Method and apparatus for generating head ultrasound image, terminal device, and storage medium

Abstract

Embodiments of the present application are suitable for the technical field of ultrasonics, and provide a method and apparatus for generating a head ultrasound image, a terminal device, and a storage medium. The method comprises: in response to a start instruction, obtaining a head depth image of an individual to be checked, and on the basis of the head depth image, determining a plurality of sites to be checked; on the basis of a head feature value of each site to be checked, determining a first target site from among the plurality of sites to be checked; transmitting an ultrasonic signal to the first target site by means of a signal transmit unit, so as to generate a first head ultrasound image of the individual to be checked. According to the method provided in the embodiments of the present application, the terminal device can assist an ultrasonic operator in quickly and accurately finding a target site, thereby quickly obtaining a high-quality ultrasound image.

Description

Method, device, terminal equipment and storage medium for generating head ultrasound images Technical Field

[0001] The embodiments of the present application belong to the field of ultrasound technology, and in particular, relate to a method, apparatus, terminal device, and storage medium for generating a head ultrasound image. Background Art

[0002] With the continuous development of neuroscience, ultrasound technology has gradually gained prominence in brain research due to its low cost, portability, non-invasiveness, and clinical practicality. Ultrasound technology, such as transcranial sonography (TCS), transcranial Doppler (TCD), transcranial color code sonography (TCCS), and ultrasound neuromodulation, has been gradually increasing its position in brain research. When using ultrasound technology to obtain brain information, technicians can use an ultrasound probe to transmit ultrasound signals to the brain tissue. Based on the echo signals fed back by the brain tissue based on the ultrasound signals, ultrasound images are generated to obtain brain information.

[0003] However, because the human brain is encased in the skull, which has a high bone density and whose acoustic properties differ significantly from those of surrounding tissue, the vast majority of ultrasound signals are scattered or absorbed by the skull as they pass through it, leaving only a small portion of the ultrasound signal able to enter the brain. Because the quality of ultrasound images depends on the amount of ultrasound signal entering the brain, ultrasound technology requires the operator to identify weak areas of the skull as acoustic windows in order to obtain high-quality ultrasound images. The lack of a systematic acoustic window-assisted identification solution in the prior art makes it difficult for operators to quickly and accurately locate the skull's acoustic windows.

[0004] Application Contents

[0005] The purpose of the embodiments of the present application is to provide a method, apparatus, terminal device and storage medium for generating a head ultrasound image, so as to solve the technical problem that ultrasound instrument operators have difficulty in quickly and accurately finding the acoustic window of the skull. Technical Solutions

[0006] The technical solution adopted in the embodiment of this application is:

[0007] A first aspect of an embodiment of the present application provides a method for generating a head ultrasound image, comprising:

[0008] In response to a start instruction, acquiring a head depth image of the individual to be tested, and determining a plurality of positions to be tested based on the head depth image;

[0009] Determining a first target position from the plurality of positions to be detected based on the head feature value of each position to be detected;

[0010] An ultrasonic signal is transmitted to the first target position by a signal transmitting unit to generate a first ultrasonic image of the head of the individual to be tested.

[0011] A second aspect of the embodiments of the present application provides a method for generating a head ultrasound image, comprising:

[0012] Transmitting a detection signal to each of the positions to be detected, and receiving an echo signal fed back by each of the positions to be detected based on the detection signal;

[0013] determining bone density information corresponding to each of the positions to be detected according to the echo signals;

[0014] The first target position is determined from the multiple positions to be detected according to the bone density information.

[0015] A third aspect of the embodiments of the present application provides a method for generating a head ultrasound image, comprising:

[0016] Transmitting a detection signal to each of the positions to be detected by the signal transmitting unit, and collecting the detection force when the signal transmitting unit transmits the detection signal by the pressure sensor;

[0017] The tissue hardness information is determined based on waveform change information of the echo signal, the detection force, and the radius of the signal transmitting unit; the echo signal is a signal fed back by the brain tissue of the individual to be tested based on the detection signal;

[0018] The first target position is determined from the multiple positions to be detected according to the tissue hardness information.

[0019] A fourth aspect of the embodiments of the present application provides a method for generating a head ultrasound image, comprising:

[0020] collecting, by means of a pressure sensor, the pressing force applied by the signal transmitting unit when transmitting the ultrasonic signal;

[0021] If the pressing force is less than a preset minimum pressure value, a first alarm message is generated; the first alarm message is used to indicate that the current pressing force of the signal transmitting unit is too low;

[0022] If the pressing force is greater than a preset maximum pressure value, a second alarm message is generated; the second alarm message is used to indicate that the pressing force of the signal transmitting unit is currently too large.

[0023] A fifth aspect of the embodiments of the present application provides a method for generating a head ultrasound image, comprising:

[0024] Obtaining a first clarity value corresponding to the first head ultrasound image by using a clarity evaluation algorithm;

[0025] If the first clarity value does not meet a preset clarity condition, determining a first target angle of the signal transmitting unit;

[0026] Transmitting an ultrasonic signal toward the first target position at the first target angle to generate a second head ultrasonic image of the individual to be measured;

[0027] If the second clarity value corresponding to the second head ultrasound image does not meet the clarity condition, the first target angle is updated until the second clarity value meets the clarity condition.

[0028] A sixth aspect of the embodiments of the present application provides a method for generating a head ultrasound image, comprising:

[0029] If the second clarity value does not satisfy the clarity condition, determining a second target angle for the signal transmitting unit when transmitting;

[0030] If the second target angle is the same as any of the first target angles, generating a second target position based on the head depth image and the head feature value, and transmitting an ultrasonic signal to the second target position through a signal transmitting unit to generate a third head ultrasonic image of the individual to be tested;

[0031] If the third clarity value corresponding to the third head ultrasound image does not meet the clarity condition, return to the step of determining the first target angle when the signal transmitting unit transmits and subsequent steps until the third clarity value meets the clarity condition.

[0032] A seventh aspect of the embodiments of the present application provides a method for generating a head ultrasound image, comprising:

[0033] Determining the temporal window range of the individual to be tested by using the head depth image;

[0034] A plurality of positions to be detected are generated within the temporal window range based on the concave value of the temporal window range.

[0035] An eighth aspect of the embodiments of the present application provides a device for generating a head ultrasound image, comprising:

[0036] a module for determining positions to be detected, configured to obtain a head depth image of the individual to be detected in response to a start instruction, and determine a plurality of positions to be detected based on the head depth image;

[0037] a target position determining module, configured to determine a first target position from the plurality of positions to be detected based on a head feature value of each position to be detected;

[0038] The image generation module is configured to transmit an ultrasonic signal to the first target position via a signal transmitting unit to generate a first ultrasonic image of the head of the individual to be tested.

[0039] A ninth aspect of an embodiment of the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for generating a head ultrasound image as described in the first aspect above is implemented.

[0040] A tenth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for generating a head ultrasound image as described in the first aspect above is implemented.

