JP2009060943A - Ultrasonic diagnostic apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an ultrasonic diagnostic apparatus permitting easy operation of an ultrasonic probe. <P>SOLUTION: The ultrasonic diagnostic apparatus comprises: the ultrasonic probe 1 for transmitting/receiving ultrasonic waves to/from a subject P; a holder mechanism 21 disposed in the ultrasonic probe 1 for holding the ultrasonic probe 1 at a prescribed angle; a switch 23 for operating the holder mechanism 21; a transmission/receiving part 4 for driving the ultrasonic probe 1 to scan the subject P with ultrasonic waves; an image data generating part 5 for generating image data based on received signals from the transmission/receiving part 4; and a display part 6 for displaying the image data generated by the image data generating part 5. The holder mechanism 21 applies the power to the ultrasonic probe 1 to be held at the angle when the input operation is performed from the switch 23. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an ultrasonic diagnostic apparatus that images and diagnoses the inside of a subject with ultrasonic waves.

  The ultrasonic diagnostic apparatus displays image data generated by scanning a subject with ultrasonic waves and receiving a reflected wave generated by a difference in acoustic impedance of a tissue in the subject on a display unit. In this ultrasonic diagnostic method, the tip of the ultrasonic probe is brought into contact with the body surface of the subject, whereby observation can be performed based on image data of a region where the ultrasound is scanned in the subject. For this reason, it is widely used for diagnosis and treatment of various organs such as the heart, blood vessels, abdomen, and urinary organs in the living body. In this ultrasonic diagnostic apparatus, there are many types of ultrasonic probes so that image data of various regions in the subject can be generated, and various inspections are performed by operating these ultrasonic probes. .

  Then, in order to obtain two-dimensional or three-dimensional image data, the operator operates an ultrasonic probe in which a plurality of piezoelectric vibrators are arranged one-dimensionally or two-dimensionally, and operates on the body surface of the subject. Move or tilt at various angles. Then, two-dimensional or three-dimensional image data is generated by fixing the ultrasonic probe by hand at a position and angle including the region of interest of the subject and scanning the ultrasonic waves in a two-dimensional or three-dimensional direction.

  In addition, an ultrasonic probe that mechanically swings a vibrator portion in which a plurality of piezoelectric vibrators are arranged one-dimensionally is fixed by hand to a position and an angle including a region of interest of a subject, and the vibrator portion is shaken. An apparatus is known that generates three-dimensional image data by scanning an ultrasonic wave in a two-dimensional direction at each oscillation angle while moving (see, for example, Patent Document 1).

  Furthermore, by performing an operation of manually moving an ultrasonic probe in which a plurality of piezoelectric vibrators are arranged one-dimensionally, generating two-dimensional image data at each moving position and detecting the position, An apparatus for generating three-dimensional image data from a plurality of generated two-dimensional image data and position information of the two-dimensional image data is known (see, for example, Patent Document 2).

Furthermore, an ultrasonic probe in which a plurality of piezoelectric vibrators are arranged in a one-dimensional manner is manually moved in the scanning direction of the ultrasonic wave, and two-dimensional image data is generated at each moving position. The two-dimensional image data is synthesized to generate panoramic image data that is a wide range of two-dimensional image data.
JP 2007-6983 A Japanese Patent Laid-Open No. 2000-238

  However, after repeating various operations such as moving and tilting by holding the ultrasonic probe by hand, it is necessary to fix it at a certain angle in order to observe desired image data. For this reason, a burden is placed on the operator's hand, and there is a problem that the ultrasonic probe cannot be held at a constant angle and the image quality is deteriorated. In addition, when generating two-dimensional or three-dimensional image data by moving the ultrasonic probe, it is necessary to move the ultrasonic probe at a constant speed. For this reason, a burden is placed on the operator's hand, and there is a problem that the ultrasonic probe cannot be moved at a constant speed and the image quality is deteriorated.

  The present invention has been made to solve the above problems, and an object of the present invention is to provide an ultrasonic diagnostic apparatus in which an ultrasonic probe can be easily operated.

  In order to solve the above problem, an ultrasonic probe of the present invention according to claim 1 is disposed in an ultrasonic probe that transmits / receives ultrasonic waves to / from a subject, the ultrasonic probe, and the ultrasonic probe Holding means for holding a predetermined angle; transmitting / receiving means for driving the ultrasonic probe to scan the subject with ultrasonic waves; and image data generating means for generating image data based on a received signal from the transmitting / receiving means And display means for displaying the image data generated by the image data generation means.

  According to the present invention, by applying a force that holds at a predetermined angle to the ultrasonic probe, the operation of the ultrasonic probe becomes easy and the burden on the operator's hand can be reduced. In addition, the accuracy of the image data can be increased.

  Examples of the present invention will be described.

Embodiments of an ultrasonic diagnostic apparatus according to the present invention will be described below with reference to FIGS.
FIG. 1 is a block diagram showing the configuration of an embodiment of an ultrasonic diagnostic apparatus according to the present invention. The ultrasonic diagnostic apparatus 10 includes an ultrasonic probe 1 that transmits / receives ultrasonic waves to / from a subject P, a probe holding unit 2 that holds the ultrasonic probe 1 at a certain angle, and an ultrasonic probe 1. Are provided with a position detector 3 that detects position and angle and generates position and angle data, and a transmitter / receiver 4 that transmits an ultrasonic drive signal and a reflected signal to the ultrasonic probe 1.

  Also, the image data generated by the image data generation unit 5 is processed by the image data generation unit 5 that processes the reception signal obtained by the transmission / reception unit 4 to generate image data such as 2D image data and 3D image data. A display unit 6 for displaying, an operation unit 7 for inputting various command signals, and a system control unit 8 for controlling these units as a whole are provided.

