Ultrasonic imaging method and system

Abstract

According to the ultrasonic imaging method and the ultrasonic imaging system, emission control information and receiving control information are fully utilized, the emission control information and the receiving control information of a fixed-point focusing emission mode are input into a related composite coefficient model, and a related composite coefficient equivalent to a continuous focusing emission mode is obtained; and processing the ultrasonic data by using the related composite coefficient, and further generating and displaying an ultrasonic image based on the processed data, so that the image resolution and / or the image frame rate can be improved.

Description

Technical Field

[0001] The present invention relates to the field of ultrasonic imaging, and in particular to an ultrasonic imaging method and an ultrasonic imaging system. Background Art

[0002] With the increasing popularity of ultrasonic medical equipment, the quality of ultrasonic images is crucial to doctors' diagnosis. The ultrasonic system processing device essentially determines the best level of image quality that can be achieved.

[0003] At present, most ultrasonic imaging equipment uses ultrasonic probes as signal transmitting and receiving devices. Take the array probe as an example. By setting different delay times for each array element, electronic focusing of the transmission beam can be achieved. In layman's terms, through the delay of the transmission time, the transmission beam of each array element will arrive at the focal position at the same time, so the energy at the focal position is superimposed to reach the strongest. Figure 1 It is a schematic diagram of a beam with different focusing points (or simply focal points).

[0004] For focused imaging, there is a significant difference between the image resolution outside the focus and the image resolution at the focus, and a large number of transmissions are required to form an image, which results in low temporal resolution of the imaging.

[0005] Some of these problems can be solved by multi-focus imaging, for example, by setting multiple focal points on each scan line. Specifically, the ultrasound probe is controlled to emit multiple pulse signals with different focal positions on each scan line, and then the corresponding echo signals are received and reconstructed. As long as the number of focal points is sufficient, the image resolution is relatively high everywhere. It can be seen that there are some problems with the multi-focus solution. For example, the multi-focus solution solves the contradiction between spatial resolution and image uniformity by sacrificing frame rate. For another example, the emission method of the multi-focus solution also determines that it is not suitable for ultrasound imaging of high-speed moving objects (such as the heart), because it will introduce a lot of motion artifact noise. Summary of the invention

[0006] In view of the above problems, the present invention provides an ultrasonic imaging method and an ultrasonic imaging system, which are described in detail below.

[0007] According to the first aspect, an embodiment provides an ultrasound imaging method, comprising:

[0008] Obtaining emission control information;

[0009] According to the transmission control information, the ultrasonic probe is controlled to transmit ultrasonic waves to the region of interest along multiple scanning lines in a fixed-point focusing transmission mode, wherein each scanning line in the fixed-point focusing transmission mode includes a focus, and each focus corresponds to the transmission control information;

[0010] Acquire reception control information, each focus corresponding to the reception control information;

[0011] Controlling the ultrasonic probe to receive the ultrasonic echo signal returned by the region of interest according to the receiving control information to obtain ultrasonic data;

[0012] Inputting the emission control information of each of the focus and the reception control information of each of the focus into a correlation compound coefficient model to obtain the correlation compound coefficient equivalent to the continuous focus emission mode, wherein each of the scanning lines in the continuous focus emission mode includes a plurality of focus points; wherein the correlation compound coefficient model is used to take the emission control information and the reception control information as input data, and output the correlation compound coefficient equivalent to the continuous focus emission mode after processing; the correlation compound coefficient model is obtained by training with a training set, wherein the data of the training set includes first data and second data, wherein the label of the first data is the second data, wherein the first data is the emission control information and the reception control information related to the fixed-point focus emission mode, and the second data is the simulated correlation compound coefficient equivalent to the continuous focus emission mode;

[0013] Performing beam synthesis on the ultrasound data based at least on the correlation composite coefficient to obtain beam synthesized data;

[0014] An ultrasound image is generated based on the beamformed data, and the ultrasound image is displayed.

[0015] In one embodiment, the related compound coefficient model includes an input layer, an intermediate layer and an output layer, and the intermediate layer includes a convolutional layer or a hidden layer; the related compound coefficient model extracts features of the transmission control information and the reception control information input through the input layer through the intermediate layer, and outputs the related compound coefficients equivalent to the continuous focusing transmission mode through the output layer based on the extracted features.

[0016] In one embodiment, the relevant composite coefficient model includes: a model based on a convolutional neural network, a model based on a recurrent neural network, a model based on an adversarial neural network, a model based on an attention neural network, or a model based on a fully linked network.

[0017] In one embodiment, the input layer includes a first input element and a second input element different from the first input element, the first input element is used to receive the transmission control information, and the second input element is used to receive the reception control information.

[0018] In one embodiment, the transmission control information includes at least one of: ultrasonic amplitude, ultrasonic frequency, ultrasonic transmission times, ultrasonic transmission angle, ultrasonic waveform and ultrasonic focusing position.

[0019] In one embodiment, the transmission control information further includes at least one of a chip size of the ultrasonic probe and a chip position of the ultrasonic probe.

[0020] In one embodiment, the receiving control information includes at least one of a receiving position, a receiving line number, and a multiplexing number.

[0021] In one embodiment, the performing beam synthesis on the ultrasound data at least based on the correlation composite coefficient to obtain beam synthesized data includes: performing transmit coherent synthesis on the ultrasound data based on the correlation composite coefficient.

[0022] According to the second aspect, an embodiment provides an ultrasound imaging method, comprising:

[0023] Controlling the ultrasonic probe to transmit ultrasonic waves to the region of interest along a plurality of scanning lines in a fixed-point focusing transmission mode, wherein each scanning line in the fixed-point focusing transmission mode includes a focus;

[0024] Controlling the ultrasonic probe to receive the ultrasonic return signal returned by the region of interest, and obtaining first ultrasonic data corresponding to the fixed-point focusing transmission mode;

[0025] The first ultrasonic data is input into a continuous focusing emission model to obtain second ultrasonic data corresponding to a continuous focusing emission mode, wherein each of the scanning lines in the continuous focusing emission mode includes a plurality of focal points; wherein the continuous focusing emission model is used to take the first ultrasonic data corresponding to the fixed-point focusing emission mode as input data, and output the second ultrasonic data corresponding to the continuous focusing emission mode after processing; the continuous focusing emission model is obtained by training with a training set, wherein the data of the training set includes first data and second data, the label of the first data is the second data, the first data set is the first ultrasonic data corresponding to the fixed-point focusing emission mode, and the second data set is the second ultrasonic data corresponding to the continuous focusing emission mode;

[0026] An ultrasound image is displayed based on the second ultrasound data.

[0027] In one embodiment, the first ultrasound data includes data of a first processing link in the ultrasound imaging process; the second ultrasound data includes data of a second processing link in the ultrasound imaging process; wherein the first processing link is the same as the second processing link, or the second processing link is located after the first processing link.

[0028] In one embodiment, the processing steps of the ultrasonic imaging process include: receiving and forming channel data step, analog-to-digital conversion step, signal demodulation step, amplification step, filtering step, downsampling step, data normalization step, principal component analysis step, data enhancement step, data rearrangement step, beam synthesis step, modulo step, logarithmic compression step and grayscale transformation step.

