Ultrasonic imaging equipment and pulse wave imaging method

Abstract

According to the ultrasonic imaging equipment and the pulse wave imaging method provided by the invention, ultrasonic data in a preset time period are acquired, and an ultrasonic image containing a blood vessel axial sectioning structure is generated according to the ultrasonic data; according to the ultrasonic data, the blood vessel wall hardness characterization quantity reflected by pulse waves propagating on the blood vessel wall in the axial direction of the blood vessel is obtained; the blood vessel wall hardness characterization amount is visually expressed in the axial direction of the blood vessel, and therefore a pulse wave propagation state diagram is generated and displayed. The blood vessel wall hardness characterization amount is visually expressed in the axial direction of the blood vessel, so that the pulse wave propagation state diagram is generated and displayed, and the propagation of the pulse wave is visually presented.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly to an ultrasonic imaging device and a pulse wave imaging method. Background Art

[0002] The vascular pulse wave detection technology is an important means for clinical vascular detection. The pulse wave is a pulsed mechanical wave that pulsates radially and propagates axially on the blood vessel wall generated by the heart pumping blood. The pulse wave specifically manifests as two expansions of the blood vessel generated when the left ventricle starts pumping blood (mitral valve opening) and when the pumping ends (mitral valve closing), respectively. The two expansions correspond to the pulse waves at the beginning of systole (BS) and the end of systole (ES), respectively, and the pulse wave will propagate along the artery from the proximal end to the distal end. In the existing vascular pulse wave detection technology, after detecting the propagation speed (PWV) of the pulse wave, it is displayed on the display. However, medical staff can only obtain a value reflecting the pulse wave propagation speed and an ultrasonic B-mode image, and cannot effectively show the dynamic process of the pulse wave propagation. Therefore, the existing expression method is not intuitive enough and is likely to cause confusion to medical staff. Summary of the Invention

[0003] The present invention mainly provides an ultrasonic imaging device and a pulse wave imaging method to intuitively present the propagation of the pulse wave.

[0004] According to a first aspect, an embodiment provides a pulse wave imaging method, including:

[0005] Obtaining ultrasonic data for a predetermined time period, where the ultrasonic data is data obtained after beam synthesis of ultrasonic echo signals detected with the blood vessels of a target object as the detection object;

[0006] Generating an ultrasonic image including blood vessels according to the ultrasonic data;

[0007] Obtaining a blood vessel wall hardness characterization quantity reflected by a pulse wave propagating axially along the blood vessel wall according to the ultrasonic data, where the blood vessel wall hardness characterization quantity is the propagation speed of the pulse wave propagating axially along the blood vessel wall; and

[0008] Dynamically displaying the propagation speed in a graphical and visual manner along the axial direction of the blood vessel on a display interface in the order of propagation time.

[0009] According to a second aspect, an embodiment provides a pulse wave imaging method, including:

[0010] Obtaining multiple frames of ultrasonic data, where the ultrasonic data is data obtained after beam synthesis of ultrasonic echo signals detected with the blood vessels of a target object as the detection object;

[0011] generating an ultrasound image including an axial cross-sectional structure of a blood vessel according to at least a portion of the plurality of frames of ultrasound data;

[0012] Obtaining a blood vessel wall hardness representation amount reflected by a pulse wave propagating along the axial direction of the blood vessel on the blood vessel wall according to at least a portion of the plurality of frames of ultrasound data; and

[0013] The hardness characterization of the blood vessel wall is visualized along the axial direction of the blood vessel, thereby generating and displaying a pulse wave propagation state diagram.

[0014] According to a third aspect, an embodiment provides an ultrasonic imaging device, comprising:

[0015] An ultrasonic probe is used to transmit ultrasonic waves to the blood vessel to be detected, and receive the echo of the ultrasonic waves to obtain an echo signal;

[0016] A human-computer interaction device for obtaining user input and performing visual output;

[0017] A processor is used to obtain an echo signal from an ultrasound probe and process it into ultrasound data; generate an ultrasound image containing axially arranged blood vessels based on the ultrasound data; obtain a blood vessel wall hardness characterization quantity reflected by a pulse wave propagating along the axial direction of the blood vessel on the blood vessel wall based on the ultrasound data; visualize the blood vessel wall hardness characterization quantity along the axial direction of the blood vessel to generate a pulse wave propagation state diagram, and display the pulse wave propagation state diagram through the human-computer interaction device.

[0018] According to a fourth aspect, an embodiment provides an ultrasonic imaging device, comprising:

[0019] Memory, used to store programs;

[0020] The processor is used to execute the program stored in the memory to implement the method as described above.

[0021] According to the fifth aspect, an embodiment provides a computer-readable storage medium, characterized in that it includes a program, and the program can be executed by a processor to implement the method as described above.

[0022] According to the ultrasonic imaging device and pulse wave imaging method of the above-mentioned embodiment, by visually expressing the vascular wall hardness characterization quantity along the axial direction of the blood vessel, a pulse wave propagation state diagram is generated and displayed to intuitively present the propagation of the pulse wave. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram of pulse wave propagation;

[0024] Figure 2Block diagram of an ultrasonic imaging device provided for an embodiment;

[0025] Figure 3 Flowchart of a pulse wave imaging method provided for an embodiment;

[0026] Figure 4 Flowchart of a pulse wave imaging method provided for an embodiment;

[0027] Figure 5a Schematic diagram of an ultrasonic probe scanning in a plane wave mode in an ultrasonic imaging device provided for an embodiment;

[0028] Figure 5b For the method of Figure 5a After scanning in the above manner, schematic diagram of the reconstructed image of beam synthesis;

[0029] Figure 6a Schematic diagram of an ultrasonic probe scanning in a traditional focused wave mode in an ultrasonic imaging device provided for an embodiment;

[0030] Figure 6b For the method of Figure 6a After scanning in the above manner, schematic diagram of the reconstructed image using traditional beam synthesis;

[0031] Figure 7a Schematic diagram of an ultrasonic probe scanning in a sparse focused wave mode in an ultrasonic imaging device provided for an embodiment;

[0032] Figure 7b For the method of Figure 7a After scanning in the above manner, schematic diagram of the reconstructed image of beam synthesis;

[0033] Figure 8a Schematic diagram of an ultrasonic probe scanning in a wide focused wave mode in an ultrasonic imaging device provided for an embodiment;

[0034] Figure 8b For the method of Figure 8a After scanning in the above manner, schematic diagram of the reconstructed image of beam synthesis;

[0035] Figure 9 Ultrasonic image of blood vessels in an embodiment;

[0036] Figure 10 For Figure 4 In, specific flowchart of step 3';

[0037] Figure 11 Schematic diagram of ultrasonic images of adjacent two frames of blood vessels in an ultrasonic imaging device provided for an embodiment;

[0038] Figure 12Schematic diagram of the fitting curve of each detection point in the spatial-first time of the ultrasonic imaging device provided for an embodiment;

[0039] Figure 13 Curve of the blood vessel diameter changing with time in the ultrasonic imaging device provided for an embodiment;

[0040] Figure 14 Schematic diagram of the adjacent display of the pulse wave propagation state diagram presented in the first visualization method and the ultrasonic image in the ultrasonic imaging device provided for an embodiment;

[0041] Figure 15 Schematic diagram of the superimposed display of the pulse wave propagation state diagram presented in the second visualization method and the eighth visualization method and the ultrasonic image in the ultrasonic imaging device provided for an embodiment;

[0042] Figure 16 Schematic diagram of the superimposed display of the pulse wave propagation state diagram presented in the third visualization method and the ultrasonic image in the ultrasonic imaging device provided for an embodiment;

[0043] Figure 17 Schematic diagram of the superimposed display of the pulse wave propagation state diagram presented in the fourth visualization method and the ultrasonic image in the ultrasonic imaging device provided for an embodiment;

[0044] Figure 18 Schematic diagram of the superimposed display of the pulse wave propagation state diagram presented in the fifth visualization method and the ultrasonic image in the ultrasonic imaging device provided for an embodiment;

[0045] Figure 19 Schematic diagram of the superimposed display of the pulse wave propagation state diagram presented in the sixth visualization method and the ultrasonic image in the ultrasonic imaging device provided for an embodiment;

[0046] Figure 20 Schematic diagram of the superimposed display of the pulse wave propagation state diagram presented in the seventh visualization method and the ultrasonic image in the ultrasonic imaging device provided for an embodiment;

[0047] Figure 21 Schematic diagram of the adjacent display of the pulse wave propagation state diagram presenting the propagation speed in the form of a waveform diagram and the ultrasonic image in the ultrasonic imaging device provided for an embodiment;

[0048] Figure 22 Schematic diagram of the adjacent display of the pulse wave propagation state diagram presenting the propagation speed in the form of a bar chart and the ultrasonic image in the ultrasonic imaging device provided for an embodiment. Detailed implementation manner

[0049] The present invention will be further described in detail below in conjunction with the accompanying drawings through specific embodiments. Similar elements in different embodiments are denoted by related similar element numbers. In the following embodiments, many detailed descriptions are provided to enable a better understanding of the present application. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, or methods. In some cases, some operations related to the present application are not shown or described in the specification to avoid overwhelming the core part of the present application with excessive descriptions. 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 based on the descriptions in the specification and general technical knowledge in the art.

[0050] In addition, the features, operations, or characteristics described in the specification can be combined in any appropriate manner to form various embodiments. At the same time, the steps or actions in the method description can also be reordered or adjusted in a manner obvious to those skilled in the art. Therefore, the various sequences in the specification and drawings are only for clearly describing a certain embodiment and do not mean a necessary sequence, unless it is stated that a certain sequence must be followed.

[0051] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequential or technical meaning. The "connection" and "coupling" mentioned in the present application, unless otherwise specified, both include direct and indirect connection (coupling).

[0052] Vascular pulse wave imaging is an important means for clinical detection of vascular sclerosis. As Figure 1 shown, the pulse wave is a pulsed mechanical wave that pulsates radially and propagates axially on the blood vessel wall generated by the heart pumping blood. The pulse wave specifically manifests as two vascular dilations generated respectively when the left ventricle starts pumping blood (mitral valve opening) and when the blood pumping ends (mitral valve closing). The two dilations respectively correspond to the pulse waves in the early systolic phase (Begin of systole, BS) and the late systolic phase (End of systole, ES). The pulse wave will propagate along the artery from the proximal end to the distal end, and the propagation speed (PWV) is related to the hardness of the blood vessel wall.

[0053] The present invention can not only effectively correlate the structure of the blood vessel wall with the pulsation condition by generating a pulse wave propagation state diagram supplemented by the ultrasonic B-mode image of the blood vessel, but also intuitively reflect the propagation condition of the pulse wave through the dynamic display of the pulse wave propagation state. The following will be described in detail with embodiments.

