CN109758091B - Ultrasonic imaging method and device - Google Patents
Ultrasonic imaging method and device Download PDFInfo
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- CN109758091B CN109758091B CN201811467260.4A CN201811467260A CN109758091B CN 109758091 B CN109758091 B CN 109758091B CN 201811467260 A CN201811467260 A CN 201811467260A CN 109758091 B CN109758091 B CN 109758091B
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Abstract
The application discloses an ultrasonic imaging method and device, wherein a certain position point is selected in the internal space of an annular array probe to be used as a virtual sound source for simulating an ultrasonic emission source. The simulation time of each array element transmitting ultrasonic waves can be respectively determined by simulating the simulation time of the ultrasonic waves emitted by the virtual sound source reaching each array element in the annular array probe, each array element transmits the ultrasonic waves according to the corresponding simulation time, the spherical ultrasonic waves are actually emitted from the virtual sound source in a similar way, on the basis, each position point of an organization area scanned by the ultrasonic waves has an ultrasonic echo signal, and an ultrasonic image can be formed based on the received ultrasonic echo signals. Based on the scheme of the application, only one ultrasonic wave is transmitted by controlling each array element, so that a radio frequency signal image for generating an ultrasonic image can be obtained, and the rapid imaging of the ultrasonic endoscope system with the annular array probe is realized.
Description
Technical Field
The invention belongs to the field of medical ultrasonic imaging, and particularly relates to an ultrasonic imaging method and device.
Background
An ultrasonic endoscope is an ultrasonic diagnosis technology widely applied, generally refers to a digestive tract examination technology combining an optical endoscope and an ultrasonic probe, and a miniature high-frequency ultrasonic probe is arranged at the top end of the endoscope, so that the shape in the digestive tract cavity can be directly observed through the endoscope, and meanwhile, real-time ultrasonic scanning can be carried out to obtain histological characteristics of a digestive tract layered structure and ultrasonic images of surrounding visceral organs.
Currently, in an endoscopic ultrasound system having an annular array probe, ultrasound imaging is performed in a focused scan line imaging manner, a plurality of scan lines are obtained by multiple times of emission focusing, and an ultrasound image is formed from the plurality of scan lines.
In this way, each array element needs to transmit for many times, which takes a long time, and the imaging frame rate is greatly reduced. The reduced imaging frame rate slows down ultrasound imaging, which limits the use of endoultrasound systems in applications requiring high frame rates, such as blood flow imaging.
Disclosure of Invention
In view of the above, the present invention provides an ultrasound imaging method and apparatus, which enable an ultrasound endoscope system with a ring array ultrasound probe to image rapidly.
To achieve the above object, in one aspect, the present application provides an ultrasound imaging method applied to an ultrasound endoscope system having a ring array probe, including:
determining a position point for simulating an ultrasonic emission source from the inner space of the annular array probe;
determining the simulation time length required by simulating the transmission of the emitted ultrasonic waves to the array elements by the position points for each array element on the annular array probe;
determining the simulation time of the ultrasonic waves simulated and emitted by the position points respectively emitted by the array elements according to the simulation duration corresponding to each array element on the annular array probe, wherein the starting times of the ultrasonic waves simulated and emitted by the position points, which are calculated according to the simulation time of each array element, are the same;
aiming at each array element, controlling the array element to transmit ultrasonic waves when the analog time corresponding to the array element is reached;
and generating a radio frequency signal image used for generating an ultrasonic image based on the ultrasonic echo signals received by the array elements.
Preferably, after generating the radio frequency signal image for generating the ultrasound image, the method further comprises:
and generating an ultrasonic image according to the radio frequency signal image.
Preferably, after the generating the radio frequency signal image for generating the ultrasound image, the method further comprises:
detecting whether the number of position points for simulating an ultrasonic emission source determined from the internal space of the annular array probe reaches a preset number;
if not, selecting a point which is not selected as the position point from the internal space of the annular array probe as the position point for simulating an ultrasonic emission source, returning to execute the operation aiming at each array element on the annular array probe based on the currently determined position point, determining the simulation time length required by the ultrasonic wave which is simulated to be emitted by the position point and is propagated to the array element, and obtaining a radio frequency signal image generated by the currently determined position point;
if yes, superposing pixel point amplitudes according to the radio frequency signal images respectively generated by the preset number of position points to obtain superposed radio frequency signal images;
and generating an ultrasonic image based on the superposed radio frequency signal image.
Preferably, the determining, according to the simulation duration corresponding to each array element on the annular array probe, the simulation time at which the ultrasonic waves simulated and emitted by the position point are emitted by each array element respectively includes:
determining the corresponding reference array element with the shortest simulation time length from the annular array probe, and setting the simulation time of the ultrasonic waves simulated and emitted by the position points and emitted by the reference array element;
determining the relative analog time length difference between each array element and the reference array element;
and determining the simulation time of the ultrasonic waves simulated and emitted by the position points respectively emitted by the array elements based on the relative simulation time difference between each array element and the reference and the simulation time corresponding to the reference array element.
Preferably, the generating a radio frequency signal image for generating an ultrasound image based on the ultrasound echo signals received by the respective array elements includes:
determining tissue position points corresponding to all pixel points in a radio frequency signal image to be generated from organism tissues subjected to ultrasonic detection;
aiming at a tissue position point corresponding to each pixel point, determining the signal intensity amplitude of the ultrasonic echo signal scattered by the tissue position point from the ultrasonic echo signal received by each array element;
and generating the radio frequency signal image based on the signal intensity amplitude of the ultrasonic echo signal scattered by the tissue position point corresponding to each pixel point.