[0029] In one embodiment, the continuous focused emission model includes an input layer, an intermediate layer and an output layer, the intermediate layer includes a convolutional layer or a hidden layer; the continuous focused emission model extracts features of the first ultrasonic data corresponding to the fixed-point focused emission mode input through the input layer through the intermediate layer, and outputs the second ultrasonic data corresponding to the continuous focused emission mode through the output layer based on the extracted features.

[0030] In one embodiment, the continuous focused emission model includes: a model based on a convolutional neural network, a model based on a recurrent neural network, a model based on an adversarial neural network, a model based on an attention neural network, or a model based on a fully linked network.

[0031] According to a third aspect, an embodiment provides an ultrasound imaging method, comprising:

[0032] Controlling the ultrasound probe to transmit ultrasound to the region of interest along a plurality of scan lines in a first focused transmission mode, wherein each of the scan lines in the first focused transmission mode includes one or more focal points;

[0033] Controlling the ultrasonic probe to receive the ultrasonic return signal returned by the region of interest, and obtaining first ultrasonic data corresponding to the first focused transmission mode;

[0034] The first ultrasonic data is input into a second focused emission model to obtain second ultrasonic data corresponding to a second focused emission mode, wherein the number of focal points contained in each of the scan lines in the second focused emission mode is greater than the number of focal points contained in each of the scan lines in the first focused emission mode; wherein the second focused emission model is used to take the first ultrasonic data corresponding to the first focused emission mode as input data, and output the second ultrasonic data corresponding to the second focused emission mode after processing; the second focused emission model is obtained by training with a training set, wherein the data of the training set includes first data and second data, the label of the first data is the second data, the first data set is the first ultrasonic data corresponding to the first focused emission mode, and the second data set is the second ultrasonic data corresponding to the second focused emission mode;

[0035] An ultrasound image is displayed based on the second ultrasound data.

[0036] In one embodiment, the first ultrasound data includes data of a first processing link in the ultrasound imaging process; the second ultrasound data includes data of a second processing link in the ultrasound imaging process; wherein the first processing link is the same as the second processing link, or the second processing link is located after the first processing link.

[0037] In one embodiment, the processing steps of the ultrasonic imaging process include: receiving and forming channel data step, analog-to-digital conversion step, signal demodulation step, amplification step, filtering step, downsampling step, data normalization step, principal component analysis step, data enhancement step, data rearrangement step, beam synthesis step, modulo step, logarithmic compression step and grayscale transformation step.

[0038] In one embodiment, the second focused emission model includes an input layer, an intermediate layer and an output layer, the intermediate layer includes a convolutional layer or a hidden layer; the second focused emission model extracts features of the first ultrasonic data corresponding to the first focused emission mode input through the input layer through the intermediate layer, and outputs the second ultrasonic data corresponding to the second focused emission mode through the output layer based on the extracted features.

[0039] In one embodiment, the second focused emission model includes: a model based on a convolutional neural network, a model based on a recurrent neural network, a model based on an adversarial neural network, a model based on an attention neural network, or a model based on a fully linked network.

[0040] In one embodiment, the first focusing emission mode includes a fixed-point focusing emission mode; and / or the second focusing emission mode includes a continuous focusing emission mode.

[0041] According to a fourth aspect, an embodiment provides an ultrasound imaging method, comprising:

[0042] Obtaining emission control information;

[0043] Controlling the ultrasound probe to transmit ultrasound to the region of interest in a fixed-point focusing transmission mode according to the transmission control information;

[0044] Get receiving control information;

[0045] Controlling the ultrasonic probe to receive the ultrasonic echo signal returned by the region of interest according to the receiving control information to obtain ultrasonic data;

[0046] The transmission control information and the reception control information are input into a correlation compound coefficient model to obtain a correlation compound coefficient equivalent to a continuous focusing transmission mode; wherein the correlation compound coefficient model is used to take the transmission control information and the reception control information as input data, and output the correlation compound coefficient equivalent to the continuous focusing transmission mode after processing; the correlation compound coefficient model is obtained by training a training set, wherein the data of the training set includes first data and second data, the label of the first data is the second data, the first data is the transmission control information and the reception control information related to the fixed-point focusing transmission mode, and the second data is the simulated correlation compound coefficient equivalent to the continuous focusing transmission mode;

[0047] The ultrasound data is beamformed at least based on the correlation composite coefficient to obtain beamformed data; an ultrasound image is generated based on the beamformed data, and the ultrasound image is displayed.

[0048] According to a fifth aspect, an embodiment provides an ultrasound imaging method, comprising:

[0049] Controlling the ultrasound probe to transmit ultrasound to the region of interest in a first focused transmission mode;

[0050] Controlling the ultrasonic probe to receive the ultrasonic return signal returned by the region of interest, and obtaining first ultrasonic data corresponding to the first focused transmission mode;

[0051] The first ultrasonic data is input into a second focused emission model to obtain second ultrasonic data corresponding to the second focused emission mode; wherein the second focused emission model is used to take the first ultrasonic data corresponding to the first focused emission mode as input data, and output the second ultrasonic data corresponding to the second focused emission mode after processing; the second focused emission model is obtained by training with a training set, the data of the training set includes first data and second data, the label of the first data is the second data, the first data set is the first ultrasonic data corresponding to the first focused emission mode, and the second data set is the second ultrasonic data corresponding to the second focused emission mode;

[0052] An ultrasound image is displayed based on the second ultrasound data.

[0053] According to a fifth aspect, an embodiment provides an ultrasound imaging system, comprising: an ultrasound probe, a transmission and reception control circuit, a processing unit, and a display unit;

[0054] The ultrasonic probe is used to transmit ultrasonic waves to the region of interest and receive ultrasonic echo signals of the ultrasonic waves;

[0055] The transmitting and receiving control circuit is used to control the ultrasonic probe to transmit the ultrasonic wave and receive the ultrasonic echo signal;

[0056] The display unit is used to display the ultrasound image;

[0057] The processing unit is used to execute the method described in any embodiment of the present invention.

