阅读说明：本技术 超声扫描方法、装置、终端设备及存储介质 (Ultrasonic scanning method, device, terminal equipment and storage medium ) 是由 刘勇 丁旻昊 熊飞 吴跃宝 孔维智 于兴浩 王筱毅 李明 梁志成 任冠清 于 2020-12-07 设计创作，主要内容包括：本发明公开了一种超声扫描方法、系统、终端设备及存储介质,所述方法包括：根据预设的初始扫描路径对待检查部位进行扫描,并确定所述待检查部位的初始姿态信息；采集所述待检查部位的超声图像,并在采集的过程中获取所述待检查部位的实时姿态信息；根据所述初始姿态信息与所述实时姿态信息,调整所述初始扫描路径。本发明可根据待检查部位的姿态变化,自动调整扫描路径,以使得超声波探头与待检查部位的相对位置和角度不变,方便实现超声图像的配准,提升图像质量。(The invention discloses an ultrasonic scanning method, a system, a terminal device and a storage medium, wherein the method comprises the following steps: scanning a part to be inspected according to a preset initial scanning path, and determining initial attitude information of the part to be inspected; acquiring an ultrasonic image of the part to be inspected, and acquiring real-time attitude information of the part to be inspected in the acquisition process; and adjusting the initial scanning path according to the initial attitude information and the real-time attitude information. The invention can automatically adjust the scanning path according to the posture change of the part to be inspected so as to ensure that the relative position and the angle of the ultrasonic probe and the part to be inspected are not changed, thereby conveniently realizing the registration of the ultrasonic image and improving the image quality.)

1. A method of ultrasound scanning, the method comprising:

scanning a part to be inspected according to a preset initial scanning path, and determining initial attitude information of the part to be inspected;

acquiring an ultrasonic image of the part to be inspected, and acquiring real-time attitude information of the part to be inspected in the acquisition process;

and adjusting the initial scanning path according to the initial attitude information and the real-time attitude information.

2. The ultrasonic scanning method of claim 1, wherein the scanning the portion to be inspected according to a preset scanning path and determining the initial posture information of the portion to be inspected comprises:

scanning a part to be inspected according to a preset initial scanning path to obtain an initial intersection point coordinate of a preset grid line on the part to be inspected;

and determining the initial attitude information of the part to be inspected according to the initial intersection point coordinates.

3. The ultrasonic scanning method as claimed in claim 2, wherein said predetermined grid lines are grid lines having a plurality of crossing horizontal and vertical axes previously pasted or drawn on the portion to be inspected.

4. The ultrasonic scanning method of claim 3, wherein said determining initial pose information of the part to be inspected according to the initial intersection coordinates comprises:

connecting the intersection points where the initial intersection point coordinates are located into a first curved surface;

and smoothing the first curved surface by an interpolation method to obtain an initial curved surface, wherein the initial curved surface is used for reflecting the initial attitude information.

5. The ultrasonic scanning method of claim 4, wherein the acquiring real-time posture information of the part to be inspected during the acquisition process comprises:

acquiring real-time intersection point coordinates of preset grid lines on the part to be inspected in real time;

comparing the real-time intersection point coordinates with the initial intersection point coordinates;

and if the real-time intersection point coordinate is not the same as the initial intersection point coordinate, determining the real-time attitude information of the part to be inspected according to the real-time intersection point coordinate.

6. The ultrasonic scanning method of claim 5, wherein said determining real-time pose information of said portion to be inspected based on said real-time intersection coordinates comprises:

connecting the intersection points where the real-time intersection point coordinates are located into a second curved surface;

and smoothing the second curved surface by an interpolation method to obtain a real-time curved surface, wherein the real-time curved surface is used for reflecting the real-time attitude information.

7. The ultrasound scanning method of claim 6, wherein said adjusting the initial scanning path according to the initial pose information and the real-time pose information comprises:

acquiring a set of points of the initial curved surface on a scanning path according to the initial curved surface to obtain a curve of the initial scanning path;

projecting the curve of the initial scanning path onto the real-time curved surface to obtain the curve of the real-time scanning path;

and controlling an ultrasonic probe to scan the part to be inspected by using the curve of the real-time scanning path so as to enable the relative position and angle of the ultrasonic probe and the part to be inspected to be unchanged.