Preferably, the determining the signal intensity amplitude of the ultrasonic echo signal scattered by the tissue location point from the ultrasonic echo signals received by the array elements includes:
for each array element, determining the time length of the transmitted ultrasonic wave returning to the position of the array element through the tissue position point;
determining the sampling interval duration of the channel corresponding to the array element for sampling the ultrasonic echo signal;
determining the sampling time of the sampling point relative to the starting time of the ultrasonic wave simulated emission of the position point for each sampling point obtained by sampling the ultrasonic echo signal by aiming at the channel corresponding to the array element;
judging whether the absolute value of the difference between the sampling time length of the sampling point and the time length of the emitted ultrasonic wave returning to the array element through the tissue position point is less than or equal to the sampling interval time length;
if so, determining that the sampling point can reflect ultrasonic echo information scattered from the tissue position point;
and superposing the amplitudes of the sampling points capable of reflecting the ultrasonic echo information scattered from the tissue position points in the channels corresponding to the array elements to obtain the signal intensity amplitude of the ultrasonic echo signal scattered from the tissue position points.
Preferably, the determining the time length of the transmitted ultrasonic wave returning to the position of the array element through the tissue position point comprises:
a coordinate system is constructed on the plane of the ring formed by arranging each array element in the ring array probe,
determining coordinates of the position point in the coordinate system;
determining the coordinates of the array elements in the coordinate system;
determining the coordinates of the pixel points corresponding to the tissue position points in the coordinate system;
determining the forward transmission time of the ultrasonic wave based on the coordinates of the pixel points corresponding to the tissue position points, the coordinates of the position points and the propagation speed of the ultrasonic wave;
determining the reverse transmission time length of the ultrasonic wave based on the coordinates of the pixel points corresponding to the organization position points, the coordinates of the array elements and the propagation speed of the ultrasonic wave;
and adding the forward transmission time length and the reverse transmission time length to obtain the time length of the transmitted ultrasonic wave returning to the array element position through the pixel point corresponding to the organization position point.
Preferably, the generating an ultrasound image from the radio frequency signal image includes:
and carrying out signal envelope acquisition, logarithmic compression, dynamic range adjustment and digital scan conversion on the radio frequency signal image to generate an ultrasonic image.
On the other hand, the application provides an ultrasonic imaging device, is applied to ultrasonic endoscope system, ultrasonic endoscope system has annular array probe, includes:
a position point determining unit for determining a position point for simulating an ultrasonic wave emission source from the internal space of the annular array probe;
the analog time length determining unit is used for determining the analog time length required by the ultrasonic wave which is simulated and emitted by the position points and determined by the position point determining unit and is transmitted to the array elements aiming at each array element on the annular array probe;
the simulation time determining unit is used for determining the simulation time of the ultrasonic waves which are simulated and emitted by the position points and determined by the position point determining unit and are emitted by the array elements according to the simulation time corresponding to the array elements on the annular array probe determined by the simulation time determining unit, wherein the starting times of the ultrasonic waves which are simulated and emitted by the position points and calculated according to the simulation time of the array elements are the same;
the control transmitting unit is used for controlling each array element to transmit ultrasonic waves when the analog time corresponding to the array element determined by the analog time determining unit is reached;
and the image generating unit is used for generating a radio frequency signal image used for generating an ultrasonic image based on the ultrasonic echo signals received by the array elements.
Preferably, the ultrasound imaging apparatus further comprises:
the detection unit is used for detecting whether the number of the position points for simulating the ultrasonic emission sources determined from the internal space of the annular array probe reaches a preset number; if not, triggering the first processing unit to execute; if yes, triggering the second processing unit to execute;
the first processing unit is used for selecting a point which is not selected as the position point from the internal space of the annular array probe as the position point for simulating the ultrasonic emission source, and triggering the simulation duration determining unit to execute based on the currently determined position point to obtain a radio frequency signal image generated by the currently determined position point;
the second processing unit is used for superposing pixel point amplitudes according to the radio frequency signal images respectively generated by the preset number of position points to obtain superposed radio frequency signal images; and generating an ultrasonic image based on the superposed radio frequency signal image.
According to the scheme, in the embodiment of the application, a certain position point is selected in the internal space of the annular array probe to be used as a virtual sound source for simulating the ultrasonic emission source. The simulation time of each array element transmitting ultrasonic waves can be respectively determined by simulating the simulation time of the ultrasonic waves emitted by the virtual sound source reaching each array element in the annular array probe, each array element transmits the ultrasonic waves according to the corresponding simulation time, the spherical ultrasonic waves are actually emitted from the virtual sound source in a similar way, on the basis, each position point of an organization area scanned by the ultrasonic waves has an ultrasonic echo signal, and an ultrasonic image can be formed based on the received ultrasonic echo signals. Therefore, based on the scheme of the application, the radio frequency signal image for generating the ultrasonic image can be obtained only by controlling each array element to transmit the ultrasonic wave once, so that the ultrasonic image can be generated based on the obtained radio frequency signal image without controlling each array element to transmit the ultrasonic wave for multiple times. Compared with the existing focusing scanning line imaging mode, the imaging speed is greatly improved, and the rapid imaging of the ultrasonic endoscope system with the annular array probe is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic diagram illustrating a component architecture of an ultrasound endoscope system to which the ultrasound imaging method according to the embodiment of the present application is applied;
FIG. 2 is a schematic flow chart of a method of ultrasound imaging in accordance with an embodiment of the present application;
FIG. 3 is a schematic flow chart of generating an image of a radio frequency signal according to an embodiment of the present application;
FIG. 4 is a schematic flow chart of a method of ultrasound imaging in accordance with an embodiment of the present application;
FIG. 5 shows simulation experiment results of an ultrasound imaging method according to an embodiment of the present application;
fig. 6 is a schematic diagram of a composition of an ultrasound imaging apparatus according to an embodiment of the present application.
Detailed Description
To facilitate understanding of the concepts of the present application, reference will be made to some terms, abbreviations or abbreviations used in the concepts of the present application:
frame frequency: number of imaging frames per second.
