JP2004209277A - Ultrasonograph - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an ultrasonograph which can increase the validity when obtaining an echo signal from an attention tissue as three dimension echo data and shorten inspection time. <P>SOLUTION: In the ultrasonograph which obtains several consecutive tomogram data by an ultrasonic probe with an ultrasonic transducer which emits ultrasonic sounds to a subject and receives the echo on the tip, a drive means which drives a spiral scan of the ultrasonic transducer which combines a radial scan where the ultrasonic transducer rotates on an insertion axis of the ultrasonic probe and a linear scan where the ultrasonic transducer moves along the insertion axis, and the echo signal from the ultrasonic transducer, the ultrasonic probe places an indicator which indicates the scope of the move. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

  The present invention relates to an ultrasonic diagnostic imaging apparatus that creates an ultrasonic tomographic image obtained by an ultrasonic transducer.

  2. Description of the Related Art In recent years, an ultrasonic diagnostic imaging apparatus that constructs a three-dimensional image from three-dimensional echo data obtained by transmitting and receiving ultrasonic waves to and from a living body has been proposed. Among them, the apparatus disclosed in Japanese Patent Application Laid-Open No. 4-183446 extracts contours of a plurality of different tomographic images such as X-ray CT, MRI, and ultrasound, and extracts blood vessel information on the other hand. One solid model image is displayed.

  With this configuration, it is possible to create a three-dimensional image of the affected part by making use of the image extractability of various tomographic imaging apparatuses. However, this apparatus requires a plurality of different tomographic imaging means such as X-ray CT, MRI, and ultrasound.

  Therefore, there has been proposed an ultrasonic diagnostic imaging apparatus that extracts a contour and a blood vessel of a portion of interest from only ultrasonic echo data. Among them, the apparatus disclosed in Japanese Patent Application Laid-Open No. 6-254097 obtains tissue information and movement information of a moving body in a three-dimensional space based on a reception signal from an ultrasonic probe.

  In particular, when obtaining movement information, the Doppler phenomenon caused by a moving body such as blood cells is used. Then, a contour image of the part of interest is extracted from the tissue information, and a blood flow image is extracted from the movement information. Further, a plurality of two-dimensional images are generated by projecting the three-dimensional distribution information of the contour image and the blood flow image at each position while changing the viewpoint.

  With this configuration, a three-dimensional display combining a conventional B-mode image and a CFM (color flow mapping) image using the Doppler phenomenon is realized. Therefore, the three-dimensional structure of the part of interest and the three-dimensional structure of the blood flow image can be simultaneously observed, and for example, the relationship between the tumor and its vegetative blood vessels can be grasped.

  Further, as an apparatus for obtaining the three-dimensional echo data, an ultrasonic diagnostic imaging apparatus has been proposed which transmits and receives an ultrasonic wave into a living body while performing a three-dimensional scan such as a spiral scan in which a radial scan and a linear scan are combined. I have.

  Among them, in the devices disclosed in JP-A-6-30937, JP-A-6-30938 and JP-A-8-56947, an ultrasonic vibrator is disposed at the tip and the opposite end is radially arranged. A flexible shaft joined to the rotating shaft of the motor in the rotating section, and a ball screw having an end joined to the rotating shaft of the stepping motor are provided.

  Then, the rotation of the ball screw causes the entire radial rotating portion to advance and retreat via a member fitted to the ball screw, so that the motor, the flexible shaft and the ultrasonic vibrator also advance and retreat while rotating, thereby realizing a spiral scan.

  Note that the rotation ratio of the ball screw to the rotation of the ultrasonic vibrator is a settable constant value, and the ultrasonic vibrator advances and retreats by a predetermined distance when it makes one rotation. Then, a plurality of continuous tomographic image data is acquired as three-dimensional echo data from the echo signal from the test site.

  Further, the device disclosed in Japanese Patent Application Laid-Open No. 8-56947 has a configuration in which an ultrasonic transducer is provided in a flexible sheath of an ultrasonic probe, and the ultrasonic probe body is further covered with an outer sheath. .

  By the way, when an ultrasonic probe is inserted into a blood vessel other than a blood vessel such as a pancreatic duct and a bile duct to perform three-dimensional display, it is important to grasp a positional relationship between these blood vessels and a tumor spread around the blood vessel. It is. For example, it is medically important to understand how much the tumor has spread around the bile duct from the viewpoint of determining the range of resection by surgery.

  In addition, for example, blood vessels such as a portal vein may travel in a complicated manner around vessels other than blood vessels such as a bile duct, and these positions may be determined when a two-dimensional ultrasonic tomographic image is used for diagnosis. Doctors predict the relationship, but this was a difficult task.

  Also, for example, tumors often arise from vessels other than blood vessels such as the pancreatic duct and bile duct, and discriminating whether this tumor has reached blood vessels such as the portal vein is a way to know the possibility of metastasis. It is extremely important medically. It is also extremely important medically to discriminate tumor invasion not only from reaching blood vessels but also into blood vessels other than blood vessels such as lymph vessels in order to know the possibility of metastasis.

  Further, the above-described matter is also true in the neck where blood vessels such as the carotid artery and the jugular vein and vessels other than blood vessels such as the esophagus and trachea are close to each other. Therefore, it is desirable to be able to grasp the positional relationship between a vessel other than a blood vessel and a target tissue such as a tumor, or the positional relationship between a vessel other than a blood vessel and a blood vessel.

  More preferably, it is desirable to be able to grasp the mutual positional relationship between the blood vessel other than the blood vessel, the target tissue, and the blood vessel. Here, in the device disclosed in JP-A-6-254097, a blood flow image is extracted from the movement information of the moving body, so that a vegetative blood vessel such as a portal vein can be extracted as a blood flow. .

  However, since it is difficult to obtain movement information from vessels such as pancreatic ducts, bile ducts, and lymph vessels through which fluids such as pancreatic juice, bile, and lymph fluid flow at a low speed, it has been difficult to extract these. It has also been difficult to extract vessels such as the trachea, gastrointestinal tract such as the stomach, esophagus, and intestine, where fluids are not always flowing.

  Therefore, a first object of the present invention is to provide an ultrasonic diagnostic imaging apparatus capable of grasping a positional relationship between a vessel, for which movement information is difficult to obtain, and a target tissue or blood vessel.

  On the other hand, in the devices disclosed in JP-A-6-30937, JP-A-6-30938 and JP-A-8-56947, the ultrasonic vibrator is advanced and retracted by the rotation of a ball screw. The resolution in the insertion axis direction of the probe is affected by the pitch of the ball screw.

  In particular, when the ultrasonic beam emitted from the ultrasonic transducer is sufficiently sharp, the resolution is determined by the pitch of the ball screw. Separately, the rotation time of the ultrasonic vibrator is shortened per unit time due to restrictions such as the rotation resistance of the flexible shaft, the time to capture echo signals from the ultrasonic vibrator, and the time required to transmit and receive ultrasonic waves. There is a limit to increasing the number (frame rate) of tomographic image data to be taken into the camera.

  Further, when the frame rate is forcibly increased, there is a problem that rotation unevenness occurs at both ends of the flexible shaft, and the tomographic image data does not correctly reflect the rotation angle of the ultrasonic transducer.

  Therefore, the pitch of the ball screw is reduced in order to improve the resolution in the insertion axis direction, or the rotation ratio of the ball screw with respect to the rotation of the ultrasonic vibrator is reduced, so that the moving distance of the ultrasonic vibrator per rotation is reduced. Then, advance and retreat become slow, and it takes time for the spiral scan.

In particular, a patient undergoing an ultrasound examination has a problem in that the patient must be kept breathing during the spiral scan in order to avoid the problem of respiratory movement.
Therefore, a second object of the present invention is to provide an ultrasonic diagnostic imaging apparatus in which the scanning time is not lengthened and the resolution of the ultrasonic probe in the insertion axis direction is improved.

  Further, in the devices disclosed in JP-A-6-30937, JP-A-6-30938, and JP-A-8-56947, pulsation occurring during a spiral scan, respiratory movement, Since the tomographic motion such as peristaltic motion causes a blur between the tomographic image data and the obtained three-dimensional echo data becomes distorted, a distorted three-dimensional image is constructed from the three-dimensional echo data. There was a problem that would.

  For this reason, conventional ultrasonography requires administration of a peristaltic inhibitor to suppress peristalsis, and the patient must hold his or her breathing during the scan, which is an effective means of suppressing pulsation. There was no means.

  Therefore, a third object of the present invention is to provide an ultrasonic diagnostic imaging apparatus capable of correcting blurring between tomographic images due to body motion and acquiring good three-dimensional echo data without distortion.

  Incidentally, the ultrasonic probe of the device disclosed in JP-A-6-30937, JP-A-6-30938, and JP-A-8-56947 is actually inserted into a body to perform a spiral scan. When performing this, an ultrasonic tomographic image is often acquired by projecting from the end of the endoscope through an insertion portion such as a forceps tube provided in the endoscope.

  Since the tip of a normal endoscope is provided with an optical system and a bending mechanism that can change the optical observation direction, by using this method, the optical system can be used for spiral scanning of the tissue of interest and the ultrasonic transducer. While observing the situation, the direction of the ultrasonic transducer can be easily changed so that tomographic image data of the tissue of interest can be obtained.

  However, in the above-described apparatus, it is often not known where the ultrasonic transducer advances and retreats in the direction of the insertion axis of the ultrasonic probe until the start of the spiral scan.

  For this reason, there is a problem that the target tissue deviates from a range in which the tomographic image data can be obtained, and an echo signal from the target tissue may not be obtained as three-dimensional echo data.

  In addition, since the spiral scan is repeated while referring to the tomographic image data displayed during the ultrasonic examination to check whether or not the echo signal from the tissue of interest has been acquired in the three-dimensional echo data, the examination time is prolonged. There was also a problem.

  Therefore, a fourth object of the present invention is to provide an ultrasonic diagnostic imaging apparatus capable of increasing the certainty when acquiring an echo signal from a target tissue as three-dimensional echo data and shortening the examination time. is there.

In order to achieve the above first object, the following (1), (2), (3), (4), (5), (6), (7), (8), (9) , (10), (11), (12), and (13).
(1) Ultrasound provided with first vessel extracting means for extracting a vessel of a subject and three-dimensional processing means for constructing a three-dimensional image of the vessel extracted by the first vessel extracting means In an image diagnostic apparatus,
The first vessel extraction means extracts the vessel from three-dimensional echo data consisting of echo intensity information obtained by transmitting and receiving ultrasonic waves to and from a three-dimensional space of a subject, and extracts a target tissue from the three-dimensional echo data. A three-dimensional processing unit that extracts a three-dimensional image obtained by synthesizing the vessel extracted by the first vessel extraction unit and the target tissue extracted by the tissue extraction unit. Constructing.

  According to the above configuration, the first vessel extracting unit extracts a vessel from three-dimensional echo data including intensity information of an echo obtained by transmitting and receiving an ultrasonic wave to and from the three-dimensional space of the subject. The tissue extracting means extracts a target tissue from the three-dimensional echo data. The three-dimensional processing unit constructs a three-dimensional image in which the vessels extracted by the first vessel extracting unit and the target tissue extracted by the tissue extracting unit are combined.

(2) The ultrasonic image diagnostic apparatus according to (1), wherein the three-dimensional processing unit includes the vessel extracted by the first vessel extraction unit and the target extracted by the tissue extraction unit. The present invention is characterized in that a three-dimensional image is constructed by combining tissues with each other by different colors.
According to the above configuration, the three-dimensional processing unit constructs a three-dimensional image in which the blood vessel extracted by the first vessel extracting unit and the target tissue extracted by the tissue extracting unit are color-coded and combined.

(3) a first vessel extracting means for extracting a vessel of a subject, and a three-dimensional processing means for constructing a three-dimensional image of the vessel extracted by the first vessel extracting means; In an ultrasonic diagnostic imaging apparatus,
The first vessel extracting means extracts a plurality of vessels from three-dimensional echo data consisting of echo intensity information obtained by transmitting and receiving ultrasonic waves to and from a three-dimensional space of a subject, and the three-dimensional processing means And constructing a three-dimensional image obtained by combining the plurality of vessels extracted by the first vessel extraction means.
According to the above configuration, the first vessel extracting means extracts a plurality of vessels from three-dimensional echo data including intensity information of echoes obtained by transmitting and receiving ultrasonic waves to and from the three-dimensional space of the subject. The three-dimensional processing unit constructs a three-dimensional image in which the plurality of vessels extracted by the first vessel extracting unit are combined.

(4) The ultrasonic image diagnostic apparatus according to (3), wherein the three-dimensional processing unit combines the plurality of vessels extracted by the first vessel extraction unit by color-coding each other. Constructing a two-dimensional image.
According to the configuration, the three-dimensional processing unit constructs a three-dimensional image in which the plurality of vessels extracted by the first vessel extracting unit are color-coded and combined.

(5) An ultra-compact, comprising: a first vessel extracting means for extracting a vessel of a subject; and a three-dimensional processing means for constructing a three-dimensional image of the vessel extracted by the first vessel extracting means. In an ultrasonic diagnostic imaging apparatus,
The first vessel extracting means extracts the vessel from the three-dimensional echo data including the intensity information of the echo obtained by transmitting and receiving the ultrasonic wave to and from the three-dimensional space of the subject, and superimposes the vessel in the three-dimensional space of the subject. Second vessel extraction means for extracting a vessel from three-dimensional Doppler data comprising movement information of a moving body obtained by transmitting and receiving a sound wave is provided, and the three-dimensional processing means is extracted by the first vessel extraction means. And constructing a three-dimensional image in which the blood vessel extracted by the second blood vessel extracting means is combined with the blood vessel.

