Ultrasonic imaging method and ultrasonic imaging equipment

Abstract

According to the ultrasonic imaging method and the ultrasonic imaging equipment, M-mode ultrasonic imaging is carried out on a target vocal cord area of a target neck tissue, frequency domain analysis is carried out based on the obtained M-type ultrasonic image, so that vibration frequency domain analysis parameters of the target vocal cord area are obtained, and the vibration frequency domain analysis parameters are displayed. A research basis is provided for pathological evaluation of the vocal cord function; besides, when the M-mode ultrasonic imaging is carried out, the emission sampling rate of the ultrasonic waves in the M mode is opened to serve as a user interaction setting item, the emission sampling rates of the ultrasonic waves in multiple M modes can be supported, and M-type ultrasonic imaging can be applied to scenes with more frequency domain information.

Description

Technical Field

[0001] This invention relates to the field of ultrasound imaging technology, and more specifically to an ultrasound imaging method and an ultrasound imaging device. Background Technology

[0002] Complications such as recurrent laryngeal nerve injury are common during the treatment of neck diseases like thyroid cancer, leading to restricted vocal cord movement and severely impacting patients' quality of life. Currently, the main method for diagnosing recurrent laryngeal nerve injury and assessing vocal cord function is laryngoscopy. However, this method is invasive and painful for patients. Furthermore, some patients have excessive vocal cord adduction or a shortened glottic diameter, making it difficult to observe the intralarynx structures using laryngoscopy. Compared to laryngoscopy, the non-invasive nature of medical imaging examinations greatly reduces patient discomfort. Currently, laryngeal X-rays, CT scans, and MRI can display the morphology, structure, and surrounding tissues of the vocal cords, offering some value in diagnosing laryngeal tumors, inflammation, and deformities. However, these methods have low sensitivity to vocal cord function and minor lesions, and cannot directly observe vocal cord vibration and subtle mucosal changes, thus limiting their application in the pathological assessment of vocal cord function.

[0003] Ultrasound detection not only has minimal impact on the human body but also offers advantages such as accuracy, stability, safety, convenience, and no radiation. Among related technologies, M-mode ultrasound imaging is primarily used for the diagnosis and monitoring of the heart and blood vessels, such as measuring heart valve activity and assessing cardiac pumping function. In these applications, the focus is more on the longitudinal depth information of M-mode ultrasound imaging and its motion changes over a certain period—that is, the time-domain information represented by M-mode ultrasound imaging—while the frequency-domain information represented by M-mode ultrasound imaging is almost entirely ignored. Therefore, there is currently a significant gap in the research and application of frequency-domain information in M-mode ultrasound imaging. Summary of the Invention

[0004] To address the above problems, the present invention provides an ultrasound imaging method and an ultrasound imaging device.

[0005] According to a first aspect, one embodiment provides an ultrasound imaging method, comprising:

[0006] The emission sampling rate of ultrasound in M-mode is obtained. Based on the emission sampling rate, ultrasound waves are emitted to the target vocal cord region of the target neck tissue and ultrasound echoes are received. The ultrasound echoes are processed to obtain an M-mode ultrasound image that changes over time and the M-mode ultrasound image is displayed.

[0007] Frequency domain analysis is performed on at least a portion of the data in the M-mode ultrasound image to obtain and display the vibration frequency domain analysis parameters of the target vocal tract region.

[0008] In one embodiment, performing frequency domain analysis on at least a portion of the data in the M-mode ultrasound image includes:

[0009] In response to a user's selection operation on the displayed M-mode ultrasound image, at least a portion of the selected data in the M-mode ultrasound image is determined to obtain a target data segment, and frequency domain analysis is performed on the target data segment;

[0010] Alternatively, at least a portion of the data in the M-mode ultrasound image can be determined according to preset rules to obtain a target data segment, and frequency domain analysis can be performed on the target data segment.

[0011] In one embodiment, displaying the vibration frequency domain analysis parameters includes:

[0012] The vibration frequency domain analysis parameters are displayed on the display interface;

[0013] In addition, the display interface shows one or more of the following: an M-mode ultrasound image with target data segment markers and imaging information corresponding to the second imaging mode.

[0014] In one embodiment, the vibration frequency domain analysis parameters include at least one or more of the following: vibration spectrum, vibration power spectrum, and image corresponding to the data for frequency domain analysis, and / or one or more of the following: time length, vibration frequency domain range, and peak value of the target vibration frequency domain corresponding to the data for frequency domain analysis.

[0015] In one embodiment, obtaining the emission sampling rate of the ultrasound in M ​​mode includes:

[0016] The display interface shows the ultrasonic emission sampling rate settings in M ​​mode;

[0017] In response to the user's operation on the setting item of the emission sampling rate, the emission sampling rate is set and obtained.

[0018] In one embodiment, the setting for displaying the ultrasonic emission sampling rate in M ​​mode on the display interface includes:

[0019] The display interface shows the input field for the ultrasonic emission sampling rate in M ​​mode, allowing the user to input the emission sampling rate.

[0020] Alternatively, multiple options for the ultrasonic emission sampling rate in M ​​mode can be selected and displayed on the display interface for the user to choose the emission sampling rate corresponding to one option.

[0021] In one embodiment, the multiple options for determining the emission sampling rate of the ultrasound in M-mode include:

[0022] Acquire the initial imaging parameters of the ultrasound in M-mode, and based on the initial imaging parameters, determine multiple options for the emission sampling rate of the ultrasound in M-mode.

[0023] Alternatively, based on user input, multiple options can be set and retrieved for the ultrasonic emission sampling rate in M ​​mode.

[0024] In one embodiment, the display sampling rate of the M-mode ultrasound image is equal to the emission sampling rate of the ultrasound wave in the M-mode; obtaining the emission sampling rate of the ultrasound wave in the M-mode includes:

[0025] The display interface shows the settings for the sampling rate of the M-mode ultrasound image;

[0026] In response to the user's operation on the display sampling rate setting, the display sampling rate is set to obtain the ultrasonic emission sampling rate in the M mode.

[0027] In one embodiment, the setting for the display sampling rate of the M-mode ultrasound image on the display interface includes:

[0028] The display interface shows an input field for the display sampling rate of the M-mode ultrasound image, allowing the user to input the display sampling rate.

