787 results about "Ultrasonic sensor" patented technology

A catheter comprises a catheter shaft having a fluid channel, an ultrasound transducer and a compliant balloon mounted on the catheter shaft and having an interior in fluid communication with the fluid channel and containing the ultrasound transducer. The compliant balloon includes a balloon wall having a working section radially surrounding the ultrasound transducer. The working section has a predetermined straightness when the working section has a first diameter and when the working section has a second diameter that is at least 2 mm greater than the first diameter. Other embodiments are also described and claimed.

The invention provides a driving and sensing integrated soft claw, gripper and method, and belongs to the field of deep sea soft grippers. The problems that a traditional soft gripper sensor is prone to forming stress concentration and cannot achieve multi-point sensing are solved. The driving and sensing integrated soft claw comprises a sensing layer, an acoustic wave guide main flow channel extending in the length direction is arranged on the sensing layer, and an ultrasonic transducer is arranged on the side, close to the fixed end of the sensing layer, of the acoustic wave guide main flow channel. The end face of one side of the sensing layer is a grabbing face, and a plurality of evenly-arranged protrusions are arranged in the acoustic wave guide main flow channel corresponding to the end face. And the driving layer is arranged on the side, away from the grabbing face, of the sensing layer, a plurality of deformation cavities communicating with the acoustic wave guide main flow channel are formed in the driving layer, the driving layer is in a stretching state in a normal state, and when the deformation cavities are filled with liquid and pressurization continues, the deformation cavities are used for deforming to drive the sensing layer to bend. The manipulator is mainly used for grabbing actions.

A touch-sensing system includes a cover stack, piezoelectric capacitors, and a signal processor. The piezoelectric capacitors are mechanically coupled to the cover stack at its inner interface. There is a first array of the piezoelectric capacitors which are configured as piezoelectric ultrasonic transducers (PUTs). There is a second array of the piezoelectric capacitors which are configured as piezoelectric force-measuring elements (PFEs). The signal processor is configured to receive PUT array signals from the PUTs and PFE array signals from the PFEs. The signal processor is configured to calculate PUT centroid data from the PUT array signals and PFE centroid data from the PFE array signals. The signal processor is configured to determine an estimated touch position on the cover stack by combining applicable centroid data including the PUT centroid data and the PFE centroid data.

The invention provides an electrochemical biosensor based on ultrasonic bidirectional driving and a detection method, and belongs to the technical field of biosensing. The sensor comprises a porous membrane and an ultrasonic bidirectional driving unit, and a probe capable of specifically capturing a target object is fixed in a pore channel of the porous membrane; the ultrasonic bidirectional driving unit is composed of a first ultrasonic transducer and a second ultrasonic transducer which are symmetrically arranged on the two sides of the porous membrane, and can synchronously execute reverse power gradient change to form alternately changing pressure difference on the two sides of the membrane so as to drive liquid to repeatedly penetrate through the porous membrane. The detection method comprises the steps of to-be-detected liquid injection and ultrasonic bidirectional driving, ultrasonic auxiliary cleaning and electrochemical detection. The problems of insufficient probe utilization rate, low mass transfer efficiency and non-specific adsorption of a traditional passive diffusion mechanism are solved by utilizing bidirectional ultrasonic active driving force, the detection sensitivity, speed and signal-to-noise ratio are remarkably improved, and the method is suitable for rapid and high-sensitivity quantitative analysis of various analytes.

An autonomous warehouse robotics system integrates a multi-sensor platform, adaptive payload handling, dynamic task reallocation, advanced navigation, energy management, and comprehensive safety features into one mobile robot chassis. The system utilizes LiDAR, stereo vision, ultrasonic sensors, mmWave radar, thermal cameras, and event cameras to perform complete environmental sensing and obstacle detection. Sensor fusion combines adaptive weighting, multi-modal data integration, and statistical filtering to create high-confidence maps for reactive path planning and collision avoidance. The robot's payload system features machine vision for item recognition, telescopic lifts, variable-width grippers, and real-time toolhead verification to handle a variety of goods. Fleet management is achieved through dynamic task reallocation that considers robot location, battery level, and operational delays, all coordinated by a cross-platform middleware architecture that ensures standardized communication, remote monitoring, and over-the-air updates among diverse robot brands. Energy management optimizes power usage via predictive routing, autonomous return-to-charge, and auction-based scheduling. Safety is maintained through proximity detection, behavior-based intervention, and human-robot cohabitation protocols while advanced localization is enhanced by fusing ultra-wideband positioning with visual landmark alignment, inertial sensing, and machine learning to deliver high accuracy in non-line-of-sight conditions. An onboard edge AI module further refines navigation and task prioritization through neural network inference, ensuring robust, adaptive operation in dynamic, unstructured warehouse environments.