  The ultrasonic probe 1 is for transmitting and receiving ultrasonic waves by bringing the tip portion into contact with the body surface of the subject P. For example, the ultrasonic probe 1 has a plurality (N) of piezoelectric vibrators arranged in a line. Yes. This piezoelectric vibrator is an electroacoustic transducer, which converts an electric pulse (ultrasonic drive signal) into an ultrasonic pulse (transmitted ultrasonic wave) at the time of transmission, and an ultrasonic reflected wave (from the subject P at reception) ( It has a function of converting received ultrasonic waves into electrical signals (ultrasound received signals).

  Then, when not in use, as shown in FIG. 2, it is stored on the probe holder 9 adjacent to the operation unit 7 in preparation for the inspection. The probe holder 9 can hold a plurality of ultrasonic probes that may be used in the ultrasonic diagnostic apparatus 10 including the ultrasonic probe 1 at a predetermined angle.

  The probe holding unit 2 is disposed in the ultrasonic probe 1 and is disposed outside the ultrasonic probe 1 to control the holding mechanism 21 and a holding mechanism 21 that generates a force acting on the ultrasonic probe 1 by a gyro effect. A mechanism control unit 22 and a switch 23 for performing an input operation for operating the holding mechanism 21 are provided. As shown in FIG. 3, when the operator of the ultrasonic diagnostic apparatus 10 operates the switch 23 while holding the ultrasonic probe 1 in his / her hand, a part of the switch 23 is pressed so that the input operation is easy. It protrudes outside and is arranged.

  The position detection unit 3 includes a transmitter 31 that generates a magnetic field, a receiver 32 that detects the magnetic field generated by the transmitter 31, and a signal processing unit 33 that generates position and angle data of the ultrasonic probe 1.

  The transmitter 31 is disposed in the vicinity of the subject P and forms a magnetic field from the center of the magnetic field toward the outside. The inspection of the subject P is performed in a magnetic field area where the receiver 32 attached to the ultrasonic probe 1 can accurately detect the magnetic field of the transmitter 31. The receiver 32 detects a three-dimensional magnetic field generated by the transmitter 31 and outputs the detected magnetic field to the signal processing unit 33.

  The signal processing unit 33 obtains the coordinates of the receiver 32 in the space with the transmitter 31 as the origin based on the detection signal of the receiver 32, and generates position data that is the coordinates of the ultrasonic probe 1 based on the obtained coordinates. . Further, the rotation angle of the coordinate system formed by the receiver 32 is obtained, and angle data that is the rotation angle of the ultrasonic probe 1 is generated based on the obtained rotation angle. Then, the generated position and angle data is output to the system control unit 8.

  The transmission / reception unit 4 generates a rate pulse that determines the repetition period (Tr) of the ultrasonic pulse radiated to the subject P, a focusing delay time for focusing the ultrasonic wave to a predetermined depth in transmission, and a predetermined delay time. After applying the deflection delay time for transmitting ultrasonic waves in the scanning direction to the rate pulse, N piezoelectric vibrators built in the ultrasonic probe 1 are driven and transmitted to the subject P. An ultrasonic drive pulse for emitting ultrasonic waves is generated and output to the ultrasonic probe 1.

  Further, a minute ultrasonic wave reception signal output from the ultrasonic probe 1 is amplified to secure a sufficient S / N, and the ultrasonic wave received from a predetermined depth is focused on the ultrasonic wave reception signal. After giving a focusing delay time for obtaining a narrow reception beam width and a deflection delay time for setting the reception directivity of ultrasonic waves on a two-dimensional scanning plane, N-channel ultrasonic waves from the piezoelectric vibrator The received signals are phased and added together and output to the image data generation unit 5.

  The image data generation unit 5 performs envelope detection on the signal output from the transmission / reception unit 4 and then performs logarithmic conversion. The logarithmically converted signal is converted into a digital signal to generate B-mode image data. Further, after detecting the Doppler shift frequency of the signal output from the transmission / reception unit 4 and converting it to a digital signal, only the blood flow information is extracted, and autocorrelation processing is performed on the extracted Doppler signal. Based on the autocorrelation processing result, Doppler mode image data expressed as blood flow information such as an average blood flow velocity value and a variance value is generated. Then, the generated two-dimensional image data such as B-mode image data or Doppler mode image data is scan-converted. Further, based on the position and angle data of the ultrasonic probe 1 supplied from the system control unit 8, 3D image data is generated from a plurality of 2D image data.

  The display unit 6 includes a conversion circuit, a monitor, and the like, and converts the image data output from the image data generation unit 5 into a video signal by D / A conversion and television format conversion of the internal conversion circuit and displays the video signal.

  The operation unit 7 includes an input device such as various switches, a keyboard, a trackball, and a mouse on the operation panel and a touch command screen, and an input operation for setting subject information such as the ID and name of the subject P, transmission / reception conditions, When an input operation for setting imaging conditions such as an image data generation mode, an inspection start operation, an inspection end operation, or the like is performed, the input information is supplied to the system control unit 8.

  The system control unit 8 includes a CPU and a storage circuit, and based on various input information supplied by an input operation of the operation unit 7 and the switch 23 of the probe holding unit 2, the mechanism control unit 22 of the probe holding unit 2, the position Control of each unit of the detection unit 3, the transmission / reception unit 4, the image data generation unit 5, and the display unit 6 and control of the entire system are performed.

Next, details of the configuration of the probe holding unit 2 will be described with reference to FIGS. 1 to 4.
FIG. 4 is a diagram showing the configuration of the holding mechanism 21 of the probe holding unit 2. The holding mechanism 21 includes a first motor 211 that generates a driving force for holding the ultrasonic probe 1 at a predetermined angle, a rotary shaft 212 that is rotated in the direction of the arrow R1 by the first motor 211, and this rotation. A disk-shaped rotating body 213 fixed to the rotating shaft 212 so as to be rotatable about the shaft 212, and a first frame 214 having two first rotating shafts 215 that rotatably hold the rotating shaft 212. I have.