[0058] According to the ultrasound imaging method and ultrasound imaging system of some of the above embodiments, the transmission control information and the reception control information are fully utilized, and the two are input into the correlation composite coefficient model to obtain the correlation composite coefficient, and then the correlation composite coefficient is used to process the ultrasound data, so as to improve the image resolution and / or the image frame rate;

[0059] According to the ultrasound imaging method and ultrasound imaging system of some of the above-mentioned embodiments, ultrasound data of a first focused transmission mode is used to obtain ultrasound data of a second focused transmission mode. This provides support for the conversion of ultrasound data such as a fixed-point focusing mode to ultrasound data in a continuous focusing mode, and can improve factors such as image frame rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 is a schematic diagram of beam transmission with different focus positions in one embodiment;

[0061] Figure 2 A schematic diagram of fixed-point focusing emission in one embodiment;

[0062] Figure 3 is a schematic structural diagram of an ultrasonic imaging system according to an embodiment;

[0063] FIG. 4( a ) is a schematic diagram showing an example of performing data rearrangement; FIG. 4( b ) is a schematic diagram showing another example of performing data rearrangement; FIG. 4( c ) is a schematic diagram showing yet another example of performing data rearrangement;

[0064] Figure 5 A schematic diagram of a flow chart of an ultrasonic imaging method according to an embodiment;

[0065] Figure 6 A schematic diagram of the structure of a related composite coefficient model of an embodiment;

[0066] Figure 7 A schematic diagram of the structure of a related composite coefficient model of an embodiment;

[0067] Figure 8 A schematic diagram of a flow chart of an ultrasonic imaging method according to an embodiment;

[0068] Fig. 9 A schematic structural diagram of a second focused emission model according to an embodiment. DETAILED DESCRIPTION

[0069] The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are for making the present application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, this is to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

[0070] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0071] The serial numbers of the components in this document, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0072] An imaging process and signal processing process can be as follows: ultrasonic waves are emitted, and after propagating to the imaging area, they are scattered by the tissue, and the probe array element receives the scattered echo signal, and then performs receiving front-end processing on it, such as signal amplification, analog-to-digital conversion, receiving coherent synthesis, etc., and then performs signal processing, such as envelope detection, logarithmic compression, spatial smoothing and other signal processing links. With the change of the transmission line and the receiving line, the above processing is repeated many times to complete the scanning of a frame of the image, and then enters the scan conversion, processed into visual information, and finally displayed.

[0073] A key step is the beam synthesis step. When performing beam synthesis, if the parameters used are fixed and do not change with depth, the echoes are only coherently superimposed at fixed positions. This is called receiving fixed-point focusing. If the parameters change dynamically with depth or time, it is guaranteed that the received echo signals are coherently compounded at each depth sampling point. This is called receiving dynamic focusing, or receiving continuous focusing. This receiving beam is uniform throughout the field. This method is currently the mainstream method. In addition, if the transmission is a fixed-delay transmission, the transmission beam is fixed-point focused, and its transmission beam width changes with depth. Only at the focal point is the transmission beam width the narrowest ΔX. xmt (indicates the transmit beam width), such as Figure 2 As shown; therefore, for fixed-point focused transmission, even if it adopts the receiving connection focusing method, it can only obtain images of good quality at a depth near the transmitting focus, while the near / far field has a decrease in spatial resolution and prominent side lobes, resulting in a decrease in image quality, and the farther away from the focal depth, the more obvious the image quality decreases, and the problem of image non-uniformity in the entire field is prominent. This is because: due to the receiving connection focusing method, the receiving pair has little effect on the lateral resolution, but the emitted focused beam is a real transmitted ultrasonic beam based on time delay, and its beam is narrow at the focus and wide at the out-of-focus point; so for the same transmitted wave, the lateral resolution is low where the beam is wide, and the lateral resolution is high where the beam is narrow; therefore, the lateral resolution of focused wave imaging is generally high at the focus, and the resolution gradually decreases away from the focus.

[0074] Dynamic focusing transmission (continuous focusing transmission) can also be achieved through multi-element combined transmission, so that the beam has good convergence within the entire detection depth, but this transmission method is more complex to control and has higher costs.

[0075] For example, for a fixed-point focused transmission, the actual beam transmitted is narrow at the focus and wide elsewhere, spanning the ΔX of multiple beams. xmt width, so this feature is used to jointly process the multiple transmitted ultrasonic beams. For example, each point is processed in this way along the depth direction, so a synthetic continuously focused ultrasonic beam can be obtained. For this purpose, the same receiving line needs to be covered by multiple transmissions, and one transmitting line (scanning line) corresponds to multiple receiving lines.

[0076] First, a description is given of the ultrasound imaging system.

[0077] Please refer to Figure 3 , an ultrasound imaging system of some embodiments includes an ultrasound probe 10, a transmission and reception control circuit 20, a processing unit 30 and a display unit 40, and each component is described below.

[0078] The ultrasonic probe 10 is used to transmit ultrasonic waves to an area of ​​interest, such as a target tissue 60, and to receive echo signals of ultrasonic waves. In some specific embodiments, the ultrasonic probe 10 includes a plurality of array elements, which are used to realize the mutual conversion between electrical pulse signals and ultrasonic waves, so as to realize the transmission of ultrasonic waves to the target tissue 60 (biological tissue in a human or animal body) and receive ultrasonic echoes reflected by the tissue to obtain echo signals of ultrasonic waves. In some embodiments, the plurality of array elements included in the ultrasonic probe 10 can be arranged in a row to form a linear array. In some embodiments, the plurality of array elements included in the ultrasonic probe 10 are arranged in a two-dimensional matrix to form a surface array. The array element, for example, uses a piezoelectric crystal to convert an electrical signal into an ultrasonic signal according to a transmission sequence transmitted by the transmitting and receiving control circuit 20. According to the purpose, the transmitted ultrasonic wave (ultrasound signal) may include one or more scanning pulses, one or more reference pulses, one or more push pulses and / or one or more Doppler pulses. According to the wave form, the ultrasonic signal includes a focused wave, a plane wave and a divergent wave. The array element is used to transmit ultrasonic waves according to an excitation electrical signal, or to convert the received ultrasonic waves into electrical signals. Therefore, each array element can be used to realize the mutual conversion between the electric pulse signal and the ultrasonic wave, so as to realize the transmission of the ultrasonic wave to the target tissue 60, and can also be used to receive the echo signal of the ultrasonic wave reflected by the tissue. When performing ultrasonic detection, the transmission and reception control circuit 20 can be used to control which array elements are used to transmit the ultrasonic beam (transmitting array element) and which array elements are used to receive the ultrasonic beam (receiving array element), or control the array elements to transmit the ultrasonic wave or receive the ultrasonic wave echo in time slots. The array elements participating in the ultrasonic wave transmission can be excited by the electric signal at the same time, so as to transmit the ultrasonic wave at the same time; or the array elements participating in the ultrasonic wave transmission can also be excited by several electric signals with a certain time interval, so as to continuously transmit the ultrasonic wave with a certain time interval. If the minimum processing area for receiving and reflecting the ultrasonic wave in the target tissue 60 is called the position point in the tissue, after the ultrasonic wave reaches each position point of the target tissue 60, different reflections will be generated due to the different tissue acoustic impedances at different position points, and the reflected ultrasonic wave will be picked up by the receiving array element, and each receiving array element may receive the ultrasonic wave echoes (ultrasonic echoes) of multiple position points, and the ultrasonic echoes of different position points received by each receiving array element form different channel echo data. For a certain receiving array element, the distance from it to different positions in the target tissue 60 is different, so the time for the ultrasonic echo reflected from each position point to reach the array element is also different. The correspondence between the ultrasonic echo and the position point can be identified based on the time when the ultrasonic echo reaches the array element.