A system and method for determining fluid quality or change in quality by training machine learning algorithms using ultrasound Fast Fourier Transform (FFT) signatures. The system includes one or more ultrasonic transducers embedded inside or outside of a pipe, piping, or vessel that allows a fluid to flow past or between the ultrasound transducers. The transducer's acoustic energy creates ultrasound pressure waves and localized heat due to acoustic cavitation. The cavitation creates bubbles that collapse creating ultrasound sonic energy in the time domain. Unique sonic time-domain signatures, distinctively associated with the characteristics of the fluids, are converted to FFTs to produce unique, well-defined frequency response signatures. Machine learning algorithms are used to identify, measure, and classify the unique frequency response signatures associated with a wide range of fluids.

Photoacoustic medical-device navigation systems and methods provide alternatives to those incorporating fluoroscopy for medical-device navigation in patient bodies. A medical-device navigation system can include an optical-fiber stylet, ultrasound transducers, and a console. The stylet can transmit light to an instant location of a distal tip of an elongate medical device in a patient's body and, thereby, irradiate endogenous chromophores to generate ultrasound-frequency photoacoustic pressure waves therefrom. The ultrasound transducers can detect ultrasound signals corresponding to the photoacoustic pressure waves. The console can instantiate medical-device navigation processes for navigating the elongate medical device via the stylet as the elongate medical device is advanced to the target location in the patient's body. The medical-device navigation processes can include acquiring ultrasound-signal data from the ultrasound transducers, reconstructing images from the ultrasound-signal data, and displaying reconstructed images on a display for navigating the elongate medical device to the target location in the patient's body.

The invention discloses a multichannel ultrasonic transducer phased array driving method based on direct memory access. The method comprises a waveform data buffer length determination step, a data path construction step, a phase parameter calculation step, a waveform data synthesis step and a DMA driving step. An independent DMA channel is configured for each GPIO port or each group of GPIO ports corresponding to the transducer array by utilizing the DMA characteristic of a universal microcontroller, and buffer data is transmitted to the output data registers of the GPIO ports automatically and periodically by DMA hardware, so that multi-channel driving signals with accurate frequency and controllable phases are generated in parallel under the condition that CPU (Central Processing Unit) intervention is not needed. According to the invention, high-precision time sequence control comparable with an FPGA (Field Programmable Gate Array) scheme is realized with extremely low hardware cost and CPU (Central Processing Unit) resource occupation, the problem of time sequence jitter of an existing MCU (Microprogrammed Control Unit) scheme is solved, and the method has high stability, high efficiency and excellent expandability.

The present invention relates to the technical field of medical instruments, and specifically relates to a soft light Doppler ultrasound probe, and a use thereof. The probe comprises a sleeve and a handle, an ultrasonic transducer being provided on an outer wall of the sleeve, and the sleeve being composed of a light shielding member and a light guide member. The light guide member has a closed end and an open end of a tubular structure, an operation window penetrating the side wall of the sleeve being provided near the closed end of the light guide member, and the light guide member being fixedly connected to the light shielding member by means of the open end. The light shielding member comprises a tubular distal end facing the light guide member, and an annular proximal end distant from the light guide member, multiple light source mounting cavities being provided on the tubular distal end, light sources being provided in the light source mounting cavities, an interface being provided on the annular proximal end of the light shielding member, and the handle being detachably connected to the sleeve by means of the interface. A power supply unit is provided inside of the handle. In the present invention, the light source is ingeniously disposed in an overlapping portion formed by connecting the light shielding member and the light guide member, so that light is refracted by the light shielding member, and soft light is provided inside of the sleeve, thereby avoiding shining in the eyes.