  In addition, the second motor 216 that rotates the first frame 214 in the direction of the arrow R <b> 2 via the first rotation shaft 215, and the first frame 214 that rotates via the first rotation shaft 215. A first frame 214 is fixed to the second frame 217 via the first rotation shaft 215, and a second frame 217 having two second rotation shafts 219 that can be held. A third motor 220 that rotates the second frame 217 in the direction of the arrow R3 via the brake 218, the second rotation shaft 219, and the second frame 217 via the second rotation shaft 219. Two support arms 221 that are rotatably held, and a second brake 222 that fixes the second frame 217 to the support arm 221 via a second rotation shaft 219 are provided.

  The first motor 211 is fixed to the outer surface of the lower end portion of the first frame 214, and when the distal end portion of the ultrasonic probe 1 faces downward, the rotating shaft 212 is caused by its own weight while the holding mechanism 21 is stopped. Is held in the vertical direction. And based on the control signal of the action | operation of the mechanism control part 22, the rotating shaft 212 is rotated to R1 direction. Further, the rotation of the rotary shaft 212 is stopped based on the stop control signal of the mechanism control unit 22.

  One end of the rotation shaft 212 is connected to the first motor 211, and the vicinity of both ends is rotatably held by the first frame 214. Then, the first motor 211 rotates to rotate in the R1 direction at a first speed or a second speed higher than the first speed.

  The rotating body 213 is provided to cause the holding mechanism 21 to generate a gyro effect, and is fixed to the rotating shaft 212 so as to penetrate therethrough. Further, the first frame 214 is spaced apart from the first frame 214. Then, the rotation of the rotating shaft 212 causes the rotating shaft 212 to rotate at the same speed in the same direction as the rotating shaft 212 with the rotating shaft 212 as the rotation center.

  The first frame 214 has a circular shape or an oval shape, and is disposed outside the rotating body 213. Further, the second frame 217 is held so as to be rotatable in the R2 direction with the first rotation shaft 215 as a rotation center.

  One end surface of each of the two first rotation shafts 215 is joined to the outer surface of the first frame 214. The second motor 216 is connected to the other end of one of the two first rotating shafts 215, and the first brake 218 is disposed in the vicinity of the other end of the other shaft. Then, the first frame 214 rotates in the R2 direction within a range of less than ± 90 ° with respect to the reference angle that is the vertical direction.

  The second motor 216 is provided to set the angle of the rotating shaft 212 with respect to the ultrasonic probe 1 and is held by the second frame 217. Then, the angle of the first frame 214 is set based on the operation control signal of the mechanism control unit 22. Further, based on the stop control signal of the mechanism control unit 22, the rotation shaft of the second motor 216 becomes rotatable.

  The second frame 217 is disposed outside and spaced from the first frame 214. Further, it is held by the support arm 221 so as to be rotatable in the R3 direction with the second rotation shaft 219 as the rotation center. Then, the first frame 214 is rotatably held around a first rotation shaft 215 disposed on a virtual first straight line 217a passing through the center of the rotating body 213 and orthogonal to the rotation shaft 21.

  One end face of each of the two second rotating shafts 219 is joined to the outer face of the second frame 217. A third motor 220 is connected to the other end of one of the two second rotating shafts 219, and a second brake 222 is disposed in the vicinity of the other end of the other shaft. Then, the second frame 217 rotates in the R3 direction within a range of less than ± 90 ° with respect to a horizontal reference angle.

  The first brake 218 is provided to fix the set angle of the rotating shaft 212 and is held by the second frame 217. Then, the first frame 214 is fixed to the second frame 217 based on the operation control signal of the mechanism control unit 22. Further, based on the stop control signal of the mechanism control unit 22, the first frame 214 is pivotally opened with respect to the second frame 217.

  The third motor 220 is provided to set the angle of the rotating shaft 212 and is held by the support arm 221. Then, the angle of the second frame 217 is set based on the operation control signal of the mechanism control unit 22. Further, based on the control signal for stopping the mechanism control unit 22, the rotation shaft of the third motor 220 can be freely rotated.

  The two support arms 221 are fixed to the ultrasonic probe 1 and are disposed outside and spaced apart from the second frame 217. Then, the second frame 217 is rotatably held around the second rotation shaft 219 disposed on the virtual second straight line 221a passing through the center of the rotating body 213 and orthogonal to the first straight line 217a. To do.

  The second brake 222 is provided to fix the set angle of the rotation shaft 212 and is held by the support arm 221. Then, the second frame 217 is fixed to the support arm 221 based on the operation control signal of the mechanism control unit 22. Further, the second frame 217 is pivotally opened with respect to the support arm 221 based on a stop control signal from the mechanism control unit 22.

  The mechanism control unit 22 is configured to operate the first to third motors 211, 216, 220 and the first and second brakes in the holding mechanism 21 based on the operation and stop control signals supplied from the system control unit 8. 218 and 222 are controlled. A control signal to the holding mechanism 21 is transmitted via a signal line provided in a cable that transmits a signal between the ultrasonic probe 1 connected to the transmission / reception unit 4 and the transmission / reception unit 4.

  The switch 23 is an input device for operating and stopping the holding mechanism 21 during the inspection after the inspection start operation is performed from the operation unit 7 until the inspection end operation is performed. 8 is output. In the system control unit 8, based on the input information output from the switch 23, any one of the first to third modes, which are a plurality of functions of the switch 23 set from the operation unit 7, and the stationary mode, The mechanism control unit 22 is controlled in accordance with either the movement mode or the turn mode.