[0079] In some examples, the region of interest can be selected by the user. For example, when a conventional ultrasound image is displayed on the display unit 40, the user can select the region of interest on the conventional ultrasound image to determine the target tissue to be scanned. In some examples, the processing unit 30 can also automatically determine the position of the region of interest on the basic ultrasound image based on the relevant machine recognition algorithm to determine the target tissue to be scanned. In some examples, the region of interest can also be obtained by semi-automatic detection to determine the target tissue to be scanned. For example, the processing unit 30 first automatically detects the position of the region of interest on the basic ultrasound image based on the machine recognition algorithm, and then the user further modifies or corrects it to obtain a more accurate position of the region of interest.

[0080] The transmitting and receiving control circuit 20 is used to control the ultrasonic probe 10 to transmit ultrasonic waves and receive ultrasonic echo signals. For example, the transmitting and receiving control circuit 20 is used to control the ultrasonic probe 10 to transmit ultrasonic waves to the target tissue 60 on the one hand, and to control the ultrasonic probe 10 to receive ultrasonic echoes reflected by the tissue on the other hand. In some specific embodiments, the transmitting and receiving control circuit 20 is used to generate a transmitting sequence and a receiving sequence, and output them to the ultrasonic probe 10. The transmitting sequence is used to control part or all of the multiple array elements in the ultrasonic probe 10 to transmit ultrasonic waves to the target tissue 60. The parameters of the transmitting sequence include the number of array elements used for transmission and ultrasonic transmission parameters (such as amplitude, frequency, number of wave transmissions, transmission interval, transmission angle, waveform and / or focus position, etc.). The receiving sequence is used to control part or all of the multiple array elements to receive the echo of the ultrasonic wave after passing through the tissue. The parameters of the receiving sequence include the number of array elements used for reception and the receiving parameters of the echo (such as reception angle, depth, etc.). The ultrasonic parameters in the transmitting sequence and the echo parameters in the receiving sequence are different depending on the use of the ultrasonic echo or the image generated according to the ultrasonic echo.

[0081] The processing unit 30 is used to process the ultrasonic echo signal (i.e., the ultrasonic echo signal) received by the ultrasonic probe 10, and can perform data processing in one or more links, such as receiving and forming channel data, analog-to-digital conversion, signal demodulation, amplification, filtering, downsampling, beamforming, modulo, logarithmic compression and grayscale conversion, etc.; the following is an explanation of each data processing link.

[0082] The array elements of the ultrasonic probe 10 receive the ultrasonic echo signal and convert it into data represented by an electrical signal. The data is an analog signal, and then a digital signal is obtained after the analog-to-digital conversion link. The signal demodulation link refers to the signal demodulation of the input ultrasonic data, wherein the input ultrasonic data can be a digital signal obtained after the analog-to-digital conversion link; the demodulation method can include: simple demodulation, orthogonal demodulation, Hilbert transform demodulation, secondary sampling demodulation, multiple sampling demodulation or baseband sampling demodulation, etc. The commonly used demodulation method is orthogonal demodulation. That is, the received echo signal is divided into two paths, and multiplied by cos(ωnT s ) and sin(ωnT s ). The amplification processing link includes: according to the different receiving moments of the ultrasonic data, using different amplification factors to amplify the ultrasonic data to compensate for the attenuation of the data signal; or, according to the different positions of the ultrasonic data, giving different amplification factors to compensate for the attenuation of the data signal; the amplification processing link may be after the signal demodulation link.

[0083] The filtering process is usually performed after signal demodulation, for example, by a low-pass filter to improve the signal quality. Downsampling is to reduce the sampling rate of the signal and reduce the amount of calculation. Data normalization can include scaling normalization or standard normalization. Data normalization can limit the data to a certain range, thereby eliminating the adverse effects caused by singular (sample) data.

[0084] Principal component analysis includes: centering the ultrasound data to obtain features, solving the covariance matrix of the features, solving the eigenvalues ​​of the covariance matrix, selecting the maximum eigenvalue to form a eigenvector, and projecting the ultrasound data to the eigenvector; principal component analysis mainly plays the role of reducing the feature dimension of the data.

[0085] Data enhancement includes translating and / or adding noise to ultrasound data, which is to improve the accuracy of neural network processing data. For example, when training a neural network, in limited training data, operations such as translating and adding noise to the data expand the size of the data set, thereby enhancing the accuracy of the neural network.

[0086] The data rearrangement includes rearranging the ultrasonic data in at least one of the following ways: arranging the ultrasonic data received by each array element of the ultrasonic probe 10 into two columns after demodulation (one column is I data and the other column is Q data. Assuming that the data received by a certain array element is (Npoint*1), it is arranged in two columns as shown in FIG. 4(a) I1Q1 two columns of data) or arranging it into one column before demodulation; arranging the ultrasonic echo data (Npoint*2n) received by all effective array elements of the ultrasonic probe 10 after the ultrasonic probe 10 transmits the ultrasonic wave at the same time into a matrix (as shown in FIG. 4(b) I1Q1...I n Q nThe ultrasonic echo data (Npoint*1) received by each array element of the ultrasonic probe 10 is divided into multiple (for example, m) and then arranged into a matrix (Npoint / m, 2m, as shown in FIG. 4(c)). 1-1 Q 1-1 ,I 1-2 Q 1-2 Figure 4(c) shows an example where m is 2. It should be noted that if the data is before demodulation, it is no longer arranged in two columns, i.e. Figure 4(a) to Figure 4(c) The number of columns in is reduced by half. In addition, in other examples, Figure 4(a) to Figure 4(c) The rearranged data can be combined into three-dimensional or even higher-dimensional data input. The rearranged data is input into the neural network as the input data of the neural network, which can improve the accuracy of the neural network.

[0087] The beamforming link refers to the reconstruction and transformation of channel echo data (which can be the RF signal before demodulation or the baseband signal after demodulation) from the channel domain (for example, the data dimension is: time direction * number of channels * number of transmissions) into beam domain data (i.e. beamforming data, for example, the data dimension is: number of vertical points * number of horizontal points, which are points in the actual physical space); beamforming can adopt a variety of beamforming methods, including but not limited to the delay avaricant sum (DAS) method, adaptive beamforming method, coherence factor beamforming method, and so on.

[0088] Modulo, logarithmic compression and grayscale transformation are the processing steps for ultrasound data in the image domain. These three items can also be collectively referred to as scan conversion.

[0089] The processing unit 30 processes the ultrasonic echo signal to finally obtain an ultrasonic image for display by the display unit 40 .

[0090] In some embodiments, the processing unit 30 includes but is not limited to a central processing unit (CPU), a micro controller unit (MCU), a field programmable gate array (FPGA), a digital signal processing (DSP), and other devices for interpreting computer instructions and processing data in computer software.

[0091] In some embodiments, the processing unit 30 is used to execute various computer applications in the non-transitory computer-readable storage medium, thereby performing corresponding steps and methods.

[0092] In some embodiments, the processing unit 30 processes the ultrasound data by executing an ultrasound imaging method to generate an ultrasound image.

