Ultrasound focusing treatment device, imaging device thereof, control method, and readable medium

Abstract

The present invention provides an ultrasound focusing treatment device, an imaging device thereof, a control method, and a readable medium. The control method comprises: setting a preset distance between an ultrasonic probe and the skin; acquiring an ultrasonic image of the ultrasonic probe; determining, according to the ultrasonic image, an actual distance between the ultrasonic probe and the skin; and determining a deviation distance between the actual distance and the preset distance, and controlling, according to the deviation distance, the ultrasonic probe to move, such that the actual distance between the ultrasonic probe and the skin is the preset distance. The ultrasound focusing treatment device, the imaging device thereof, the control method, and the readable medium provided by the present invention can improve the stability of ultrasonic imaging definition, thereby improving the safety of ultrasound focusing treatment.

Description

Ultrasonic focused therapy device, imaging device, control method, and readable medium thereof Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to an ultrasonic focusing therapy device and its imaging device, control method, and readable medium. Background Art

[0002] Currently, focused ultrasound therapy (FUT) utilizes high-energy ultrasound to "ablate" cancerous tissue while sparing surrounding healthy tissue, enabling non-invasive tumor treatment. During FUT, ultrasound imaging (e.g., B-ultrasound) can be used to monitor the lesion in real time.

[0003] However, the skin is uneven and has curvature. When an ultrasound probe (for example, a B-ultrasound probe) is moved close to the skin, the distance between the ultrasound probe and the skin will continue to change, affecting the clarity of the ultrasound imaging. Therefore, during ultrasound focused therapy, the doctor needs to continuously adjust the distance between the ultrasound probe and the skin, which may cause the actual distance between the ultrasound probe and the skin during treatment to deviate from the preset distance, affecting the clarity of the ultrasound imaging and, in turn, the safety of ultrasound focused therapy.

[0004] Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art, and proposes an ultrasonic focusing therapy device and its imaging device, control method, and readable medium, which can improve the stability of ultrasonic imaging clarity and improve the safety of ultrasonic focusing therapy.

[0006] To achieve the purpose of the present invention, a control method for an ultrasonic imaging device is provided, comprising:

[0007] Set the preset distance between the ultrasound probe and the skin;

[0008] Acquiring an ultrasound image of the ultrasound probe;

[0009] determining an actual distance between the ultrasound probe and the skin according to the ultrasound image;

[0010] The deviation distance between the actual distance and the preset distance is determined, and the movement of the ultrasound probe is controlled according to the deviation distance so that the actual distance between the ultrasound probe and the skin is the preset distance.

[0011] Optionally, the control method of the ultrasonic imaging device further includes:

[0012] determining a distance ratio between an actual distance between the ultrasound probe and the skin and an image distance between the ultrasound probe and the skin in the ultrasound image;

[0013] Determining the actual distance between the ultrasound probe and the skin according to the ultrasound image includes:

[0014] An image distance between the ultrasound probe and the skin in the ultrasound image is determined, and the actual distance is determined according to the image distance and the distance ratio.

[0015] Optionally, determining a deviation distance between the actual spacing and the preset spacing, and controlling the movement of the ultrasound probe according to the deviation distance includes:

[0016] The difference between the actual spacing and the preset spacing is calculated as the deviation distance, and the size of the actual spacing and the preset spacing is determined by the positive or negative value of the deviation distance, and the direction of movement of the ultrasound probe is controlled. If the actual spacing is smaller than the preset spacing, the ultrasound probe is controlled to move the deviation distance away from the skin. If the actual spacing is larger than the preset spacing, the ultrasound probe is controlled to move the deviation distance toward the skin.

[0017] Optionally, the control method of the ultrasonic imaging device further includes:

[0018] Acquiring a current position of the ultrasound probe in a first movement direction, where the first movement direction includes a movement direction of the ultrasound probe toward or away from the skin;

[0019] determining a target position of the ultrasound probe in the first moving direction according to the deviation distance and the current position;

[0020] The ultrasonic probe is controlled to move to the target position in the first moving direction.

[0021] Optionally, determining the target position of the ultrasound probe in the first moving direction according to the deviation distance and the current position includes:

[0022] The sum of the current position and the deviation distance is calculated as the target position.