[0029] Alternatively, multiple options for the display sampling rate of the M-mode ultrasound image can be determined and displayed on the display interface for the user to select the display sampling rate corresponding to an option.

[0030] In one embodiment, displaying the M-mode ultrasound image includes:

[0031] The M-mode ultrasound image is displayed, as well as the emission sampling rate of the ultrasound in the M-mode.

[0032] According to a second aspect, one embodiment provides an ultrasound imaging method, comprising:

[0033] The display interface shows the ultrasonic emission sampling rate settings in M ​​mode;

[0034] In response to the user's operation on the settings, the emission sampling rate is set;

[0035] Based on the set emission sampling rate, ultrasound waves are emitted towards the target vocal cord region of the target neck tissue and ultrasound echoes are received. The ultrasound echoes are processed to obtain an M-mode ultrasound image that changes over time, and the M-mode ultrasound image is displayed.

[0036] In one embodiment, the setting for displaying the ultrasonic emission sampling rate in M ​​mode on the display interface includes:

[0037] The display interface shows the input field for the ultrasonic emission sampling rate in M ​​mode, allowing the user to input the emission sampling rate.

[0038] Alternatively, multiple options for the ultrasonic emission sampling rate in M ​​mode can be selected and displayed on the display interface for the user to choose the emission sampling rate corresponding to one option.

[0039] In one embodiment, the multiple options for determining the emission sampling rate of the ultrasound in M-mode include:

[0040] Acquire the initial imaging parameters of the ultrasound in M-mode, and based on the initial imaging parameters, determine multiple options for the emission sampling rate of the ultrasound in M-mode.

[0041] Alternatively, based on user input, multiple options can be set and retrieved for the ultrasonic emission sampling rate in M ​​mode.

[0042] In one embodiment, displaying the M-mode ultrasound image includes:

[0043] The M-mode ultrasound image is displayed, as well as the emission sampling rate of the ultrasound in the M-mode.

[0044] In one embodiment, after displaying the M-mode ultrasound image, the method further includes:

[0045] Frequency domain analysis is performed on at least a portion of the data in the M-mode ultrasound image to obtain and display the vibration frequency domain analysis parameters of the target vocal tract region.

[0046] In one embodiment, performing frequency domain analysis on at least a portion of the data in the M-mode ultrasound image includes:

[0047] In response to a user's selection operation on the displayed M-mode ultrasound image, at least a portion of the selected data in the M-mode ultrasound image is determined to obtain a target data segment, and frequency domain analysis is performed on the target data segment;

[0048] Alternatively, at least a portion of the data in the M-mode ultrasound image can be determined according to preset rules to obtain a target data segment, and frequency domain analysis can be performed on the target data segment.

[0049] In one embodiment, displaying the vibration frequency domain analysis parameters includes:

[0050] The vibration frequency domain analysis parameters are displayed on the display interface;

[0051] In addition, the display interface shows one or more of the following: a first ultrasound image with target M sampling line markings, an M-mode ultrasound image with target data segment markings, and imaging information corresponding to the second imaging mode.

[0052] In one embodiment, the vibration frequency domain analysis parameters include at least one or more of the following: vibration spectrum, vibration power spectrum, and image corresponding to the data for frequency domain analysis, and / or one or more of the following: time length, vibration frequency domain range, and peak value of the target vibration frequency domain corresponding to the data for frequency domain analysis.

[0053] According to a third aspect, one embodiment provides an ultrasound imaging method, comprising:

[0054] The display interface shows the setting for the display sampling rate of the M-mode ultrasound image; wherein the display sampling rate of the M-mode ultrasound image is equal to the emission sampling rate of the ultrasound in the M mode;

[0055] In response to a user's operation on the display sampling rate setting, the display sampling rate is set to determine the emission sampling rate;

[0056] Based on the determined emission sampling rate, ultrasound waves are emitted toward the target vocal cord region of the target neck tissue and ultrasound echoes are received. The ultrasound echoes are processed to obtain an M-mode ultrasound image that changes over time, and the M-mode ultrasound image is displayed.

[0057] In one embodiment, the setting for the display sampling rate of the M-mode ultrasound image on the display interface includes:

[0058] The display interface shows an input field for the display sampling rate of the M-mode ultrasound image, allowing the user to input the display sampling rate.

[0059] Alternatively, multiple options for the display sampling rate of the M-mode ultrasound image can be determined and displayed on the display interface for the user to select the display sampling rate corresponding to an option.

[0060] In one embodiment, displaying the M-mode ultrasound image includes:

[0061] The M-mode ultrasound image is displayed, as well as the emission sampling rate of the ultrasound in the M-mode.

[0062] In one embodiment, after displaying the M-mode ultrasound image, the method further includes:

[0063] Frequency domain analysis is performed on at least a portion of the data in the M-mode ultrasound image to obtain and display the vibration frequency domain analysis parameters of the target vocal tract region.

[0064] In one embodiment, performing frequency domain analysis on at least a portion of the data in the M-mode ultrasound image includes:

[0065] In response to a user's selection operation on the displayed M-mode ultrasound image, at least a portion of the selected data in the M-mode ultrasound image is determined to obtain a target data segment, and frequency domain analysis is performed on the target data segment;

[0066] Alternatively, at least a portion of the data in the M-mode ultrasound image can be determined according to preset rules to obtain a target data segment, and frequency domain analysis can be performed on the target data segment.

[0067] In one embodiment, displaying the vibration frequency domain analysis parameters includes:

[0068] The vibration frequency domain analysis parameters are displayed on the display interface;

[0069] In addition, the display interface shows one or more of the following: a first ultrasound image with target M sampling line markings, an M-mode ultrasound image with target data segment markings, and imaging information corresponding to the second imaging mode.

[0070] In one embodiment, the vibration frequency domain analysis parameters include at least one or more of the following: vibration spectrum, vibration power spectrum, and image corresponding to the data for frequency domain analysis, and / or one or more of the following: time length, vibration frequency domain range, and peak value of the target vibration frequency domain corresponding to the data for frequency domain analysis.

[0071] In one embodiment, the target neck tissue includes thyroid tissue, neck muscle tissue, neck vascular tissue, lymph node tissue, or neck nerve tissue.