[0041] An eleventh aspect of the embodiments of the present application provides a computer program product, which, when executed on a computer, enables the computer to execute the method for generating a head ultrasound image as described in the first aspect. Beneficial effects

[0042] Compared with the prior art, the embodiments of the present application have the following advantages:

[0043] In an embodiment of the present application, a terminal device, in response to a startup instruction, can obtain a head depth image of the individual to be tested and determine multiple locations to be detected on the head of the individual to be tested based on the head depth image; the terminal device can determine a first target location based on the head feature values ​​corresponding to each location to be detected; and then, the terminal device can transmit an ultrasonic signal to the first target location via a signal transmitting unit to generate an ultrasonic image of the head of the individual to be tested. Through the method provided in an embodiment of the present application, the terminal device can assist an operator or a robotic arm in quickly and accurately determining the first target location in the individual to be tested, thereby improving the efficiency and accuracy of generating high-quality ultrasonic head images. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or exemplary technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0045] FIG1 is a schematic diagram of a method for generating a head ultrasound image provided in an embodiment of the present application;

[0046] FIG2 is a flowchart of a specific implementation of a method S101 for generating a head ultrasound image provided in an embodiment of the present application;

[0047] FIG3 is a schematic diagram of a position to be detected provided in an embodiment of the present application;

[0048] FIG4 is a flowchart of a specific implementation of a method S102 for generating a head ultrasound image provided in an embodiment of the present application;

[0049] FIG5 is a schematic diagram of a connection relationship of a terminal device provided in an embodiment of the present application;

[0050] FIG6 is a schematic diagram of a calculation principle of a conducted sound velocity provided in an embodiment of the present application;

[0051] FIG7 is a schematic diagram of a detection signal incident on soft tissue and bone provided by an embodiment of the present application;

[0052] FIG8 is a flowchart of a specific implementation of a method S102 for generating a head ultrasound image provided in an embodiment of the present application;

[0053] FIG9 is a flowchart of a specific implementation of a method S103 for generating a head ultrasound image provided in an embodiment of the present application;

[0054] FIG10 is a flowchart of a specific implementation of a method S103 for generating a head ultrasound image provided in an embodiment of the present application;

[0055] FIG11 is a schematic diagram of a head ultrasound image provided in an embodiment of the present application;

[0056] FIG12 is a flowchart of a specific implementation of a method S1034 for generating a head ultrasound image provided in an embodiment of the present application;

[0057] FIG13 is a flow chart of a method for generating a head ultrasound image provided in an embodiment of the present application;

[0058] FIG14 is a schematic diagram of a head ultrasound image generating device provided in an embodiment of the present application;

[0059] FIG15 is a schematic diagram of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obstructing the description of the present application with unnecessary details.

[0061] The technical solution of this application is described below through specific embodiments.

[0062] 1 , a schematic diagram of a method for generating a head ultrasound image provided by an embodiment of the present application is shown, wherein the method provided by an embodiment of the present application can be applied to a control device of an ultrasound instrument, a computer, or other terminal device. The terminal device can be a control device on an ultrasound instrument. In this case, the operation of the ultrasound instrument can be directly controlled by the terminal device. The terminal device can also be a terminal device such as a computer that exists independently of the ultrasound instrument. In this case, the terminal device can transmit data with the ultrasound instrument through a data transmission unit. The above method may specifically include the following steps:

[0063] S101 . In response to a start instruction, obtain a head depth image of a to-be-detected individual, and determine a plurality of to-be-detected positions based on the head depth image.

[0064] In an embodiment of the present application, the terminal device can turn on the camera module on the terminal device in response to the startup instruction. The camera module on the terminal device can be composed of a depth camera and / or a color camera (RGB camera). The terminal device can obtain a depth image of the head of the individual to be tested through the camera module, and determine a plurality of positions to be detected on the head of the individual to be tested based on the obtained head depth image. The depth camera can be used to obtain a depth image of the head of the individual to be tested, and the color camera can be used to perform point cloud coloring on the depth image collected by the depth camera to generate a color head depth image.

[0065] In a possible implementation, the user may initiate a start instruction to the terminal device through a start control on the terminal device.

[0066] In one possible implementation, the terminal device can be used to assist the ultrasound instrument in generating high-quality head ultrasound images. In this case, the terminal device can be connected to the ultrasound instrument. When the user starts running the ultrasound instrument, the ultrasound instrument can initiate a startup instruction to the terminal device.

[0067] S102: Determine a first target position from the multiple positions to be detected based on the head feature value of each position to be detected.

[0068] In an embodiment of the present application, after the terminal device determines multiple locations to be detected on the head of the individual to be detected, it can obtain the head feature value at each location to be detected through the signal transmitting unit on the ultrasound instrument, and determine the first target location from the multiple locations to be detected based on the head feature value corresponding to each location to be detected. The signal transmitting unit can transmit an ultrasonic signal to the head of the individual to be detected at the location to be detected, and the signal receiving unit on the ultrasound instrument can receive the echo signal fed back by the head based on the ultrasonic signal, and determine the head feature value corresponding to the location to be detected based on the received echo signal.

[0069] In one possible implementation, if the terminal device is connected to a display unit, then after determining multiple locations to be detected on the head of the individual to be tested, the terminal device can generate an indication image based on the head depth image of the individual to be tested and the position of each location to be detected on the head depth image, and display the indication image on the display unit, so that the operator of the ultrasound instrument can place the signal transmitting unit at the corresponding location to be tested according to the indication image and obtain the head feature value of each location to be detected through the signal transmitting unit. The display unit can be a display screen or AR (Augmented Reality) glasses.

[0070] In another possible implementation, the signal transmitting unit in the ultrasound instrument can also be automatically controlled by a robotic arm. In this case, after the terminal device determines multiple positions to be detected on the head of the individual to be tested, it can control the robotic arm to move the signal transmitting unit to the corresponding position to be detected. The terminal device can obtain the target distance between the position to be tested and the depth camera and the position information corresponding to the position to be tested through the depth camera. The terminal device can control the robotic arm to place the signal transmitting unit on the corresponding position to be tested based on the target distance and position information, and obtain the head feature value corresponding to the position to be tested through the signal transmitting unit.

[0071] S103: Transmit an ultrasonic signal to the first target position through a signal transmitting unit to generate a first ultrasonic image of the head of the individual to be tested.

[0072] In an embodiment of the present application, after determining the first target location, the terminal device can transmit an ultrasonic signal to the first target location via a signal transmitting unit. A signal receiving unit on the ultrasonic instrument can receive an echo signal fed back from the head of the individual to be tested and generate a first ultrasonic image of the head of the individual to be tested based on the echo signal.

[0073] In one possible implementation, after determining the first target position, the terminal device can place the signal transmitting unit at the first target position by manipulating the robotic arm, and control the signal transmitting unit to transmit an ultrasonic signal to the head of the individual to be tested at the first target position to generate a first head ultrasonic image of the individual to be tested.

[0074] In one possible implementation, if the terminal device is connected to a display device, the terminal device can generate a target image based on the head depth image of the individual to be tested and the position of the first target position on the head depth image after determining the first target position, and display the target image through the display unit, so that the operator of the ultrasound instrument can place the signal transmitting unit on the corresponding first target position according to the target image, and obtain the ultrasound signal transmitted to the first target position through the signal transmitting unit to generate a first head ultrasound image.

[0075] In this embodiment, the terminal device determines multiple locations to be detected on the head of the individual to be tested through the head depth image of the individual to be tested. Then, the terminal device can determine a first target location from the multiple locations to be detected based on the head feature values ​​corresponding to each location to be detected. The terminal device can transmit an ultrasonic signal to the first target location through a signal transmitting unit to generate a first ultrasonic image of the head of the individual to be tested. Through the method provided in this embodiment, the terminal device can quickly and accurately determine the location on the head of the individual to be tested that meets the temporal bone field of view based on the head depth image and the head feature values, which can effectively improve the efficiency and accuracy of the ultrasonic instrument in generating high-quality ultrasonic images.

[0076] FIG2 shows a flowchart of a specific implementation of a method S101 for generating a head ultrasound image provided in the second embodiment of the present application. Referring to FIG2 , compared to the embodiment shown in FIG1 , the method S101 for generating a head ultrasound image provided in this embodiment includes: S1011 to S1012, which are described in detail as follows:

[0077] S1011 . Determine the temporal window range of the individual to be tested through the head depth image.

