JP2010088585A - Ultrasonic diagnostic apparatus and ultrasonic probe - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an ultrasonic diagnostic apparatus and an ultrasonic probe reducing blurring of image data caused by hand movement. <P>SOLUTION: The ultrasonic diagnostic apparatus includes: a probe body 10 having a transducer 11 disposed within a probe case 12, an angle sensor 13 for detecting the angle of inclination of the probe case 12 and an oscillation mechanism 20 for oscillatably holding the transducer 11; a transmitting/receiving part 3 for scanning a subject P with ultrasonic waves by driving the transducer 11; and an image data generating part 44 for generating image data based on receiving signals from the transmitting/receiving part 3 and displaying the generated image data in a display part 5. After inputting a concerned region Dp of B-mode image data displayed in the display part 5 from a control part 6, the correction starting operation is performed by a switch 14, so that the transducer 11 is oscillated in the opposite direction from the direction of oscillation and held at such a correction oscillation angle that the concerned region Dp can be scanned with ultrasonic waves when the probe body 10 is inclined in the direction of extending the oscillation direction from a correction reference angle. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an ultrasonic diagnostic apparatus and an ultrasonic probe for imaging and diagnosing the inside of a subject with ultrasonic waves, and more particularly to an ultrasonic diagnostic apparatus and an ultrasonic probe that swing a transducer that transmits and receives ultrasonic waves. .

  An ultrasonic diagnostic apparatus transmits an ultrasonic wave into a subject using an ultrasonic probe, and converts a reflected wave generated by a difference in acoustic impedance of a tissue in the subject into an electric signal. Then, image data is generated based on an electrical signal obtained by scanning the subject with ultrasonic waves and displayed on the display unit. In this ultrasonic inspection, the image data can be observed in real time simply by bringing the ultrasonic probe into contact with the body surface of the subject, thus diagnosing various organs such as the heart, blood vessels, abdomen, and urinary organs in vivo. Widely used in and treatment.

  By the way, in the ultrasonic diagnostic apparatus, a two-dimensional image is obtained by using an ultrasonic probe including a transducer unit having a plurality of transducers arranged in one dimension and a swinging mechanism that swings the transducer unit. An apparatus capable of displaying data and three-dimensional image data is known (for example, see Patent Document 1).

The operator of this ultrasonic diagnostic apparatus operates the ultrasonic probe by hand and holds it at a certain angle at a position where desired image data is displayed on the display unit. Then, the subject is examined while observing the image data displayed on the display unit.
JP 2007-6983 A

  However, in an examination over a long period of time, the image data displayed on the display unit is distorted and unclear because the ultrasonic probe cannot be moved and held at a certain angle due to the camera shake of the operator or the movement of the subject. There is.

  The present invention has been made to solve the above-described problems, and an object thereof is to provide an ultrasonic diagnostic apparatus and an ultrasonic probe that can reduce fluctuations in image data.

  In order to solve the above-described problem, the ultrasonic diagnostic apparatus according to the first aspect of the present invention includes a transducer unit that is disposed in a probe case and includes a plurality of transducers so that the subject can be scanned with ultrasonic waves. Detecting means for detecting an inclination angle of the probe case; and holding the vibrator unit in a swingable manner on the probe case, and based on information on the inclination angle detected by the detecting means, Oscillating means capable of changing the oscillating angle, transmitting / receiving means for driving the transducer unit to scan the subject with ultrasonic waves, and image data for generating image data based on a received signal from the transmitting / receiving means The image processing apparatus includes a generation unit and a display unit that displays the image data generated by the image data generation unit.

  The ultrasonic probe of the present invention according to claim 6 is arranged in a probe case, and includes a transducer part having a plurality of transducers so that ultrasonic scanning can be performed on a subject, and an inclination of the probe case Detection means for detecting an angle, and a swinging unit that is swingably held by the probe case and that can change the swinging angle of the vibrator unit based on information on an inclination angle detected by the detection unit. And a moving means.

  According to the present invention, after inputting a region of interest in image data displayed on the display unit, an input operation for performing correction can be performed, thereby reducing fluctuations in the image data displayed on the display unit. As a result, the burden on the operator can be reduced and the inspection can be performed quickly.

  Examples of the present invention will be described.

Hereinafter, embodiments of an ultrasonic diagnostic apparatus according to the present invention will be described with reference to FIGS.
FIG. 1 is a block diagram showing a configuration of an ultrasonic diagnostic apparatus according to an embodiment of the present invention. The ultrasonic diagnostic apparatus 100 drives the ultrasonic probe 1 to transmit / receive ultrasonic waves to / from the subject P, scans the subject P with ultrasonic waves, and performs ultrasonic scanning by this scanning. An apparatus main body 2 that generates 2D image data and 3D image data based on a received signal obtained from the probe 1 is provided.

  The ultrasonic probe 1 includes a probe main body 10 that transmits and receives ultrasonic waves to and from a subject P, and a cable 8 that is connected to the probe main body 10 at one end and transmits signals between the probe main body 10 and the apparatus main body 2. And a connector 9 connected to the other end of the cable 8 and detachably attached to the apparatus body 2.

  The probe body 10 includes a probe case 12 that forms an outer shell, a transducer unit 11 that transmits and receives ultrasonic waves to and from the subject P, an angle sensor 13 that detects an inclination angle of the probe case 12, and a transducer unit 11 Is swingably held in the probe case 12 so as to be swingable in the directions of the arrows R1 and R2, which are swing directions, and the swing angle of the vibrator unit 11 can be changed based on the information of the tilt angle detected by the angle sensor 13. The mechanism 20 includes a switch 14 that enables and disables a camera shake correction function that corrects fluctuations in image data generated by the apparatus main body 2 due to fluctuations in the tilt angle of the probe case 12.

  FIG. 2 is a diagram showing details of the configuration of the probe main body 10. 2A is a view of the probe main body 10 as viewed from the swinging direction of the vibrator portion 11, and FIG. 2B is a view of the probe main body 10 of FIG. 2A as viewed from the right.

  The probe case 12 has openings at one end and the other end, the opening at one end is closed by an acoustic window 15 having excellent ultrasonic wave propagation properties, and the opening at the other end is one end of the cable 8. Is blocked. The transducer unit 11, the swing mechanism 20, and the angle sensor 13 are arranged inside the probe case 12, and the switch 14 is arranged outside. In addition, a liquid acoustic medium excellent in ultrasonic wave propagation property is enclosed between the acoustic window 15 and the transducer unit 11.