Described are devices and methods for administering targeted ultrasound therapy. The device consists of a wearable housing designed to conform to a part of the user's body, with an array of ultrasound transducer units on the skin-facing side. These transducers can generate ultrasound therapy to a target therapy area of the user, with frequency, intensity, treatment area, and duration parameters optimized for a therapeutic application. Incorporated within the device is a communication system, an energy source, and a processor. The processor's role is to execute instructions, including assessing the user's health status based on received data, processing and analyzing ultrasound data to gauge transmission quality, determining if the current transmission quality is within thresholds, initiating ultrasound therapy when the conditions are right, and adjusting ultrasound therapy parameters real-time or near real-time if needed during treatment. The real-time or near real-time adjustment is made through various parameters like pulsing frequency, pulse train frequency, the number of treated spots, duration, and treatment zone area. This device provides a personalized, adaptive approach to ultrasound therapy, optimizing the treatment process for each individual user.

The invention relates to the technical field of medical equipment, and provides a focused ultrasound system with multiple treatment modes. A power driving unit; the treatment head comprises a first ultrasonic transducer which is connected with the power driving unit and is used for responding to the excitation signal to form focused ultrasound and outputting the focused ultrasound to a focus; the control unit is suitable for determining a treatment plan according to the tissue characteristic information, and the treatment plan comprises the following steps: performing focused ultrasound irradiation on the target tissue by adopting one or more cooperative treatment modes adaptive to the tissue characteristic information; and controlling the power supply unit and the power driving unit to perform corresponding signal output based on the treatment plan, wherein the plurality of treatment modes comprise a heat effect mode and a histotripsy mode. The focused ultrasound system integrating multiple treatment modes is achieved, one or more matched modes can be selected for cooperative treatment based on tissue characteristics, the treatment efficiency and effect are effectively improved, and operation is convenient.

The invention discloses a method and a device for calibrating an ultrasonic time rod. The device comprises a pulse generating / receiving device, a first ultrasonic transducer, a second ultrasonic transducer and a display module, the pulse generating / receiving device works in a one-transmitting and one-receiving mode, the pulse generating / receiving device is used for generating high-voltage pulses, the transmitting / receiving end of the pulse generating / receiving device is connected with the first ultrasonic transducer, and the second ultrasonic transducer is connected with the display module. The first ultrasonic transducer is used for exciting ultrasonic signals, the receiving end of the pulse generator / receiver is connected with the second ultrasonic transducer, the second ultrasonic transducer is used for receiving ultrasonic signals, and the radio frequency output end of the pulse generator / receiver is connected with the input end of the display module. And when the pulse generator / receiver works in a self-transmitting and self-receiving mode, the transmitting / receiving end of the pulse generator / receiver is connected with the third ultrasonic transducer. According to the device, the sound time value of the ultrasonic sound time rod can be measured, and the ultrasonic sound time rod is calibrated based on the error.

An ultrasound transducer ultrasonically processes a target volume by emitting a sequence of acoustic pulses to the target volume to alter tissue properties while at least one acoustic detector detects an ultrasound reflected signal from the target volume after each acoustic pulse, and a controller (i) estimates an activity of the contrast agent at the target volume based on a comparison between values of signal parameters in the reflected signal following successive acoustic pulses, and (ii) controls the ultrasound transducer to alter the tissue property based on the estimated activity.

A method and electronic consumer device for creating an individual spatial listening zone for a user provided. The method includes receiving an input audio signal and processing it to generate first and second ultrasonic electric audio signals. The ultrasonic signals are provided to first and second ultrasonic transducers which convert them into directional ultrasonic acoustic signals. These signals are directed to a spatial listening zone where the user is located. Through non-linear interaction of the ultrasonic signals in air within the spatial listening zone, an audible sound signal is produced for the user that corresponds to the desired audio based on the input signal. The audible sound is substantially confined to the spatial listening zone and inaudible outside it. Various techniques for dynamically adjusting the spatial listening zone based on user position are disclosed. The system allows for creation of personalized audio experiences while minimizing disturbance to others nearby.

The invention discloses metal wire surface rust removal equipment and technology, and belongs to the technical field of metal wire surface rust removal device.The metal wire surface rust removal equipment comprises a plurality of sets of center pipes, a rotating disc, a first rotating disc and a second rotating disc, the inner tube and the central tube are coaxially arranged, and the outer side of the central tube is sleeved with the inner tube; the polishing assembly is arranged on one side of the rotating disc and used for polishing rust on the outer side of the metal wire; the polishing assembly bypasses the outer side of the longitudinal adjusting part; the pressure between the abrasive belt and the metal wire can be adjusted by controlling the rotating speed of the rotating disc, the adjusting step can be conveniently completed in the equipment running process, operation is convenient and fast, the rotating disc is dynamically adjusted through the electromagnetic ultrasonic sensor, dynamic polishing of rust on the outer surface of the metal wire can be completed, and the polishing efficiency is improved. And the problem that the metal wire is damaged due to excessive polishing or rust remains due to insufficient polishing is solved.