8. An ultrasound scanning apparatus, characterized in that the apparatus comprises:

the initial attitude information determining module is used for scanning the part to be inspected according to a preset initial scanning path and determining the initial attitude information of the part to be inspected;

the real-time attitude information determining module is used for acquiring the ultrasonic image of the part to be inspected and acquiring the real-time attitude information of the part to be inspected in the acquisition process;

and the scanning path adjusting module is used for adjusting the initial scanning path according to the initial attitude information and the real-time attitude information.

9. A terminal device, characterized in that the terminal device comprises a memory, a processor and an ultrasound scanning program stored in the memory and executable on the processor, and the processor implements the steps of the ultrasound scanning method according to any one of claims 1 to 7 when executing the ultrasound scanning program.

10. A computer-readable storage medium, having stored thereon an ultrasound scanning program which, when executed by a processor, implements the steps of the ultrasound scanning method of any of claims 1-7.

Technical Field

The present invention relates to the field of ultrasound scanning technologies, and in particular, to an ultrasound scanning method, an ultrasound scanning apparatus, a terminal device, and a storage medium.

Background

The prior art requires strict fixation of the patient during the pre-operative diagnosis and intra-operative navigation phases. Because in current scanning and navigation systems, the external physical space is used as the reference coordinate system. When performing vascular surgery on a part of a limb waiting for examination, a large-scale vascular scan is performed on the limb to obtain an ultrasound image. But bending or rotation occurs at joints, such as knee joints, ankle joints, etc., due to limbs. During scanning or navigation, the degree of bending of the joint and the steering angle change, which can cause the slight displacement of the limbs. Therefore, the displacement during the scanning process or during the surgical navigation can cause the deviation of the scanning path, thereby affecting the registration of the ultrasonic image.

Thus, there is a need for improvements and enhancements in the art.

Disclosure of Invention

The technical problem to be solved by the present invention is to provide an ultrasound scanning method, an ultrasound scanning apparatus, a terminal device and a storage medium, aiming at solving the problem that the registration of an ultrasound image is affected due to the deviation of a scanning path caused by the easy displacement of a to-be-scanned part during ultrasound scanning in the prior art.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows:

in a first aspect, the present invention provides an ultrasound scanning method, wherein the method comprises:

scanning a part to be inspected according to a preset initial scanning path, and determining initial attitude information of the part to be inspected;

acquiring an ultrasonic image of the part to be inspected, and acquiring real-time attitude information of the part to be inspected in the acquisition process;

and adjusting the initial scanning path according to the initial attitude information and the real-time attitude information.

In one implementation, the scanning the portion to be inspected according to a preset scanning path and determining initial posture information of the portion to be inspected includes:

scanning a part to be inspected according to a preset initial scanning path to obtain an initial intersection point coordinate of a preset grid line on the part to be inspected;

and determining the initial attitude information of the part to be inspected according to the initial intersection point coordinates.

In one implementation, the preset grid lines are grid lines which are pasted or drawn on the part to be inspected in advance and have a plurality of staggered transverse axes and longitudinal axes.

In one implementation, the determining initial posture information of the part to be inspected according to the initial intersection point coordinates includes:

connecting the intersection points where the initial intersection point coordinates are located into a first curved surface;

and smoothing the first curved surface by an interpolation method to obtain an initial curved surface, wherein the initial curved surface is used for reflecting the initial attitude information.

In one implementation, the acquiring real-time posture information of the portion to be inspected in the acquisition process includes:

acquiring real-time intersection point coordinates of preset grid lines on the part to be inspected in real time;

comparing the real-time intersection point coordinates with the initial intersection point coordinates;

and if the real-time intersection point coordinate is not the same as the initial intersection point coordinate, determining the real-time attitude information of the part to be inspected according to the real-time intersection point coordinate.

In one implementation, the determining the real-time posture information of the portion to be inspected according to the real-time intersection point coordinates includes:

connecting the intersection points where the real-time intersection point coordinates are located into a second curved surface;

and smoothing the second curved surface by an interpolation method to obtain a real-time curved surface, wherein the real-time curved surface is used for reflecting the real-time attitude information.