  According to the above configuration, the first vessel extracting unit extracts a vessel from three-dimensional echo data including intensity information of an echo obtained by transmitting and receiving an ultrasonic wave to and from the three-dimensional space of the subject. The second vessel extracting means extracts a vessel from three-dimensional Doppler data composed of movement information of a moving body obtained by transmitting and receiving ultrasonic waves to and from a three-dimensional space of the subject. The three-dimensional processing means constructs a three-dimensional image in which the blood vessels extracted by the first blood vessel extracting means and the blood vessels extracted by the second blood vessel extracting means are combined.

(6) The ultrasonic image diagnostic apparatus according to (5), wherein the three-dimensional processing unit extracts the vessel extracted by the first vessel extraction unit and the vessel extracted by the second vessel extraction unit. And constructing a three-dimensional image by combining the blood vessels with each other by color coding.
According to the above configuration, the three-dimensional processing unit constructs a three-dimensional image in which the blood vessels extracted by the first blood vessel extracting means and the blood vessels extracted by the second blood vessel extracting means are color-coded and combined. I do.

(7) An ultra-compact provided with first vessel extracting means for extracting a vessel of a subject, and three-dimensional processing means for constructing a three-dimensional image of the vessel extracted by the first vessel extracting means. In an ultrasonic diagnostic imaging apparatus,
The first vessel extraction means extracts the vessel from three-dimensional echo data consisting of echo intensity information obtained by transmitting and receiving ultrasonic waves to and from a three-dimensional space of a subject, and extracts a target tissue from the three-dimensional echo data. And a second vessel extracting means for extracting a vessel from three-dimensional Doppler data consisting of movement information of a moving body obtained by transmitting and receiving ultrasonic waves to and from a three-dimensional space of a subject,
The three-dimensional processing unit includes: the vessel extracted by the first vessel extraction unit; the vessel extracted by the second vessel extraction unit; and the target tissue extracted by the tissue extraction unit. And constructing a three-dimensional image obtained by combining

  According to the above configuration, the first vessel extracting unit extracts a vessel from three-dimensional echo data including intensity information of an echo obtained by transmitting and receiving an ultrasonic wave to and from the three-dimensional space of the subject. The tissue extracting means extracts a target tissue from the three-dimensional echo data. The second vessel extracting means extracts a vessel from three-dimensional Doppler data composed of movement information of a moving body obtained by transmitting and receiving ultrasonic waves to and from a three-dimensional space of the subject. The three-dimensional processing means is a three-dimensional image obtained by synthesizing the blood vessel extracted by the first blood vessel extracting means, the blood vessel extracted by the second blood vessel extracting means, and the target tissue extracted by the tissue extracting means. To build.

(8) The ultrasonic diagnostic imaging apparatus according to (7), wherein the three-dimensional processing unit extracts the vessel extracted by the first vessel extraction unit and the vessel extracted by the second vessel extraction unit. The obtained vessel and the target tissue extracted by the tissue extracting means are color-coded and combined to construct a three-dimensional image.

  According to the above configuration, the three-dimensional processing unit includes a vessel extracted by the first vessel extraction unit, a vessel extracted by the second vessel extraction unit, and a target tissue extracted by the tissue extraction unit. Are combined with each other to construct a three-dimensional image.

(9) The ultrasonic diagnostic imaging apparatus according to (1), (2), (3), (4), (5), (6), (7), or (8), wherein the first pulse The tube extracting means extracts the vessel based on a luminance difference from the surroundings of the three-dimensional echo data. According to the above configuration, the first vessel extracting unit extracts a vessel based on a luminance difference from the surroundings of the three-dimensional echo data.

(10) The ultrasonic image diagnostic apparatus according to the above (9), wherein the three-dimensional echo data is a plurality of tomographic images composed of echo intensity information obtained by transmitting and receiving ultrasonic waves to and from a three-dimensional space of a subject. The first vessel extraction means is provided with extraction start point setting means for setting an extraction start point on the plurality of tomographic image data, and the extraction start point is set on the plurality of tomographic image data. The vessel is extracted by extending a scan line radially from the extraction start point set by the setting means and searching for a vessel wall.

  According to the above configuration, the extraction start point setting means sets the extraction start point on the plurality of tomographic image data. The first vessel extraction means extracts a vessel by extending a scan line radially from the extraction start point set by the extraction start point setting means on a plurality of tomographic image data and searching for a vessel wall. I do.

(11) The ultrasonic diagnostic imaging apparatus according to (10), wherein the three-dimensional echo data includes a cross-section setting unit that sets a position of a plurality of cross-sections having a gradation of the three-dimensional echo data. The first vessel extraction means extends the scan line within an extraction range determined by the position of the extraction start point set by the extraction start point setting means and the positions of the plurality of cross sections set by the cross section setting means. Is characterized. According to the above configuration, the cross-section setting means sets the positions of a plurality of cross-sections having the gradation of the three-dimensional echo data in the three-dimensional echo data. The first vascular extraction means extends the scan line within an extraction range determined by the position of the extraction start point set by the extraction start point setting means and the positions of the plurality of cross sections set by the cross section setting means.

(12) The ultrasonic diagnostic imaging apparatus according to (1), (2), (3), (4), (5), (6), (7), (8), or (9), In the three-dimensional echo data, there is provided a cross-section setting means for setting a position of a cross-section having a gradation of the three-dimensional echo data, and the three-dimensional processing means is provided with the cross-section set by the cross-section setting means. A three-dimensional composite of the vessel extracted by the first vessel extraction means and the vessel extracted by the second vessel extraction means or the target tissue extracted by the tissue extraction means Constructing an image.

  According to the above configuration, the cross-section setting unit sets the position of the cross-section having the gradation of the three-dimensional echo data in the three-dimensional echo data. The three-dimensional processing means includes a section set by the section setting means, a vessel extracted by the first vessel extracting means, a vessel extracted by the second vessel extracting means, or a tissue extracted by the tissue extracting means. A three-dimensional image is constructed by combining the extracted target tissue.

(13) The ultrasonic diagnostic imaging apparatus according to (1), (2), (3), (4), (5), (6), (7), (8), or (9), In the three-dimensional echo data, there is provided a cross section setting means for setting a position of a cross section having a gradation of the three-dimensional echo data, and the three-dimensional processing means indicates the position of the cross section set by the cross section setting means. An index, the vessel extracted by the first vessel extraction unit, and the vessel extracted by the second vessel extraction unit or the target tissue extracted by the tissue extraction unit are synthesized. Display means for constructing a three-dimensional image and displaying the cross-section and the three-dimensional image constructed by synthesizing the index by the three-dimensional processing means at the same time is provided.

  According to the above configuration, the cross-section setting unit sets the position of the cross-section having the gradation of the three-dimensional echo data in the three-dimensional echo data. The three-dimensional processing means includes an index indicating the position of the cross-section set by the cross-section setting means, a vessel extracted by the first vessel extraction means, and a vessel or tissue extracted by the second vessel extraction means. A three-dimensional image is constructed by combining the target tissue extracted by the extraction means. The display means simultaneously displays the three-dimensional image constructed by combining the indices by the three-dimensional processing means and the cross section.

In order to achieve the second object, the following configuration (14) is adopted.
(14) An ultrasonic probe provided with an ultrasonic transducer for transmitting an ultrasonic wave to a subject and receiving an echo, and a radial scan in which the ultrasonic transducer rotates about an insertion axis of the ultrasonic probe. Driving means for driving a spiral scan of the ultrasonic vibrator in combination with a linear scan in which the ultrasonic vibrator advances and retreats along the insertion axis, and continuous driving from an echo signal from the ultrasonic vibrator. In an ultrasonic diagnostic imaging apparatus for obtaining a plurality of tomographic image data,
A plurality of the ultrasonic transducers are provided with different transmission / reception surfaces of the radial scan, and a plurality of ultrasonic transducers are obtained by performing the spiral scan. One piece of three-dimensional echo data is formed.

  According to the above configuration, the driving unit is configured to combine the ultrasonic scan in which the ultrasonic transducer rotates around the insertion axis of the ultrasonic probe and the linear scan in which the ultrasonic transducer advances and retreats along the insertion axis. Drive the spiral scan of the transducer. Then, one piece of three-dimensional echo data is constituted by a plurality of continuous tomographic image data obtained by performing a spiral scan by a plurality of ultrasonic transducers.

In order to achieve the third object, the following configuration (15) is adopted.
(15) An ultrasonic probe provided with an ultrasonic transducer for transmitting an ultrasonic wave to a subject and receiving an echo, and a radial scan in which the ultrasonic transducer rotates about an insertion axis of the ultrasonic probe. Driving means for driving a spiral scan of the ultrasonic vibrator in combination with a linear scan in which the ultrasonic vibrator advances and retreats along the insertion axis, and continuous driving from an echo signal from the ultrasonic vibrator. In an ultrasonic diagnostic imaging apparatus for obtaining a plurality of tomographic image data,
The driving unit is configured to repeat the advance and retreat of the ultrasonic probe a plurality of times, and to obtain a plurality of sets of the continuous plural tomographic image data obtained by the ultrasonic probe reciprocating a plurality of times, and And comparing the tomographic image data at the same position among the plurality of sets stored in the storage means, and providing a body motion recognizing means for recognizing the body motion between the tomographic image data, wherein the continuous A set of a plurality of representative tomographic image data sets.

  According to the above configuration, the driving unit is configured to combine the ultrasonic scan in which the ultrasonic transducer rotates around the insertion axis of the ultrasonic probe and the linear scan in which the ultrasonic transducer advances and retreats along the insertion axis. Driving is performed by repeating the spiral scan of the vibrator a plurality of times. The storage means stores a plurality of sets of continuous tomographic image data obtained by a plurality of advance and retreats of the ultrasonic probe. The body motion recognition means compares tomographic image data at the same position among a plurality of sets stored in the storage means, and recognizes body motion between the tomographic image data. Then, a set of a plurality of continuous representative tomographic image data in which the body motion has been corrected is configured.

(16) The ultrasonic image diagnostic apparatus according to the above (15), wherein a plurality of continuous body motion corrected by removing tomographic image data in which the body motion recognized by the body motion recognizing means is generated. One set of representative tomographic image data is provided.
According to the above configuration, one set of a plurality of continuous representative tomographic image data in which the body motion has been corrected is formed by removing the tomographic image data in which the body motion recognized by the body motion recognition unit has occurred.

In order to achieve the fourth object, the following configurations (17), (18) and (19) are provided.
(17) An ultrasonic probe provided with an ultrasonic transducer for transmitting an ultrasonic wave to a subject and receiving an echo, and a radial scan in which the ultrasonic transducer rotates about an insertion axis of the ultrasonic probe. Driving means for driving a spiral scan of the ultrasonic vibrator in combination with a linear scan in which the ultrasonic vibrator advances and retreats along the insertion axis, and continuous driving from an echo signal from the ultrasonic vibrator. In an ultrasonic diagnostic imaging apparatus for obtaining a plurality of tomographic image data,
The ultrasonic probe is provided with an index indicating the range of advance and retreat.

  According to the above configuration, the driving unit is configured to combine the ultrasonic scan in which the ultrasonic transducer rotates around the insertion axis of the ultrasonic probe and the linear scan in which the ultrasonic transducer advances and retreats along the insertion axis. Drive the spiral scan of the transducer. The index provided on the ultrasonic probe indicates the range of advance and retreat.

(18) The ultrasonic image diagnostic apparatus according to (17), wherein the ultrasonic probe transmits a driving force from the driving unit to the ultrasonic vibrator; A translucent flexible sheath having the ultrasonic vibrator therein, and a translucent outer sheath covering the flexible sheath, wherein the indicator is provided on the drive transmission member, I do.

According to the above configuration, the drive transmission member transmits the driving force from the driving unit to the ultrasonic vibrator, the radial scan in which the ultrasonic vibrator rotates around the insertion axis of the ultrasonic probe, and along the insertion axis. It drives a spiral scan of the ultrasonic transducer, which is combined with a linear scan in which the ultrasonic transducer moves forward and backward. The index provided on the drive transmission member indicates a range of advance and retreat through a translucent flexible sheath and a translucent outer sheath covering the flexible sheath.
(19) The ultrasonic diagnostic imaging apparatus according to (18), wherein the index is an annular member.

  ADVANTAGE OF THE INVENTION According to this invention, the reliability at the time of acquiring the echo signal from a target tissue as three-dimensional echo data can be increased and the ultrasonic imaging diagnostic apparatus which can shorten an examination time can be provided.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(First Embodiment)
1 to 11 relate to a first embodiment of the present invention, FIG. 1 shows a configuration of an ultrasonic diagnostic imaging apparatus according to the first embodiment of the present invention, and FIG. FIG. 3 shows the structure of the drive unit of the ultrasonic probe, FIG. 4 shows an explanatory diagram of a spiral scan using a combination of a radial scan and a linear scan, and FIG. FIG. 6 is a flowchart showing a series of processing contents performed by the arithmetic processing processor, FIG. 7 is a flowchart showing the vascular extraction processing contents in FIG. 6, and FIG. 8 is a multiplex echo and its removal. 9 shows tomographic image data in which an offset circle is set, FIG. 9 shows a state in which the outline of the region of the tissue of interest is extracted and surrounded by a pointer, and FIG. 10 shows a three-dimensional model. Shows the illustration, Figure 11 shows a 3-dimensional image displayed on the image processing monitor.

  As shown in FIG. 1, an ultrasonic diagnostic imaging apparatus 1 according to a first embodiment of the present invention includes an ultrasonic probe 2 for transmitting and receiving an ultrasonic wave, and an ultrasonic wave for ultrasonic observation using the ultrasonic probe 2. The apparatus includes an ultrasonic observation unit 3 for displaying a tomographic image and the like, and an image processing unit 4 for performing image processing on the ultrasonic echo data obtained by the ultrasonic observation unit 3.

  FIG. 2 shows a configuration of a distal end portion of the ultrasonic probe 2 that performs a spiral scan. An ultrasonic vibrator 6 provided with a lens 6a for converging an ultrasonic beam is disposed at the tip of the flexible shaft 5, and the flexible shaft 5 and the ultrasonic vibrator 6 are cylindrical and translucent. It is inserted through the inside of the flexible sheath 7.

