Multi-modal detection system

Abstract

The invention discloses a multi-modal detection system, and the system comprises a sensor device which is disposed on a detection probe; the control device is connected with the detection probe through a wire so as to process a signal of the sensor device and output a detection result; wherein the sensor device is used for detecting structure and mechanical property signals of a target tissue at the same time, and the control device is used for synchronously collecting the structure and mechanical property signals, processing the structure and mechanical property signals and outputting a detection result. According to the multi-modal detection system, the control device synchronously collects and processes the structure signal and the mechanical property signal of the target tissue, the correspondence between the two types of signals is improved, the accuracy and reliability of the detection result are improved, multi-dimensional comprehensive characterization of the target tissue can be achieved, and the detection precision is improved. And the capability of identifying different tissues or focuses is enhanced.

Description

Technical Field

[0001] This application relates to the field of medical devices, and more specifically, to a multimodal detection system. Background Technology

[0002] In the detection of superficial lesions such as breast, thyroid, and vascular plaques, integrating structural morphology and mechanical properties is crucial for early screening and qualitative diagnosis. Structural information characterizes tissue morphology and boundaries, while mechanical parameters (such as hardness and elasticity) reflect tissue biomechanical differences. The complementarity of these two aspects can significantly improve the accuracy of discrimination.

[0003] In existing technologies, conventional ultrasound (structural) and elastography / palpation (mechanical) often employ time-sharing or independent acquisition modes, which struggle to overcome the spatiotemporal misalignment caused by physiological movements. This results in a lack of precise pixel-level correspondence between structural and mechanical data, reducing diagnostic reliability and causing poor spatiotemporal synchronization of information acquisition. The mechanical parameters in existing integrated technologies are mostly derived from indirect inversion calculations, which are highly susceptible to interference from operational techniques, boundary conditions, and algorithm models, making it difficult to achieve stable and quantitatively accurate characterization. Multimodal switching not only increases system complexity but also restricts the ability for real-time dynamic monitoring and multi-dimensional comprehensive analysis.

[0004] Therefore, how to provide a multimodal detection system that at least partially solves the above problems is a technical problem that needs to be solved in this field. Summary of the Invention

[0005] In view of this, this application proposes a multimodal detection system.

[0006] According to this application, a multimodal detection system is proposed, comprising: a sensor device disposed on a detection probe; and a control device connected to the detection probe via a wire to process the signals from the sensor device and output detection results; wherein the sensor device is used to simultaneously detect structural and mechanical property signals of the target tissue, and the control device is used to synchronously acquire, process, and output detection results of the structural and mechanical property signals.

[0007] Preferably, the sensor device includes an ultrasonic detection unit for emitting ultrasonic waves and receiving ultrasonic signals to obtain structural signals of the target tissue; and an elasticity detection unit for obtaining deformation response information of the target tissue under external force to obtain mechanical property signals of the target tissue; wherein the ultrasonic detection unit and the elasticity detection unit are integrated on the detection probe.

[0008] Preferably, the ultrasonic detection unit includes one of a piezoelectric ceramic array element or a capacitive micro-machined ultrasonic transducer unit, and the number of the piezoelectric ceramic array element or the capacitive micro-machined ultrasonic transducer unit is multiple.

[0009] Preferably, the elastic detection unit is one of a contact mechanical sensor array, an optical sensor array, or a piezoelectric thin film array.

[0010] Preferably, the elastic detection units are distributed and embedded in the substrate of the ultrasonic detection unit, or the elastic detection units and the ultrasonic detection unit are arranged alternately in the same plane, or the elastic detection units are attached to the surface of the ultrasonic detection unit.

[0011] Preferably, the control device includes: a data acquisition unit disposed in the detection probe, adjacent to the sensor device and electrically connected to the sensor device, for acquiring structural and mechanical characteristic signals of the sensor device; and a control unit disposed independently outside the detection probe and connected to the detection probe via a wire, for processing and fusing the structural and mechanical characteristic signals and outputting the detection results.

