CN117084717A - Blood flow imaging method and ultrasonic imaging device - Google Patents
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- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/06—Measuring blood flow
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Abstract
A blood flow imaging method and an ultrasonic imaging apparatus are disclosed, by emitting a first ultrasonic wave to a blood vessel region of a target object, wherein the first ultrasonic wave is a non-focused wave, by performing beam synthesis of blood flow velocity vector imaging on an echo of the first ultrasonic wave, a first reception signal and a second reception signal which are spatially orthogonal are obtained, wherein the first reception signal and the second reception signal each contain a signal transverse to the emission direction of the first ultrasonic wave, and by performing autocorrelation calculation on the first reception signal and the second reception signal, an accurate blood flow velocity vector image can be obtained. In addition, as the application uses the unfocused wave to detect the blood flow velocity vector of each target point in the blood vessel region, compared with the focused wave line-by-line emission scanning, the application can realize that the whole blood vessel region to be detected is covered by one ultrasonic emission, and improves the frame rate of blood flow velocity vector imaging, thereby capturing the tiny change of blood flow in a short time and being beneficial to clinical application.
Description
Technical Field
The embodiment of the application relates to the field of ultrasonic imaging, in particular to a blood flow imaging processing method and an ultrasonic imaging device.
Background
The medical ultrasonic imaging diagnosis apparatus can obtain ultrasonic characteristic information of human tissue and organ structures by utilizing the propagation of ultrasonic waves in a human body. At present, medical ultrasonic imaging diagnostic apparatuses are widely used for diagnosing cardiovascular diseases, wherein the actual magnitude and direction of blood flow velocity can be calculated by using a blood flow velocity vector imaging method, and a blood flow velocity vector image can be superimposed and displayed on a tissue gray scale image of a region of interest of a subject. At present, the blood flow velocity vector imaging adopts focused wave emission, and because focused waves need to be scanned line by line, the blood flow imaging frame rate is low, small changes of blood flow in a short time are difficult to capture, and clinical application is limited to a certain extent.
Disclosure of Invention
The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.
The embodiment of the application provides a blood flow imaging method, an ultrasonic imaging device and a computer storage medium, which can improve the frame rate of blood flow velocity vector imaging.
In a first aspect, an embodiment of the present application provides a blood flow imaging method, including:
controlling an ultrasonic probe to emit first ultrasonic waves to a blood vessel region of a target object, wherein the first ultrasonic waves are unfocused waves;
Receiving an echo of a first ultrasonic wave returned by a blood vessel region through an ultrasonic probe;
performing beam forming of blood velocity vector imaging on an echo of the first ultrasonic wave to obtain a first receiving signal and a second receiving signal which are orthogonal in space, wherein the first receiving signal and the second receiving signal both comprise signals transverse to the transmitting direction of the first ultrasonic wave;
performing beam synthesis of tissue imaging on the echo of the first ultrasonic wave to obtain a third receiving signal;
performing autocorrelation calculation on the first receiving signal and the second receiving signal to obtain blood flow velocity vector data of a target point in a vascular area, and obtaining a blood flow velocity vector image of the vascular area according to the blood flow velocity vector data of the target point in the vascular area;
obtaining a tissue image of the vascular region according to the third received signal;
and displaying the blood flow velocity vector image and the tissue image.
In a second aspect, an embodiment of the present application provides a blood flow imaging method, including:
controlling an ultrasonic probe to emit first ultrasonic waves to a blood vessel region of a target object, wherein the first ultrasonic waves are unfocused waves;
receiving an echo of a first ultrasonic wave returned by a blood vessel region through an ultrasonic probe;
performing beam forming of blood velocity vector imaging on an echo of the first ultrasonic wave to obtain a first receiving signal and a second receiving signal which are orthogonal in space, wherein the first receiving signal and the second receiving signal both comprise signals transverse to the transmitting direction of the first ultrasonic wave;
Controlling the ultrasonic probe to emit second ultrasonic waves to a blood vessel region of the target object, wherein the second ultrasonic waves are focused waves;
receiving an echo of the second ultrasonic wave returned by the blood vessel region through the ultrasonic probe, and performing beam synthesis of tissue imaging on the echo of the second ultrasonic wave to obtain a third receiving signal;
performing autocorrelation calculation on the first receiving signal and the second receiving signal to obtain blood flow velocity vector data of a target point in a vascular area, and obtaining a blood flow velocity vector image of the vascular area according to the blood flow velocity vector data of the target point in the vascular area;
obtaining a tissue image of the vascular region according to the third received signal;
and displaying the blood flow velocity vector image and the tissue image.
In a third aspect, an embodiment of the present application provides a blood flow imaging method, including:
the ultrasonic probe is excited to emit first ultrasonic waves to a vascular region of a target object according to a first ultrasonic wave emission signal, and is excited to emit second ultrasonic waves to the vascular region of the target object according to a second ultrasonic wave emission signal, wherein the first ultrasonic wave emission signal and the second ultrasonic wave emission signal are obtained by performing even apodization and odd apodization on the same ultrasonic wave emission signal, the first ultrasonic waves and the second ultrasonic waves are unfocused waves, and the emission directions of the first ultrasonic waves and the second ultrasonic waves are the same;
Receiving an echo of a first ultrasonic wave and an echo of a second ultrasonic wave returned by a vascular region of a target object to obtain a first receiving signal and a second receiving signal, wherein the first receiving signal and the second receiving signal are orthogonal in space, and the first receiving signal and the second receiving signal both comprise signals transverse to the transmitting direction of the first ultrasonic wave or the second ultrasonic wave;
performing autocorrelation calculation on the first receiving signal and the second receiving signal to obtain blood flow velocity vector data of a target point in a vascular area, and obtaining a blood flow velocity vector image of the vascular area according to the blood flow velocity vector data of the target point in the vascular area;
obtaining a tissue image of a blood vessel region;
and displaying the blood flow velocity vector image and the tissue image.
In a fourth aspect, an embodiment of the present application provides a blood flow imaging method, including:
exciting an ultrasonic probe to emit first ultrasonic waves to a vascular region of a target object in a first emission direction according to a first ultrasonic wave emission signal, wherein the first ultrasonic wave emission signal is obtained by performing even apodization on the ultrasonic wave emission signal in the first emission direction;
receiving an echo of a first ultrasonic wave returned by a blood vessel region of a target object to obtain a first receiving signal;
Exciting the ultrasonic probe to emit second ultrasonic waves to the vascular region of the target object in a second emission direction according to a second ultrasonic wave emission signal, wherein the second ultrasonic wave emission signal is obtained by performing even apodization on the ultrasonic wave emission signal in the second emission direction;
receiving an echo of a second ultrasonic wave returned by a blood vessel region of the target object to obtain a second receiving signal;
the first ultrasonic wave and the second ultrasonic wave are unfocused waves, the first transmitting direction and the second transmitting direction are different and are symmetrical relative to the central line of the transmitting aperture, and the transmitting aperture is the corresponding transmitting aperture when the first ultrasonic wave or the second ultrasonic wave is transmitted;
wherein the first received signal and the second received signal are spatially orthogonal, each of the first received signal and the second received signal comprising a signal transverse to a direction of transmission of the first ultrasonic wave or the second ultrasonic wave;
performing autocorrelation calculation on the first receiving signal and the second receiving signal to obtain blood flow velocity vector data of a target point in a vascular area, and obtaining a blood flow velocity vector image of the vascular area according to the blood flow velocity vector data of the target point in the vascular area;
obtaining a tissue image of a blood vessel region;
And displaying the blood flow velocity vector image and the tissue image.
In a fifth aspect, an embodiment of the present application provides a blood flow imaging method, including:
exciting an ultrasonic probe to emit first ultrasonic waves to a blood vessel region of a target object in a first emission direction according to a first ultrasonic wave emission signal, wherein the first ultrasonic wave emission signal is obtained by performing odd apodization processing on the ultrasonic wave emission signal in the first emission direction;
receiving an echo of a first ultrasonic wave returned by a blood vessel region of a target object to obtain a first receiving signal;
exciting the ultrasonic probe to emit second ultrasonic waves to the vascular region of the target object in a second emission direction according to a second ultrasonic wave emission signal, wherein the second ultrasonic wave emission signal is obtained by performing odd apodization processing on the ultrasonic wave emission signal in the second emission direction;
receiving an echo of a second ultrasonic wave returned by a blood vessel region of the target object to obtain a second receiving signal;
the first ultrasonic wave and the second ultrasonic wave are unfocused waves, the first transmitting direction and the second transmitting direction are different and are symmetrical relative to the central line of the transmitting aperture, and the transmitting aperture is the corresponding transmitting aperture when the first ultrasonic wave or the second ultrasonic wave is transmitted;
Wherein the first received signal and the second received signal are spatially orthogonal, each of the first received signal and the second received signal comprising a signal transverse to a direction of transmission of the first ultrasonic wave or the second ultrasonic wave;
performing autocorrelation calculation on the first receiving signal and the second receiving signal to obtain blood flow velocity vector data of a target point in a vascular area, and obtaining a blood flow velocity vector image of the vascular area according to the blood flow velocity vector data of the target point in the vascular area;
obtaining a tissue image of a blood vessel region;
and displaying the blood flow velocity vector image and the tissue image.
In a sixth aspect, an embodiment of the present application provides a blood flow imaging method, including:
exciting an ultrasonic probe to emit first ultrasonic waves to a vascular region of a target object according to a first ultrasonic wave emission signal, wherein the first ultrasonic wave emission signal is obtained by performing even apodization or odd apodization treatment on an initial ultrasonic wave emission signal, and the first ultrasonic waves are non-focusing waves;
receiving an echo of the first ultrasonic wave returned by a vascular region of the target object;
performing Gaussian apodization or rectangular apodization beam synthesis on the echo of the first ultrasonic wave in a first receiving direction to obtain a first receiving signal, and performing Gaussian apodization or rectangular apodization beam synthesis on the echo of the first ultrasonic wave in a second receiving direction to obtain a second receiving signal, wherein the first receiving direction and the second receiving direction are different and symmetrical relative to the central line of a transmitting aperture, and the transmitting aperture is a corresponding transmitting aperture when the first ultrasonic wave is transmitted;
Wherein the first received signal and the second received signal are spatially orthogonal, each of the first received signal and the second received signal comprising a signal transverse to a direction of transmission of the first ultrasonic wave or the second ultrasonic wave;
performing autocorrelation calculation on the first receiving signal and the second receiving signal to obtain blood flow velocity vector data of a target point in a vascular area, and obtaining a blood flow velocity vector image of the vascular area according to the blood flow velocity vector data of the target point in the vascular area;
obtaining a tissue image of a blood vessel region;
and displaying the blood flow velocity vector image and the tissue image.
In a seventh aspect, an embodiment of the present application provides an ultrasound imaging apparatus, including:
an ultrasonic probe;
a transmitting/receiving circuit for controlling the ultrasonic probe to transmit ultrasonic waves to a blood vessel region of a target object and to receive echoes of the ultrasonic waves;
the processor is used for processing the echo of the ultrasonic wave and obtaining a tissue image and/or a blood flow velocity vector image of the blood vessel region;
a display for displaying a tissue image and/or a blood flow velocity vector image;
the processor is further configured to perform the method of blood flow imaging of any one of the embodiments of the first to sixth aspects described above.
In an eighth aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, where the memory stores a computer program, and the processor implements a blood flow imaging method according to any one of the embodiments of the first to sixth aspects when the processor executes the computer program.
In an eighth aspect, an embodiment of the present application provides a computer storage medium having stored thereon a computer program for use in an ultrasound imaging apparatus, the computer program when executed by a processor implementing a blood flow imaging method as in any one of the embodiments of the first to sixth aspects.
In a ninth aspect, embodiments of the present application provide a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the blood flow imaging method as any one of the embodiments of the first to sixth aspects described above.