[0072] According to a fourth aspect, one embodiment provides an ultrasound imaging device, including: an ultrasound probe, a transmission and reception control circuit, a processor, and a display component; the ultrasound probe is used to transmit ultrasound waves to a region of interest and to receive corresponding ultrasound echoes; the transmission and reception control circuit is used to control the probe to transmit ultrasound waves and receive ultrasound echoes; the processor is used to perform the method as described in any of the above embodiments.

[0073] According to a fifth aspect, one embodiment provides a computer-readable storage medium storing a program that can be executed by a processor to implement the method as described in any of the preceding embodiments.

[0074] According to the ultrasound imaging method and ultrasound imaging device of the above embodiments, M-mode ultrasound imaging is performed on the target vocal cord region of the target neck tissue, and frequency domain analysis is performed based on the M-mode ultrasound image to obtain and display the vibration frequency domain analysis parameters of the target vocal cord region, providing a research basis for the pathological assessment of vocal cord function. In addition, when performing M-mode ultrasound imaging, the present invention supports multiple M-mode ultrasound emission sampling rates by opening the ultrasound emission sampling rate in M-mode as a user interaction setting, enabling M-mode ultrasound imaging to be applied in scenarios with more frequency domain information. Attached Figure Description

[0075] Figure 1 This is a schematic diagram of the structure of an ultrasound imaging device according to one embodiment;

[0076] Figure 2 A flowchart of an embodiment of an ultrasound imaging method;

[0077] Figure 3 A flowchart illustrating a multi-mode ultrasound imaging method according to one embodiment;

[0078] Figure 4 This is a schematic diagram showing an M-mode ultrasound image and a B-mode image according to one embodiment;

[0079] Figure 5 This is a schematic diagram showing an M-mode ultrasound image according to one embodiment;

[0080] Figure 6 This is a schematic diagram of a display interface for displaying vibration frequency domain analysis parameters according to one embodiment;

[0081] Figure 7 A flowchart of another embodiment of an ultrasound imaging method;

[0082] Figure 8 This is a flowchart of another embodiment of an ultrasound imaging method. Detailed Implementation

[0083] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of this application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to this application are not shown or described in the specification. This is to avoid obscuring the core parts of this application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0084] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the steps or actions in the method description can be rearranged or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0085] The serial numbers assigned to components in this document, such as "first" and "second," are used solely to distinguish the described objects and have no sequential or technical meaning. Unless otherwise specified, the terms "connection" and "linkage" in this application include both direct and indirect connections (linkages). Specifically, "B-mode" refers to a two-dimensional grayscale mode, and "M-mode" refers to a motion ultrasound imaging mode. "B-image" refers to a two-dimensional grayscale image, and "M-mode ultrasound image" refers to a time-motion ultrasound image.

[0086] The applicant's research on the scanning, processing, and display process of ultrasound in M-mode of an ultrasound imaging device revealed that during M-mode ultrasound imaging, the device automatically configures an imaging parameter, which includes at least the ultrasound emission sampling rate in M-mode. This automatically configured emission sampling rate is automatically calculated based on the device's factory settings and relevant information of the current imaging mode according to a set of preset rules. This automatically configured emission sampling rate has the following problems: after the ultrasound imaging mode is set, the ultrasound emission sampling rate in M-mode is fixed and cannot be modified by the user. Furthermore, the automatically configured emission sampling rates are all relatively small, with a maximum of 1000 Sps (sampling lines per second), which severely limits the application of M-mode ultrasound imaging and makes it unsuitable for application scenarios with different emission sampling rate requirements. For example, the vibration frequency domain of the vocal cords is usually high, and an ultrasound emission sampling rate of 1000 Sps is insufficient for detecting the vibration frequency domain of the vocal cords.

[0087] Based on the problems existing in the M-mode ultrasound imaging described above, this invention provides an M-mode ultrasound imaging method capable of high-frequency motion detection. It allows users to interactively set the emission sampling rate of ultrasound waves in M-mode, enabling them to set different emission sampling rates according to different application scenarios. For example, when performing frequency domain analysis of vocal cord vibration, a higher emission sampling rate can be set for M-mode ultrasound imaging of the vocal cord region. Furthermore, it supports multiple emission sampling rates, allowing for greater focus on the frequency domain information represented by the M-mode ultrasound image, thus providing a foundation for the research and application of frequency domain information in M-mode ultrasound imaging.

[0088] Please refer to Figure 1 The ultrasonic imaging device provided by the present invention includes an ultrasonic probe 10, a transmission and reception control circuit 20, and a processor 40; in some embodiments, it may also include an echo processing module 30 and / or a display component 50. The components are described below.

[0089] An ultrasound probe 10 is used to emit ultrasound waves toward a region of interest and to receive corresponding ultrasound echo signals to obtain ultrasound data, such as two-dimensional or three-dimensional ultrasound data. In some specific embodiments, the ultrasound probe 10 includes multiple array elements for mutual conversion between electrical pulse signals and ultrasound waves, thereby enabling the emission of ultrasound waves toward the region of interest and the reception of corresponding ultrasound echo signals. Array elements can emit ultrasound waves according to excitation electrical signals, or convert received ultrasound waves into electrical signals. Therefore, each array element can be used to emit ultrasound waves toward biological tissue in the region of interest, and can also be used to receive ultrasound echoes returned by the tissue. During ultrasound detection, the emission and reception sequences can be used to control which array elements are used to emit ultrasound waves and which array elements are used to receive ultrasound waves, or the array elements can be controlled to be used in time slots for emitting ultrasound waves or receiving ultrasound echoes. All array elements involved in ultrasound emission can be simultaneously excited by electrical signals to emit ultrasound waves simultaneously; or the array elements involved in ultrasound emission can be excited by several electrical signals with a certain time interval to continuously emit ultrasound waves with a certain time interval.

[0090] The transmit and receive control circuit 20 controls the ultrasound probe 10 to transmit ultrasound waves and receive ultrasound echo signals. For example, the transmit and receive control circuit 20 controls the ultrasound probe 10 to transmit ultrasound waves toward the region of interest, and also controls the ultrasound probe 10 to receive ultrasound echo signals reflected from the region of interest. In some specific embodiments, the transmit and receive control circuit 20 generates transmit and receive sequences and outputs them to the ultrasound probe 10. The transmit sequence controls some or all of the multiple array elements in the ultrasound probe 10 to transmit ultrasound waves toward the biological tissue 60. The parameters of the transmit sequence include the number of array elements for transmission and ultrasound transmission parameters (e.g., amplitude, frequency domain, number of transmissions, transmission interval, transmission angle, waveform, and / or focusing position). The receive sequence controls some or all of the multiple array elements to receive the echoes of ultrasound waves after passing through the tissue. The parameters of the receive sequence include the number of array elements for reception and the reception parameters of the echoes (e.g., reception angle, depth, etc.). The ultrasound parameters in the transmit sequence and the echo parameters in the receive sequence may vary depending on the purpose of the ultrasound echo or the image generated by the ultrasound echo.