Focusing scanning line imaging: exciting several array elements, which may be all the elements of the probe or several adjacent elements, focusing the ultrasonic wave emitted by these elements to a certain position, and then adding the signals received by these elements and returned from said position together, so that one emission and one reception form a scanning line. The above processes are repeatedly executed to carry out transmitting focusing and receiving of different position points, a plurality of scanning lines are obtained, and the plurality of scanning lines are converted into an ultrasonic image.
The ultrasonic imaging method and device provided by the embodiment of the application are suitable for improving the frame rate of the ultrasonic endoscope system with the annular array ultrasonic probe, so that the ultrasonic endoscope system with the annular array ultrasonic probe can rapidly image.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For ease of understanding, an endoultrasound system to which the solution of the present application is applicable will be described. For example, referring to fig. 1, a schematic diagram of a component architecture of an ultrasound endoscope system to which the ultrasound imaging method of the present application is applicable is shown.
In the ultrasonic endoscope system 100 shown in fig. 1, there are included: an ultrasound probe 10, an ultrasound transmission module 20, an ultrasound reception module 30, a processing module 40 and a display module 50.
The ultrasonic probe 10, also called an ultrasonic transducer, is an acoustic-electric reversible converter, which can convert high-frequency electric energy into ultrasonic mechanical energy to radiate outwards, and receive ultrasonic echo to convert acoustic energy into electric energy.
The ultrasound probe 10 may include a plurality of array elements, the number of array elements being between 128 and 256 in consideration of hardware cost and the like. In the present application, the array elements are arranged in a ring, which may be referred to as a ring array probe. Each array element can be excited to emit ultrasonic waves according to different time sequences, the ultrasonic waves emitted by the array elements are subjected to coherent superposition to form ultrasonic waves which are outwards propagated by wave fronts in different forms, and the mode of outwards propagation of the ultrasonic waves can be focusing on a certain point, and can also be plane waves or spherical waves; in the present application, all array elements are excited in a specific time sequence, and the emitted ultrasonic waves propagate outwards in the form of spherical waves.
The ultrasonic transmitting module 20 is connected to the ultrasonic probe 10, and is configured to transmit a voltage pulse signal, excite each array element of the ultrasonic probe 10, and transmit an ultrasonic wave.
The ultrasonic receiving module 30 is connected to the ultrasonic probe 10 and configured to receive ultrasonic echo signals received by each array element of the ultrasonic probe 10, where the ultrasonic echo signals may be voltage signals.
The processing module 40 is connected to the ultrasonic transmitting module 20 and the ultrasonic receiving module 30, and is configured to control the ultrasonic transmitting module 20 to excite each array element of the ultrasonic probe 10, and also be configured to acquire an ultrasonic echo signal received by the ultrasonic receiving module, and generate an ultrasonic image by using the ultrasonic echo signal.
The display module 50 is connected to the processing module 40 for displaying the generated ultrasound image for the user to view the ultrasound image.
The ultrasound imaging method in the embodiment of the present application is described below with reference to a flowchart. Referring to fig. 2, which shows a flowchart of an embodiment of the ultrasound imaging method of the present application, the method of the present application is applied to an ultrasound endoscope system having a ring array probe, and can be performed by the processing module 40 in the aforementioned ultrasound endoscope system 100, and the method can include:
s201, determining a position point for simulating an ultrasonic emission source from the inner space of the annular array probe.
The internal space of the annular array probe refers to an annular region formed by arranging each array element in the probe, the position point can be any point in the annular region, and the position point can be specifically set according to actual needs.
It should be noted that, since the purpose of selecting the location point is to make each ultrasonic wave for transmission form a spherical ultrasonic wave similar to the ultrasonic wave emitted from the location point by controlling the time when each array element transmits the ultrasonic wave, the selected location point is actually a virtual sound source for simulating the spherical ultrasonic wave.
And S202, determining the simulation time length required by simulating the transmission of the emitted ultrasonic waves to each array element on the annular array probe by the position point for each array element.
It can be understood that, since the location point is only a virtual sound source and does not have the capability of transmitting ultrasonic waves, the time length required for the ultrasonic waves emitted from the location point to propagate to each array element is actually simulated in this step under the assumption that the location point can emit the ultrasonic waves. For the sake of convenience of distinction, the time required for simulating the propagation of the ultrasonic wave emitted at the position point to the array element is referred to as a simulation time.
Wherein, the simulation time length required for simulating the transmission of the emitted ultrasonic wave to the array element by the position point can be calculated based on the distance between the position point and the position of the array element and the transmission speed of the ultrasonic wave.
In the specific implementation, a coordinate system is established by taking the center point of the ring as the center of a circle and taking any two vertical directions on the plane where the ring is located as the x direction and the z direction. Selecting a certain point in the ring as a virtual sound source i with the coordinate of (x)i,zi)。
It is assumed that the virtual sound source i emits an ultrasonic wave, propagating outward in the form of a spherical wave. The simulation time length t required by the ultrasonic wave simulated and emitted by the virtual sound source i to propagate to the array element j can be calculated by using the formula Ii(j)。
Where c is the propagation velocity of ultrasound in tissue, generally defined as 1540 meters/second. j represents an array element of the annular array probe, (x)j,zj) Is the position coordinate of array element j.
And S203, determining the simulation time of the ultrasonic waves simulated and emitted by the position points and emitted by each array element according to the simulation duration corresponding to each array element on the annular array probe.
Similar to the simulation time length, since the position point does not emit the ultrasonic wave, the step 203 actually simulates the time when the ultrasonic wave emitted from the position point at a certain time point is emitted through the position of the array element, and this time is referred to as the simulation time.