  The vibrator unit 11 includes a plurality of (N) piezoelectric vibrators arranged one-dimensionally in the vicinity of the surface so that ultrasonic scanning can be performed in a two-dimensional direction orthogonal to the swinging direction. In addition, an ultrasonic drive signal that is an electrical signal output from the apparatus main body 2 via the cable 8 is converted into an ultrasonic wave and transmitted into the subject P. Further, the ultrasonic wave reflected in the subject P is received and converted into an ultrasonic reception signal which is an electric signal, and the converted ultrasonic reception signal is output to the apparatus main body 2 via the cable 8 and the connector 9. Note that a vibrator unit having a plurality of piezoelectric vibrators arranged two-dimensionally so as to be able to scan ultrasonic waves three-dimensionally may be used.

  The swing mechanism 20 includes a motor 21 fixed to the inner wall of the probe case 12, a first gear 22 fixed to the rotation shaft of the motor 21, a second gear 23 engaged with the first gear 22, 2 oscillating shaft 24 fixed at the center of rotation of gear 23 and having both ends rotatably supported on the inner wall of probe case 12, and one end joined to oscillating shaft 24, and the other end The arm 25 is configured to hold the back surface of the vibrator unit 11.

  Hereinafter, the inclination angle shown in FIG. 2 when the center axis 10a of the probe main body 10 is oriented in the vertical direction is referred to as a reference inclination angle, and FIG. 2 when the arm 25 is parallel to the center axis 10a. The illustrated swing angle of the vibrator unit 11 is referred to as a reference swing angle.

  When the two-dimensional image data is generated by the apparatus main body 2 by the control signal output from the apparatus main body 2 via the connector 9 and the cable 8, the motor 21 is stopped and the vibrator unit 11 is moved at the reference swing angle. Hold.

  When generating three-dimensional image data, the first gear 22 reciprocates due to the reciprocating rotation of the motor 21. By this reciprocating rotation, the second gear 23 rotates in the opposite direction to the first gear 22. As the second gear 23 rotates, the swing shaft 24 rotates in the same direction as the second gear 23, and the arm 25 is driven to swing in the R1 and R2 directions with the swing shaft 24 as the swing center. By swinging the arm 25, the vibrator unit 11 draws an arc-shaped trajectory having the swing shaft 24 as a swing center and a distance La between the swing center and the surface of the vibrator unit 11 as a swing radius. And swing in the R2 direction. Then, it is possible to swing from the reference swing angle to the maximum swing angle θmaxL in the R1 direction and to swing to the maximum swing angle θmaxR in the R2 direction.

  The angle sensor 13 includes, for example, an enclosed liquid that detects the inclination of the probe case 12 as the inclination angle of the probe body 10 and two capacitors for detecting a change in capacitance caused by the inclination of the liquid. The liquid-filled electrostatic capacitance type sensor is fixed to the inner wall of the probe case 12.

  Then, as shown in FIG. 3, the tilt angle θx tilted in the direction of the arrow R4, which is the extending direction of the swing direction, for example, the R1 direction from the reference tilt angle, or the tilt angle tilted in the opposite direction to the R4 direction, and the swing Inclination angle θy inclined in the direction of arrow R5, which is an extension direction of arrow R3 in the two-dimensional direction orthogonal to the moving direction, for example, the direction of arrow R3, or the inclination angles inclined in the opposite direction to R5 are orthogonal to each other. The tilt angles in the two directions are detected, and information on each detected tilt angle is output to the apparatus main body 2 via the cable 8 and the connector 9.

  For the switch 14, for example, the camera shake correction function is enabled by a correction start operation by a short press or one click, and the camera shake correction function is disabled by a correction end operation by a long press or double click. When an input for enabling the camera shake correction function is performed at the time of generating two-dimensional image data, the input signal is output to the apparatus main body 2 via the cable 8 and the connector 9. After the input, the first output from the apparatus main body 2 according to the information of the inclination angle inclined in the extending direction of the swing direction from the inclination angle (correction reference angle) when the probe main body 10 is input. Based on the swing angle correction signal, the swing mechanism 20 holds the vibrator unit 11 at a corrected swing angle that swings in a direction opposite to the swing direction.

  Further, when an input for enabling the camera shake correction function is performed at the time of generating the three-dimensional image data, the apparatus main body according to the information on the inclination angle at which the probe main body 10 is inclined in the extending direction of the swing direction from the correction reference angle. On the basis of the second swing angle correction signal output from 2, the swing mechanism 20 has a corrected swing range in which the swing range of the vibrator unit 11 is shifted by an angle corrected in a direction opposite to the swing direction. Swing.

  The apparatus main body 2 in FIG. 1 generates an ultrasonic drive signal for driving the transducer unit 11 of the probe main body 10 in the ultrasonic probe 1 and scans the ultrasonic wave so as to be focused, and receives an ultrasonic wave from the ultrasonic probe 1. A transmission / reception unit 3 that processes a signal, and a Doppler image that represents blood flow information such as B-mode image data representing a tomographic plane of the subject P based on a received signal from the transmission / reception unit 3, an average blood flow velocity value, and a dispersion value Image processing unit 4 that generates two-dimensional image data such as data, and further generates three-dimensional image data from a plurality of two-dimensional image data generated at each swing angle of the swing range due to swing of the vibrator unit 11. And.

  In addition, the display unit 5 displays the 2D image data and 3D image data generated by the image processing unit 4, the input of imaging conditions for generating 2D image data and 3D image data, and the input of various command signals. Based on input information such as an imaging condition input from the operation unit 6 and an imaging condition input from the operation unit 6, the swing mechanism 20 of the probe main body 10, the transmission / reception unit 3, the image processing unit 4, and the display unit 5 is provided.

  FIG. 4 is a block diagram showing details of the configuration of the transmission / reception unit 3 and the image processing unit 4. The transmission / reception unit 3 generates a ultrasonic drive signal for driving the transducer unit 11 of the probe main body 10 in the ultrasonic probe 1 and a phasing addition for the ultrasonic reception signal obtained from the transducer unit 11. And a receiving unit 32.