[0078] In this embodiment, after acquiring the head depth image of the individual to be tested, the terminal device can input the head depth image into the temporal window recognition algorithm pre-set by the user, and determine the temporal window range of the individual to be tested through the temporal window recognition algorithm. See Figure 3, which is a schematic diagram of a position to be detected provided in an embodiment of the present application. As shown in Figure 3, the terminal device can identify the area from the front of the ear to the eye in the head depth image as the temporal window range of the individual to be tested. The terminal device can generate multiple positions to be detected in the temporal window range where the temporal bone field of view may exist based on the head depth image.

[0079] S1012: Generate a plurality of positions to be detected within the temporal window range based on the concave value of the temporal window range.

[0080] In an embodiment of the present application, after the terminal device identifies the temporal window range of the individual to be tested, it can generate multiple positions to be detected within the temporal window range based on the depression values ​​of each position in the temporal window range. The terminal device can determine the depression values ​​of each position in the temporal window range of the individual to be tested based on the head depth image, and determine the depression position in the temporal window range as the position to be detected. Among them, the depression value at a certain position of the individual to be tested can be used to represent the depression of the position compared to the surrounding positions.

[0081] In one possible implementation, after determining the temporal window range of the individual to be tested, the terminal device can also obtain multiple feature information such as the gender, age and skull shape of the individual to be tested, and generate a position to be detected based on all the feature information. For example, if the gender of a certain individual to be tested is female and the age is 14, since the temporal bone visual field of underage females often appears in the front window range of the temporal window range, the terminal device can generate the position to be detected within the front window range of the temporal window range, that is, the terminal device can generate the position to be detected in the range behind the anterior zygomatic process of the individual to be tested and close to the top of the zygomatic bone. For another example, if the gender of a certain individual to be tested is a 65-year-old female, since the temporal bone visual field of elderly women often appears in the back window range of the temporal window range, the terminal device can generate the position to be detected in the back window range of the temporal window range, that is, the terminal device can generate the position to be detected at the front edge of the tragus of the individual to be tested.

[0082] By using the method provided in this embodiment, the terminal device can identify the temporal window range of the individual to be tested through the head depth image of the individual to be tested, and generate multiple positions to be detected within the temporal window range. By using the method provided in this embodiment, the accuracy of the terminal device in generating the positions to be detected can be improved.

[0083] FIG4 shows a flowchart of a specific implementation of a method S102 for generating a head ultrasound image provided in the third embodiment of the present application. Referring to FIG4 , compared to the embodiment shown in FIG1 , the method S102 for generating a head ultrasound image provided in this embodiment includes: S1021 to S1023, which are described in detail as follows:

[0084] S1021: Transmit a detection signal to each of the positions to be detected, and receive an echo signal fed back by each of the positions to be detected based on the detection signal.

[0085] In this embodiment, after determining a plurality of positions to be detected, the terminal device can transmit a detection signal to each position to be detected through a signal transmitting unit. The terminal device can also receive echo signals corresponding to each position to be detected through a signal receiving unit. Referring to Figure 5, a connection relationship diagram of a terminal device provided in an embodiment of the present application is shown. As shown in Figure 5, in an embodiment of the present application, the signal transmitting unit and the signal receiving unit can both be ultrasonic probes or ultrasonic transducers in an ultrasonic instrument. Through the ultrasonic probe in the ultrasonic instrument, an ultrasonic signal can be transmitted to the position to be detected, and an echo signal fed back from the head of the individual to be detected can be received. Among them, the detection signal transmitted by the terminal device can be an ultrasonic signal when the signal frequency and signal strength are preset frequencies and preset strengths. The echo signal can be a signal radiated back to the skin surface by the tissue under the position to be detected after receiving the ultrasonic signal.

[0086] It should be noted that the signal receiving unit and signal transmitting unit proposed in the embodiments of the present application are not intended to limit the actual modules in the ultrasound device. The ultrasound device may also include, but is not limited to, multiple modules such as a control module, a signal amplification module, and a processing module. Among them, the control module can perform a series of control functions based on a specific computer program instruction segment, such as adjusting the transmission signal frequency, amplitude, pulse repetition frequency, etc. The signal amplification module can be used to amplify the echo signal received by the signal receiving unit. The signal amplification module can also be used to enhance the ultrasound signal transmitted by the ultrasound device. The processing module can generate a head ultrasound image, bone density information, and tissue hardness information based on the amplified echo signal. The above-mentioned modules can be connected to the ultrasound probe or ultrasound transducer through input and output devices to achieve the purpose of data transmission. Among them, the above-mentioned modules can also be embedded in the ultrasound probe or ultrasound transducer to achieve the purpose of miniaturization.

[0087] S1022: Determine bone density information corresponding to each of the positions to be detected according to the echo signal.

[0088] In this embodiment, after the terminal device receives the echo signal through the signal receiving unit, the bone density information corresponding to each position to be detected can be calculated according to the echo signal corresponding to each position to be detected.

[0089] In one possible implementation, the bone density information corresponding to the position to be detected can be effectively measured by quantitative ultrasonic detection technology. The terminal device can calculate the speed of sound (SOS) and broadband ultrasound attenuation (BUA) of the detection signal at a certain position to be detected based on the received echo signal, and determine the bone density information corresponding to the position to be detected based on the speed of sound and the broadband ultrasound attenuation. Among them, the broadband ultrasound attenuation value can be used to represent the attenuation rate of the detection signal in the effective frequency band. The broadband ultrasound attenuation value is highly correlated with the bone density and microstructure of the bone, and is therefore effective data for determining bone density information. The speed of sound can be used to represent the speed of sound at which the detection signal propagates in the bone, and is also important data for determining bone density information.

[0090] In a possible implementation, the signal receiving unit may be composed of two receivers, and the terminal device may calculate the speed of sound (SOS) of the detection signal propagating in the bone based on the difference between the echo signals received by the two receivers.

[0091] In a possible implementation, the terminal device may calculate the conducted sound velocity using the following formula: SOS = ΔL / ΔTOF

[0092] Among them, ΔL can be used to represent the distance between the two receivers in the signal receiving unit; ΔTOF can be used to represent the difference between the reception times of the first echo signals received by the two receivers. See Figure 6, which is a schematic diagram of the calculation principle of the conduction sound velocity provided in an embodiment of the present application. As shown in Figure 6, when the ultrasonic probe transmits an ultrasonic signal to the position to be detected at a certain angle and an ultrasonic frequency preset by the user, the ultrasonic signal can propagate along the surface and inside of the bone after entering the bone, and a small amount of energy will be radiated back to the skin surface through the soft tissue at each position of the bone. Therefore, the terminal device can receive the echo signals radiated back from the bone at different positions through two receivers. According to the position difference between the two receivers and the time difference of receiving the echo signal, the conduction sound velocity of the ultrasonic signal when propagating in the bone can be determined.

