adjustment amount, obtains and updates the drive signal, and then drives the vibration mechanism 102 to drive the probe or vibrator to vibrate with the updated drive signal, thereby realizes the purpose of increasing or reducing the pressure between the probe or vibrator and the target object.

[0271] In one embodiment, the ultrasonic imaging system can detect the actual value of the current vibration parameter (for example, the pressure between the probe or vibrator and the target object, etc.) through a vibration parameter detection device (for example, a pressure sensor, etc.), and compare the actual value of the detected vibration parameter with a preset threshold or threshold range. When the actual value of the detected vibration parameter is greater than or less than the preset threshold, or is not within the set threshold range, or meets other certain set conditions, it is determined that the actual value of the current vibration parameter is inappropriate, thereby automatically generating an instruction to increase or decrease the target value of the corresponding vibration parameter (for example, the target pressure between the probe or vibrator and the target object). In other embodiments, the ultrasonic imaging system can also determine whether the actual value of the current vibration parameter is appropriate by processing and analyzing the ultrasonic echo signal received by the ultrasonic probe or the shear wave propagation parameter obtained according to the ultrasonic echo signal, and when it is determined that the actual value of the current vibration parameter is inappropriate, it automatically generates an instruction to increase or decrease the target value of the corresponding vibration parameter (for example, the target pressure between the probe or vibrator and the target object).

[0272] In one embodiment, the processor may adjust the target value of the vibration parameter according to at least one of the received input instruction, the actual value of the vibration parameter, the ultrasonic echo signal and the propagation parameter of the shear wave.

[0273] In the above embodiment, when adjusting the target value of the vibration parameter, the processor can directly adjust the target value of the vibration parameter to the desired value, or it can adjust the target value of the vibration parameter to be achieved in a certain step size (in this case, each step size can be considered to be a new target value of the vibration parameter).

[0274] The ultrasonic imaging device and method of the embodiments of the present invention detect the pressure of the probe between the target object after the probe starts to vibrate to determine whether the probe has empty vibration or sliding, and whether the measurement result is valid, thereby preventing the probe from being affected by empty vibration and affecting the service life of the probe, thereby improving the validity of the elasticity measurement result; and adjusting the channel signal of the probe according to the vibration signal to ensure that the actual vibration of the probe is stable, further improving the accuracy of elasticity detection.

[0275] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0276] In addition, those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0277] The technical terms used in the embodiments of the present invention are only used to illustrate specific embodiments and are not intended to limit the present invention. In this article, the singular forms "a", "the" and "" are used to include plural forms at the same time, unless the context clearly states otherwise. Further, the terms "including" and / or "comprising" used in the specification refer to the presence of features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements and / or components.

[0278] The equivalent forms (if any) of the corresponding structures, materials, actions and all means or steps and functional elements in the attached claims are intended to include any structure, material or action for performing the function in combination with other explicitly required elements. The description of the present invention is given for the purpose of embodiment and description, but is not intended to be exhaustive or to limit the invention to the disclosed form. Various modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the present invention. The embodiments described in the present invention can better reveal the principles and practical applications of the present invention and enable those of ordinary skill in the art to understand the present invention.

[0279] The flowchart described in the present invention is only an embodiment, and there may be various modifications to the diagram or the steps in the present invention without departing from the spirit of the present invention. For example, the steps may be performed in different orders, or some steps may be added, deleted or modified. A person skilled in the art may understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. An ultrasonic imaging device, characterized in that: include: Probe; a vibration mechanism that drives the vibrator or the probe to vibrate to generate shear waves that propagate in the target object; a transmitting circuit, wherein the transmitting circuit excites the probe to transmit ultrasonic waves toward the target object to detect the shear waves propagating in the target object; a receiving circuit, wherein the receiving circuit controls the probe to receive the ultrasonic echo returned from the target object to obtain an ultrasonic echo signal; a vibration state detection device, the vibration state detection device detecting the pressure between the vibrator or the probe and the target object; a processor, wherein the processor processes the ultrasonic echo signal to obtain a propagation parameter of the shear wave; in, The vibration state detection device detects the pressure between the vibrator or the probe and the target object during the vibration of the vibrator or the probe to obtain the pressure during vibration, wherein the vibration period of the vibrator or the probe includes the vibration link of the vibration mechanism and the residual vibration link of the vibration mechanism stopping working but continuing to vibrate; The processor determines the vibration state of the vibrator or the probe according to the vibration pressure.