  The transmission unit 31 includes a rate pulse generator 33, a transmission delay circuit 34, and a pulser 35. The rate pulse generator 33 supplies the transmission delay circuit 34 with a rate pulse that determines the repetition period (Tr) of the ultrasonic pulse transmitted to the subject P. The transmission delay circuit 34 is configured by a delay circuit corresponding to each piezoelectric vibrator of the vibrator unit 11, and variably sets a delay time based on a timing signal supplied from the system control unit 7.

  Then, at the time of wave transmission, a focusing delay time for focusing the ultrasonic waves in the scanning direction at a focusing position that is separated from the surface of the transducer unit 11 by a preset distance, and a preset time, for example, as shown in FIG. A deflection delay time is added to the rate pulse for scanning the ultrasonic wave in the area of the imaging angle θp formed by the residual angles θL and θR near the both ends and the viewing angle θv sandwiched between the residual angles θL and θR. To the pulser 35 corresponding to each delay circuit. The pulser 35 includes a drive circuit corresponding to each piezoelectric vibrator of the vibrator unit 11, drives each piezoelectric vibrator based on the rate pulse output from the transmission delay circuit 34, and images the subject P. Drive pulses for transmitting ultrasonic waves to the first to Kth imaging angles θ1 to θK of the angle θp are generated.

  The receiving unit 32 includes a preamplifier 36, a reception delay circuit 37, and an adder 38 corresponding to each piezoelectric vibrator of the vibrator unit 11. The preamplifier 36 amplifies a minute ultrasonic reception signal from each piezoelectric vibrator of the vibrator unit 11. The reception delay circuit 37 focuses the received ultrasonic waves from the set focus position of the subject P to obtain a narrow reception focus width, and the first to Kth imagings of the imaging angle θp. A deflection delay time for setting the reception directivity of ultrasonic waves at the angles θ1 to θK is given to the output of the preamplifier 36, and then outputted to the adder 38. The adder 38 adds the reception signals of the respective piezoelectric vibrators of the vibrator unit 11 output from the preamplifier 36, and collectively outputs the received signals to the image processing unit 4.

  The image processing unit 4 uses a Doppler effect, and a B-mode data generation unit 41 that performs signal processing for generating B-mode data on the basis of the phasing-added signal output from the reception unit 32 of the transmission / reception unit 3 The Doppler data generation unit 42 that performs signal processing for generating Doppler data related to a moving body such as blood, and the B mode data generated by the B mode data generation unit 41 and the Doppler data generation unit 42 A data storage unit 43 that stores data and an image data generation unit 44 that reads each data from the data storage unit 43 and generates image data are provided.

  The B-mode data generation unit 41 performs envelope detection on the ultrasonic reception signal subjected to phasing addition from the reception unit 32, and then performs logarithmic conversion. Then, the logarithmically converted signal is converted into a digital signal to generate B-mode data represented by luminance, and the generated B-mode data is output to the data storage unit 43.

  The Doppler data generation unit 42 detects the Doppler shift frequency for the ultrasonic reception signal subjected to phasing addition from the reception unit 32 and converts it to a digital signal, and then extracts only blood flow information and extracts the blood flow information. Autocorrelation processing is performed on the Doppler signal. Then, based on the autocorrelation processing result, an average blood flow velocity value, a variance value, and the like are calculated to generate Doppler data, and the generated Doppler data is output to the data storage unit 43.

  The data storage unit 43 corresponds to each data supplied from the system control unit 7 to each data such as the B mode data output from the B mode data generation unit 41 and the Doppler data output from the Doppler data generation unit 42. An imaging probe when an ultrasonic wave is scanned based on input imaging conditions such as imaging angle θp, viewing angle θv, residual angles θL and θR, depth of field in the ultrasonic wave transmission / reception direction, and the like The information on each inclination angle of the probe body 10 in 1 is added and stored sequentially.

  FIG. 5 is a diagram illustrating an example of the configuration of B-mode data stored in the data storage unit 43. In the B-mode data, the vertical axis corresponds to the ultrasonic scanning direction, and the horizontal axis corresponds to the ultrasonic wave transmission / reception direction. Here, B-mode data A1 to AK for one frame generated by scanning the area of the imaging angle θp is stored.

  The B mode data A1 includes pixels a11 to a1L generated by transmitting and receiving ultrasonic waves to the first imaging angle θ1. In the head part, as additional information, information about the first imaging angle θ1, which is an imaging condition, imaging angle θp, viewing angle θv, residual angles θL and θR, imaging information a10a such as a viewing depth, a focusing position, and the probe body 10 Tilt angle information a10b and transmission / reception time information a10c are stored.

  The B mode data A2 to AK are composed of pixels a21 to aKL generated by scanning the second to Kth imaging angles θ2 to θK, and the imaging information a20a to aK0a and the tilt angle information a20b to aK0b are at the head part. , And additional information of time information a20c to aK0c are stored. The B mode data B1 to BK for one frame following the B mode data AK are stored.

  4 reads out B-mode data and Doppler data from the data storage unit 43, and performs B-mode image data representing a tomographic image of the subject P, blood flow velocity, etc. by scanning conversion of each read-out data. 2D image data representing Doppler image data is generated. Further, three-dimensional image data is generated from a plurality of two-dimensional image data generated at each swing angle of the vibrator unit 11. Then, the generated 2D image data and 3D image data are output to the display unit 5.

  Further, when a correction start operation is performed from the switch 14 of the probe main body 10 in the ultrasonic probe 1 at the time of generating the two-dimensional image data, the probe main body 10 extends from the correction reference angle in the ultrasonic scanning direction or this extension direction. Based on the information on the corrected viewing angle supplied from the system control unit 7 in accordance with the information on the tilt angle tilted in the opposite direction, the probe body 10 is set in the scanning direction or in the direction opposite to the scanning direction. 2D image data is generated from the data of the scanning region of the corrected viewing angle shifted from the correction reference angle by the correction angle.

  Further, when a correction start operation is performed at the time of generating the three-dimensional image data, information on the inclination angle at which the probe body 10 is inclined in the extension direction of the ultrasonic scanning direction from the correction reference angle or in the direction opposite to this direction is displayed. Accordingly, based on the corrected viewing angle information supplied from the system control unit 7, the probe body 10 is corrected so that the viewing angle θv at each swing angle of the transducer unit 11 is inclined in the scanning direction or the direction opposite to the scanning direction. Two-dimensional image data is generated from the data of the scanning region of the corrected viewing angle shifted in angle, and three-dimensional image data is generated from the plurality of generated two-dimensional image data.