[0054] As Figure 2As shown in the figure, the ultrasonic imaging device provided by the present invention includes an ultrasonic probe 30, a transmitting / receiving circuit 40 (i.e., a transmitting circuit 410 and a receiving circuit 420), a beam synthesis module 50, an IQ demodulation module 60, a processor 20, a human-machine interaction device 70, and a memory 80.

[0055] The ultrasonic probe 30 includes a transducer (not shown in the figure) composed of a plurality of arrayed elements. The plurality of elements are arranged in a row to form a linear array, or arranged in a two-dimensional matrix to form a planar array. The plurality of elements can also form a convex array. The elements are used to transmit ultrasonic waves according to the excitation electrical signal, or convert the received ultrasonic waves into electrical signals. Therefore, each element can be used to realize the mutual conversion between electrical pulse signals and ultrasonic waves, so as to transmit ultrasonic waves to the object to be imaged (such as the arterial blood vessel in this embodiment), and can also be used to receive the echoes of the ultrasonic waves reflected by the tissue. During ultrasonic detection, the transmitting circuit 410 and the receiving circuit 420 can be used to control which elements are used to transmit ultrasonic waves, which elements are used to receive ultrasonic waves, or control the elements to be used for transmitting ultrasonic waves or receiving the echoes of ultrasonic waves in time slots. The elements participating in ultrasonic wave transmission can be simultaneously excited by electrical signals to simultaneously transmit ultrasonic waves; or the elements participating in ultrasonic wave transmission can also be excited by a plurality of electrical signals with a certain time interval to continuously transmit ultrasonic waves with a certain time interval.

[0056] The elements are, for example, piezoelectric crystals, which convert electrical signals into ultrasonic signals according to the transmission sequence transmitted by the transmitting circuit 410. According to the use, the ultrasonic signals can 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 waveform of the wave, the ultrasonic signals include focused waves, plane waves, and divergent waves.

[0057] The user selects a suitable position and angle by moving the ultrasonic probe 30 to transmit ultrasonic waves to the object to be imaged 10 and receive the echoes of the ultrasonic waves returned by the object to be imaged 10, and outputs an ultrasonic echo signal. The ultrasonic echo signal is a channel analog electrical signal formed with the receiving elements as channels, and it carries amplitude information, frequency information, and time information.

[0058] The transmitting circuit 410 is used to generate a transmission sequence according to the control of the processor 20. The transmission sequence is used to control some or all of the multiple array elements to transmit ultrasonic waves to the object to be imaged. The transmission sequence parameters include the positions of the array elements for transmission, the number of array elements, and ultrasonic beam transmission parameters (such as amplitude, frequency, number of transmissions, transmission interval, transmission angle, waveform, focusing position, etc.). In some cases, the transmitting circuit 410 is also used to perform phase delay on the transmitted beam, so that different transmitting array elements transmit ultrasonic waves at different times, so that each transmitted ultrasonic beam can be focused on a predetermined region of interest. For different working modes, such as B-image mode, C-image mode, and D-image mode (Doppler mode), the transmission sequence parameters may be different. After the echo signal is received by the receiving circuit 420 and processed by subsequent modules and corresponding algorithms, a B-image reflecting the tissue anatomical structure, a C-image reflecting the blood flow information, and a D-image reflecting the Doppler spectrum image can be generated.

[0059] The receiving circuit 420 is used to receive the ultrasonic echo signal from the ultrasonic probe 30 and process the ultrasonic echo signal. The receiving circuit 420 may include one or more amplifiers, analog-to-digital converters (ADCs), etc. The amplifier is used to amplify the received echo signal after appropriate gain compensation. The amplifier is used to sample the analog echo signal at a predetermined time interval, so as to convert it into a digitized echo signal. The digitized echo signal still retains amplitude information, frequency information, and phase information. The data output by the receiving circuit 420 can be output to the beamforming module 50 for processing, or output to the memory 80 for storage.

[0060] The beamforming module 50 is signal-connected to the receiving circuit 420 and is used to perform beamforming processing such as corresponding delay and weighted summation on the echo signal. Since the distances from the ultrasonic receiving points in the tissue to be measured to the receiving array elements are different, the channel data of the same receiving point output by different receiving array elements have a delay difference. Delay processing is required to align the phases and perform weighted summation on the different channel data of the same receiving point to obtain the ultrasonic image data after beamforming. The ultrasonic image data output by the beamforming module 50 is also called radio frequency data (RF data). The beamforming module 50 outputs the RF data to the IQ demodulation module 60. In some embodiments, the beamforming module 50 can also output the RF data to the memory 80 for caching or storage, or directly output the RF data to the processor 20 for image processing.

[0061] The beamforming module 50 may perform the above functions in the form of hardware, firmware or software. For example, the beamforming module 50 may include a central controller circuit (CPU) capable of processing input data according to specific logic instructions, one or more microprocessor chips or any other electronic components. When the beamforming module 50 is implemented in software, it may execute instructions stored on a tangible and non-transitory computer-readable medium (e.g., a memory) to perform beamforming calculations using any appropriate beamforming method. The beamforming module 50 may be integrated in the processor 20 or may be provided separately, which is not limited in the present invention.

[0062] The IQ demodulation module 60 removes the signal carrier through IQ demodulation, extracts the tissue structure information contained in the signal, and filters out the noise. The signal obtained at this time is called a baseband signal (IQ data pair). The IQ demodulation module 60 outputs the IQ data pair to the processor 20 for image processing.

[0063] In some embodiments, the IQ demodulation module 60 also outputs the IQ data pair to the memory 80 for caching or storage, so that the processor 20 can read the data from the memory 80 for subsequent image processing.

[0064] The IQ demodulation module 60 may also perform the above functions in the form of hardware, firmware or software. In some embodiments, the IQ demodulation module 60 may also be integrated with the beamforming module 50 in one chip.

[0065] The processor 20 is configured to be a central controller circuit (CPU), one or more microprocessors, a graphics controller circuit (GPU) or any other electronic components capable of processing input data according to specific logic instructions. It may execute control over peripheral electronic components according to input instructions or predetermined instructions, or perform data reading and / or storage on the memory 80. It may also process the input data by executing the program in the memory 80. For example, it performs one or more processing operations on the acquired ultrasonic data according to one or more working modes. The processing operations include, but are not limited to, adjusting or defining the form of the ultrasonic waves emitted by the ultrasonic probe 30, generating various image frames for subsequent display on the display of the human-machine interaction device 70, or adjusting or defining the content and form displayed on the display, or adjusting one or more image display settings (e.g., ultrasonic images, interface components, positioning of regions of interest) displayed on the display.

[0066] When the echo signal is received, the acquired ultrasonic data may be processed by the processor 20 in real time during scanning, or may be temporarily stored on the memory 80 and processed in a quasi-real-time manner in online or offline operations.

[0067] In this embodiment, the processor 20 controls the operation of the transmitting circuit 410 and the receiving circuit 420. For example, it controls the transmitting circuit 410 and the receiving circuit 420 to work alternately or simultaneously. The processor 20 can also determine a suitable working mode according to the user's selection or the program setting, form a transmission sequence corresponding to the current working mode, and send the transmission sequence to the transmitting circuit 410, so that the transmitting circuit 410 can control the ultrasonic probe 30 to emit ultrasonic waves using the appropriate transmission sequence.

[0068] The processor 20 is also used to process the ultrasonic data to generate a grayscale image of the signal strength change within the scanning range. This grayscale image reflects the anatomical structure inside the tissue and is called a B image. The processor 20 can output the B image to the display of the human-machine interaction device 70 for display.

[0069] The human-machine interaction device 70 is used for human-machine interaction, that is, receiving user input and outputting visual information; it can receive user input using a keyboard, operation buttons, a mouse, a trackball, etc., or can also use a touch screen integrated with the display; its output of visual information can use a display.

[0070] Based on Figure 2 the ultrasonic imaging device shown, the basic process of pulse wave imaging is as shown in steps 1, 3, and 4 in Figure 3 : Obtain multiple frames of ultrasonic data, where the ultrasonic data is the data obtained after beam synthesis of the ultrasonic echo signals detected with the blood vessels of the target object as the detection object; obtain a characterization quantity of blood vessel wall hardness reflected by the pulse wave propagating along the axial direction of the blood vessel on the blood vessel wall according to the ultrasonic data; perform a visual expression of the blood vessel wall hardness characterization quantity along the axial direction of the blood vessel, thereby generating and displaying a pulse wave propagation state diagram. In this way, a doctor can directly observe the propagation of the pulse wave along the blood vessel wall through the pulse wave propagation state diagram.

[0071] When obtaining multiple frames of ultrasonic data, ultrasonic data for a certain time period can be obtained. This certain time period can be greater than or equal to one cardiac cycle, can be a predetermined time period set by the system by default, or can be a predetermined time period that can be freely adjusted and set by the user. When obtaining ultrasonic data for a certain time period, it can be continuous acquisition of ultrasonic data for a certain time period, or it can be segmented acquisition with the cumulative duration being a certain time period. For example, in the case of real-time acquisition and obtaining a pulse wave propagation state diagram, the ultrasonic imaging device obtains ultrasonic data in real time according to the echo signals obtained by the ultrasonic probe, and the real-time acquisition time is this certain time period. For example, when real-time acquisition and obtaining a pulse wave propagation state diagram, the ultrasonic imaging device can obtain ultrasonic data in real time according to the echo signals obtained by the ultrasonic probe within a predetermined time period. For example, when real-time acquisition and obtaining a pulse wave propagation state diagram, the ultrasonic imaging device can obtain ultrasonic data for a predetermined time period from the ultrasonic data obtained by real-time acquisition.

[0072] Of course, the present invention is not satisfied with this. A more detailed embodiment is provided below. As Figure 4 shown, the pulse wave imaging method of the ultrasonic imaging device includes the following steps:

[0073] Step 1': The processor 20 acquires ultrasonic data for a predetermined time period. Among them, the ultrasonic data is the data obtained after beam synthesis of the ultrasonic echo signals detected with the blood vessels of the target object as the detection object. Specifically, the processor 20 controls the ultrasonic probe 30 through the transmit / receive circuit 40, so that within the scanning time, the ultrasonic probe 30 is excited to emit ultrasonic waves towards the target object and receive the echoes of the ultrasonic waves to obtain echo signals. For example, under the control of scanning, the ultrasonic probe 30 emits ultrasonic waves towards the target object at a preset scanning frame rate and receives the echoes of the ultrasonic waves to obtain ultrasonic echo signals. The ideal scanning frame rate should reach 1000 Hz or exceed 1000 Hz. When the frame rate is lower than this value, the upper limit of the pulse wave propagation speed that can be detected by pulse wave imaging will be restricted, and at the same time, the accuracy may be affected. The scanning time is not less than one cardiac cycle (about 0.6 - 1 s) so that the processor 20 can obtain ultrasonic data for at least one cardiac cycle. Less than one cardiac cycle cannot ensure the detection of the pulse wave. Usually, the scanning time lasts for multiple cardiac cycles for subsequent observation by ultrasonic doctors; usually, the target object is the neck or abdomen, and the blood vessels of the target object are the carotid artery or the abdominal aorta.