In some embodiments of the present application, a first ultrasonic wave is transmitted to a vascular region of a target object, where the first ultrasonic wave is a non-focused wave, an echo of the first ultrasonic wave returned by the vascular region is received by an ultrasonic probe, and a first receiving signal and a second receiving signal that are orthogonal in space are obtained by performing beam synthesis of a blood flow velocity vector image on the echo of the first ultrasonic wave, where the first receiving signal and the second receiving signal both include a signal transverse to a transmission direction of the first ultrasonic wave, and blood flow velocity vector data of a target point in the vascular region is obtained by performing autocorrelation calculation on the first receiving signal and the second receiving signal. In addition, as the embodiment of the application uses the unfocused wave to detect the blood flow velocity vector of each target point in the blood vessel region, compared with the focused wave line-by-line emission scanning, the application can realize that the whole blood vessel region to be detected is covered by one ultrasonic emission, and improves the frame rate of blood flow velocity vector imaging, thereby capturing the tiny change of blood flow in a short time and being beneficial to clinical application.
In some embodiments of the present application, after performing odd apodization and even apodization on the same initial ultrasonic transmission signal, a first ultrasonic transmission signal and a second ultrasonic transmission signal are obtained, according to the first ultrasonic transmission signal and the second ultrasonic transmission signal, the first ultrasonic and the second ultrasonic are both unfocused waves, and a first receiving signal and a second receiving signal which are orthogonal in space are obtained by receiving echoes of the first ultrasonic and the second ultrasonic, wherein the first receiving signal and the second receiving signal both include signals transverse to the transmission direction of the first ultrasonic or the second ultrasonic, and accurate blood flow velocity vector data of a target point in a blood vessel area is obtained by performing autocorrelation calculation on the first receiving signal and the second receiving signal, so as to obtain a blood flow velocity vector image of the blood vessel area. In addition, as the embodiment of the application uses the unfocused wave to detect the blood flow velocity vector of each target point in the blood vessel region, compared with the focused wave line-by-line emission scanning, the application can realize that the whole blood vessel region to be detected is covered by one ultrasonic emission, and improves the frame rate of blood flow velocity vector imaging, thereby capturing the tiny change of blood flow in a short time and being beneficial to clinical application.
In some embodiments of the present application, after performing even apodization or odd apodization on an ultrasonic transmission signal in a first transmission direction and an ultrasonic transmission signal in a second transmission direction, a first ultrasonic transmission signal and a second ultrasonic transmission signal are obtained, the first ultrasonic transmission signal and the second ultrasonic transmission signal are respectively transmitted to a vascular region of a target object in the first transmission direction and the second transmission direction according to the first ultrasonic transmission signal and the second ultrasonic transmission signal, the first ultrasonic wave and the second ultrasonic wave are both unfocused waves, and a first receiving signal and a second receiving signal which are orthogonal in space are obtained by receiving echoes of the first ultrasonic wave and the second ultrasonic wave, wherein the first receiving signal and the second receiving signal both comprise signals transverse to the transmission direction of the first ultrasonic wave or the second ultrasonic wave, and accurate blood flow velocity vector data of a target point in the vascular region is obtained by performing autocorrelation calculation on the first receiving signal and the second receiving signal, so that a blood flow velocity vector image of the vascular region is obtained. In addition, as the embodiment of the application uses the unfocused wave to detect the blood flow velocity vector of each target point in the blood vessel region, compared with the focused wave line-by-line emission scanning, the application can realize that the whole blood vessel region to be detected is covered by one ultrasonic emission, and improves the frame rate of blood flow velocity vector imaging, thereby capturing the tiny change of blood flow in a short time and being beneficial to clinical application.
In some embodiments of the present application, after performing even apodization or odd apodization processing on an initial ultrasonic transmission signal, a first ultrasonic transmission signal is obtained, an ultrasonic probe is excited to transmit a first ultrasonic wave to a vascular region according to the first ultrasonic transmission signal, the first ultrasonic wave is an unfocused wave, and gaussian apodization or rectangular apodization beam synthesis is performed on an echo of the first ultrasonic wave in a first receiving direction and a second receiving direction respectively, so as to obtain a first receiving signal and a second receiving signal, where the first receiving direction and the second receiving direction are different and symmetrical with respect to a center line of a transmission aperture, the first receiving signal and the second receiving signal are orthogonal in space, each of the first receiving signal and the second receiving signal includes a signal transverse to the transmission direction of the first ultrasonic wave, and accurate blood flow velocity vector data of a target point in the vascular region is obtained by performing autocorrelation calculation on the first receiving signal and the second receiving signal, so as to obtain a blood flow velocity vector image of the vascular region. In addition, as the embodiment of the application uses the unfocused wave to detect the blood flow velocity vector of each target point in the blood vessel region, compared with the focused wave line-by-line emission scanning, the application can realize that the whole blood vessel region to be detected is covered by one ultrasonic emission, and improves the frame rate of blood flow velocity vector imaging, thereby capturing the tiny change of blood flow in a short time and being beneficial to clinical application.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate and do not limit the application.
FIG. 1 is a block diagram schematically illustrating a blood flow imaging apparatus according to one embodiment;
FIG. 2 is a method flow chart of a method of blood flow imaging provided in one embodiment of the present application;
FIG. 3 is a scanning schematic of an ultrasonic convex array probe;
FIG. 4 is a flowchart of an embodiment of the method of step 202 of FIG. 2;
FIG. 5 is a schematic diagram of the operation of apodization of the echo of the second ultrasonic wave according to one embodiment of the present application;
FIG. 6 is a flowchart of an embodiment of the method of step 204 of FIG. 2;
FIG. 7 is a flowchart of an embodiment of the method of step 202 of FIG. 2;
FIG. 8 is a method flow chart of a method of blood flow imaging provided in one embodiment of the present application;
FIG. 9 is a method flow chart of a method of blood flow imaging provided in one embodiment of the present application;
FIG. 10 is a method flow chart of a method of blood flow imaging provided in one embodiment of the present application;
FIG. 11 is a method flow chart of a method of blood flow imaging provided in one embodiment of the present application;
FIG. 12 is a method flow chart of a method of blood flow imaging provided in one embodiment of the present application;
fig. 13 is a schematic diagram showing the operation of the ultrasonic probe according to an embodiment of the present application to receive the second ultrasonic wave from different receiving directions.
Detailed Description
The application will be further described with reference to the drawings and specific examples. The described embodiments should not be taken as limitations of the present application, and all other embodiments that would be obvious to one of ordinary skill in the art without making any inventive effort are intended to be within the scope of the present application.
In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is to be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with one another without conflict.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the application only and is not intended to be limiting of the application.
The medical ultrasonic imaging diagnosis apparatus can obtain ultrasonic characteristic information of human tissue and organ structures by utilizing the propagation of ultrasonic waves in a human body. At present, medical ultrasonic imaging diagnostic apparatuses are widely used for diagnosing cardiovascular diseases, wherein the actual magnitude and direction of blood flow velocity can be calculated by using a blood flow velocity vector imaging method, and a blood flow velocity vector image can be superimposed and displayed on a tissue gray scale image of a region of interest of a subject. At present, the blood flow velocity vector imaging adopts focused wave emission, and because focused waves need to be scanned line by line, the blood flow imaging frame rate is low, small changes of blood flow in a short time are difficult to capture, and clinical application is limited to a certain extent.
Based on the above, the embodiment of the application provides a blood flow imaging method and an ultrasonic imaging device, by emitting unfocused waves, a transverse oscillation sound field is generated at a target point in a blood vessel region, and by obtaining spatially orthogonal receiving signals in an echo of ultrasonic waves, accurate blood flow velocity vector data of the target point in the blood vessel region are obtained, and further, blood flow velocity vector images of the blood vessel region are obtained.
Fig. 1 is a schematic block diagram of an ultrasound imaging apparatus according to an embodiment of the present application. The ultrasound imaging apparatus 10 may include an ultrasound probe 100, a transmit circuit 101, a transmit/receive selection switch 102, a receive circuit 103, a beam combining circuit 104, a processor 105, a display 106, and a memory 107.
The ultrasonic probe 100 includes a transducer (not shown in the drawing) composed of a plurality of array elements arranged in an array, the plurality of array elements are arranged in a row to form a linear array, or are arranged in a two-dimensional matrix or other shapes to form an area array, and the plurality of array elements may also form a convex array, where the arrangement of the array elements is not limited. The array elements are used for transmitting ultrasonic beams according to the excitation electric signals or converting the received ultrasonic beams into electric signals. Each array element can thus be used to effect a mutual conversion of the electrical pulse signal and the ultrasound beam, thereby effecting the transmission of ultrasound waves to a target region of human tissue, such as a vascular region in this embodiment, and also for receiving echoes of ultrasound waves reflected back through the tissue. In the case of ultrasonic detection, the transmit/receive selector switch 102 may control which array elements are used to transmit ultrasonic beams and which array elements are used to receive ultrasonic beams, or control the array element time slots to transmit ultrasonic beams or receive echoes of ultrasonic beams. The array elements participating in ultrasonic wave transmission can be excited by the electric signals at the same time, so that ultrasonic waves are transmitted at the same time; or the array elements participating in the ultrasonic wave transmission can be excited by a plurality of electric signals with a certain time interval, so that the ultrasonic wave with a certain time interval can be continuously transmitted.
The transmitting circuit 101 is configured to generate a transmitting sequence according to control of the processor 105, where the transmitting sequence is configured to control a part or all of the plurality of array elements to transmit ultrasonic waves to biological tissue, and the transmitting sequence parameters include an array element position for transmitting, an array element number, and an ultrasonic beam transmitting parameter (such as amplitude, frequency, number of transmitting times, transmitting interval, transmitting angle, waveform, focusing position, etc.). In some cases, the transmitting circuit 101 is further configured to delay the phases of the transmitted beams, so that different transmitting array elements transmit ultrasound waves at different times, so that each transmitting ultrasound beam can be focused on a predetermined region of interest. In some cases, the transmission sequence parameters of the transmission circuit 101 can be adjusted to realize the modulation of the ultrasonic transmission signals with different requirements such as dynamic focusing, time delay superposition, apodization and the like. Different modes of operation, such as B-image mode, C-image mode, and D-image mode (doppler mode), the transmit sequence parameters may be different, and after the echo signals are received by the receive circuit 320 and processed by subsequent modules and corresponding algorithms, a B-image reflecting the anatomical structure of the tissue, a C-image reflecting the anatomical structure and blood flow information, and a D-image reflecting the doppler spectrum image may be generated.
The receiving circuit 103 is configured to receive an electric signal of an ultrasonic echo from the ultrasonic probe 100 and process the electric signal of the ultrasonic echo. The receive circuitry 103 may include one or more amplifiers, analog-to-digital converters (ADCs), and the like. The amplifier is used for amplifying the received electric signal of the ultrasonic echo after proper gain compensation, and the analog-to-digital converter is used for sampling the analog echo signal according to a preset time interval so as to convert the analog echo signal into a digitized signal, and the digitized echo signal still maintains amplitude information, frequency information and phase information. The data output from the receiving circuit 103 may be output to the beam forming circuit 104 for processing or output to the memory 107 for storage.
The beam synthesis circuit 104 is connected with the receiving circuit 103 in a signal manner, and is used for performing corresponding beam synthesis processing such as delay and weighted summation on signals output by the receiving circuit 103, and because distances from ultrasonic receiving points in a measured tissue to receiving array elements are different, channel data of the same receiving points output by different receiving array elements have delay differences, delay processing is needed, phases are aligned, and weighted summation is performed on different channel data of the same receiving points, so that ultrasonic image data after beam synthesis is obtained. The ultrasound image data output by the beam forming circuit 104 is also referred to as radio frequency data (RF data). In some cases, the beam forming circuit 104 may also synthesize different ultrasonic received signals according to different requirements by dynamic focusing, delay superposition, apodization, and the like, so as to obtain beamformed ultrasonic data (e.g., blood flow velocity vector data). The beam combining circuit 104 outputs the radio frequency data to the IQ demodulation circuit. In some embodiments, the beam forming circuit 104 may also output the rf data to the memory 107 for buffering or saving, or directly output the rf data to the image processing module of the processor 105 for image processing.
The beam forming circuit 104 may perform the above-described functions in hardware, firmware, or software, for example, the beam forming circuit 104 may include a central controller Circuit (CPU), one or more micro-processing chips, or any other electronic component capable of processing input data according to specific logic instructions, which when the beam forming circuit 104 is implemented in software, may execute instructions stored on tangible and non-transitory computer readable media (e.g., memory 107) to perform beam forming calculations using any suitable beam forming method.