2. The device according to claim 1, characterized in that The processor determining the vibration state of the vibrator or the probe according to the vibration pressure includes: When the vibration pressure is always less than a first threshold value within a preset time range, the processor determines that the vibrator or the probe is in an empty vibration state; and / or When the vibration pressure is less than a second threshold or greater than a third threshold, the processor determines that the vibrator or the probe is in an abnormal working state; and / or When the vibration pressure is greater than or equal to the second threshold and less than or equal to the third threshold, the processor determines that the vibrator or the probe is in a normal working state.

3. The device according to claim 2, characterized in that: When it is determined that the vibrator or the probe is in an abnormal working state, the processor prompts the user that the vibrator or the probe is in an abnormal working state.

4. The device according to claim 2, characterized in that: When it is determined that the vibrator or the probe is in an idle vibration state, the processor is further configured to perform at least one of the following steps: Prompt the user that the vibrator or the probe is in an empty vibration state; Controlling the vibrator or the probe to stop vibrating; not outputting the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration; The user is prompted that the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration are abnormal.

5. An ultrasonic imaging device, characterized in that: include: Probe; a vibration mechanism that drives the vibrator or the probe to vibrate to generate shear waves that propagate in the target object; a transmitting circuit, wherein the transmitting circuit excites the probe to transmit ultrasonic waves toward the target object to detect the shear waves propagating in the target object; a receiving circuit, wherein the receiving circuit controls the probe to receive the ultrasonic echo returned from the target object to obtain an ultrasonic echo signal; A vibration state detection device, wherein the vibration state detection device detects the vibration state of the vibrator or the probe during the vibration of the vibrator or the probe to obtain vibration state data, wherein the vibration period of the vibrator or the probe includes a vibration link of the vibration mechanism and a residual vibration link of the vibration mechanism stopping working but continuing to vibrate; a processor, wherein the processor processes the ultrasonic echo signal to obtain a propagation parameter of the shear wave; When the vibration status data indicates that the vibration status of the vibrator or the probe is abnormal, the processor performs at least one of the following steps: Prompting that the vibrator or the probe is in an abnormal state; Controlling the vibrator or the probe to stop vibrating; not outputting the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration; It is indicated that the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration are abnormal; Stop acquiring the propagation parameters of the shear wave through the ultrasonic imaging device.

6. An ultrasonic imaging device, characterized in that: include: Probe; a vibration mechanism that drives the vibrator or the probe to vibrate to generate shear waves that propagate in the target object; a transmitting circuit, wherein the transmitting circuit excites the probe to transmit ultrasonic waves toward the target object to detect the shear waves propagating in the target object; a receiving circuit, wherein the receiving circuit controls the probe to receive the ultrasonic echo returned from the target object to obtain an ultrasonic echo signal; A vibration state detection device, wherein the vibration state detection device detects the vibration state of the vibrator or the probe during the vibration of the vibrator or the probe to obtain vibration state data, wherein the vibration period of the vibrator or the probe includes a vibration link of the vibration mechanism and a residual vibration link of the vibration mechanism stopping working but continuing to vibrate; a processor, wherein the processor processes the ultrasonic echo signal to obtain a propagation parameter of the shear wave; in: When the vibration status data indicates that the vibration status of the vibrator or the probe is abnormal, the processor performs at least one of the following steps: Prompting that the vibrator or the probe is in an abnormal state; not outputting the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration; It is indicated that the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration are abnormal; Stop acquiring the propagation parameters of the shear wave through the ultrasonic imaging device; When the vibration status data indicates that the vibration status of the vibrator or the probe returns to normal, the processor performs at least one of the following steps: Prompting the vibrator or the probe to return to a normal state; Restoring and outputting the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration; Prompting that the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration have returned to normal; The propagation parameters of the shear wave acquired by the ultrasonic imaging device are restored.