[0074] After that, the processor 20 performs at least beam synthesis processing on the ultrasonic echo signals to obtain ultrasonic data of the blood vessels of the target object for a predetermined time period. The signal processing performed on the ultrasonic echo signals during the ultrasonic imaging process may include signal processing links such as analog signal gain compensation, beam synthesis, IQ demodulation, digital signal gain compensation, and amplitude calculation. Specifically, the echo signals are filtered and amplified at the front end (i.e., gain compensation) through an analog circuit, and then converted into digital signals by an analog-to-digital converter (ADC). The channel data after analog-to-digital conversion is further subjected to beam synthesis processing to form scan line data. The data obtained after this stage, that is, the ultrasonic echo signals output by the beam synthesis module 50, can be called radio frequency signal data, that is, RF data. After obtaining the RF data, the signal carrier is removed through IQ demodulation, the tissue structure information contained in the signal is extracted, and noise is filtered out. At this time, the obtained signal is the baseband signal (IQ data). Finally, the intensity of the baseband signal is obtained and its gray level is subjected to logarithmic compression and gray conversion to obtain the ultrasonic image.

[0075] The ultrasonic data of the present invention is the data obtained after beam synthesis processing based on ultrasonic echo signals, that is, the ultrasonic data can be the data generated in any link after the beam synthesis link in the above signal processing link. For example, the ultrasonic data can be the data after beam synthesis, such as the ultrasonic echo signal output by the beam synthesis module 50, or the data after IQ demodulation, such as the ultrasonic echo signal output by the IQ demodulation module 60, or the ultrasonic image data obtained by further processing the data after beam synthesis or IQ demodulation, etc.

[0076] The ultrasonic data obtained by real-time scanning is sent to the memory 80 for storage, and the processor 20 can directly obtain the ultrasonic data from the memory 80 for subsequent processing of the pulse wave propagation state.

[0077] Furthermore, in order to improve the scanning frame rate of the ultrasonic probe 30 in the above steps, any one of the following methods can be adopted.

[0078] Method 1: The ultrasonic probe 30 emits non-focused ultrasonic waves to the target object at a preset scanning frame rate, and the scanning area of the non-focused ultrasonic waves emitted at one time covers the specified inspection area of the blood vessel (the target area a shown in the figure). The non-focused ultrasonic waves include plane ultrasonic waves or divergent ultrasonic waves. Taking plane ultrasonic waves as an example, the ultrasonic probe 30 scans in the plane wave mode, as Figure 5a shown, the arrow indicates the ultrasonic echo. The ultrasonic probe 30 emits a plane wave covering the entire target area a (i.e., the blood vessel area of the target object) and receives the echo data. As Figure 5b shown, the beam synthesis module 50 performs beam synthesis to reconstruct the image b of the entire target area. Method 1 completes the scanning of the entire area in one emission and reception at the cost of reducing the image quality, thereby improving the scanning frame rate.

[0079] Method 2: As Figure 6a shown, the ultrasonic probe 30 emits focused ultrasonic waves with a preset number of emissions in the focused imaging mode to the target object in the traditional focused wave mode, for example, densely emits focused waves (100-200 beams) to cover the entire specified inspection area (the target area b shown in the figure) and receives the echo signals. Then, the entire target area is reconstructed by beam synthesis, as shown in Figure 6b . This traditional focused wave mode can perform high-image-quality imaging, but due to the large number of scans of densely emitted focused waves, the scanning frame rate is lower than that of Method 1.

[0080] The present invention further improves this traditional focused wave method to increase the scanning frame rate. The ultrasonic probe 30 of the present invention transmits multiple focused ultrasound waves to the target object at a preset scanning frame rate, wherein the number of multiple focused ultrasound wave transmissions is lower than the preset number of focused imaging transmissions, and the scanning area of ​​the multiple focused ultrasound waves covers the designated inspection area of ​​the blood vessel. See the following method 3 and method 4 for details.

[0081] Mode 3: The ultrasonic probe 30 uses a sparse focused wave mode for scanning, such as Figure 7a As shown, the arrows represent ultrasonic echoes. The ultrasonic probe 30 performs focused imaging based on the focused wave scanning mode, and reduces the transmission density and the number of transmissions (for example, 10 to 20 times), thereby improving the scanning frame rate. Since the echo data mainly comes from the focused wave coverage area, beam synthesis only reconstructs the image information in this area. Figure 7b There are only two focused beams in the target area a, so after beam synthesis, only the area covered by these two focused beams is reconstructed in the target area a.

[0082] Mode 4: The ultrasound probe 30 uses a wide focused wave mode for scanning, and transmits at least one wide focused ultrasound wave to the target object at a preset scanning frame rate, and the scanning area of ​​the at least one wide focused ultrasound wave covers the designated inspection area of ​​the blood vessel. Figure 8a As shown, the arrows represent ultrasonic echoes. The ultrasonic probe 30 performs focused imaging based on the focused wave scanning mode, transmits wide focused waves to cover the entire target area a and receives echo signals, and increases the scanning frame rate by reducing the number of transmissions. Beamforming reconstructs the entire target area a to obtain image b.

[0083] Step 2', the processor 20 generates an ultrasound image containing blood vessels according to the ultrasound data. The blood vessels in the ultrasound image are arranged axially, that is, the doctor can see the blood vessels arranged in a "one" or "I" shape. For example, Figure 5a and Figure 5b As shown, the processor 20 reconstructs the image b of the target area a with multiple synthetic lines using the echo signals of each target position point, that is, obtains an ultrasound image frame. Since the time corresponding to the ultrasound data exceeds one cardiac cycle, the ultrasound image generated by the processor 20 based on the ultrasound data can be an ultrasound image video or an ultrasound image frame in the ultrasound image video. In addition, the ultrasound image can be a three-dimensional ultrasound image or a two-dimensional one, such as an ultrasound B image, an ultrasound C image, and the like. If the ultrasound image generated by the processor 20 is a three-dimensional ultrasound image, it can be an image in which the length of the blood vessel can be seen (non-sectional view), or it can include an axial section structure of the blood vessel wall (axial sectional view), both of which can reflect the axial direction of the blood vessel. If the ultrasound image generated by the processor 20 is a two-dimensional ultrasound image, it includes an axial section structure of the blood vessel wall, such as Figure 9As shown, this embodiment is described by taking a two-dimensional ultrasonic B image as an example. However, the pulse wave propagation state diagram described in combination with the two-dimensional ultrasonic B image can also be applied to three-dimensional ultrasonic B images, two-dimensional or three-dimensional ultrasonic C images, etc.

[0084] Step 3': The processor 20 obtains a vascular wall hardness characterization quantity reflected by a pulse wave propagating along the axial direction of the blood vessel on the vascular wall according to the ultrasonic data. The vascular wall hardness characterization quantity may be the propagation speed (PWV) of the pulse wave propagating along the axial direction of the blood vessel on the vascular wall, or may be a pulsation parameter (such as radial displacement, radial movement speed, etc.) of the vascular wall pulsating in the radial direction of the blood vessel. This embodiment is described by taking the propagation speed as an example. The propagation speed (PWV) of the pulse wave refers to the propagation speed of the pulse wave between two fixed points in the arterial system, including the pulse wave propagation speed at the start (BS) of the systolic phase and at the end (ES) of the systolic phase of the anterior arterial wall. One of BS and ES can be calculated and displayed only, or both can be calculated and displayed. Figure 13 The change in the blood vessel diameter during two cardiac cycles is shown. There are two peaks in one cardiac cycle. The highest peak is formed at the start of the systolic phase of the anterior arterial wall, and the lower peak is formed at the end of the systolic phase.

[0085] Among them, as Figure 10 shown, step 3' specifically includes:

[0086] Step 31: The processor 20 detects the pulsation parameters of each detection point arranged along the axial direction of the blood vessel on the vascular wall in the ultrasonic image at different time points according to the ultrasonic data of a predetermined time period. The pulsation parameter is a parameter reflecting the pulsation of the vascular wall of the blood vessel in the radial direction. Under the action of the cardiac pulsation, the vascular wall mainly pulsates in the radial direction of the blood vessel. Therefore, the pulsation parameter of the present invention refers to the radial direction. The pulsation parameter includes at least one of the displacement of the unilateral vascular wall, the radial movement speed of the unilateral vascular wall, the radial movement acceleration of the unilateral vascular wall, the change in the blood vessel diameter, the change speed of the blood vessel diameter, or the change acceleration of the blood vessel diameter. If the user does not circle the ROI (region of interest) through the man-machine interaction device, the processor 20 calculates the pulsation parameters of the vascular wall within the entire target area (acoustic window); if the user circles the ROI, the processor 20 only calculates the pulsation parameters within the ROI.