The flexible sheath 7 is filled with a flowing medium 8 such as water, and the flowing medium 8 functions as a lubricant and an ultrasonic transmission medium. Further, a cylindrical and translucent outer sheath 9 is provided on the outside so as to cover the flexible sheath 7, and forms an insertion portion to be inserted into a body cavity.
The space between the outer sheath 9 and the flexible sheath 7 is filled with the fluid medium 8 as in the flexible sheath 7.

  The flexible shaft 5 is provided with reversing position marker members 10A and 10B indicating the range of the spiral scan performed by the ultrasonic probe 2 in the insertion axis direction. The reversing position marker members 10A and 10B are red or yellow. The colors are easy to see visually.

  Further, the inversion position marker members 10A and 10B are formed in an annular shape like a pipe, and the outer diameter thereof is different from the inner diameter of the flexible sheath 7 so that no gap is formed between the members. It is almost the same. In this way, the inversion position marker members 10A and 10B function as a bubble trap that does not leak air bubbles to the ultrasonic vibrator 6 when air bubbles exist inside the flexible sheath 7.

  FIG. 3 shows a configuration of a driving unit 11 that drives the ultrasonic probe 2 of the ultrasonic diagnostic imaging apparatus 1 according to the present embodiment. The rear end of the flexible shaft 5 is connected to the rotation shaft of the DC motor 12. The flexible sheath 7 is connected to a frame 14 of a radial rotating unit 13 in the driving unit 11.

  The outer sheath 9 is connected to a chassis 15 of the drive unit 11. The rotation of the DC motor 12 is transmitted to a rotary encoder 17 via a gear 16 meshing at a gear ratio of, for example, one to one, and the rotary encoder 17 outputs a rotational position signal of the ultrasonic transducer 6.

  The radial rotating unit 13 including the DC motor 12, the gear 16, and the rotary encoder 17 is connected to a linear driving member 18 as a whole. The linear drive member 18 is fitted to a ball screw 19, and the rear end of the ball screw 19 is connected to a rotation shaft of a stepping motor 20.

  The ultrasonic observation unit 3 shown in FIG. 1 performs processing for transmitting and receiving ultrasonic waves and displaying a real-time ultrasonic tomographic image, and the image processing unit 4 performs processing based on the echo data obtained by the ultrasonic observation unit 3. Image processing for displaying a two-dimensional image is performed.

  The ultrasonic observation unit 3 transmits an electric pulse to the ultrasonic vibrator 6 and amplifies an electric reception pulse from the ultrasonic vibrator 6 so that the ultrasonic vibrator 6 transmits and receives ultrasonic waves. A transmitting / receiving unit 21 for A / D converting the intensity into digital echo data; a frame memory 22 for storing echo data necessary for forming one tomographic image captured by the transmitting / receiving unit 21; The echo data stored in the memory 22 and expressed in a polar coordinate format represented by the rotation angle of the ultrasonic vibrator 6 and the distance from the ultrasonic vibrator 6 is represented by a horizontal displacement x and a vertical displacement y. A digital scan converter (abbreviated as DSC) 23 for performing coordinate conversion into tomographic image data expressed in the orthogonal coordinate format represented; a D / A converter 24 for converting tomographic image data output by the DSC 23 into analog signals; An observation monitor 25 that inputs an output image signal of the / A converter 24 and displays a real-time ultrasonic tomographic image, and a system controller 26 that controls each unit such as the drive unit 11, the transmission / reception unit 21, and the frame memory 22. It is provided with.

  The image processing unit 4 includes a CPU 27 that controls image processing and the like, a main storage device 28 that stores control performed by the CPU 27 and various processing programs that are performed by an arithmetic processing processor 30 described below, Vessel extraction, tissue extraction, and synthesis based on three-dimensional data storage device 29 that stores a plurality of continuous tomographic image data, that is, three-dimensional echo data, and three-dimensional echo data that is stored in three-dimensional data storage device 29 Processor 30 for performing various kinds of image processing such as hidden surface removal, shading, and coordinate conversion at high speed, a three-dimensional processing memory 31 for storing the processing results of the processor 30, and a control program and backup data. An external recording device 32 such as a hard disk for recording information, an operation terminal 33 such as a keyboard, and an arithmetic processor 30 A pointing device 34 such as a trackball for inputting a point or an area that needs to be designated for the processing, a frame buffer 35 for temporarily storing data after image processing, and a D for converting an output image signal of the frame buffer 35 into an analog signal. A / A converter 36 and an image processing monitor 37 that receives an image signal output from the D / A converter 36 and displays a three-dimensional image after image processing. Each unit in the image processing unit 4 transmits and receives various commands and data through the data transfer bus 38.

  In this embodiment, as will be described later, three-dimensional echo data composed of intensity information of echoes obtained by transmitting and receiving ultrasonic waves to and from the three-dimensional space of the subject by the arithmetic processing processor 30 and the pointing device 34 of the image processing unit 4. It is characterized in that a vessel and a tissue of interest are extracted more and a three-dimensional image in which the vessel and the tissue of interest are combined is constructed.

Hereinafter, the operation of the ultrasonic probe 2 and the drive unit 11 will be described.
When performing ultrasonic observation, the ultrasonic probe 2 is inserted into a body cavity, and the system controller 26 rotates the rotation shaft of the DC motor 12 and the flexible shaft 5 in the direction of the arrow in FIG.

  Then, the ultrasonic vibrator 6 attached to the distal end of the flexible shaft 5 rotates to transmit ultrasonic waves radially in a direction perpendicular to the axial direction (longitudinal direction) of the ultrasonic probe 2 and change the acoustic impedance. To receive the reflected ultrasonic wave (echo signal) reflected by. That is, the ultrasonic transducer 6 scans radially.

  Further, the system controller 26 detects the rotation angle of the ultrasonic vibrator 6 based on the rotation position signal from the rotary encoder 17 and rotates the rotation shaft of the stepping motor 20 and the ball screw 19 by a certain angle with respect to the rotation angle.

  Then, the linear drive member 18 and the radial rotating portion 13, and thus the flexible shaft 5, the ultrasonic vibrator 6 and the flexible sheath 7, move in the outer sheath 9 in the axial direction of the flexible shaft 5 by a minute pitch of the ball screw 19. Retreat. That is, the ultrasonic transducer 6 scans linearly in the direction of the insertion axis of the ultrasonic probe 2.

  In this manner, by performing the spiral scan (or three-dimensional scan) shown in FIG. 4C in which the radial scan shown in FIG. 4A and the linear scan shown in FIG. Obtain an echo signal for the region.

Incidentally, the details of the control of the spiral scan by the system controller 26 will be described as follows.
The position of the linear drive member 18 at the start of scanning is indicated by A in FIG. On the other hand, at the start of scanning, the tip of the ultrasonic probe 2 is assumed to be in the state shown in FIG. 2, and the position of the ultrasonic transducer 6 corresponding to A is shown by a in FIG. When the scan by the system controller 26 is started, the ultrasonic transducer 6 retreats toward the drive unit 11 while rotating. The transmission and reception of the ultrasonic waves are performed during this retreat.

  When the linear drive member 18 reaches the position B in FIG. 3, the system controller 26 reverses the rotation axis of the stepping motor 20 and the rotation direction of the ball screw 19. Then, the ultrasonic transducer 6 reverses the direction of advance and retreat, and advances from the drive unit 11 side. The position of the ultrasonic transducer 6 with respect to B is shown by b in FIG.

  Thus, the ultrasonic transducer 6 performs a spiral scan in the range indicated by a to b. By operating in this manner, at the start of the spiral scan, for example, the user passes through the translucent flexible sheath 7 and the outer sheath 9 from the optical observation system of the endoscope, and the ultrasonic vibrator 6, the inverted By checking the position marker member 10A, the positions a and b can be grasped, and the end of the spiral scan advance / retreat can be known.

  Further, when the amount of advance / retreat of the ultrasonic vibrator 6 is set to be short by an input from the operation terminal 33, when the linear drive member 18 reaches the position C in FIG. The ultrasonic vibrator 6 performs a spiral scan in a range indicated by a to c.

  In this case, the user grasps the positions a and c at the start of the spiral scan, for example, by confirming the ultrasonic transducer 6 and the reversal position marker member 10B from the optical observation system of the endoscope. , You can know the end of the spiral scan advance and retreat.

Hereinafter, the operation of the ultrasonic observation unit 3 and the image processing unit 4 will be described.
The ultrasonic echo signal obtained by the ultrasonic probe 2 is amplified by an amplifier in the transmission / reception unit 21. After that, in the transmission / reception unit 21, the intensity of the echo signal represented by the envelope, the power of the envelope, the absolute value, the square root, and the like is detected and converted into digital echo data. Echo data necessary to construct one ultrasonic tomographic image is stored in the frame memory 22.

  Then, the DSC 23 performs coordinate conversion and interpolation from the echo data expressed in the polar coordinate format to the tomographic image data expressed in the rectangular coordinate format. Thereafter, the tomographic image data is displayed on the observation monitor 25 via the D / A converter 24 as a real-time ultrasonic tomographic image.

  Further, by repeating this operation by the spiral scan of the ultrasonic probe 2, a plurality of continuous ultrasonic tomographic images are sequentially displayed on the observation monitor 25.

  On the other hand, the tomographic image data is sent to the image processing unit 4 from the subsequent stage of the DSC 23 together with accompanying data such as the size and the distance between the respective tomographic image data. Thus, a plurality of continuous tomographic image data shown in FIG. 5, that is, three-dimensional echo data, obtained by the spiral scan of the ultrasonic probe 2, is sent to the image processing unit 4. In FIG. 5, a plurality of tomographic image data are sequentially numbered for each frame. 0, No. 1, ..., No. It is numbered like N.

  The three-dimensional echo data is stored in the three-dimensional data storage device 29. Then, the arithmetic processing processor 30 extracts blood vessels, vessels other than blood vessels, and tissues of interest from the three-dimensional echo data, and performs various image processing such as synthesis, hidden surface removal, shading addition, and coordinate conversion.

  The processing result of the arithmetic processor 30 is stored in the three-dimensional processing memory 31 as three-dimensional image data. Details of the processing performed by the arithmetic processing processor 30 will be described later.

  The three-dimensional image data is sent to the frame buffer 35 to be temporarily stored, and sent to the image processing monitor 37 via the D / A converter 36. Thereafter, a three-dimensional image is displayed on the image processing monitor 37.

The various image processing steps performed by the arithmetic processing processor 30 are controlled by the CPU 27.
Hereinafter, details of the processing mainly performed by the arithmetic processing processor 30 will be described.
FIG. 6 is a diagram illustrating a series of processes performed by the arithmetic processing processor 30.

In step S1 shown in FIG. 6, a vessel extraction process for extracting a vessel is performed. FIG. 7 is a diagram for explaining the process of vascular extraction. Specifically, the processing is performed as follows.
In step S11 shown in FIG. 7, three-dimensional echo data is read from the three-dimensional echo data storage device 29. For convenience of explanation, each tomographic image data constituting the three-dimensional echo data is assigned a No. as shown in FIG. It is assumed that image numbers from 0 to N are assigned.

  In step S12 shown in FIG. 7, tomographic image data is smoothed from the three-dimensional echo data read from the three-dimensional data storage device 29 by a known method in order to remove noise that is disturbing at the time of vascular extraction. I do.

  In step S13 shown in FIG. 7, the first tomographic image data, that is, the image number No. The tomographic image data of 0 is displayed on the image processing monitor 37 as an ultrasonic tomographic image. This tomographic image data is shown in FIG.

  In step S14 shown in FIG. 7, an offset circle is set in order to remove echoes (multiple echoes) due to multiple reflections of ultrasonic waves from the flexible sheath 7 and the outer sheath 16 which are obstructive during vascular extraction. Data within the offset circle is excluded from the three-dimensional echo data.

  The multiplex echo and the offset circle are indicated by reference numerals 41 and 42 in FIG. FIG. 8 shows tomographic image data obtained by inserting the ultrasonic probe 2 into a vessel α other than a blood vessel in a body cavity.

  Therefore, since the ultrasonic transducer 6 is located at the center of the tomographic image data and the multiple echo 41 appears around the ultrasonic transducer 6, an offset circle 42 is set so as to surround this.

  The radius and center position of the offset circle 42 are set by a pointer 43 that can freely move within the screen under the control of the pointing device 34. This pointer 43 is displayed on the image processing monitor 37 as shown in FIG.

  In step S15 shown in FIG. 7, an extraction start point is set on a vessel to be extracted. The setting of the extraction start point is performed by using the pointing device 34 to set a point on a pulse to be extracted by a pointer. FIG. 8 shows a case where the extraction start point is set at the center of the ultrasonic image.

  In step S16 shown in FIG. 7, scan lines are radiated radially at an equal angle from the extraction start point, and a point on the scan line at which the luminance value changes is recognized as a wall of the vessel α.

  This scan line is shown as an arrow in FIG. In addition, since a blood vessel or a blood vessel other than a blood vessel usually has a weaker echo signal than a parenchymal tissue, the luminance value in the blood vessel that appears as an ultrasonic tomographic image is generally low. Therefore, in this step S16, it is sufficient to search the scan line from the extraction start point and extract the point where the luminance value first increases greatly as the vascular wall.

  In step S17 shown in FIG. 7, the position of the extracted vessel is output to the three-dimensional processing memory 31. In the process of step S16, since the vascular wall is extracted as points on a plurality of scan lines, the area in the vascular is treated as an area inside a closed curve connecting these points in order.

  In step S18 shown in FIG. 7, the center of gravity of the region in the vessel is calculated. The center of gravity can be calculated as the average (μx, μy) of the coordinates (x, y) of the components (pixels) of the tomographic image data in the vessel.