  The display unit 5 includes a monitor such as a CRT or a liquid crystal panel. From the two-dimensional image data of B-mode image data and Doppler image data output from the image data generation unit 44 of the image processing unit 4 or from the two-dimensional image data. The generated three-dimensional image data is displayed.

  The operation unit 6 includes input devices such as a switch, a keyboard, a trackball, a mouse, and a touch screen. And the imaging condition for producing | generating each image data is input. Also, input by an inspection start operation, a region of interest input operation for inputting a region of interest of generated 2D image data or 3D image data, a freeze operation to freeze the image data displayed on the display unit 5, an inspection end operation, etc. I do. Furthermore, as with the switch 14 of the ultrasonic probe 1, input is performed by a correction start operation and a correction end operation.

  The system control unit 7 includes a CPU and a storage circuit 71, and stores various input information supplied from the operation unit 6 in the storage circuit 71. Based on the stored input information, each unit of the swing mechanism 20, the transmission / reception unit 3, the image processing unit 4, and the display unit 5 of the ultrasonic probe 1 and the entire system are controlled. In addition, camera shake correction is performed based on each tilt angle information output from the angle sensor 13 of the probe body 10.

  Hereinafter, an example of the operation of the ultrasonic diagnostic apparatus 100 will be described with reference to FIGS. 1 to 14. FIG. 6 is a flowchart showing the operation of the ultrasonic diagnostic apparatus 100. FIG. 7 is a diagram showing the probe main body 10 at the correction reference angle when the B-mode image data is generated. FIG. 8 is a diagram illustrating an example of the probe main body 10 that is tilted from the correction reference angle toward the extending direction of the swinging direction when the B-mode image data is generated.

  FIG. 9 is a diagram showing the probe main body 10 when camera shake correction is performed with respect to the extending direction of the swinging direction when the B-mode image data is generated. FIG. 10 is a diagram showing the probe body 10 tilted from the correction reference angle in the scanning direction extension direction when the B-mode image data is generated. FIG. 11 is a diagram for explaining camera shake correction performed in the extension direction of the scanning direction when the B-mode image data is generated.

  Further, FIG. 12 is a diagram showing the probe main body 10 at the correction reference angle when generating the three-dimensional image data. FIG. 13 is a diagram illustrating the probe body 10 that is tilted from the correction reference angle toward the extending direction of the swinging direction when generating the three-dimensional image data. FIG. 14 is a diagram illustrating the probe body 10 when camera shake correction is performed with respect to the extending direction of the swinging direction when generating the three-dimensional image data.

  In FIG. 6, the storage circuit 71 of the system control unit 7 stores information on the distance La that is the oscillation radius of the transducer unit 11 of the ultrasonic probe 1 and the maximum oscillation angles θmaxL and θmaxR. Further, for example, information such as an imaging condition for generating B-mode image data, imaging conditions including the imaging angle θp, the remainders θL and θR, and the viewing angle θv is stored. The ultrasonic diagnostic apparatus 100 starts the examination of the subject P by applying the ultrasound probe 1 to the subject P and performing an examination start operation from the operation unit 6 (step S1).

  The system control unit 7 controls each unit of the swing mechanism 20 of the probe main body 10, the transmission / reception unit 3, the image processing unit 4, and the display unit 5 in the ultrasonic probe 1 based on the imaging conditions stored in the storage circuit 71. To do. The swing mechanism 20 holds the vibrator unit 11 at a reference swing angle. The angle sensor 13 of the probe main body 10 detects each inclination angle of the probe main body 10 and outputs information of each detected inclination angle to the system control unit 7 via the cable 8 and the connector 9.

  The B-mode data generation unit 41 of the image processing unit 4 applies the B-mode data based on the reception signal received from the reception unit 32 of the transmission / reception unit 3 by applying the ultrasonic probe 1 in the vicinity of the region of interest of the subject P. Generate. Then, the generated B mode data is stored in the data storage unit 43.

  The data storage unit 43 sequentially stores the B-mode data output from the B-mode data generation unit 41, the imaging conditions supplied from the system control unit 7, and information on each inclination angle. The image data generation unit 44 reads out the B mode data from the data storage unit 43 to generate B mode image data, and displays the generated B mode image data on the display unit 5 in real time.

  When an operation for inputting the region of interest of the B-mode image data displayed on the display unit 5 is performed from the operation unit 6, the system control unit 7 inputs the B-mode image data based on the input information from the operation unit 6. For example, position information represented by two-dimensional coordinates of the region of interest is stored in the storage circuit 71.

  After the region of interest input operation, when a correction start operation is performed from the switch 14 when the probe body 10 is at the reference inclination angle, for example, an input signal for enabling the camera shake correction function is sent via the cable 8 and the connector 9 to the system. It is output to the control unit 7. The system control unit 7 stores in the storage circuit 71 information on the correction reference angle, which is the reference tilt angle of the probe body 10 when the correction start operation output from the angle sensor 13 is performed according to the input signal from the switch 14. After saving, camera shake correction is started (step S2 in FIG. 6).

  FIG. 7 is a diagram showing the probe main body 10 at the correction reference angle when the B-mode image data is generated. FIG. 7A is a diagram of the probe body 10 viewed from the swinging direction, and FIG. 7B is a diagram of the probe body 10 of FIG. 7A viewed from the right side.

  In the probe main body 10, the central axis 10a is oriented in the vertical direction at the correction reference angle. An ultrasonic wave is scanned in the R3 direction over the region of the imaging angle θp with respect to the vibrator unit 11 held at the reference swing angle. In the image data generation unit 44, based on the imaging conditions supplied from the system control unit 7, the image data generation unit 44 is indicated by diagonal lines of the viewing angle θv excluding the residual angles θL and θR where the sharpness in the vicinity of both ends of the imaging angle θp decreases. B-mode image data of the scanning area is generated. The region of interest in the B-mode image data input from the operation unit 6 corresponds to the region of interest Dp included in the scanning region with the viewing angle θv in the vicinity of the remainder angle θL, for example.