[0087] Further, the processor 20 detects the pulsation parameters of each detection point arranged along the axial direction of the blood vessel on the blood vessel wall in the ultrasonic image at different time points according to the ultrasonic data in a predetermined time period, including: detecting the position of the blood vessel wall in a frame of image data in the ultrasonic data; calculating the radial displacement of each detection point arranged along the axial direction of the blood vessel wall at different time points according to the positions of the blood vessel wall in different frames; and obtaining the pulsation parameters of each detection point at different time points according to the radial displacement of each detection point on the blood vessel wall. Each detection point can be evenly arranged along the axial direction of the blood vessel wall, which is equivalent to a sampling point, to save the amount of calculation. In some examples, the spacing between each detection point may also be unequal, that is, the detection points are non-uniformly arranged. Specifically, based on the ultrasonic data, first, the processor 20 extracts the spatial position information (such as coordinates) of the blood vessel wall from a frame of beam synthesis data obtained from the beam synthesis data link, or extracts the spatial position information of the blood vessel wall from the ultrasonic image obtained from the image synthesis link. Since the acoustic characteristics of the blood vessel wall are significantly different from the blood in the lumen and the surrounding soft tissue, it appears as two adjacent bright long strip-shaped structures on the image that are close to the anechoic area of the lumen, as Figure 9 shown. By setting an appropriate threshold in the Y-axis direction (radial direction of the blood vessel) to screen the signal, the specific position of the blood vessel wall can be obtained. The processor 20 takes each detection point on the blood vessel wall as the center point ( Figure 11 point M in the left figure), and takes a fixed-size one-dimensional data in the Y-axis direction of the first frame of beam synthesis data or the first frame of ultrasonic image ( Figure 11 the solid line segment passing through point M in the left figure) as the characteristic information of the blood vessel wall at the current position. Taking the same position as the center point on the second frame of beam synthesis data or the second frame of ultrasonic image ( Figure 11 point M in the right figure), a data segment that best matches the characteristic information is searched for within the one-dimensional search area in the Y-axis direction ( Figure 11 the solid line segment in the right figure) ( Figure 11 the dashed line segment in the right figure), and the position of the center point of this data segment ( Figure 11 point N in the right figure) is used as the new blood vessel wall position at the current horizontal position of this frame. The position change of each detection point between two frames is the radial change of the blood vessel wall during the corresponding time period. Repeat this process until the radial changes of the blood vessel wall between every two adjacent frames or several frames within the entire predetermined time period are calculated. The change results are accumulated to obtain the displacements of each detection point on the blood vessel wall at different time points within the predetermined time period. The pulsation parameters are radial displacement, radial velocity, radial acceleration, the change amount of blood vessel diameter, the change speed of blood vessel diameter, or the change acceleration of blood vessel diameter. Subtracting the radial displacement of the front wall detection point from the corresponding radial displacement of the rear wall detection point, the change amount of the blood vessel diameter corresponding to the front wall detection point or the rear wall detection point is obtained ( Figure 13)。The first and second derivatives of the radial displacement and the change in blood vessel diameter are calculated separately in the time dimension to obtain the radial velocity, radial acceleration, the change velocity and change acceleration of the blood vessel diameter, etc. By synthesizing the pulsation parameters of each detection point on the blood vessel wall at different time points, the displacement of the unilateral blood vessel wall, the radial movement velocity of the unilateral blood vessel wall, the radial movement acceleration of the unilateral blood vessel wall, the change in blood vessel diameter, the change velocity of the blood vessel diameter, or the change acceleration of the blood vessel diameter at different time points can be obtained. If the user does not select the ROI (region of interest), the processor 20 calculates the pulsation parameters of the blood vessel wall within the entire target region; if the user selects the ROI, the processor 20 only calculates the pulsation parameters within the ROI. When calculating the pulsation parameters of the blood vessel wall, after determining the center point, two-dimensional data of a fixed size can also be taken from the first-frame beam synthesis data or the first-frame ultrasound image, and with the same position as the center point on the second-frame beam synthesis data or the second-frame ultrasound image, the most feature-information-matching data block within the two-dimensional search region is calculated for this two-dimensional image block through methods such as template matching, and the center point position of this data block is used as the new blood vessel wall position at the current horizontal position of this frame.

[0088] The processor 20 is further configured to obtain the propagation velocity of the pulse wave propagating axially on the blood vessel wall according to the pulsation parameters of each detection point. The specific process is shown in step 32 and step 33.

[0089] Step 32: The processor 20 detects the first time when the pulsation parameters of each detection point reach the first predetermined threshold.

[0090] Specifically, as Figure 12 shown, the points in the figure are detection points, the abscissa of which is the position of the detection point in the axial direction of the blood vessel wall, and the ordinate is the corresponding first time. The first predetermined threshold can be set according to user requirements. For example, for the pulse wave in the early systolic phase, the pulsation parameter can be selected as the radial displacement, and the first predetermined threshold can be the minimum value among the empirical values of the maximum radial displacement (corresponding to the wave peak), or 50% or more of the empirical value of the maximum radial displacement, etc. For the pulse wave in the late systolic phase, the first time when the pulsation parameters of each detection point are within the first predetermined threshold range and are maximum values is detected. By setting the maximum value of the first predetermined threshold range, the wave peak in the early systolic phase can be excluded, and by setting the minimum value of the first predetermined threshold range, the maximum value in the late systolic phase (the lower wave peak in the cardiac cycle) can be covered. Through the judgment of the maximum value (conventional mathematical method), the first time when the wave peak of the pulse wave reflecting the late systolic phase arrives can be obtained. This embodiment is described by taking the pulse wave in the early systolic phase as an example.

[0091] The user takes the minimum value of the empirical value of the pulsation parameter of interest as the first predetermined threshold, so that the pulsation parameter of interest can be conveniently observed. In other words, the pulsation parameters of each detection point are connected in series to reflect the propagation process of the pulse wave. Usually, what the user is interested in is the propagation process of the wave crest, and this embodiment will illustrate it accordingly.

[0092] Step 33: The processor 20 obtains the propagation speed of the pulse wave on the blood vessel wall in the ultrasonic image according to the positions of each detection point in the axial direction of the blood vessel and the first time corresponding to each detection point. Specifically, the average propagation speed of the pulse wave on a partial or entire section of the blood vessel wall in the ultrasonic image is obtained according to the positions of each detection point in the axial direction of the blood vessel and the first time corresponding to each detection point; the propagation speed of the pulse wave at each detection point is obtained according to the positions of two adjacent detection points in the axial direction of the blood vessel and the difference between the first times corresponding to the two adjacent detection points. The two adjacent detection points here are not limited to two detection points adjacent in the spatial position relationship, and can also refer to two detection points on the boundary within the range of the blood vessel corresponding to one acoustic window. For example, the processor 20 selects at least two detection points and extracts the first time of the detection points; the propagation speed of the pulse wave can be obtained according to the axial distance between the detection points and the difference between the first times. To improve the accuracy, the number of selected detection points is multiple, and the more the better within the processing capacity, to obtain the corresponding relationship between time and space of each detection point. As Figure 12 shown, linear fitting is performed on each point to obtain an oblique line, and the slope of the oblique line is the average propagation speed of the pulse wave in the current cardiac cycle. Of course, the propagation speed of the pulse wave at each detection point can also be obtained according to the positions of two adjacent detection points in the axial direction of the blood vessel and the difference between the first times corresponding to the two adjacent detection points, so as to facilitate the user to obtain the hardness difference at different positions on the blood vessel wall.

[0093] Since the positions of each detection point and the corresponding first time are both known, the pulse wave propagation speed at the start (BS) and end (ES) of the systolic period of the anterior wall of the artery, the propagation speed at any detection point on the blood vessel wall, the average propagation speed of any section, etc. can all be calculated by the above method.

[0094] Based on the above method for calculating the propagation speed, in an optional embodiment, the method for calculating the propagation speed is optimized. Specifically, the processor 20 detects the time point when the pulsation parameter of a specified detection point reaches a predetermined specific value, and extends a preset time forward and / or backward from this time point to obtain an effective time period; obtains the pulsation parameters of each detection point at different time points within the effective time period; detects the first time when the pulsation parameter of each detection point within the effective time period reaches a first predetermined threshold; and obtains the propagation speed of the pulse wave on the blood vessel wall in the ultrasonic image according to the positions of each detection point in the blood vessel axis direction and the corresponding first time of each detection point. The specified detection point can be a detection point at the peak position to facilitate the identification and selection of this specified detection point. The preset time can be set according to the actual situation, as long as the obtained effective time period is not shorter than the time required for the pulse wave to pass through each detection point. The setting of the effective time period is to reduce the computational workload of the processor 20. This is because the scanning range of the ultrasonic probe is small (0.03 - 0.05 m), the propagation time of the pulse wave within one cardiac cycle (0.6 - 1 s) is short (0.003 - 0.02 s), and the time for the pulse wave to pass through each detection point is very short (0.003 - 0.02 s). After that, there is a relatively long time (0.597 - 0.98 s) during which the pulsation parameters of each detection point change very little. If the data with very little change in pulsation parameters is also calculated, it will only increase the computational workload. Therefore, by limiting the effective time period, the computational workload of the processor 20 for calculating the propagation speed can be saved.

[0095] In some examples, in addition to performing B-imaging (two-dimensional or three-dimensional tissue gray-scale imaging) on the blood vessels of the target object, the ultrasonic imaging device can also perform M-imaging and Doppler imaging on the blood vessels of the target image. The Doppler imaging can include, for example, tissue Doppler imaging (TDI) and tissue velocity imaging (TVI). The propagation speed of the pulse wave can be obtained according to the following steps under each ultrasonic imaging mode.

[0096] When the ultrasonic imaging device performs M-imaging, ultrasonic data in the form of M data can be obtained. This M data includes gray-scale data on multiple scan lines arranged along the blood vessel axis direction, and each detection point is a point on the blood vessel wall of each scan line. When the pulse wave propagates through a certain detection point, due to the action of the pulse wave, there will be a certain displacement change in the depth direction (i.e., the blood vessel radial direction) of the blood vessel wall at this detection point. Correspondingly, the M data can reflect the change in this radial displacement. The processor 20 can obtain the gray-scale value of the detection point on the blood vessel wall of each scan line changing with time according to the M data of each scan line, and can calculate the radial displacement of this detection point on the blood vessel wall changing with time according to the gray-scale value.

[0097] Subsequently, the processor 20 can detect the first time when the radial displacement of each detection point reaches a second predetermined threshold. The second predetermined threshold can be set according to user requirements. For example, the second predetermined threshold can be the minimum value among the empirical values of the maximum radial displacement, or 50% or more of the empirical value of the maximum radial displacement, etc. After detecting the first time of each detection point, the processor 20 can obtain the propagation speed of the pulse wave on the blood vessel wall according to the positions of the detection points on the blood vessel axis and the first time corresponding to each detection point. Since the positions of the detection points on the blood vessel wall are known and the time difference between the detection points is determined, the propagation speed of the pulse wave can be obtained.

[0098] When the ultrasonic imaging device performs B imaging, ultrasonic data in the M data format can be obtained based on the ultrasonic data in the B data format (tissue gray scale). Subsequently, the processor 20 can calculate the propagation speed of the pulse wave based on the method in the above M imaging mode.

[0099] When the ultrasonic imaging device performs TVI imaging or TDI imaging, ultrasonic data with Doppler information can be obtained. The processor 20 can analyze the Doppler information of the ultrasonic data to calculate the velocity information of each detection point arranged along the blood vessel axis on the blood vessel wall at different time points. For example, when performing TVI imaging, the velocity variance energy of the ultrasonic data with Doppler information can be solved to obtain the velocity information of each detection point changing with time. For example, when performing TDI imaging, a spectral image of each detection point on the blood vessel wall can be obtained. The spectral image records the frequency information of each detection point changing with time. Based on this frequency information, simple conversion can be performed to obtain the velocity information of each detection point at different time points.

[0100] Subsequently, the processor 20 can detect the first time when the velocity information of each detection point reaches a third predetermined threshold. The third predetermined threshold can be set according to user requirements. For example, the third predetermined threshold can be 50% or more of the detected maximum velocity information, etc. After detecting the first time of each detection point, the processor 20 can obtain the propagation speed of the pulse wave on the blood vessel wall according to the positions of the detection points on the blood vessel axis and the first time corresponding to each detection point. Since the positions of the detection points on the blood vessel wall are known and the time difference between the detection points is determined, the propagation speed of the pulse wave can be obtained.