[0012] Preferably, the data acquisition unit includes: an ultrasonic channel for transmitting and processing ultrasonic signals from the ultrasonic detection unit in the sensor device; a mechanical channel for transmitting and processing mechanical characteristic signals from the elastic detection unit in the sensor device; and a synchronization control module electrically connected to the ultrasonic channel and the mechanical channel for controlling the signal acquisition and processing of the ultrasonic channel and the mechanical channel, so that the ultrasonic signal and the mechanical characteristic signal are synchronized in time.

[0013] Preferably, the control unit includes: an image processing module for processing the structural and mechanical characteristic signals to obtain a detection image; and a display module for displaying the detection image in real time and controlling the multimodal detection system.

[0014] Preferably, the image processing module includes: an ultrasonic image processing submodule, which receives and processes ultrasonic signals from the ultrasonic detection unit in the sensor device to generate an ultrasonic image; a mechanical image processing submodule, which receives and processes mechanical characteristic signals from the elastic detection unit in the sensor device to generate a mechanical distribution image; and an image fusion submodule, which fuses the ultrasonic image and the mechanical distribution image to generate a multimodal detection image. Preferably, the multimodal detection system further includes a data analysis device electrically connected to the detection probe, which is used to extract the morphological and mechanical features of the target tissue in the detection image obtained by the control device.

[0015] The multimodal detection system in this application, by setting sensor devices on the detection probe and having a control device simultaneously acquire and process the structural and mechanical property signals of the target tissue, not only improves the correspondence between the two types of signals, thereby enhancing the accuracy and reliability of the detection results, but also enables multi-dimensional comprehensive characterization of the target tissue, enhancing the ability to identify different tissues or lesions; at the same time, it improves system integration, simplifies the detection process, and enhances detection efficiency and real-time performance.

[0016] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application, and the illustrative embodiments and descriptions thereof are used to explain this application. In the drawings: Figure 1 This is a schematic diagram of a detection probe for a multimodal detection system according to a preferred embodiment of this application.

[0018] Figure 2 This is a schematic diagram of the operation process of the multimodal detection system according to this application.

[0019] Figure 3 Images of ultrasound images, mechanical distribution images, and fused images from this application. Detailed Implementation

[0020] The technical solution of this application will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] like Figures 1-2 As shown, according to this application, a multimodal detection system is proposed, which includes: a sensor device 1, which is disposed on a detection probe; and a control device 2, which is connected to the detection probe via a wire to process the signal of the sensor device 1 and output the detection result; wherein, the sensor device 1 is used to simultaneously detect the structural and mechanical property signals of the target tissue, and the control device 2 is used to synchronously acquire the structural and mechanical property signals, process them, and output the detection result.

[0022] The aforementioned sensor device 1 is mounted on the detection probe and is used to simultaneously detect the structural signals (such as thickness, density, echo intensity, etc.) and mechanical property signals (such as tissue elasticity, hardness, viscoelasticity, etc.) of the target tissue. This enables high-sensitivity and high-spatial-resolution detection of the target tissue and improves signal acquisition efficiency.

[0023] The control device 2 is independently installed outside the detection probe and is connected to the sensor device 1 or the detection probe via a wire. The processing of structural and mechanical characteristic signals by the control device 2 includes filtering, amplification, feature extraction, and fusion processing of the signals to generate two-dimensional or three-dimensional detection results of the target tissue.

[0024] The aforementioned control device 2 synchronously acquires structural signals and mechanical characteristic signals, which can effectively avoid errors caused by time misalignment of the two signals, enabling a comprehensive evaluation of the target tissue and thus improving the accuracy and reliability of the detection results.

[0025] The multimodal detection system in this application, by setting a sensor device 1 on the detection probe and having a control device 2 simultaneously acquire and process the structural and mechanical property signals of the target tissue, not only improves the correspondence between the two types of signals, thereby enhancing the accuracy and reliability of the detection results, but also enables multi-dimensional comprehensive characterization of the target tissue, enhancing the ability to identify different tissues or lesions. At the same time, this solution helps to improve system integration, simplify the detection process, and improve detection efficiency and real-time performance.