The invention relates to the technical field of nondestructive testing, and discloses a multi-modal signal fusion detection method and system for an electromagnetic ultrasonic transducer, and the method comprises the steps: exciting and receiving ultrasonic signals of a plurality of propagation modes in a detected medium based on the electromagnetic ultrasonic transducer, obtaining multi-modal original data containing different physical characteristics, time synchronization and preprocessing are carried out; feature parameters of the internal state of the medium are extracted, normalization is carried out according to physical attributes, and a unified multi-modal feature space is constructed; setting a dynamic weight strategy based on the sensitivity distribution of the characteristic parameters and the structure parameters, and executing information fusion to form a multi-modal characteristic vector; carrying out comprehensive interpretation analysis to generate a detection conclusion containing abnormal region coordinate data and spatial boundary data; and outputting the corresponding visual representation information. According to the method, signals of different propagation modes are cooperatively utilized, and the defect identification capability and the space positioning precision in a complex structure are improved.

The invention discloses a system and a method for intelligently monitoring an oil leakage point location of a submarine pipeline by using ultrasound, and relates to the technical field of information technologies. Through innovative sensor layout and intelligent signal processing, sensitivity and reliability of submarine pipeline oil leakage detection are improved, and real-time positioning and rate estimation of oil leakage are achieved. The system comprises a detection unit and a monitoring platform, the detection unit comprises a plurality of adhesion type self-positioning ultrasonic sensor nodes arranged on the outer surface of the submarine pipeline, a plurality of floating type acoustic monitoring buoys arranged in a water area above the submarine pipeline, and a flexible bionic fin underwater moving device; the monitoring platform can carry out frequency domain cavitation feature extraction and mode recognition based on a deep learning model on the collected signals, judges whether oil leakage occurs or not by fusing multi-modal data, and transmits leakage alarm information to the land-based monitoring center when oil leakage is determined; the invention further discloses a method for monitoring the oil leakage point location of the submarine pipeline based on the system.

Disclosed is a method of controlling a modular battery powered handheld surgical instrument. The surgical instrument including a battery, a user input sensor, a controller, a radio frequency (RF) drive circuit, an ultrasonic transducer, ultrasonic transducer drive circuit, and an end effector. The end effector including an electrode electrically coupled to RF drive circuit, an ultrasonic blade acoustically coupled to the ultrasonic transducer, and a sensor to measure tissue parameters. The method includes applying an RF current drive signal to the electrode by the RF drive circuit; applying an ultrasonic drive signal to the ultrasonic transducer by the ultrasonic transducer drive circuit to acoustically excite the ultrasonic blade; controlling intensity, wave shape, and / or frequency of the RF current drive signal and the ultrasonic drive signal on a sensed measure of a tissue or user parameter.

The invention relates to the technical field of ultrasonic transducers, and discloses a flexible wearable ultrasonic three-dimensional array and device.The flexible wearable ultrasonic three-dimensional array comprises a transducer array composed of a plurality of transducer units, the transducer units are divided into a plurality of subareas, all the transducer units in each subarea are connected, and the transducer units are arranged in the subareas; the upper plane electrodes of the transducer units in different partitions are not connected, and the lower plane electrodes are connected and then are in common ground; each cross-layer lead unit corresponds to the transducer unit of the corresponding partition, the thickness of each cross-layer lead unit is the same as that of the transducer unit, and each cross-layer lead unit is connected with the upper plane electrode of the transducer unit of the corresponding partition, so that the upper plane electrode and the lower plane electrode are located on the same two-dimensional plane; according to the flexible substrate surface-mounted ultrasonic array, the transmission control of the transducer unit of each subarea is carried out in a two-dimensional plane, and the problems that an existing flexible substrate surface-mounted ultrasonic array connection process is complex in structure and high in cost, and the connection cost is high when the flexible substrate surface-mounted ultrasonic array is connected with a peripheral circuit, so that the clinical large-scale batch processing requirement of the flexible substrate surface-mounted ultrasonic array is difficult to meet are solved.