[0023] Optionally, determining the image distance between the ultrasound probe and the skin in the ultrasound image includes:

[0024] Determine the contour of the skin in the ultrasound image, determine a first preset position of the skin contour in the ultrasound image and a second preset position of the ultrasound probe in the ultrasound image, and calculate the distance between the first preset position and the second preset position as the image distance.

[0025] Optionally, the first preset position is the center of the skin contour in the ultrasound image, and / or the second preset position is the center of the ultrasound probe in the ultrasound image.

[0026] The present invention also provides an ultrasonic imaging device, including an ultrasonic probe, a driving module, a storage module and a processing module. The ultrasonic probe is used to acquire ultrasonic images. The storage module stores an executable program. The driving module is mechanically connected to the ultrasonic probe and is used to drive the ultrasonic probe to move. The processing module is signal-connected to the ultrasonic probe, the driving module and the storage module respectively. When the processing module calls the executable program, the control method provided by the present invention can be implemented.

[0027] The present invention also provides an ultrasonic focusing therapy system, comprising an ultrasonic focusing device and the ultrasonic imaging device provided by the present invention, wherein the ultrasonic focusing device is used to implement ultrasonic focusing therapy, and the ultrasonic imaging device is used to apply the control method provided by the present invention to implement ultrasonic imaging.

[0028] The present invention also provides a computer-readable medium, wherein the computer-readable medium stores an executable program. When the executable program is called, the control method provided by the present invention can be implemented.

[0029] The present invention has the following beneficial effects:

[0030] The control method of the ultrasonic imaging equipment provided by the present invention can control the movement of the ultrasonic probe according to the deviation distance between the actual spacing and the preset spacing when there is a deviation between the actual spacing and the preset spacing, so that the actual spacing between the ultrasonic probe and the skin is the preset spacing. In this way, the actual spacing between the ultrasonic probe and the skin can be controlled in time during the movement of the ultrasonic probe relative to the skin, so that the actual spacing between the ultrasonic probe and the skin is consistent with the preset spacing, thereby improving the stability of the ultrasonic imaging clarity and improving the safety of ultrasonic focused therapy.

[0031] The ultrasonic imaging device provided by the present invention, with the aid of the control method of the ultrasonic imaging device provided by the present invention, can improve the stability of ultrasonic imaging clarity and enhance the safety of ultrasonic focused therapy.

[0032] The ultrasound focusing therapy system provided by the present invention, with the help of the ultrasound imaging device and the control method thereof provided by the present invention, can improve the stability of ultrasound imaging clarity and improve the safety of ultrasound focusing therapy.

[0033] The computer-readable medium provided by the present invention stores an executable program capable of implementing the control method of the ultrasonic imaging device provided by the present invention, which can improve the stability of ultrasonic imaging clarity and enhance the safety of ultrasonic focused therapy. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] FIG1 is a flow chart of a method for controlling an ultrasonic imaging device according to an embodiment of the present invention;

[0035] FIG2 is a schematic diagram of the moving direction of the ultrasound probe provided by an embodiment of the present invention;

[0036] FIG3 is a schematic diagram of an ultrasonic image formed by an ultrasonic imaging device provided by an embodiment of the present invention;

[0037] FIG4 is a schematic diagram of another ultrasonic image formed by the ultrasonic imaging device provided in an embodiment of the present invention;

[0038] Description of reference numerals:

[0039] 1 - Ultrasound probe; 2 - First moving direction; 3 - Second moving direction; 4 - Third moving direction; 5 - Image spacing; 100 - Skin; 200 - Lesion. DETAILED DESCRIPTION

[0040] To enable those skilled in the art to better understand the technical solution of the present invention, the ultrasonic focusing therapy device and its imaging device, control method, and readable medium provided by the present invention are described in detail below with reference to the accompanying drawings.

[0041] As shown in FIG1 , an embodiment of the present invention provides a method for controlling an ultrasonic imaging device, including:

[0042] S1, setting a preset distance between the ultrasound probe 1 and the skin 100;

[0043] S2, obtaining an ultrasound image of the ultrasound probe 1;

[0044] S3. Determine the actual distance between the ultrasound probe 1 and the skin 100 according to the ultrasound image;

[0045] S4. Determine the deviation distance between the actual distance and the preset distance, and control the movement of the ultrasound probe 1 according to the deviation distance so that the actual distance between the ultrasound probe 1 and the skin 100 is the preset distance.