  In step S19 shown in FIG. It is determined whether or not the processing from step S16 to step S18 has been performed on the images up to N, and if the processing has been completed, the vascular extraction processing is terminated; otherwise, the processing jumps to step S16. The above processing is performed on tomographic image data having the next image number.

Note that the extraction start point of tomographic image data having the next image number is the center of gravity calculated in step S18. The center of gravity is newly set as the extraction start point because the vessel α appearing on each tomographic image data appears at almost the same position between the adjacent tomographic image data, and therefore the center of gravity is also used in the adjacent tomographic image data. This is because it is a point on α.
In this way, a vessel is extracted for each piece of tomographic image data, and its position is stored in the three-dimensional processing memory 31.

  In step S2 shown in FIG. 6, a target tissue such as a tumor is extracted. Specifically, it is extracted as follows. First, the three-dimensional echo data is read from the three-dimensional data storage device 29, and the tomographic image data is displayed on the image processing monitor 37 as an ultrasonic tomographic image.

  Then, the outline of the region to be extracted is surrounded by the pointer using the pointing device 34. Further, this operation is described as No. This is repeated for each of the tomographic image data 0 to N.

This is shown in FIG. As shown in FIG. For the tomographic image data of J (J = 1,..., N), the outline of the region of the tissue of interest is surrounded by the pointer.
Then, the extracted position of the target tissue is output to the three-dimensional processing memory 31. In this way, a tissue of interest is extracted for each piece of tomographic image data, and its position is stored in the three-dimensional processing memory 31.

  In step S3 shown in FIG. 6, an interpolation process between tomographic image data is performed on each of the vessels extracted in step S1 and the target tissue extracted in step S2, to construct respective three-dimensional models. FIG. 10 shows the storage format in the three-dimensional processing memory 31 at this time. Specifically, the processing is performed as follows.

  First, a three-dimensional data space having coordinates (x, y, z) is prepared in the three-dimensional processing memory 31 for each of a vessel and a tissue of interest. Then, for example, in the three-dimensional data space for the vessel, the component (pixel) on the (x, y) plane having the z coordinate corresponding to each tomographic image data exists at a position corresponding to the vessel. For example, blue is assigned to pixels as data.

  Pixels in other areas are colorless. As shown in FIG. 5, such tomographic image data is possible because the z-axis is arranged as a normal line. Note that among the pixels shown in squares in FIG. 10, the pixels that are blacked out indicate the pixels that exist at the position of the extracted vessel.

  Next, an interpolation process is performed between pixels to which colors are assigned by a known method. FIG. 10 shows a case where interpolation is performed by adding another interpolated plane between tomographic image data.

As described in the case of the vessel, the same processing is performed on the three-dimensional data space for the target tissue. At this time, the color assigned to the pixel as data is, for example, red.
Thus, the modeled vessel is stored in the three-dimensional data space for the vessel in the three-dimensional processing memory 31, and the modeled tissue of interest is stored in the three-dimensional data space for the tissue of interest.

In step S4 shown in FIG. 6, the extracted vessels and target tissues are combined into one three-dimensional data space. Specifically, the processing is performed as follows.
First, another three-dimensional data space is prepared in the three-dimensional processing memory 31. Then, data is added between pixels having the same coordinates (x, y, z) in the two three-dimensional data spaces for the vessel and the tissue of interest.

When adding a colorless pixel and a red pixel or a colorless pixel and a blue pixel, red or blue is used as the added value. When adding red and blue pixels, red is prioritized and red is used as the added value.
In this way, the vessel and the tissue of interest are combined into one three-dimensional data space and modeled.

In step S5 shown in FIG. 6, the synthesized vessel and target tissue are subjected to a three-dimensional process using a known method such as elimination of a hidden surface, addition of a shadow, and coordinate conversion to construct a three-dimensional image shown in FIG.
In step S6 shown in FIG. 6, this three-dimensional image is displayed on the image processing monitor 37.

  As described above, in the present embodiment, the arithmetic processing processor 30 and the pointing device 34 serve as a first vascular extraction unit, a tissue extraction unit, a three-dimensional processing unit, and an extraction start point setting unit, and the driving unit 11 serves as a driving unit. The flexible shaft 5 functions as a drive transmission member, and the inversion position marker members 7 and 8 function as indices indicating the range of advance and retreat of the ultrasonic transducer 6.

The present embodiment has the following effects.
In the present embodiment, the vessel and the tissue of interest are extracted by the arithmetic processing processor 30 and the pointing device 34 from three-dimensional echo data composed of echo intensity information obtained by transmitting and receiving ultrasonic waves to and from the three-dimensional space of the subject. Then, since the three-dimensional image in which the vessel and the tissue of interest are synthesized is constructed, the positional relationship between the vessel and the tissue of interest for which it is difficult to obtain movement information can be grasped.

  Therefore, for example, it is possible to grasp how much the tumor has spread around the blood vessel where it is difficult to obtain the movement information. For example, it is possible to provide important information when determining the resection range by surgery.

  Further, in the present embodiment, since a three-dimensional image is created by combining the extracted vessel and the tissue of interest with different colors, it is easy to visually distinguish the vessel and the tissue of interest.

Further, in the present embodiment, the reversing position marker members 10A and 10B provided on the drive transmission member advance and retreat through the translucent flexible sheath 7 and the translucent outer sheath 9 covering the flexible sheath 7. Since the range is shown, the user can well observe the ultrasonic transducer 6 and the inversion position marker members 10A and 10B from the optical observation system of the endoscope at the start of the spiral scan, for example. By grasping a, b, and c, it is possible to know the end of the advance / retreat of the spiral scan.
Therefore, it is possible to increase the certainty when acquiring the echo signal from the target tissue as three-dimensional echo data, and to shorten the examination time.

  In addition, in the present embodiment, since the inversion position marker members 10A and 10B are configured to be annular, when air bubbles are present inside the flexible sheath 7, the inversion position marker members 10A and 10B generate air bubbles. It functions as a bubble trap so that it does not come to the ultrasonic vibrator 6 side, and ultrasonic waves and echoes transmitted and received from the ultrasonic vibrator 6 are not disturbed by bubbles, so that good tomographic image data can be obtained. .

(Modification)
In the first embodiment, the flexible shaft 5, the ultrasonic vibrator 6, and the flexible sheath 7 are configured to advance and retreat in the outer sheath 9. However, the flexible shaft 5, the ultrasonic vibration The child 6 may be configured to retreat. With such a configuration, the outer sheath 9 is unnecessary.

  Further, in the present embodiment, after smoothing the tomographic image data in step S12, a scan line is radiated in step S16, and a point on the scan line where there is a change in luminance value is recognized as a vascular wall. After step S12, the tomographic image data may be binarized. By doing so, the vessel wall can be more clearly recognized.

  In the present embodiment, the image number No. Although the tomographic image data of 0 is displayed on the image processing monitor 37 as an ultrasonic tomographic image and the offset circle and the extraction start point are set, this may be performed on other tomographic image data.

  In the present embodiment, a vessel α other than a blood vessel is extracted as a vessel. However, in step S15 shown in FIG. 7, an extraction start point is set on a vessel (blood vessel) β shown in FIG. The blood vessel (blood vessel) β may be extracted by the above method.

  Further, in the present embodiment, the target tissue is extracted from the three-dimensional echo data by surrounding the outline of the region to be extracted with the pointer using the pointing device 34, but this extraction method may be any known method. . For example, it may be determined by a texture pattern included in the tomographic image data.

  Alternatively, the name of the doctor who is the user may be input from the operation terminal 33 or the like, and various parameters that need to be set in the processing performed by the arithmetic processing processor 30 may be changed based on the name. The various parameters include, for example, the orientation at the time of displaying a three-dimensional image, the light amount at the time of adding a shadow, and the threshold value at which a point at which the luminance value greatly increases for vascular extraction described in step S16 is extracted. Including.

  With this configuration, the setting of the apparatus can be simplified even when the setting is different depending on the user's preference. In this case, the operation terminal 33 functions as a user identification unit.

  Further, a motor torque adjusting knob for adjusting the torque when the stepping motor 20 rotates may be provided in the drive unit 11. At this time, the torque is adjusted by changing the current flowing through a drive circuit (not shown) of the stepping motor 20 using the motor torque adjustment knob.

  Generally, the stepping motor 20 does not rotate when a force equal to or more than a certain force corresponding to the amount of current flowing through the drive circuit is applied. Therefore, with this configuration, the constant force can be easily adjusted. For example, even if the ultrasonic probe 2 is sandwiched between something, the flexible shaft 5 and the ultrasonic transducer 6 are forcibly advanced and retracted. This prevents the ultrasonic probe 2 from being broken.

  In addition, it is possible to easily adjust the variation in the constant force of each stepping motor at the time of shipment from the factory. Further, for example, when the ultrasonic probe 2 is inserted from the mouth, the torque is weakened in a portion having a small curvature such as the esophagus, and the torque is slightly increased in a portion having a large curvature such as the duodenum, pancreatic duct, and bile duct. The torque can be adjusted according to the inspection site.

(Second embodiment)
12 and 13 relate to the second embodiment of the present invention. FIG. 12 is a flowchart showing a series of processing contents performed by the arithmetic processing processor 30 according to the second embodiment of the present invention. 3 shows a three-dimensional image displayed on a processing monitor 37. The hardware configuration of this embodiment is the same as that of the first embodiment, and its processing program is different, so that the description is omitted.

The operation of the present embodiment will be described below.
This embodiment is different from the first embodiment in a series of processes performed by the arithmetic processor 30. Therefore, only different parts will be described.
FIG. 12 is a diagram illustrating a series of processes performed by the arithmetic processing processor 30. Each process shown in FIG. 12 has the same content as the process of the same number shown in FIG. 6 described in the first embodiment.

In step S1 shown in FIG. 12, the vessel α shown in FIG. 8 is extracted by the method described in the first embodiment.
In step S1 'shown in FIG. 12, the vessel (blood vessel) β shown in FIG. 8 is extracted by the method described in the first embodiment. In practice, the extraction start point may be set on the vessel (blood vessel) β in step S15 of step S1.

In step S3 shown in FIG. 12, in the method described in the first embodiment, interpolation processing between tomographic image data is performed on each of the vessels extracted in step S1 and the vessels extracted in step S1 '. Then, each three-dimensional model is constructed.
Other operations are the same as those of the first embodiment.

  When operated in this way, the complicated running relationship between the vessels α and β as shown in FIG. 13 is displayed on the image processing monitor 37 as a three-dimensional image that is color-coded with blue and red, for example. You.

The present embodiment has the following effects.
In this embodiment, a plurality of vessels are extracted from three-dimensional echo data composed of echo intensity information obtained by transmitting and receiving ultrasonic waves to and from a three-dimensional space of a subject, and a three-dimensional image obtained by synthesizing the plurality of vessels. Is constructed, it is possible to grasp the positional relationship between a vessel in which it is difficult to obtain movement information and another vessel such as a blood vessel.

  Further, in the present embodiment, a configuration is adopted in which a three-dimensional image is generated by combining a plurality of extracted vessels with different colors, and the vessels are easily distinguished visually. Other effects are the same as those of the first embodiment.

(Modification)
In the present embodiment, two vessels, ie, the vessel α and the vessel (blood vessel) β, are extracted. However, the processing described in steps S1 and S1 ′ is repeated to extract more vessels. May be.

(Third embodiment)
14 and 15 relate to the third embodiment of the present invention. FIG. 14 is a flowchart showing a series of processing contents performed by the arithmetic processing processor according to the third embodiment of the present invention. 3 shows a three-dimensional image displayed on a processing monitor.

The configuration of the hardware of the present embodiment is the same as that of the first embodiment, and the details of the program to be processed are different, so that the description is omitted.
Next, the operation of the present embodiment will be described.
This embodiment is different from the second embodiment in a series of processes performed by the arithmetic processor 30. Therefore, only different parts will be described.

  FIG. 14 is a diagram illustrating a series of processes performed by the arithmetic processing processor 30. Each process shown in FIG. 14 has the same contents as the processes of the same numbers shown in FIGS. 6 and 12 described in the first embodiment and the second embodiment.

  In the first embodiment, a plurality of vessels α and β including a vessel α and a target tissue are extracted. In the second embodiment, a plurality of vessels α and β including a vessel (blood vessel) β are extracted. A tissue of interest is extracted by the method described in the first embodiment, and a three-dimensional image in which a plurality of vessels α, β and the tissue of interest are combined by the method described in the second embodiment is constructed. ing.

  Note that different colors (for example, blue, yellow, and red) are assigned to the vessels α, the vessels β, and the tissue of interest.

  Other operations are the same as those of the second embodiment.

  With this processing, as shown in FIG. 15, the complex positional relationship of the target tissue such as the vessel α, the vessel (blood vessel) β, and the tumor in FIG. The images are displayed on the image processing monitor 37 as three-dimensional images that are color-coded with each other.

The present embodiment has the following effects.
In the present embodiment, a plurality of vessels and a tissue of interest are extracted from three-dimensional echo data composed of echo intensity information obtained by transmitting and receiving ultrasonic waves to and from a subject's three-dimensional space, and are extracted from the three-dimensional echo data. Since it is configured to construct a three-dimensional image in which a plurality of vessels and a tissue of interest are combined, it is possible to grasp the positional relationship between a vessel for which it is difficult to obtain movement information and another vessel such as a blood vessel.

  In addition, it is possible to grasp the positional relationship between a vessel for which it is difficult to obtain movement information, a tissue of interest, and other vessels. Therefore, for example, it is possible to determine whether a tumor generated from a vessel for which it is difficult to obtain movement information has reached a blood vessel or another vessel.

  Further, in the present embodiment, a plurality of extracted vessels including blood vessels are constructed to construct a three-dimensional image synthesized by color-coding the vessels and the tissue of interest. Are easily distinguished visually.

  Other effects are the same as those of the first and second embodiments.