[0101] Step 4', the processor 20 visualizes the vascular wall hardness characterization along the axial direction of the blood vessel, thereby generating and displaying a pulse wave propagation state diagram through the human-computer interaction device 70. For example, along the axial direction of the blood vessel at the position corresponding to each detection point, a preset image element is used to visualize the pulse wave propagation velocity corresponding to each detection point. The pulse wave propagation state diagram can be static or dynamic. Taking the dynamic as an example, the processor 20 dynamically displays the pulse wave propagation velocity in the order of propagation time in a graphical visualization along the axial direction of the blood vessel on the display interface of the human-computer interaction device. For example, along the axial direction of the blood vessel at the position corresponding to each detection point, when the first time corresponding to each detection point arrives, the pulse wave propagation velocity corresponding to each detection point is visualized using a preset image element, thereby realizing the periodic update of the pulse wave propagation velocity of each detection point. The image element can be a combination of one or more of color, pattern, texture and pattern density. The pulse wave propagation state diagram shows the propagation velocity. Since doctors may be interested in the propagation velocity on the entire blood vessel wall, or on a certain section of the blood vessel wall, or on the propagation velocity at the position corresponding to each detection point, the pulse wave propagation state diagram has multiple ways to visualize the vascular wall hardness characterization quantity, which will be specifically explained below.

[0102] Before giving examples of various visualization expressions, the following will first explain how the pulse wave propagation state diagram and the ultrasound image are displayed together on the display interface. In order to combine the pulse wave propagation state diagram with the actual ultrasound image, there are two specific methods: adjacent display and superimposed display. The pulse wave propagation state diagram A1 is displayed near the ultrasound image C by the processor 20, as shown in FIG. Figure 14 As shown, this is adjacent display. In this way, when the blood vessel is horizontal, the pulse wave propagation state diagram A1 and the ultrasound image C share the same horizontal coordinate, that is, the two diagrams are set up correspondingly, such as Figure 14 As shown; when the blood vessel is in a vertical direction, the pulse wave propagation state diagram and the ultrasound image share the same vertical coordinate, that is, the two diagrams are arranged in a left-right corresponding manner. Of course, the pulse wave propagation state diagram A2 and the axial section structure of the blood vessel in the ultrasound image C can also be superimposed and displayed according to a preset weight by the processor 20, such as Figure 15As shown, this is a superimposed display, and the pulse wave propagation state diagram A2 and the ultrasound image C share a coordinate system after being superimposed. Further, the processor 20 is also used to detect the user's modification of the weight through the human-computer interaction device 70; the superimposed display of the pulse wave propagation state diagram A2-A8 and the axial section structure of the blood vessel in the ultrasound image C is updated according to the modified weight. When the weight of one of the diagrams is 0, only the other diagram is displayed. If both weights are not 0, it can reflect the structure of the blood vessel wall and intuitively reflect the propagation speed. By setting the weight, the doctor can adjust the display effect to highlight the structure of the blood vessel wall or the propagation speed. The ultrasound image C generated by the ultrasound data displayed on the display interface can be an ultrasound image frame or an ultrasound video. This embodiment is explained by taking the ultrasound image as an ultrasound video and superimposed display as an example.

[0103] Of course, regardless of adjacent display or superimposed display, the processor 20 also synchronously displays a value bar B for indicating the corresponding relationship between the size of the vascular wall hardness characterization value and the color, texture, pattern or pattern density through the display interface of the human-computer interaction device.

[0104] In one example, using Figure 14 The method shown in the figure visualizes the hardness characterization of the blood vessel wall. In this example, the hardness characterization of the blood vessel wall is the average propagation velocity of the pulse wave propagating along the axial direction of the blood vessel on the entire blood vessel wall in the ultrasound image, for example, the average propagation velocity of all detection points. The processor 20 visualizes the average propagation velocity at the position corresponding to the entire blood vessel wall along the axial direction of the blood vessel using a preset image element, and generates and displays a pulse wave propagation state diagram A1 distributed along the axial direction of the blood vessel. Taking the density of the image element as a pattern as an example, Figure 14 In the pulse wave propagation state diagram A1 shown, the oblique line (pattern) covers the entire blood vessel wall and must cover along the axial direction of the blood vessel. In the radial direction, it only needs to have a certain length, not necessarily Figure 14 The doctor can get the approximate range of the average propagation velocity based on the density of the oblique lines at a glance, and can get a more accurate average propagation velocity by comparing the value bar B. For the convenience of doctors, the specific value of the average propagation velocity is also displayed on the display interface, as well as the current moment relative to the entire time of the ultrasound data. Of course, it is more intuitive to use different colors to represent different average propagation velocities. For example, a colored area covers the entire blood vessel wall. The redder the color, the faster the speed, and the bluer the color, the slower the speed. In fact, it is equivalent to Figure 14 The shaded area is replaced with the corresponding color. Of course, the average propagation velocity can be the average propagation velocity of the pulse wave in one cardiac cycle, or the average of the average propagation velocities of the pulse wave in each cardiac cycle. Regardless of which one, since the propagation velocity of the pulse wave does not change much between cycles, Figure 14The shown pulse wave propagation state diagram A1 doesn't change much even when updated with the cardiac cycle and is basically static.

[0105] In another example, the vascular wall hardness characterization quantity is the average propagation speed of the pulse wave along the blood vessel axis on the target segment of the blood vessel wall in the ultrasonic image. The target segment of the blood vessel wall in the ultrasonic image includes a segment of the blood vessel wall that the pulse wave is currently propagating through in the ultrasonic image. As Figure 15 shown, the processor 20 visualizes the average propagation speed at the position corresponding to the blood vessel wall of the target segment along the blood vessel axis direction using a preset image element, and generates and displays the pulse wave propagation state diagram A2 distributed along the blood vessel axis direction. For example, when the pulse wave propagates along the blood vessel axis on the blood vessel wall in the ultrasonic image to each detection point, the processor 20 obtains the average propagation speed of the blood vessel wall segment that the pulse wave has passed through; along the blood vessel axis direction at the position corresponding to the blood vessel wall segment that the pulse wave has passed through, the average propagation speed is represented by color, pattern or the density of the pattern, and the pulse wave propagation state diagram A2 distributed along the blood vessel axis direction is generated and displayed. When displaying, the pulse wave propagation state diagram A2 is updated according to the time when the pulse wave propagates to the detection point (that is, dynamically displayed). Since the pulse wave propagation state diagram A2 presents the average propagation speed of a segment of the blood vessel wall that the pulse wave is currently propagating through in the ultrasonic image, therefore, as time goes by, the average propagation speed presented by the pulse wave propagation state diagram A2 changes dynamically. As Figure 15 shown, the average propagation speed within a time period is calculated once when the pulse wave propagates on the blood vessel wall for 0.03 s, and the average propagation speed is displayed within the range from the proximal end of the blood vessel (the starting end of the ultrasonic image) to the current propagation position using a preset image element. The image element is, for example, the pattern density, as Figure 15 the diagonal area in the left figure; when the pulse wave continues to propagate on the blood vessel to 0.033 s, the average propagation speed within 0.033 s is calculated again, and the propagation speed is also displayed within the range from the proximal end of the blood vessel to the current propagation position using a preset image element, as Figure 15 the diagonal area in the right figure. And so on, the length of the axial coverage of the diagonal area is determined by the current propagation range, the density of the diagonal area is determined by the average propagation speed of the current propagation range, and as the propagation progresses, the density of the diagonal line changes and the diagonal area becomes longer along the blood vessel axis direction. Similarly, different colors can also be used to represent different average propagation speeds. For example, a colored area covers the entire blood vessel wall. The redder the color, the faster the speed, and the bluer the color, the slower the speed, etc. In fact, it is equivalent to replacing Figure 15 the diagonal area with the corresponding color.

[0106] Since the pulse wave propagation state diagram A2 is dynamically changing, the superimposed result of the pulse wave propagation state diagram A2 and the ultrasonic image C is equivalent to being played dynamically in chronological order in the form of a movie, that is, it reflects the propagation of the pulse wave in real time. The propagation of the pulse wave is reflected in that: the pulse wave propagation state diagram A2 or the image element area of the pulse wave propagation state diagram A2 advances from the proximal end to the distal end along the blood vessel axis according to the time of pulse wave propagation. For example Figure 15 As shown, it advances horizontally according to the time of pulse wave propagation. Figure 15 The left figure is the superimposed display of the pulse wave propagation state diagram A2 and the ultrasonic video at a certain moment. After a period of time, the figure after the superimposed display is the right figure, showing the process of the pulse wave propagating from the left side to the right side of the figure. When the pulse wave propagation state diagram A2 is displayed on the display interface of the human-computer interaction device, it is dynamic (the image elements change with time), and can also be called the pulse wave propagation state video or the pulse wave propagation state animated graph.

[0107] In another example, the vascular wall hardness characterization quantity is the average propagation speed of the pulse wave along the blood vessel axis on the target segment of the vascular wall in the ultrasonic image. The target segment of the vascular wall in the ultrasonic image includes a segment of the vascular wall that the pulse wave currently propagates through in the ultrasonic image. As Figure 16 shown, the processor 20 visualizes the average propagation speed of the target segment of the vascular wall at the position corresponding to the entire vascular wall of the ultrasonic image along the blood vessel axis direction by using preset image elements, and indicates the position corresponding to the target segment of the vascular wall on the entire vascular wall of the pulse wave propagation state diagram A3 (as shown by the triangular arrow in the figure, so that the doctor can know the peak position). In other words, the processor 20 obtains the average propagation speed of the vascular wall segment that the pulse wave passes through when the pulse wave propagates along the blood vessel axis to each detection point on the vascular wall in the ultrasonic image; at the position corresponding to the entire vascular wall in the ultrasonic image along the blood vessel axis direction, the average propagation speed is represented by colors, patterns or the density of patterns, generates and displays the pulse wave propagation state diagram distributed along the blood vessel axis direction, and updates the pulse wave propagation state diagram according to the time when the pulse wave propagates to the detection point when displaying. That is to say, it is Figure 15 the same as the displayed average propagation speed, but the presentation method is different. Figure 15 Only the image elements are displayed in the target segment of the blood vessel, while Figure 16 the image elements are displayed on the entire blood vessel. For example, when the pulse wave propagates on the vascular wall for 0.03 s, the average propagation speed of the pulse wave in the vascular wall segment that has been propagated through during this time period is calculated once, and the average propagation speed is displayed at the position corresponding to the entire vascular wall by using preset image elements, such as Figure 16 the diagonal area; when the pulse wave continues to propagate on the blood vessel to 0.033 s, the average propagation speed of the pulse wave in the vascular wall segment that has been propagated through within 0.033 s is calculated again, and the image elements are updated.