[0046] The control method of the ultrasonic imaging device provided in an embodiment of the present invention can control the movement of the ultrasonic probe 1 according to the deviation distance between the actual spacing and the preset spacing when there is a deviation between the actual spacing and the preset spacing between the ultrasonic probe 1 and the skin 100, so that the actual spacing between the ultrasonic probe 1 and the skin 100 is the preset spacing. In this way, the actual spacing between the ultrasonic probe 1 and the skin 100 can be timely controlled during the movement of the ultrasonic probe 1 relative to the skin 100, so that the actual spacing between the ultrasonic probe 1 and the skin 100 is consistent with the preset spacing, thereby improving the stability of the ultrasonic imaging clarity and improving the safety of ultrasonic focused therapy.

[0047] Specifically, in actual applications, the ultrasound probe 1 can move relative to the skin 100 in three directions, namely the first movement direction 2, the second movement direction 3 and the third movement direction 4 as shown in Figure 2, wherein the first movement direction 2 can include the movement direction of the ultrasound probe 1 close to or away from the skin 100, the second movement direction 3 can include the movement direction of the ultrasound probe 1 close to the head or close to the foot on the skin 100, and the third movement direction 4 can be perpendicular to the first movement direction 2 and the second movement direction 3, respectively, that is, the third movement direction 4 can include the movement direction of the ultrasound probe 1 close to the left side or close to the right side of the human body on the skin 100.

[0048] Taking ultrasonic focusing therapy as an example, in actual application, the ultrasonic focusing therapy system may include an ultrasonic focusing device and an ultrasonic imaging device, wherein the ultrasonic focusing device can realize ultrasonic focusing therapy, which can use the high energy of ultrasonic focusing to "ablate" cancerous tissue without damaging the healthy tissue around the cancerous tissue, thereby realizing non-invasive treatment of tumors; the ultrasonic imaging device can realize ultrasonic imaging. During the ultrasonic focusing therapy, the ultrasonic imaging of the ultrasonic imaging device can monitor the condition of the lesion 200 (for example, the lesion 200 of the uterus) in real time. However, since the skin 100 (for example, the skin 100 corresponding to the uterus) has an uneven curvature, when the ultrasound probe 1 is moved on the skin 100 in the second movement direction 3 and / or the third movement direction 4 relative to the skin 100 in close contact with the skin 100 to observe and monitor the condition of the lesion 200, the actual distance between the ultrasound probe 1 and the skin 100 will continue to change, resulting in a deviation between the actual distance between the ultrasound probe 1 and the skin 100 and the preset distance, thereby affecting the clarity of the imaging of the ultrasound probe 1, resulting in the lesion 200 that needs to be observed and monitored through the image formed by the ultrasound probe 1 during the process of ultrasound focused therapy being difficult to be clearly observed and monitored, thereby affecting the safety of ultrasound focused therapy.

[0049] According to the control method of the ultrasonic imaging device provided by the embodiment of the present invention, when the ultrasonic probe 1 is closely attached to the skin 100 and moves on the skin 100 relative to the skin 100 in the second movement direction 3 and / or the third movement direction 4, resulting in a deviation between the actual distance between the ultrasonic probe 1 and the skin 100 and the preset distance, the ultrasonic probe 1 can be promptly controlled to move in the third movement direction 4 according to the deviation distance between the actual distance and the preset distance, so that the ultrasonic probe 1 is moved closer to or away from the skin 100, thereby making the actual distance between the ultrasonic probe 1 and the skin 100 consistent with the preset distance, and then the stability of the ultrasonic imaging clarity can be improved during the ultrasonic focused therapy, so that the condition of the lesion 200 that needs to be observed and monitored through the image formed by the ultrasonic probe 1 can be clearly and stably observed and monitored, thereby improving the safety of the ultrasonic focused therapy.

[0050] However, the ultrasonic imaging device provided by the embodiment of the present invention is not limited to being used in conjunction with an ultrasonic focused therapy system.