(Fourth embodiment)
16 to 19 relate to the fourth embodiment, FIG. 16 shows a configuration of an ultrasonic probe and a drive unit according to the fourth embodiment of the present invention, and FIG. 17 shows a fourth embodiment of the present invention. 18 is a block diagram showing a configuration of the ultrasonic diagnostic imaging apparatus according to the first embodiment, FIG. 18 schematically shows a plurality of tomographic image data obtained by a transducer array, and FIG. 19 shows a series of processing contents performed by an arithmetic processing processor. .

Only parts different from the first embodiment will be described.
FIG. 16 is a diagram illustrating the configuration of the distal end portion of the ultrasonic probe 2 that performs a spiral scan and the drive unit 11 that drives the ultrasonic probe 2 in the ultrasonic diagnostic imaging apparatus according to the present embodiment. A vibrator array 49 in which a plurality of ultrasonic vibrators are linearly arranged in parallel is provided at the tip of the flexible shaft 5.

  The flexible shaft 5 and the transducer array 49 are inserted through the inside of the cylindrical flexible sheath 7. The flexible sheath 7 is filled with a fluid medium 8 such as water, and the fluid medium 8 functions as a lubricant and an ultrasonic transmission medium.

  The rear end of the flexible shaft 5 is connected to the rotation shaft of the DC motor 12. The flexible sheath 7 is connected to a frame 14 in the driving unit 11. The rotation of the DC motor 12 is transmitted to a rotary encoder 17 via a gear 16 meshing at a gear ratio of, for example, one to one, and the rotary encoder 17 outputs a rotational position signal of the ultrasonic transducer 6.

  FIG. 17 is a diagram illustrating a configuration of the ultrasound observation unit 3 and the image processing unit 4 of the ultrasound image diagnostic apparatus according to the present embodiment. The ultrasonic observation unit 3 transmits and receives ultrasonic waves and displays a real-time CFM (color flow mapping) image. The image processing unit 4 displays a three-dimensional image based on the echo data obtained by the ultrasonic observation unit 3. Image processing for

  The ultrasonic observation unit 3 transmits and receives each ultrasonic transducer constituting the transducer array 49 with a delay of an electric pulse and amplifies a received pulse so that the transducer array 49 transmits and receives ultrasonic waves. The transmission / reception unit 21, a B-mode image generation unit 50 for generating tomographic image data from the intensity of the echo signal amplified by the transmission / reception unit 21, and a plurality of transmissions of ultrasonic waves in the same direction of the transducer array 49 by the transmission / reception unit 21. A blood flow image creating unit 51 that creates blood flow image data by a known method from movement information of the blood cells obtained by the Doppler phenomenon obtained by transmission / reception, and superimposes tomographic image data and blood flow image data on CFM image data. A mixer 52 for synthesizing, a D / A converter 24 for converting CFM image data output from the mixer 52 into an analog signal, and an input image signal from the D / A converter 24 to input tomographic image data in real time. An observation monitor 25 for displaying a CFM image in which blood flow image data is superimposed on the image data, and control of each unit such as a driving unit 11, a transmission / reception unit 21, a B-mode image generation unit 50, a blood flow image generation unit 51, and a mixer 52. And a system controller 26 for performing the operation.

  The B-mode image creation unit 50 detects the envelope of the echo signal amplified by the transmission / reception unit 21, amplifies the envelope by various methods such as logarithmic amplification, and A / D-converts the data into digital echo data. 53, a frame memory 22-a for storing echo data necessary for constructing one tomographic image, and interpolating the echo data stored in the frame memory 22-a to obtain a displacement x in the horizontal direction and a vertical displacement And a DSC 23-a that converts the data into tomographic image data expressed in a rectangular coordinate format represented by a displacement y.

  In addition, the blood flow image creating unit 51 checks the phase of each amplified echo signal obtained by transmitting and receiving the ultrasonic wave in the same direction of the transducer array 49 by the transmitting and receiving unit 21 for a relatively slow movement. A Doppler detection calculation unit 54 that removes unnecessary signal components from the body and calculates Doppler data including information such as the average speed, variance, and power of each point within the operation range, and forms one blood flow image A frame memory 22-b for storing Doppler data necessary to perform the interpolation, and a Doppler data stored in the frame memory 22-b are interpolated to obtain an orthogonal displacement x and a vertical displacement y. And a DSC 23-b that converts the data into blood flow image data represented in a coordinate format.

The configuration of the image processing unit 4 is the same as that of the first embodiment.
Next, the operation of the present embodiment will be described.
Hereinafter, the operation of the ultrasonic probe 2 and the drive unit 11 will be described.

  When performing ultrasonic observation, the ultrasonic probe 2 is inserted into a body cavity. Then, the transmission / reception unit 21 transmits an electric pulse to some of the adjacent ultrasonic transducers constituting the transducer array 49 to form an ultrasonic beam.

  In this way, the ultrasonic wave is transmitted in the direction perpendicular to the axial direction (longitudinal direction) of the ultrasonic probe 2 and the reflected ultrasonic wave (echo signal) reflected at the portion where the acoustic impedance changes is received.

  The transmitting / receiving unit 21 drives the ultrasonic vibrator so that the vibrator array 49 repeats the transmission and reception of the ultrasonic wave a plurality of times in the same direction in order to obtain the movement information of the blood flow. Further, the transmitting / receiving unit 21 shifts the ultrasonic transducer to be driven, and shifts the transmission and reception of the ultrasonic beam in the direction of the arrow in FIG. That is, the transducer array 49 scans linearly in the direction of the insertion axis of the ultrasonic probe 2.

  Further, the system controller 26 rotates the rotation shaft of the DC motor 12 and the flexible shaft 5 in the direction of the arrow in FIG. Then, the vibrator array 49 attached to the tip of the flexible shaft 5 rotates. That is, the transducer array 49 scans radially.

Thus, by combining the linear scan and the radial scan, an echo signal for a three-dimensional region of the subject is obtained.
Hereinafter, the operation of the ultrasonic observation unit 3 and the image processing unit 4 will be described.

The echo signal obtained by the ultrasonic probe 2 is amplified by the transmission / reception unit 21 and input to the B-mode image creation unit 50 and the blood flow image creation unit 51.
In the B-mode image forming unit 50, the amplified echo signal is detected by a B-mode detecting unit 53 as an envelope as an intensity, amplified by various methods such as logarithmic amplification, and A / D converted into digital echo data. Is converted.

  Then, echo data necessary to construct one ultrasonic tomographic image is stored in the frame memory 22-a. After that, the echo data stored in the frame memory 22-a is interpolated by the DSC 23-a into tomographic image data expressed in a rectangular coordinate format represented by a horizontal displacement x and a vertical displacement y. The data is converted and output to the mixer 52.

  In the blood flow image creating unit 51, the phase of each of the amplified echo signals obtained and transmitted by the ultrasonic transducer 49 in the same direction a plurality of times in the same direction is detected by the Doppler detection calculating unit 54 and compared. Unnecessary signal components from a moving object that is too slow are removed.

  Then, only the frequency shift due to the blood cell Doppler phenomenon is extracted, and Doppler data including information such as the average speed, variance, and power of each point in the scanning range is calculated. Then, topler data necessary to construct one blood flow image is stored in the frame memory 22-b.

  The Doppler data stored in the frame memory 22-b is interpolated by the DSC 23-b and converted into blood flow image data expressed in a rectangular coordinate system represented by a horizontal displacement x and a vertical displacement y. Is output to the mixer 52.

  The tomographic image data and blood flow image data input to the mixer 52 are superimposed and synthesized into CFM (color flow mapping) image data. The CFM image data output from the mixer 52 is converted into an analog signal by the D / A converter 24.

  The output image signal of the D / A converter 24 is displayed on the observation monitor 25 as a real-time CFM image. The CFM image displayed here is a linear CFM image obtained by linear scanning of the transducer array 49.

  Further, by rotating the transducer array 49, this operation is repeated, and a plurality of continuous CFM images are sequentially displayed on the observation monitor 25.

  On the other hand, the blood flow image data as the tomographic image data is sent to the image processing unit 4 from the subsequent stage of the DSCs 23-a and 23-b together with auxiliary data such as the size, each tomographic image data, and the angle between the blood flow image data. .

  Thus, blood flow image data, that is, three-dimensional echo data and three-dimensional Doppler data, which are obtained by rotating the transducer array 49 and are continuous tomographic image data shown in FIG. 18, are sent to the image processing unit 4. The three-dimensional echo data and the three-dimensional Doppler data are stored in the three-dimensional data storage device 29.

  From the three-dimensional echo data and the three-dimensional Doppler data stored in the three-dimensional data storage device 29, a vessel other than a blood vessel and a target tissue are extracted from the three-dimensional echo data by the arithmetic processing processor 30, and a blood vessel is extracted from the three-dimensional Doppler data. Is extracted. Then, various image processes such as synthesis, hidden surface elimination, shading addition, and coordinate conversion are performed.

  The processing result of the arithmetic processor 30 is stored in the three-dimensional processing memory 31 as three-dimensional image data. Details of the processing performed by the arithmetic processing processor 30 will be described later.

  The three-dimensional image data is sent to the frame buffer 35 to be temporarily stored, and sent to the image processing monitor 37 via the D / A converter 36. Thereafter, a three-dimensional image is displayed on the image processing monitor 37.

It should be noted that the various image processing steps by the arithmetic processing processor 30 are controlled by the CPU 27.
Hereinafter, details of the processing mainly performed by the arithmetic processing processor 30 will be described.

  FIG. 19 is a diagram illustrating a series of processes performed by the arithmetic processing processor 30. Each process shown in FIG. 19 has the same content as the process of the same number shown in FIG. 6 described in the first embodiment.

In step S1 shown in FIG. 19, a vessel is extracted from the three-dimensional echo data by the method described in the first embodiment.
In step S2 shown in FIG. 19, the target tissue is extracted from the three-dimensional echo data by the method described in the first embodiment.

  In step S7 shown in FIG. 19, blood vessels are extracted from the three-dimensional Doppler data. Specifically, a threshold value process is performed on each blood flow image data, and blood cells, that is, portions where the frequency shift due to the blood flow is large are extracted as blood vessels.

  In step S8 shown in FIG. 19, interpolation processing between tomographic image data and blood flow image data is performed on each of the blood vessels extracted in step S1, the target tissue extracted in step S2, and the blood vessels extracted in step S7. Then, each three-dimensional model is constructed. Specifically, the processing is performed as follows.

  First, one three-dimensional data space having coordinates of (x, y, z) is prepared in the three-dimensional processing memory 31 for each of a vessel, a target tissue, and a blood vessel. Then, for example, in the three-dimensional data space for the vessel, blue is assigned as data to a pixel existing at a position corresponding to the vessel extracted in each tomographic image data. Pixels in other areas are colorless.

Next, an interpolation process is performed between pixels to which colors have been assigned by a known method.
Then, the same processing is performed on the three-dimensional data space for the target organization. At this time, the color assigned to the pixel as data is red.
Further, the same processing is performed on the three-dimensional data space for blood vessels. At this time, the color assigned as data to the pixel is yellow.

  In this manner, the modeled vessel is stored in the three-dimensional data space for the vessel in the three-dimensional processing memory 31, the modeled tissue of interest is stored in the three-dimensional data space for the tissue of interest, The modeled blood vessel is stored in the three-dimensional data space.

In step S4 shown in FIG. 19, the extracted vessel, target tissue, and blood vessel are combined into one three-dimensional data space by the method described in the first embodiment.
Other operations are the same as those of the first embodiment.

When operated in this manner, as shown in FIG. 15, a complicated vessel including a blood vessel, and the positional relationship between the vessel and the target tissue are displayed on the image processing monitor 37 as a three-dimensional image that is color-coded with each other. .
As described above, in the present embodiment, the arithmetic processing processor 30 functions as a second vessel extracting unit.

The present embodiment has the following effects.
In the present embodiment, a vessel and a tissue of interest are extracted from three-dimensional echo data consisting of echo intensity information obtained by transmitting and receiving ultrasonic waves to and from the three-dimensional space of the subject, and are superposed in the three-dimensional space of the subject. A vessel (blood vessel) is extracted from three-dimensional Doppler data consisting of movement information of a moving object obtained by transmitting and receiving a sound wave, and a vessel, a target tissue, and three-dimensional Doppler data are extracted from three-dimensional echo data. Since it is configured to construct a three-dimensional image obtained by synthesizing a blood vessel, it is possible to grasp a positional relationship between a blood vessel for which it is difficult to obtain movement information and another blood vessel such as a blood vessel.

  In addition, it is possible to grasp the positional relationship between a blood vessel, a target tissue, and a blood vessel, for which it is difficult to obtain movement information. Therefore, for example, it is possible to determine whether or not a tumor that has arisen from a vessel for which it is difficult to obtain movement information has reached a blood vessel.

Further, in the present embodiment, a plurality of extracted vessels including blood vessels are constructed to construct a three-dimensional image synthesized by color-coding the vessels and the tissue of interest. Are easily distinguished visually.
Other effects are the same as those of the first embodiment.

(Modification)
In the present embodiment, the transducer array 49 in which the ultrasonic transducers are arranged in a linear shape is used. However, an array of the ultrasonic transducers has a fan-shaped curve, and even a transducer array generally called a convex is used. good. The arrangement of the ultrasonic transducers constituting the transducer array 49 is not limited to these examples.

(Fifth embodiment)
20 to 25 relate to the fifth embodiment, FIG. 20 is a flowchart showing a series of processing contents performed by the arithmetic processing processor according to the fifth embodiment of the present invention, and FIG. FIG. 22 shows a finally constructed three-dimensional image, FIG. 23 shows an explanatory diagram of a process for recognizing the wall of the vessel α, and FIG. FIG. 25 shows a three-dimensional image according to a modification of the embodiment, and FIG. 25 shows a three-dimensional image according to another modification.

The hardware configuration of the present embodiment is the same as that of the third embodiment, and the only difference is the program to be processed.
Next, the operation of the present embodiment will be described.