[0093] The display unit 40 may be used to display information, such as displaying parameters and images calculated by the processing unit 30. Those skilled in the art should understand that, in some embodiments, the ultrasound imaging system itself may not integrate a display module, but may be connected to a computer device (such as a computer) to display information through a display module (such as a display screen) of the computer device.

[0094] The above are some descriptions of the ultrasound imaging system.

[0095] In some schemes, in the fixed-point focusing transmission mode, the transmission control information and the reception control information are input into the correlation compound coefficient model to obtain the correlation compound coefficient equivalent to that required for the continuous focusing transmission mode, and then the ultrasound data is processed (such as beam synthesis) based on the obtained correlation compound coefficient. This has many benefits, such as improving image resolution, reducing transmission time and increasing image frame rate, and being suitable for imaging of target tissues such as the heart.

[0096] Please refer to Figure 5 , the ultrasound imaging method in some embodiments comprises the following steps:

[0097] Step 100: Acquire transmission control information.

[0098] The emission control information is used to describe the information related to the emission of the ultrasonic probe, such as the amplitude of the ultrasonic wave, the frequency of the ultrasonic wave, the number of ultrasonic wave emissions, the ultrasonic wave emission angle, the ultrasonic wave type and the ultrasonic wave focal position, and the crystal element size and crystal element position of the ultrasonic probe. Therefore, in some embodiments, the emission control information includes at least one of the amplitude of the ultrasonic wave, the frequency of the ultrasonic wave, the number of ultrasonic wave emissions, the ultrasonic wave emission angle, the ultrasonic wave type, the ultrasonic wave focal position (i.e., focus), the crystal element size and the crystal element position of the ultrasonic probe.

[0099] Step 110: Control the ultrasound probe to transmit ultrasound to the region of interest in a fixed-point focusing transmission mode according to the transmission control information. For example, step 110 controls the ultrasound probe to transmit ultrasound to the region of interest along multiple scan lines in a fixed-point focusing transmission mode according to the transmission control information, wherein each scan line in the fixed-point focusing transmission mode includes a focus, and each focus corresponds to the transmission control information.

[0100] Step 120: Acquire reception control information. For example, each focus corresponds to reception control information.

[0101] The receiving control information is used to describe the information related to the ultrasound probe and reception, such as the receiving position, the number of receiving lines, and the number of multiplexing times. Therefore, in some embodiments, the receiving control information includes at least one of the receiving position, the number of receiving lines, and the number of multiplexing times.

[0102] In some embodiments, the number of receiving lines may be determined according to the beam width of the receiving continuous focusing.

[0103] Step 130: Control the ultrasonic probe to receive the ultrasonic echo signal returned by the region of interest according to the receiving control information to obtain ultrasonic data.

[0104] Step 140: Input the transmission control information and the reception control information into the relevant composite coefficient model to obtain the relevant composite coefficient equivalent to the continuous focus transmission mode. For example, step 140 inputs the transmission control information of each focus and the reception control information of each focus into the relevant composite coefficient model to obtain the relevant composite coefficient equivalent to the continuous focus transmission mode, in which each scan line includes multiple focuses. In some embodiments, the number of scan lines of the fixed-point focus transmission mode and the continuous focus transmission mode involved in step 110 and step 140 is the same and corresponds one to one.

[0105] In some embodiments, the correlation composite coefficient model is used to take the transmission control information and the reception control information as input data, and after processing, output the correlation composite coefficient equivalent to that required by the continuous focusing transmission mode. Figure 6 In some embodiments, the related composite coefficient model includes an input layer 141, an intermediate layer 142 and an output layer 143, wherein the intermediate layer 143 includes a convolutional layer or a hidden layer; the related composite coefficient model extracts features of the transmission control information and the reception control information input through the input layer 141 through the intermediate layer 142, and outputs the related composite coefficient equivalent to the continuous focusing transmission mode through the output layer 143 based on the extracted features. Please refer to Figure 7In some implementation examples, the input layer 141 includes a first input element 141a and a second input element 141b different from the first input element 141a, the first input element 141a is used to receive transmission control information, and the second input element 141b is used to receive control information. It can be understood that the number of first input elements 141a can be multiple, which is related to the type of transmission control information. Each type of transmission control information is fixed to a first input element 141a. For example, when the transmission control information includes the amplitude of the ultrasonic wave, the frequency of the ultrasonic wave, the number of ultrasonic transmissions, the ultrasonic transmission angle and the focal position of the ultrasonic wave, the number of first input elements 141a is 5, which may be named as first input element 141a-1, first input element 141a-2, first input element 141a-3, first input element 141a-4, and first input element 141a-5 respectively. The first input element 141a-1 is used to fix the amplitude of the input ultrasonic wave, the first input element 141a-2 is used to fix the frequency of the input ultrasonic wave, the first input element 141a-3 is used to fix the number of input ultrasonic transmissions, the first input element 141a-4 is used to fix the input ultrasonic transmission angle, and the first input element 141a-5 is used to fix the focal position of the input ultrasonic wave. Similarly, the number of second input elements 141b can be multiple, which is related to the type of receiving control information. Each type of receiving control information is fixed to a second input element 141b. For example, when the receiving control information includes the receiving position, the number of receiving lines and the number of compounding times, the number of second input elements 141b is 3, which may be named as second input element 141b-1, second input element 141b-2, and second input element 141b-3 respectively. The second input element 141b-1 is used to fix the input receiving position, the second input element 141b-2 is used to fix the input receiving line number, and the second input element 141b-3 is used to fix the input compounding number.

[0106] In some embodiments, the correlation composite coefficient model is obtained by training a training set, the data of the training set includes first data and second data, the label of the first data is the second data, the first data is the transmission control information and the receiving control information related to the fixed-point focusing transmission mode, and the second data is the simulated correlation composite coefficient required for the equivalent continuous focusing transmission mode.

[0107] In some embodiments, in the process of training the correlation compound coefficient model based on the first data and the second data, the first data is input into the correlation compound coefficient model, and through iteration, the output data of the correlation compound coefficient model is continuously approached to the second data; for example, the error between the output data of the correlation compound coefficient model and the second data is estimated, and the parameters of the correlation compound coefficient model are updated according to the error, and the above steps are continuously repeated to repeatedly update the parameters of the correlation compound coefficient model until the error between the output data of the correlation compound coefficient model and the second data is within a preset range.

[0108] In some embodiments, the relevant composite coefficient model includes: a model based on a convolutional neural network, a model based on a recurrent neural network, a model based on an adversarial neural network, a model based on an attention neural network, or a model based on a fully linked network.

[0109] Step 150: Perform beam synthesis on the ultrasound data based at least on the relevant composite coefficient to obtain beam synthesized data.

[0110] The data obtained by beamforming the ultrasonic data obtained in the fixed-point focusing transmission mode based on the relevant composite coefficient is equivalent to the ultrasonic data obtained by controlling the ultrasonic probe to transmit ultrasonic waves to the area of ​​interest in the continuous focusing transmission mode.