[0051] Optionally, the ultrasound probe 1 may be a B-ultrasound probe, with which B-ultrasound images can be acquired.

[0052] Optionally, the preset spacing may be 5 mm to 15 mm.

[0053] Optionally, the preset spacing may be 10 mm.

[0054] In one embodiment of the present invention, the control method of the ultrasonic imaging device may further include:

[0055] Determine a distance ratio between an actual distance between the ultrasound probe 1 and the skin 100 and an image distance 5 between the ultrasound probe 1 and the skin 100 in the ultrasound image;

[0056] Determining the actual distance between the ultrasound probe 1 and the skin 100 according to the ultrasound image includes:

[0057] An image distance 5 between the ultrasound probe 1 and the skin 100 in the ultrasound image is determined, and an actual distance is determined according to the image distance 5 and the distance ratio.

[0058] In actual applications, since the actual distance between the ultrasound probe 1 and the skin 100 is not necessarily equal to the image distance 5 between the ultrasound probe 1 and the skin 100 in the ultrasound image, there may be a ratio between the two. Therefore, the ratio of the actual distance between the ultrasound probe 1 and the skin 100 and the image distance 5 between the ultrasound probe 1 and the skin 100 in the ultrasound image can be predetermined. In this way, after obtaining the ultrasound image of the ultrasound probe 1, the actual distance can be determined by determining the image distance 5 between the ultrasound probe 1 and the skin 100 in the ultrasound image, and then determining the actual distance based on the image distance 5 and the distance ratio. For example, if the predetermined ratio of the actual distance between the ultrasound probe 1 and the skin 100 and the image distance 5 between the ultrasound probe 1 and the skin 100 in the ultrasound image is k = image distance 5 between the ultrasound probe 1 and the skin 100 in the ultrasound image / actual distance between the ultrasound probe 1 and the skin 100, then after determining that the image distance 5 between the ultrasound probe 1 and the skin 100 in the ultrasound image is m, the actual distance can be determined to be n = m / k based on the image distance 5m and the distance ratio k.

[0059] In one embodiment of the present invention, determining the deviation distance between the actual spacing and the preset spacing, and controlling the movement of the ultrasound probe 1 according to the deviation distance may include:

[0060] The difference between the actual spacing and the preset spacing is calculated as the deviation distance, and the size of the actual spacing and the preset spacing is judged by the positive or negative value of the deviation distance, and the direction of movement of the ultrasound probe 1 is controlled. If the actual spacing is smaller than the preset spacing, the ultrasound probe 1 is controlled to move the deviation distance away from the skin 100. If the actual spacing is larger than the preset spacing, the ultrasound probe 1 is controlled to move the deviation distance toward the skin 100.

[0061] For example, taking the deviation distance = actual spacing - preset spacing as an example, when the deviation distance is a negative value, it can be judged that the actual spacing is smaller than the preset spacing. At this time, by controlling the ultrasonic probe 1 to move the deviation distance in the direction away from the skin 100, the actual spacing can be increased by the deviation distance, so that the actual spacing can be kept consistent with the preset spacing. When the deviation distance is a positive value, it can be judged that the actual spacing is greater than the preset spacing. At this time, by controlling the ultrasonic probe 1 to move the deviation distance in the direction close to the skin 100, the actual spacing can be reduced by the deviation distance, so that the actual spacing can be kept consistent with the preset spacing.

[0062] However, the calculation method of the deviation distance is not limited to deviation distance = actual spacing - preset spacing. For example, it can also be deviation distance = preset spacing - actual spacing. In this case, when the deviation distance is a negative value, it can be judged that the actual spacing is greater than the preset spacing. At this time, by controlling the ultrasonic probe 1 to move the deviation distance in the direction close to the skin 100, the actual spacing can be reduced by the deviation distance, so that the actual spacing can be kept consistent with the preset spacing. When the deviation distance is a positive value, it can be judged that the actual spacing is less than the preset spacing. At this time, by controlling the ultrasonic probe 1 to move the deviation distance in the direction away from the skin 100, the actual spacing can be increased by the deviation distance, so that the actual spacing can be kept consistent with the preset spacing.