  Here, when the first mode is set, the mechanism control unit 22 operates the holding mechanism 21 when the switch 23 is pressed, and stops the holding mechanism 21 when the switch 23 is opened. Let When the second mode is set, the holding mechanism 21 is operated when the switch 23 is opened, and the holding mechanism 21 is stopped when the switch 23 is pressed. Further, when the third mode is set, the holding mechanism 21 is alternately operated and stopped every time the switch 23 is pressed.

  Hereinafter, an example of the operation of the ultrasonic diagnostic apparatus 10 will be described with reference to FIGS. 1 to 10. FIG. 5 is a flowchart showing the operation of the ultrasound diagnostic apparatus 10 when the ultrasound probe 1 is fixed at a certain angle with respect to the subject P and two-dimensional image data is generated. FIG. 6 is a diagram for explaining the force acting on the ultrasonic probe 1 due to the gyro effect of the holding mechanism 21.

  FIG. 7 is a flowchart showing the operation of the ultrasonic diagnostic apparatus 10 when the ultrasonic probe 1 is moved along the body surface of the subject P to generate three-dimensional image data. FIG. 8 is a diagram illustrating a direction in which the rotation shaft 212 is set in the holding mechanism 21 when the ultrasonic probe 1 is moved. FIG. 9 is a view for explaining the operation of turning the ultrasonic probe 1. FIG. 10 is a diagram illustrating an example in which a holding mechanism 21 is provided outside the ultrasonic probe.

  In FIG. 5, in order to generate two-dimensional image data reflecting the imaging region of the subject P, it is necessary to keep the ultrasonic probe 1 at a constant angle. Therefore, a preset allowable limit value of the angle of the ultrasonic probe 1 for controlling the mechanism control unit 22 of the probe holding unit 2 is validated.

  The operator of the ultrasonic diagnostic apparatus 10 sets the imaging condition in which the image data generation mode is set to B-mode image data, the subject information of the subject P, and the like from the operation unit 7, and sets the mode of the switch 23 to, for example, the third mode. When the operation for setting the mode and the stationary mode is performed, the ultrasonic diagnostic apparatus 10 starts operating (step S1).

  Here, when a plurality of ultrasonic probes are held by the probe holder 9, when the ultrasonic probe identification operation is performed from the operation unit 7, the rotation in the holding mechanism 21 in the ultrasonic probe 1 connected to the transmission / reception unit 4 is performed. After the shaft 212 is set to a predetermined angle, the shaft 212 rotates at the first speed. With this rotation, the ultrasonic probe 1 stands from the probe holder 9. In this way, the ultrasonic probe 1 connected to the transmission / reception unit 4 can be easily identified from among a plurality of ultrasonic probes held by the probe holder 9.

  When an inspection start operation is performed from the operation unit 7, the system control unit 8 performs the probe holding unit 2, the transmission / reception unit 4, the image data generation unit 5, and the display unit based on the imaging condition input from the operation unit 7. 6 units are controlled. By applying the ultrasonic probe 1 to the body surface near the imaging region of the subject P, the image data generation unit 5 generates, for example, two-dimensional image data of the subject P from the reception signal received from the transmission / reception unit 4. Display on the display unit 6 in real time.

  The mechanism control unit 22 controls the first to third motors 211, 216, 220 and the first and second brakes 218, 222 of the holding mechanism 21 based on the stop control signal supplied from the system control unit 8. The first frame 214 is released from the second frame 217, and the second frame 217 is released from the support arm 221 (step S2).

  In order to obtain desired image data, an operation of moving on the body surface or changing an angle with respect to the body surface is performed in a state where the tip of the ultrasonic probe 1 is in contact with the body surface of the subject P. Then, the rotation shaft 212 of the holding mechanism 21 moves in the vertical direction as the first frame 214 and the second frame 217 freely rotate by the weight of the first motor 211.

  When the n-th (n ≧ 1) input operation for pressing the switch 23 is performed, the system control unit 8 outputs the n-th control signal to the mechanism control unit 22 based on the input information from the switch 23. To do. The mechanism control unit 22 controls the holding mechanism 21 based on the nth control signal supplied from the system control unit 8. If n is an odd number (Yes in step S3), the process proceeds to step S4. If n is an even number (No in step S3), the process returns to step S2. Each time desired image data is displayed on the display unit 6, an odd number of input operations are performed.

  After “Yes” in step S3, the mechanism control unit 22 performs the first and second operations in a state where the rotating shaft 212 is oriented in the vertical direction based on the operation control signal supplied from the system control unit 8. The brakes 218 and 222 are operated to fix the first frame 214 to the second frame 217 and the second frame 217 to the support arm 221 (step S4).

  After the first and second frames 214 and 217 are fixed, the mechanism control unit 22 rotates the first motor 211 of the holding mechanism 21. By this rotation, the rotating shaft 212 and the rotating body 213 rotate at the first speed (step S5).

  As described above, when the ultrasonic probe 1 is operated at an angle at which desired two-dimensional image data can be obtained, as shown in FIG. 6, the ultrasonic probe 1 is inclined from the angle in the direction of the arrow R4. Then, a reaction force acts in the direction of arrow R5 opposite to the R4 direction due to the inertial force due to the gyro effect of the holding mechanism 21. The force of the holding mechanism 21 acts on the ultrasonic probe 1, and the angle fluctuation of the ultrasonic probe 1 can be suppressed. As a result, the burden on the operator's hand trying to fix the ultrasonic probe 1 at a fixed angle can be reduced, and the accuracy of the two-dimensional image data can be increased.

  When the inspection end operation is performed from the operation unit 7 after all desired image data is obtained, the system control unit 8 stops the probe holding unit 2, the transmission / reception unit 4, the image data generation unit 5, and the display unit 6. Let The mechanism control unit 22 stops the first motor 211 based on the stop control signal from the system control unit 8 to stop the rotation of the rotating shaft 212 and the rotating body 213, and the first and second brakes. 218 and 222 are stopped and the first and second frames 214 and 217 are opened (step S6). Then, the ultrasonic diagnostic apparatus 10 ends the operation (step S7).