[0111] In some embodiments, step 150 performs transmit coherent synthesis on the ultrasound data based on the relevant composite coefficient. Therefore, the ultrasound data obtained after transmit coherent synthesis is equivalent to the ultrasound data obtained after controlling the ultrasound probe to transmit ultrasound to the region of interest in a continuous focused transmission mode.

[0112] In step 150, in addition to beamforming the ultrasound data based on the correlation compound coefficient, other beamforming coefficients may be combined to beamform the ultrasound data. For example, step 150 beamforms the ultrasound data based on the correlation compound coefficient and the reception compound coefficient; in some embodiments, step 150 performs transmit coherent synthesis on the ultrasound data based on the correlation compound coefficient, and step 150 performs receive coherent synthesis on the ultrasound data based on the reception compound coefficient.

[0113] Step 160: Generate an ultrasound image based on the beamformed data and display the ultrasound image. For example, step 160 performs modulus, logarithmic compression, and grayscale transformation on the beamformed data to obtain an ultrasound image for display.

[0114] In some embodiments, ultrasound data in one focused transmission mode may be obtained based on ultrasound data in another focused transmission mode.

[0115] Please refer to Figure 8 , the ultrasound imaging method in some embodiments comprises the following steps:

[0116] Step 200: Control the ultrasound probe to transmit ultrasound to the region of interest in a first focused transmission mode. For example, step 200 controls the ultrasound probe to transmit ultrasound to the region of interest along multiple scan lines in a first focused transmission mode, where each scan line in the first focused transmission mode includes one or more focal points.

[0117] Step 210: Control the ultrasonic probe to receive the ultrasonic return signal returned by the region of interest, and obtain first ultrasonic data corresponding to the first focused transmission mode.

[0118] Step 220: Input the first ultrasound data into the second focused emission model to obtain second ultrasound data corresponding to the second focused emission mode. In some embodiments, the number of focal points contained in each scan line in the second focused emission mode is greater than the number of focal points contained in each scan line in the first focused emission mode. In some embodiments, the first focused emission mode and the second focused emission mode involved in steps 200 and 220 have the same number of scan lines and correspond one to one.

[0119] In some embodiments, the second focused transmission model is used to take the first ultrasound data corresponding to the first focused transmission mode as input data, and output the second ultrasound data corresponding to the second focused transmission mode after processing.

[0120] In some embodiments, the first ultrasound data includes data from a first processing step in the ultrasound imaging process; the second ultrasound data includes data from a second processing step in the ultrasound imaging process; wherein the first processing step is the same as the second processing step, or the second processing step is located after the first processing step.

[0121] In some embodiments, the processing links of the ultrasound imaging process include: receiving and forming channel data link, analog-to-digital conversion link, signal demodulation link, amplification link, filtering link, downsampling link, data normalization link, principal component analysis link, data enhancement link, data rearrangement link, beam synthesis link, modulus link, logarithmic compression link and grayscale transformation link, etc. The first processing link can be any of the above processing links, for example, the first ultrasound data includes the ultrasound data output by the receiving and forming channel data link, for example, the first ultrasound data includes the ultrasound data output by the signal demodulation link, for example, the first ultrasound data includes the ultrasound data output by the beam synthesis link, and so on.

[0122] In some embodiments, the first processing link is the same as the second processing link, and therefore, the second ultrasound data includes data from the same data processing link as the first ultrasound data. In this article, the second ultrasound data includes data from the same data processing link as the first ultrasound data, which means that the two are in the same link in the process of ultrasonic echo signal to ultrasound image. For example, when there are multiple processing links for ultrasound data in sequence, the first ultrasound data includes data processed by the nth data processing link and has not been processed by the subsequent n+1th data processing link. Then, the second ultrasound data includes data from the same data processing link as the first ultrasound data, which means that the second ultrasound data includes data processed by the nth data processing link and has not been processed by the subsequent n+1th data processing link.

[0123] In some embodiments, the second ultrasonic data includes data from a data processing link after the data processing link where the first ultrasonic data is located. Still in the above example, when there are multiple processing links for ultrasonic data in sequence, and the first ultrasonic data includes data processed by the nth data processing link, and has not been processed by the subsequent n+1th data processing link, then the second ultrasonic data includes data from the data processing link after the data processing link where the first ultrasonic data is located, which means that the second ultrasonic data includes data processed by the n+1th data processing link or a later data processing link.

[0124] Please refer to Fig. 9 In some embodiments, the second focused emission model includes an input layer 221, an intermediate layer 222, and an output layer 223, wherein the intermediate layer 222 includes a convolutional layer or a hidden layer. In some embodiments, the second focused emission model extracts features of the first ultrasound data corresponding to the first focused emission mode input through the input layer 221 through the intermediate layer 222, and outputs second ultrasound data corresponding to the second focused emission mode through the output layer 223 based on the extracted features.

[0125] In some embodiments, the second focused emission model is obtained by training a training set, the data in the training set includes first data and second data, the label of the first data is the second data, the first data set is the first ultrasound data corresponding to the first focused emission mode, and the second data set is the second ultrasound data corresponding to the second focused emission mode.

[0126] In some embodiments, in the process of training the second focused emission model based on the first data and the second data, the first data is input into the second focused emission model, and through iteration, the output data of the second focused emission model is continuously approached to the second data; for example, the error between the output data of the second focused emission model and the second data is estimated, and the parameters of the second focused emission model are updated according to the error, and the above steps are continuously repeated to repeatedly update the parameters of the second focused emission model until the error between the output data of the second focused emission model and the second data is within a preset range.

[0127] In some embodiments, the second focused emission model includes: a model based on a convolutional neural network, a model based on a recurrent neural network, a model based on an adversarial neural network, a model based on an attention neural network, or a model based on a fully linked network.

[0128] Step 230: Displaying an ultrasound image based on the second ultrasound data. It can be understood that if the second ultrasound data is ultrasound data output by the analog-to-digital conversion link, then step 230 can continue to process the second ultrasound data in subsequent links (such as beamforming, modulo, logarithmic compression, and grayscale conversion, etc.) to obtain and display an ultrasound image; if the second ultrasound data is ultrasound data output by the grayscale conversion link, then the second ultrasound data is essentially an ultrasound image at this time, and step 230 can display the image based on the second ultrasound data.

[0129] In some embodiments, the first focusing transmission mode includes a fixed-point focusing transmission mode; in some embodiments, the second focusing transmission mode includes a continuous focusing transmission mode. Therefore, in some embodiments, step 200 controls the ultrasonic probe to transmit ultrasonic waves to the region of interest along multiple scan lines in the fixed-point focusing transmission mode, and each scan line in the fixed-point focusing transmission mode includes a focus; step 210 controls the ultrasonic probe to receive the ultrasonic return signal returned by the region of interest, and obtains the first ultrasonic data corresponding to the fixed-point focusing transmission mode; the second focusing transmission model involved in step 220 can be a continuous focusing transmission model, and therefore, step 220 inputs the first ultrasonic data into the continuous focusing transmission model to obtain the second ultrasonic data corresponding to the continuous focusing transmission mode, and each scan line in the continuous focusing transmission mode includes multiple focuses; wherein the continuous focusing transmission model is used to take the first ultrasonic data corresponding to the fixed-point focusing transmission mode as input data, and output the second ultrasonic data corresponding to the continuous focusing transmission mode after processing; the continuous focusing transmission model is obtained by training a training set, and the data of the training set includes the first data and the second data, the label of the first data is the second data, the first data set is the first ultrasonic data corresponding to the fixed-point focusing transmission mode, and the second data set is the second ultrasonic data corresponding to the continuous focusing transmission mode.