  The system control unit 7 performs camera shake correction based on information on each inclination angle output from the angle sensor 13. If the probe body 10 is inclined from the correction reference angle (No in step S3 in FIG. 6), it is determined that correction is necessary, and the process proceeds to step S4. If it is the correction reference angle (Yes in step S3 in FIG. 6), it is determined that there is no need for correction, and the process proceeds to step S10.

  After “No” in Step S3, when the probe body 10 is inclined at least from the correction reference angle in the extending direction of the swing direction (Yes in Step S4 in FIG. 6), the process proceeds to Step S5. Further, when the inclination is inclined only from the correction reference angle in the scanning direction or in the extension direction opposite to the scanning direction (No in step S4 in FIG. 6), the process proceeds to step S8.

  After “Yes” in step S4, the system control unit 7 performs information on each inclination angle output from the angle sensor 13, information on the distance La stored in the storage circuit 71, position information on the region of interest Dp, and correction reference. Based on the angle information, a corrected swing angle of the transducer unit 11 capable of scanning the region of interest Dp with ultrasonic waves is calculated. Then, it is determined whether or not it is a correctable range in which the vibrator unit 11 can be held with the calculated correction swing angle.

  If the calculated corrected swing angle is within a correctable range (Yes in step S5 in FIG. 6), the process proceeds to step S6. If the calculated correction swing angle is in a range that cannot be corrected (No in step S5 in FIG. 6), the process proceeds to step S11. Here, since the vibrator unit 11 can be swung from the reference rocking angle to the maximum rocking angles θmaxL and θmaxR, correction is possible when the calculated correction rocking angle is equal to or less than the maximum rocking angles θmaxL and θmaxR. When it is larger than the maximum swing angle θmax, it is determined that correction is impossible.

  Here, an example in which correction is possible when the probe main body 10 is inclined only in the extending direction of the swing direction from the correction reference angle will be described with reference to FIGS. 8 and 9.

  FIG. 8 is a diagram illustrating an example of the probe main body 10 that is inclined from the correction reference angle to the extending direction of the swinging direction when the B-mode image data is generated. FIG. 8A is a view of the probe main body 10 viewed from the swinging direction, and FIG. 8B is a view of the probe main body 10 of FIG. 8A viewed from the right.

  The probe main body 10 is inclined at an angle θs1 from the correction reference angle in the R4 direction, which is an extension direction of the R1 direction. Due to the inclination of the probe body 10, the region of interest Dp is separated from the scanning region of the imaging angle θp, for example. At this time, the image data generation unit 44 generates B-mode image data of the scanning region of the viewing angle θv inclined by the angle θs1 from the correction reference angle in the R1 direction.

  After “Yes” in step S5 in FIG. 6, the system control unit 7 outputs a first swing angle correction signal for holding the vibrator unit 11 at the calculated corrected swing angle to the swing mechanism 20. Thus, camera shake correction is performed with respect to the extending direction of the swinging direction (step S6 in FIG. 6).

  The oscillating mechanism 20 is calculated by the first oscillating angle correction signal output from the system control unit 7 oscillating in the direction opposite to the extension direction of the direction in which the probe body 10 is inclined from the correction reference angle. The vibrator unit 11 is held at the corrected swing angle.

  FIG. 9 is a diagram showing the probe body 10 when camera shake correction is performed in the extending direction of the swinging direction when the B-mode image data is generated. FIG. 9A is a view of the probe body 10 viewed from the swinging direction, and FIG. 9B is a view of the probe body 10 of FIG. 9A viewed from the right side.

  The transducer section 11 of the probe body 10 has a corrected swing angle smaller than the maximum swing angle θmax swung in the R2 direction, which is the direction opposite to the extending direction of the probe body 10 from the correction reference angle. It is held at θa. The region of interest Dp is included in the scanning region of the viewing angle θv with respect to the transducer unit 11 held at the corrected swing angle θa. Then, the image data generation unit 44 generates B-mode image data of the scanning region of the viewing angle θv with respect to the transducer unit 11 held at the corrected swing angle θa.

  As described above, when the probe body 10 is tilted from the correction reference angle in the extending direction of the swinging direction, the corrected swinging angle of the transducer unit 11 capable of scanning the ultrasound in the region of interest Dp is calculated. By holding the vibrator unit 11 at the corrected swing angle that swings in the direction opposite to the swing direction, the fluctuation of the B-mode image data displayed on the display unit 5 can be reduced.

  After step S6 in FIG. 6, when the probe body 10 is inclined from the correction reference angle in the scanning direction or in the extending direction opposite to the scanning direction (Yes in step S7 in FIG. 6), the process proceeds to step S8. . If the inclination is not inclined from the correction reference angle in the scanning direction or in the direction opposite to the scanning direction (No in step S7 in FIG. 6), the process proceeds to step S10.

  After “No” in step S4 or “Yes” in step S7, the system control unit 7 includes information on each tilt angle output from the angle sensor 13, as well as the imaging angle θp and the viewing angle θv stored in the storage circuit 71. Based on the information on the remainder angles θL and θR and the correction reference angle, it is determined whether or not the range is correctable. If the angle tilted from the correction reference angle of the probe body 10 is within the correctable range (Yes in step S8 in FIG. 6), the process proceeds to step S9. If the angle inclined from the correction reference angle is in a range that cannot be corrected (No in step S8 in FIG. 6), the process proceeds to step S11.

  The system control unit 7 determines whether the probe body 10 is tilted in the extension direction when the probe body 10 is tilted in the extension direction in the scanning direction when the angle tilted in the extension direction is equal to or less than the remainder angle θL, or from the correction reference angle to the scan direction. In the case of tilting in the opposite extension direction, it is determined that correction is possible when the angle tilted in the extension direction is equal to or less than the remainder angle θR, and camera shake in the scanning direction or in the extension direction opposite to the scanning direction is detected. Correction is performed (step S9 in FIG. 6). Then, it returns to step S3.

  Further, when the angle inclined in the extension direction when inclined from the correction reference angle in the extension direction of the scanning direction is larger than the remainder angle θL, or in the extension direction opposite to the scanning direction from the correction reference angle. If the angle inclined in the extension direction is larger than the remainder angle θR, it is determined that correction is impossible.

  An example in which the angle inclined in the extension direction when the probe body 10 is inclined from the correction reference angle in the extension direction of the scanning direction is equal to or less than the remainder angle θL will be described with reference to FIGS. 10 and 11.