This embodiment is different from the third embodiment in a series of processes performed by the arithmetic processor 30. Therefore, only different parts will be described.
In the third embodiment, a tissue of interest and a plurality of vessels are extracted, and a three-dimensional image in which the plurality of vessels and the tissue of interest are combined is constructed. However, in the present embodiment, Further, a three-dimensional image is constructed by synthesizing an ultrasonic tomographic image (hereinafter, simply referred to as “cross-section”) having the gradation of the three-dimensional echo data.

  FIG. 20 is a diagram illustrating a series of processes performed by the arithmetic processing processor 30. Each process shown in FIG. 20 has the same content as the process of the same number shown in FIG. 14 described in the third embodiment.

  In step S9 shown in FIG. 20, the position of the section to be combined is set. Specifically, it operates as follows.

  First, three-dimensional echo data is read from the three-dimensional data storage device 29. Then, a process such as interpolation is performed on the three-dimensional echo data to construct and display four cross sections shown in FIG. 21 on the image processing monitor 37. At this time, an offset circle may be set and multiple echoes may be removed by the method described in the first embodiment.

  FIG. 21 shows four cross-section candidates to be combined with the three-dimensional image displayed on the image processing monitor 37. Here, a vessel α and a vessel (blood vessel) β to be extracted are shown, and a tissue of interest such as a tumor is shown as a satin pattern portion.

  Note that FIG. 22 shows a three-dimensional image finally set up by appropriately setting this section, and the sections A, B, C, and D in FIG. 21 correspond to the sections A, B, and C in FIG. C and D are supported.

  That is, the section C is perpendicular to the sections A and D and includes a section line + shown in FIG. 21, and the section B is a section including the section line X shown in FIG. The section A is a section perpendicular to the sections B and C and includes a section line 切断 shown in FIG. 21, and the section D is a section also including a section line □ shown in FIG.

  In FIG. 22, since the z-axis is set as the insertion axis of the ultrasonic probe 2, the sections A and D perpendicular to the z-axis and parallel to each other are radial planes, and the sections B and C parallel to the z-axis are linear planes. Set as

  In this case, the cross section A is referred to as a radial surface as a front surface of the radial scan, and the cross section D is referred to as a radial surface as a rear surface of the radial scan. In addition, as shown in FIG. 22, in correspondence with the case where the y-axis is set in the upward direction to perform three-dimensional display, the cross section B is described as linear horizontal and the cross section C is described as linear above.

  By the way, since the z-axis shown in FIG. 22 is set in the same direction as the z-axis shown in FIG. 5, only the linear surface actually needs to be newly constructed in step S9, and the radial surface It is only necessary to select from the tomographic image data.

  These cutting lines +, ×, Δ, and □ can be arbitrarily set. Actually, as shown by arrows of the horizontal cross section in FIG. 21, a pointer 43 that can be freely moved in the screen under the control of the pointing device 34 is set on the +, ×, Δ, and □ marks on the screen. This is done by moving this mark.

  Further, the cross section before and after the radial can be rotated at an arbitrary angle around the center O of the cross section. In practice, the pointer 43 is set and moved on the radial surface as shown by the arrow in the cross section before the radial in FIG.

When the cutting line moves, that is, when the linear surface moves, or when the radial surface rotates, all the cross sections are updated in conjunction therewith. The setting of the pointer and the release of the setting are performed by a known method such as clicking a button (not shown) provided on the pointing device 34.
Thus, the position of the cross section shown in FIG. 22 is set arbitrarily.

  In step S10 shown in FIG. 20, the vessel α shown in FIG. 21 is extracted. Specifically, the processing is performed as follows. According to the method described in the first embodiment, an extraction start point is set in a cross section before radial, scan lines are radiated at an equal angle from this point, and there is a change in luminance value on this scan line. The point is recognized as the wall of the vessel α.

  Here, the extraction start point is set to the center O. Also, in this case, among the quadrants divided by the cutting lines + and x, the scan line is emitted only to the quadrant diagonal to the extraction start point.

  In FIG. 21, since the extraction start point is located in the upper right quadrant, the wall of the vessel α to be extracted automatically becomes only the portion in the lower left quadrant of FIG. FIG. 23 shows this state. Then, the position of the extracted vessel wall is output to the three-dimensional processing memory 31.

Further, this is repeated from the tomographic image data corresponding to the section before the radial to the tomographic image data corresponding to the section after the radial. However, the extraction start point at the time of repetition is fixed at a point (center O in this case) set in the cross section before the radial.
In step S1 'shown in FIG. 20, the vessel β shown in FIG. 21 is extracted by the method described in the first embodiment.
In step 2 shown in FIG. 20, the target tissue shown in FIG. 21 is extracted by the method described in the first embodiment.
In step S21 shown in FIG. 20, in the method described in the first embodiment, a portion in the lower left quadrant of section A in FIG. , The portion below the cutting line + sandwiched by □, the section C of the section C, the portion left of the cutting line × sandwiched by the cutting lines △ and □, the portion of the section D other than the lower left quadrant, A portion of the vessel α extracted in S10 in the lower left quadrant between the cutting lines △ and □, and a portion of the vessel β extracted in step S1 ′ between the cutting lines △ and □, Interpolation processing between tomographic image data is performed on each of the portions in the lower left quadrant sandwiched by the cutting lines △ and □ in the target tissue extracted in step S2 to construct respective three-dimensional models.

  It should be noted that gradations from white to black reflecting echo data are assigned to pixels existing at the position of the cross section. Pixels existing at the positions of the vessel α, the vessel β, and the target tissue are assigned, for example, blue, yellow, and red, respectively, as data.

In step S22 shown in FIG. 20, the slice whose position has been set, the extracted vessel α, vessel β, and the tissue of interest are combined in one three-dimensional data space. Note that only the surface of the vessel α is synthesized, and the cross sections A, B, and C are synthesized except for the inside of the vessel α.
Other operations are the same as those of the second embodiment.

  With this operation, as shown in FIG. 22, the complex positional relationship of the target tissue such as the blood vessel α, the blood vessel β, and the tumor is assigned a color of, for example, blue, yellow, and red, and is color-coded with each other. Not only is it displayed on the image processing monitor 37 as a three-dimensional image, but also a section to which the gradation of the echo data is assigned is displayed at the same time.

As described above, in the present embodiment, the arithmetic processing processor 30 and the pointing device 34 function as a section setting unit.
The present embodiment has the following effects.

  In the present embodiment, in the three-dimensional echo data, the position of the cross-section having the gradation of the three-dimensional echo data is set by the arithmetic processing processor 30 and the pointing device 34, and the cross-section, the extracted vessel, and the extracted vessel are extracted. Since it is configured to construct a three-dimensional image synthesized with the target tissue, it is possible to observe a portion other than the extracted tissue and the vasculature on a cross section and easily grasp a positional relationship with the extracted portion. . Diagnosis can be made on the two-dimensional cross section by the gradation of the echo data.

  In the present embodiment, the scan line is extended only within the extraction range determined by the position of the extraction start point and the positions of the plurality of cross-sections, so that the extraction required for constructing a three-dimensional image in the vascular extraction process is performed. Since the configuration is limited to the range, the processing can be performed at a higher speed as compared with the method of extending the scan line around the entire vessel. Other effects are similar to those of the third embodiment.

(Modification)
In the present embodiment, the vascular (blood vessel) β is extracted from the three-dimensional echo data, but a method of extracting from the three-dimensional topler data as described in the fourth embodiment may be adopted.

  Further, in the present embodiment, a plurality of cross sections are combined with the extracted vessel or tissue of interest, but only one cross section is set and combined with a three-dimensional image as shown in FIG. May be displayed on the display surface 37a.

  Further, as shown in FIG. 25, the arithmetic processing processor 30 and the pointing device 34 construct a three-dimensional image in which the index indicating the position of the set cross section, the extracted vessel, and the extracted target tissue are synthesized. Alternatively, the three-dimensional image and the cross section may be displayed simultaneously on the display surface 37a of the image processing monitor 37.

  With this configuration, the cross section does not become oblique as in FIG. 24, and the observation can be performed with the same feeling as the observation using a normal ultrasonic tomographic image. In this case, the image processing monitor 37 functions as a display unit.

  In the present embodiment, the extraction start point is set to the center O in step S10. However, if the position is such that it is always on the vessel α on the tomographic image data for performing the process of extracting the vessel α. It doesn't matter anywhere.

(Sixth embodiment)
26 and 27 relate to the sixth embodiment of the present invention. FIG. 26 shows the structure of the distal end portion of the flexible shaft in the ultrasonic probe according to the sixth embodiment of the present invention. The configuration of the sound wave observation unit is shown in a block diagram.

  Only parts different from the first embodiment will be described.

FIG. 26 is a diagram illustrating the configuration of the distal end of the flexible shaft 5 in the ultrasonic probe 2 that performs a spiral scan of the ultrasonic diagnostic imaging apparatus according to the present embodiment. In the present embodiment, the two ultrasonic transducers 6-c and 6-d are provided so as to be shifted from each other so that the transmitting and receiving surfaces when transmitting and receiving ultrasonic waves by radial scanning are separated in parallel by a distance δ / 2. ing. Further, the ultrasonic transducers 6-c and 6-d are mounted on the sides where the surfaces for transmitting and receiving ultrasonic waves are different by 180 °.
Note that δ / 2 is a half of the advance / retreat width δ when the flexible shaft 5 makes one rotation during the spiral scan.

  FIG. 27 is a diagram illustrating a configuration of the ultrasonic observation unit 3 of the ultrasonic diagnostic imaging apparatus according to the present embodiment. Two signal processing circuits of transmission / reception units 21-c, 21-d, frame memories 22-c, 22-d, DSCs 23-c, 23-d corresponding to the ultrasonic transducers 6-c, 6-d. Is provided. In one of the systems, a rotating unit 55 is provided between the frame memory 22-d and the DSC 23-d.

Further, the tomographic image data output from the DSCs 23-c and 23-d is input to the switch 56, and the output to the image processing unit 4 is switched. Further, the rotation position signal from the rotary encoder 17 provided in the drive unit 11 is input to the switch 56.
Other configurations are the same as those of the first embodiment.

Next, the operation of the present embodiment will be described.
The transmission / reception unit 21 having two systems drives the ultrasonic transducers 6-c and 6-d in synchronization with each other under the control of the system controller 26. In one of the two systems, the echo data output from the transmission / reception unit 21-d is input to the rotation unit 55.

Then, in the rotating unit 55, the echo data is subjected to coordinate conversion so as to rotate by 180 ° so that the directions of the tomographic image data output by the DSCs 23-c and 23-d match. The two sets of tomographic image data output by the DSCs 23-c and 23-d are output to the image processing unit 4 by the rotation of the flexible shaft 5 by 180 ° by the rotation position signal from the rotary encoder 17.
Other operations are the same as those of the first embodiment.

The present embodiment has the following effects.
In the present embodiment, a plurality of ultrasonic transducers 6-c and 6-d provided with different transmission / reception planes of the radial scan perform a spiral scan to obtain one set of continuous tomographic image data. Since the three-dimensional echo data is configured, one tomographic image data can be obtained at an interval of half the advance / retreat width δ when the flexible shaft 5 makes one rotation, and one tomographic image data can be obtained at the interval of the advance / retreat width. The resolution is improved by half compared with the first embodiment for obtaining image data.

Therefore, it is possible to improve the resolution in the insertion axis direction of the ultrasonic probe without increasing the scanning time.
Other effects are the same as those of the first embodiment.

(Modification)
In the present embodiment, the two ultrasonic transducers 6-c and 6-d are provided so as to be shifted so that the transmitting and receiving surfaces when transmitting and receiving ultrasonic waves by radial scanning are separated in parallel by a distance δ / 2. However, the number of ultrasonic transducers may be any number as long as the number is plural, for example, three. When the number of ultrasonic transducers is desired to be n, the transmitting and receiving surfaces may be shifted from each other so as to be separated in parallel by a distance δ / n.
With this configuration, the resolution can be improved by further narrowing the interval between tomographic image data.

(Seventh embodiment)
FIG. 28 shows a process for determining three-dimensional echo data in consideration of the effect of body movement in the seventh embodiment of the present invention.
The configuration of the present embodiment is the same as that of the first embodiment, and will not be described.
Next, the operation of the present embodiment will be described.
Only parts different from the first embodiment will be described.

  In the present embodiment, first, the spiral scan of the ultrasonic transducer 6 is repeated n + 1 times without moving the ultrasonic probe 2. Then, as shown in FIG. 28, n + 1 sets of set 0, set 1,..., Set n are obtained as three-dimensional echo data including a plurality of pieces of tomographic image data shown in FIG. Is stored in

  The arithmetic processor 30 corrects a blur between tomographic images due to body motion before extracting a vessel or a tissue of interest and constructing a three-dimensional image. Specifically, the processing is performed as follows. First, tomographic image data having the same image number is compared from each set, and tomographic image data when a body motion occurs is extracted. The image number of the extracted tomographic image data is set to No. as shown in FIG. Let it be K. In this case, there are n + 1 image data.

  Since the ultrasonic transducer 6 is to scan the same part of the subject spirally, The K tomographic image data should be the same unless affected by body motion.

  The comparison between the tomographic image data and the extraction of the tomographic image data when a body motion occurs are performed by comparing the tone value of the echo data, that is, the luminance value at the comparison point provided at the same position in the tomographic image data.

  Specifically, the average value of the luminance values at all the comparison points is obtained, and the tomographic image data whose luminance value at the comparison point is significantly different from other tomographic image data, such as exceeding a preset threshold value, It is regarded as tomographic image data when a body motion occurs.

  Next, the average value of the luminance values of the comparison points is calculated again except for the tomographic image data when the body motion occurs. By doing so, it is possible to calculate an average value from information with little fluctuation.

  Then, the tomographic image data closest to the average value is assigned to the image No. The representative tomographic image data of K is used.