[0063] In one embodiment of the present invention, the control method of the ultrasonic imaging device may further include:

[0064] Obtaining a current position of the ultrasound probe 1 in a first moving direction 2, where the first moving direction 2 is a moving direction of the ultrasound probe 1 approaching or moving away from the skin 100;

[0065] determining a target position of the ultrasound probe 1 in the first moving direction 2 according to the deviation distance and the current position;

[0066] The ultrasound probe 1 is controlled to move in a first moving direction 2 to a target position.

[0067] In actual applications, the ultrasonic probe 1 can be connected to a driving module to drive the ultrasonic probe 1 to move with the help of the driving module. The driving module can have a first moving axis, a second moving axis and a third moving axis corresponding to the first moving direction 2, the second moving direction 3 and the third moving direction 4. By obtaining the current position of the ultrasonic probe 1 in the first moving direction 2, that is, obtaining the current position of the ultrasonic probe 1 on the first moving axis of the driving module, and determining the target position of the ultrasonic probe 1 in the first moving direction 2 according to the deviation distance and the current position, that is, determining the target position of the ultrasonic probe 1 on the first moving axis of the driving module according to the deviation distance and the current position, the ultrasonic probe 1 can be driven to move to the target position in the first moving direction 2 by directly controlling the driving module to move to the target position on the first moving axis, thereby facilitating the control of the movement of the ultrasonic probe 1.

[0068] In one embodiment of the present invention, determining the target position of the ultrasound probe 1 in the first moving direction 2 according to the deviation distance and the current position may include:

[0069] Calculate the sum of the current position and the deviation distance as the target position.

[0070] For example, taking the first moving direction 2 as the moving direction of the ultrasonic probe 1 away from the skin 100, the deviation distance = actual spacing - preset spacing as an example, the current position of the ultrasonic probe 1 in the first moving direction 2 is b, then the target position of the ultrasonic probe 1 in the first moving direction 2 is determined according to the deviation distance and the current position = b + deviation distance. When the deviation distance is a negative value, that is, when the actual spacing is less than the preset spacing, the target position of the ultrasonic probe 1 in the first moving direction 2 determined according to the deviation distance and the current position will be smaller than the current position, which will cause the driving module to move in the direction away from the skin 100 in the first moving axis to the target position away from the current position, thereby driving the ultrasonic probe 1 in the first moving direction 2 away from the skin 100. The ultrasonic probe 1 moves in the direction of the skin 100 to a target position away from the current position, so that the actual spacing increases the deviation distance, and the actual spacing can be kept consistent with the preset spacing. When the deviation distance is a positive value, that is, when the actual spacing is greater than the preset spacing, the target position of the ultrasonic probe 1 in the first moving direction 2 determined according to the deviation distance and the current position will be greater than the current position, which will cause the driving module to move in the direction close to the skin 100 in the first moving axis to the target position away from the current position, thereby driving the ultrasonic probe 1 to move in the direction close to the skin 100 in the first moving direction 2 to the target position away from the current position, so that the actual spacing is reduced by the deviation distance, and the actual spacing can be kept consistent with the preset spacing.

[0071] However, the calculation method for determining the target position of the ultrasonic probe 1 in the first moving direction 2 based on the deviation distance and the current position is not limited to target position = b + deviation distance. For example, when the first moving direction 2 is the moving direction of the ultrasonic probe 1 away from the skin 100 and the deviation distance = preset spacing - actual spacing, the target position can also be = b - deviation distance. For example, when the first moving direction 2 is the moving direction of the ultrasonic probe 1 close to the skin 100 and the deviation distance = actual spacing - preset spacing, the target position can also be = b - deviation distance. For example, when the first moving direction 2 is the moving direction of the ultrasonic probe 1 close to the skin 100 and the deviation distance = preset spacing - actual spacing, the target position can also be = b + deviation distance.

[0072] In one embodiment of the present invention, determining the image distance 5 between the ultrasound probe 1 and the skin 100 in the ultrasound image may include:

[0073] Determine the contour of the skin 100 in the ultrasound image, determine a first preset position of the contour of the skin 100 in the ultrasound image and a second preset position of the ultrasound probe 1 in the ultrasound image, and calculate the distance between the first preset position and the second preset position as the image distance 5.