[0093] In one possible implementation, since the bones of the individual to be tested are porous materials, the detection signal will be absorbed by the bones when it propagates in the bones and generate diffracted ultrasonic waves. Furthermore, since the absorption, propagation and diffraction of the ultrasonic signal by the bones are related to the volume, hardness and density of the bones, by measuring the attenuation intensity of the detection signal after propagating a certain distance, the broadband ultrasonic attenuation value of the detection signal can be determined, and then the bone density information corresponding to the position to be detected can be determined. Among them, the attenuation intensity of the detection signal after propagating a distance x can be calculated by the following formula: I = I O e -αf(x)

[0094] Wherein, I can be used to represent the emission intensity of the signal transmitting unit when transmitting the detection signal; I O It can be used to represent the attenuation intensity of the echo signal received by the signal receiving unit; f(x) can be used to represent the attenuation coefficient of the detection signal after propagating a distance x, and the attenuation coefficient is related to the propagation medium of the ultrasonic signal, the signal frequency of the detection signal and the ambient temperature of the environment in which the ultrasonic signal is located; α can be used to represent the critical angle when the detection signal is incident from the soft tissue to the bone. Referring to Figure 7, a schematic diagram of the incidence of a detection signal in soft tissue and bone provided in an embodiment of the present application is shown. Among them, (a) in Figure 7 is a side view of the ultrasonic probe transmitting an ultrasonic signal to the position to be detected. (b) in Figure 7 is a top view of the ultrasonic probe transmitting an ultrasonic signal to the position to be detected. As shown in (b) in Figure 7, when the ultrasonic probe transmits an ultrasonic signal to the position to be detected at a certain angle and an ultrasonic frequency preset by the user, the ultrasonic signal can first be incident on the soft tissue at a certain angle, and then be refracted in the soft tissue, and then be incident on the bone at a certain angle.

[0095] The critical angle α when the ultrasonic signal enters the bone from the soft tissue can be calculated by the following formula:

[0096] Among them, v s It can be used to represent the propagation speed of the detection signal in soft tissue. For example, v s The common value is 1540m / s; SOS can be used to indicate the speed of sound transmission of ultrasonic signals in bones.

[0097] In one possible implementation, the terminal device can directly measure the attenuation strength of the received echo signal through a signal receiving unit. Because the attenuation strength of the attenuated detection signal is linearly related to the transmission strength of the detection signal within a specific signal frequency range, the terminal device can substitute the transmission strength of the detection signal transmitted by the signal transmitting unit and the attenuation strength of the echo signal received by the signal receiving unit into the following formula to calculate the broadband ultrasonic attenuation value corresponding to the detection signal. For example, the signal frequency used to measure the broadband ultrasonic attenuation value can be 0.2 to 0.6 MHz.

[0098] Among them, BUA can be used to represent the broadband ultrasonic attenuation value corresponding to the detection signal; I can be used to represent the emission intensity of the signal transmitting unit when transmitting the detection signal; I O It can be used to indicate the attenuation strength of the echo signal received by the signal receiving unit; f can be used to indicate the attenuation coefficient of the detection signal, which is related to the propagation medium of the detection signal, the signal frequency of the detection signal and the ambient temperature of the environment in which the detection signal is located.

[0099] In one possible implementation, after obtaining the conducted sound velocity and broadband ultrasound attenuation value, the terminal device can also calculate the stiffness index of the bone corresponding to the location to be tested based on the conducted sound velocity and broadband ultrasound attenuation value. The terminal device can perform a qualitative assessment of the location to be tested based on the stiffness index, conducted sound velocity, and broadband ultrasound attenuation value to determine the corresponding bone density information.

[0100] In a possible implementation, the terminal device may calculate the stiffness index using the following formula: SI = (0.28*SOS) + (0.67*BUA) - 420

[0101] Among them, SI can be used to represent the stiffness index of the bone at the position to be detected; SOS can be used to represent the sound conduction velocity of the bone at the position to be detected; BUA can be used to represent the broadband ultrasonic attenuation value of the bone at the position to be detected.

[0102] In a possible implementation, the terminal device may determine the bone density information corresponding to the position to be detected based on one or more data selected from the group consisting of stiffness index, sound transmission velocity, and broadband ultrasonic attenuation value.

[0103] In one possible implementation, the terminal device may store a bone stiffness table, a bone sound velocity table, and a bone attenuation table preset by the user. The bone stiffness table may include multiple different stiffness index ranges and the first bone density results corresponding to each stiffness index range. After obtaining the stiffness index of the bone corresponding to the position to be detected, the terminal device may obtain the bone stiffness table from the database and determine which stiffness index range in the bone stiffness table the measured stiffness index belongs to. Based on the stiffness index range to which the stiffness index belongs, the terminal device may determine the first bone density result corresponding to the stiffness index.

[0104] Similar to the bone stiffness table, the bone velocity table contains multiple different velocity ranges and corresponding second bone density results for each velocity range. After obtaining the conducted velocity of the bone corresponding to the location to be tested, the terminal device retrieves the bone velocity table from the database and determines which velocity range the measured conducted velocity falls within. Based on the velocity range described by the conducted velocity, the terminal device determines the corresponding second bone density result.

[0105] Similar to the bone stiffness table, the bone attenuation table contains multiple different broadband ultrasound attenuation ranges and the third bone density results corresponding to each broadband ultrasound attenuation range. After obtaining the broadband ultrasound attenuation value corresponding to the bone at the location to be tested, the terminal device can retrieve the bone attenuation table from the database and determine which broadband ultrasound attenuation range the measured broadband ultrasound attenuation value falls within. Based on the broadband ultrasound attenuation range within which the broadband ultrasound attenuation value falls, the terminal device can determine the third bone density result corresponding to the broadband ultrasound attenuation value.

[0106] In one possible implementation, the terminal device may generate bone density information corresponding to the position to be detected based on the first bone density result, the second bone density result, and the third bone density result. For example, the first bone density result, the second bone density result, and the third bone density result may be the first bone density score, the second bone density score, and the third bone density score corresponding to the position to be detected, respectively. The terminal device may calculate the target density score corresponding to the position to be detected based on the weight parameters corresponding to the conducted sound velocity, the stiffness index, and the broadband ultrasonic attenuation value, and the three bone density scores, and determine the bone density information corresponding to the position to be detected based on the target density score.

[0107] It should be noted that the content of this embodiment is only an example method for calculating bone density information. The content of the embodiments of this application is not intended to limit the method for calculating bone density information. Those skilled in the art can obtain bone density information corresponding to the location to be tested using any bone density calculation method known in the art.

[0108] S1023. Determine the first target position from the multiple positions to be detected according to the bone density information.

[0109] In this embodiment, after the terminal device obtains the bone density information corresponding to each position to be detected, it can determine the first target position from the multiple positions to be detected based on the bone density information. In particular, the terminal device can select the position to be detected with the smallest bone density as the first target position based on the bone density information.

[0110] In this embodiment, since the ultrasonic signal is a mechanical wave, the propagation characteristics of the ultrasonic signal will change with changes in the medium, and the propagation characteristics of the ultrasonic signal are particularly susceptible to the elasticity, microstructure, and density of the medium. In addition, since the detection site in the embodiment of the present application is the head, the skin and muscle tissue of the head are relatively thin and have little effect on the ultrasonic signal, but the thicker skull outside the brain has a greater effect on the attenuation of the ultrasonic signal. Therefore, determining the first target position based on the bone density information corresponding to the detection site can accurately select the first target position with the least effect on the ultrasonic signal, thereby quickly and accurately generating a high-quality head ultrasound image.

[0111] FIG8 shows a flowchart of a specific implementation of a method S102 for generating a head ultrasound image provided in the fourth embodiment of the present application. Referring to FIG8 , compared to the embodiment shown in FIG1 , the method S102 for generating a head ultrasound image provided in this embodiment includes: S801 to S803, which are described in detail as follows:

[0112] S801: transmitting a detection signal to each of the positions to be detected by the signal transmitting unit, and collecting the detection force when the signal transmitting unit transmits the detection signal by a pressure sensor.

[0113] In this embodiment, after determining multiple locations to be detected, the terminal device can transmit a detection signal to each location via a signal transmitting unit. While transmitting the detection signal to each location to be detected, the terminal device can also activate a pressure sensor, which can then detect the force generated by the signal transmitting unit when transmitting the detection signal. After transmitting the detection signal, the terminal device can also receive echo signals corresponding to each location to be detected via a signal receiving unit.