This invention discloses a wiring structure for an electromagnetic ultrasonic transducer and its application, belonging to the field of ultrasonic nondestructive testing technology. The wiring structure includes independent transmitting-side and receiving-side switch groups, allowing independent switching of the coil's topology connection during transmission and reception. Combined with a novel coil group structure design, it achieves both high-efficiency excitation and high-sensitivity reception. This invention integrates the above wiring structure into the transducer and constructs a semi-closed peripheral magnetic circuit to enhance the signal and meet the excitation energy and reception sensitivity requirements of different test pieces. This invention solves the problems of existing transducers, such as topology binding, poor adaptability, and weak detection signals. It can flexibly adapt to different testing scenarios, improve the detection signal strength and signal-to-noise ratio, and has a wide range of applications.

A package structure of a piezoelectric micromachined ultrasonic transducer includes a silicon substrate, a first protective layer, a piezoelectric composite film, a first metal layer, a second metal layer, a first pad, a second pad and a second protective layer. The silicon substrate is provided with a first through hole and a second through hole. The first protective layer is provided with a groove, a first communication hole and a second communication hole. The piezoelectric composite film includes a first electrode layer and a second electrode layer respectively filling the first communication hole and the first through hole, and the second communication hole and the second through hole so as to be connected to the first metal layer and the second metal layer. A surface of the second protective layer away from the piezoelectric composite film is a flat surface.

An ultrasound system delivers therapeutic ultrasound energy through intervening tissue to a target region of a patient using machine-learning-based beam aberration correction. A controller provides input vectors to a machine-learning model, each input vector corresponding to a respective transducer element of an ultrasound transducer and including numeric quantities characterizing tissue between the transducer element and the target region together with relative ultrasound parameter values associated with multiple transducer elements. The machine-learning model generates correction values for ultrasound parameters to compensate for expected beam aberration caused by the intervening tissue. The controller activates the transducer elements in accordance with the generated correction values to produce an optimized focal zone at the target region. In some implementations, the model is updated based on measured reflections and predicts temperature, focal spot characteristics, or treatment outcomes.

An ultrasonic surgical instrument includes an inner tube, an outer tube, an ultrasonic blade, and a clamp member pivotably moveable relative to the ultrasonic blade. The ultrasonic blade is acoustically coupled to an ultrasonic transducer. The clamp member pivotably movable relative to the ultrasonic blade between an open configuration and an approximated configuration with respect to the ultrasonic blade, wherein the clamp member is pivotably coupled to the inner tube, wherein the clamp member is pivotably coupled to the outer tube, and wherein movement of the outer tube relative to the inner tube between the first position and the second position transitions the clamp member between the open configuration and the approximate configuration.

The invention discloses an ultrasonic nondestructive testing system and method for defects of a flip-chip. The ultrasonic nondestructive testing system comprises an upper computer, a pulse transceiver, an acquisition card, an ultrasonic sensor, a displacement platform, a three-dimensional motion platform and a motion controller, the upper computer serves as a control platform and is responsible for control instruction issuing and data processing. The pulse transceiver, the acquisition card and the high-frequency ultrasonic sensor form a signal acquisition and transmission platform which is responsible for transmitting, receiving, transmitting and analog-to-digital conversion of ultrasonic signals; the displacement platform is used for fixing the flip-chip bonding chip; the three-dimensional motion platform and the motion controller form a three-dimensional motion control system, and the three-dimensional motion control system is responsible for carrying an ultrasonic sensor to execute scanning at different spatial positions. The chip is integrally detected, welding spots do not need to be detected one by one, and the defect detection efficiency can be greatly improved.

The invention relates to the technical field of municipal drainage, and discloses a drainage pipe network sampling and multi-parameter measuring method and device. According to the drainage pipe network sampling and multi-parameter measuring method provided by the invention, through cooperative control, mode switching and a multi-position ultrasonic geometric measurement algorithm, the target of simultaneously and accurately obtaining three key parameters of the pipe diameter, the liquid level and the deposition depth of the drainage pipe network through one-time operation in one integrated device is achieved. Specifically, during use, according to the liquid level height fed back in real time, a low water level mode or a high-full water level mode is selected, a corresponding air ultrasonic sensor or underwater ultrasonic sensor is started, reliable measurement is carried out under common different water level conditions of a drainage pipe network, and then ultrasonic sensing parameters of the left, right, upper and lower positions are obtained in real time, so that the water level of the drainage pipe network is accurately measured. The chord length and the chord distance are directly calculated, a pipe diameter equation in a corresponding mode is established, the liquid level height and the deposition depth are indirectly calculated after the radius of the pipeline is solved, and the time for preparing, laying and switching multiple devices is saved.