[0130] This document is described with reference to various exemplary embodiments. However, those skilled in the art will recognize that changes and modifications may be made to the exemplary embodiments without departing from the scope of this document. For example, various operating steps and components for performing the operating steps may be implemented in different ways (e.g., one or more steps may be deleted, modified, or incorporated into other steps) depending on the specific application or considering any number of cost functions associated with the operation of the system.

[0131] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. In addition, as understood by those skilled in the art, the principles of this article can be reflected in a computer program product on a computer-readable storage medium, which is pre-installed with a computer-readable program code. Any tangible, non-temporary computer-readable storage medium can be used, including magnetic storage devices (hard disks, floppy disks, etc.), optical storage devices (CD to ROM, DVD, Blue Ray disks, etc.), flash memory and / or the like. These computer program instructions can be loaded onto a general-purpose computer, a special-purpose computer or other programmable data processing device to form a machine, so that these instructions executed on a computer or other programmable data processing device can generate a device that implements a specified function. These computer program instructions can also be stored in a computer-readable memory, which can instruct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory can form a manufactured product, including an implementation device that implements a specified function. Computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operating steps are performed on a computer or other programmable device to generate a computer-implemented process, so that the instructions executed on a computer or other programmable device can provide steps for implementing a specified function.

[0132] Although the principles of this invention have been shown in various embodiments, many modifications of structures, arrangements, proportions, elements, materials and components particularly suitable for specific environments and operational requirements can be used without departing from the principles and scope of this invention. The above modifications and other changes or amendments will be included in the scope of this invention.

[0133] The foregoing specific description has been described with reference to various embodiments. However, those skilled in the art will recognize that various modifications and changes can be made without departing from the scope of the present disclosure. Therefore, the consideration of the present disclosure will be illustrative rather than restrictive, and all these modifications will be included in its scope. Similarly, the advantages, other advantages and solutions to the problems of various embodiments have been described above. However, the benefits, advantages, solutions to the problems and any elements that can produce these, or make them more clear, should not be interpreted as critical, necessary or necessary. The term "include" and any other variants used in this article are all non-exclusive inclusions, so that the process, method, article or device including the list of elements not only includes these elements, but also includes other elements that are not explicitly listed or do not belong to the process, method, system, article or device. In addition, the term "coupled" and any other variants used in this article refer to physical connections, electrical connections, magnetic connections, optical connections, communication connections, functional connections and / or any other connections.

[0134] Those skilled in the art will appreciate that many changes may be made to the details of the above-described embodiments without departing from the basic principles of the invention. Therefore, the scope of the present invention should be determined solely by the claims.

Claims

1. An ultrasonic imaging method, characterized in that: include: Obtaining emission control information; According to the transmission control information, the ultrasonic probe is controlled to transmit ultrasonic waves to the region of interest along multiple scanning lines in a fixed-point focusing transmission mode, wherein each scanning line in the fixed-point focusing transmission mode includes a focus, and each focus corresponds to the transmission control information; Acquire reception control information, each focus corresponding to the reception control information; Controlling the ultrasonic probe to receive the ultrasonic echo signal returned by the region of interest according to the receiving control information to obtain ultrasonic data; Inputting the emission control information of each of the focus and the reception control information of each of the focus into a correlation compound coefficient model to obtain the correlation compound coefficient equivalent to the continuous focus emission mode, wherein each of the scanning lines in the continuous focus emission mode includes a plurality of focus points; wherein the correlation compound coefficient model is used to take the emission control information and the reception control information as input data, and output the correlation compound coefficient equivalent to the continuous focus emission mode after processing; the correlation compound coefficient model is obtained by training with a training set, wherein the data of the training set includes first data and second data, wherein the label of the first data is the second data, wherein the first data is the emission control information and the reception control information related to the fixed-point focus emission mode, and the second data is the simulated correlation compound coefficient equivalent to the continuous focus emission mode; Performing beam synthesis on the ultrasound data based at least on the correlation composite coefficient to obtain beam synthesized data; An ultrasound image is generated based on the beamformed data, and the ultrasound image is displayed.

2. The ultrasonic imaging method according to claim 1, characterized in that: The related composite coefficient model includes an input layer, an intermediate layer and an output layer, wherein the intermediate layer includes a convolutional layer or a hidden layer; the related composite coefficient model extracts features of the transmission control information and the reception control information input through the input layer through the intermediate layer, and outputs the related composite coefficients required for the continuous focusing transmission mode equivalent to the continuous focusing transmission mode through the output layer based on the extracted features.

3. The ultrasonic imaging method according to claim 2, characterized in that: The relevant composite coefficient model includes: a model based on a convolutional neural network, a model based on a recurrent neural network, a model based on an adversarial neural network, a model based on an attention neural network, or a model based on a fully linked network.

4. The ultrasonic imaging method according to claim 2, characterized in that: The input layer includes a first input element and a second input element different from the first input element, the first input element is used to receive the transmission control information, and the second input element is used to receive the reception control information.

5. The ultrasonic imaging method according to claim 1, characterized in that: The transmission control information includes at least one of the amplitude of the ultrasonic wave, the frequency of the ultrasonic wave, the number of ultrasonic wave transmissions, the ultrasonic wave transmission angle, the ultrasonic wave pattern and the ultrasonic wave focusing position.

6. The ultrasonic imaging method according to claim 1 or 5, characterized in that: The transmission control information further includes at least one of a die size of the ultrasound probe and a die position of the ultrasound probe.

7. The ultrasonic imaging method according to claim 1, characterized in that: The reception control information includes at least one of a reception position, a reception line number, and a multiplexing number.

8. The ultrasonic imaging method according to claim 1, wherein: The performing beam synthesis on the ultrasound data at least based on the correlation composite coefficient to obtain beam synthesized data includes: performing transmit coherent synthesis on the ultrasound data based on the correlation composite coefficient.

9. An ultrasonic imaging method, characterized in that: include: Controlling the ultrasonic probe to transmit ultrasonic waves to the region of interest along a plurality of scanning lines in a fixed-point focusing transmission mode, wherein each scanning line in the fixed-point focusing transmission mode includes a focus; Controlling the ultrasonic probe to receive the ultrasonic return signal returned by the region of interest, and obtaining first ultrasonic data corresponding to the fixed-point focusing transmission mode; The first ultrasonic data is input into a continuous focusing emission model to obtain second ultrasonic data corresponding to a continuous focusing emission mode, wherein each of the scanning lines in the continuous focusing emission mode includes a plurality of focal points; wherein the continuous focusing emission model is used to take the first ultrasonic data corresponding to the fixed-point focusing emission mode as input data, and output the second ultrasonic data corresponding to the continuous focusing emission mode after processing; the continuous focusing emission model is obtained by training with a training set, wherein the data of the training set includes first data and second data, the label of the first data is the second data, the first data set is the first ultrasonic data corresponding to the fixed-point focusing emission mode, and the second data set is the second ultrasonic data corresponding to the continuous focusing emission mode; An ultrasound image is displayed based on the second ultrasound data.