It can be understood that the basis for determining the simulation time of each array element is to ensure that the ultrasonic waves emitted by each array element can form spherical ultrasonic waves similar to the emitted ultrasonic waves of the position point, and therefore, the starting time of the ultrasonic waves emitted by the position point in a simulation mode, which is calculated according to the simulation time of each array element, is the same.
It will be appreciated that there are many different implementations for determining the simulation time at each array element. In a possible implementation, a reference array element with the shortest simulation time length is determined in the annular array probe, the simulation time of the ultrasonic waves emitted by the selected position points in the simulation mode and emitted by the reference array element is set, the relative simulation time length difference of each array element and the reference array element is determined, and the simulation time of the ultrasonic waves emitted by the position points in the simulation mode and emitted by each array element is determined based on the relative simulation time length difference of each array element and the reference array element and the simulation time corresponding to the reference array element.
In specific implementation, t is obtained based on the above calculationi(j) And obtaining the relative analog time length difference delta t between each array element and the reference array element by using a formula IIi(j)。
Δti(j)＝ti(j)-min(ti(j) (formula two);
wherein, min (t)i(j) ) is the shortest simulation duration. In min (t)i(j) Corresponding array element is set as a reference array element, and the simulation time t at which the ultrasonic wave simulated to be emitted from the selected position point is emitted from the reference array element is set0At t0On the basis of (1), delay Δ ti(j) The obtained time is the simulation time when the ultrasonic waves simulated to be emitted by the position point are emitted by each array element.
It will be appreciated that if the array elements of the annular array probe are arrangedThe number is J, J analog time length differences delta t can be obtainedi(j)。
For example, the ring array probe includes 5 array elements A, B, C, D, E, and the analog duration corresponding to each array element is 5 microseconds, 10 microseconds, 7 microseconds, 12 microseconds, and 8 microseconds, respectively. Array element A with the simulation duration of 5 microseconds is used as a reference array element, the relative simulation duration difference between each array element and the reference array element is 0 microsecond, 5 microseconds, 2 microseconds, 7 microseconds and 3 microseconds, the simulation time of array element B is the simulation time of array element A plus 5 microseconds, the simulation time of array element C is the simulation time of array element A plus 2 microseconds, the simulation time of array element D is the simulation time of array element A plus 7 microseconds, and the simulation time of array element E is the simulation time of array element A plus 3 microseconds.
In another possible implementation, the starting time of the ultrasonic wave emitted by the position point in the simulation mode may be determined, and the simulation time of the ultrasonic wave emitted by the position point in the simulation mode and emitted by each array element is determined based on the simulation time duration corresponding to each array element.
In the above example, the simulation time of array element a is the start time minus 5 microseconds, the simulation time of array element B is the start time minus 10 microseconds, the simulation time of array element C is the start time minus 7 microseconds, the simulation time of array element D is the start time minus 12 microseconds, and the simulation time of array element E is the start time minus 8 microseconds.
And S204, controlling each array element to emit ultrasonic waves when the analog time corresponding to the array element is reached.
Wherein each array element emits ultrasonic waves at a corresponding simulation time, which is substantially similar to the emission of spherical ultrasonic waves from the virtual sound source. .
And S205, generating a radio frequency signal image for generating an ultrasonic image based on the ultrasonic echo signals received by the array elements.
It will be appreciated that after the radio frequency signal image is obtained, an ultrasound image for diagnosis may be generated using the radio frequency signal image.
Wherein, in one possible implementation, generating an ultrasound image from a radio frequency signal image comprises: and carrying out signal envelope acquisition, logarithmic compression, dynamic range adjustment and digital scan conversion on the radio frequency signal image to generate an ultrasonic image. In the present application, the ultrasound image may be a B-mode ultrasound image.
In the embodiment of the present application, a certain position point is selected in the internal space of the circular array probe as a virtual sound source simulating an ultrasonic emission source. The simulation time of each array element transmitting ultrasonic waves can be respectively determined by simulating the simulation time of the ultrasonic waves emitted by the virtual sound source reaching each array element in the annular array probe, each array element transmits the ultrasonic waves according to the corresponding simulation time, the spherical ultrasonic waves are actually emitted from the virtual sound source in a similar way, on the basis, each position point of an organization area scanned by the ultrasonic waves has an ultrasonic echo signal, and an ultrasonic image can be formed based on the received ultrasonic echo signals. Therefore, based on the scheme of the application, the radio frequency signal image for generating the ultrasonic image can be obtained only by controlling each array element to transmit the ultrasonic wave once, so that the ultrasonic image can be generated based on the obtained radio frequency signal image without controlling each array element to transmit the ultrasonic wave for multiple times. Compared with the existing focusing scanning line imaging mode, the imaging speed is greatly improved, and the rapid imaging of the ultrasonic endoscope system with the annular array probe is realized.
In the embodiment of the application, a method of simulating the emission of ultrasonic waves by using a virtual sound source is adopted, the actually formed ultrasonic wave front is in a regular shape, and the accurate calculation of the forward propagation time in the ultrasonic emission process can be realized, so that the signal intensity amplitude of the ultrasonic echo signal scattered by the tissue position point corresponding to the image pixel point can be accurately determined, and the image with high image quality can be obtained. Meanwhile, the method of simulating the emission of the ultrasonic waves by the virtual sound source is adopted, so that the interference of the ultrasonic waves emitted among the array elements can be reduced, a wave front with high signal intensity is formed, correspondingly, the signal intensity of the ultrasonic echo signal is also high, the signal to noise ratio is improved, and the image quality of the generated image is improved.
For ease of understanding, the manner in which the radio frequency signal image is generated in the above embodiment is specifically described below. Referring to fig. 3, a flow chart of the present application for generating an image of a radio frequency signal for use in generating an ultrasound image is shown, comprising:
s301, determining tissue position points corresponding to all pixel points in a radio frequency signal image to be generated from the organism tissue subjected to ultrasonic detection.