  The angle output from the position detection unit 3 after the position detection unit 3 starts detecting the angle of the ultrasonic probe 1 together with the inspection start operation from the operation unit 7 and the switch 23 is input an odd number of times. When the data reaches an allowable limit angle set in advance with respect to the starting angle data output from the position detector 3 when the input operation of the switch 23 is performed, the rotating shaft 212 and the rotating body 213 are reached. May be increased from the first speed to the second speed. As a result, a large force can be applied to the ultrasonic probe 1, and the burden of the operation of holding the ultrasonic probe 1 at that angle can be further reduced.

  FIG. 7 is a flowchart showing the operation of the ultrasonic diagnostic apparatus 10 when the ultrasonic probe 1 is moved along the body surface of the subject P to generate three-dimensional image data. When moving the ultrasonic probe 1 to generate three-dimensional image data, it is necessary to move the ultrasonic probe 1 at a constant speed or angle. For this reason, the preset allowable limit values of the moving speed and angle of the ultrasonic probe 1 for controlling the mechanism control unit 22 are validated. Note that only the allowable limit value of the moving speed may be set to be valid. In this case, the mechanism control unit 22 controls the holding mechanism 21 based on the allowable limit value of the moving speed.

  An imaging condition in which the image data generation mode is set to 3D image data, subject information of the subject P, and the like are set by the operator of the ultrasound diagnostic apparatus 10 from the operation unit 7, and the switch 23 is moved to, for example, the third mode and moved. When the operation for setting the mode is performed, the ultrasound diagnostic apparatus 10 starts to operate (step S11).

  When an inspection start operation is performed from the operation unit 7, the system control unit 8 performs the probe holding unit 2, the position detection unit 3, the transmission / reception unit 4, and image data generation based on the imaging conditions input from the operation unit 7. Each unit of the unit 5 and the display unit 6 is controlled. By applying the ultrasonic probe 1 to the body surface near the imaging region of the subject P, the image data generation unit 5 generates, for example, two-dimensional image data of the subject P from the reception signal received from the transmission / reception unit 4. Display on the display unit 6 in real time.

  The mechanism control unit 22 controls the first to third motors 211, 216, 220 and the first and second brakes 218, 222 of the holding mechanism 21 based on the stop control signal supplied from the system control unit 8. The first frame 214 is released from the second frame 217, and the second frame 217 is released from the support arm 221 (step S12).

  When an operation of moving the ultrasonic probe 1 on the body surface of the subject P or changing the angle with respect to the body surface in order to search for a desired imaging region, the rotation shaft 212 of the holding mechanism 21 is moved. Move in the vertical direction.

  Next, after the ultrasonic probe 1 is set at the starting position on the body surface of the subject P in order to obtain desired three-dimensional image data, an operation of pressing the switch 23 to turn it on is performed. Outputs an operation control signal to the mechanism control unit 22 based on input information from the switch 23. Further, the position and angle data (starting position and angle data) output from the position detector 3 are stored in an internal storage circuit.

  Based on the control signal supplied from the system control unit 8, the mechanism control unit 22 operates the first and second brakes 218, 222 in a state where the rotation shaft 212 is oriented in the vertical direction, thereby The frame 214 is fixed to the second frame 217, and the second frame 217 is fixed to the support arm 221 (step S13).

  After the first and second frames 214 and 217 are fixed, the mechanism control unit 22 rotates the first motor 211 of the holding mechanism 21. By this rotation, the rotating shaft 212 and the rotating body 213 rotate at the first speed (step S14).

  When an operation for moving the ultrasonic probe 1 from the departure position is performed, the system control unit 8 starts the departure based on the position data output from the position detection unit 3 and the departure position data stored in the internal storage circuit. The moving speed of the ultrasonic probe 1 at the position moved from the position is calculated. Further, the angle difference is calculated by subtracting the departure angle data from the angle data at the position moved from the departure position based on the angle data output from the position detection unit 3 and the departure angle data stored in the internal storage circuit. Then, it is determined whether or not the calculated moving speed and angle difference at the moved position have reached a preset allowable limit value.

  If the calculated movement speed and angle difference have not reached the preset allowable limit value (No in step S15), the process proceeds to step S22. Further, when the calculated moving speed has reached the preset allowable limit value and / or when the calculated moving speed has reached the preset allowable limit value (Yes in step S15), the process proceeds to step S16. Transition.

  Next, when the calculated moving speed has reached a preset allowable limit value (Yes in step S16), the process proceeds to step S17. When only the calculated angle difference has reached the preset allowable limit value (No in step S16), the process proceeds to step S20.

  After “Yes” in step S <b> 16, based on the angle data output from the position detection unit 3, the rotation shaft 212 is tilted from the vertical direction to the moving direction of the ultrasonic probe 1 or the direction opposite to the moving direction. Is rotated from the first speed to the second speed (step S17).

  Here, when the moving speed reaches the allowable upper limit and is high, after the first and second brakes 218 and 222 are stopped, the first and second frames 214 and 220 are driven by the second and third motors 216 and 220, respectively. The second frame 217 is rotated. Then, as shown in FIG. 8A, the rotation shaft 212 is tilted from the vertical direction to the arrow R6 direction opposite to the movement direction, and the angle θ1 between the movement direction and the rotation shaft 212 becomes an obtuse angle. Set as follows. After the rotation shaft 212 is set, the first and second brakes 218 and 222 are operated to fix the first and second frames 214 and 217 to the second frame 217 and the support arm 221.