[0114] S802. Determine the tissue hardness information based on waveform change information of the echo signal, the detection force, and the radius of the signal transmitting unit; the echo signal is a signal fed back by the brain tissue of the individual to be tested based on the detection signal.

[0115] In this embodiment, the terminal device can determine the tissue hardness information corresponding to the location to be detected based on the signal waveform corresponding to the echo signal received by the signal receiving unit, the detection force of the signal transmitting unit when transmitting the detection signal, and the radius of the signal transmitting unit. The echo signal can be a signal fed back by the brain tissue corresponding to the location to be detected based on the detection signal transmitted by the signal transmitting unit.

[0116] In one possible implementation, when the terminal device needs to measure the tissue hardness information corresponding to a certain position to be detected, the terminal device can control the robotic arm to place the signal transmitting unit on the position to be detected. Then, the terminal device can control the robotic arm to press the signal transmitting unit toward the position to be detected according to a preset force, and at the same time measure the detection force of the signal transmitting unit through a pressure sensor. The terminal device can control the signal transmitting unit to continuously transmit the detection signal to the position to be detected from a pressing force of 0 until the robotic arm reaches a preset force. At the same time, the terminal device can continuously receive the echo signal fed back from the position to be detected through the signal receiving unit. According to the echo signal received by the signal receiving unit in the interval from the detection force of 0 to the detection force remaining unchanged, the waveform change information of the echo signal is determined.

[0117] In one possible implementation, after obtaining the waveform change information of the echo signal, the terminal device can determine the tissue thickness change value corresponding to the position to be detected based on the waveform change information. After obtaining the tissue thickness change value, the terminal device can input the radius of the signal transmitting unit, the tissue thickness change value and the detection force finally measured by the pressure sensor into a preset tissue hardness function for calculation to determine the tissue hardness corresponding to the position to be detected.

[0118] In one possible implementation, the tissue hardness function may be described as follows: K = P(1-u 2 ) / 2aEw

[0119] Among them, K can be used to represent the tissue hardness information corresponding to the position to be detected; P can be used to represent the detection force collected by the pressure sensor; u can be used to represent the Poisson's ratio of the tissue corresponding to the position to be detected. For example, the Poisson's ratio u can be 0.45; a can be used to represent the radius of the signal emitting unit; E can be used to represent the Young's modulus of the tissue corresponding to the position to be detected; w can be used to represent the change value of the tissue thickness corresponding to the position to be detected.

[0120] S803: Determine the first target position from the multiple positions to be detected according to the tissue hardness information.

[0121] In this embodiment, after the terminal device obtains the tissue hardness information corresponding to each position to be detected, it can determine a first target position from the multiple positions to be detected based on the tissue hardness information. Specifically, the terminal device can select the position to be detected with the smallest tissue hardness as the first target position based on the tissue hardness information.

[0122] In one possible implementation, after obtaining tissue hardness information, the terminal device may also determine a first target location from multiple locations to be detected by combining the tissue hardness information and bone density information. The terminal device may determine a tissue hardness score and a target density score corresponding to the location to be detected based on the tissue hardness information and bone density information. The terminal device may calculate a target score corresponding to each location to be detected based on the hardness weight corresponding to the tissue hardness information, the density weight tissue hardness score corresponding to the bone density information, and the target density score. The terminal device may select a first target location from the multiple locations to be detected that has the least impact on the ultrasound signal based on the target score.

[0123] In the method provided in this embodiment, the terminal device can transmit a detection signal to each position to be detected through a signal transmitting unit, and receive an echo signal based on the detection signal feedback from the position to be detected through a signal receiving unit. The terminal device can determine the tissue hardness information corresponding to the position to be detected based on the waveform change information of the echo signal received by the signal receiving unit, the detection force when the signal transmitting unit transmits the detection signal, and the radius of the signal transmitting unit. Since the ultrasonic signal is affected by the tissue hardness when propagating in the tissue, the terminal device can select the first target position that has the least impact on the ultrasonic signal from multiple positions to be detected based on the tissue hardness information, so that the ultrasonic instrument can quickly and accurately generate an ultra-high-quality head ultrasound image.

[0124] FIG9 shows a flowchart of a specific implementation of a method S103 for generating a head ultrasound image provided in the fourth embodiment of the present application. Referring to FIG9 , compared to the embodiment shown in FIG1 , the method S103 for generating a head ultrasound image provided in this embodiment includes: S901 to S903, which are described in detail as follows:

[0125] S901. Collect, through a pressure sensor, the pressing force of the signal transmitting unit when transmitting the ultrasonic signal.

[0126] In this embodiment, when the terminal device transmits an ultrasonic signal to the first target position through the signal transmitting unit, the terminal device can turn on the pressure sensor and collect the pressing force when the signal transmitting unit transmits the ultrasonic signal through the pressure sensor.

[0127] In one possible implementation, when the terminal device detects the pressing force of the signal transmitting unit, it may determine whether the pressing force is within an optimal pressure range preset by the user. When the terminal device determines that the pressing force is greater than or equal to a minimum pressure value preset by the user, and the pressing force is less than or equal to a maximum pressure value preset by the user, the terminal device may determine that the pressing force is within the optimal pressure range, and at this time, the terminal device controls the signal transmitting unit to transmit an ultrasonic signal toward the first target location.

[0128] S902: If the pressing force is less than a preset minimum pressure value, generate a first alarm message; the first alarm message is used to indicate that the current pressing force of the signal transmitting unit is too low.

[0129] In this embodiment, if the pressing force detected by the pressure sensor is less than a preset minimum pressure value, the terminal device may determine that the pressing force of the signal transmitting unit is too low, and the terminal device may generate a first alarm message. The first alarm message may be used to indicate that the current pressing force of the signal transmitting unit is too low.

[0130] In one possible implementation, if the signal transmitting unit is manually controlled by an operator, the first alarm information generated by the terminal device may be a first prompt information. The terminal device may display the first prompt information on a display unit to prompt the operator that the pressing force is too low and that more pressure is required.

[0131] In one possible implementation, if the signal transmitting unit is automatically controlled by a robotic arm, the first alarm information generated by the terminal device may be the first control information. The terminal device may calculate a first force difference between the pressing force currently detected by the pressure sensor and an optimal force preset by the user, and generate the first control information based on the first force difference. The terminal device may use the first control information to control the robotic arm to increase the pressing force based on the first force difference until the pressing force detected by the sensor meets the optimal force.

[0132] S903: If the pressing force is greater than a preset maximum pressure value, generate a second alarm message; the second alarm message is used to indicate that the current pressing force of the signal transmitting unit is too large.

[0133] In this embodiment, if the pressing force detected by the pressure sensor is greater than a preset minimum pressure value, the terminal device may determine that the pressing force on the signal transmitting unit is too great, and the terminal device may generate a second alarm message. The second alarm message may be used to indicate that the current pressing force on the signal transmitting unit is too great.

[0134] In one possible implementation, if the signal transmitting unit is manually controlled by an operator, the second alarm information generated by the terminal device may be a second prompt information. The terminal device may display the second prompt information on the display unit to prompt the operator that the pressing force is too great and that the pressing force needs to be reduced.

[0135] In one possible implementation, if the signal transmitting unit is automatically controlled by a robotic arm, the second alarm information generated by the terminal device may be the second control information. The terminal device may calculate a second force difference between the pressing force currently detected by the pressure sensor and the optimal force preset by the user, and generate the second control information based on the second force difference. The terminal device may use the second control information to control the robotic arm to reduce the pressing force based on the second force difference until the pressing force detected by the sensor meets the optimal force.