S302, aiming at the tissue position point corresponding to each pixel point, determining the signal intensity amplitude of the ultrasonic echo signal scattered by the tissue position point from the ultrasonic echo signals received by each array element.
The ultrasonic echo signals received by each array element may include ultrasonic echo signals scattered from a plurality of tissue location points and may also include noise signals, so that the received ultrasonic echo signals need to be screened, and the ultrasonic echo signals scattered from the same tissue location point are screened out from the ultrasonic echo signals received by each array element. In one possible implementation, the screening of the ultrasonic echo signals received by each array element includes:
s3011, for each array element, determining a time period during which the transmitted ultrasonic wave returns to the position of the array element through the tissue position point.
The time length of the transmitted ultrasonic wave returning to the array element position through the tissue position point comprises the forward transmission time length and the reverse transmission time length of the ultrasonic wave, wherein the forward transmission time length refers to the time length of the ultrasonic wave reaching the tissue position point from the transmitting position, and the forward transmission time length can be calculated based on the distance between the position point and the tissue position point and the propagation speed of the ultrasonic wave. The backward transmission time duration refers to the time duration of the ultrasonic echo from the tissue position point to the array element for receiving the ultrasonic echo, and can be calculated based on the distance between the tissue position point and the array element position and the propagation speed of the ultrasonic wave.
In the concrete implementation, the imaging plane and the plane where the ring formed by arranging each array element in the ring array probe is located are the same plane, the central point of the ring is used as the center of a circle, any two vertical directions on the plane where the ring is located are the x direction and the z direction, and under the established coordinate system, the number of pixel points of the ultrasonic image to be generated is set to be N (N-N)x×NzIn which N isx，NzThe number of rows and columns of image pixels in the x-direction and the z-direction, respectively, and the coordinate of the pixel point n is expressed as (x)n,zn) And N is 1, 2, … … N.
Each pixel point is corresponding to a certain organization position point, correspondingly, the distance between the position point and a certain organization position point can be calculated by (x) under the established coordinate systemi,zi) And (x)n,zn) The distance between the two points is obtained.
And obtaining the time length of the ultrasonic wave from the virtual sound source i to the tissue position point corresponding to the pixel point n by using a formula III.
And the time length of the ultrasonic wave returning to the array element j from the tissue position point corresponding to the pixel point n can be obtained by using the formula IV.
The total duration is then:
ttotal(n，j)＝ti_forward(n)+tbackward(n, j) (formula five);
wherein, ti_forward(n) is the forward transmission duration, tbackward(n, j) is the reverse transmission duration, ttotalAnd (n, j) is the time length of the transmitted ultrasonic wave returning to the position of the array element j through the tissue position point corresponding to the pixel point.
It can be understood that if the number of array elements of the circular array probe is J, N × J time delay data t can be obtainedtotal(n,j)。
And S3012, determining the sampling interval duration of the channel corresponding to the array element for sampling the ultrasonic echo signal.
The channel corresponding to each array element begins to sample the ultrasonic echo signal from the starting time of the ultrasonic wave emitted by the position point in a simulation mode, and the starting time of the ultrasonic wave emitted by the position point in the simulation mode is the sampling time of the 1 st sampling point.
The sampling interval duration of sampling the ultrasonic echo signal by the channel corresponding to each array element, namely the interval duration between two sampling points, can be obtained through the sampling frequency.
S3013, determining sampling duration of sampling time of the sampling point relative to the starting time of the ultrasonic wave emitted by the position point simulation for each sampling point obtained by sampling the ultrasonic echo signal by the channel corresponding to the array element.
In one possible implementation, the sampling time of the sampling point relative to the starting time of the ultrasonic wave emitted by the position point in the simulation mode can be obtained as follows: acquiring the sampling frequency of a channel corresponding to the array element on an ultrasonic echo signal; acquiring sampling serial numbers of all sampling points aiming at the channels corresponding to all array elements; and determining the sampling time length of the sampling time of each sampling point relative to the time of the position point simulating and emitting the ultrasonic emission based on the sampling frequency and the sampling sequence number.
During specific implementation, the sampling time of the channel corresponding to the jth array element receiving the d sampling point of the ultrasonic echo radio-frequency signal is relative to the sampling duration t of the ultrasonic emission timej(d) Comprises the following steps:
tj(d)＝(d-1)/fs(formula six);
wherein f issIs the sampling frequency.
It can be understood that the number of sampling points per array element is D, and D × J sampling durations can be obtained.
S3014, judging whether the absolute value of the difference between the sampling duration of the sampling point and the duration of the emitted ultrasonic wave returning to the array element through the tissue position point is less than or equal to the sampling interval duration;
and S3015, determining that the sampling point can reflect ultrasonic echo information scattered from the tissue position point.
In specific implementation, for t corresponding to the d sampling point in the channel corresponding to the j array elementj(d) At all t, which likewise corresponds to channel jtotal(n, j) if tj(d)－ttotal(n, j) | < 1/fsThen the d-th sampling point in the j-th channel is considered to reflect the ultrasound echo information scattered from the tissue location point n.
S3016, superposing amplitudes of sampling points capable of reflecting ultrasonic echo information scattered from the tissue position points in the channels corresponding to the array elements to obtain signal intensity amplitudes of the ultrasonic echo signals scattered from the tissue position points.
In specific implementation, the amplitude d of the sampling point which can reflect the ultrasonic echo information scattered from the tissue position point in the channel corresponding to all the array elements is usedjSumming to obtain the amplitude P of the scattered signal intensity of the tissue position point nn。
It will be appreciated that the stronger the scattering coefficient of the tissue, the greater the magnitude of the signal intensity.
And S303, generating a radio frequency signal image based on the signal intensity amplitude of the ultrasonic echo signal scattered by the tissue position point corresponding to each pixel point.