[0026] To acquire the structural and mechanical property signals of the target tissue, preferably, the sensor device 1 may include an ultrasonic detection unit 11, which is used to emit and receive ultrasonic signals to acquire the structural signals of the target tissue. Preferably, the ultrasonic detection unit 11 may include one of a piezoelectric ceramic array element or a capacitive micro-machined ultrasonic transducer unit, and the number of such piezoelectric ceramic array elements or capacitive micro-machined ultrasonic transducer units is multiple. The piezoelectric ceramic array element may be PZT or PMN-PT, and the piezoelectric ceramic array element or capacitive micro-machined ultrasonic transducer unit is arranged in a linear, convex, or matrix form to emit and receive ultrasonic waves, generating B-mode, color Doppler, and other ultrasonic images. An elastic detection unit 12 is used to acquire the deformation response information of the target tissue under external force to acquire the mechanical property signals of the target tissue. The ultrasonic detection unit 11 and the elastic detection unit 12 are integrated on the detection probe. Preferably, the elastic detection unit 12 is one of a contact mechanical sensor array, an optical sensor array, or a piezoelectric thin-film array. Each sensor unit in the aforementioned contact-type mechanical sensor array is a miniature sensor based on microelectromechanical systems (MEMS) technology. It can employ piezoresistive, capacitive, or piezoelectric principles. Each sensor unit can independently and in real-time measure the normal pressure perpendicular to the skin surface and / or the shear force parallel to the skin surface in its micro-region (e.g., 0.5mm × 0.5mm). The aforementioned optical sensor array is based on a fiber optic grating sensor network or an optical microcavity sensor array. The contact pressure distribution is calculated by measuring the wavelength shift or intensity change caused by fiber deformation due to probe contact with tissue. Optical sensors have strong resistance to electromagnetic interference. The aforementioned piezoelectric thin-film array uses a monolithic polyvinylidene fluoride (PVDF) piezoelectric thin film or other flexible piezoelectric material as the mechanical sensing layer, adhered to the array surface of the ultrasonic detection unit 11. A two-dimensional pressure distribution map is obtained by measuring the charge distribution generated in different electrode regions on the thin film. The structure is relatively simple and the cost is low. Specifically, the spatial resolution of the aforementioned sensor units is preferably equal to or higher than the spatial resolution of the ultrasound image. The materials of the ultrasonic testing unit 11 and the elasticity testing unit 12 can be selected according to specific needs.

[0027] To simultaneously detect the structural and mechanical properties of the target tissue, specifically, the elastic detection unit 12 can be distributed and embedded in the substrate of the ultrasonic detection unit 11, or the elastic detection unit 12 and the ultrasonic detection unit 11 can be arranged alternately in the same plane, or the elastic detection unit 12 can be attached to the surface of the ultrasonic detection unit 11. Taking a contact-type mechanical sensor as an example, the integrated arrangement of the elastic detection unit 12 and the ultrasonic detection unit 11 can also be a combination of a mechanical sensing ring and a dot matrix. Specifically, a ring of contact-type mechanical sensors is arranged around the perimeter of the ultrasonic transducer unit to monitor the overall uniformity and pressure center of the probe-skin contact in real time, while a high-density dot matrix contact-type mechanical sensor is used in the central imaging area to obtain detailed local mechanical information, so as to achieve real-time feedback and compensation of the contact state. Alternatively, the aforementioned integrated arrangement can be a miniaturized interlaced integration. Specifically, using advanced microelectromechanical systems (MEMS) technology, micrometer-scale ultrasonic transducer units (such as CMUTs) and elastic detection units (such as piezoresistive beams) are alternately arranged and integrated on the same chip on a silicon substrate, forming a composite sensing surface with extremely high spatial resolution and monolithic integration. Through the arrangement of the ultrasonic detection unit 11 and the elastic detection unit 12, highly synchronous acquisition of structural signals and mechanical property signals can be achieved, ensuring both the spatial resolution of ultrasonic detection and enhancing the acquisition accuracy of elastic signals. Especially in the case of distributed embedding or alternating arrangement, continuous, uniform, and real-time monitoring of target tissues can be achieved, improving the overall reliability and accuracy of detection, while making the system design more compact, facilitating integration and multifunctionality.