[0091] The echo processing module 30 is used to process the ultrasonic echo signal received by the ultrasonic probe 10, such as filtering, amplifying, and beamforming the ultrasonic echo signal to obtain ultrasonic echo data. In a specific embodiment, the echo processing module 30 can output the ultrasonic echo data to the processor 40, or it can store the ultrasonic echo data in a memory first, and the processor 40 reads the ultrasonic echo data from the memory when it needs to perform calculations based on the ultrasonic echo data. Those skilled in the art should understand that in some embodiments, when it is not necessary to filter, amplify, or beamform the ultrasonic echo signal, the echo processing module 30 can be omitted.

[0092] Processor 40 is used to acquire ultrasonic echo data, or echo signals, and to obtain the required parameters or images using relevant algorithms. In some embodiments of the present invention, processor 40 includes, but is not limited to, devices for interpreting computer instructions and processing data in computer software, such as central processing units (CPUs), microcontroller units (MCUs), field-programmable gate arrays (FPGAs), and digital signal processing units (DSPs). In some embodiments, processor 40 is used to execute various computer applications in the non-transitory computer-readable storage medium, thereby enabling the sample analysis device to perform corresponding detection procedures.

[0093] Display component 50 can be used to display information, such as parameters and images calculated by processor 40. Those skilled in the art will understand that in some embodiments, the ultrasound imaging system itself may not integrate a display module, but instead be connected to a computer device (e.g., a computer) to display information through the computer device's display module (e.g., a display screen).

[0094] Some embodiments also disclose an ultrasound imaging method, in which the processor 40 is used to perform one, several, or all of the steps of the ultrasound imaging method.

[0095] In some embodiments, the ultrasound imaging method is used to detect the vocal cord region of neck tissue, which may include thyroid tissue, neck muscle tissue, neck vascular tissue, lymph node tissue, or neck nerve tissue. In addition, the ultrasound imaging method provided in this embodiment can also be used for other tissue structures, such as heart tissue and vascular tissue, to perform M-mode imaging of the myocardium in heart tissue and analyze the frequency domain information of myocardial beating, or to perform M-mode imaging of the blood vessel wall in arteries and analyze the frequency domain information of blood vessel wall motion. This embodiment does not limit this.

[0096] Please refer to Figure 2 Some embodiments of the ultrasound imaging method include the following steps:

[0097] Step 101: Obtain the emission sampling rate of the ultrasound in M-mode. Based on the emission sampling rate, emit ultrasound waves towards the target vocal cord region of the target neck tissue and receive the ultrasound echoes. Process the ultrasound echoes to obtain an M-mode ultrasound image that changes over time, and display the M-mode ultrasound image. In this embodiment, the emitted ultrasound waves can be focused waves or unfocused waves. Unfocused waves can be plane waves or divergent waves.

[0098] Step 101 above can be performed in either multiplexing mode or simplex mode, which will be explained below.

[0099] Please refer to Figure 3 In multiplexing mode, step 101 in some embodiments may include:

[0100] Step 1011: In response to the command to enter the first imaging mode, enter the first imaging mode.

[0101] In the first imaging mode, ultrasound waves are emitted towards the target neck tissue and the ultrasound echoes are received. The ultrasound echoes are processed to obtain and display a first ultrasound image. In one embodiment, the first imaging mode can be B-mode, and the first ultrasound image is a B-image. In other embodiments, the first imaging mode can also be other imaging modes, such as color Doppler mode, vector flow mode, angiography mode, photoacoustic mode, or elastography mode, etc., and correspondingly, the first ultrasound image can be a color Doppler ultrasound image, vector flow image, angiography image, photoacoustic image, or elastography image, etc.

[0102] Step 1012: Determine the location information of the target vocal cord region on the first ultrasound image based on the displayed first ultrasound image. In one embodiment, the target vocal cord region can be automatically located based on the first ultrasound image; alternatively, the target vocal cord region on the first ultrasound image can be located through user input.

[0103] Step 1013: On the displayed first ultrasound image, a target M-sampling line passing through the target vocal cord region is generated. In one embodiment, an M-sampling line passing through the target vocal cord region can be automatically selected based on the spatial relationship between the fan-shaped emission center of the ultrasound probe 10 and the target vocal cord region.

[0104] Through steps 1011 to 1013 above, after acquiring the first ultrasound image of the target neck tissue, the location of the target vocal cord region can be quickly and automatically identified and a target M-sampling line can be placed for subsequent M-mode ultrasound imaging.

[0105] Step 1014: In response to the instruction to enter the second imaging mode, enter the second imaging mode. The second imaging mode is a multiplexing mode, and the second imaging mode includes at least M mode. In one embodiment, the second imaging mode can be B mode + M mode, or it can be other modes + M mode. This embodiment takes the multiplexing mode of B mode + M mode as an example for explanation.

[0106] Second imaging mode:

[0107] The emission sampling rate of ultrasound in M-mode and the emission sampling rate or frame rate of ultrasound in B-mode are acquired respectively. According to preset rules, ultrasound waves are emitted towards the target vocal cord region of the target neck tissue based on the emission sampling rates or frame rates of ultrasound in M-mode and B-mode respectively, and the ultrasound echoes are received. The received ultrasound echoes are processed accordingly to obtain M-mode ultrasound images and B-mode images that change over time. In one embodiment, the B-mode image is displayed simultaneously with the M-mode ultrasound image, such as... Figure 4 As shown, Figure 4This is an M-mode ultrasound image and a B-mode ultrasound image corresponding to imaging the vocal cord region in thyroid tissue, wherein the location of the target M-sampling line is marked in the displayed B-mode image. In one embodiment, the emission sampling rate of ultrasound in M-mode and the emission sampling rate of ultrasound in B-mode can be the same or different.