7. The device according to claim 5 or 6, characterized in that: The vibration state detection device is a contact detection device for detecting the contact state between the vibrator or the probe and the target object, and the vibration state data is the contact state detection data obtained by the contact detection device; When the contact state detection data obtained by the contact detection device indicates that the vibrator or the probe is out of contact with the target object, it is determined that the vibration state of the vibrator or the probe is abnormal.

8. The device according to claim 7, characterized in that The contact detection device is at least one of a temperature sensor, a distance sensor, a pressure sensor, a resistance sensor, a capacitance sensor and a magnetic field sensor.

9. The device according to claim 5 or 6, characterized in that: The vibration state detection device is a pressure sensor for detecting the pressure between the vibrator or the probe and the target object, and the vibration center state data is the vibration center pressure between the vibrator or the probe and the target object obtained by the pressure sensor; in: When the vibration pressure is always less than the first threshold value within a preset time range, it is determined that the vibration state of the vibrator or the probe is abnormal; and / or When the vibration pressure is less than the second threshold or greater than the third threshold, it is determined that the vibration state of the vibrator or the probe is abnormal.

10. The device according to claim 6, characterized in that: The vibration state detection device is a pressure sensor for detecting the pressure between the vibrator or the probe and the target object, and the vibration center state data is the vibration center pressure between the vibrator or the probe and the target object obtained by the pressure sensor; When the vibration pressure is greater than or equal to the second threshold and less than or equal to the third threshold, it is determined that the vibration state of the vibrator or the probe has returned to normal.

11. An ultrasonic imaging method, characterized in that: include: driving the vibrator or the probe to vibrate to generate shear waves that propagate in the target object; Exciting the probe to transmit ultrasonic waves to the target object to detect the shear waves propagating in the target object; receiving an ultrasonic echo returned from the target object to obtain an ultrasonic echo signal; Processing the ultrasonic echo signal to obtain propagation parameters of the shear wave; Detecting the pressure between the vibrator or the probe and the target object during the vibration of the vibrator or the probe to obtain the pressure during vibration, wherein the vibration period of the vibrator or the probe includes the vibration link of the vibration mechanism and the residual vibration link of the vibration mechanism stopping working but continuing to vibrate; The vibration state of the vibrator or the probe is determined according to the vibration pressure.

12. The method according to claim 11, characterized in that Determining the vibration state of the vibrator or the probe according to the vibration pressure includes: When the vibration pressure is always less than a first threshold value within a preset time range, it is determined that the vibrator or the probe is in an empty vibration state; and / or When the vibration pressure is less than the second threshold or greater than the third threshold, it is determined that the vibrator or the probe is in an abnormal working state; and / or When the vibration pressure is greater than or equal to the second threshold and less than or equal to the third threshold, it is determined that the vibrator or the probe is in a normal working state.

13. The method according to claim 12, characterized in that Also includes: When it is determined that the vibrator or the probe is in an abnormal working state, the user is prompted that the vibrator or the probe is in an abnormal working state.

14. The method according to claim 12, characterized in that: When it is determined that the vibrator or the probe is in an empty vibration state, at least one of the following steps is also included: Prompt the user that the vibrator or the probe is in an empty vibration state; Controlling the vibrator or the probe to stop vibrating; not outputting the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration; The user is prompted that the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration are abnormal.

15. An ultrasonic imaging method, characterized in that: include: driving the vibrator or the probe to vibrate to generate shear waves that propagate in the target object; Exciting the probe to transmit ultrasonic waves to the target object to detect the shear waves propagating in the target object; receiving an ultrasonic echo returned from the target object to obtain an ultrasonic echo signal; Processing the ultrasonic echo signal to obtain propagation parameters of the shear wave; Detecting the vibration state of the vibrator or the probe during the vibration of the vibrator or the probe to obtain vibration state data, wherein the vibration period of the vibrator or the probe includes the vibration link of the vibration mechanism and the residual vibration link of the vibration mechanism stopping working but continuing to vibrate; When the vibration status data indicates that the vibration status of the vibrator or the probe is abnormal, at least one of the following steps is performed: Prompting that the vibrator or the probe is in an abnormal state; Controlling the vibrator or the probe to stop vibrating; not outputting the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration; It is indicated that the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration are abnormal; Stop acquiring the propagation parameters of the shear wave through the ultrasonic imaging device.