[0108] In another example, the blood vessel wall hardness characterization quantity is the propagation speed of the pulse wave along the blood vessel axis to each detection point on the blood vessel wall in the ultrasonic image. As Figure 17 shown, the processor 20 visualizes the propagation speed of each detection point respectively at the positions corresponding to each detection point in the ultrasonic image along the blood vessel axis direction by using a preset image element, and generates and displays a pulse wave propagation state diagram A4 distributed along the blood vessel axis direction. For example, if the total propagation time of the pulse wave on the blood vessel within the acoustic window (field of view) is 0.04 s, the propagation speed of each detection point when the pulse wave propagates on this section of the blood vessel is obtained through processing and calculation, and the propagation speed of each detection point is displayed in a preset image element, such as a color mapping method. In this way, it is clear at a glance which detection point has a slow propagation speed and which has a fast propagation speed. Since the detection points are similar to sampling points, it is impossible to calculate the propagation speed of all points on the blood vessel wall axis considering the computational amount. Therefore, the propagation speed of the detection points is represented by image elements, and what is shown is a small area, such as Figure 17 the small rectangular frame area in, rather than a narrow sense point, so as to more intuitively present the propagation speed with image elements. Since the propagation speed of the detection points also does not vary much between each cardiac cycle, the color display range and color in the pulse wave propagation state diagram A4 basically do not change dynamically with the cardiac cycle. Similar to the first type, it belongs to the "static" pulse wave propagation state diagram A4. Dynamically displaying the propagation speed is more intuitive, and the present invention focuses on introducing the case of dynamic display. Of course, the processor 20 is also used to determine the standard deviation of the propagation speed of each detection point; and synchronously display the standard deviation when displaying the pulse wave propagation state diagram A4, so that the doctor can more intuitively see the uniformity of the pulse wave propagation speed.

[0109] In another example, the blood vessel wall hardness characterization quantity is the propagation speed of the pulse wave along the blood vessel axis to each detection point on the blood vessel wall in the ultrasonic image. As Figure 18As shown, the processor 20 uses preset image elements to visualize the pulse wave propagation speed corresponding to each detection point at the position corresponding to each detection point along the axial direction of the blood vessel when the pulse wave propagates to each detection point (such as the first time). For example, the processor 20 obtains the propagation speed of the pulse wave at each detection point on the blood vessel wall in the ultrasound image; along the axial direction of the blood vessel, at the position corresponding to each detection point on the blood vessel wall segment through which the pulse wave has passed, the color, pattern or pattern density is used to represent the propagation speed corresponding to each detection point, and a pulse wave propagation state diagram A5 distributed along the axial direction of the blood vessel is generated and displayed. When displayed, the pulse wave propagation state diagram A5 is updated according to the time when the pulse wave propagates to the detection point (that is, dynamic display). Since the pulse wave propagation state diagram A5 presents the propagation speed of the pulse wave on the blood vessel wall of the ultrasound image along the axial direction of the blood vessel to each detection point, as the propagation progresses, the pulse wave propagation state diagram A5 or the area of ​​the image element in the pulse wave propagation state diagram A5 changes dynamically. As shown Figure 18 As shown in the left figure, the pulse wave propagates on the blood vessel wall for 0.03s and the propagation speed of the detection point to which the current pulse wave propagates is calculated. The propagation speed is displayed at the position corresponding to the detection point with a preset image element, and the image elements corresponding to the detection point that the pulse wave has passed are retained. Figure 18 The oblique line area in the left figure; when the pulse wave continues to propagate on the blood vessel to 0.033s, the propagation speed of the detection point to which the current pulse wave propagates is calculated again, and the propagation speed is displayed at the position corresponding to the detection point with a preset image element, and the image elements corresponding to the detection point that the pulse wave has passed through continue to be retained, such as Figure 18 The oblique line area in the right figure. By analogy, the length of the entire oblique line area is determined by the current propagation range, and the oblique line density at the corresponding position of the detection point is determined by the propagation speed of the detection point. As the propagation progresses, the entire oblique line area becomes longer along the axial direction of the blood vessel. Similarly, different colors can be used to represent different propagation speeds, which is actually equivalent to Figure 18 Replace the slashes with the corresponding colors.

[0110] Since the pulse wave propagation state diagram A5 changes dynamically, the superposition result of the pulse wave propagation state diagram A5 and the ultrasound image C is equivalent to playing dynamically in the form of a movie in a time sequence, that is, reflecting the propagation of the pulse wave in real time. The propagation of the pulse wave is reflected in: the pulse wave propagation state diagram A5 or the image element area of ​​the pulse wave propagation state diagram A5 advances from the proximal end to the distal end along the vascular axis according to the time of pulse wave propagation, for example Figure 18 As shown, the pulse wave propagation time is advanced in the horizontal direction. This directly reflects the propagation process of the pulse wave and also allows the difference in propagation speed of each detection point to be observed.

[0111] In another example, the characterization quantity of blood vessel wall stiffness is the propagation speed of the pulse wave along the blood vessel axis on the blood vessel wall in the ultrasonic image to each detection point. As Figure 19 shown, the processor 20 visualizes the propagation speed of each detection point at the position corresponding to each detection point on the target segment blood vessel wall of the ultrasonic image along the blood vessel axis direction by using preset image elements. Among them, the target segment blood vessel wall includes a section of blood vessel wall that the pulse wave is currently propagating through in the ultrasonic image. For example, the processor 20 obtains the propagation speed of the pulse wave at each detection point on the blood vessel wall in the ultrasonic image (the speed at which the pulse wave passes through the detection point, which is the instantaneous speed or the average speed of a small section of the blood vessel wall corresponding to the detection point); at the position corresponding to the current detection point where the pulse wave passes along the blood vessel axis direction, the propagation speed corresponding to the current detection point is represented by color, pattern or the density of the pattern, and a pulse wave propagation state diagram A6 distributed along the blood vessel axis direction is generated and displayed, and the pulse wave propagation state diagram A6 is updated according to the time when the pulse wave propagates to the detection point during display. Compared with Figure 18 , in fact, only the image elements outside the target segment blood vessel wall are not retained, and the others are the same, so no further description will be given. Of course, the target segment blood vessel wall can also be a section of the blood vessel wall that has been propagated through by the pulse wave and extends a preset length from the detection point where the pulse wave is currently propagating. That is to say, Figure 19 on the basis of, the extension length of the image element area in the blood vessel axis direction is adjusted according to needs.

[0112] In another example, the characterization quantity of blood vessel wall stiffness is the propagation speed of the pulse wave along the blood vessel axis on the blood vessel wall in the ultrasonic image to each detection point. As Figure 20 shown, the processor 20 visualizes the propagation speed of the detection point where the pulse wave is currently propagating at the position corresponding to the entire blood vessel wall of the ultrasonic image along the blood vessel axis direction by using preset image elements, and indicates the position where the pulse wave is currently propagating on the entire blood vessel wall of the pulse wave propagation state diagram A7. For example, the processor 20 obtains the propagation speed of the pulse wave at each detection point on the blood vessel wall in the ultrasonic image; at the position corresponding to the entire blood vessel wall in the ultrasonic image along the blood vessel axis direction, the propagation speed corresponding to the current detection point is represented by color, pattern or the density of the pattern, and a pulse wave propagation state diagram A7 distributed along the blood vessel axis direction is generated and displayed, and the pulse wave propagation state diagram A7 is updated according to the time when the pulse wave propagates to the detection point during display. Compared with the Figure 19 scheme, both present the propagation speed corresponding to the current detection point or the propagation speed of a small section of the blood vessel corresponding to the current detection point. The difference is that in this method, the image element area covers the entire blood vessel wall, and the position where the pulse wave is currently propagating is indicated by a mark (the triangular arrow in the figure), and the others are the same, so no further description will be given.

[0113] In another example, the characterization quantity of blood vessel wall stiffness is the propagation speed at which the pulse wave propagates along the blood vessel axis to each detection point on the blood vessel wall in the ultrasonic image. The processor 20 visualizes the propagation speed of the detection point where the pulse wave currently propagates at the position corresponding to the target segment of the blood vessel wall in the ultrasonic image along the blood vessel axis direction by using preset image elements. The target segment of the blood vessel wall in the ultrasonic image includes a segment of the blood vessel wall that the pulse wave currently passes through in the ultrasonic image. For example, the processor 20 obtains the propagation speed of the pulse wave at each detection point on the blood vessel wall in the ultrasonic image; at the position corresponding to each detection point in the segment of the blood vessel wall passed by the pulse wave along the blood vessel axis direction, uses colors, patterns, or the density of the patterns to represent the propagation speed corresponding to the current detection point, generates and displays the pulse wave propagation state diagram A distributed along the blood vessel axis direction, and updates the pulse wave propagation state diagram A according to the time when the pulse wave propagates to the detection point during display. The display effect of this method is similar to that of Figure 15 shown, the difference is that, Figure 15 at the position corresponding to the target segment of the blood vessel wall, the image element represents the average propagation speed of the pulse wave on the target segment of the blood vessel wall, while in this example, at the position corresponding to the target segment of the blood vessel wall, the image element represents the propagation speed of the currently propagated detection point. Of course, the target segment of the blood vessel wall can also be a segment of the blood vessel wall that has been passed by the pulse wave and extends a preset length from the currently propagated detection point of the pulse wave. That is to say, Figure 20 on the basis of, adjust the extension length of the image element area in the blood vessel axis direction as needed.

[0114] In the visualization display method illustrated above, the processor 20 also obtains the second time when each detection point arranged along the blood vessel axis on the blood vessel wall in the ultrasonic image reaches the peak position according to the ultrasonic data, and uses an icon (such as Figure 15 , 16 , the triangular arrow in 18 - 20) on the pulse wave propagation state diagram to identify the detection point where the current peak is located, so as to prompt the doctor where the current pulse wave propagates to, which is very intuitive. If the first predetermined threshold is the threshold for judging the peak, then at the first time when each detection point reaches the peak position, use an icon on the pulse wave propagation state diagram to identify the detection point where the current peak is located, and there is no need to recalculate the second time.

[0115] In the visualization display method illustrated above, the processor 20 also pauses the update of the pulse wave propagation state diagrams A1 - A7 according to the pause instruction input by the user through the human - machine interaction device 70; according to the position of the cursor (mouse cursor, trackball cursor, touch point, etc.) of the human - machine interaction device, displays the propagation speed of the detection point closest to the cursor position on the paused pulse wave propagation state diagrams A1 - A7. In this way, no matter which visualization method is adopted, the doctor can obtain the propagation speed of the desired detection point position by manual selection.