[0108] In simplex mode, step 101 in some embodiments may include:

[0109] Step 1015: In response to the command to enter the second imaging mode, enter the second imaging mode, which is a simplex M mode.

[0110] Second imaging mode:

[0111] The emission sampling rate of ultrasound in M-mode is obtained. Based on the emission sampling rate of ultrasound in M-mode, ultrasound waves are emitted towards the target vocal cord region of the target neck tissue and the ultrasound echoes are received. After processing the ultrasound echoes, an M-mode ultrasound image varying over time is obtained and displayed. Figure 5 The above, Figure 5 An example of an M-mode ultrasound image displayed after M-mode ultrasound imaging of the vocal cord region in thyroid tissue is shown.

[0112] In this embodiment, the location of the target vocal cord region of the target neck tissue can be determined first by the first ultrasound image obtained in the first imaging mode to generate the target M sampling line, and then enter the second imaging mode to perform simplex M-mode imaging.

[0113] The above is an explanation of M-mode ultrasound imaging in both multi-mode and simplex modes.

[0114] Step 102: Perform frequency domain analysis on at least a portion of the data in the M-mode ultrasound image to obtain and display the vibration frequency domain analysis parameters of the target vocal tract region. This frequency domain analysis can be frequency analysis, power analysis, or a combination of frequency and power analysis.

[0115] In some embodiments, step 102, performing frequency domain analysis on at least a portion of the data in the M-mode ultrasound image, includes:

[0116] Step 1021: In response to the user's selection operation on the displayed M-mode ultrasound image, a data segment is selected in the M-mode ultrasound image to obtain the target data segment, and frequency domain analysis is performed on the target data segment. Alternatively, a data segment can be automatically selected as the target data segment in the M-mode ultrasound image according to preset rules, and frequency domain analysis is performed on the target data segment.

[0117] In some embodiments, frequency domain analysis of at least a portion of the data in the M-mode ultrasound image can be a multi-dimensional analysis of the target data segment's curves, spectrum, power spectrum, etc., and the vibration frequency domain analysis parameters obtained after the analysis can be displayed.

[0118] In some embodiments, displaying the vibration frequency domain analysis parameters in step 102 may include: displaying the vibration frequency domain analysis parameters on a display interface; and displaying one or more of the following on the display interface: a first ultrasound image with target M-sampling line markers, an M-mode ultrasound image with target data segment markers, and imaging information corresponding to a second imaging mode. In one embodiment, such as Figure 6 As shown, the display interface may include an imaging information display area, an ultrasound image display area, and an auxiliary analysis result display area. The auxiliary analysis result display area further includes an image result display area and a data result display area. The imaging information display area displays imaging information corresponding to the second imaging mode, such as imaging mode, transmission frequency, display frame rate, display depth, transmission gain, and transmission / display sampling rate. The ultrasound image display area displays M-mode ultrasound images with target data segment markers. In multiplexing mode, taking B-mode + M-mode as an example, the ultrasound image display area can also display a B-mode image, which may also be marked with target M-mode sampling lines. The auxiliary analysis result display area is used to display vibration frequency domain analysis parameters. These parameters include at least one or more of the following: vibration spectrum, vibration power spectrum, and images corresponding to the data analyzed in the frequency domain, and / or one or more of the following: time duration, vibration frequency range, and vibration frequency peak value corresponding to the data analyzed in the frequency domain. Therefore, the vibration frequency domain analysis parameters can be displayed as image results and data results separately. The image result display area is used to display the curve image, spectrum, and power spectrum of the target data segment, while the data result display area is used to display the data duration, frequency range, and frequency peak value of the target data segment.

[0119] Based on the above description, this embodiment of the invention realizes frequency domain analysis of the vocal tract region based on M-mode ultrasound images. It should be noted that the above method steps are not limited to frequency domain analysis of the vocal tract region, but can also be used for frequency domain analysis of other tissue structures. This embodiment does not limit this.

[0120] Please refer to Figure 7 This invention also provides ultrasound imaging methods according to some embodiments. These methods are not limited to M-mode ultrasound imaging of the vocal cord region of the neck tissue, but can also be used for other tissue structures, such as the heart and blood vessels. This embodiment does not limit these applications. Furthermore, the method can be performed in simplex M-mode or multi-mode. The ultrasound imaging method includes the following steps:

[0121] Step 201: Display the ultrasonic emission sampling rate setting in M ​​mode on the display interface.

[0122] In some embodiments, step 201 may include: displaying an input item for the ultrasonic emission sampling rate in M ​​mode on the display interface for the user to input the emission sampling rate; or, determining multiple selection items for the ultrasonic emission sampling rate in M ​​mode and displaying these multiple selection items on the display interface for the user to select the emission sampling rate corresponding to one selection item. In one embodiment, the input item displayed on the display interface may be in the form of an input box or input bar, and the selection item may be selected by selecting a dot marker, etc.

[0123] In some embodiments, multiple options for determining the emission sampling rate of ultrasound in M-mode may include:

[0124] The initial imaging parameters of ultrasound in M-mode are acquired, and based on these parameters, multiple options for the ultrasound emission sampling rate in M-mode are determined. The initial imaging parameters are those automatically configured internally by the ultrasound imaging device based on factory settings and relevant information from the current imaging mode. In one embodiment, the range of supported ultrasound emission sampling rates in M-mode is calculated based on the initial imaging parameters, and several values ​​within this range are automatically selected and displayed as options. The range of supported ultrasound emission sampling rates in M-mode calculated from the initial imaging parameters can also be affected by other factors, including: the current imaging mode (multiplexing or simplex M-mode), the ultrasound scanning strategy, the ultrasound scanning depth, minimum frame rate limitations (e.g., combined frame rate requirements in multiplexing mode, and different minimum frame rate limits for different types of probes), and some inherent system parameters (e.g., channel delay, dead zone, etc.).

[0125] In other embodiments, determining multiple options for the ultrasonic wave emission sampling rate in M-mode may also include: setting and acquiring multiple options for the ultrasonic wave emission sampling rate in M-mode based on user input. That is, multiple emission sampling rates manually set by the user in advance are used as options for interactive selection.