It can be understood that the signal intensity amplitudes of the ultrasonic echo signals scattered by the tissue position points corresponding to all the pixel points are drawn into a two-dimensional image, so that the distribution conditions of tissues with different ultrasonic scattering coefficients in the tissues are reflected, and a radio frequency signal image is obtained.
In the first embodiment, since the ultrasonic waves which are actually formed and propagate outwards in the form of spherical waves are not focused, the imaging quality is not high. And the included angle between adjacent array elements is big, and the acoustic wave energy is dispersed fast during transmission, and the echo signal of certain direction only has a few array elements can effectively receive during the receipt, and the SNR is low, and this also leads to the formation of image quality poor. To improve imaging quality, see, e.g., fig. 4, which shows a schematic flow chart of a further embodiment of the ultrasound imaging method of the present application, the method comprises:
s401, a position point for simulating an ultrasonic emission source is determined from the inner space of the annular array probe.
S402, determining the simulation time length required by the ultrasonic wave emitted by the position point simulation to propagate to each array element on the annular array probe.
And S403, determining the simulation time of the ultrasonic waves which are simulated to be emitted by the position points and emitted by each array element according to the simulation duration corresponding to each array element on the annular array probe.
Wherein, the starting time of the ultrasonic wave which is simulated and emitted by the position point and is calculated according to the simulation time of each array element is the same.
And S404, controlling each array element to emit ultrasonic waves when the analog time corresponding to the array element is reached.
And S405, generating a radio frequency signal image for generating an ultrasonic image based on the ultrasonic echo signals received by the array elements.
The steps S401 to S405 may refer to the description of the above embodiments, and are not described herein again.
S406, detecting whether the number of the position points for simulating the ultrasonic emission sources determined from the internal space of the annular array probe reaches a preset number; if not, step S407 is executed, and if yes, step S408 is executed.
S407, selecting a point which is not selected as a position point from the internal space of the annular array probe as a position point for simulating an ultrasonic emission source, and returning to execute the steps S402-S405 based on the currently determined position point to obtain a radio frequency signal image generated by the currently determined position point.
S408, overlapping pixel point amplitudes according to the radio frequency signal images respectively generated by the preset number of position points to obtain overlapped radio frequency signal images.
And S409, generating an ultrasonic image based on the superposed radio frequency signal image.
It is understood that the number of the position points can reflect the number of times of performing the ultrasonic wave transmission required for generating an ultrasonic image, and the larger the number of the position points, the more the number of times of performing the ultrasonic wave transmission required for generating an ultrasonic image, the longer the time required for generating an ultrasonic image, and the lower the frame rate. In order to avoid the frame rate reduction, the number of the position points cannot be too large, and preferably, the preset number may be 10 to 100.
In one possible implementation, generating an ultrasound image based on the superimposed radio frequency signal image includes: and carrying out signal envelope acquisition, logarithmic compression, dynamic range adjustment and digital scan conversion on the radio frequency signal image to generate an ultrasonic image.
In the embodiment of the application, a plurality of different position points are selected in the internal space of the annular array probe to serve as a virtual sound source for simulating an ultrasonic emission source, the process of generating the radio-frequency signal image based on the determined position points is repeated for a plurality of times to generate a plurality of radio-frequency signal images, pixel point amplitudes of the generated plurality of radio-frequency signal images are superposed, and a new high-quality radio-frequency signal image can be obtained. This process may be referred to as time-domain superposition analog spatial coherent compounding. In this way, the superposition of the images of the radio frequency signals obtained from each emission is equivalent to the effect of a spatially coherent superposition, known as a "focusing" effect, in the tissues of the living body when a plurality of different acoustic sources are emitted simultaneously. Therefore, by adopting the mode, the ultrasonic wave can be transmitted for a few times, the transmitting focus is formed on all positions (pixel points) in the imaging plane, and the image quality is greatly improved under the condition of keeping high frame frequency.
Referring to fig. 5, a simulation experiment result of the ultrasound imaging method of the embodiment of the present application is shown. The upper row is a schematic position diagram of the annular array probe, the point-like scatterers and the virtual sound sources, the black ring is the annular array probe, the points outside the ring are the point-like scatterers, the points inside the ring are the virtual sound sources, and the virtual sound sources are respectively arranged as 1, 5 and 11 virtual sound sources from left to right. The next row is a B-ultrasonic gray image result obtained through simulation calculation, and it can be seen that artifacts in the image are well suppressed along with the increase of the number of virtual sound sources, and the image quality is greatly improved.
The application also provides an ultrasonic imaging device corresponding to the ultrasonic imaging method.
For example, referring to fig. 6, a schematic structural diagram of an embodiment of an ultrasound imaging apparatus according to the present application is shown, which can be applied to an ultrasound endoscope system having a ring array probe. The apparatus may include:
a position point determining unit 601 for determining a position point for simulating an ultrasonic wave emission source from the internal space of the circular array probe;
an analog duration determining unit 602, configured to determine, for each array element on the circular array probe, an analog duration required for the ultrasonic waves emitted by the position point determined by the position point determining unit 601 to propagate to the array element;
a simulation time determining unit 603, configured to determine, according to the simulation time length corresponding to each array element on the circular array probe determined by the simulation time length determining unit 602, simulation times at which the ultrasonic waves emitted in a simulation manner by the position point determined by the position point determining unit 601 are emitted by each array element, respectively, where starting times of the ultrasonic waves emitted in a simulation manner by the position point, which are calculated according to the simulation times of each array element, are the same;
a control transmitting unit 604, configured to control, for each array element, when the analog time corresponding to the array element determined by the analog time determining unit 603 arrives, the array element to transmit an ultrasonic wave;
an image generating unit 605, configured to generate a radio frequency signal image for generating an ultrasound image based on the ultrasound echo signals received by the respective array elements.