In one implementation, the adjusting the initial scanning path according to the initial pose information and the real-time pose information includes:

acquiring a set of points of the initial curved surface on a scanning path according to the initial curved surface to obtain a curve of the initial scanning path;

projecting the curve of the initial scanning path onto the real-time curved surface to obtain the curve of the real-time scanning path;

and controlling an ultrasonic probe to scan the part to be inspected by using the curve of the real-time scanning path so as to enable the relative position and angle of the ultrasonic probe and the part to be inspected to be unchanged.

In a second aspect, an embodiment of the present invention further provides an ultrasound scanning apparatus, where the apparatus includes:

the initial attitude information determining module is used for scanning the part to be inspected according to a preset initial scanning path and determining the initial attitude information of the part to be inspected;

the real-time attitude information determining module is used for acquiring the ultrasonic image of the part to be inspected and acquiring the real-time attitude information of the part to be inspected in the acquisition process;

and the scanning path adjusting module is used for adjusting the initial scanning path according to the initial attitude information and the real-time attitude information.

In a third aspect, an embodiment of the present invention further provides a terminal device, where the terminal device includes a memory, a processor, and an ultrasound scanning program that is stored in the memory and is executable on the processor, and when the processor executes the ultrasound scanning program, the steps of the ultrasound scanning method in any of the above schemes are implemented.

In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, where an ultrasound scanning program is stored on the computer-readable storage medium, and when the ultrasound scanning program is executed by a processor, the steps of the ultrasound scanning method in any one of the above schemes are implemented.

Has the advantages that: compared with the prior art, the invention provides an ultrasonic scanning method, which comprises the steps of firstly scanning the part to be detected according to a preset initial scanning path and determining the initial attitude information of the part to be detected. Then, acquiring an ultrasonic image of the part to be inspected, and acquiring real-time attitude information of the part to be inspected in the acquisition process. And finally, adjusting the initial scanning path according to the initial attitude information and the real-time attitude information. Therefore, the scanning path is automatically adjusted according to the posture change of the part to be inspected, so that the relative position and the angle of the ultrasonic probe and the part to be inspected are unchanged, the registration of ultrasonic images is conveniently realized, and the image quality is improved.

Drawings

Fig. 1 is a flowchart of an embodiment of an ultrasound scanning method according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of acquiring a posture information in an ultrasound scanning method according to an embodiment of the present invention.

Fig. 3 is a schematic block diagram of an ultrasound scanning apparatus according to an embodiment of the present invention.

Fig. 4 is a schematic block diagram of an internal structure of a terminal device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The prior art requires strict fixation of the patient during the pre-operative diagnosis and intra-operative navigation phases. Because in current scanning and navigation systems, the external physical space is used as the reference coordinate system. When performing vascular surgery on a part of a limb waiting for examination, a large-scale vascular scan is performed on the limb to obtain an ultrasound image. But bending or rotation occurs at joints, such as knee joints, ankle joints, etc., due to limbs. During scanning or navigation, the degree of bending of the joint and the steering angle change, which can cause the slight displacement of the limbs. Therefore, the displacement during the scanning process or during the surgical navigation can cause the deviation of the scanning path, thereby affecting the registration of the ultrasonic image.

In addition, in the prior art, the ultrasonic probe is basically clamped by a mechanical arm to perform ultrasonic scanning of the examined part, the working mechanism of the ultrasonic probe is that an ultrasonic doctor firstly pulls the mechanical arm to complete one ultrasonic scanning, the mechanical arm records the motion path of the probe scanned at this time, and then the ultrasonic probe presents the examined part in the operation according to the recorded motion path of the probe, and the operation is performed in cooperation with the surgeon. The motion track of the probe is completely the same in each scanning. The method is used on the premise that the part to be inspected is strictly fixed to ensure that the same part is scanned every time, so that the accuracy of image registration and navigation in the operation can be ensured. If the part to be detected is difficult to fix and the posture changes (bending, displacement or rotation) occur during the operation, an ultrasonic doctor may be required to manually adjust the probe motion track of the mechanical arm to enable the ultrasonic image to achieve registration, so that the labor intensity of the doctor implementing the operation can be increased, and the operation efficiency is reduced.