[0126] It should be noted that the factory settings of ultrasound imaging equipment include an upper limit for the ultrasound emission sampling rate in M ​​mode. When the emission sampling rate set by the user exceeds the upper limit, the emission sampling rate cannot be set based on this setting. For example, when the emission sampling rate entered by the user in the input field displayed on the screen exceeds the upper limit, the value entered in the input field on the screen will be grayscaled to prompt the user that the input value exceeds the upper limit. As another example, among the multiple selection options displayed on the screen, the selection option whose emission sampling rate exceeds the upper limit will be grayscaled so that the user cannot select the selection option that exceeds the upper limit.

[0127] Step 202: In response to the user's operation on the emission sampling rate setting, set the emission sampling rate. That is, the emission sampling rate is obtained by the user directly inputting a single emission sampling rate or selecting one from multiple candidate emission sampling rates. This makes the emission sampling rate of ultrasound in M-mode accessible to the user for interactive setting. Based on the user's selection or input of the interactive settings, different emission sampling rates for ultrasound in M-mode can be supported, enabling the application of M-mode ultrasound imaging in more high-frequency scenarios. For example, the emission sampling rate in the initial imaging parameters automatically configured by ultrasound imaging equipment is usually low, reaching a maximum of 1000 Sps. However, in ultrasound detection of vocal cord vibration, an emission sampling rate of at least 2000 Sps in M-mode ultrasound is required. Thus, a minimum emission sampling rate of 2000 Sps can be configured through user interaction.

[0128] Step 203: Based on the set emission sampling rate, emit ultrasound waves to the target vocal cord region of the target neck tissue and receive ultrasound echoes. After processing the ultrasound echoes, obtain M-mode ultrasound images that change over time and display the M-mode ultrasound images.

[0129] In some embodiments, when performing signal and image processing on ultrasound echoes to form M-mode ultrasound images, the data of the M-mode ultrasound echoes may not be compressed, that is, the data downsampling in the time dimension may not be performed, and the M-mode sampling rate in the time dimension may always remain unchanged. All received M-mode ultrasound echo data are processed into M-mode ultrasound images, so that the display sampling rate of the final displayed M-mode ultrasound image is equal to the transmission sampling rate of ultrasound in M ​​mode.

[0130] In some embodiments, displaying an M-mode ultrasound image may further include: displaying the M-mode ultrasound image and displaying the emission sampling rate of the ultrasound waves in the M-mode. That is, while displaying the M-mode ultrasound image, the emission sampling rate of the ultrasound waves in the M-mode is displayed simultaneously to facilitate the user's observation of the frequency domain information of the M-mode ultrasound image.

[0131] In some embodiments, after displaying the M-mode ultrasound image, frequency domain analysis of the data can be performed based on the displayed M-mode ultrasound image. The specific frequency domain analysis and the method of displaying the analysis results can be referred to the description of the above embodiments.

[0132] Please refer to Figure 8 This invention also provides ultrasound imaging methods according to some embodiments. These methods are not limited to M-mode ultrasound imaging of the vocal cord region of the neck tissue, but can also be used for other tissue structures, such as the heart and blood vessels. This embodiment does not limit these applications. Furthermore, the method can be performed in simplex M-mode or multi-mode. The ultrasound imaging method includes the following steps:

[0133] Step 301: Display the display sampling rate setting for the M-mode ultrasound image on the display interface; wherein, the display sampling rate of the M-mode ultrasound image is equal to the emission sampling rate of the ultrasound in M ​​mode.

[0134] In some embodiments, step 301 may include: displaying an input item for the display sampling rate of the M-mode ultrasound image on the display interface for the user to input the display sampling rate; or, determining multiple selection items for the display sampling rate of the M-mode ultrasound image and displaying these multiple selection items on the display interface for the user to select the display sampling rate corresponding to one selection item. In one embodiment, the input item displayed on the display interface may be in the form of an input box or input bar, and the selection item may be selected by selecting a dot marker, etc.

[0135] Since the display sampling rate of the M-mode ultrasound image is equal to the emission sampling rate of the ultrasound in M ​​mode, the specific method for determining the multiple options of the display sampling rate of the M-mode ultrasound image can refer to the method for determining the multiple options of the emission sampling rate of the ultrasound in M ​​mode in the above embodiment. That is, after determining the multiple options of the emission sampling rate of the ultrasound in M ​​mode, the multiple options of the display sampling rate of the M-mode ultrasound image can be determined.

[0136] Step 302: In response to the user's operation on the display sampling rate setting, set the display sampling rate to determine the emission sampling rate. Since the display sampling rate of M-mode ultrasound images is equal to the emission sampling rate of ultrasound in M-mode, the corresponding emission sampling rate can be obtained after setting the display sampling rate.

[0137] In some embodiments, the display sampling rate can be obtained by the user directly inputting a display sampling rate or selecting one from multiple candidate display sampling rates. This further obtains the emission sampling rate, essentially making the emission sampling rate of ultrasound in M-mode interactively set by the user. Based on the user-selected or input interactive settings, different emission sampling rates for ultrasound in M-mode can be supported, enabling the application of M-mode ultrasound imaging in more high-frequency scenarios. For example, the emission sampling rate in the initial imaging parameters automatically configured by ultrasound imaging equipment is usually low, reaching a maximum of 1000 Sps. However, in ultrasound detection of vocal cord vibration, an emission sampling rate of at least 2000 Sps in M-mode ultrasound is required. Thus, a emission sampling rate of at least 2000 Sps can be configured through user interaction.

[0138] Step 303: Based on the determined emission sampling rate, emit ultrasound waves to the target vocal cord region of the target neck tissue and receive ultrasound echoes. After processing the ultrasound echoes, obtain M-mode ultrasound images that change over time and display the M-mode ultrasound images.

[0139] In some embodiments, when performing signal and image processing on ultrasound echoes to form M-mode ultrasound images, the data of the M-mode ultrasound echoes may not be compressed, that is, the data downsampling in the time dimension may not be performed, and the M-mode sampling rate in the time dimension may always remain unchanged. All received M-mode ultrasound echo data are processed into M-mode ultrasound images, so that the display sampling rate of the final displayed M-mode ultrasound image is equal to the transmission sampling rate of ultrasound in M ​​mode.

[0140] In some embodiments, displaying an M-mode ultrasound image may further include: displaying the M-mode ultrasound image and displaying the emission sampling rate of the ultrasound waves in the M-mode. That is, while displaying the M-mode ultrasound image, the emission sampling rate of the ultrasound waves in the M-mode is displayed simultaneously to facilitate the user's observation of the frequency domain information of the M-mode ultrasound image.