  FIG. 10 is a diagram showing the probe main body 10 inclined from the correction reference angle to the extension direction of the scanning direction when the B-mode image data is generated. FIG. 10A is a diagram of the probe body 10 viewed from the swinging direction, and FIG. 10B is a diagram of the probe body 10 of FIG. 10A viewed from the right side.

  The probe body 10 is inclined from the correction reference angle, for example, by an angle θs2 equal to or less than the remainder angle θL in the R5 direction, which is an extension direction of the R3 direction. The region of interest Dp is deviated from, for example, a scanning region with a viewing angle θv. At this time, the image data generation unit 44 generates B-mode image data that does not include the region of interest Dp.

  When the probe body 10 is inclined in the R5 direction from the correction reference angle, the system control unit 7 calculates a corrected viewing angle including a remainder angle θL obtained by shifting the viewing angle θv by an angle θs2 in a direction opposite to the R3 direction. . Then, the calculated corrected viewing angle information is supplied to the image data generation unit 44.

  The image data generation unit 44 generates B-mode image data using the B-mode data of the scanning region with the corrected viewing angle supplied from the system control unit 7.

  FIG. 11 is a diagram illustrating the probe body 10 when camera shake correction is performed in the extension direction of the scanning direction when the B-mode image data is generated. FIG. 11A is a view of the probe body 10 viewed from the swinging direction, and FIG. 11B is a view of the probe body 10 of FIG. 11A viewed from the right side.

  The transducer portion 11 of the probe body 10 is held at a reference swing angle. The region of interest Dp is included in the scanning region of the corrected viewing angle θv1 including the remainder angle θL obtained by shifting the viewing angle θv by the angle θs2 in the direction opposite to the R3 direction. The image data generation unit 44 generates B-mode image data of the scanning region with the corrected viewing angle θv1. The imaging region of the subject P corresponding to the B-mode image data is the imaging region corresponding to the B-mode image data generated using the B-mode data of the scanning region with the viewing angle θv shown in FIG. Match.

  As described above, when the probe body 10 is tilted from the correction reference angle in the ultrasonic scanning direction or in one extending direction opposite to the scanning direction, the viewing angle θv at the correction reference angle is set to the other direction. By generating the B-mode image data of the scanning region of the corrected viewing angle θv1 that is shifted from the correction reference angle by the angle of inclination, the fluctuation of the B-mode image data displayed on the display unit 5 can be reduced.

  Input from the operation unit 6 by a freeze operation that freezes the B-mode image data displayed on the display unit 5 after “Yes” in step S3 of FIG. 6, or input from the operation unit 6 by a region-of-interest input operation, or camera shake When there is an input from the switch 14 by the correction end operation (Yes in step S10 in FIG. 6), the process proceeds to step S11. If there is no input (No in step S10 in FIG. 6), the process returns to step S3.

  After “No” in Step S5, “No” in Step S8, or “Yes” in Step S10, the system control unit 7 stops the camera shake correction (Step S11 in FIG. 6).

  When B-mode image data useful for diagnosis is obtained, an operation for saving the B-mode image data in an image data storage unit (not shown) is performed, and then an operation for ending inspection is performed from the operation unit 6. The system control unit 7 stops the units of the swing mechanism 20, the transmission / reception unit 3, the image processing unit 4, and the display unit 5, whereby the ultrasonic diagnostic apparatus 100 ends the examination of the subject P (FIG. 6). Step S12).

Next, camera shake correction at the time of generating 3D image data will be described.
The storage circuit 71 of the system control unit 7 stores information on the distance La and the maximum swing angles θmaxL and θmaxR, an imaging angle θp for generating B-mode image data, each remainder θL and θR, a viewing angle θv, and a B mode. Information such as imaging conditions including a swing range of the vibrator unit 11 for generating 3D image data from the image data is stored. Then, the operation start operation is performed from the operation unit 6, and the ultrasonic probe 1 is applied in the vicinity of the same imaging region as the region described in the step of FIG. 6 of the subject P to receive from the reception unit 32 of the transmission / reception unit 3. Based on the received signal, B mode data is generated and stored in the data storage unit 43.

  Based on the information on the swing range of the vibrator unit 11 supplied from the system control unit 7, the image data generation unit 44 obtains B-mode data of the scanning region of the viewing angle θv at each swing angle in the swing range. Read out from the data storage unit 43 to generate B-mode image data. Then, three-dimensional image data is generated from the plurality of generated B-mode image data and displayed on the display unit 5. When an operation for inputting the region of interest of the 3D image data displayed on the display unit 5 is performed from the operation unit 6, the system control unit 7 is represented by, for example, 3D coordinates of the region of interest to which the 3D image data is input. Is stored in the storage circuit 71.

  When a correction start operation is performed from the switch 14 when the probe main body 10 is at the reference tilt angle, for example, the system control unit 7 stores the information on the correction reference angle output from the angle sensor 13 in the storage circuit 71. Next, camera shake correction is started based on information on each tilt angle output from the angle sensor 13.

  FIG. 12 is a diagram showing the probe main body 10 at the correction reference angle when generating the three-dimensional image data. 12A is a view of the probe main body 10 viewed from the swinging direction, and FIG. 12B is a view of the probe main body 10 of FIG. 12A viewed from the right.

  In the probe main body 10, the central axis 10a is oriented in the vertical direction at the correction reference angle. For example, the swing mechanism 20 swings the vibrator unit 11 from the reference swing angle to a swing angle θswL that is smaller than the maximum swing angle θmaxL in the R1 direction by a surplus swing angle θbL, and from the reference swing angle to the maximum swing in the R2 direction. It swings within a swing angle θswR that is smaller than the remainder swing angle θbR than the angle θmaxR.

  The image data generation unit 44 generates B-mode image data of the scanning region of the viewing angle θv at each swing angle between the swing angle θswL and the swing angle θswR of the transducer unit 11, and generates a plurality of generated B modes. Three-dimensional image data is generated from the image data and displayed on the display unit 5. The region of interest of the three-dimensional image data input from the operation unit 6 corresponds to the region of interest Dp1 including the region of interest Dp described with reference to FIG.