[0028] The aforementioned protective and acoustic protective layer is located on the outermost layer of the detection probe, directly contacting human skin. This layer can be made of suitable materials, such as silicone rubber or polyurethane composites. These materials possess biocompatibility, flexibility, and optimized acoustic impedance, protecting the components within the detection probe and enabling efficient transmission and reception of ultrasound waves. Furthermore, they can transmit the mechanical strain of the skin surface to the elastic detection unit 12. In conjunction with the arrangement of the ultrasonic detection unit 11 and the elastic detection unit 12, simultaneous detection of structural and mechanical characteristic signals can be achieved.

[0029] In summary, the arrangement of the ultrasonic detection unit 11 and the elasticity detection unit 12 in this application avoids the problem of spatiotemporal asynchrony in traditional distributed elastic imaging. The structural signal and mechanical property signal originate from the same probe, at the same time, and under the same physical contact state, ensuring the accuracy and reliability of subsequent image fusion. Secondly, by directly contacting the target tissue through the sensor device 1, the mechanical response of the tissue surface can be directly measured. Compared with indirect elastic imaging based on ultrasonic signal inversion, this reduces interference from acoustic artifacts, depth attenuation, anisotropy, and other factors. The output mechanical parameters (such as micro-area pressure, unit: kPa) are direct and objective physical quantities with clear physical meaning and good repeatability.

[0030] To control the operation of the multimodal detection system, preferably, the control device 2 may include: a data acquisition unit 21, which is disposed in the detection probe, adjacent to the sensor device 1, and electrically connected to the sensor device 1, for acquiring structural and mechanical characteristic signals of the sensor device 1; specifically, the data acquisition unit 21 may include: an ultrasonic channel, which is used to transmit and process ultrasonic signals from the ultrasonic detection unit 11 in the sensor device 1; the ultrasonic channel and the ultrasonic transducer unit are electrically connected via a flexible circuit board, coaxial cable, or soldering (pad / gold wire bonding), and the ultrasonic channel and the transducer unit are connected one-to-one; the ultrasonic channel may include a high-voltage pulse transmitting circuit, a low-noise preamplifier, and a variable gain amplifier, the high-voltage pulse transmitting circuit is used to provide an excitation pulse signal to the ultrasonic transducer unit to drive the ultrasonic transducer unit to emit ultrasonic waves, the low-noise preamplifier is used to perform primary amplification of the echo electrical signal received by the ultrasonic transducer unit, and the variable gain amplifier is used to adjust the gain of the echo electrical signal to compensate for energy attenuation during ultrasonic propagation.

[0031] The aforementioned data acquisition unit 21 includes a mechanical channel for transmitting and processing the mechanical characteristic signals of the elastic detection unit 12 in the sensor device 1. This mechanical channel includes a Wheatstone bridge conditioning circuit, a charge amplifier or capacitor readout circuit for each mechanical sensing array, and a multiplexer. The Wheatstone bridge conditioning circuit converts the resistance change of the piezoresistive microsensor into a voltage signal; the charge amplifier converts the charge signal generated by the piezoelectric microsensor into a voltage signal; and the capacitor readout circuit converts the capacitance change into a corresponding electrical signal output. The multiplexer switches between multiple mechanical sensing array units to achieve time-division acquisition of different measurement points. Through this structure, the mechanical channel can condition, selectively acquire, and digitally process the output signal of the elastic detection unit 12, thereby providing a reliable data foundation for subsequent mechanical characteristic analysis.