[0141] In some embodiments, after displaying the M-mode ultrasound image, frequency domain analysis of the data can be performed based on the displayed M-mode ultrasound image. The specific frequency domain analysis and the method of displaying the analysis results can be referred to the description of the above embodiments.

[0142] In some embodiments, a first ultrasound image of the target tissue is acquired based on a first imaging mode, and a region of interest (ROI) of the target tissue is acquired based on the first ultrasound image. The ROI is pre-scanned based on preset emission parameters of a second imaging mode, and multiple emission parameters supported by the ROI in the second imaging mode are calculated based on the pre-scan results. One of the multiple emission parameters is selected to image the ROI, resulting in an M-mode ultrasound image of the ROI. Valid data from the M-mode ultrasound image is selected; the valid data can be partial or complete. Frequency domain information analysis is performed on the valid data, including frequency domain or power information. Vibration frequency domain analysis parameters in the ROI are acquired and displayed in the frequency domain, or the first ultrasound image and the calculated multiple emission parameters can be displayed. The target tissue can be the thyroid gland, heart, or lungs, etc., and the ROI can be the vocal cords of the thyroid gland, the valves of the heart, or the pulmonary artery of the lungs, etc. It should be noted that the ultrasound waves involved in the above embodiments can be focused or unfocused waves.

[0143] Those skilled in the art will understand that all or part of the functions of the various methods in the above embodiments can be implemented by hardware or by computer programs. When all or part of the functions in the above embodiments are implemented by computer programs, the program can be stored in a computer-readable storage medium, which may include: read-only memory, random access memory, disk, optical disk, hard disk, etc., and the program is executed by a computer to achieve the above functions. For example, the program can be stored in the memory of a device, and when the program in the memory is executed by the processor, all or part of the above functions can be achieved. In addition, when all or part of the functions in the above embodiments are implemented by computer programs, the program can also be stored in a server, another computer, disk, optical disk, flash drive, or external hard drive, etc., and can be downloaded or copied to the memory of a local device, or the system of the local device can be updated. When the program in the memory is executed by the processor, all or part of the functions in the above embodiments can be achieved.

[0144] The above examples illustrate the present invention only to aid in understanding it and are not intended to limit the scope of the invention. Those skilled in the art can make various simple deductions, modifications, or substitutions based on the principles of this invention.

Claims

1. An ultrasound imaging method, characterized in that, include: The emission sampling rate of ultrasound in M-mode is obtained. Based on the emission sampling rate, ultrasound waves are emitted to the target vocal cord region of the target neck tissue and ultrasound echoes are received. The ultrasound echoes are processed to obtain an M-mode ultrasound image that changes over time and the M-mode ultrasound image is displayed. Frequency domain analysis is performed on at least a portion of the data in the M-mode ultrasound image to obtain and display the vibration frequency domain analysis parameters of the target vocal tract region.

2. The method as described in claim 1, characterized in that, The frequency domain analysis of at least a portion of the data in the M-mode ultrasound image includes: In response to a user's selection operation on the displayed M-mode ultrasound image, at least a portion of the selected data in the M-mode ultrasound image is determined to obtain a target data segment, and frequency domain analysis is performed on the target data segment; Alternatively, at least a portion of the data in the M-mode ultrasound image can be determined according to preset rules to obtain a target data segment, and frequency domain analysis can be performed on the target data segment.

3. The method as described in claim 2, characterized in that, The displayed vibration frequency domain analysis parameters include: The vibration frequency domain analysis parameters are displayed on the display interface; In addition, the display interface shows one or more of the following: an M-mode ultrasound image with target data segment markers and imaging information corresponding to the second imaging mode.

4. The method as described in claim 1, characterized in that, The vibration frequency domain analysis parameters include at least one or more of the following: vibration spectrum diagram, vibration power spectrum diagram, and image corresponding to the data for frequency domain analysis, and / or one or more of the following: time length, vibration frequency domain range, and peak value of the target vibration frequency domain corresponding to the data for frequency domain analysis.

5. The method according to any one of claims 1 to 4, characterized in that, The emission sampling rate of the ultrasound in M ​​mode includes: The display interface shows the ultrasonic emission sampling rate settings in M ​​mode; In response to the user's operation on the setting item of the emission sampling rate, the emission sampling rate is set and obtained.

6. The method as described in claim 5, characterized in that, The settings for displaying the ultrasonic emission sampling rate in M ​​mode on the display interface include: The display interface shows the input field for the ultrasonic emission sampling rate in M ​​mode, allowing the user to input the emission sampling rate. Alternatively, multiple options for the ultrasonic emission sampling rate in M ​​mode can be selected and displayed on the display interface for the user to choose the emission sampling rate corresponding to one option.

7. The method as described in claim 6, characterized in that, The multiple options for determining the ultrasonic wave emission sampling rate in M ​​mode include: Acquire the initial imaging parameters of the ultrasound in M-mode, and based on the initial imaging parameters, determine multiple options for the emission sampling rate of the ultrasound in M-mode. Alternatively, based on user input, multiple options can be set and retrieved for the ultrasonic emission sampling rate in M ​​mode.

8. The method according to any one of claims 1 to 4, characterized in that, The display sampling rate of the M-mode ultrasound image is equal to the emission sampling rate of the ultrasound waves in the M-mode; obtaining the emission sampling rate of the ultrasound waves in the M-mode includes: The display interface shows the settings for the sampling rate of the M-mode ultrasound image; In response to the user's operation on the display sampling rate setting, the display sampling rate is set to obtain the ultrasonic emission sampling rate in the M mode.

9. The method as described in claim 8, characterized in that, The settings for the display sampling rate of the M-mode ultrasound image on the display interface include: The display interface shows an input field for the display sampling rate of the M-mode ultrasound image, allowing the user to input the display sampling rate. Alternatively, multiple options for the display sampling rate of the M-mode ultrasound image can be determined and displayed on the display interface for the user to select the display sampling rate corresponding to an option.

10. The method as described in claim 1, characterized in that, The display of the M-mode ultrasound image includes: The M-mode ultrasound image is displayed, as well as the emission sampling rate of the ultrasound in the M-mode.