[0074] In practical applications, a machine learning algorithm can be used to identify the contour of the skin 100 in an ultrasound image, and a server can be established to identify the contour of the skin 100 in the ultrasound image in real time. In this way, the pixel coordinates of the contour of the skin 100 in the ultrasound image can be determined by the algorithm to determine the first preset position of the contour of the skin 100 in the ultrasound image. The pixel coordinates of the ultrasound probe 1 in the ultrasound image can be fixed, so that the second preset position of the ultrasound probe 1 in the ultrasound image can be determined using the fixed pixel coordinates of the ultrasound probe 1 in the ultrasound image. After determining the first preset position of the contour of the skin 100 in the ultrasound image and the second preset position of the ultrasound probe 1 in the ultrasound image, the distance between the first preset position and the second preset position can be calculated. This distance can be used as the image distance 5 between the ultrasound probe 1 and the skin 100 in the ultrasound image.

[0075] As shown in FIG3 and FIG4, in one embodiment of the present invention, the first preset position may be the center of the skin 100 outline in the ultrasound image, and / or the second preset position may be the center of the ultrasound probe 1 in the ultrasound image.

[0076] That is to say, the pixel coordinates of the center of the skin 100 contour in the ultrasound image can be taken as the first preset position of the skin 100 contour in the ultrasound image, and / or, the pixel coordinates of the center of the ultrasound probe 1 in the ultrasound image can be taken as the second preset position of the ultrasound probe 1 in the ultrasound image.

[0077] An embodiment of the present invention also provides an ultrasonic imaging device, including an ultrasonic probe 1, a driving module, a storage module and a processing module. The ultrasonic probe 1 is used to acquire ultrasonic images, the storage module stores an executable program, the driving module is mechanically connected to the ultrasonic probe 1 and is used to drive the ultrasonic probe 1 to move, and the processing module is signal-connected to the ultrasonic probe 1, the driving module and the storage module respectively. When the processing module calls the executable program, it can implement the control method provided in the embodiment of the present invention.

[0078] The ultrasonic imaging device provided in the embodiment of the present invention, with the help of the control method of the ultrasonic imaging device provided in the embodiment of the present invention, can improve the stability of ultrasonic imaging clarity and improve the safety of ultrasonic focused therapy.

[0079] Specifically, the storage module stores an executable program, and the processing module can send a signal to the storage module to call the executable program. When the processing module calls the executable program, the preset distance between the ultrasound probe 1 and the skin 100 can be set through the processing module, and the processing module can send a signal to the ultrasound probe 1 to control the ultrasound probe 1 to obtain an ultrasound image. Moreover, the processing module can determine the actual distance between the ultrasound probe 1 and the skin 100 based on the ultrasound image, and determine the deviation distance between the actual distance and the preset distance. Moreover, the processing module can send a signal to the driving module to control the driving module to drive the ultrasound probe 1 to move according to the deviation distance, so that the actual distance between the ultrasound probe 1 and the skin 100 is the preset distance.

[0080] An embodiment of the present invention also provides an ultrasonic focusing therapy system, comprising an ultrasonic focusing device and an ultrasonic imaging device as provided in an embodiment of the present invention, wherein the ultrasonic focusing device is used to implement ultrasonic focusing therapy, and the ultrasonic imaging device is used to implement ultrasonic imaging using a control method as provided in an embodiment of the present invention.

[0081] The ultrasound focusing therapy system provided by the embodiment of the present invention, with the help of the ultrasound imaging device and the control method thereof provided by the embodiment of the present invention, can improve the stability of ultrasound imaging clarity and improve the safety of ultrasound focusing therapy.

[0082] An embodiment of the present invention further provides a computer-readable medium, which stores an executable program. When the executable program is called, the control method provided in the embodiment of the present invention can be implemented.

[0083] The computer-readable medium provided by the present invention stores an executable program capable of implementing the control method of the ultrasonic imaging device provided by the present invention, which can improve the stability of ultrasonic imaging clarity and enhance the safety of ultrasonic focused therapy.

[0084] In summary, the ultrasound focusing therapy device and its imaging device, control method, and readable medium provided by the embodiments of the present invention can improve the stability of ultrasound imaging clarity and enhance the safety of ultrasound focusing therapy.