[0032] To strictly control the synchronous acquisition of ultrasonic echo signals and mechanical characteristic signals, the data acquisition unit 21 may further include a synchronization control module 211. This synchronization control module 211 is electrically connected to the ultrasonic channel and the mechanical channel, and is used to control the signal acquisition and processing of the ultrasonic channel and the mechanical channel, ensuring that the ultrasonic signal and the mechanical characteristic signal are synchronized in time. The synchronization control module 211 generates a unified clock signal and a trigger signal, which are then sent to the ultrasonic channel and the mechanical channel, respectively. The synchronization control module 211 controls the transmission timing of the high-voltage pulse transmission circuit in the ultrasonic channel and the acquisition time of the echo signal, and controls the sampling timing and channel switching sequence of the mechanical channel, so that the ultrasonic signal and the mechanical characteristic signal are acquired under the same time reference (e.g., controlling the acquisition synchronization accuracy within 10ms), thereby improving the accuracy and consistency of the multimodal detection results.

[0033] The aforementioned control device 2 includes a control unit 22, which can be independently mounted outside the detection probe and connected to the detection probe via a wire. This control unit 22 processes and fuses the structural and mechanical characteristic signals and outputs the detection results. The aforementioned protective and acoustic protective layer is located at the first end of the detection probe, and a data transmission interface can be provided at the second end. Data can be transmitted to the control unit 22 via a high-speed cable, or wirelessly between the detection probe and the control unit 22. The detection probe integrates the ultrasonic detection unit 11, the elasticity detection unit 12, and the data acquisition unit 21, and has an ergonomic handle at the second end. A scanning mode switching button and a mechanical measurement calibration button can also be located on the side of the handle.

[0034] Preferably, the control unit 22 includes: an image processing module, which processes the structural and mechanical property signals to obtain a detection image; specifically, the image processing module includes: an ultrasonic image processing submodule, which receives and processes ultrasonic signals to generate an ultrasonic image; the ultrasonic image processing submodule receives ultrasonic radio frequency signals and sequentially performs beamforming, filtering, detection, logarithmic compression, and other processing to generate a two-dimensional or three-dimensional ultrasonic grayscale image. A mechanical image processing submodule receives and processes mechanical property signals to generate a mechanical distribution image; the mechanical image processing submodule performs channel demultiplexing, noise filtering, and signal calculation on the synchronously acquired mechanical sensing signals, and generates a mechanical distribution map spatially registered with the ultrasonic image based on a two-dimensional or three-dimensional image reconstruction algorithm; the mechanical distribution map is used to characterize pressure distribution, relative hardness index, or elastic modulus distribution; and an image fusion submodule, which fuses the ultrasonic image and the mechanical distribution image to generate a multimodal detection image; the image fusion submodule receives image streams from the ultrasonic image submodule and the mechanical image submodule. The image fusion submodule is used to spatially register two types of images based on preset probe geometry and synchronization time information, and to overlay the mechanical distribution map onto the ultrasound image in pseudo-color form to obtain a fused image (e.g., Figure 3 (As shown).

[0035] In one embodiment, the image fusion submodule also supports dynamic mechanical vector field display function; when the elasticity detection unit 12 is able to measure shear force, the image fusion submodule is used to represent the mechanical information at each pixel point as a vector form and generate a stress vector field map of the tissue surface; the stress vector field map can be superimposed on the ultrasound image in the form of a streamline diagram or an arrow diagram to characterize the stress distribution and transmission path inside the tissue.

[0036] In another embodiment, the image fusion submodule also supports three-dimensional mechanical body rendering and multi-plane reconstruction functions; while performing three-dimensional ultrasonic scanning, mechanical property data in three-dimensional space are collected simultaneously, and a three-dimensional mechanical data body is constructed; in the post-processing process, not only can the display of the three-dimensional fused image be realized, but also multi-plane reconstruction of arbitrary cross-sections can be performed based on the three-dimensional mechanical data body to observe the distribution of mechanical properties inside the tested object from different angles.