11. An ultrasound imaging method, characterized in that, include: The display interface shows the ultrasonic emission sampling rate settings in M ​​mode; In response to the user's operation on the settings, the emission sampling rate is set; Based on the set emission sampling rate, ultrasound waves are emitted towards the target vocal cord region of the target neck tissue and ultrasound echoes are received. The ultrasound echoes are processed to obtain an M-mode ultrasound image that changes over time, and the M-mode ultrasound image is displayed.

12. The method as described in claim 11, characterized in that, The settings for displaying the ultrasonic emission sampling rate in M ​​mode on the display interface include: The display interface shows the input field for the ultrasonic emission sampling rate in M ​​mode, allowing the user to input the emission sampling rate. Alternatively, multiple options for the ultrasonic emission sampling rate in M ​​mode can be selected and displayed on the display interface for the user to choose the emission sampling rate corresponding to one option.

13. The method as described in claim 12, characterized in that, The multiple options for determining the ultrasonic wave emission sampling rate in M ​​mode include: Acquire the initial imaging parameters of the ultrasound in M-mode, and based on the initial imaging parameters, determine multiple options for the emission sampling rate of the ultrasound in M-mode. Alternatively, based on user input, multiple options can be set and retrieved for the ultrasonic emission sampling rate in M ​​mode.

14. The method as described in claim 11, characterized in that, The display of the M-mode ultrasound image includes: The M-mode ultrasound image is displayed, as well as the emission sampling rate of the ultrasound in the M-mode.

15. The method according to any one of claims 11 to 14, characterized in that, After displaying the M-mode ultrasound image, the method further includes: Frequency domain analysis is performed on at least a portion of the data in the M-mode ultrasound image to obtain and display the vibration frequency domain analysis parameters of the target vocal tract region.

16. The method as described in claim 15, characterized in that, The frequency domain analysis of at least a portion of the data in the M-mode ultrasound image includes: In response to a user's selection operation on the displayed M-mode ultrasound image, at least a portion of the selected data in the M-mode ultrasound image is determined to obtain a target data segment, and frequency domain analysis is performed on the target data segment; Alternatively, at least a portion of the data in the M-mode ultrasound image can be determined according to preset rules to obtain a target data segment, and frequency domain analysis can be performed on the target data segment.

17. The method as described in claim 16, characterized in that, The displayed vibration frequency domain analysis parameters include: The vibration frequency domain analysis parameters are displayed on the display interface; In addition, the display interface shows one or more of the following: a first ultrasound image with target M sampling line markings, an M-mode ultrasound image with target data segment markings, and imaging information corresponding to the second imaging mode.

18. The method as described in claim 16, characterized in that, The vibration frequency domain analysis parameters include at least one or more of the following: vibration spectrum diagram, vibration power spectrum diagram, and image corresponding to the data for frequency domain analysis, and / or one or more of the following: time length, vibration frequency domain range, and peak value of the target vibration frequency domain corresponding to the data for frequency domain analysis.

19. An ultrasound imaging method, characterized in that, include: The display interface shows the setting for the display sampling rate of the M-mode ultrasound image; wherein the display sampling rate of the M-mode ultrasound image is equal to the emission sampling rate of the ultrasound in M ​​mode; In response to a user's operation on the display sampling rate setting, the display sampling rate is set to determine the emission sampling rate; Based on the determined emission sampling rate, ultrasound waves are emitted toward the target vocal cord region of the target neck tissue and ultrasound echoes are received. The ultrasound echoes are processed to obtain an M-mode ultrasound image that changes over time, and the M-mode ultrasound image is displayed.

20. The method as described in claim 19, characterized in that, The settings for the display sampling rate of the M-mode ultrasound image on the display interface include: The display interface shows an input field for the display sampling rate of the M-mode ultrasound image, allowing the user to input the display sampling rate. Alternatively, multiple options for the display sampling rate of the M-mode ultrasound image can be determined and displayed on the display interface for the user to select the display sampling rate corresponding to an option.

21. The method as described in claim 19, characterized in that, The display of the M-mode ultrasound image includes: The M-mode ultrasound image is displayed, as well as the emission sampling rate of the ultrasound in the M-mode.

22. The method according to any one of claims 19 to 21, characterized in that, After displaying the M-mode ultrasound image, the method further includes: Frequency domain analysis is performed on at least a portion of the data in the M-mode ultrasound image to obtain and display the vibration frequency domain analysis parameters of the target vocal tract region.

23. The method as described in claim 22, characterized in that, The frequency domain analysis of at least a portion of the data in the M-mode ultrasound image includes: In response to a user's selection operation on the displayed M-mode ultrasound image, at least a portion of the selected data in the M-mode ultrasound image is determined to obtain a target data segment, and frequency domain analysis is performed on the target data segment; Alternatively, at least a portion of the data in the M-mode ultrasound image can be determined according to preset rules to obtain a target data segment, and frequency domain analysis can be performed on the target data segment.

24. The method as described in claim 23, characterized in that, The displayed vibration frequency domain analysis parameters include: The vibration frequency domain analysis parameters are displayed on the display interface; In addition, the display interface shows one or more of the following: a first ultrasound image with target M sampling line markings, an M-mode ultrasound image with target data segment markings, and imaging information corresponding to the second imaging mode.

25. The method as described in claim 22, characterized in that, The vibration frequency domain analysis parameters include at least one or more of the following: vibration spectrum diagram, vibration power spectrum diagram, and image corresponding to the data for frequency domain analysis, and / or one or more of the following: time length, vibration frequency domain range, and peak value of the target vibration frequency domain corresponding to the data for frequency domain analysis.

26. The method as described in claim 1, 11, or 19, characterized in that, The target neck tissue includes thyroid tissue, neck muscle tissue, neck vascular tissue, lymph node tissue, or neck nerve tissue.

27. An ultrasonic imaging device, characterized in that, include: An ultrasonic probe, a transmitting and receiving control circuit, a processor, and a display component; the ultrasonic probe is used to transmit ultrasonic waves to a region of interest and to receive corresponding ultrasonic echoes; the transmitting and receiving control circuit is used to control the probe to transmit ultrasonic waves and receive ultrasonic echoes; the processor is used to perform the method as described in any one of claims 1 to 26.

28. A computer-readable storage medium, characterized in that, The medium stores a program that can be executed by a processor to implement the method as described in any one of claims 1-26.

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