The processor 105 is configured to be a central controller Circuit (CPU), one or more microprocessors, graphics controller circuits (GPUs), or any other electronic component capable of processing input data according to specific logic instructions, which may perform control of peripheral electronic components, or data reading and/or saving of memory 107, according to the input instructions or predetermined instructions, and may also process the input data by executing programs in the memory 107, such as by performing one or more processing operations on the acquired ultrasound data according to one or more modes of operation, including but not limited to adjusting or defining the form of ultrasound emitted by the ultrasound probe 100, generating various image frames for display by the display 106 of a subsequent human-machine interaction device, or adjusting or defining the content and form displayed on the display 106, or adjusting one or more image display settings (e.g., ultrasound images, interface components, locating regions of interest) displayed on the display 106.
The signal processing module of the processor 105 is configured to process the data output by the beam synthesis circuit 104 or the data output by the IQ demodulation circuit, so as to obtain ultrasonic detection data. In one embodiment, the power spectrum of the Doppler signal over time may be obtained by performing a spectral analysis, where the spectral analysis may be implemented using a spectral algorithm such as short-time Fourier transform (short-time Fourier transform, STFT) or fast Fourier transform (fast Fourier transform, FFT). In another embodiment, the velocity vector of the measurement point may be output after filtering, heterodyne demodulation, autocorrelation processing, etc.
The image processing module of the processor 105 is configured to process the data output by the beam forming circuit 104 or the data output by the IQ demodulation circuit to generate a gray-scale image of the signal intensity variation in the scanning range, which reflects the anatomical structure inside the tissue, which is called a B-image. The image processing module may output the B-image to the display 106 of the human-machine interaction device for display. The human-computer interaction device is used for performing human-computer interaction, namely receiving input and output visual information of a user; the input of the user can be received by a keyboard, an operation button, a mouse, a track ball and the like, and a touch screen integrated with a display can also be adopted; the output of which employs a display 106. In some cases, the image processing module of the processor 105 may further process the ultrasonic detection data output by the signal processing module to form image data for display. For example, in one embodiment, the image processing module of the processor 105 performs display processing on the power spectrum data output by the signal processing module, so as to display a spectrum image, a spectrum envelope and spectrum measurement information on the display. In another embodiment, the image processing module of the processor 105 performs image processing on the blood flow velocity vector data output by the signal processing module, and generates and displays a blood flow velocity profile on the display.
The memory 107 may be a tangible and non-transitory computer readable medium, such as a flash memory card, a solid state memory, a hard disk, etc., for storing data or programs, for example, the memory 107 may be used to store acquired ultrasound data or image frames generated by the processor 105 that are not immediately displayed at once, or the memory 107 may store a graphical user interface, one or more default image display settings, programming instructions for the processor, beam synthesis circuitry, or IQ demodulation circuitry.
It should be noted that the structure of fig. 1 is only illustrative, and may include more or fewer components than those shown in fig. 1, or have a different configuration than that shown in fig. 1. The components shown in fig. 1 may be implemented in hardware and/or software.
In an embodiment of the present application, the display 106 of the ultrasonic imaging apparatus 10 may be a touch display screen, a liquid crystal display screen, or the like, or may be an independent display device such as a liquid crystal display, a television, or the like, which is independent of the ultrasonic imaging apparatus 10, or may be a display screen on an electronic device such as a mobile phone, a tablet computer, or the like.
In one embodiment of the present application, the memory 107 of the ultrasound imaging apparatus 10 may be a flash memory card, a solid state memory, a hard disk, or the like.
In one embodiment of the present application, there is also provided a computer readable storage medium storing a plurality of program instructions that, when invoked by the processor 105 for execution, may perform some or all of the steps, or any combination of the steps, of the blood flow imaging method of various embodiments of the present application.
In one embodiment, the computer readable storage medium may be memory 107, which may be a non-volatile storage medium such as a flash memory card, solid state memory, hard disk, or the like.
In one embodiment of the present application, the processor 105 of the ultrasound imaging apparatus 10 described above may be implemented in software, hardware, firmware, or a combination thereof, and may use circuitry, single or multiple application specific integrated circuits (application specific integrated circuits, ASIC), single or multiple general purpose integrated circuits, single or multiple microprocessors, single or multiple programmable logic devices, or a combination of the foregoing, or other suitable circuitry or devices, such that the processor 105 may perform the corresponding steps of the blood flow imaging methods in various embodiments of the present application.
Referring to fig. 2 in combination with the schematic block diagram of the ultrasound imaging apparatus 10 shown in fig. 1, a blood flow imaging method according to an embodiment of the present application may include the following steps 201 to 206:
In step 201, the ultrasound probe is controlled to emit a first ultrasound wave, which is a non-focused wave, to a vascular region of a target object.
In this step, the processor 105 excites the ultrasound probe 100 to transmit a first ultrasound wave, which is a non-focused wave, to a blood vessel region through the transmission circuit 101 shown in fig. 1. In one embodiment, the unfocused wave may be a plane wave or a divergent wave. Wherein, the first ultrasonic wave emitted by the ultrasonic probe 100 to the blood vessel region can be made to conform to the requirements of blood flow velocity vector imaging and tissue image imaging by controlling the emission sequence parameters of the emission circuit 101.
In one embodiment, the processor 105 controls the ultrasound imaging device 10 to be in an ultrasound transmitting state or an ultrasound receiving state through the transmit/receive selection switch 102, wherein the controller 105 controls the transmit/receive selection switch 102 to transmit N times of the second ultrasound to the blood vessel region at a certain transmission time interval T, where N is a natural number greater than 1. After each end of the transmission, the transmission/reception selection switch 102 controls the ultrasonic probe 100 to receive echo data of the second ultrasonic wave in the full channel, and after the reception time T, controls the transmission/reception selection switch 102 to resume the transmission state until the end of N times of transmission.
The non-focusing wave is adopted to measure the blood flow velocity vector of the target point of the blood vessel region of the target object, so that the sampling frame rate is higher. In one embodiment, the highest imaging frame rate for blood flow velocity vector imaging is greater than 100Hz.
In one embodiment, the target object comprises an abdomen or fetus.
Step 202, receiving an echo of a first ultrasonic wave returned by a blood vessel region through an ultrasonic probe, and performing wave beam synthesis of blood velocity vector imaging on the echo of the first ultrasonic wave to obtain a first receiving signal and a second receiving signal which are orthogonal in space.
In this step, the vascular region returns the echo of the first ultrasonic wave after receiving the first ultrasonic wave, so that the echo of the first ultrasonic wave returned by the vascular region is received by the ultrasonic probe 100 and is sent to the receiving circuit 103 to be converted into an electric signal, and the first receiving signal and the second receiving signal which are orthogonal in space are obtained by the beam synthesis of the blood flow velocity vector imaging by the beam synthesis circuit 104, wherein each of the first receiving signal and the second receiving signal contains a signal transverse to the transmission direction of the first ultrasonic wave. In one embodiment, the wall filtering (i.e., high-pass filtering) process may be performed on the echo of the second ultrasonic wave before the beamforming of the blood flow velocity vector imaging is performed, so that when N pieces of blood flow velocity vector data are required to be obtained, the beamforming of the multiple blood flow velocity vector imaging or the computation window of the beamforming of the moving blood flow velocity vector imaging may be performed (see the description of transmitting the first ultrasonic wave N times in the above step 201).
In one embodiment, the beamforming for blood flow velocity vector imaging may employ a spatial quadrature beamforming method (Spatial Quadrature, SQ), a transverse oscillation beamforming method (Transverse oscillation, TO), or other transverse wave oscillation beamforming methods.
In an embodiment, the first receiving signal and the second receiving signal may be real signals or IQ signals obtained by processing the real signals, where the real signals include signals transverse to the transmitting direction of the first ultrasonic waves, and the IQ signals include signals transverse to the transmitting direction of the first ultrasonic waves and signals longitudinal to the transmitting direction of the first ultrasonic waves, that is, the first receiving signal and the second receiving signal include ultrasonic detection data of a target point in a vascular area in a longitudinal direction and a transverse direction of the transmitting direction of the first ultrasonic waves, so as to provide a data basis for calculating a blood velocity vector subsequently.
In this step, the first and second reception signals that are spatially orthogonal may be understood as having spatially orthogonal phases (e.g., 90 ° phase difference), that is, the first and second reception signals include signals that are spatially orthogonal to the transmission direction of the first ultrasonic wave, and the first and second reception signals include signals that are spatially orthogonal to the transmission direction of the first ultrasonic wave. The signal transverse to the emission direction of the first ultrasonic wave may be understood as a signal perpendicular to the emission direction of the first ultrasonic wave, and the signal longitudinal to the emission direction of the first ultrasonic wave may be understood as a signal parallel or co-directional to the emission direction of the first ultrasonic wave. The concepts of the embodiments of the present application with respect to spatial orthogonality, as well as lateral and longitudinal concepts, may be understood with reference to this description.
In step 203, a third received signal is obtained by performing beam forming for tissue imaging on the echo of the first ultrasonic wave.
In this step, beam synthesis for tissue imaging is performed by the beam synthesis circuit 104, and a first reception signal is obtained. In one embodiment, the beam forming of tissue imaging may be a beam forming of gaussian apodization or rectangular apodization of the echo of the first ultrasonic wave to obtain the third receiving signal.
Step 204, performing autocorrelation computation on the first received signal and the second received signal to obtain blood flow velocity vector data of the target point in the vascular region, and obtaining a blood flow velocity vector image of the vascular region according to the blood flow velocity vector data of the target point in the vascular region.
In this step, the signal processing module of the processor 105 performs autocorrelation calculation on the first received signal and the second received signal to obtain blood flow velocity vector data corresponding to the target point in the vascular area. In an embodiment, the signal processing module of the processor 105 performs autocorrelation calculation on the first received signal and the second received signal to obtain a transverse blood flow velocity component and a longitudinal blood flow velocity component of the target point in the blood vessel region, and since the transverse blood flow velocity component and the longitudinal blood flow velocity component of the target point in the blood vessel region are obtained, the blood flow velocity and the blood flow velocity of the target point in the blood vessel region can be calculated, and then blood flow velocity vector data is obtained. When it is desired to obtain N sets of blood flow velocity vector data, multiple autocorrelation calculations may be performed or a calculation window of autocorrelation calculations may be moved.
The image processing module of the processor 105 obtains a blood flow velocity vector map (the blood flow velocity vector is indicated by an arrow) by processing the blood flow velocity vector data corresponding to the target point in the blood vessel region. In one embodiment, the processor 105 may store the blood flow velocity vector map in the memory 107 for subsequent further processing, and in another embodiment, the blood flow velocity vector map may be displayed in real time by the display 106. In this step, the blood flow velocity vector diagram indicates the blood flow velocity direction in the arrow direction, the length of the arrow indicates the velocity vector magnitude, and the color of the arrow changes with the length of the arrow or the color remains unchanged.
In step 205, a tissue image of the blood vessel region is obtained from the third received signal.
In this step, the third received signal output from the beam forming circuit 104 may be processed by an image processing module of the processor 105 to generate a gray-scale image of the signal intensity variation in the scanning range, which reflects the tissue structure of the blood vessel region, that is, to generate a tissue image of the blood vessel region. Wherein the tissue image may be a B image reflecting only the anatomy inside the tissue or a C image reflecting both the anatomy inside the tissue and the blood flow information. In one embodiment, the processor 105 may store the tissue image of the blood vessel region in the memory 107 for subsequent further processing, or in another embodiment, may display the tissue image of the blood vessel region in real time via the display 106.
At step 206, a blood flow velocity vector image and a tissue image are displayed.
In this step, the image processing module of the processor 105 fuses the blood flow velocity vector image and the tissue image and then displays the fused blood flow velocity vector image and tissue image on the display 106, for example, the blood flow velocity vector image and the tissue image are superimposed on each other on the display 106. In one embodiment, the processor 105 displays the blood flow velocity vector image and the tissue image in real time through the display 106, and in another embodiment, the processor 105 reads the blood flow velocity vector image data and the tissue image data stored in the memory 107 and then displays them through the display 106. Wherein the highest imaging frame rate of blood flow velocity vector imaging is greater than 100Hz.