[0037] In summary, by setting up the image processing module and combining it with the ultrasound image processing submodule, the mechanical image processing submodule, and the image fusion submodule, this application synchronously processes, spatially registers, and fuses ultrasound signals and mechanical characteristic signals. This enables the simultaneous acquisition of internal structural information and mechanical characteristic information of the tested object, achieving collaborative representation of multimodal information. Consequently, it not only improves the comprehensiveness and visualization effect of the detection results but also enhances the positioning accuracy of abnormal areas and the reliability of the detection results, providing a data foundation for subsequent quantitative analysis.

[0038] The control unit 22 may further include a display module for real-time display of detection images and control of the multimodal detection system. The display module can display raw ultrasound images, mechanical distribution maps, and fused images on the screen in real time, and can display them side-by-side or in picture-in-picture mode to facilitate comparative analysis of different modal information. It can also provide a human-machine interface for parameter adjustment, measurement, annotation, data storage, and playback. The screen can be of an appropriate form, such as a touch-screen display terminal. The display module works in conjunction with the image processing module to achieve real-time image refresh and dynamic updates.

[0039] According to another embodiment of this application, preferably, the multimodal detection system may further include a data analysis device electrically connected to the detection probe. Utilizing artificial intelligence algorithms, the data analysis device can automatically detect abnormal regions in the fused image, extracting morphological features (such as aspect ratio, boundary, echo) and mechanical features (such as average hardness, hardness heterogeneity, and hardness ratio), thereby achieving multidimensional quantitative characterization of the target tissue. This not only reduces reliance on operator experience and improves the automation and analysis efficiency of the detection process, but also enhances the accuracy and consistency of abnormal region identification. Simultaneously, by comprehensively judging the fused structural and mechanical characteristic signals, the reliability of the detection results is improved, and data support is provided for subsequent auxiliary diagnosis or quantitative assessment.

[0040] The multimodal detection system in this application can also be configured as an independent accessory on the existing ultrasonic testing probe, with the elastic detection unit 12 (such as a contact mechanical sensor array) and its signal conditioning circuit detachably connected to the ultrasonic testing probe. This detachable connection can be achieved through mechanical snap-fit, magnetic adsorption, or flexible bonding. The accessory communicates with the ultrasonic control unit 22 via an interface, enabling it to perform multimodal detection.

[0041] The probe of the multimodal detection system in this application can be made of a material suitable for aseptic operation, such as medical-grade stainless steel, non-toxic polyimide, or sterilizable glass, and its surface can be smoothed for sterilization. This probe can be used during surgery to rapidly scan exposed or removed tissue, and its material and structural design ensures that it can withstand routine sterilization or disinfection during use without affecting its performance.

[0042] The operation method of the above-mentioned multimodal detection system is as follows: (1) Synchronous data acquisition: Place the detection probe on the surface of the target tissue (such as the breast) of the subject and start the scan. Under the action of the synchronous control module 211, the multimodal detection system controls the ultrasonic transducer unit to emit ultrasonic pulses and receive echo signals, and at the same time controls the contact mechanical sensor subarray to acquire the stress / strain signals of each unit.

[0043] (2) Dual-channel parallel processing: The control unit 22 processes two data streams in parallel to generate real-time ultrasound images and real-time contact mechanics distribution maps, respectively.

[0044] (3) Image registration and fusion: Using the fixed spatial relationship (factory calibration) of the sensors inside the probe and strict time synchronization, the two images generated in step (2) are precisely spatially aligned. Then, the mechanical distribution information is fused into the ultrasound image with a predetermined mapping relationship (such as color and transparency) to generate a fused image.

[0045] (4) Visualization and Diagnosis: The fused image is displayed in real time on the display module. The operator or system software can analyze the region of interest (suspicious region) in the image to obtain quantitative parameters of morphology and mechanics to assist in diagnostic decision-making.

[0046] In practical use, puncture biopsies or surgical resections can be performed under real-time guidance of fused images, ensuring that the instruments accurately reach the target area, especially the core area with abnormal mechanical properties.

[0047] The preferred embodiments of this application have been described in detail above. However, this application is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this application, various simple modifications can be made to the technical solution of this application, and these simple modifications all fall within the protection scope of this application.