[0136] In this embodiment, the terminal device can also collect the pressing force when the signal transmitting unit transmits the ultrasonic signal through the pressure sensor, and the terminal device determines whether the current pressing force is within the optimal pressure range. If the current pressing force is not within the optimal pressure range, the terminal device can generate a corresponding alarm message based on the pressing force. Through the method provided by this embodiment, the terminal device can ensure that the signal transmitting unit is close enough to the head of the individual to be tested when transmitting the ultrasonic signal, and the pressing force is appropriate. Therefore, through the method provided by this embodiment, the terminal device can further assist the ultrasonic instrument in generating high-quality head ultrasound images.

[0137] FIG10 shows a flowchart of a specific implementation of a method S103 for generating a head ultrasound image provided in the fifth embodiment of the present application. Referring to FIG10 , compared to the embodiment shown in FIG1 , the method S103 for generating a head ultrasound image provided in this embodiment includes: S1031 to S1034, which are described in detail as follows:

[0138] S1031. Obtain a first clarity value corresponding to the first head ultrasound image using a clarity evaluation algorithm.

[0139] In this embodiment, when the terminal device transmits an ultrasonic signal via the signal transmitting unit, it may also activate an inertial measurement unit and use the inertial measurement unit to determine the initial angle at which the signal transmitting unit transmits the ultrasonic signal. After the terminal device transmits an ultrasonic signal to a first target location via the signal transmitting unit and generates a first head ultrasound image corresponding to the first target location, it may also input the generated first head ultrasound image into a clarity evaluation algorithm pre-set by the user. The terminal device may use the clarity evaluation algorithm to obtain a first clarity value corresponding to the first head ultrasound image.

[0140] In one possible implementation, after the terminal device obtains the first clarity value, it can determine whether the first clarity value meets the clarity condition pre-set by the user. If the terminal device determines that the first clarity value corresponding to the current first head image meets the clarity condition, the terminal device can use the first head image as the target head image corresponding to the individual to be detected, and output the target head image. Referring to Figure 11, a schematic diagram of a head ultrasound image provided by an embodiment of the present application is shown. Among them, (a) in Figure 11 is a brain ultrasound image obtained under the temporal bone field of view, and (b) in Figure 11 is a brain ultrasound image generated under a non-temporal bone field of view. As shown in (a) in Figure 11, the brain ultrasound image generated under the temporal bone field of view can clearly see the relevant information of the cerebral arteries.

[0141] In one possible implementation, the clarity assessment algorithm in the terminal device can be trained by any machine learning model through training samples. The training samples may include positive samples and negative samples. The positive samples may be composed of a plurality of first brain ultrasound images and a first expected clarity value corresponding to each first brain ultrasound image. The first brain ultrasound image is generated by an ultrasound signal emitted by a signal transmitting unit at a position that satisfies the temporal bone field of view. The negative samples may be composed of a plurality of second brain ultrasound images and a second expected clarity value corresponding to each second brain ultrasound image. The second brain ultrasound image is generated by an ultrasound signal emitted by a signal transmitting unit at a position that does not satisfy the temporal bone field of view.

[0142] S1032: If the first clarity value does not meet a preset clarity condition, determine a first target angle of the signal transmitting unit.

[0143] In this embodiment, if the terminal device determines that the first clarity value corresponding to the first head ultrasound image does not meet the preset clarity condition, the terminal device can determine the first target angle of the signal transmitting unit based on the initial angle when the signal transmitting unit generates the first head ultrasound image.

[0144] In one possible implementation, a user-preset angle set may be stored in the terminal device, and the angle set may include multiple angle values. After determining that the first clarity value does not meet the clarity condition, the terminal device may determine an initial angle value in the angle set that is closest to the initial angle, and use the angle value next to the initial angle value in the angle set as the first target angle.

[0145] S1033: Transmit an ultrasonic signal toward the first target position at the first target angle to generate a second head ultrasonic image of the individual to be measured.

[0146] In this embodiment, after determining the first target angle, the terminal device may transmit an ultrasonic signal to the first target position at the first target angle to generate a second head ultrasonic image of the individual to be measured.

[0147] In one possible implementation, if the signal transmitting unit is manually controlled by an operator, the terminal device may generate a third prompt message based on the initial angle and the first target angle. The terminal device may display the third prompt message on a display unit to prompt the operator to adjust the transmission angle of the signal transmitting unit to the first target angle.

[0148] In one possible implementation, when an operator adjusts the transmission angle of a signal transmitting unit, the terminal device may control the inertial measurement unit to continuously measure the real-time angle of the signal transmitting unit and display the real-time angle of the signal transmitting unit on a display unit to assist the operator in adjusting the transmission angle of the signal transmitting unit to a first target angle. When the terminal device detects that the signal transmitting unit has reached the first target angle, the terminal device may generate transmission information and display the transmission information on a display device to prompt the operator to control the signal transmitting unit to transmit ultrasonic signals at the current angle.

[0149] In one possible implementation, if the signal transmitting unit is controlled by a robotic arm, the terminal device may generate third control information based on the initial angle and the first target angle. The terminal device may control the robotic arm using the third control information to adjust the signal transmitting unit to the first target angle, and control the signal transmitting unit to transmit an ultrasonic signal to the first target position at the first target angle to generate a second head ultrasound image.

[0150] S1034: If the second clarity value corresponding to the second head ultrasound image does not meet the clarity condition, update the first target angle until the second clarity value meets the clarity condition.

[0151] In this embodiment, after the terminal device transmits an ultrasonic signal at a first target angle to a first target position via a signal transmitting unit, a second head ultrasound image corresponding to the first target angle may be generated. The terminal device may determine a second clarity value corresponding to the second head ultrasound image using a clarity algorithm and determine whether the second clarity value meets a clarity condition. If the terminal device determines that the second clarity value corresponding to the second head ultrasound image does not meet the clarity condition, the terminal device may update the first target angle and transmit an ultrasonic signal at the updated first target angle to the first target position via the signal transmitting unit to generate a new second head ultrasound image.

[0152] In one possible implementation, the terminal device may obtain a next angle value of the first target angle from the angle set and update the first target angle based on the next angle value. The terminal device may continuously update the first target angle using multiple angle values ​​in the angle set until a second clarity value corresponding to the second head ultrasound image meets the clarity condition.

[0153] In a possible implementation, if the second clarity value corresponding to the second head ultrasound image meets the clarity condition, the terminal device may use the second head image as a target head image corresponding to the individual to be detected, and output the target head image.

[0154] In this embodiment, when the first head ultrasound image generated by the ultrasound instrument at the first target position does not meet the clarity condition, the terminal device can generate a first target angle and prompt the operator or control the robotic arm to transmit an ultrasound signal through the first target angle to generate a second head ultrasound image corresponding to the first target angle. The terminal device can continuously update the first target angle until the second head ultrasound image meets the clarity condition. Through the method provided in this embodiment, the terminal device can enable the signal transmitting unit to generate head ultrasound images at multiple first target angles, thereby effectively assisting the operator or robotic arm in generating high-quality ultrasound images and improving the generation efficiency and probability of high-quality ultrasound images.

[0155] FIG12 shows a flowchart of a specific implementation of a method for generating a head ultrasound image S1034 provided in the sixth embodiment of the present application. Referring to FIG12 , compared to the embodiment shown in FIG10 , the method for generating a head ultrasound image S1034 provided in this embodiment includes: S1201 to S1203, which are described in detail as follows:

[0156] S1201: If the second clarity value does not meet the clarity condition, determine a second target angle for the signal transmitting unit to transmit.