  In addition, when the moving speed reaches the allowable lower limit value and is slow, after the first and second brakes 218 and 222 are stopped, the first and second frames 214 and 220 are driven by the second and third motors 216 and 220, respectively. The second frame 217 is rotated. Then, as shown in FIG. 8B, the rotation shaft 212 is tilted from the vertical direction to the arrow R7 direction, which is the movement direction, so that the angle θ2 between the movement direction and the rotation shaft 212 is set to an acute angle. After the rotation shaft 212 is set, the first and second brakes 218 and 222 are operated to fix the first and second frames 214 and 217 to the second frame 217 and the support arm 221.

  As described above, when the operation of moving the ultrasonic probe 1 for generating the three-dimensional image data is performed, when the moving speed of the ultrasonic probe 1 reaches a preset allowable limit value, the speed is increased. When the force of the holding mechanism 21 that suppresses this acts on the ultrasonic probe 1 and prompts the operator, it can be moved at a constant speed.

  After step S17, based on the position data output from the position detector 3, the moving speed of the ultrasonic probe 1 at the position moved from the starting position is calculated. It is determined whether or not the calculated moving speed has reached a limit value within a preset allowable range.

  If the calculated moving speed does not reach the preset allowable limit value (No in step S18), the process proceeds to step S19. If the calculated moving speed has reached the preset allowable limit value (Yes in step S18), the process returns to step S17.

  After “No” in step S18, based on the angle data output from the position detector 3, the rotary shaft 212 is rotated from the second speed to the first speed while returning the rotary shaft 212 to the vertical direction. (Step S19). Thereafter, the process returns to step S15.

  Here, after the first and second brakes 218 and 222 are stopped, the first and second frames 214 and 217 are rotated by the second and third motors 216 and 220 to rotate the rotating shaft. 212 is returned to the angle of the starting angle data. After the rotating shaft 212 is returned, the first and second brakes 218 and 222 are operated to fix the first and second frames 214 and 217 to the second frame 217 and the support arm 221.

  After “No” in Step S16, the rotary shaft 212 is rotated from the first speed to the second speed (Step S20).

  As described above, when an operation of moving the ultrasonic probe 1 for generating the three-dimensional image data is performed, when the angle difference of the ultrasonic probe 1 reaches a preset allowable limit value, the angle is determined. When the force of the holding mechanism 21 that suppresses the action acts on the ultrasonic probe 1 and prompts the operator, it can be moved at a constant angle.

  Next, based on the angle data output from the position detector 3, it is determined whether or not the calculated angle difference has reached a preset allowable limit value. When the calculated angle difference has reached a preset allowable limit value (Yes in step S21), the process returns to step S20. If the calculated angle difference does not reach the preset allowable limit value (No in step S21), the process returns to step S14.

  After the operation of moving the ultrasonic probe 1 is finished, when an operation of depressing the switch 23 to turn it off is performed, the mechanism control unit 22 determines the first motor based on the stop control signal from the system control unit 8. 211 is stopped to stop the rotary shaft 212 and the rotary body 213, and the first and second brakes 218 and 222 are stopped to open the first and second rotary shafts 215 and 219 (step S22). .

  The image data generation unit 5 generates a three-dimensional image based on the received signal received from the transmission / reception unit 4 and the position and angle data output from the position detection unit 3 between the ON operation and the OFF operation of the switch 23. Data is generated and displayed on the display unit 6.

  Then, when desired three-dimensional image data generated by the movement of the ultrasonic probe 1 is displayed on the display unit 6, the system control unit 8 performs the inspection end operation from the operation unit 7, whereby the system control unit 8 performs the probe holding unit 2. Then, the position detection unit 3, the transmission / reception unit 4, the image data generation unit 5, and the display unit 6 are stopped, and the ultrasonic diagnostic apparatus 10 ends the operation (step S23).

  As described above, when the operation of moving the ultrasonic probe 1 for generating the three-dimensional image data is performed, when the moving speed of the ultrasonic probe 1 reaches a preset allowable limit value, the speed is increased. When the force of the holding mechanism 21 that suppresses this acts on the ultrasonic probe 1 and prompts the operator, it can be moved at a constant speed. Further, when the angle difference of the ultrasonic probe 1 reaches a preset allowable limit value, the force of the holding mechanism 21 that suppresses the angle acts on the ultrasonic probe 1 and prompts the operator to keep constant. It can be moved at an angle of. As a result, it is possible to reduce the burden on the operator's hand trying to move the ultrasonic probe 1 while maintaining a constant speed and angle, and improve the accuracy of the three-dimensional image data.

  In addition, after the operation of setting the moving distance of the ultrasonic probe 1 and depressing the switch 23 to perform the ON operation is performed, the distance moved from the starting position is set in advance based on the position data output from the position detector 3. When the set allowable limit value is reached, the holding mechanism 21 is controlled in the same manner as in step S17, and the force of the holding mechanism 21 that suppresses the movement acts on the ultrasonic probe 1 to prompt the operator. Can be moved. Thereby, it is possible to reduce the burden of an operation to move the set distance of the ultrasonic probe 1 and to improve the accuracy of the three-dimensional image data. In addition, by setting the moving distance for each imaging region, it is possible to move the desired trajectory to the ultrasonic probe 1 without depending on the skill of the operator.

  Further, as shown in FIG. 9, when an operation of turning the ultrasonic probe 1 in the directions of the arrows R7 and R8 is performed with the tip portion in contact with the body surface of the subject P for generating three-dimensional image data as a fulcrum, A range of the turning angle is set, and when the angle of the ultrasonic probe 1 reaches a preset allowable limit value within the set range based on the angle data output from the position detection unit 3, it is stopped. The first and second motors 211, 216, 220 and the first and second brakes 218, 222 among the first and second brakes 218, 222 are operated to operate the first and second frames 214. , 217 are fixed to the second frame 217 and the support arm 221. Then, after holding the rotating shaft 212 in the vertical direction, the rotating shaft 212 is rotated at the first or second speed, and the force of the holding mechanism 21 that suppresses the bending of the ultrasonic probe 1 acts to prompt the operator. Thus, the set range can be read. Accordingly, it is possible to reduce the burden of an operation for trying to beat the ultrasonic probe 1 within a set range, and to improve the accuracy of the three-dimensional image data.