  The above operation is applied to tomographic image data of another image number, and a plurality of continuous representative tomographic image data is newly set as three-dimensional echo data. Then, a three-dimensional image is constructed using the three-dimensional echo data.

  As described above, in the present embodiment, the three-dimensional data storage device 29 functions as storage means, and the arithmetic processing processor 30 functions as body motion recognition means.

  The present embodiment has the following effects.

  In the present embodiment, a spiral of an ultrasonic transducer that combines a radial scan in which the ultrasonic transducer rotates around the insertion axis of the ultrasonic probe and a linear scan in which the ultrasonic transducer advances and retreats along the insertion axis. The scan is repeated a plurality of times, a three-dimensional data storage device 29 stores a plurality of sets of continuous tomographic image data obtained by a plurality of advance and retreats of the ultrasonic probe, and the arithmetic processing processor 30 By comparing the tomographic image data at the same position among a plurality of sets stored in the storage device 29 and recognizing a body motion between the tomographic image data, a plurality of continuous representative tomographic image data in which the body motion is corrected Is configured as one set, it is possible to correct the blur between the tomographic images due to the body motion, and obtain good three-dimensional echo data without distortion.

  Other operations are the same as those of the first embodiment.

(Modification)
In the present embodiment, the tomographic image data whose luminance value at the comparison point is closest to the average value is used as the representative tomographic image data. However, instead of selecting the representative tomographic image data from specific tomographic image data, a plurality of tomographic image data is used. It may be created by averaging data.
With this configuration, it is possible to suppress noise that randomly occurs on the tomographic image data.

Further, in the present embodiment, the threshold value used for extracting tomographic image data when a body motion occurs is set in advance, so that the average value and the variance value of the luminance value of the comparison point are calculated. Alternatively, the threshold value may be determined therefrom.
With this configuration, it is possible to set a threshold value in consideration of the variation in the luminance value.

  Further, in the present embodiment, the comparison between the tomographic image data and the extraction of the tomographic image data when the body motion occurs are performed by comparing the luminance values at the comparison points. When it is considered that there is a luminance difference due to noise, the tomographic image data may be smoothed in advance.

  Alternatively, the comparison points may be provided at a plurality of positions, and the luminance values of the comparison points at the same positions may be separately compared. Also, the average luminance value of a certain area may be compared instead of the point. With this configuration, the influence of fluctuations in the tomographic image data, such as noise, is reduced, and tomographic image data can be more accurately extracted when a body motion occurs.

  Further, in the present embodiment, a set of a plurality of continuous representative tomographic image data in which the body motion is corrected is configured by removing the tomographic image data in which the body motion recognized by the arithmetic processing processor 30 is generated. However, the representative tomographic image data may be configured by correcting the position of the tomographic image data by a known method such as comparing the tomographic image data at the same position and calculating a two-dimensional correlation function. .

(Eighth embodiment)
FIG. 29 shows the structure of the distal end side of the ultrasonic probe according to the eighth embodiment of the present invention. The configuration of the present embodiment is almost the same as that of the first embodiment. Therefore, only different portions will be described.

  FIG. 29 is a diagram illustrating a configuration of a distal end portion of an ultrasonic probe 2 that performs a spiral scan of the ultrasonic diagnostic imaging apparatus according to the present embodiment. In the present embodiment, a start position marker 57 and reverse position markers 58 and 59 are drawn on the outer sheath 9 instead of the reverse position marker members 10A and 10B described in the first embodiment.

The start position marker 57 and the reversal position markers 58 and 59 indicate the ends of the spiral scan of the ultrasonic transducer 6 described in the first embodiment.
Other configurations are the same as those of the first embodiment.

As described above, in the present embodiment, the start position marker 57 and the reversal position markers 58 and 59 function as indices indicating the advance / retreat range of the ultrasonic transducer 6.
The operation of this embodiment is the same as that of the first embodiment, and will not be described.

The present embodiment has the following effects.
In the present embodiment, since the start position marker 57 and the reversal position markers 58 and 59 are drawn on the outer sheath 9 which does not advance / retreat, not only at the start of the spiral scan but also during the spiral scan. However, the positions a, b, and c of the forward / backward movement can always be grasped, and the forward / backward ends of the spiral scan can be known. Other effects are the same as those of the first embodiment.

(Modification)
In the present embodiment, the flexible shaft 5, the ultrasonic vibrator 6, and the flexible sheath 7 are configured to advance and retreat in the outer sheath 9. However, the flexible shaft 5, the ultrasonic vibration The child 6 may be configured to advance and retreat. In this case, the start position marker 57 and the inversion position markers 58, 59 may be drawn on the flexible sheath 7.

[Appendix]
1. Ultrasound image diagnostic apparatus provided with first vascular extracting means for extracting a blood vessel of a subject, and three-dimensional processing means for constructing a three-dimensional image of the blood vessel extracted by the first vascular extracting means At
The first vessel extraction means extracts the vessel from three-dimensional echo data consisting of echo intensity information obtained by transmitting and receiving ultrasonic waves to and from a three-dimensional space of a subject, and extracts a target tissue from the three-dimensional echo data. A three-dimensional processing unit that extracts a three-dimensional image obtained by synthesizing the vessel extracted by the first vessel extraction unit and the target tissue extracted by the tissue extraction unit. An ultrasonic diagnostic imaging apparatus characterized by being constructed.

2. The three-dimensional processing means constructs a three-dimensional image by combining the blood vessel extracted by the first blood vessel extraction means and the target tissue extracted by the tissue extraction means with different colors. An ultrasonic diagnostic imaging apparatus according to claim 1, characterized by the features.

3. Ultrasound image diagnosis, comprising: first vascular extraction means for extracting a blood vessel of a subject; and three-dimensional processing means for constructing a three-dimensional image of the blood vessel extracted by the first blood vessel extraction means. In the device,
The first vessel extracting means extracts a plurality of vessels from three-dimensional echo data consisting of echo intensity information obtained by transmitting and receiving ultrasonic waves to and from a three-dimensional space of a subject, and the three-dimensional processing means And constructing a three-dimensional image obtained by synthesizing the plurality of vessels extracted by the first vessel extracting means.

4. 4. The ultrasonic image according to claim 3, wherein the three-dimensional processing means constructs a three-dimensional image obtained by combining the plurality of vessels extracted by the first vessel extracting means by color coding each other. Diagnostic device.

5. Ultrasound image diagnosis, comprising: first vascular extraction means for extracting a blood vessel of a subject; and three-dimensional processing means for constructing a three-dimensional image of the blood vessel extracted by the first blood vessel extraction means. In the device,
The first vessel extracting means extracts the vessel from the three-dimensional echo data including the intensity information of the echo obtained by transmitting and receiving the ultrasonic wave to and from the three-dimensional space of the subject, and superimposes the vessel in the three-dimensional space of the subject. Second vessel extraction means for extracting a vessel from three-dimensional Doppler data comprising movement information of a moving body obtained by transmitting and receiving a sound wave is provided, and the three-dimensional processing means is extracted by the first vessel extraction means. And constructing a three-dimensional image in which the vessel and the vessel extracted by the second vessel extracting means are combined. 6. The three-dimensional processing means constructs a three-dimensional image by combining the blood vessel extracted by the first blood vessel extracting means and the blood vessel extracted by the second blood vessel extracting means with different colors. 7. The ultrasonic image diagnostic apparatus according to claim 5, wherein

7. Ultrasound image diagnosis, comprising: first vascular extraction means for extracting a blood vessel of a subject; and three-dimensional processing means for constructing a three-dimensional image of the blood vessel extracted by the first blood vessel extraction means. In the device,
The first vessel extraction means extracts the vessel from three-dimensional echo data consisting of echo intensity information obtained by transmitting and receiving ultrasonic waves to and from a three-dimensional space of a subject, and extracts a target tissue from the three-dimensional echo data. And a second vascular extraction means for extracting a blood vessel from three-dimensional Doppler data consisting of movement information of a moving body obtained by transmitting and receiving ultrasonic waves to and from a three-dimensional space of a subject, The three-dimensional processing unit includes: the vessel extracted by the first vessel extraction unit; the vessel extracted by the second vessel extraction unit; and the target tissue extracted by the tissue extraction unit. And constructing a three-dimensional image obtained by synthesizing the ultrasonic diagnostic imaging apparatus.

8. The three-dimensional processing unit includes: the vessel extracted by the first vessel extraction unit; the vessel extracted by the second vessel extraction unit; and the target tissue extracted by the tissue extraction unit. 7. The ultrasonic diagnostic imaging apparatus according to claim 7, wherein a three-dimensional image is constructed by combining the three colors with each other to construct a three-dimensional image.

9. Appendix 1, 2, 3, 4, 5, 6, 7, 8 wherein the first vessel extracting means extracts the vessel based on a luminance difference from the surroundings of the three-dimensional echo data. The ultrasonic image diagnostic apparatus according to claim 1.

10. The three-dimensional echo data is composed of a plurality of tomographic image data including intensity information of echoes obtained by transmitting and receiving ultrasonic waves to and from the three-dimensional space of the subject. On the image data, extraction start point setting means for setting an extraction start point is provided, and on a plurality of the tomographic image data, a scan line is radially extended from the extraction start point set by the extraction start point setting means. 10. The ultrasonic diagnostic imaging apparatus according to claim 9, wherein the vessel is extracted by searching for a vessel wall.

11. In the three-dimensional echo data, there is provided a cross-section setting means for setting a position of a plurality of cross-sections having gradations of the three-dimensional echo data, and the first vessel extracting means is configured to be set by the extraction starting point setting means. The ultrasonic image diagnostic apparatus according to claim 10, wherein the scan line is extended within an extraction range determined by a position of an extraction start point and a plurality of positions of the cross sections set by the cross section setting unit.

12. In the three-dimensional echo data, there is provided a cross-section setting means for setting a position of a cross-section having a gradation of the three-dimensional echo data, wherein the three-dimensional processing means includes the cross section whose position is set by the cross-section setting means, A three-dimensional image obtained by synthesizing the blood vessel extracted by the first blood vessel extraction means and the blood vessel extracted by the second blood vessel extraction means or the tissue of interest extracted by the tissue extraction means The ultrasonic diagnostic imaging apparatus according to any one of appendices 1, 2, 3, 4, 5, 6, 7, 8, and 9, characterized in that:

13. In the three-dimensional echo data, there is provided a cross section setting means for setting a position of a cross section having a gradation of the three-dimensional echo data, and the three-dimensional processing means indicates the position of the cross section set by the cross section setting means. An index, the vessel extracted by the first vessel extraction unit, and the vessel extracted by the second vessel extraction unit or the target tissue extracted by the tissue extraction unit are synthesized. Additional means for constructing a three-dimensional image and displaying the three-dimensional image constructed by synthesizing the indices by the three-dimensional processing means and the cross section at the same time; The ultrasonic image diagnostic apparatus according to any one of claims 3, 4, 5, 6, 7, 8, and 9.

14． An ultrasonic probe that transmits an ultrasonic wave to a subject and has an ultrasonic transducer that receives an echo at an end thereof, a radial scan in which the ultrasonic transducer rotates around an insertion axis of the ultrasonic probe, and Driving means for driving a spiral scan of the ultrasonic transducer in combination with a linear scan in which the ultrasonic transducer advances and retreats along the insertion axis; and a plurality of continuous tomograms based on echo signals from the ultrasonic transducer. In an ultrasonic diagnostic imaging apparatus for obtaining image data,
A plurality of the ultrasonic transducers are provided with different transmission / reception surfaces of the radial scan, and a plurality of the ultrasonic transducers are obtained by performing the spiral scan. An ultrasonic diagnostic imaging apparatus comprising one piece of three-dimensional echo data.

15. An ultrasonic probe that transmits an ultrasonic wave to a subject and has an ultrasonic transducer that receives an echo at an end thereof, a radial scan in which the ultrasonic transducer rotates around an insertion axis of the ultrasonic probe, and Driving means for driving a spiral scan of the ultrasonic transducer in combination with a linear scan in which the ultrasonic transducer advances and retreats along the insertion axis; and a plurality of continuous tomograms based on echo signals from the ultrasonic transducer. In an ultrasonic diagnostic imaging apparatus for obtaining image data,
A storage unit for storing the plurality of sets of the continuous tomographic image data over a plurality of sets, wherein the driving unit repeats the advance and retreat of the ultrasonic probe a plurality of times, and obtained by the advance and retreat of the ultrasonic probe a plurality of times; And comparing the tomographic image data at the same position among the plurality of sets stored in the storage means, and providing a body motion recognizing means for recognizing the body motion between the tomographic image data, wherein the continuous An ultrasonic diagnostic imaging apparatus comprising a set of a plurality of representative tomographic image data to be processed.

16. The supplementary note 15, wherein a set of a plurality of continuous representative tomographic image data in which the body motion has been corrected is formed by removing the tomographic image data in which the body motion recognized by the body motion recognition unit has occurred. Ultrasound diagnostic equipment.

17. An ultrasonic probe that transmits an ultrasonic wave to a subject and has an ultrasonic transducer that receives an echo at an end thereof, a radial scan in which the ultrasonic transducer rotates around an insertion axis of the ultrasonic probe, and Driving means for driving a spiral scan of the ultrasonic transducer in combination with a linear scan in which the ultrasonic transducer advances and retreats along the insertion axis; and a plurality of continuous tomograms based on echo signals from the ultrasonic transducer. In an ultrasonic diagnostic imaging apparatus for obtaining image data,
An ultrasonic diagnostic imaging apparatus, wherein the ultrasonic probe is provided with an index indicating the range of advance and retreat.

18. A drive transmitting member for transmitting the driving force from the driving unit to the ultrasonic vibrator, the translucent flexible sheath including the drive transmitting member and the ultrasonic vibrator, 18. The ultrasonic diagnostic imaging apparatus according to claim 17, wherein a semi-transparent outer sheath covering the flexible sheath is provided, and the index is provided on the drive transmission member.