  After the correction start operation is performed, when the probe main body 10 is tilted from the correction reference angle in the extending direction of the swing direction, the system control unit 7 includes information on each tilt angle output from the angle sensor 13, and Based on the information on the distance La, the position information on the region of interest Dp1, and the information on the correction reference angle, the transducer unit including, for example, the center point that is a part of the region of interest Dp1 in the scanning region of the imaging angle θp at the correction reference angle The angle difference between the swing angle of 11 and the swing angle of the transducer unit 11 in which the center point is included in the scanning region of the imaging angle θp at the tilt angle where the probe body 10 is tilted from the correction reference angle is calculated.

  Next, calculation is performed when the angle difference calculated when the probe body 10 is inclined in the R4 direction from the correction reference angle is equal to or less than the remainder angle θbR, or when the probe main body 10 is inclined in the direction opposite to R4 from the correction reference angle. It is determined that the correction is possible when the angle difference is equal to or less than the remainder angle θbL, and camera shake correction with respect to the extending direction of the swinging direction is performed. Also, the angle difference calculated when the angle difference calculated when tilted in the R4 direction from the correction reference angle is larger than the remainder angle θbR, or when tilted in the direction opposite to the R4 direction from the correction reference angle. Is greater than the remainder angle θbL, it is determined that correction is impossible.

  When the correction is possible, the system control unit 7 outputs a second swing angle correction signal to the swing mechanism 20 in order to execute the camera shake correction. The oscillating mechanism 20 oscillates the vibrator unit 11 within the corrected oscillating range in accordance with the second oscillating angle correction signal output from the system control unit 7.

  Here, an example in which correction is possible when the probe body 10 is inclined only in the R4 direction from the correction reference angle will be described with reference to FIGS.

  FIG. 13 is a diagram illustrating an example of the probe main body 10 that is inclined from the correction reference angle in the extending direction of the swinging direction when generating the three-dimensional image data. FIG. 13A is a view of the probe body 10 viewed from the swinging direction, and FIG. 13B is a view of the probe body 10 of FIG. 13A viewed from the right side. The probe body 10 is inclined at an angle θs3 in the R4 direction from the correction reference angle. The region of interest Dp1 is separated from the scanning region of the imaging angle θ at the reference swing angle of the tilted probe body 10 in the R2 direction.

  FIG. 14 is a diagram illustrating the probe body 10 when camera shake correction is performed with respect to the extending direction of the swinging direction when generating the three-dimensional image data. FIG. 14A is a view of the probe body 10 viewed from the swinging direction, and FIG. 14B is a view of the probe body 10 of FIG. 14A viewed from the right side. The transducer portion 11 of the probe body 10 is swung within a correction swing range shifted by an angle difference θb smaller than the surplus swing angle θbR in the R2 direction from the swing range at the correction reference angle.

  As described above, when the probe main body 10 is tilted from the correction reference angle in the extending direction of the swing direction, the transducer unit 11 including a part of the region of interest Dp1 in the scanning region of the imaging angle θp at the correction reference angle. An angle difference between the swing angle and the swing angle of the transducer unit 11 including the part in the scanning region of the imaging angle θp at the tilt angle at which the probe body 10 is tilted from the correction reference angle is calculated. When the difference is within the correctable range, if it is tilted in the R4 direction from the correction reference angle, it swings within the correction swing range shifted by the angle difference calculated in the R2 direction, and from the correction reference angle to the R4 direction. When tilted in the opposite direction, the swing of the three-dimensional image data displayed on the display unit 5 can be reduced by swinging within the corrected swing range shifted by the angle difference calculated in the R1 direction.

  When the probe main body 10 is inclined from the correction reference angle in the scanning direction or in the extension direction opposite to the scanning direction, the system control unit 7 determines that the inclination angle in the extension direction in the scanning direction is less than the remainder angle θL. Or when the inclination angle in the extension direction opposite to the scanning direction is equal to or less than the remainder angle θR, the viewing angle θv is shifted by a correction angle in the direction opposite to the extension direction in the direction in which the probe body 10 is inclined. A corrected viewing angle including each remainder angle θL, θR is calculated. Then, the calculated corrected viewing angle information is supplied to the image data generation unit 44.

  The image data generation unit 44 generates B-mode image data of the scanning region of the corrected viewing angle at each swing angle, generates three-dimensional image data from the plurality of generated B-mode image data, and scan direction or this direction The camera shake correction is performed in the direction opposite to the extension direction.

  As described above, when the probe body 10 is tilted from the correction reference angle in the scanning direction or in one extending direction opposite to the scanning direction, the viewing angle at the correction reference angle is different for each swing angle. By generating B-mode image data of a scanning region having a corrected viewing angle that is shifted from the correction reference angle in the direction, the three-dimensional image data is generated from the plurality of generated B-mode image data, and displayed on the display unit 5 It is possible to reduce the fluctuation of the three-dimensional image data.

  According to the embodiment of the present invention described above, the probe main body 10 is operated by performing the correction start operation after inputting the region of interest Dp from the operation unit 6 to the two-dimensional image data generated by the image data generation unit 44. When tilted in the extending direction of the swinging direction from the correction reference angle, the corrected swinging angle of the transducer unit 11 capable of ultrasonic scanning in the region of interest Dp is calculated, and the calculated corrected swinging angle can be corrected. In this range, the fluctuation of the B-mode image data displayed on the display unit 5 can be reduced by holding the vibrator unit 11 at the corrected swing angle that swings in the direction opposite to the swing direction. it can.

  In addition, when the probe body 10 is inclined from the correction reference angle in the ultrasonic scanning direction or in one extension direction opposite to the scanning direction, the angle inclined from the correction reference angle is within a correctable range. At this time, by generating the B-mode image data of the scanning region of the corrected viewing angle θv1 in which the viewing angle θv at the correction reference angle is shifted in the other direction by an angle inclined from the correction reference angle, the display unit 5 generates The fluctuation of the B-mode image data to be displayed can be reduced.

  Further, after inputting the region of interest Dp1 from the operation unit 6 to the three-dimensional image data generated by the image data generation unit 44, a correction start operation is performed, so that the probe body 10 moves in the R1 direction or R2 direction from the correction reference angle. When tilted in one extension direction, the oscillation angle of the transducer unit 11 in which a part of the region of interest Dp1 is included in the scanning region of the imaging angle θp at the correction reference angle, and the probe body 10 from the correction reference angle. When the angle difference from the swing angle of the transducer unit 11 including the part in the scanning area of the imaging angle θp with the tilted tilt angle is within a correctable range, the correction reference angle When tilting in the R4 direction, the vibrator unit 11 is swung within the correction swing range shifted by the angle difference calculated in the R2 direction, and tilted in the direction opposite to the R4 direction from the correction reference angle. In some cases, the angle calculated in the R1 direction By oscillating within the corrected oscillating range shifted, the fluctuation of the three-dimensional image data displayed on the display unit 5 can be reduced.