According to the blood flow imaging method provided by the embodiment of the application, the first ultrasonic wave is transmitted to the vascular region of the target object, the first ultrasonic wave is a non-focused wave, the echo of the first ultrasonic wave returned by the vascular region is received through the ultrasonic probe, the echo of the first ultrasonic wave is subjected to beam synthesis of blood flow velocity vector imaging, a first receiving signal and a second receiving signal which are orthogonal in space are obtained, the first receiving signal and the second receiving signal both comprise signals transverse to the transmitting direction of the first ultrasonic wave, and the blood flow velocity vector data of the target point in the vascular region is obtained through performing autocorrelation calculation on the first receiving signal and the second receiving signal. In addition, as the embodiment of the application uses the unfocused wave to detect the blood flow velocity vector of each target point in the blood vessel region, compared with the focused wave line-by-line emission scanning, the application can realize that the whole blood vessel region to be detected is covered by one ultrasonic emission, and improves the frame rate of blood flow velocity vector imaging, thereby capturing the tiny change of blood flow in a short time and being beneficial to clinical application.
In an embodiment, the ultrasound probe used in the blood flow imaging method of the foregoing embodiment may be an ultrasound convex array probe or an ultrasound linear array probe. Wherein the transmission principle is consistent but the transmission parameters are different for different types of ultrasonic probes, for example, different control on time delay and transmission frequency is needed. The coverage areas of the ultrasonic convex array probe and the ultrasonic linear array probe are different, and the coverage scene of the ultrasonic convex array probe is wider as shown in fig. 3, wherein the ultrasonic convex array probe has low emission frequency and small sound attenuation, and is suitable for a deep surface scene. In one embodiment, an ultrasonic convex array probe may be used in a scenario where the target object is an abdomen or fetus.
In one embodiment, referring to fig. 4, the above-mentioned beamforming of the blood flow velocity vector imaging in step 202 may employ a spatial orthogonal beamforming method (Spatial Quadrature, SQ), which specifically includes the following steps:
step 401, performing even apodization beam synthesis on the echo of the first ultrasonic wave to obtain a first receiving signal.
In this step, the beam forming circuit 104 performs beam forming processing of even apodization on the echo of the first ultrasonic wave to obtain a first reception signal. In one embodiment, referring to fig. 5, the beam forming circuit 104 may be used to perform a spatial beam forming on the echo of the first ultrasonic wave, and multiply the spatial beam forming by the even apodization function to obtain the first received signal.
Step 402, performing odd apodization beam synthesis on the echo of the first ultrasonic wave to obtain a second receiving signal.
In this step, the beam forming circuit 104 performs an odd apodization beam forming process on the echo of the first ultrasonic wave to obtain a second reception signal. In an embodiment, referring to fig. 5, the signal obtained by performing spatial beam synthesis by the beam synthesis circuit 104 in step 401 may be multiplied by an odd apodization function to obtain the second received signal.
Since the echo of the first ultrasonic wave is subjected to beam forming processing of even apodization and odd apodization, respectively, the first received signal and the second received signal are spatially orthogonal and each contain a signal transverse to the transmission direction of the first ultrasonic wave.
In an embodiment, in the foregoing steps 401 and 402, a calculation window may be set to perform the beam forming process of odd apodization on the echo of the first ultrasonic wave, where the window length is n, and n is less than or equal to the transmitting window or the receiving window of the second ultrasonic wave.
In another embodiment, referring to fig. 5, odd apodization signals and even apodization signals in the echo of the second ultrasonic wave can be received by setting an odd window and an even window, and space beam synthesis is performed to obtain a second receiving signal and a third receiving signal respectively.
The first received signal and the second received signal each include a signal transverse to the transmission direction of the first ultrasonic wave, wherein the first received signal and the second received signal serve as parity RF signals of echoes of the first ultrasonic wave, and may be expressed as the following formula:
R even (i)＝exp(j2πTif p )cos(j2πTif x )；
R odd (i)＝exp(j2πTif p )sin(j2πTif x )；
in the above formula, R even (i) Represents the first received signal, R odd (i) Representing a second received signal, where f x Represents the transverse direction, f p And indicates a longitudinal direction, i indicates a transmission order, and T indicates a transmission interval time. It should be noted here that the above signals are short time series signals composed of different transmission orders at the same depth. As can be seen from the above formula, the first and second received signals each include a lateral frequency shift f transverse to the direction of transmission of the first ultrasonic wave x . In addition, the first and second received signals each also include a longitudinal frequency shift f that is longitudinal to the first ultrasonic wave transmission direction p 。
In one embodiment, referring to fig. 6, the step 204 specifically includes the following steps:
step 601, recombining the first received signal and the second received signal by using euler transformation, and then obtaining a longitudinal frequency shift signal and a transverse frequency shift signal through heterodyne mediation.
In this step, the signal processing module of the processor 105 uses euler transformation to recombine the first received signal and the second received signal, and then obtains a longitudinal frequency shift signal and a transverse frequency shift signal through heterodyne modulation. In one embodiment, on the pair The first received signal R even (i) And a second received signal R odd (i) Performing Euler transformation to obtain two new signals:
r 1 (i)＝R even (i)+j·R odd (i)＝exp(j2πiT(f p +f x ))；
r 2 (i)＝R even (i)-j·R odd (i)＝exp(j2πiT(f p -f x ))；
then, by r 1 (i) And r 2 (i) Heterodyne mediation is carried out to obtain:
wherein r is axial (i) Representing a longitudinal frequency shift signal, r lateral (i) Representing the lateral frequency shift signal.
Step 602, performing autocorrelation computation on the longitudinal frequency shift signal and the transverse frequency shift signal respectively to obtain longitudinal phase information and transverse phase information.
In this step, the processor 105 performs autocorrelation calculation on the longitudinal frequency shift signal and the transverse frequency shift signal to obtain longitudinal phase information and transverse phase information. In one embodiment, the processor 105 performs the above-mentioned step 601 for r axial (i) And r lateral (i) The autocorrelation calculation is carried out, and the specific calculation process is as follows:
wherein R is 1 And R is 2 Representing the autocorrelation coefficients. For R as above 1 And R is 2 The autocorrelation function of (a) is transformed to obtain:
wherein,representing longitudinal phase information>Representing lateral phase information.
Step 603, obtaining a transverse blood flow velocity component and a longitudinal blood flow velocity component of the target point in the blood vessel region according to the longitudinal phase information and the transverse phase information, and obtaining blood flow velocity vector data of the target point in the blood vessel region according to the transverse blood flow velocity component and the longitudinal blood flow velocity component, wherein the blood flow velocity vector data comprises a blood flow velocity size and a blood flow velocity direction.
In this step, since the longitudinal phase information indicates the longitudinal blood flow velocity of the region corresponding to the target point in the blood vessel region, and the lateral phase information indicates the lateral blood flow velocity of the target point in the blood vessel region, the blood flow velocity vector of the target point in the blood vessel region can be calculated, wherein the signal processing module of the processor 105 mathematically calculates the longitudinal phase information and the lateral phase information to obtain the lateral blood flow velocity component and the longitudinal blood flow velocity component, and since the lateral blood flow velocity component and the longitudinal blood flow velocity component are determined, the blood flow velocity and the blood flow velocity of the target point in the blood vessel region can be obtained, and thus a set of blood flow velocity vector data can be obtained.
In one embodiment, due toD is the detection depth, so the lateral blood flow velocity component is: />
The longitudinal blood flow velocity components are:
therefore, the blood flow velocity direction of the region corresponding to the target point in the vascular region can be obtained as follows:
the blood flow velocity of the region corresponding to the target point in the blood vessel region is as follows
Thus, a set of blood flow velocity vector data can be obtained, and { V } can be represented by an array 0 ，θ}
The blood flow velocity vector data of one target point in the blood vessel area is obtained through the steps 401 to 402 and the steps 601 to 603, and in an embodiment, the target point in the next blood vessel area may be processed to obtain the blood flow velocity vector data of the next target point.
In one embodiment, referring TO fig. 7, the above-mentioned beam forming method (Transverse oscillation, TO) for imaging blood flow velocity vector in step 202 may be a method of laterally oscillating beam forming, which specifically includes the following steps:
in step 701, an even apodized beam synthesis is performed on an echo of the first ultrasonic wave in a first receiving direction, so as to obtain a first receiving signal.
In this step, the beam forming circuit 104 performs beam forming processing of the even apodization of the echo of the first ultrasonic wave in the first receiving direction, and obtains a first received signal. In an embodiment, the echo data of the first ultrasonic wave of each array element may be delayed to different degrees in the process of performing spatial beam forming, and the receiving direction of the echo of the first ultrasonic wave may also be changed. In one embodiment, the beam forming circuit 104 may be used to perform a spatial beam forming on the echo of the first ultrasonic wave, and multiply the spatial beam forming by the even apodization function to obtain the first received signal.
Step 702, performing even apodization beam synthesis on the echo of the first ultrasonic wave in a second receiving direction to obtain a second receiving signal;
in this step, the beam synthesis circuit 104 performs the beam synthesis processing of the even apodization on the echo of the first ultrasonic wave in the second receiving direction to obtain the second receiving signal, where the second receiving direction is set in the manner described in the first receiving direction in the above step 701. As shown in fig. 13, the first receiving direction and the second receiving direction are different and symmetrical with respect to the transmitting direction of the first ultrasonic wave. In one embodiment, the beam forming circuit 104 may be used to perform a spatial beam forming on the echo of the first ultrasonic wave, and multiply the echo by the even apodization function to obtain the second received signal.
Since the first receiving direction and the second receiving direction are symmetrical with respect to the transmitting direction of the first ultrasonic wave and both use the beam forming process of the even apodization, the first receiving signal and the first receiving signal are spatially orthogonal and both include signals transverse to the transmitting direction of the first ultrasonic wave.
In an embodiment, the beam forming of the even apodization performed on the echo of the first ultrasonic wave in the step 701 and the step 702 may be replaced by the beam forming using the odd apodization, and the first received signal and the second received signal which are orthogonal in space can be obtained, where each of the first received signal and the second received signal includes a signal transverse to the transmitting direction of the first ultrasonic wave.
In an embodiment, the first received signal and the second received signal obtained by the transverse oscillation beam forming method in the above embodiment are subjected to autocorrelation calculation to obtain the blood flow velocity vector data of the target point in the blood vessel region. For the detailed steps of the autocorrelation calculation, reference may be made to the description of step 204 and steps 601 to 603 in the above embodiment, and the detailed description will not be repeated here.
In an embodiment, a blood flow velocity profile may also be generated based on the blood flow velocity vector data obtained from the non-aggregated wave. Specific: a corresponding sampling position can be set in the blood vessel region of the tissue image, and the sampling position can be adjusted; then, obtaining blood flow velocity vector data corresponding to a sampling position, wherein the blood flow velocity vector data corresponding to the sampling position can be blood flow velocity vector data corresponding to the sampling position obtained from blood flow velocity vector data of a target point in a blood vessel region obtained by performing autocorrelation calculation on a first receiving signal and a second receiving signal, or can be blood flow velocity vector data corresponding to the sampling position obtained by rescanning calculation; and then generating a blood flow movement velocity curve spectrum according to the blood flow velocity vector data corresponding to the sampling position, and displaying the blood flow movement velocity curve spectrum, wherein the blood flow movement velocity curve spectrum is used for representing the change condition of the blood flow velocity corresponding to the sampling position along with time.
Referring to fig. 8 in combination with a schematic block diagram of the ultrasound imaging apparatus 10 shown in fig. 1, a blood flow imaging method according to an embodiment of the present application may include the following steps 801 to 807:
in step 801, an ultrasonic probe is controlled to emit a first ultrasonic wave to a vascular region of a target object, the first ultrasonic wave being a non-focused wave.
The specific implementation and effects of this step may refer to step 201 in the above embodiment and the description of the related embodiments of step 201, which are not repeated here.
Step 802, receiving an echo of a first ultrasonic wave returned by a blood vessel region through an ultrasonic probe, and performing beam forming of blood velocity vector imaging on the echo of the first ultrasonic wave to obtain a first receiving signal and a second receiving signal which are orthogonal in space, wherein the first receiving signal and the second receiving signal both comprise signals transverse to the transmitting direction of the first ultrasonic wave.
The specific implementation and effects of this step may refer to step 202 in the above embodiment and the description of the related embodiments of step 202, which are not repeated here.
Step 803, controlling the ultrasonic probe to emit a second ultrasonic wave to the vascular region of the target object, the second ultrasonic wave being a focused wave.