19. 19. The ultrasonic diagnostic imaging apparatus according to claim 18, wherein the index is an annular member.

(Effects of Supplementary Notes 1 to 19)
(Effects of Supplementary Notes 1, 2, 9, 10, 11, 12, and 13)
In the present invention, the first vessel extracting means extracts a vessel from three-dimensional echo data consisting of echo intensity information obtained by transmitting and receiving ultrasonic waves to and from the three-dimensional space of the subject, A target tissue is extracted from the three-dimensional echo data, and the three-dimensional processing unit is configured to construct a three-dimensional image in which the vessel extracted by the first vessel extraction unit and the target tissue extracted by the tissue extraction unit are combined. Therefore, it is possible to grasp the positional relationship between a vessel in which it is difficult to obtain movement information and a tissue of interest. Therefore, for example, it is possible to grasp how much the tumor has spread around the blood vessel where it is difficult to obtain the movement information. For example, it is possible to provide important information when determining the resection range by surgery.

(Effects of Supplementary Notes 2, 9, 10, 11, 12, and 13)
Further, in the present invention, the three-dimensional processing means is configured to construct a three-dimensional image in which the blood vessel extracted by the first blood vessel extracting means and the target tissue extracted by the tissue extracting means are color-coded and combined. Therefore, it is easy to visually distinguish the vessel from the tissue of interest. (Effects of Supplementary Notes 3, 4, 9, 10, 11, 12, and 13)
Further, in the present invention, the first vessel extracting means extracts a plurality of vessels from three-dimensional echo data consisting of intensity information of echoes obtained by transmitting and receiving ultrasonic waves to and from a three-dimensional space of the subject, and Since the processing means is configured to construct a three-dimensional image in which the plurality of vessels extracted by the first vessel extraction means are combined, the position of the vessel in which it is difficult to obtain movement information and the position of another vessel such as a blood vessel You can understand the relationship.

(Effects of Supplementary Notes 4, 9, 10, 11, 12, and 13)
Further, in the present invention, the three-dimensional processing means is configured to construct a three-dimensional image in which a plurality of vessels extracted by the first vessel extracting means are color-coded and combined with each other, so that the vessels can be visually observed. Easy to distinguish.

(Effects of Supplementary Notes 5, 6, 9, 10, 11, 12, 13)
Further, in the present invention, the first vessel extracting means extracts a vessel from three-dimensional echo data consisting of intensity information of an echo obtained by transmitting and receiving an ultrasonic wave to and from a three-dimensional space of the subject, and Extracting means for extracting a vessel from three-dimensional Doppler data comprising movement information of a moving body obtained by transmitting and receiving ultrasonic waves to and from a three-dimensional space of the subject; Since it is configured to construct a three-dimensional image in which the extracted vessel and the vessel extracted by the second vessel extraction unit are combined, it is possible to grasp the positional relationship between the vessel and the blood vessel for which it is difficult to obtain movement information. Can be.

(Effects of Supplementary Notes 6, 9, 10, 11, 12, and 13)
Further, in the present invention, the three-dimensional processing means forms a three-dimensional image in which the blood vessel extracted by the first blood vessel extracting means and the blood vessel extracted by the second blood vessel extracting means are color-coded and synthesized. Since it is configured to be constructed, it is easy to visually distinguish vessels.

(Effects of Supplementary Notes 7, 8, 9, 10, 11, 12, and 13)
Further, in the present invention, the first vessel extracting means extracts a vessel from three-dimensional echo data consisting of echo intensity information obtained by transmitting and receiving ultrasonic waves to and from the three-dimensional space of the subject, and the tissue extracting means The tissue of interest is extracted from the three-dimensional echo data, and the second vessel extracting means extracts the vessel from the three-dimensional Doppler data consisting of the movement information of the moving body obtained by transmitting and receiving ultrasonic waves to and from the three-dimensional space of the subject. Then, the three-dimensional processing means synthesizes the blood vessel extracted by the first blood vessel extracting means, the blood vessel extracted by the second blood vessel extracting means, and the target tissue extracted by the tissue extracting means. Since the configuration is such that a three-dimensional image is constructed, it is possible to grasp the positional relationship between the vessel, the target tissue, and the blood vessel, for which it is difficult to obtain movement information. Therefore, for example, it is possible to determine whether or not a tumor that has arisen from a vessel for which it is difficult to obtain movement information has reached a blood vessel.

(Effects of Supplementary Notes 8, 9, 10, 11, 12, and 13)
Further, in the present invention, the three-dimensional processing unit may include a vessel extracted by the first vessel extraction unit, a vessel extracted by the second vessel extraction unit, and a target tissue extracted by the tissue extraction unit. Are constructed so as to construct a three-dimensional image synthesized by color-coding each other, and it is easy to visually distinguish the vessels, the vessels, and the tissue of interest.

(Effects of Appendix 11)
In the present invention, the section setting means sets the positions of a plurality of sections having the gradation of the three-dimensional echo data in the three-dimensional echo data, and the first vessel extracting means sets the extraction start point setting means. Since the scan line is configured to extend within the extraction range determined by the position of the extraction start point to be extracted and the positions of the plurality of cross sections set by the cross section setting means, compared to the method of extending the scan line around the entire vessel. The processing can be performed at high speed.

(Effects of Supplementary Note 12)
In the present invention, in the three-dimensional echo data, the cross-section setting means sets the position of the cross-section having the gradation of the three-dimensional echo data, and the three-dimensional processing means sets the cross-section whose position is set by the cross-section setting means, Since a three-dimensional image is constructed by combining the vessels extracted by the first vessel extraction means and the vessels of interest extracted by the second vessel extraction means or the tissue of interest extracted by the tissue extraction means, It is possible to observe a portion other than the extracted tissue or vessel on a cross section, and easily grasp a positional relationship with the extracted portion. Diagnosis can be made on the two-dimensional cross section by the gradation of the echo data.

(Effect of Appendix 13)
Further, in the present invention, the cross-section setting means sets the position of the cross section having the gradation of the three-dimensional echo data in the three-dimensional echo data, and the three-dimensional processing means sets the position of the cross section set by the cross-section setting means. A three-dimensional image is constructed by combining the indicated index, the vessel extracted by the first vessel extraction means, and the vessel extracted by the second vessel extraction means or the tissue of interest extracted by the tissue extraction means. Since the display means is configured to simultaneously display the three-dimensional image constructed by combining the indices by the three-dimensional processing means and the cross section, the cross section does not become oblique as in FIG. It can be observed with the same feeling as observation with an image.

(Effect of Appendix 14)
Further, in the present invention, a plurality of ultrasonic transducers are provided with different transmission / reception surfaces for radial scanning, and a plurality of continuous tomographic images obtained by performing a spiral scan with the plurality of ultrasonic transducers. Since one three-dimensional echo data is configured from the data, it is possible to improve the resolution of the ultrasonic probe in the insertion axis direction without increasing the scanning time.

(Effects of Supplementary Notes 15 and 16)
Further, in the present invention, the ultrasonic wave combining the radial scan in which the ultrasonic transducer rotates around the insertion axis of the ultrasonic probe and the linear scan in which the ultrasonic transducer advances and retreats along the insertion axis is provided. The spiral scanning of the vibrator is repeated a plurality of times and driven, and the storage unit stores a plurality of sets of continuous tomographic image data obtained by the advancing and retreating of the ultrasonic probe a plurality of times. The tomographic image data at the same position is compared between a plurality of sets stored in the storage means, and the body motion between the tomographic image data is recognized. Then, since a set of a plurality of continuous representative tomographic image data in which the body motion has been corrected is configured as one set, it is possible to correct the blur between the tomographic images due to the body motion and obtain good three-dimensional echo data without distortion. Can be.

(Effects of Supplementary Notes 17, 18, and 19)
Further, in the present invention, the ultrasonic wave combining the radial scan in which the ultrasonic transducer rotates around the insertion axis of the ultrasonic probe and the linear scan in which the ultrasonic transducer advances and retreats along the insertion axis is provided. By driving the spiral scan of the transducer, the index provided on the ultrasonic probe is configured to indicate the range of advance and retreat, so that at the start of the spiral scan, for example, the ultrasonic vibration from the optical observation system of the endoscope may be used. The child and the indicator can be observed, the position of the advance and retreat can be grasped, and the end of the advance and retreat of the spiral scan can be known. Therefore, it is possible to increase the certainty when acquiring the echo signal from the target tissue as three-dimensional echo data, and to shorten the examination time. (Effects of Supplementary Notes 18 and 19)
Further, in the present invention, since the index provided on the drive transmission member is configured to indicate the range of advance and retreat through a translucent flexible sheath and a translucent outer sheath covering the flexible sheath, Easy to observe indicators.

(Effect of Appendix 19)
Further, in the present invention, since the indicator is configured to be an annular member, when bubbles exist inside the flexible sheath, the indicator serves as a bubble trap so that the bubbles do not come to the ultrasonic vibrator side. And ultrasonic waves and echoes transmitted and received from the ultrasonic vibrator are not disturbed by bubbles, so that good tomographic image data can be obtained.

FIG. 1 is a block diagram illustrating a configuration of an ultrasonic diagnostic imaging apparatus according to a first embodiment of the present invention. FIG. 3 is a cross-sectional view showing a structure on the distal end side of the ultrasonic probe. FIG. 3 is a cross-sectional view illustrating a structure of a driving unit of the ultrasonic probe. Explanatory drawing which performs spiral scan by the combination of radial scan and linear scan. FIG. 4 is a diagram showing a plurality of tomographic image data obtained by a spiral scan. FIG. 4 is a flowchart showing a series of processing contents performed by the arithmetic processing processor. FIG. 7 is a flowchart showing the details of the vascular extraction process in FIG. 6. FIG. 4 is a diagram illustrating multiple echoes and tomographic image data in which an offset circle is set to remove the multiple echoes. FIG. 5 is an explanatory diagram showing a state where a contour of a region of a target tissue is extracted by being surrounded by a pointer; Explanatory drawing for constructing a three-dimensional model. The figure which shows the three-dimensional image displayed on an image processing monitor. FIG. 13 is a flowchart showing a series of processing contents performed by the arithmetic processing processor according to the second embodiment of the present invention. The figure which shows the three-dimensional image displayed on an image processing monitor. FIG. 13 is a flowchart showing a series of processing contents performed by the arithmetic processing processor according to the third embodiment of the present invention. The figure which shows the three-dimensional image displayed on an image processing monitor. FIG. 14 is a cross-sectional view illustrating a configuration of an ultrasonic probe and a driving unit according to a fourth embodiment of the present invention. FIG. 9 is a block diagram illustrating a configuration of an ultrasonic diagnostic imaging apparatus according to a fourth embodiment of the present invention. FIG. 4 is a diagram schematically showing a plurality of tomographic image data obtained by a transducer array. FIG. 4 is a flowchart showing a series of processing contents performed by the arithmetic processing processor. FIG. 21 is a flowchart showing a series of processing contents performed by the arithmetic processing processor according to the fifth embodiment of the present invention. The figure which shows the candidate of four cross sections displayed on an image processing monitor. The figure which shows the three-dimensional image finally constructed. Explanatory drawing of the process which recognizes the wall of the vessel (alpha). FIG. 19 is a diagram illustrating a three-dimensional image according to a modified example of the fifth embodiment. FIG. 19 is a diagram illustrating a three-dimensional image according to another modification of the fifth embodiment. The figure which shows the structure of the front-end | tip part of the flexible shaft in the ultrasonic probe in 6th Embodiment of this invention. FIG. 2 is a block diagram illustrating a configuration of an ultrasonic observation unit. FIG. 21 is an explanatory diagram showing a process for determining three-dimensional echo data in consideration of the effect of body movement according to the seventh embodiment of the present invention. FIG. 16 is a cross-sectional view illustrating a structure on the distal end side of an ultrasonic probe according to an eighth embodiment of the present invention.

Explanation of reference numerals

DESCRIPTION OF SYMBOLS 1 ... Ultrasonic image diagnostic apparatus 2 ... Ultrasonic probe 3 ... Ultrasonic observation part 4 ... Image processing part 5 ... Flexible shaft 6 ... Ultrasonic vibrator 7 ... Flexible sheath 8 ... Fluid medium 9 ... Outer sheath 10A, 10B ... Inversion position marker member 11 ... Drive unit 12 ... DC motor 13 ... Radial rotation unit 17 ... Rotary encoder 18 ... Linear drive member 19 ... Ball screw 20 ... Stepping motor 21 ... Transceiving unit 22 ... Frame memory 23 ... DSC 23
25 Observation monitor 26 System controller 27 CPU
28 main storage device 29 three-dimensional data storage device 30 arithmetic processing processor 31 three-dimensional processing memory 32 external recording device 33 operating terminal 34 pointing device 37 image processing monitor
Attorney Susumu Ito

Claims (3)

An ultrasonic probe that transmits an ultrasonic wave to a subject and has an ultrasonic transducer that receives an echo at an end thereof, a radial scan in which the ultrasonic transducer rotates around an insertion axis of the ultrasonic probe, and Driving means for driving a spiral scan of the ultrasonic transducer in combination with a linear scan in which the ultrasonic transducer advances and retreats along the insertion axis; and a plurality of continuous tomograms based on echo signals from the ultrasonic transducer. In an ultrasonic diagnostic imaging apparatus for obtaining image data,
The ultrasonic image diagnostic apparatus, wherein the ultrasonic probe includes an index indicating a range of movement of the ultrasonic transducer.   The ultrasonic probe, a drive transmitting member for transmitting the driving force from the driving means to the ultrasonic vibrator, a translucent flexible sheath having the drive transmitting member and the ultrasonic vibrator therein, 2. The ultrasonic diagnostic imaging apparatus according to claim 1, further comprising: a translucent outer sheath covering the flexible sheath, wherein the indicator is provided on the drive transmission member. 3.   The ultrasonic diagnostic imaging apparatus according to claim 2, wherein the index is an annular member.

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