[0116] In the visualization display method illustrated by the above example, when the pulse wave propagates through the entire blood vessel wall of the ultrasonic image, the processor 20 also presents the propagation speed corresponding to each detection point in the form of a picture through the display interface of the man-machine interaction device, facilitating doctors to observe, record, and print the results.

[0117] In an alternative embodiment, Figure 14 - 20 The method of can use colors as image elements to represent the propagation speed. In addition to dynamically displaying the propagation speed in the form of a color picture, it can also be dynamically displayed in the form of a two-dimensional vector diagram. For example, a waveform diagram, a bar chart, or an area chart can be used to represent the propagation speed, and pulse wave propagation state diagrams A8 and A9 are generated, as Figure 21 and Figure 22 shown.

[0118] The visualization of the present invention preferably dynamically displays the propagation speed of the pulse wave in a graphical manner on the display interface and changes with time, making it clear at a glance for ultrasonic doctors and being very convenient and intuitive.

[0119] Similarly, on the display interface, if the user does not circle the ROI, the entire blood vessel wall is the blood vessel wall segment of the ultrasonic image within the entire target area, and the ultrasonic B-image video of the entire target area and the pulse wave propagation state diagrams A1 - A7 are superimposed; if the user circles the ROI, the entire blood vessel wall is the blood vessel wall segment of the ultrasonic image within the ROI area, and only the ultrasonic B-image video of the ROI area and the pulse wave propagation state diagrams A1 - A7 can be superimposed. Of course, the specific values of the propagation speed can also be displayed on the display interface in real time for the user to accurately master.

[0120] It can be seen that by adopting the technical solution of the present invention, in the real-time imaging mode, the user only needs to place the probe flat on the body surface so that the viewing angle is on the long axis of the blood vessel. Keep the probe position unchanged, start scanning, and the ROI can be circled. The ultrasonic imaging device can then generate a blood vessel B map and a pulse wave propagation state diagram A, and superimpose and display the blood vessel B map and the pulse wave propagation state diagram A, so that the propagation speed can be displayed at the corresponding position, better correlating the blood vessel structure with the propagation speed; in the non-real-time imaging mode, the ultrasonic imaging device obtains the data stored in the memory, processes it to generate a blood vessel B map and a pulse wave propagation state diagram A, so that the propagation speed displayed in the propagation state diagram can be displayed at the corresponding position. At the same time, the propagation condition of the pulse wave is dynamically displayed in the form of a movie and is accompanied by the indication of the wave peak, which can intuitively and accurately represent the propagation process of the pulse wave. In the embodiments of the present invention, the pulse wave propagation state diagram and the blood vessel B map can be synchronously and dynamically displayed, or only the pulse wave propagation state diagram can be dynamically displayed while a static B map of one of the frames during the propagation state is displayed.

[0121] This description refers to various exemplary embodiments. However, those skilled in the art will recognize that changes and modifications can be made to the exemplary embodiments without departing from the scope hereof. For example, the various operational steps and the components used to perform the operational steps can be implemented in different ways depending on a particular application or any number of cost functions associated with the operation of the system (e.g., one or more steps can be deleted, modified, or incorporated into other steps).

[0122] Additionally, as will be understood by those skilled in the art, the principles herein can be embodied in a computer program product on a computer-readable storage medium that pre-loads computer-readable program code. Any tangible, non-transitory computer-readable storage medium can be used, including magnetic storage devices (hard disks, floppy disks, etc.), optical storage devices (CD-ROMs, DVDs, Blu 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, such that the instructions executed on the computer or other programmable data processing apparatus can generate a device for realizing the specified functions. These computer program instructions can also be stored in a computer-readable memory, which can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable memory can form an article of manufacture, including an apparatus for realizing the specified functions. The computer program instructions can also be loaded onto a computer or other programmable data processing device, thereby performing a series of operational steps on the computer or other programmable device to generate a computer-implemented process, such that the instructions executed on the computer or other programmable device can provide steps for realizing the specified functions.

[0123] Although the principles herein have been shown in various embodiments, many modifications of structure, arrangement, proportions, elements, materials, and components that are particularly adapted to specific environments and operational requirements can be used without departing from the principles and scope of this disclosure. The above modifications and other changes or amendments will be included within the scope hereof.

[0124] The foregoing detailed description has been presented 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 this disclosure. Accordingly, the consideration of this disclosure is to be illustrative in nature and not restrictive, and all such modifications will be included within its scope. Similarly, the advantages, other advantages, and solutions to problems of the various embodiments have been described above. However, benefits, advantages, solutions to problems, and any elements that produce these, or that make them more explicit, should not be construed as critical, essential, or necessary. As used herein, the term "comprising" and any other variants thereof are non-exclusive inclusions, such that a process, method, article, or apparatus that includes a list of elements does not include only those elements but also other elements not expressly listed or inherent to the process, method, system, article, or apparatus. In addition, the term "coupled" and any other variants thereof as used herein refer to physical connection, electrical connection, magnetic connection, optical connection, communication connection, functional connection, and / or any other connection.

[0125] Those having skill in the art will recognize that many changes may be made in the details of the above-described embodiments without departing from the basic principles of the invention. Thus, the scope of the invention is to be determined by the following claims.

Claims

1. A pulse wave imaging method, characterized in that it includes: acquiring ultrasonic data, which is the data obtained after beam synthesis of the ultrasonic echo signals detected from the blood vessels of the target object; generating an ultrasonic image containing blood vessels according to the ultrasonic data; obtaining a blood vessel wall hardness characterization quantity reflected by the pulse wave propagating along the blood vessel axis on the blood vessel wall according to the ultrasonic data; and visually expressing the blood vessel wall hardness characterization quantity along the blood vessel axis direction on the ultrasonic image by using a preset image element, thereby generating and displaying a pulse wave propagation state diagram, wherein the preset image element includes a combination of one or more of color, pattern, texture, and pattern density.

2. A pulse wave imaging method, characterized in that, it includes: emitting ultrasonic waves to the blood vessels of the target object; receiving the ultrasonic echoes returned by the blood vessels of the target object to obtain ultrasonic echo signals; performing signal processing on the ultrasonic echo signals to obtain ultrasonic data; obtaining a blood vessel wall hardness characterization quantity reflected by the pulse wave propagating along the blood vessel axis on the blood vessel wall according to the ultrasonic data; and visually expressing the blood vessel wall hardness characterization quantity along the blood vessel axis direction by using a preset image element to generate a real-time displayed pulse wave propagation state diagram, wherein the preset image element includes a combination of one or more of color, pattern, texture, and pattern density.

3. The method according to claim 1, characterized in that the acquiring of the ultrasonic data includes: emitting ultrasonic waves to the blood vessels of the target object at a preset scanning frame rate and receiving the ultrasonic echoes returned by the blood vessels of the target object to obtain ultrasonic echo signals; performing at least beam synthesis processing on the ultrasonic echo signals to obtain the ultrasonic data of the blood vessels of the target object.

4. The method according to claim 2, characterized in that the emitting of ultrasonic waves to the blood vessels of the target object includes: emitting ultrasonic waves to the blood vessels of the target object at a preset scanning frame rate.

5. The method according to claim 3 or 4, characterized in that the preset scanning frame rate is at least 1000 Hz or more.

6. The method according to any one of claims 3 to 5, characterized in that the emitting of ultrasonic waves to the blood vessels of the target object at a preset scanning frame rate includes: emitting non-focused ultrasonic waves to the blood vessels of the target object at a preset scanning frame rate, and the scanning area of the non-focused ultrasonic waves emitted once covers the specified inspection area of the blood vessels, wherein the non-focused ultrasonic waves include planar ultrasonic waves or divergent ultrasonic waves; or emitting multiple focused ultrasonic waves to the blood vessels of the target object at a preset scanning frame rate, the number of times of emitting the multiple focused ultrasonic waves is lower than the preset number of times of emitting for focused imaging, and the scanning area of the multiple focused ultrasonic waves covers the specified inspection area of the blood vessels; or emitting at least one wide focused ultrasonic wave to the blood vessels of the target object at a preset scanning frame rate, and the scanning area of the at least one wide focused ultrasonic wave covers the specified inspection area of the blood vessels.

7. The method according to claim 1 or 2, characterized in that The obtaining of the characterization quantity of the blood vessel wall hardness reflected by the pulse wave propagating along the blood vessel axis on the blood vessel wall according to the ultrasonic data includes: Detecting the pulsation parameters of each detection point arranged along the blood vessel axis on the blood vessel wall at different time points according to the ultrasonic data; Detecting the first time when the pulsation parameters of each detection point reach a first predetermined threshold; Obtaining the characterization quantity of the blood vessel wall hardness according to the positions of each detection point on the blood vessel axis and the first time corresponding to each detection point.

8. The method according to claim 7, wherein, the detecting of the pulsation parameters of each detection point arranged along the blood vessel axis on the blood vessel wall at different time points according to the ultrasonic data includes: Detecting the time point when the pulsation parameters of a specified detection point reach a predetermined specific value, and respectively extending a preset time forward and / or backward from this time point to obtain an effective time period; Obtaining the pulsation parameters of each detection point at different time points within the effective time period.

9. The method according to claim 7, wherein, the detecting of the pulsation parameters of each detection point arranged along the blood vessel axis on the blood vessel wall at different time points according to the ultrasonic data includes: Detecting the position of the blood vessel wall in a frame of image data in the ultrasonic data; Calculating the radial displacements of each detection point arranged along the blood vessel axis on the blood vessel wall at different time points according to the positions of the blood vessel wall in different frames; Obtaining the pulsation parameters of each detection point at different time points according to the radial displacements of each detection point on the blood vessel wall.

10. The method according to claim 8 or 9, wherein, the pulsation parameter is at least one of the displacement of a unilateral blood vessel wall, the radial movement speed of a unilateral blood vessel wall, the radial movement acceleration of a unilateral blood vessel wall, the change in blood vessel diameter, the change speed of blood vessel diameter, and the change acceleration of blood vessel diameter.

11. The method according to claim 1 or 2, wherein, the obtaining of the characterization quantity of the blood vessel wall hardness reflected by the pulse wave propagating along the blood vessel axis on the blood vessel wall according to the ultrasonic data includes: Detecting the radial displacements of each detection point arranged along the blood vessel axis on the blood vessel wall at different time points according to the ultrasonic data; Detecting the first time when the radial displacement of each detection point reaches a second predetermined threshold; Obtaining the characterization quantity of the blood vessel wall hardness according to the positions of each detection point on the blood vessel axis and the first time corresponding to each detection point.