The ultrasound imaging apparatus 10 may generally support multiple modes of ultrasound examination, such as a B-mode, a color doppler mode, an ultrasound elastography mode, an energy doppler mode, a blood flow velocity vector mode, and the like. In this step 201, however, an ultrasound examination mode in which an image of a tissue structure can be displayed, such as a B image mode (reflecting a tissue anatomy), a C image mode (reflecting tissue anatomy and blood flow information), or an E image mode (elastic ultrasound image mode) of the ultrasound imaging apparatus 10, can be used. For example, the second ultrasonic wave may be transmitted to the blood vessel region by the ultrasonic probe 100 shown in fig. 1, wherein the second ultrasonic wave transmitted to the blood vessel by the ultrasonic probe 100 may be made to conform to the operation requirement that the tissue structure image examination is enabled by the B image mode, the C image mode, the E image mode, or the like by controlling the transmission sequence parameters of the transmission circuit 101.
In step 804, the ultrasonic probe receives the echo of the second ultrasonic wave returned by the vascular region, and performs beam synthesis of tissue imaging on the echo of the second ultrasonic wave to obtain a third receiving signal.
The specific implementation process and the effect of this step may refer to step 203 in the above embodiment and the processing process of the echo of the first ultrasonic wave in the related embodiment of step 203, which are not described herein again.
Step 805, performing autocorrelation computation on the first received signal and the second received signal to obtain blood flow velocity vector data of a target point in the vascular region, and obtaining a blood flow velocity vector image of the vascular region according to the blood flow velocity vector data of the target point in the vascular region.
The specific implementation and effects of this step may refer to step 204 in the above embodiment and the description of the related embodiment of step 204, which are not repeated here.
At step 806, a tissue image of the blood vessel region is obtained from the third received signal.
For the specific implementation process and effect of this step, reference may be made to step 205 in the above embodiment and the processing process of the echo of the first ultrasonic wave in the related embodiment of step 205, which are not described herein again.
Step 807 displays the blood flow velocity vector image and the tissue image.
For the specific implementation process and effect of this step, reference may be made to step 206 in the above embodiment and the processing process of the echo of the first ultrasonic wave in the related embodiment of step 206, which are not described herein again.
According to the blood flow imaging method provided by some embodiments of the application, the first ultrasonic wave is transmitted to the vascular region of the target object, the first ultrasonic wave is a non-focused wave, the echo of the first ultrasonic wave returned by the vascular region is received through the ultrasonic probe, the echo of the first ultrasonic wave is subjected to beam synthesis of blood flow velocity vector imaging, a first receiving signal and a second receiving signal which are orthogonal in space are obtained, the first receiving signal and the second receiving signal both comprise signals transverse to the transmitting direction of the first ultrasonic wave, and the blood flow velocity vector data of the target point in the vascular region is obtained through autocorrelation calculation on the second receiving signal and the third receiving signal. In addition, as the embodiment of the application uses the unfocused wave to detect the blood flow velocity vector of each target point in the blood vessel region, compared with the focused wave line-by-line emission scanning, the application can realize that the whole blood vessel region to be detected is covered by one ultrasonic emission, and improves the frame rate of blood flow velocity vector imaging, thereby capturing the tiny change of blood flow in a short time and being beneficial to clinical application.
Referring to fig. 9 in combination with the schematic block diagram of the ultrasound imaging apparatus 10 shown in fig. 1, a blood flow imaging method according to an embodiment of the present application may include the following steps 901 to 905:
step 901, exciting an ultrasonic probe to transmit a first ultrasonic wave to a vascular region of a target object according to a first ultrasonic wave transmitting signal, and exciting the ultrasonic probe to transmit a second ultrasonic wave to the vascular region of the target object according to a second ultrasonic wave transmitting signal, wherein the first ultrasonic wave transmitting signal and the second ultrasonic wave transmitting signal are obtained by performing even apodization and odd apodization on the same ultrasonic wave transmitting signal, the first ultrasonic wave and the second ultrasonic wave are unfocused waves, and the transmitting directions of the first ultrasonic wave and the second ultrasonic wave are the same.
In this step, the processor 105 excites the ultrasonic probe 100 to transmit the first ultrasonic wave and the second ultrasonic wave to the blood vessel region through the transmission circuit 101 shown in fig. 1, wherein the first ultrasonic wave and the second ultrasonic wave are unfocused waves and the transmission directions of the first ultrasonic wave and the second ultrasonic wave are the same.
In this step, the first ultrasonic emission signal and the second ultrasonic emission signal are obtained by performing even apodization and odd apodization on the same ultrasonic emission signal, where the same ultrasonic emission signal can be understood as an initial ultrasonic emission signal, that is, the initial ultrasonic emission signal is subjected to even apodization to obtain the first ultrasonic emission signal, and the initial ultrasonic emission signal is subjected to odd apodization to obtain the second ultrasonic emission signal. In some embodiments, the initial ultrasound transmission signal is a preset ultrasound transmission signal, and in addition, in some embodiments, the initial ultrasound transmission signal may be stored in the memory 107 in advance, and when the blood flow velocity vector calculation is required, the processor 105 acquires the initial ultrasound transmission signal by reading the memory 107. In other embodiments, the processor 105 may also obtain an initial ultrasound transmit signal from the ultrasound imaging device 10, such as from a server or entered by a user.
In this step, the processor 105 performs even apodization processing on the initial ultrasonic transmission signal by the transmission circuit 101 to obtain a first ultrasonic transmission signal, and in addition, the processor 105 performs odd apodization processing on the initial ultrasonic transmission signal by the transmission circuit 101 to obtain a second ultrasonic transmission signal. In one embodiment, the initial ultrasonic emission signal may be multiplied by an even apodization function to obtain the first ultrasonic emission signal, and the initial ultrasonic emission signal may be multiplied by an odd apodization function to obtain the second ultrasonic emission signal.
In one embodiment, the processor 105 controls the ultrasound imaging device 10 to be in an ultrasound transmitting state or an ultrasound receiving state through the transmit/receive selection switch 102, wherein the controller 105 controls the transmit/receive selection switch 102 to transmit N times of the first ultrasound and the second ultrasound to the blood vessel region at a certain transmission time interval T, wherein N is a natural number greater than 1. After each end of the transmission, the transmission/reception selection switch 102 controls the ultrasonic probe 100 to receive echo data of the first ultrasonic wave and the second ultrasonic wave in the full channel, and after the reception time T, controls the transmission/reception selection switch 102 to resume the transmission state until the end of N times of transmission.
The non-focusing wave is adopted to measure the blood flow velocity vector of the target point of the blood vessel region of the target object, so that the sampling frame rate is higher. In one embodiment, the highest imaging frame rate for blood flow velocity vector imaging is greater than 100Hz.
In step 902, an echo of a first ultrasonic wave and an echo of a second ultrasonic wave returned from a blood vessel region of a target object are received, and a first received signal and a second received signal are obtained.
In this step, the blood vessel region returns an echo of the first ultrasonic wave and an echo of the second ultrasonic wave. The echo of the first ultrasonic wave and the echo of the second ultrasonic wave returned from the blood vessel region are received by the ultrasonic probe 100, sent to the receiving circuit 103, converted into an electric signal, and subjected to spatial beam synthesis by the beam synthesis circuit 104, thereby obtaining a first received signal and a second received signal. Since the first ultrasonic wave and the second ultrasonic wave are respectively subjected to even apodization and odd apodization at the time of transmission, the echoes thereof are received by the ultrasonic probe 100 and the first received signal and the second received signal after beam synthesis are respectively spatially orthogonal, and the first received signal each contain a signal transverse to the transmission direction of the first ultrasonic wave or the second ultrasonic wave.
Step 903, performing autocorrelation calculation on the first received signal and the second received signal to obtain blood flow velocity vector data of the target point in the vascular region, and obtaining a blood flow velocity vector image of the vascular region according to the blood flow velocity vector data of the target point in the vascular region.
The specific implementation and effects of this step may refer to step 204 in the above embodiment and the description of the related embodiment of step 204, which are not repeated here.
At step 904, a tissue image of the vascular region is acquired.
In one embodiment of this step, the third received signal may be obtained by performing beam synthesis for tissue imaging of the echo of the first ultrasonic wave or the echo of the second ultrasonic wave. The beam forming of tissue imaging may be beam forming of gaussian apodization or rectangular apodization of the echo of the first ultrasonic wave or the second ultrasonic wave to obtain the third receiving signal. Then, the third received signal may be processed by using step 205 and the related embodiments of step 205 in the above embodiments to obtain a tissue image of the blood vessel region.
In another embodiment of this step, the ultrasound probe may be controlled to emit a third ultrasound wave to the vascular region of the target object, the third ultrasound wave being a focused wave. Then, an echo of the third ultrasonic wave returned from the blood vessel region is received by the ultrasonic probe, and the echo of the third ultrasonic wave is subjected to beam synthesis of tissue imaging, thereby obtaining a third received signal. Then, the third received signal may be processed by using step 205 and the related embodiments of step 205 in the above embodiments to obtain a tissue image of the blood vessel region.
In another embodiment of this step, the processor 105 may retrieve a pre-stored tissue image of the vascular region from the memory 107.
In step 905, a blood flow velocity vector image and a tissue image are displayed.
For the specific implementation process and effect of this step, reference may be made to step 206 in the above embodiment and the processing process of the echo of the first ultrasonic wave in the related embodiment of step 206, which are not described herein again.
According to the blood flow imaging method provided by some embodiments of the application, after the same ultrasonic wave transmitting signal is subjected to odd apodization and even apodization respectively, a first ultrasonic wave transmitting signal and a second ultrasonic wave transmitting signal are obtained, according to the first ultrasonic wave transmitting signal and the second ultrasonic wave transmitting first ultrasonic wave and second ultrasonic wave, the first ultrasonic wave and the second ultrasonic wave are both unfocused waves, a first receiving signal and a second receiving signal which are orthogonal in space are obtained through receiving echoes of the first ultrasonic wave and the second ultrasonic wave, wherein the first receiving signal and the second receiving signal both comprise signals which are transverse to the transmitting direction of the first ultrasonic wave or the second ultrasonic wave, and by performing autocorrelation calculation on the first receiving signal and the second receiving signal, accurate blood flow velocity vector data of a target point in a blood vessel area are obtained, and further a blood flow velocity vector image of the blood vessel area is obtained. In addition, as the embodiment of the application uses the unfocused wave to detect the blood flow velocity vector of each target point in the blood vessel region, compared with the focused wave line-by-line emission scanning, the application can realize that the whole blood vessel region to be detected is covered by one ultrasonic emission, and improves the frame rate of blood flow velocity vector imaging, thereby capturing the tiny change of blood flow in a short time and being beneficial to clinical application.
Referring to fig. 10 in combination with the schematic block diagram of the ultrasound imaging apparatus 10 shown in fig. 1, a blood flow imaging method according to an embodiment of the present application may include the following steps 1001 to 1007:
in step 1001, the ultrasonic probe is excited to emit a first ultrasonic wave to a vascular region of a target object in a first emission direction according to a first ultrasonic wave emission signal, wherein the first ultrasonic wave emission signal is obtained by performing an even apodization processing on the ultrasonic wave emission signal in the first emission direction.
In this step, the first ultrasonic wave is an unfocused wave, and the processor 105 excites the ultrasonic probe 100 to emit the first ultrasonic wave to the blood vessel region in the first emission direction through the emission circuit 101 shown in fig. 1. The processor 105 may be further configured to cause different transmitting array elements to transmit the ultrasound waves at different times by controlling the transmitting circuit 101 to perform phase delay on the transmitted beam, so as to adjust the first ultrasound waves to be transmitted in the vascular region in the first transmission direction.
In this step, the first ultrasonic emission signal is obtained by performing an even apodization process on the ultrasonic emission signal in the first emission direction. The processor 105 performs an even apodization process on the ultrasonic transmission signal in the first transmission direction through the transmission circuit 101 to obtain a first ultrasonic transmission signal, where in an embodiment, the first ultrasonic transmission signal may be obtained by multiplying the ultrasonic transmission signal in the first transmission direction by an even apodization function.
Step 1002, receiving an echo of a first ultrasonic wave returned from a blood vessel region of a target object, and obtaining a first received signal.