In one possible implementation, the apparatus further includes:
an ultrasound image generating unit, configured to generate an ultrasound image according to the radio frequency signal image after the image generating unit 605 generates the radio frequency signal image for generating the ultrasound image.
In one possible implementation, the apparatus further includes:
the detection unit is used for detecting whether the number of the position points for simulating the ultrasonic emission sources determined from the internal space of the annular array probe reaches a preset number; if not, triggering the first processing unit to execute; if yes, triggering the second processing unit to execute;
the first processing unit is used for selecting a point which is not selected as the position point from the internal space of the annular array probe as the position point for simulating the ultrasonic emission source, and triggering the simulation duration determining unit to execute based on the currently determined position point to obtain a radio frequency signal image generated by the currently determined position point;
the second processing unit is used for superposing pixel point amplitudes according to the radio frequency signal images respectively generated by the preset number of position points to obtain superposed radio frequency signal images; and generating an ultrasonic image based on the superposed radio frequency signal image.
In a possible implementation manner, the simulation time determining unit 603 is specifically configured to:
determining the corresponding reference array element with the shortest simulation time length from the annular array probe, and setting the simulation time of the ultrasonic waves simulated and emitted by the position points and emitted by the reference array element;
determining the relative analog time length difference between each array element and the reference array element;
and determining the simulation time of the ultrasonic waves simulated and emitted by the position points respectively emitted by the array elements based on the relative simulation time difference between each array element and the reference and the simulation time corresponding to the reference array element.
In one possible implementation, the image generation unit 605 includes:
the first determining subunit is used for determining tissue position points corresponding to all pixel points in a radio frequency signal image to be generated from the organism tissue subjected to ultrasonic detection;
the second determining subunit is used for determining the signal intensity amplitude of the ultrasonic echo signal scattered by each tissue position point from the ultrasonic echo signal received by each array element aiming at the tissue position point corresponding to each pixel point;
and the image generation subunit is used for generating the radio-frequency signal image based on the signal intensity amplitude of the ultrasonic echo signal scattered by the tissue position point corresponding to each pixel point.
In one possible implementation, the second determining subunit includes:
the first time length determining subunit is used for determining the time length of the emitted ultrasonic wave returning to the position of the array element through the tissue position point aiming at each array element;
the second time length determining subunit is configured to determine a sampling interval time length at which the channel corresponding to the array element samples the ultrasonic echo signal;
the third duration determining subunit is used for each sampling point obtained by sampling the ultrasonic echo signal by the channel corresponding to the array element, and determining the sampling duration of the sampling time of the sampling point relative to the starting time of the simulated transmission of the ultrasonic wave by the position point;
the echo information determining subunit is used for judging whether the absolute value of the difference between the sampling time of the sampling point and the time of the emitted ultrasonic wave returning to the array element through the tissue position point is less than or equal to the sampling interval time; if so, determining that the sampling point can reflect ultrasonic echo information scattered from the tissue position point;
and the superposition subunit is used for superposing the amplitude of the sampling point which can reflect the ultrasonic echo information scattered from the tissue position point in the channel corresponding to each array element to obtain the signal intensity amplitude of the ultrasonic echo signal scattered from the tissue position point.
Optionally, the determining a time period for the transmitted ultrasonic waves to return to the array element position through the tissue position point includes:
determining the distance between the position point and the pixel point corresponding to the tissue position point;
determining the forward transmission time of the ultrasonic wave based on the distance between the position point and the pixel point corresponding to the tissue position point and the propagation speed of the ultrasonic wave;
determining the distance between the pixel point corresponding to the tissue position point and the array element position;
determining the reverse transmission time length of the ultrasonic wave based on the distance between the pixel point corresponding to the tissue position point and the array element position and the propagation speed of the ultrasonic wave;
and adding the forward transmission time length and the reverse transmission time length to obtain the time length of the transmitted ultrasonic wave returning to the array element position through the pixel point corresponding to the organization position point.
In a possible implementation, the ultrasound image generation unit is specifically configured to:
and carrying out signal envelope acquisition, logarithmic compression, dynamic range adjustment and digital scan conversion on the radio frequency signal image to generate an ultrasonic image.
The ultrasonic imaging apparatus according to the embodiment of the present invention is relatively simple in description because it corresponds to the ultrasonic imaging method in the above embodiment, and for the relevant similarities, please refer to the description of the ultrasonic imaging method in the above embodiment, and the detailed description is omitted here.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
For convenience of description, the above system or apparatus is described as being divided into various modules or units by function, respectively. Of course, the functionality of the units may be implemented in one or more software and/or hardware when implementing the present application.
From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present application may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments of the present application.
Finally, it is further noted that, herein, relational terms such as first, second, third, fourth, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. An ultrasonic imaging method, applied to an ultrasonic endoscope system having a ring array probe, comprising:
determining a position point for simulating an ultrasonic emission source from the inner space of the annular array probe;
determining the simulation time length required by simulating the transmission of the emitted ultrasonic waves to the array elements by the position points for each array element on the annular array probe;
determining the simulation time of the ultrasonic waves simulated and emitted by the position points respectively emitted by the array elements according to the simulation duration corresponding to each array element on the annular array probe, wherein the starting times of the ultrasonic waves simulated and emitted by the position points, which are calculated according to the simulation time of each array element, are the same;
aiming at each array element, controlling the array element to transmit ultrasonic waves when the analog time corresponding to the array element is reached;
generating a radio frequency signal image for generating an ultrasonic image based on the ultrasonic echo signals received by each array element;
after the generating the radio frequency signal image for generating the ultrasound image, further comprising:
detecting whether the number of position points for simulating an ultrasonic emission source determined from the internal space of the annular array probe reaches a preset number;
if not, selecting a point which is not selected as the position point from the internal space of the annular array probe as the position point for simulating an ultrasonic emission source, returning to execute the operation aiming at each array element on the annular array probe based on the currently determined position point, determining the simulation time length required by the ultrasonic wave which is simulated to be emitted by the position point and is propagated to the array element, and obtaining a radio frequency signal image generated by the currently determined position point;
if yes, superposing pixel point amplitudes according to the radio frequency signal images respectively generated by the preset number of position points to obtain superposed radio frequency signal images;
and generating an ultrasonic image based on the superposed radio frequency signal image.