10. The ultrasonic imaging method according to claim 9, characterized in that: The first ultrasound data includes data from a first processing link in the ultrasound imaging process; the second ultrasound data includes data from a second processing link in the ultrasound imaging process; wherein the first processing link is the same as the second processing link, or the second processing link is located after the first processing link.

11. The ultrasonic imaging method according to claim 10, wherein: The processing steps of the ultrasonic imaging process include: receiving and forming channel data step, analog-to-digital conversion step, signal demodulation step, amplification step, filtering step, downsampling step, data normalization step, principal component analysis step, data enhancement step, data rearrangement step, beam synthesis step, modulus step, logarithmic compression step and grayscale transformation step.

12. The ultrasonic imaging method according to any one of claims 9 to 11, characterized in that: The continuous focusing emission model includes an input layer, an intermediate layer and an output layer, wherein the intermediate layer includes a convolutional layer or a hidden layer; the continuous focusing emission model extracts features of the first ultrasonic data corresponding to the fixed-point focusing emission mode input through the input layer through the intermediate layer, and outputs the second ultrasonic data corresponding to the continuous focusing emission mode through the output layer based on the extracted features.

13. The ultrasonic imaging method according to claim 12, wherein: The continuous focused emission model includes: a model based on a convolutional neural network, a model based on a recurrent neural network, a model based on an adversarial neural network, a model based on an attention neural network, or a model based on a fully linked network.

14. An ultrasonic imaging method, characterized in that: include: Controlling the ultrasound probe to transmit ultrasound to the region of interest along a plurality of scan lines in a first focused transmission mode, wherein each of the scan lines in the first focused transmission mode includes one or more focal points; Controlling the ultrasonic probe to receive the ultrasonic return signal returned by the region of interest, and obtaining first ultrasonic data corresponding to the first focused transmission mode; The first ultrasonic data is input into a second focused emission model to obtain second ultrasonic data corresponding to a second focused emission mode, wherein the number of focal points contained in each of the scan lines in the second focused emission mode is greater than the number of focal points contained in each of the scan lines in the first focused emission mode; wherein the second focused emission model is used to take the first ultrasonic data corresponding to the first focused emission mode as input data, and output the second ultrasonic data corresponding to the second focused emission mode after processing; the second focused emission model is obtained by training with a training set, wherein the data of the training set includes first data and second data, the label of the first data is the second data, the first data set is the first ultrasonic data corresponding to the first focused emission mode, and the second data set is the second ultrasonic data corresponding to the second focused emission mode; An ultrasound image is displayed based on the second ultrasound data.

15. The ultrasonic imaging method according to claim 14, characterized in that: The first ultrasound data includes data from a first processing link in the ultrasound imaging process; the second ultrasound data includes data from a second processing link in the ultrasound imaging process; wherein the first processing link is the same as the second processing link, or the second processing link is located after the first processing link.

16. The ultrasonic imaging method according to claim 15, characterized in that: The processing steps of the ultrasonic imaging process include: receiving and forming channel data step, analog-to-digital conversion step, signal demodulation step, amplification step, filtering step, downsampling step, data normalization step, principal component analysis step, data enhancement step, data rearrangement step, beam synthesis step, modulus step, logarithmic compression step and grayscale transformation step.

17. The ultrasonic imaging method according to any one of claims 14 to 16, characterized in that: The second focused emission model includes an input layer, an intermediate layer and an output layer, the intermediate layer includes a convolutional layer or a hidden layer; the second focused emission model extracts features of the first ultrasonic data corresponding to the first focused emission mode input through the input layer through the intermediate layer, and outputs the second ultrasonic data corresponding to the second focused emission mode through the output layer based on the extracted features.

18. The ultrasonic imaging method according to claim 17, wherein: The second focused emission model includes: a model based on a convolutional neural network, a model based on a recurrent neural network, a model based on an adversarial neural network, a model based on an attention neural network, or a model based on a fully linked network.

19. The ultrasonic imaging method according to claim 14, wherein: The first focusing emission mode includes a fixed-point focusing emission mode; and / or the second focusing emission mode includes a continuous focusing emission mode.

20. An ultrasonic imaging method, characterized in that: include: Obtaining emission control information; Controlling the ultrasound probe to transmit ultrasound to the region of interest in a fixed-point focusing transmission mode according to the transmission control information; Get receiving control information; Controlling the ultrasonic probe to receive the ultrasonic echo signal returned by the region of interest according to the receiving control information to obtain ultrasonic data; The transmission control information and the reception control information are input into a correlation compound coefficient model to obtain a correlation compound coefficient equivalent to a continuous focusing transmission mode; wherein the correlation compound coefficient model is used to take the transmission control information and the reception control information as input data, and output the correlation compound coefficient equivalent to the continuous focusing transmission mode after processing; the correlation compound coefficient model is obtained by training a training set, wherein the data of the training set includes first data and second data, the label of the first data is the second data, the first data is the transmission control information and the reception control information related to the fixed-point focusing transmission mode, and the second data is the simulated correlation compound coefficient equivalent to the continuous focusing transmission mode; The ultrasound data is beamformed at least based on the correlation composite coefficient to obtain beamformed data; an ultrasound image is generated based on the beamformed data, and the ultrasound image is displayed.

21. An ultrasonic imaging method, characterized in that: include: Controlling the ultrasound probe to transmit ultrasound to the region of interest in a first focused transmission mode; Controlling the ultrasonic probe to receive the ultrasonic return signal returned by the region of interest, and obtaining first ultrasonic data corresponding to the first focused transmission mode; The first ultrasonic data is input into a second focused emission model to obtain second ultrasonic data corresponding to the second focused emission mode; wherein the second focused emission model is used to take the first ultrasonic data corresponding to the first focused emission mode as input data, and output the second ultrasonic data corresponding to the second focused emission mode after processing; the second focused emission model is obtained by training with a training set, the data of the training set includes first data and second data, the label of the first data is the second data, the first data set is the first ultrasonic data corresponding to the first focused emission mode, and the second data set is the second ultrasonic data corresponding to the second focused emission mode; An ultrasound image is displayed based on the second ultrasound data.

22. An ultrasonic imaging system, characterized in that: include: Ultrasonic probe, transmitting and receiving control circuits, processing unit and display unit; The ultrasonic probe is used to transmit ultrasonic waves to the region of interest and receive ultrasonic echo signals of the ultrasonic waves; The transmitting and receiving control circuit is used to control the ultrasonic probe to transmit the ultrasonic wave and receive the ultrasonic echo signal; The display unit is used to display the ultrasound image; The processing unit is configured to execute the method according to any one of claims 1 to 21.

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