[0085] It will be understood that the above embodiments are merely exemplary embodiments for illustrating the principles of the present invention, and the present invention is not limited thereto. Those skilled in the art will be able to make various modifications and improvements without departing from the spirit and substance of the present invention, and such modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A control method for an ultrasonic imaging device, characterized in that: include: Set the preset distance between the ultrasound probe and the skin; Acquiring an ultrasound image of the ultrasound probe; Determining the actual distance between the ultrasound probe and the skin according to the ultrasound image; The deviation distance between the actual distance and the preset distance is determined, and the movement of the ultrasound probe is controlled according to the deviation distance, so that the actual distance between the ultrasound probe and the skin is the preset distance.

2. The control method of the ultrasonic imaging device according to claim 1, characterized in that: The control method of the ultrasonic imaging device further includes: Determine a distance ratio between an actual distance between the ultrasound probe and the skin and an image distance between the ultrasound probe and the skin in the ultrasound image; Determining the actual distance between the ultrasound probe and the skin according to the ultrasound image comprises: An image distance between the ultrasound probe and the skin in the ultrasound image is determined, and the actual distance is determined according to the image distance and the distance ratio.

3. The control method of ultrasonic imaging equipment according to claim 1, characterized in that: Determining the deviation distance between the actual spacing and the preset spacing, and controlling the movement of the ultrasound probe according to the deviation distance includes: The difference between the actual spacing and the preset spacing is calculated as the deviation distance, and the size of the actual spacing and the preset spacing is judged by the positive or negative value of the deviation distance, and the direction of movement of the ultrasound probe is controlled. If the actual spacing is smaller than the preset spacing, the ultrasound probe is controlled to move the deviation distance away from the skin; if the actual spacing is larger than the preset spacing, the ultrasound probe is controlled to move the deviation distance toward the skin.

4. The control method of ultrasonic imaging equipment according to claim 1, characterized in that: The control method of the ultrasonic imaging device further includes: Acquire a current position of the ultrasound probe in a first moving direction, where the first moving direction includes a moving direction of the ultrasound probe approaching or moving away from the skin; determining a target position of the ultrasonic probe in the first moving direction according to the deviation distance and the current position; The ultrasonic probe is controlled to move to the target position in the first moving direction.

5. The control method of ultrasonic imaging equipment according to claim 4, characterized in that: Determining the target position of the ultrasonic probe in the first moving direction according to the deviation distance and the current position includes: The sum of the current position and the deviation distance is calculated as the target position.

6. The control method of ultrasonic imaging equipment according to claim 2, characterized in that: The determining of the image distance between the ultrasound probe and the skin in the ultrasound image comprises: Determine the contour of the skin in the ultrasound image, determine a first preset position of the skin contour in the ultrasound image and a second preset position of the ultrasound probe in the ultrasound image, and calculate the distance between the first preset position and the second preset position as the image distance.

7. The control method of ultrasonic imaging equipment according to claim 6, characterized in that: The first preset position is the center of the skin contour in the ultrasound image, and / or the second preset position is the center of the ultrasound probe in the ultrasound image.

8. An ultrasonic imaging device, characterized in that: The invention comprises an ultrasonic probe, a driving module, a storage module and a processing module. The ultrasonic probe is used to acquire ultrasonic images. The storage module stores an executable program. The driving module is mechanically connected to the ultrasonic probe and is used to drive the ultrasonic probe to move. The processing module is signal-connected to the ultrasonic probe, the driving module and the storage module respectively. When the processing module calls the executable program, the control method as described in any one of claims 1 to 7 can be implemented.

9. An ultrasound focused therapy system, characterized in that: It comprises an ultrasonic focusing device and an ultrasonic imaging device as claimed in claim 8, wherein the ultrasonic focusing device is used to implement ultrasonic focusing therapy, and the ultrasonic imaging device is used to implement ultrasonic imaging by applying the control method as claimed in any one of claims 1 to 7.

10. A computer-readable medium, characterized in that The computer-readable medium stores an executable program, and when the executable program is called, the control method according to any one of claims 1 to 7 can be implemented.

Images