In this step, the blood vessel region returns the echo of the first ultrasonic wave, so that the echo of the first ultrasonic wave returned by the blood vessel region is received by the ultrasonic probe 100, and is sent to the receiving circuit 103 to be converted into an electrical signal, and then the spatial beam synthesis is performed by the beam synthesis circuit 104, so as to obtain a first received signal.
And step 1003, exciting the ultrasonic probe to emit second ultrasonic waves to the vascular region of the target object in a second emission direction according to a second ultrasonic wave emission signal, wherein the second ultrasonic wave emission signal is obtained by performing even apodization on the ultrasonic wave emission signal in the second emission direction.
In this step, the second ultrasonic wave is an unfocused wave, and the processor 105 excites the ultrasonic probe 100 to emit the second ultrasonic wave to the blood vessel region in the second emission direction through the emission circuit 101 shown in fig. 1. The first transmitting direction and the second transmitting direction are different and symmetrical relative to the central line of the transmitting aperture, and the transmitting aperture is the corresponding transmitting aperture when transmitting the first ultrasonic wave or the second ultrasonic wave.
In this step, the second ultrasonic emission signal is obtained by performing an even apodization process on the ultrasonic emission signal in the second emission direction. The processor 105 performs an even apodization process on the ultrasonic transmission signal in the second transmission direction through the transmission circuit 101 to obtain a second ultrasonic transmission signal, where in an embodiment, the second ultrasonic transmission signal may be obtained by multiplying the ultrasonic transmission signal in the second transmission direction by an even apodization function.
Step 1004, receiving an echo of the second ultrasonic wave returned from the blood vessel region of the target object, and obtaining a second received signal.
In this step, the blood vessel region returns the echo of the second ultrasonic wave, so that the echo of the second ultrasonic wave returned by the blood vessel region is received by the ultrasonic probe 100, and is sent to the receiving circuit 103 to be converted into an electrical signal, and then the spatial beam synthesis is performed by the beam synthesis circuit 104, so as to obtain a second received signal.
Since the first ultrasonic wave transmission signal and the second ultrasonic wave transmission signal are obtained by performing the even apodization processing on the ultrasonic wave transmission signals in different transmission directions, and the transmission directions of the first ultrasonic wave and the second ultrasonic wave are symmetrical relative to the center line of the transmission aperture, the first receiving signal and the second receiving signal are orthogonal in space, wherein the first receiving signal comprises a signal transverse to the transmission direction of the first ultrasonic wave, and the second receiving signal comprises a signal transverse to the transmission direction of the second ultrasonic wave.
Step 1005, performing autocorrelation calculation on the first received signal and the second received signal to obtain blood flow velocity vector data of the target point in the vascular region, and obtaining a blood flow velocity vector image of the vascular region according to the blood flow velocity vector data of the target point in the vascular region.
The specific implementation and effects of this step may refer to step 204 in the above embodiment and the description of the related embodiment of step 204, which are not repeated here.
At step 1006, a tissue image of the vascular region is acquired.
The specific implementation and effects of this step may refer to step 904 in the above embodiment and the description of the related embodiments of step 904, which are not repeated here.
Step 1007, a blood flow velocity vector image and a tissue image are displayed.
For the specific implementation process and effect of this step, reference may be made to step 206 in the above embodiment and the processing process of the echo of the first ultrasonic wave in the related embodiment of step 206, which are not described herein again.
According to the blood flow imaging method provided by the embodiments of the application, after the ultrasonic wave transmitting signals in different transmitting directions are respectively subjected to even apodization processing, a first ultrasonic wave transmitting signal and a second ultrasonic wave transmitting signal are obtained, the first ultrasonic wave and the second ultrasonic wave are respectively transmitted to the blood vessel region of the target object in the first transmitting direction and the second transmitting direction according to the first ultrasonic wave transmitting signal and the second ultrasonic wave transmitting signal, the first ultrasonic wave and the second ultrasonic wave are both unfocused waves, the first receiving signal and the second receiving signal which are orthogonal in space are obtained through receiving echoes of the first ultrasonic wave and the second ultrasonic wave, wherein the first receiving signal and the second receiving signal both comprise signals which are transverse to the transmitting direction of the first ultrasonic wave or the second ultrasonic wave, and accurate blood flow velocity vector data of a target point in the blood vessel region are obtained through carrying out autocorrelation calculation on the first receiving signal and the second receiving signal, and then a blood flow velocity vector image of the blood vessel region is obtained. In addition, as the embodiment of the application uses the unfocused wave to detect the blood flow velocity vector of each target point in the blood vessel region, compared with the focused wave line-by-line emission scanning, the application can realize that the whole blood vessel region to be detected is covered by one ultrasonic emission, and improves the frame rate of blood flow velocity vector imaging, thereby capturing the tiny change of blood flow in a short time and being beneficial to clinical application.
Referring to fig. 11 in combination with the schematic block diagram of the ultrasound imaging apparatus 10 shown in fig. 1, a blood flow imaging method according to an embodiment of the present application may include the following steps 1101 to 1107:
step 1101, exciting an ultrasonic probe to emit first ultrasonic waves to a vascular region of a target object in a first emission direction according to a first ultrasonic emission signal, wherein the first ultrasonic emission signal is obtained by performing odd apodization processing on the ultrasonic emission signal in the first emission direction.
In this step, the first ultrasonic wave is an unfocused wave, and the processor 105 excites the ultrasonic probe 100 to emit the first ultrasonic wave to the blood vessel region in the first emission direction through the emission circuit 101 shown in fig. 1. The processor 105 may be further configured to cause different transmitting array elements to transmit the ultrasound waves at different times by controlling the transmitting circuit 101 to perform phase delay on the transmitted beam, so as to adjust the first ultrasound waves to be transmitted in the vascular region in the first transmission direction.
In this step, the first ultrasonic emission signal is obtained by performing an odd apodization process on the ultrasonic emission signal in the first emission direction. The processor 105 performs an odd apodization process on the ultrasonic emission signal in the first emission direction through the emission circuit 101 to obtain a first ultrasonic emission signal, where in an embodiment, the ultrasonic emission signal in the first emission direction may be multiplied by an odd apodization function to obtain the first ultrasonic emission signal.
In step 1102, an echo of a first ultrasonic wave returned from a blood vessel region of a target object is received, and a first received signal is obtained.
In this step, the blood vessel region returns the echo of the first ultrasonic wave after receiving the first ultrasonic wave, so that the echo of the first ultrasonic wave returned by the blood vessel region is received by the ultrasonic probe 100, and is sent to the receiving circuit 103 to be converted into an electrical signal, and then the electrical signal is spatially beamformed by the beam forming circuit 104, so as to obtain a first receiving signal.
In step 1103, the ultrasonic probe is excited to emit a second ultrasonic wave to the vascular region of the target object in a second emission direction according to a second ultrasonic wave emission signal, wherein the second ultrasonic wave emission signal is obtained by performing an odd apodization processing on the ultrasonic wave emission signal in the second emission direction.
In this step, the second ultrasonic wave is an unfocused wave, and the processor 105 excites the ultrasonic probe 100 to emit the second ultrasonic wave to the blood vessel region in the second emission direction through the emission circuit 101 shown in fig. 1. The first transmitting direction and the second transmitting direction are different and symmetrical relative to the central line of the transmitting aperture, and the transmitting aperture is the corresponding transmitting aperture when transmitting the first ultrasonic wave or the second ultrasonic wave.
In this step, the second ultrasonic emission signal is obtained by performing an odd apodization process on the ultrasonic emission signal in the second emission direction. The processor 105 performs an odd apodization process on the ultrasonic transmission signal in the second transmission direction by the transmission circuit 101 to obtain a second ultrasonic transmission signal, where in an embodiment, the second ultrasonic transmission signal may be obtained by multiplying the ultrasonic transmission signal in the second transmission direction by an odd apodization function.
Step 1104, receiving an echo of the second ultrasonic wave returned from the blood vessel region of the target object, and obtaining a second received signal.
In this step, the blood vessel region returns the echo of the second ultrasonic wave, so that the echo of the second ultrasonic wave returned by the blood vessel region is received by the ultrasonic probe 100, and is sent to the receiving circuit 103 to be converted into an electrical signal, and then the spatial beam synthesis is performed by the beam synthesis circuit 104, so as to obtain a second received signal.
Since the first ultrasonic wave transmission signal and the second ultrasonic wave transmission signal are obtained by performing odd apodization processing on ultrasonic wave transmission signals in different transmission directions, and the transmission directions of the first ultrasonic wave and the second ultrasonic wave are symmetrical relative to the center line of the transmission aperture, the first receiving signal and the second receiving signal are orthogonal in space, wherein the first receiving signal comprises a signal transverse to the transmission direction of the first ultrasonic wave, and the second receiving signal comprises a signal transverse to the transmission direction of the second ultrasonic wave.
Step 1105, performing autocorrelation computation on the first received signal and the second received signal to obtain blood flow velocity vector data of a target point in the vascular region, and obtaining a blood flow velocity vector image of the vascular region according to the blood flow velocity vector data of the target point in the vascular region.
The specific implementation and effects of this step may refer to step 204 in the above embodiment and the description of the related embodiment of step 204, which are not repeated here.
At step 1106, a tissue image of the vascular region is acquired.
The specific implementation and effects of this step may refer to step 904 in the above embodiment and the description of the related embodiments of step 904, which are not repeated here.
Step 1107 displays the blood flow velocity vector image and the tissue image.
For the specific implementation process and effect of this step, reference may be made to step 206 in the above embodiment and the processing process of the echo of the first ultrasonic wave in the related embodiment of step 206, which are not described herein again.
According to the blood flow imaging method provided by the embodiments of the application, after the ultrasonic wave transmitting signals in different transmitting directions are subjected to odd apodization processing respectively, a first ultrasonic wave transmitting signal and a second ultrasonic wave transmitting signal are obtained, the first ultrasonic wave and the second ultrasonic wave are respectively transmitted to the blood vessel region of the target object in the first transmitting direction and the second transmitting direction according to the first ultrasonic wave transmitting signal and the second ultrasonic wave transmitting signal, the first ultrasonic wave and the second ultrasonic wave are both unfocused waves, the first receiving signal and the second receiving signal which are orthogonal in space are obtained through receiving echoes of the first ultrasonic wave and the second ultrasonic wave, wherein the first receiving signal and the second receiving signal both comprise signals which are transverse to the transmitting direction of the first ultrasonic wave or the second ultrasonic wave, and accurate blood flow velocity vector data of a target point in the blood vessel region are obtained through carrying out autocorrelation calculation on the first receiving signal and the second receiving signal, and then a blood flow velocity vector image of the blood vessel region is obtained. In addition, as the embodiment of the application uses the unfocused wave to detect the blood flow velocity vector of each target point in the blood vessel region, compared with the focused wave line-by-line emission scanning, the application can realize that the whole blood vessel region to be detected is covered by one ultrasonic emission, and improves the frame rate of blood flow velocity vector imaging, thereby capturing the tiny change of blood flow in a short time and being beneficial to clinical application.
Referring to fig. 12 in combination with the schematic block diagram of the ultrasound imaging apparatus 10 shown in fig. 1, a blood flow imaging method according to an embodiment of the present application may include the following steps 1201 to 1205:
step 1201, exciting an ultrasonic probe to transmit a first ultrasonic wave to a vascular region of a target object according to a first ultrasonic wave transmission signal, wherein the first ultrasonic wave transmission signal is obtained by performing even apodization or odd apodization processing on an initial ultrasonic wave transmission signal.
In this step, the first ultrasonic wave is an unfocused wave, and the processor 105 excites the ultrasonic probe 100 to emit the first ultrasonic wave to the blood vessel region through the transmitting circuit 101 shown in fig. 1.
In this step, the first ultrasonic emission signal is obtained by performing even apodization or odd apodization processing on the initial ultrasonic emission signal. The processor 105 performs even apodization or odd apodization processing on the initial ultrasonic transmission signal by the transmitting circuit 101 to obtain a first ultrasonic transmission signal, wherein in an embodiment, the initial ultrasonic transmission signal may be multiplied by an even apodization or odd apodization function to obtain the first ultrasonic transmission signal.
Step 1202, receiving an echo of a first ultrasonic wave returned from a vascular region of a target object;
In this step, the echo of the first ultrasonic wave returned from the blood vessel region is received by the ultrasonic probe 100, and sent to the receiving circuit 103 to be converted into an electric signal.