2. The method of claim 1, after generating the radio frequency signal image for generating the ultrasound image, further comprising:
and generating an ultrasonic image according to the radio frequency signal image.
3. The method of claim 1, wherein said determining the simulation time at which the ultrasonic waves simulated to be emitted from the position point are emitted from each array element according to the simulation duration corresponding to each array element on the circular array probe comprises:
determining the corresponding reference array element with the shortest simulation time length from the annular array probe, and setting the simulation time of the ultrasonic waves simulated and emitted by the position points and emitted by the reference array element;
determining the relative analog time length difference between each array element and the reference array element;
and determining the simulation time of the ultrasonic waves simulated and emitted by the position points and emitted by each array element respectively based on the relative simulation time difference of each array element and the reference array element and the simulation time corresponding to the reference array element.
4. The method of claim 1, wherein generating a radio frequency signal image for generating an ultrasound image based on the ultrasound echo signals received by the respective array elements comprises:
determining tissue position points corresponding to all pixel points in a radio frequency signal image to be generated from organism tissues subjected to ultrasonic detection;
aiming at a tissue position point corresponding to each pixel point, determining the signal intensity amplitude of the ultrasonic echo signal scattered by the tissue position point from the ultrasonic echo signal received by each array element;
and generating the radio frequency signal image based on the signal intensity amplitude of the ultrasonic echo signal scattered by the tissue position point corresponding to each pixel point.
5. The method of claim 4, wherein determining the signal strength amplitude of the ultrasound echo signal scattered by the tissue site from the ultrasound echo signals received from each array element comprises:
for each array element, determining the time length of the transmitted ultrasonic wave returning to the position of the array element through the tissue position point;
determining the sampling interval duration of the channel corresponding to the array element for sampling the ultrasonic echo signal;
determining the sampling time of the sampling point relative to the starting time of the ultrasonic wave simulated emission of the position point for each sampling point obtained by sampling the ultrasonic echo signal by aiming at the channel corresponding to the array element;
judging whether the absolute value of the difference between the sampling time length of the sampling point and the time length of the emitted ultrasonic wave returning to the array element through the tissue position point is less than or equal to the sampling interval time length;
if so, determining that the sampling point can reflect ultrasonic echo information scattered from the tissue position point;
and superposing the amplitudes of the sampling points capable of reflecting the ultrasonic echo information scattered from the tissue position points in the channels corresponding to the array elements to obtain the signal intensity amplitude of the ultrasonic echo signal scattered from the tissue position points.
6. The method of claim 5, wherein said determining the length of time that the transmitted ultrasound waves travel through the tissue site back to the location of the array element comprises:
a coordinate system is constructed on the plane of the ring formed by arranging each array element in the ring array probe,
determining coordinates of the position point in the coordinate system;
determining the coordinates of the array elements in the coordinate system;
determining the coordinates of the pixel points corresponding to the tissue position points in the coordinate system;
determining the forward transmission time of the ultrasonic wave based on the coordinates of the pixel points corresponding to the tissue position points, the coordinates of the position points and the propagation speed of the ultrasonic wave;
determining the reverse transmission time length of the ultrasonic wave based on the coordinates of the pixel points corresponding to the organization position points, the coordinates of the array elements and the propagation speed of the ultrasonic wave;
and adding the forward transmission time length and the reverse transmission time length to obtain the time length of the transmitted ultrasonic wave returning to the array element position through the pixel point corresponding to the organization position point.
7. The method of claim 2, wherein said generating an ultrasound image from said radio frequency signal image comprises:
and carrying out signal envelope acquisition, logarithmic compression, dynamic range adjustment and digital scan conversion on the radio frequency signal image to generate an ultrasonic image.
8. An ultrasonic imaging apparatus, applied to an ultrasonic endoscope system having a ring array probe, comprising:
a position point determining unit for determining a position point for simulating an ultrasonic wave emission source from the internal space of the annular array probe;
the analog time length determining unit is used for determining the analog time length required by the ultrasonic wave which is simulated and emitted by the position points and determined by the position point determining unit and is transmitted to the array elements aiming at each array element on the annular array probe;
the simulation time determining unit is used for determining the simulation time of the ultrasonic waves which are simulated and emitted by the position points and determined by the position point determining unit and are emitted by the array elements according to the simulation time corresponding to the array elements on the annular array probe determined by the simulation time determining unit, wherein the starting times of the ultrasonic waves which are simulated and emitted by the position points and calculated according to the simulation time of the array elements are the same;
the control transmitting unit is used for controlling each array element to transmit ultrasonic waves when the analog time corresponding to the array element determined by the analog time determining unit is reached;
the image generation unit is used for generating a radio frequency signal image used for generating an ultrasonic image based on the ultrasonic echo signals received by the array elements;
further comprising:
the detection unit is used for detecting whether the number of the position points for simulating the ultrasonic emission sources determined from the internal space of the annular array probe reaches a preset number; if not, triggering the first processing unit to execute; if yes, triggering the second processing unit to execute;
the first processing unit is used for selecting a point which is not selected as the position point from the internal space of the annular array probe as the position point for simulating the ultrasonic emission source, and triggering the simulation duration determining unit to execute based on the currently determined position point to obtain a radio frequency signal image generated by the currently determined position point;
the second processing unit is used for superposing pixel point amplitudes according to the radio frequency signal images respectively generated by the preset number of position points to obtain superposed radio frequency signal images; and generating an ultrasonic image based on the superposed radio frequency signal image.
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