  Further, when an operation of turning the ultrasonic probe 1 for generating three-dimensional image data is performed, when the angular velocity of turning the ultrasonic probe 1 reaches a preset allowable limit value, the angular velocity is held to be suppressed. When the force of the mechanism 21 acts on the ultrasonic probe 1 to prompt the operator, the mechanism 21 can be turned at a constant angular velocity. As a result, it is possible to reduce the burden on the operator's hand trying to strike the ultrasonic probe 1 at a constant angular velocity, and to increase the accuracy of the three-dimensional image data.

  Furthermore, the ultrasound probe 1 is moved in the scanning direction of the ultrasound, and the ultrasound probe 1 for generating a wide range of two-dimensional panoramic image data by combining a plurality of two-dimensional image data in the moved range is moved. When the operation is performed, the panorama image data generation mode and the function of the switch 23 are set to any one of the first to third modes and the movement mode. When the moving speed of the ultrasonic probe 1 reaches a preset allowable limit value, the force of the holding mechanism 21 that suppresses the speed acts on the ultrasonic probe 1 and prompts the operator to keep constant. It can be moved at a speed of As a result, the burden on the operator's hand trying to move the ultrasonic probe 1 at a constant speed can be reduced, and the accuracy of the panoramic image data can be increased.

  According to the embodiment of the present invention described above, the force that holds at a constant angle due to the gyro effect of the holding mechanism 21 acts on the ultrasonic probe 1, and the angle fluctuation of the ultrasonic probe 1 can be suppressed. .

  Further, when an operation of moving the ultrasonic probe 1 to generate image data is performed, when the moving speed of the ultrasonic probe 1 reaches a preset allowable limit value, the speed is set to the ultrasonic probe 1. When the force of the holding mechanism 21 to suppress acts to prompt the operator, the holding mechanism 21 can be moved at a constant speed. Further, when performing an operation of turning the ultrasonic probe 1, when the angular velocity at which the ultrasonic probe 1 is turned reaches a preset allowable limit value, the force of the holding mechanism 21 that suppresses the angular velocity is applied to the ultrasonic probe 1. By acting and prompting the operator, it is possible to beat at a constant angular velocity.

  Furthermore, when performing an operation of moving the set distance of the ultrasonic probe 1 to generate image data, the distance moved from the starting position of the ultrasonic probe 1 based on the position data output from the position detection unit 3 When a preset allowable limit value of the moving distance set by is reached, the force of the holding mechanism 21 that suppresses the movement acts on the ultrasonic probe 1 to prompt the operator to move the set distance. be able to. In addition, when performing an operation in the range of the set angle, based on the angle data output from the position detection unit 3, the angle of the ultrasonic probe 1 has reached a preset allowable limit value within the set range. Sometimes, the force of the holding mechanism 21 that suppresses the bending of the ultrasonic probe 1 acts and prompts the operator, so that the set range can be turned.

  Thus, the burden on the operator can be reduced and the accuracy of the image data can be increased. Moreover, the difference in the quality of the inspection due to the operation of the ultrasonic probe 1 can be reduced due to the difference in the skill of the operator, and the quality of the inspection can be improved.

  In addition, this invention is not limited to the said Example, As shown in FIG. 10, you may implement so that the holding mechanism 21 may be arrange | positioned on the outer side of an ultrasonic probe so that attachment or detachment is possible. A connector 1b capable of transmitting a control signal from the system control unit 8 is provided on the ultrasonic probe 1a, and a holding mechanism 21, a case 24a covering the holding mechanism 21 to which the support arm 221 of the holding mechanism 21 is fixed, and this An attachment 24 constituted by a connector 24b engaged with a connector 1b capable of transmitting a control signal is attached to a holding mechanism 21 provided in a part of the case 24a. And when the holding mechanism 21 is not required, it can be removed from the ultrasonic probe 1a. Thereby, the ultrasonic probe 1a can be reduced in size.

  In addition, by providing a plurality of holding mechanisms 21 and controlling each rotating shaft 212 not to be directed in the same direction, and changing the rotation speed of each rotating shaft 212 on that, the angle can be quickly adjusted to the ultrasonic probe. The force of the holding mechanism 21 to change can be given. Further, by controlling each rotating shaft 212 to be directed in the same direction and changing the rotation speed of each rotating shaft 212 on the control, it is possible to apply a powerful holding mechanism 21 force to the ultrasonic probe.

  Furthermore, an ultrasonic probe in which a plurality of piezoelectric vibrators are arranged in a lattice shape, and a transmission / reception unit capable of electronically performing three-dimensional ultrasonic scanning using the ultrasonic probe may be used. As a result, it is possible to suppress the fluctuation of the angle of the ultrasonic probe, and it is possible to reduce the burden of the operation of trying to hold the ultrasonic probe at a certain angle and to improve the accuracy of the image data. .

  Furthermore, when three-dimensional image data is generated using an ultrasonic probe that can mechanically oscillate a transducer unit in which a plurality of piezoelectric transducers are arranged in a row, the angle of the ultrasonic probe is fluctuated. Can be suppressed. Thereby, the burden on the operator who tries to fix the ultrasonic probe at a certain angle can be reduced, and the accuracy of the three-dimensional image data can be increased.