[0048] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this application will not describe the various possible combinations separately.

[0049] Furthermore, various different embodiments of this application can be combined in any way, as long as they do not violate the spirit of this application, they should also be regarded as the content disclosed by this invention.

Claims

1. A multimodal detection system, characterized in that, The multimodal detection system includes: Sensor device (1), which is mounted on the detection probe; Control device (2), which is connected to the detection probe via a wire, to process the signal of the sensor device (1) and output the detection result; The sensor device (1) is used to simultaneously detect the structural and mechanical property signals of the target tissue, and the control device (2) is used to synchronously acquire the structural and mechanical property signals, process them, and output the detection results.

2. The multimodal detection system according to claim 1, characterized in that, The sensor device (1) includes an ultrasonic detection unit (11) for emitting ultrasonic waves and receiving ultrasonic signals to obtain structural signals of the target tissue; Elastic detection unit (12) is used to acquire deformation response information of target tissue under external force to obtain mechanical property signals of target tissue; The ultrasonic detection unit (11) and the elasticity detection unit (12) are integrated on the detection probe.

3. The multimodal detection system according to claim 2, characterized in that, The ultrasonic testing unit (11) includes one of piezoelectric ceramic array elements or capacitive micro-machined ultrasonic transducer units, and the number of the piezoelectric ceramic array elements or capacitive micro-machined ultrasonic transducer units is multiple.

4. The multimodal detection system according to claim 2, characterized in that, The elastic detection unit (12) is one of a contact mechanical sensor array, an optical sensor array, or a piezoelectric thin film array.

5. The multimodal detection system according to claim 4, characterized in that, The elastic detection units (12) are distributed and embedded in the substrate of the ultrasonic detection units (11). Alternatively, the elastic detection unit (12) and the ultrasonic detection unit (11) may be arranged alternately in the same plane. Alternatively, the elastic detection unit (12) may be attached to the surface of the ultrasonic detection unit (11).

6. The multimodal detection system according to claim 1, characterized in that, The control device (2) includes: Data acquisition unit (21) is disposed in the detection probe, adjacent to the sensor device (1), and electrically connected to the sensor device (1), for acquiring structural and mechanical characteristic signals of the sensor device (1); The control unit (22) is independently located outside the detection probe and is connected to the detection probe via a wire. It is used to process and fuse the structural and mechanical characteristic signals and output the detection results.

7. The multimodal detection system according to claim 6, characterized in that, The data acquisition unit (21) includes: An ultrasonic channel is used to transmit and process ultrasonic signals from the ultrasonic detection unit (11) in the sensor device (1). A mechanical channel is used to transmit and process the mechanical characteristic signals of the elastic detection unit (12) in the sensor device (1); A synchronization control module (211) is electrically connected to the ultrasonic channel and the mechanical channel, and is used to control the signal acquisition and processing of the ultrasonic channel and the mechanical channel so that the ultrasonic signal and the mechanical characteristic signal are synchronized in time.

8. The multimodal detection system according to claim 6, characterized in that, The control unit (22) includes: An image processing module is used to process the structural and mechanical property signals to obtain a detection image. The display module is used to display the detection images in real time and control the multimodal detection system.

9. The multimodal detection system according to claim 8, characterized in that, The image processing module includes: An ultrasonic image processing submodule is used to receive ultrasonic signals from the ultrasonic detection unit (11) in the sensor device (1) and process them to generate an ultrasonic image. A mechanical image processing submodule is used to receive the mechanical characteristic signal from the elastic detection unit (12) in the sensor device (1) and process it to generate a mechanical distribution image; The image fusion submodule is used to fuse ultrasound images and mechanical distribution images to generate multimodal detection images.

10. The multimodal detection system according to any one of claims 1-9, characterized in that, The multimodal detection system also includes a data analysis device, which is electrically connected to the detection probe and is used to extract the morphological and mechanical features of the target tissue in the detection image obtained by the control device (2).

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