In order to solve the problems in the prior art, an embodiment of the present invention provides an ultrasound scanning method, and compared with the prior art, in this embodiment, firstly, the part to be inspected is scanned according to a preset initial scanning path, and initial posture information of the part to be inspected is determined. Then, acquiring an ultrasonic image of the part to be inspected, and acquiring real-time attitude information of the part to be inspected in the acquisition process. And finally, adjusting the initial scanning path according to the initial attitude information and the real-time attitude information. Therefore, the scanning path is automatically adjusted according to the posture change of the part to be inspected, so that the relative position and the angle of the ultrasonic probe and the part to be inspected are unchanged, the registration of ultrasonic images is conveniently realized, and the image quality is improved.

Exemplary method

The ultrasonic scanning method in this embodiment may be applied to a terminal device, as shown in fig. 1, and specifically includes the following steps:

s100, scanning a part to be inspected according to a preset initial scanning path, and determining initial posture information of the part to be inspected.

The scanning path can be automatically adjusted after the posture of the part to be inspected changes, which is required to be realized by the embodiment, so that the ultrasonic scanning is carried out through the adjusted scanning path, and the image registration is conveniently realized. For this reason, the present embodiment first needs to establish an initial scan path and initial pose information. Specifically, the ultrasonic scanning system in this embodiment includes a displacement sensing device (e.g., a stereo camera with an infrared distance measurement function), a mechanical arm, and an ultrasonic imaging device. An ultrasonic imaging device (i.e., an ultrasonic probe) is disposed at the end of the robot arm to adjust the scanning path of the ultrasonic imaging device by the robot arm. In this embodiment, an initial scan path is first constructed, which may be prepared before performing a pre-operation or preset before performing an ultrasound scan. After the scanning path is constructed, the controllable mechanical arm drives the ultrasonic imaging device to scan the part to be inspected according to the scanning path, so as to obtain the initial attitude information of the part to be inspected. In the present embodiment, the initial posture information is used to reflect the posture of the part to be examined at the beginning of the ultrasound scan (i.e., at the beginning of being fixed). Specifically, in order to better acquire the initial posture information of the portion to be inspected, in this embodiment, a grid line may be set on the portion to be inspected in advance, and the grid line may be pasted or drawn on the portion to be inspected, and the grid line is composed of a plurality of grid lines with a horizontal axis and a vertical axis staggered. In one implementation manner, the preset grid lines on the part to be inspected are m × n, wherein m is greater than or equal to 3, n is greater than or equal to 3, m is the number of horizontal axes, and n is the number of vertical axes. Because the part to be checked is provided with grid lines, and the grid lines are provided with a plurality of intersection points of intersecting horizontal axes and vertical axes. According to the embodiment, the part to be inspected can be used as a reference coordinate, then the initial intersection point coordinates of the intersection points are obtained, and then the initial posture information of the part to be inspected can be obtained according to the initial intersection point coordinates.

In an implementation manner, when the initial posture information is determined according to the initial intersection coordinates, the intersection point where the initial intersection coordinates are located may be connected to form a first curved surface, such as the graph a in fig. 2, and then the first curved surface is smoothed by an interpolation method to obtain an initial curved surface, such as the graph B in fig. 2, where the initial curved surface is used to reflect the initial posture information. As can be seen from the diagram B in fig. 2, the initial curved surface is similar to the body surface curved surface of the portion to be inspected, so that the initial curved surface can represent the initial posture information of the portion to be inspected, and each corner point on the initial curved surface is a point on the initial scanning path, and when the ultrasonic imaging device is used to start scanning the portion to be inspected, the point on the initial scanning path can be scanned along. In this embodiment, when the intersection point coordinates are obtained, the stereo camera having the infrared distance measurement function may be used, and since the stereo camera has the infrared distance measurement function, the intersection point coordinates of the preset grid lines on the portion to be inspected may be conveniently obtained.

S200, acquiring an ultrasonic image of the part to be inspected, and acquiring real-time attitude information of the part to be inspected in the acquisition process.