12. The method according to claim 1 or 2, wherein, the obtaining of the characterization quantity of the blood vessel wall hardness reflected by the pulse wave propagating along the blood vessel axis on the blood vessel wall according to the ultrasonic data includes: Analyzing the ultrasonic data to obtain the velocity information of each detection point arranged along the blood vessel axis on the blood vessel wall at different time points; Detecting the first time when the velocity information of each detection point reaches a third predetermined threshold; Obtaining the characterization quantity of the blood vessel wall hardness according to the positions of each detection point on the blood vessel axis and the first time corresponding to each detection point.

13. The method according to claim 7, 11 or 12, wherein, The vascular wall hardness characterization quantity is the propagation speed of the pulse wave along the vascular axis on the vascular wall. Obtaining the vascular wall hardness characterization quantity according to the positions of the detection points on the vascular axis and the first time corresponding to each detection point includes: Obtaining the average propagation speed of the pulse wave on the entire vascular wall according to the positions of the detection points on the vascular axis and the first time corresponding to each detection point; or Obtaining the propagation speed of the pulse wave at each detection point according to the positions of two adjacent detection points on the vascular axis and the difference between the first times corresponding to the two adjacent detection points; or Obtaining the average propagation speed of the pulse wave on the target segment of the vascular wall according to the positions of the detection points on the vascular axis and the first time corresponding to each detection point, where the target segment of the vascular wall includes a segment of the vascular wall through which the pulse wave is currently propagating or a segment of the vascular wall through which the pulse wave has propagated, extending a preset length from the detection point to which the pulse wave has currently propagated.

14. The method according to claim 13, wherein, Visualizing the vascular wall hardness characterization quantity using preset image elements along the vascular axis direction includes: Visualizing the average propagation speed corresponding to the entire vascular wall using preset image elements at positions corresponding to the entire vascular wall along the vascular axis direction; or Visualizing the propagation speed corresponding to each detection point using preset image elements at positions corresponding to each detection point along the vascular axis direction; or Visualizing the average propagation speed corresponding to the target segment of the vascular wall using preset image elements at positions corresponding to the target segment of the vascular wall along the vascular axis direction.

15. The method according to claim 13, wherein, Visualizing the vascular wall hardness characterization quantity using preset image elements along the vascular axis direction on the ultrasonic image includes: Visualizing the average propagation speed corresponding to the entire vascular wall using preset image elements at positions corresponding to the entire vascular wall on the ultrasonic image along the vascular axis direction; or Visualizing the propagation speed corresponding to each detection point using preset image elements at positions corresponding to each detection point on the ultrasonic image along the vascular axis direction; or Visualizing the average propagation speed corresponding to the target segment of the vascular wall using preset image elements at positions corresponding to the target segment of the vascular wall on the ultrasonic image along the vascular axis direction.

16. The method according to claim 14 or 15, wherein, The method further includes: Determining the standard deviation of the propagation speeds corresponding to the detection points; and Synchronously displaying the pulse wave propagation state diagram and the standard deviation.

17. The method according to any one of claims 1 to 16, wherein, The method further includes: displaying a quantity bar indicating the correspondence between the magnitude of the vascular wall hardness characterization quantity and color, pattern, or density of the pattern.

18. The method according to claim 2, wherein, The method further includes: Performing signal processing on the ultrasonic echo signal to obtain an ultrasonic image of the blood vessel of the target object.

19. According to the method of claim 18, wherein, The method further includes: Overlaying and displaying the pulse wave propagation state diagram and the ultrasound image according to a preset weight; or displaying the pulse wave propagation state diagram near the ultrasound image.

20. The method according to claim 19, characterized in that it further includes, detecting the modification of the weight by the user; updating the overlay display of the pulse wave propagation state diagram and the ultrasound image according to the modified weight.

21. The method according to any one of claims 1 to 21, characterized in that the pulse wave propagation state diagram advances from the proximal end to the distal end along the blood vessel axis according to the propagation time of the pulse wave, or the pulse wave propagation state diagram advances along the horizontal direction according to the propagation time of the pulse wave.

22. The method according to claim 1 or 2, characterized in that the visual expression of the blood vessel wall hardness characterization quantity in the blood vessel axis direction includes: obtaining the blood vessel wall hardness characterization quantity of each detection point on the blood vessel wall along the blood vessel axis; using different colors, patterns or pattern densities to represent different blood vessel wall hardnesses, or using a waveform diagram, a bar chart or an area chart to represent different blood vessel wall hardnesses, and generating a pulse wave propagation state diagram distributed along the blood vessel axis.

23. The method according to claim 1 or 2, characterized in that the blood vessel wall hardness characterization quantity is the average value of each detection point arranged along the blood vessel axis on the blood vessel wall or the value corresponding to the position of each detection point.

24. The method according to claim 23, characterized in that the blood vessel wall hardness characterization quantity is the propagation speed of the pulse wave propagating along the blood vessel axis on the blood vessel wall, and the visual expression of the blood vessel wall hardness characterization quantity in the blood vessel axis direction on the ultrasound image by using preset image elements to generate and display the pulse wave propagation state diagram includes: obtaining the average propagation speed of the pulse wave propagating along the blood vessel axis on the entire blood vessel wall in the ultrasound image; at the position corresponding to the entire blood vessel wall in the ultrasound image along the blood vessel axis direction, using colors, patterns or pattern densities to represent the average propagation speed, generating and dynamically displaying the pulse wave propagation state diagram distributed along the blood vessel axis direction; or, obtaining the average propagation speed of the blood vessel wall segment passed by the pulse wave when the pulse wave propagates to each detection point on the blood vessel wall in the ultrasound image along the blood vessel axis, at the position corresponding to the blood vessel wall segment passed by the pulse wave along the blood vessel axis direction, using colors, patterns or pattern densities to represent the average propagation speed, generating and dynamically displaying the pulse wave propagation state diagram distributed along the blood vessel axis direction, and updating the pulse wave propagation state diagram according to the time when the pulse wave propagates to the detection point during display, wherein each detection point is arranged along the blood vessel axis on the blood vessel wall in the ultrasound image; or, Obtain the average propagation speed of the blood vessel wall segment passed by the pulse wave when the pulse wave propagates along the blood vessel axis to each detection point on the blood vessel wall in the ultrasonic image. At positions corresponding to the entire blood vessel wall in the ultrasonic image along the blood vessel axis direction, represent the average propagation speed using color, pattern, or pattern density, generate and dynamically display a pulse wave propagation state diagram distributed along the blood vessel axis direction, and update the pulse wave propagation state diagram according to the time when the pulse wave propagates to the detection point during display, where each detection point is arranged along the blood vessel axis on the blood vessel wall in the ultrasonic image; or, Obtain the propagation speed of the pulse wave at each detection point on the blood vessel wall in the ultrasonic image; at positions corresponding to each detection point in the ultrasonic image along the blood vessel axis direction, represent the propagation speed corresponding to each detection point using color, pattern, or pattern density, generate and dynamically display a pulse wave propagation state diagram distributed along the blood vessel axis direction; where each detection point is arranged along the blood vessel axis on the blood vessel wall in the ultrasonic image; or, Obtain the propagation speed of the pulse wave at each detection point on the blood vessel wall in the ultrasonic image; at positions corresponding to each detection point in the blood vessel wall segment passed by the pulse wave along the blood vessel axis direction, represent the propagation speed corresponding to each detection point using color, pattern, or pattern density, generate and dynamically display a pulse wave propagation state diagram distributed along the blood vessel axis direction, and update the pulse wave propagation state diagram according to the time when the pulse wave propagates to the detection point during display; where each detection point is arranged along the blood vessel axis on the blood vessel wall in the ultrasonic image; or, Obtain the propagation speed of the pulse wave at each detection point on the blood vessel wall in the ultrasonic image; at the position corresponding to the current detection point passed by the pulse wave along the blood vessel axis direction, represent the propagation speed corresponding to the current detection point using color, pattern, or pattern density, generate and dynamically display a pulse wave propagation state diagram distributed along the blood vessel axis direction, and update the pulse wave propagation state diagram according to the time when the pulse wave propagates to the detection point during display, where each detection point is arranged along the blood vessel axis on the blood vessel wall in the ultrasonic image; or, Obtain the propagation speed of the pulse wave at each detection point on the blood vessel wall in the ultrasonic image, at the position corresponding to the entire blood vessel wall in the ultrasonic image along the blood vessel axis direction, represent the propagation speed corresponding to the current detection point using color, pattern, or pattern density, generate and dynamically display a pulse wave propagation state diagram distributed along the blood vessel axis direction, and update the pulse wave propagation state diagram according to the time when the pulse wave propagates to the detection point during display, where each detection point is arranged along the blood vessel axis on the blood vessel wall in the ultrasonic image; or, Obtain the propagation speed of the pulse wave at each detection point on the blood vessel wall in the ultrasonic image; at the position corresponding to each detection point in the blood vessel wall segment passed by the pulse wave along the blood vessel axis direction, represent the propagation speed corresponding to the current detection point using color, pattern, or pattern density, generate and dynamically display a pulse wave propagation state diagram distributed along the blood vessel axis direction, and update the pulse wave propagation state diagram according to the time when the pulse wave propagates to the detection point during display, where each detection point is arranged along the blood vessel axis on the blood vessel wall in the ultrasonic image.

25. The method according to claim 24, characterized in that further comprising: obtaining a second time when each detection point arranged along the axial direction of the blood vessel on the blood vessel wall in the ultrasonic image reaches the peak position according to the ultrasonic data, and marking the detection point where the current peak is located on the pulse wave propagation state diagram with an icon.

26. The method according to claim 1 or 2, characterized in that the obtaining of the blood vessel wall hardness characterization quantity reflected by the pulse wave propagating along the axial direction of the blood vessel wall according to the ultrasonic data includes: obtaining the propagation speed of the pulse wave at each detection point arranged along the axial direction of the blood vessel wall according to the ultrasonic data; the visual expression of the blood vessel wall hardness characterization quantity along the axial direction of the blood vessel further includes: pausing the update of the pulse wave propagation state diagram according to a pause instruction input by the user; and displaying the propagation speed of the detection point closest to the position of the cursor on the paused pulse wave propagation state diagram according to the position of the cursor of the man-machine interaction device.

27. An ultrasonic imaging device, characterized in that comprising: an ultrasonic probe for emitting ultrasonic waves to the blood vessel of a target object and receiving the returned ultrasonic echoes to obtain ultrasonic echo signals; a transmitting circuit for exciting the ultrasonic probe to emit ultrasonic waves to the blood vessel of the target object; a receiving circuit for controlling the ultrasonic probe to receive the ultrasonic echoes returned from the blood vessel of the target object to obtain ultrasonic echo signals; a man-machine interaction device for obtaining user input and performing visual output; a processor for processing the method according to any one of claims 1 to 26 above.

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