The application relates to the field of flexible sensing fabric, and discloses a flexible piezoelectric ultrasonic fiber transducer and a preparation method and application thereof, the preparation method comprising the following steps: laminating two films A and B in the order of ABABA, wherein A is a non-conductive high polymer film, and B is a conductive high polymer film; laminating the films through hot pressing to obtain a hot-stretching preform which is internally coated with a piezoelectric ultrasonic circuit structure; fixing the hot-stretching preform in a low-temperature polymer drawing tower, feeding a wire through hot stretching to obtain the flexible piezoelectric ultrasonic fiber transducer. The flexible piezoelectric ultrasonic fiber transducer is prepared by coating a piezoelectric ultrasonic circuit system with a flexible non-conductive high polymer film, the non-conductive high polymer film can be used as a matching layer and a backing layer of the ultrasonic transducer system while serving as a coating layer, is non-toxic and harmless, has certain flexibility and stretchability, is wear-resistant, has good elasticity, and is easy to process and prepare.

The invention relates to the technical field of composite material machining, in particular to a variable-amplitude machining system and method for a SiCf / SiC composite material, and the variable-amplitude machining system for the SiCf / SiC composite material comprises a machine tool, an ultrasonic transducer capable of adjusting the amplitude and a tool; the machine tool is used for clamping a target workpiece; the ultrasonic transducer is mounted on a main shaft of the machine tool and stably rotates along with the main shaft; the cutter is installed on the ultrasonic transducer and used for machining the target workpiece in the set feeding direction; the ultrasonic transducer is used for changing the ultrasonic amplitude according to different machining positions in the machining process. According to the method, the amplitude can be adjusted in the machining process of the SiCf / SiC composite material according to different texture characteristics shown by different positions of the SiCf / SiC composite material, so that machining damage is reduced, the machining quality is guaranteed, and the good machining effect is achieved.

In accordance with at least one example of the description, a method comprises forming a substrate, and forming transducer elements over the substrate, each transducer element including a ferroelectric capacitor and a conductive element spaced from the ferroelectric capacitor by a dielectric material, the ferroelectric capacitor being between the conductive element and the substrate.

This application discloses a method, apparatus, device, and medium for self-calibration of an ultrasonic sensor for transformers. The method involves obtaining the spatial distance by using the time difference and measured sound velocity of the same partial discharge pulse received by a built-in UHF antenna and an external ultrasonic sensor; constructing a cross-medium model based on the acoustic parameters of the insulating oil and the tank to calculate the sound pressure transmission coefficient at the liquid-solid interface; constructing a spherical wave dissipation equation in viscous oil by combining discharge and fluid parameters, and calculating the theoretical sound pressure of the outer shell using the distance and transmission coefficient; comparing the measured peak output voltage of the external sensor with the in-situ acoustic-electric conversion sensitivity for online self-calibration. This method reconstructs a high-fidelity sound wave propagation attenuation model, which can improve calibration accuracy and diagnostic reliability.

The present application relates to the technical field of ultrasound image processing, and particularly relates to an image processing method, device and system based on an interventional array ultrasound transducer. The method comprises: processing a two-dimensional ultrasound image through noise evaluation to obtain a noise evaluation image; the noise evaluation image can be used to accurately partition image noise; a first filtering algorithm and a second filtering algorithm can be used to preliminarily process the partitioned noise to obtain a preliminarily denoised image; the preliminarily denoised image is then processed accurately using a U-Net model to obtain an accurately denoised image; the accurately denoised image is regionally divided to obtain an edge image and a smooth image; corresponding algorithms are executed on the edge image and the smooth image to obtain an edge denoised image and a smooth denoised image; finally, the edge denoised image and the smooth denoised image are weighted and fused to obtain a denoised ultrasound image; and the accuracy of ultrasound image denoising is improved.