In this embodiment, after the initial scanning path is established and the initial posture information is acquired, the present embodiment starts to acquire an ultrasound image of the portion to be inspected, and during scanning, the ultrasound imaging image of the present embodiment acquires the ultrasound image of the portion to be inspected according to the initial scanning path. In the acquisition process, the ultrasonic imaging device acquires real-time attitude information of the part to be inspected. Specifically, the present embodiment obtains real-time intersection coordinates of preset grid lines on the to-be-inspected portion in real time. The real-time intersection coordinates are then compared with the initial intersection coordinates. In a specific application, the real-time intersection point coordinate and the initial intersection point coordinate are compared after the real-time intersection point coordinate is obtained according to a positioning mode of relative coordinates. If the real-time intersection point coordinate is the same as the initial intersection point coordinate, the scanning path is not changed at the moment, and therefore the scanning path does not need to be adjusted. And if the real-time intersection point coordinate is different from the initial intersection point coordinate, the posture of the part to be inspected is changed, the scanning path of the ultrasonic probe is changed, and the real-time scanning path needs to be adjusted. Therefore, it is necessary to acquire real-time posture information of the portion to be examined. In specific application, the real-time attitude information of the part to be inspected can be determined according to the real-time intersection point coordinates. And similarly, connecting the intersection points where the real-time intersection point coordinates are located into a second curved surface. And smoothing the second curved surface by an interpolation method to obtain a real-time curved surface, wherein the real-time curved surface is similar to the body surface curved surface of the part to be detected at the moment, so that the real-time curved surface is used for reflecting the real-time attitude information.

And S300, adjusting the initial scanning path according to the initial attitude information and the real-time attitude information.

In the scanning process, the intersection point coordinates on the preset grid lines on the part to be inspected are changed, namely the initial intersection point coordinates are changed into the real-time intersection point coordinates, so that the posture of the part to be inspected is changed. At the moment, if the mode of controlling the ultrasonic probe is achieved by manually adjusting the mechanical arm, the workload of operators can be increased, and the imaging efficiency is reduced. For this reason, the present embodiment may adjust the initial scanning path, and adjust the relative angle and the relative position between the ultrasound probe and the portion to be inspected when the posture information of the portion to be inspected changes. Even if the attitude information of the part to be inspected changes, the relative position and angle between the ultrasonic probe and the part to be scanned can be ensured to be unchanged, thereby improving the imaging quality.

In this embodiment, by comparing the real-time posture information with the initial posture information, it can be determined whether the initial posture information of the portion to be inspected changes, for example, if the portion to be inspected is an arm, it can be determined whether the arm bends, moves, twists or not according to the initial posture information and the real-time posture information of the arm. If these conditions occur, adjustments may be made to the scan path of the arm. In specific implementation, in this embodiment, a set of points of the initial curved surface on a scanning path is obtained according to the initial curved surface to obtain a curve of the initial scanning path, and when an ultrasound probe starts to perform ultrasound scanning, ultrasound image acquisition is performed on the portion to be inspected according to the curve of the initial scanning path. Then, the curve of the initial scanning path is projected onto the real-time curved surface to obtain the curve of the real-time scanning path, and the curve of the real-time scanning path is the path curve adjusted for the initial scanning path, so that the ultrasonic probe is controlled to scan the part to be inspected by using the curve of the real-time scanning path until the scanning is finished, so that the relative position and the angle between the ultrasonic probe and the part to be inspected are unchanged, the problem of image registration caused by small posture change of the part to be inspected can be solved, the imaging quality is improved, the adjustment work of an operation doctor is reduced, and the labor intensity is reduced. Of course, in the embodiment, if the real-time posture information changes again in the subsequent steps, new posture information may be obtained again by referring to the above method, and then the changed real-time scanning path is adjusted, so that the scanning path may be adjusted at any time when the posture of the portion to be inspected changes, so as to ensure the imaging quality.

The embodiment mainly solves the problem of image registration caused by small change of the part to be detected. For a huge posture change, such as 180-degree turning, displacement tracking cannot be completed due to the fact that the preset grid lines are shielded or moved out of the field of view of the stereo camera, the system enters a protection state, ultrasonic image acquisition is stopped, and the mechanical arm can drive the ultrasonic probe to return to an initial state.