16. An ultrasonic imaging method, characterized in that: include: driving the vibrator or the probe to vibrate to generate shear waves that propagate in the target object; Exciting the probe to transmit ultrasonic waves to the target object to detect the shear waves propagating in the target object; receiving an ultrasonic echo returned from the target object to obtain an ultrasonic echo signal; Processing the ultrasonic echo signal to obtain propagation parameters of the shear wave; Detecting the vibration state of the vibrator or the probe during the vibration of the vibrator or the probe to obtain vibration state data, wherein the vibration period of the vibrator or the probe includes the vibration link of the vibration mechanism and the residual vibration link of the vibration mechanism stopping working but continuing to vibrate; in: When the vibration status data indicates that the vibration status of the vibrator or the probe is abnormal, at least one of the following steps is performed: Prompting that the vibrator or the probe is in an abnormal state; not outputting the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration; It is indicated that the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration are abnormal; Stop acquiring the propagation parameters of the shear wave through the ultrasonic imaging device; When the vibration status data indicates that the vibration status of the vibrator or the probe returns to normal, at least one of the following steps is performed: Prompting the vibrator or the probe to return to a normal state; Restoring and outputting the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration; Prompting that the propagation parameters of the shear wave obtained by the ultrasonic imaging device during the current vibration have returned to normal; The propagation parameters of the shear wave acquired by the ultrasonic imaging device are restored.

17. The method according to claim 15 or 16, characterized in that: The vibration state data is contact state detection data obtained by a contact detection device; When the contact state detection data obtained by the contact detection device indicates that the vibrator or the probe is out of contact with the target object, it is determined that the vibration state of the vibrator or the probe is abnormal.

18. The method according to claim 17, characterized in that The contact detection device is at least one of a temperature sensor, a distance sensor, a pressure sensor, a resistance sensor and a magnetic field sensor.

19. The method according to claim 15 or 16, characterized in that: The vibration center state data is the vibration center pressure between the vibrator or the probe and the target object obtained by a pressure sensor; in: When the vibration pressure is always less than the first threshold value within a preset time range, it is determined that the vibration state of the vibrator or the probe is abnormal; and / or When the vibration pressure is less than the second threshold or greater than the third threshold, it is determined that the vibration state of the vibrator or the probe is abnormal.

20. The method according to claim 18, characterized in that: The vibration center state data is the vibration center pressure between the vibrator or the probe and the target object obtained by a pressure sensor; When the vibration pressure is greater than or equal to the second threshold and less than or equal to the third threshold, it is determined that the vibration state of the vibrator or the probe has returned to normal.

21. An ultrasonic imaging device, characterized in that: include: Probe; a vibration mechanism, wherein the vibration mechanism drives the vibrator or the probe to vibrate under the control of a driving signal to generate a shear wave propagating in the target object; a transmitting circuit, wherein the transmitting circuit excites the probe to transmit ultrasonic waves toward the target object to detect the shear waves propagating in the target object; a receiving circuit, wherein the receiving circuit controls the probe to receive the ultrasonic echo returned from the target object to obtain an ultrasonic echo signal; A vibration parameter detection device, wherein the vibration parameter detection device detects an actual value of a vibration parameter of the vibrator or the probe, wherein the actual value of the vibration parameter includes waveform data; a processor, wherein the processor processes the ultrasonic echo signal to obtain a propagation parameter of the shear wave; Wherein, the processor is also used to determine the stability of the vibrator or the probe being driven to generate shear waves propagating in the target object based on the actual value of the vibration parameter detected by the vibration parameter detection device and the target value of the vibration parameter.

22. The device according to claim 21, characterized in that: The vibration parameters include at least one of the pressure between the vibrator or the probe and the target object, the vibration frequency of the vibrator or the probe, the vibration displacement of the vibrator or the probe, the vibration phase of the vibrator or the probe, the vibration duration of the vibrator or the probe, the vibration velocity of the vibrator or the probe and the vibration acceleration of the vibrator or the probe.

Images