In step 1203, the echo of the first ultrasonic wave is subjected to beam forming of gaussian apodization or rectangular apodization in a first receiving direction to obtain a first receiving signal, and the echo of the first ultrasonic wave is subjected to beam forming of gaussian apodization or rectangular apodization in a second receiving direction to obtain a second receiving signal.
In this step, the vascular region returns the echo of the first ultrasonic wave after receiving the first ultrasonic wave, the beam synthesis circuit 104 performs the beam synthesis of the gaussian apodization or the rectangular apodization on the echo of the first ultrasonic wave in the first receiving direction to obtain a first receiving signal, and the beam synthesis circuit 104 performs the beam synthesis of the gaussian apodization or the rectangular apodization on the echo of the second ultrasonic wave in the second receiving direction to obtain a second receiving signal. The first receiving direction and the second receiving direction are different and symmetrical relative to the central line of the transmitting aperture, and the transmitting aperture is the corresponding transmitting aperture when transmitting the first ultrasonic wave.
Since the first ultrasonic wave transmission signal is obtained by performing even apodization or odd apodization processing on the initial ultrasonic wave transmission signal, and the first receiving direction and the second receiving direction are different and symmetrical with respect to the center line of the transmission aperture, the first receiving signal and the second receiving signal are orthogonal in space and each include a signal transverse to the transmission direction of the first ultrasonic wave.
Step 1204, performing autocorrelation computation on the first received signal and the second received signal to obtain blood flow velocity vector data of the target point in the vascular region, and obtaining a blood flow velocity vector image of the vascular region according to the blood flow velocity vector data of the target point in the vascular region.
The specific implementation and effects of this step may refer to step 204 in the above embodiment and the description of the related embodiment of step 204, which are not repeated here.
At step 1205, a tissue image of the vascular region is acquired.
The specific implementation and effects of this step may refer to step 904 in the above embodiment and the description of the related embodiments of step 904, which are not repeated here.
At step 1206, a blood flow velocity vector image and a tissue image are displayed.
For the specific implementation process and effect of this step, reference may be made to step 206 in the above embodiment and the processing process of the echo of the first ultrasonic wave in the related embodiment of step 206, which are not described herein again.
According to the blood flow imaging method provided by some embodiments of the application, after performing even apodization or odd apodization processing on an initial ultrasonic wave transmitting signal, a first ultrasonic wave transmitting signal is obtained, an ultrasonic probe is excited to transmit a first ultrasonic wave to a blood vessel area according to the first ultrasonic wave transmitting signal, the first ultrasonic wave is a non-focusing wave, gaussian apodization or rectangular apodization beam synthesis is performed on an echo of the first ultrasonic wave respectively in a first receiving direction and a second receiving direction, a first receiving signal and a second receiving signal are obtained, wherein the first receiving direction and the second receiving direction are different and symmetrical relative to a central line of a transmitting aperture, the first receiving signal and the second receiving signal are orthogonal in space, the first receiving signal and the second receiving signal both comprise signals transverse to the transmitting direction of the first ultrasonic wave, and accurate blood flow velocity vector data of a target point in the blood vessel area is obtained through autocorrelation calculation on the first receiving signal and the second receiving signal, and further a blood flow velocity vector image of the blood vessel area is obtained. In addition, as the embodiment of the application uses the unfocused wave to detect the blood flow velocity vector of each target point in the blood vessel region, compared with the focused wave line-by-line emission scanning, the application can realize that the whole blood vessel region to be detected is covered by one ultrasonic emission, and improves the frame rate of blood flow velocity vector imaging, thereby capturing the tiny change of blood flow in a short time and being beneficial to clinical application.
An embodiment of the present application provides an ultrasonic imaging apparatus including:
an ultrasonic probe;
a transmitting/receiving circuit for controlling the ultrasonic probe to transmit ultrasonic waves to a blood vessel region of the target object and to receive ultrasonic echoes;
the processor is used for processing the echo of the ultrasonic wave and obtaining a tissue image and/or a blood flow velocity vector image of the blood vessel region;
a display for displaying a tissue image and/or a blood flow velocity vector image;
the processor is further configured to perform the blood flow imaging method of any of the embodiments described above.
An electronic device according to an embodiment of the present application includes a memory, and a processor, where the memory stores a computer program, and where the processor implements the blood flow imaging method according to any one of the embodiments.
An embodiment of the present application provides a computer storage medium having stored thereon a computer program for use in an ultrasound imaging apparatus, the computer program when executed by a processor implementing a blood flow imaging method according to any one of the embodiments described above.
One embodiment of the present application provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the blood flow imaging method of any of the embodiments described above.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It should also be appreciated that the various embodiments provided by the embodiments of the present application may be arbitrarily combined to achieve different technical effects.
While the preferred embodiment of the present application has been described in detail, the present application is not limited to the above embodiments, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit and scope of the present application, and these equivalent modifications or substitutions are included in the scope of the present application as defined in the appended claims.
Claims (36)
1. A method of blood flow imaging, the method comprising:
controlling an ultrasonic probe to emit first ultrasonic waves to a blood vessel region of a target object, wherein the first ultrasonic waves are unfocused waves;
receiving an echo of the first ultrasonic wave returned by the blood vessel region through the ultrasonic probe;
performing beamforming of blood velocity vector imaging on an echo of the first ultrasonic wave to obtain a first receiving signal and a second receiving signal which are orthogonal in space, wherein the first receiving signal and the second receiving signal both comprise signals transverse to the transmitting direction of the first ultrasonic wave;
performing beam synthesis of tissue imaging on the echo of the first ultrasonic wave to obtain a third receiving signal;
performing autocorrelation calculation on the first received signal and the second received signal to obtain blood flow velocity vector data of a target point in the blood vessel region, and obtaining a blood flow velocity vector image of the blood vessel region according to the blood flow velocity vector data of the target point in the blood vessel region;
obtaining a tissue image of the vascular region from the third received signal;
displaying the blood flow velocity vector image and the tissue image.
2. The method of blood flow imaging of claim 1, wherein said beamforming of said first ultrasound echo for blood flow velocity vector imaging to obtain first and second spatially orthogonal received signals comprises:
performing even apodization beam synthesis on the echo of the first ultrasonic wave to obtain the first receiving signal;
and performing odd apodization beam synthesis on the echo of the first ultrasonic wave to obtain the second receiving signal.
3. The method of blood flow imaging according to claim 2, wherein the performing autocorrelation calculation on the first received signal and the second received signal to obtain blood flow velocity vector data of a target point in the blood vessel region includes:
recombining the first received signal and the second received signal by using Euler transformation, and then obtaining a longitudinal frequency shift signal and a transverse frequency shift signal through heterodyne mediation;
performing autocorrelation calculation on the longitudinal frequency shift signal and the transverse frequency shift signal respectively to obtain longitudinal phase information and transverse phase information;
and obtaining a transverse blood flow velocity component and a longitudinal blood flow velocity component of the target point in the blood vessel region according to the longitudinal phase information and the transverse phase information, and obtaining blood flow velocity vector data of the target point in the blood vessel region according to the transverse blood flow velocity component and the longitudinal blood flow velocity component, wherein the blood flow velocity vector data comprises a blood flow velocity magnitude and a blood flow velocity direction.
4. The method of blood flow imaging of claim 1, wherein said beamforming of said first ultrasound echo for blood flow velocity vector imaging to obtain first and second spatially orthogonal received signals comprises:
performing even apodization beam synthesis on the echo of the first ultrasonic wave in a first receiving direction to obtain a first receiving signal, and performing even apodization beam synthesis on the echo of the first ultrasonic wave in a second receiving direction to obtain a second receiving signal; or,
performing odd apodization beam synthesis on the echo of the first ultrasonic wave in a first receiving direction to obtain a first receiving signal, and performing odd apodization beam synthesis on the echo of the first ultrasonic wave in a second receiving direction to obtain a second receiving signal;
wherein the first receiving direction and the second receiving direction are different and symmetrical with respect to the transmitting direction of the first ultrasonic wave.
5. The method of blood flow imaging according to claim 4, wherein the performing autocorrelation calculation on the first received signal and the second received signal to obtain blood flow velocity vector data of a target point in the blood vessel region includes:
And performing autocorrelation calculation on the first received signal and the second received signal to obtain a transverse blood flow velocity component and a longitudinal blood flow velocity component of a target point in the blood vessel region, and obtaining blood flow velocity vector data of the target point in the blood vessel region according to the transverse blood flow velocity component and the longitudinal blood flow velocity component, wherein the blood flow velocity vector comprises a blood flow velocity magnitude and a blood flow velocity direction.
6. The method of blood flow imaging of claim 1, wherein said beam forming for tissue imaging of echoes of the first ultrasound waves to obtain a third received signal comprises:
and carrying out Gaussian apodization or rectangular apodization beam synthesis on the echo of the first ultrasonic wave to obtain the third receiving signal.
7. The method of blood flow imaging of any one of claims 1 to 6, wherein controlling the ultrasound probe to emit the first ultrasound waves toward the vascular region of the target object comprises:
controlling all or part of array elements of the ultrasonic probe to emit N times of first ultrasonic waves to a vascular region of a target object at a time interval T, wherein N is a natural number larger than 1;
the receiving, by the ultrasound probe, the echo of the first ultrasound wave returned by the vascular region includes:
And when each time of transmitting the first ultrasonic wave is finished, controlling all array elements of the ultrasonic probe to receive the echo of the first ultrasonic wave, and after the time interval T, controlling all or part of array elements of the ultrasonic probe to transmit the next first ultrasonic wave to a blood vessel region of a target object until the N times of transmission are finished.
8. The method of blood flow imaging according to any one of claims 1 to 6, wherein the unfocused wave comprises a plane wave or a divergent wave.
9. The method of blood flow imaging of any one of claims 1 to 6, wherein the ultrasound probe comprises an ultrasound convex array probe.
10. The blood flow imaging method of claim 9, wherein the target object comprises an abdomen or a fetus.
11. The blood flow imaging method according to any one of claims 1 to 6, wherein a highest imaging frame rate at which the blood flow velocity vector imaging is performed is greater than 100Hz.
12. The method of blood flow imaging according to any one of claims 1 to 6, further comprising:
acquiring a sampling position set in a blood vessel region of the tissue image;
acquiring blood flow velocity vector data corresponding to the sampling position;
And generating a blood flow movement velocity curve spectrum according to the blood flow velocity vector data corresponding to the sampling position, and displaying the blood flow movement velocity curve spectrum, wherein the blood flow movement velocity curve spectrum is used for representing the change condition of the blood flow velocity corresponding to the sampling position along with time.
13. A method of blood flow imaging, the method comprising:
controlling an ultrasonic probe to emit first ultrasonic waves to a blood vessel region of a target object, wherein the first ultrasonic waves are unfocused waves;
receiving an echo of the first ultrasonic wave returned by the blood vessel region through the ultrasonic probe;
performing beamforming of blood velocity vector imaging on an echo of the first ultrasonic wave to obtain a first receiving signal and a second receiving signal which are orthogonal in space, wherein the first receiving signal and the second receiving signal both comprise signals transverse to the transmitting direction of the first ultrasonic wave;
controlling the ultrasonic probe to emit second ultrasonic waves to a blood vessel region of the target object, wherein the second ultrasonic waves are focused waves;
receiving the echo of the second ultrasonic wave returned by the blood vessel region through the ultrasonic probe, and performing beam synthesis of tissue imaging on the echo of the second ultrasonic wave to obtain a third receiving signal;
Performing autocorrelation calculation on the first received signal and the second received signal to obtain blood flow velocity vector data of a target point in the blood vessel region, and obtaining a blood flow velocity vector image of the blood vessel region according to the blood flow velocity vector data of the target point in the blood vessel region;
obtaining a tissue image of the vascular region from the third received signal;
displaying the blood flow velocity vector image and the tissue image.
14. The method of blood flow imaging of claim 13, wherein the beamforming of the blood flow velocity vector imaging of the echo of the first ultrasonic wave to obtain a first received signal and a second received signal that are spatially orthogonal comprises:
performing even apodization beam synthesis on the echo of the first ultrasonic wave to obtain the first receiving signal;
and performing odd apodization beam synthesis on the echo of the first ultrasonic wave to obtain the second receiving signal.