Exemplary device

As shown in fig. 3, an embodiment of the present invention provides an ultrasound scanning apparatus, including: the system comprises an initial attitude information determination module 10, a real-time attitude information determination module 20 and a scanning path adjustment module 30. Specifically, the initial posture information determining module 10 is configured to scan the portion to be inspected according to a preset initial scanning path, and determine initial posture information of the portion to be inspected. The real-time attitude information determination module 20 is configured to acquire an ultrasound image of the portion to be inspected, and acquire real-time attitude information of the portion to be inspected during an acquisition process. The scanning path adjusting module 30 is configured to adjust the initial scanning path according to the initial posture information and the real-time posture information.

In one implementation, the initial pose information determination module 10 includes:

the device comprises an initial intersection point coordinate acquisition unit, a data acquisition unit and a data processing unit, wherein the initial intersection point coordinate acquisition unit is used for scanning a part to be inspected according to a preset initial scanning path to obtain an initial intersection point coordinate of a preset grid line on the part to be inspected;

and the initial attitude information determining unit is used for determining the initial attitude information of the part to be inspected according to the initial intersection point coordinates.

In one implementation, the real-time pose information determination module 20 includes:

the real-time intersection point coordinate unit is used for acquiring real-time intersection point coordinates of preset grid lines on the part to be inspected in real time;

the intersection point coordinate comparison unit is used for comparing the real-time intersection point coordinate with the initial intersection point coordinate;

and the real-time attitude information determining unit is used for determining the real-time attitude information of the part to be inspected according to the real-time intersection point coordinate if the real-time intersection point coordinate is different from the initial intersection point coordinate.

In one implementation, the scan path adjusting module 30 further includes:

the curve determining unit of the initial scanning path is used for acquiring a set of points of the initial curved surface on the scanning path according to the initial curved surface to obtain a curve of the initial scanning path;

the curve determining unit of the real-time scanning path is used for projecting the curve of the initial scanning path onto the real-time curved surface to obtain the curve of the real-time scanning path;

and the scanning path adjusting unit is used for controlling the ultrasonic probe to scan the part to be inspected according to the curve of the real-time scanning path, so that the relative position and the angle between the ultrasonic probe and the part to be inspected are unchanged.

Based on the above embodiments, the present invention further provides a terminal device, and a schematic block diagram thereof may be as shown in fig. 4. The terminal equipment comprises a processor, a memory, a network interface, a display screen and a temperature sensor which are connected through a system bus. Wherein the processor of the terminal device is configured to provide computing and control capabilities. The memory of the terminal equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the terminal device is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to implement an ultrasound scanning method. The display screen of the terminal equipment can be a liquid crystal display screen or an electronic ink display screen, and the temperature sensor of the terminal equipment is arranged in the terminal equipment in advance and used for detecting the operating temperature of the internal equipment.

It will be understood by those skilled in the art that the block diagram of fig. 4 is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation to the terminal device to which the solution of the present invention is applied, and a specific terminal device may include more or less components than those shown in the figure, or may combine some components, or have different arrangements of components.

In one embodiment, a terminal device is provided, where the terminal device includes a memory, a processor, and an ultrasound scanning program stored in the memory and executable on the processor, and when the processor executes the ultrasound scanning program, the following operation instructions are implemented:

scanning the part to be inspected according to a preset initial scanning path, and determining initial attitude information of the part to be inspected;

acquiring an ultrasonic image of the part to be inspected, and acquiring real-time attitude information of the part to be inspected in the acquisition process;

and adjusting the initial scanning path according to the initial attitude information and the real-time attitude information.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the computer program is executed. Any reference to memory, storage, databases, or other media used in embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

In summary, the present invention discloses an ultrasound scanning method, an ultrasound scanning apparatus, a terminal device and a storage medium, wherein the method comprises: acquiring a voice recognition result, and determining intention information in the voice recognition result and an initial keyword corresponding to the intention information; determining a target keyword matched with the initial keyword according to the initial keyword; and replacing the initial keywords with the target keywords, and associating the target keywords with the intention information to form a corresponding relation between the intention information and the target keywords so as to finish the ultrasonic scanning. The invention can correct the initial keywords corresponding to the intention information in the voice recognition result, determine the target keywords corresponding to the intention information, and associate the target keywords with the intention information, thereby realizing error correction and facilitating more accurate voice execution.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.