1 is a block diagram showing a configuration of an ultrasonic diagnostic apparatus according to an embodiment of the present invention. The figure which shows arrangement | positioning of the probe holder which concerns on the Example of this invention. The figure which shows arrangement | positioning of the switch of the probe holding | maintenance part which concerns on the Example of this invention. The figure which shows the structure of the holding mechanism which concerns on the Example of this invention. 6 is a flowchart showing the operation of the ultrasonic diagnostic apparatus when two-dimensional image data is generated while holding the ultrasonic probe according to the embodiment of the present invention at a constant angle with respect to the subject. The figure for demonstrating the force which acts on an ultrasonic probe by the gyro effect of the holding mechanism which concerns on the Example of this invention. 6 is a flowchart showing the operation of the ultrasonic diagnostic apparatus when generating the three-dimensional image data by moving the ultrasonic probe according to the embodiment of the present invention along the body surface of the subject. The figure which shows the direction which sets the rotating shaft in a holding mechanism in the case of moving and operating the ultrasonic probe which concerns on the Example of this invention. The figure for demonstrating the turning operation of the ultrasonic probe which concerns on the Example of this invention. The figure which shows the example which provided the holding mechanism in the outer side of the ultrasonic probe which concerns on the Example of this invention.

Explanation of symbols

P Subject 1 Ultrasonic probe 2 Probe holding unit 3 Position detection unit 4 Transmission / reception unit 5 Image data generation unit 6 Display unit 7 Operation unit 8 System control unit 10 Ultrasound diagnostic device 21 Holding mechanism 22 Mechanism control unit 23 Switch 31 Transmitter 32 Receiver 33 Signal processor

Claims (9)

An ultrasonic probe for transmitting and receiving ultrasonic waves to and from a subject;
A holding means disposed on the ultrasonic probe and holding the ultrasonic probe at a predetermined angle;
Transmitting / receiving means for driving the ultrasonic probe to scan the subject with ultrasonic waves;
Image data generating means for generating image data based on a received signal from the transmitting / receiving means;
An ultrasonic diagnostic apparatus comprising: display means for displaying image data generated by the image data generation means.   The holding means is a first driving means for generating a driving force for holding the ultrasonic probe at a predetermined angle, a rotating shaft rotated by the first driving means, and rotating about the rotating shaft. A disk-shaped rotating body that is fixed to the rotating shaft as possible, a first frame that rotatably holds the rotating shaft, and a virtual first straight line that passes through the center of the rotating body and is orthogonal to the rotating shaft. A second frame that rotatably holds the first frame around a first rotation axis disposed above, and a second frame that is held by the second frame and that rotates the first frame. A second driving means for setting an angle of the rotation shaft, a first brake capable of fixing the first frame to the second frame, and being fixed to the ultrasonic probe, Passes through the center of the rotating body and is orthogonal to the first straight line A support arm that rotatably holds the second frame around a second rotation axis that is arranged on a virtual second straight line, and a support arm that is held by the support arm and that rotates the second frame. The third drive means for moving and setting the angle of the rotating shaft, and a second brake capable of fixing the second frame to the support arm. The ultrasonic diagnostic apparatus according to 1.   The rotating shaft is located above the first driving means and is oriented in the vertical direction when the first to third driving means and the first and second brakes are stopped. The ultrasonic diagnostic apparatus according to claim 2. An input unit capable of performing an input operation for stopping or operating the holding unit disposed in the ultrasonic probe;
The holding means is based on an input operation for operating the holding means from the input means, and the first and second brakes are used by the first and second brakes in a state where the rotation shaft is oriented in the vertical direction. The ultrasonic diagnosis according to claim 3, wherein after the second frame is fixed to the second frame and the support arm, the rotating shaft is rotated at a first speed by the first driving means. apparatus. A position detecting means for detecting an angle of the ultrasonic probe;
The holding means has a preset allowable difference between an angle detected by the position detecting means and an angle of the ultrasonic probe when an input operation for operating the holding means from the input means is performed. The ultrasonic diagnostic apparatus according to claim 4, wherein when the limit value is reached, the first driving unit rotates the rotating shaft at a second speed higher than the first speed. A position detecting means for detecting the position of the ultrasonic probe;
The holding means is a starting position of the ultrasonic probe when an input operation for operating the holding means from the input means is performed, and a position detected by the position detecting means after moving the starting position. When the moving speed calculated from the above reaches a preset allowable limit value, the second and third driving means set the rotation axis in the moving direction of the ultrasonic probe or in the direction opposite to the moving direction. After that, the first and second frames are fixed to the second frame and the support arm by the first and second brakes, and the rotating shaft is fixed to the first frame by the first driving means. The ultrasonic diagnostic apparatus according to claim 4, wherein the ultrasonic diagnostic apparatus rotates at a second speed higher than the speed. A position detecting means for detecting the position of the ultrasonic probe; and a distance setting means capable of setting a moving distance of the ultrasonic probe;
The holding means is a starting position of the ultrasonic probe when an input operation for operating the holding means from the input means is performed, and a position detected by the position detecting means after moving the starting position. When the movement distance calculated by the distance setting means reaches a preset allowable limit value of the movement distance set by the distance setting means, the second and third driving means cause the rotation axis of the ultrasonic probe to move. After setting the moving direction or the direction opposite to the moving direction, the first and second frames are fixed to the second frame and the support arm by the first and second brakes, and further the first The ultrasonic diagnostic apparatus according to claim 4, wherein the rotating shaft is rotated at a second speed higher than the first speed by the driving means. Position detecting means for detecting the angle of the ultrasonic probe, and angle range setting means capable of setting the angle range of the ultrasonic probe;
The holding means is in a state in which the rotation axis is oriented in the vertical direction when the angle detected by the position detection means reaches a preset allowable limit value within the range set by the angle range setting means. Then, after the first and second frames are fixed to the second frame and the support arm by the first and second brakes, the rotating shaft is rotated at the first speed by the first driving means. The ultrasonic diagnostic apparatus according to claim 4, wherein:   The ultrasonic diagnostic apparatus according to claim 1, wherein the holding unit is detachably disposed on the ultrasonic probe.

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