[0157] In this embodiment, after the terminal device generates a second head ultrasound image based on the first target angle, if the terminal device determines that the second clarity value corresponding to the second head ultrasound image does not meet the preset clarity condition, the terminal device can determine the second target angle when the signal is transmitted based on the first target angle.

[0158] In one possible implementation, after generating the second target angle, the terminal device may determine whether the second target angle is the same as the previously generated first target angle. If the terminal device determines that the second target angle is different from any of the previously generated first target angles, the terminal device may determine that a head ultrasound image corresponding to the second target angle has not been generated. The terminal device may control a signal transmitting unit, through a robotic arm or an operator, to transmit an ultrasound signal toward the first target position at the second target angle to generate a new second head ultrasound image.

[0159] S1202. If the second target angle is the same as any of the first target angles, a second target position is generated based on the head depth image and the head feature value, and an ultrasonic signal is transmitted to the second target position through a signal transmitting unit to generate a third head ultrasonic image of the individual to be tested.

[0160] In this embodiment, if the terminal device determines that the currently generated second target angle is the same as any previously generated first target angle, the terminal device can determine that the signal transmitting unit has generated head ultrasound images of all angles at the first target position, and the generated head ultrasound images do not meet the clarity condition. The terminal device can determine that a head ultrasound image that meets the clarity condition cannot be generated at the first target position. The terminal device can generate a second target position based on the head depth image and head feature values ​​of the individual to be tested, and transmit an ultrasonic signal to the second target position through the signal transmitting unit to generate a third head ultrasound image of the individual to be tested. Among them, the method for the terminal device to generate the second target position is the same as the method for generating the first target position. For detailed generation methods, please refer to the relevant content of generating the first target position in the manual, which will not be repeated here.

[0161] S1203. If the third clarity value corresponding to the third head ultrasound image does not meet the clarity condition, return to the step of determining the first target angle when the signal transmitting unit transmits and subsequent steps until the third clarity value meets the clarity condition.

[0162] In this embodiment, after the terminal device generates the third head ultrasound image corresponding to the second target position, it can obtain the third clarity value corresponding to the third head ultrasound image through the clarity algorithm, and determine whether the third clarity value meets the clarity condition. If the third clarity value does not meet the clarity condition, the terminal device can return to execute the above-mentioned step of determining the first target angle when the signal transmitting unit transmits and subsequent steps until the third clarity value meets the clarity condition. Among them, the step of determining the first target angle by the terminal device and the subsequent steps are the same as the contents of sections S1031 to S1034 of the manual. For detailed determination methods, please refer to the contents of S1031 to S1034 in the manual, which will not be repeated here.

[0163] Referring to Figure 13, a flow chart of a head ultrasound image generation method provided by an embodiment of the present application is shown. As shown in Figure 13, the terminal device can first obtain a head depth image of the individual to be tested through an RGB camera and a depth camera, and determine multiple positions to be detected on the head of the individual to be tested through the head depth image. The terminal device can obtain tissue hardness information corresponding to each position to be detected through a hardness measurement unit. The terminal device can also measure bone density at each position to be detected through a bone density measurement unit to obtain bone density information of the skull corresponding to each position to be detected. The terminal device can determine a first target position based on the tissue hardness information and bone density information, and transmit an ultrasonic signal to the first target position through a signal transmitting unit to generate a first head ultrasound image. During the process of the signal transmitting unit transmitting the ultrasonic signal, the terminal device can obtain the pressing force of the signal transmitting unit through a pressure sensor to ensure that the signal transmitting unit is sufficiently close to the head during the process of transmitting the ultrasonic signal. At the same time, the terminal device can obtain the initial angle value when the signal transmitting unit transmits the ultrasonic signal through an inertial measurement unit.

[0164] After generating the first head ultrasound image, the terminal device can obtain a first clarity value corresponding to the first head ultrasound image through a clarity algorithm, and determine whether the first head ultrasound meets a preset clarity condition based on the first clarity value. If the terminal device determines that the first head ultrasound does not meet the clarity condition, the terminal device can generate a first target angle based on the initial angle value obtained by the inertial measurement unit, and continuously obtain and record the initial angle value when the signal transmitting unit transmits the ultrasonic signal through the inertial measurement unit. The terminal device can determine whether the signal transmitting unit has transmitted ultrasonic signals and generated a head ultrasound image at all angles of the first target position based on the multiple initial angle values ​​obtained by the inertial measurement unit. If the terminal device determines that no angle has been tried, the terminal device can generate a new first target angle and adjust the signal transmitting unit to the first target angle. If the terminal device determines that the signal transmitting unit has transmitted ultrasonic signals at all angles of the first target position, the terminal device can re-acquire the head depth image of the individual to be tested through the RGB camera and the depth camera, and generate a second target position based on the head depth image.

[0165] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0166] 14 , a schematic diagram of a device for generating a head ultrasound image according to an embodiment of the present application is shown. The device may include a to-be-detected position determination module 1401, a target position determination module 1402, and an image generation module 1403, wherein:

[0167] The module 1401 for determining positions to be detected is configured to obtain a head depth image of the individual to be detected in response to a start instruction, and determine a plurality of positions to be detected based on the head depth image;

[0168] A target position determining module 1402 is configured to determine a first target position from the plurality of positions to be detected based on a head feature value of each position to be detected;

[0169] The image generating module 1403 is configured to transmit an ultrasonic signal to the first target position via a signal transmitting unit to generate a first ultrasonic image of the head of the individual to be measured.

[0170] Among them, the target position determination module can also be used to transmit a detection signal to each of the positions to be detected, and receive an echo signal fed back by each of the positions to be detected based on the detection signal; determine the bone density information corresponding to each of the positions to be detected according to the echo signal; and determine the first target position from the multiple positions to be detected according to the bone density information.

[0171] The target position determination module can also be used to transmit a detection signal to each of the positions to be detected through the signal transmitting unit, and collect the detection force when the signal transmitting unit transmits the detection signal through a pressure sensor; determine the tissue hardness information based on the waveform change information of the echo signal, the detection force and the radius of the signal transmitting unit; the echo signal is a signal fed back by the brain tissue of the individual to be tested based on the detection signal; and determine the first target position from the multiple positions to be detected according to the tissue hardness information.

[0172] The image generation module can also be used to collect the pressing force when the signal emitting unit emits the ultrasonic signal through a pressure sensor; if the pressing force is less than a preset minimum pressure value, a first alarm message is generated; the first alarm message is used to indicate that the current pressing force of the signal emitting unit is too small; if the pressing force is greater than a preset maximum pressure value, a second alarm message is generated; the second alarm message is used to indicate that the current pressing force of the signal emitting unit is too large.

[0173] The image generation module can also be used to obtain a first clarity value corresponding to the first head ultrasound image through a clarity evaluation algorithm; if the first clarity value does not meet a preset clarity condition, determine a first target angle of the signal transmitting unit; transmit an ultrasound signal to the first target position through the first target angle to generate a second head ultrasound image of the individual to be tested; if the second clarity value corresponding to the second head ultrasound image does not meet the clarity condition, update the first target angle until the second clarity value meets the clarity condition.

[0174] The image generation module can also be used to determine the second target angle when the signal transmitting unit transmits if the second clarity value does not meet the clarity condition; if the second target angle is the same as any of the first target angles, generate a second target position based on the head depth image and the head feature value, and transmit an ultrasonic signal to the second target position through the signal transmitting unit to generate a third head ultrasound image of the individual to be tested; if the third clarity value corresponding to the third head ultrasound image does not meet the clarity condition, return to execute the step of determining the first target angle when the signal transmitting unit transmits and subsequent steps until the third clarity value meets the clarity condition.