15. The method of claim 14, wherein the performing autocorrelation calculation on the first received signal and the second received signal to obtain blood flow velocity vector data of a target point in the blood vessel region comprises:
Recombining the first received signal and the second received signal by using Euler transformation, and then obtaining a longitudinal frequency shift signal and a transverse frequency shift signal through heterodyne mediation;
performing autocorrelation calculation on the longitudinal frequency shift signal and the transverse frequency shift signal respectively to obtain longitudinal phase information and transverse phase information;
and obtaining a transverse blood flow velocity and a longitudinal blood flow velocity component of the target point in the blood vessel region according to the longitudinal phase information and the transverse phase information, and obtaining blood flow velocity vector data of the target point in the blood vessel region according to the transverse blood flow velocity and the longitudinal blood flow velocity component, wherein the blood flow velocity vector data comprises a blood flow velocity magnitude and a blood flow velocity direction.
16. The method of blood flow imaging of claim 13, wherein the beamforming of the blood flow velocity vector imaging of the echo of the first ultrasonic wave to obtain a first received signal and a second received signal that are spatially orthogonal comprises:
performing even apodization beam synthesis on the echo of the first ultrasonic wave in a first receiving direction to obtain a first receiving signal, and performing even apodization beam synthesis on the echo of the first ultrasonic wave in a second receiving direction to obtain a second receiving signal; or,
Performing odd apodization beam synthesis on the echo of the first ultrasonic wave in a first receiving direction to obtain a first receiving signal, and performing odd apodization beam synthesis on the echo of the first ultrasonic wave in a second receiving direction to obtain a second receiving signal;
wherein the first receiving direction and the second receiving direction are different and symmetrical with respect to the transmitting direction of the first ultrasonic wave.
17. The method of blood flow imaging of claim 16, wherein the performing autocorrelation calculations on the first and second received signals to obtain blood flow velocity vector data for a target point within the vascular region comprises:
and performing autocorrelation calculation on the first received signal and the second received signal to obtain a transverse blood flow velocity component and a longitudinal blood flow velocity component of a target point in the blood vessel region, and obtaining blood flow velocity vector data of the target point in the blood vessel region according to the transverse blood flow velocity component and the longitudinal blood flow velocity component, wherein the blood flow velocity vector comprises a blood flow velocity magnitude and a blood flow velocity direction.
18. The method of blood flow imaging of claim 13, wherein the beam forming for tissue imaging the echo of the second ultrasonic wave to obtain a third received signal comprises:
And carrying out Gaussian apodization or rectangular apodization beam synthesis on the echo of the second ultrasonic wave to obtain the third receiving signal.
19. The method of any one of claims 13 to 18, wherein controlling the ultrasound probe to emit the first ultrasound waves toward the vascular region of the target object comprises:
controlling all or part of array elements of the ultrasonic probe to emit N times of first ultrasonic waves to a vascular region of a target object at a time interval T, wherein N is a natural number larger than 1;
the receiving, by the ultrasound probe, the echo of the first ultrasound wave returned by the vascular region includes:
and when each time of transmitting the first ultrasonic wave is finished, controlling all array elements of the ultrasonic probe to receive the echo of the first ultrasonic wave, and after the time interval T, controlling all or part of array elements of the ultrasonic probe to transmit the next first ultrasonic wave to a blood vessel region of a target object until the N times of transmission are finished.
20. The method of any one of claims 13 to 18, wherein the unfocused wave comprises a plane wave or a divergent wave.
21. A method of blood flow imaging according to any one of claims 13 to 18, wherein the ultrasound probe comprises an ultrasound convex array probe.
22. The blood flow imaging method of claim 21, wherein the target object comprises an abdomen or a fetus.
23. The method of any one of claims 13 to 18, wherein the highest imaging frame rate at which the blood flow velocity vector imaging is performed is greater than 100Hz.
24. The method of blood flow imaging according to any one of claims 13 to 18, wherein the method further comprises:
acquiring a sampling position set in a blood vessel region of the tissue image;
acquiring blood flow velocity vector data corresponding to the sampling position;
and generating a blood flow movement velocity curve spectrum according to the blood flow velocity vector data corresponding to the sampling position, and displaying the blood flow movement velocity curve spectrum, wherein the blood flow movement velocity curve spectrum is used for representing the change condition of the blood flow velocity corresponding to the sampling position along with time.
25. A method of blood flow imaging, the method comprising:
exciting an ultrasonic probe to emit first ultrasonic waves to a vascular region of a target object according to a first ultrasonic wave emission signal, and exciting the ultrasonic probe to emit second ultrasonic waves to the vascular region of the target object according to a second ultrasonic wave emission signal, wherein the first ultrasonic wave emission signal and the second ultrasonic wave emission signal are obtained by performing even apodization and odd apodization on the same ultrasonic wave emission signal, the first ultrasonic waves and the second ultrasonic waves are unfocused waves, and the emission directions of the first ultrasonic waves and the second ultrasonic waves are the same;
Receiving an echo of the first ultrasonic wave and an echo of the second ultrasonic wave returned by a vascular region of the target object to obtain a first receiving signal and a second receiving signal, wherein the first receiving signal and the second receiving signal are orthogonal in space, and the first receiving signal and the second receiving signal both comprise signals transverse to the transmitting direction of the first ultrasonic wave or the second ultrasonic wave;
performing autocorrelation calculation on the first received signal and the second received signal to obtain blood flow velocity vector data of a target point in the blood vessel region, and obtaining a blood flow velocity vector image of the blood vessel region according to the blood flow velocity vector data of the target point in the blood vessel region;
obtaining a tissue image of the vascular region;
displaying the blood flow velocity vector image and the tissue image.
26. A method of blood flow imaging, the method comprising:
exciting an ultrasonic probe to emit first ultrasonic waves to a vascular region of a target object in a first emission direction according to a first ultrasonic wave emission signal, wherein the first ultrasonic wave emission signal is obtained by performing even apodization on the ultrasonic wave emission signal in the first emission direction;
Receiving an echo of the first ultrasonic wave returned by the blood vessel region of the target object to obtain a first receiving signal;
exciting the ultrasonic probe to emit second ultrasonic waves to a blood vessel region of the target object in a second emission direction according to a second ultrasonic wave emission signal, wherein the second ultrasonic wave emission signal is obtained by performing even apodization on the ultrasonic wave emission signal in the second emission direction;
receiving an echo of the second ultrasonic wave returned by the blood vessel region of the target object to obtain a second receiving signal;
the first ultrasonic wave and the second ultrasonic wave are unfocused waves, the first transmitting direction and the second transmitting direction are different and are symmetrical relative to the central line of a transmitting aperture, and the transmitting aperture is a corresponding transmitting aperture when the first ultrasonic wave or the second ultrasonic wave is transmitted;
wherein the first and second received signals are spatially orthogonal, each of the first and second received signals comprising a signal transverse to a direction of transmission of the first or second ultrasonic waves;
performing autocorrelation calculation on the first received signal and the second received signal to obtain blood flow velocity vector data of a target point in the blood vessel region, and obtaining a blood flow velocity vector image of the blood vessel region according to the blood flow velocity vector data of the target point in the blood vessel region;
Obtaining a tissue image of the vascular region;
displaying the blood flow velocity vector image and the tissue image.
27. A method of blood flow imaging, the method comprising:
exciting an ultrasonic probe to emit first ultrasonic waves to a vascular region of a target object in a first emission direction according to a first ultrasonic wave emission signal, wherein the first ultrasonic wave emission signal is obtained by performing odd apodization processing on the ultrasonic wave emission signal in the first emission direction;
receiving an echo of the first ultrasonic wave returned by the blood vessel region of the target object to obtain a first receiving signal;
exciting the ultrasonic probe to emit second ultrasonic waves to a blood vessel region of the target object in a second emission direction according to a second ultrasonic wave emission signal, wherein the second ultrasonic wave emission signal is obtained by performing odd apodization processing on the ultrasonic wave emission signal in the second emission direction;
receiving an echo of the second ultrasonic wave returned by the blood vessel region of the target object to obtain a second receiving signal;
the first ultrasonic wave and the second ultrasonic wave are unfocused waves, the first transmitting direction and the second transmitting direction are different and are symmetrical relative to the central line of a transmitting aperture, and the transmitting aperture is a corresponding transmitting aperture when the first ultrasonic wave or the second ultrasonic wave is transmitted;
Wherein the first and second received signals are spatially orthogonal, each of the first and second received signals comprising a signal transverse to a direction of transmission of the first or second ultrasonic waves;
performing autocorrelation calculation on the first received signal and the second received signal to obtain blood flow velocity vector data of a target point in the blood vessel region, and obtaining a blood flow velocity vector image of the blood vessel region according to the blood flow velocity vector data of the target point in the blood vessel region;
obtaining a tissue image of the vascular region;
displaying the blood flow velocity vector image and the tissue image.
28. A method of blood flow imaging, the method comprising:
exciting an ultrasonic probe to emit first ultrasonic waves to a vascular region of a target object according to a first ultrasonic wave emission signal, wherein the first ultrasonic wave emission signal is obtained by performing even apodization or odd apodization treatment on an initial ultrasonic wave emission signal, and the first ultrasonic waves are unfocused waves;
receiving an echo of the first ultrasonic wave returned by a vascular region of the target object;
performing Gaussian apodization or rectangular apodization beam synthesis on the echo of the first ultrasonic wave in a first receiving direction to obtain a first receiving signal, and performing Gaussian apodization or rectangular apodization beam synthesis on the echo of the first ultrasonic wave in a second receiving direction to obtain a second receiving signal, wherein the first receiving direction and the second receiving direction are different and symmetrical relative to the central line of a transmitting aperture, and the transmitting aperture is a corresponding transmitting aperture when the first ultrasonic wave is transmitted;
Wherein the first and second received signals are spatially orthogonal, each of the first and second received signals comprising a signal transverse to a direction of transmission of the first or second ultrasonic waves;
performing autocorrelation calculation on the first received signal and the second received signal to obtain blood flow velocity vector data of a target point in the blood vessel region, and obtaining a blood flow velocity vector image of the blood vessel region according to the blood flow velocity vector data of the target point in the blood vessel region;
obtaining a tissue image of the vascular region;
displaying the blood flow velocity vector image and the tissue image.
29. The method of any one of claims 25 to 28, wherein the acquiring a tissue image of the vascular region comprises:
transmitting a third ultrasonic wave to a blood vessel region of the target object, wherein the third ultrasonic wave is a focused wave;
receiving the echo of the third ultrasonic wave returned by the blood vessel region of the target object, and carrying out beam synthesis of tissue imaging on the echo of the third ultrasonic wave to obtain a third receiving signal;
and obtaining a tissue image of the blood vessel region according to the third received signal.
30. The method of any one of claims 25 to 28, wherein the acquiring a tissue image of the vascular region comprises:
obtaining a tissue image of the vascular region from the first received signal and/or the second received signal.
31. The method of any one of claims 25 to 28, wherein the unfocused wave comprises a plane wave or a divergent wave.
32. A method of blood flow imaging according to any of claims 25 to 28, wherein the ultrasound probe comprises an ultrasound convex array probe.
33. The method of blood flow imaging of claim 32, wherein the target object comprises an abdomen or a fetus.
34. The method of any one of claims 25 to 28, wherein a highest imaging frame rate at which a blood flow velocity vector image of the blood vessel region is obtained is greater than 100Hz.
35. The method of blood flow imaging according to any one of claims 25 to 28, wherein the method further comprises:
acquiring a sampling position set in a blood vessel region of the tissue image;
acquiring blood flow velocity vector data corresponding to the sampling position;
And generating a blood flow movement velocity curve spectrum according to the blood flow velocity vector data corresponding to the sampling position, and displaying the blood flow movement velocity curve spectrum, wherein the blood flow movement velocity curve spectrum is used for representing the change condition of the blood flow velocity corresponding to the sampling position along with time.
36. An ultrasound imaging apparatus, comprising:
an ultrasonic probe;
a transmission/reception circuit for controlling the ultrasonic probe to transmit ultrasonic waves to a blood vessel region of a target object and to receive echoes of the ultrasonic waves;
a processor for processing the echo of the ultrasonic wave, obtaining a tissue image and/or a blood flow velocity vector image of the blood vessel region;
a display for displaying the tissue image and/or blood flow velocity vector image;
the processor is further configured to perform the blood flow imaging method of any one of the preceding claims 1 to 35.
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