[0175] The module for determining the position to be detected can also be used to determine the temporal window range of the individual to be detected through the head depth image; and generate multiple positions to be detected within the temporal window range based on the concave value of the temporal window range.

[0176] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment part.

[0177] Referring to FIG15 , a schematic diagram of a terminal device provided in an embodiment of the present application is shown. As shown in FIG15 , the terminal device 1500 in the embodiment of the present application includes: a processor 1510, a memory 1520, and a computer program 1521 stored in the memory 1520 and executable on the processor 1510. When the processor 1510 executes the computer program 1521, the steps in each embodiment of the method for generating a head ultrasound image described above are implemented, such as steps S101 to S103 shown in FIG1 . Alternatively, when the processor 1510 executes the computer program 1521, the functions of each module / unit in the above-mentioned device embodiments are implemented, such as the functions of modules 1401 to 1403 shown in FIG14 .

[0178] Exemplarily, the computer program 1521 may be divided into one or more modules / units, which are stored in the memory 1520 and executed by the processor 1510 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, which may be used to describe the execution process of the computer program 1521 in the terminal device 1500. For example, the computer program 1521 may be divided into a module for determining a position to be detected, a module for determining a target position, and a module for generating an image. The specific functions of each module are as follows:

[0179] a module for determining positions to be detected, configured to obtain a head depth image of the individual to be detected in response to a start instruction, and determine a plurality of positions to be detected based on the head depth image;

[0180] a target position determining module, configured to determine a first target position from the plurality of positions to be detected based on a head feature value of each position to be detected;

[0181] The image generation module is configured to transmit an ultrasonic signal to the first target position via a signal transmitting unit to generate a first ultrasonic image of the head of the individual to be tested.

[0182] The terminal device 1500 may be a terminal device in each of the aforementioned embodiments. The terminal device 1500 may include, but is not limited to, a processor 1510 and a memory 1520. Those skilled in the art will appreciate that FIG15 is merely an example of a terminal device 1500 and does not limit the terminal device 1500. The terminal device 1500 may include more or fewer components than shown, or may combine certain components or different components. For example, the terminal device 1500 may also include input / output devices, network access devices, buses, and the like.

[0183] The processor 1510 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGAs), or a combination thereof.

[0184] FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0185] The memory 1520 may be an internal storage unit of the terminal device 1500, such as a hard disk or memory of the terminal device 1500. The memory 1520 may also be an external storage device of the terminal device 1500, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 1500. Furthermore, the memory 1520 may include both an internal storage unit of the terminal device 1500 and an external storage device. The memory 1520 is used to store the computer program 1521 and other programs and data required by the terminal device 1500. The memory 1520 may also be used to temporarily store data that has been output or is to be output.

[0186] An embodiment of the present application also discloses a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for generating a head ultrasound image as described in the aforementioned embodiments is implemented.

[0187] An embodiment of the present application further discloses a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method for generating a head ultrasound image as described in the above embodiments is implemented.

[0188] An embodiment of the present application further discloses a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the method for generating a head ultrasound image as described in the aforementioned embodiments.

[0189] The above embodiments are intended only to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the above embodiments or replace some of the technical features therein with equivalents; and such modifications or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application and should be included within the scope of protection of the present application.

Claims

1. A method for generating a head ultrasound image, characterized in that: include: In response to a start instruction, a head depth image of the individual to be detected is acquired, and a plurality of positions to be detected are determined based on the head depth image; Determine a first target position from the plurality of positions to be detected based on the head feature value of each position to be detected; An ultrasonic signal is transmitted to the first target position through a signal transmitting unit to generate a first head ultrasonic image of the individual to be tested.

2. The method according to claim 1, characterized in that The head feature value includes bone density information, and determining a first target position from the multiple positions to be detected based on the head feature value of each position to be detected includes: Transmitting a detection signal to each of the positions to be detected, and receiving an echo signal fed back by each of the positions to be detected based on the detection signal; Determine the bone density information corresponding to each of the positions to be detected according to the echo signal; The first target position is determined from the multiple positions to be detected according to the bone density information.

3. The method according to claim 1, characterized in that The head feature value includes tissue hardness information, and determining a first target position from the plurality of positions to be detected based on the head feature value of each position to be detected includes: Transmitting a detection signal to each of the positions to be detected by the signal transmitting unit, and collecting the detection force when the signal transmitting unit transmits the detection signal by the pressure sensor; The tissue hardness information is determined based on the waveform change information of the echo signal, the detection force and the radius of the signal transmitting unit; the echo signal is a signal fed back by the brain tissue of the individual to be tested based on the detection signal; The first target position is determined from the multiple positions to be detected according to the tissue hardness information.

4. The method according to claim 3, characterized in that The transmitting an ultrasonic signal to the first target position by a signal transmitting unit to generate a first head ultrasonic image of the individual to be tested includes: collecting the pressing force of the signal transmitting unit when transmitting the ultrasonic signal by means of a pressure sensor; If the pressing force is less than the preset minimum pressure value, a first alarm message is generated; the first alarm message is used to indicate that the pressing force of the signal transmitting unit is currently too small; If the pressing force is greater than a preset maximum pressure value, a second alarm message is generated; the second alarm message is used to indicate that the pressing force of the signal transmitting unit is currently too large.

5. The method according to claim 1, characterized in that After transmitting the ultrasonic signal to the first target position by the signal transmitting unit to generate the first head ultrasonic image of the individual to be tested, the method includes: Acquire a first clarity value corresponding to the first head ultrasound image by using a clarity evaluation algorithm; If the first clarity value does not meet a preset clarity condition, determining a first target angle of the signal transmitting unit; Transmitting an ultrasonic signal to the first target position through the first target angle to generate a second head ultrasonic image of the individual to be tested; If the second clarity value corresponding to the second head ultrasound image does not meet the clarity condition, the first target angle is updated until the second clarity value meets the clarity condition.

6. The method according to claim 5, characterized in that If the second clarity value corresponding to the second head ultrasound image does not meet the clarity condition, updating the first target angle until the second clarity value meets the clarity condition includes: If the second clarity value does not satisfy the clarity condition, determining a second target angle when the signal transmitting unit transmits; If the second target angle is the same as any of the first target angles, a second target position is generated based on the head depth image and the head feature value, and an ultrasonic signal is transmitted to the second target position through a signal transmitting unit to generate a third head ultrasonic image of the individual to be tested; If the third clarity value corresponding to the third head ultrasound image does not meet the clarity condition, return to the step of determining the first target angle when the signal transmitting unit transmits and subsequent steps until the third clarity value meets the clarity condition.

7. The method according to any one of claims 1 to 6, characterized in that: The step of acquiring a head depth image of the individual to be detected in response to a start instruction and generating a plurality of positions to be detected based on the head depth image comprises: Determine the temporal window range of the individual to be tested by using the head depth image; A plurality of positions to be detected are generated within the temporal window range based on the depression value of the temporal window range.

8. A device for generating a head ultrasound image, characterized in that: include: A module for determining positions to be detected, configured to obtain a head depth image of the individual to be detected in response to a start instruction, and determine a plurality of positions to be detected based on the head depth image; A target position determination module, configured to determine a first target position from the plurality of positions to be detected based on a head feature value of each position to be detected; The image generating module is used to transmit an ultrasonic signal to the first target position through a signal transmitting unit to generate a first head ultrasonic image of the individual to be tested.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for generating a head ultrasound image according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for generating a head ultrasound image according to any one of claims 1 to 7 is implemented.

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