  Furthermore, when the probe body 10 is tilted from the correction reference angle in the ultrasonic scanning direction or in one extending direction opposite to the scanning direction, the angle tilted from the correction reference angle is within a correctable range. At a certain time, the B-mode image data of the scanning region of the corrected viewing angle θv1 is generated by shifting the viewing angle θv at the correction reference angle at each swing angle by an angle inclined from the correction reference angle in the other direction. By generating the three-dimensional image data from the B-mode image data, the fluctuation of the three-dimensional image data displayed on the display unit 5 can be reduced.

  As described above, it is possible to display clear B-mode image data on the display unit 5, thereby reducing the burden on the operator and performing inspection quickly.

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 the detail of a structure of the probe main body which concerns on the Example of this invention. The figure which shows the inclination | tilt angle of the probe main body which concerns on the Example of this invention. The block diagram which shows the detail of a structure of the transmission / reception part and image processing part which concern on the Example of this invention. The figure which shows an example of a structure of the B mode data preserve | saved at the data storage part which concerns on the Example of this invention. The flowchart which shows operation | movement of the ultrasonic diagnosing device based on the Example of this invention. The figure which shows the probe main body of the correction | amendment reference angle at the time of the B mode image data production | generation which concerns on the Example of this invention. The figure which shows an example of the probe main body inclined in the extension direction of the rocking | fluctuation direction from the correction | amendment reference angle at the time of the B mode image data generation which concerns on the Example of this invention. The figure which shows a probe main body when the camera-shake correction | amendment with respect to the extending direction of a rocking | swiveling direction is performed at the time of the B mode image data generation which concerns on the Example of this invention. The figure which shows the probe main body inclined in the extension direction of the scanning direction from the correction | amendment reference angle at the time of the B mode image data generation which concerns on the Example of this invention. The figure which shows a probe main body when the camera-shake correction | amendment with respect to the extension direction of a scanning direction is performed at the time of the B mode image data generation which concerns on the Example of this invention. The figure which shows the probe main body of the correction | amendment reference angle at the time of the three-dimensional image data generation based on the Example of this invention. The figure which shows the probe main body inclined in the extension direction of the rocking | fluctuation direction from the correction | amendment reference angle at the time of the three-dimensional image data generation concerning the Example of this invention. The figure which shows a probe main body when the camera shake correction | amendment with respect to the extension direction of a rocking | swiveling direction is performed at the time of the three-dimensional image data generation concerning the Example of this invention.

Explanation of symbols

P Subject 1 Ultrasonic probe 2 Device main body 3 Transmission / reception unit 4 Image processing unit 5 Display unit 6 Operation unit 7 System control unit 8 Cable 9 Connector 10 Probe main body 11 Transducer unit 13 Angle sensor 14 Switch 15 Acoustic window 71 Storage circuit 100 Ultrasonic diagnostic equipment

Claims (6)

A transducer unit that is arranged in the probe case and has a plurality of transducers so that ultrasonic scanning can be performed on the subject;
Detecting means for detecting an inclination angle of the probe case;
Oscillating means that is held by the probe case so as to be able to oscillate, and is capable of varying the oscillating angle of the oscillating part based on information on the tilt angle detected by the detecting means;
Transmitting / receiving means for driving the transducer unit and scanning the subject with ultrasonic waves;
An ultrasonic diagnostic apparatus comprising: image data generation means for generating image data based on a reception signal from the transmission / reception means; and display means for displaying image data generated by the image data generation means. . A region-of-interest input unit that inputs a region of interest of the two-dimensional image data generated by the image data generation unit, and a two-dimensional image generated by the image data generation unit after the region of interest is input by the region-of-interest input unit Having correction input means for performing input for correcting the fluctuation of data;
When the probe case is inclined in the extension direction of the oscillation direction of the transducer part from a correction reference angle that is an inclination angle when the probe case is input by the correction input unit, the oscillation direction The vibrator section is held at a correction swing angle that allows the ultrasound to be scanned in the region of interest input by the region-of-interest input means. Item 2. The ultrasonic diagnostic apparatus according to Item 1. Correction means for calculating the correction swing angle;
The correction means includes preset information on the swing radius of the transducer unit, position information of the region of interest set by the region of interest setting means, the correction reference angle detected by the detection means, and the extension direction The ultrasonic diagnostic apparatus according to claim 2, wherein the ultrasonic diagnostic apparatus is calculated based on information on an inclination angle that is inclined toward the surface. Correction input means for performing input for correcting fluctuation of image data generated by the image data generation means;
The image data generation means generates image data based on a reception signal of a scanning area of a viewing angle excluding a remainder angle near both ends of an imaging angle scanned with ultrasonic waves by the transmission / reception means,
A scanning direction in which ultrasonic waves are scanned by the transmission / reception means from a correction reference angle that is an inclination angle when the probe case is inputted by the input means after being input by the correction input means, or opposite to this scanning direction. Including a part or all of one of the remainder angles in which the viewing angle at the correction reference angle is shifted from the correction reference angle in the other direction when tilted in one extension direction of the direction. The ultrasonic diagnostic apparatus according to claim 1, wherein image data is generated based on a received signal in a scanning region. Region-of-interest input means for inputting a region of interest of three-dimensional image data generated from a plurality of two-dimensional image data generated at each swing angle of the swing range of the vibrator unit by the image data generating means, and this Correction input means for performing input for correcting the fluctuation of the three-dimensional image data generated by the image data generation means after the region of interest is input by the region of interest input means;
When the swinging unit is tilted in an extension direction of the swinging direction of the transducer unit from a correction reference angle that is an tilt angle when the probe is input by the input unit, the transducer unit is An oscillation angle of the transducer unit in which a part of the region of interest is included in a scanning area of an imaging angle in which an ultrasonic wave is scanned by the transmission / reception means at the correction reference angle in a direction opposite to the oscillation direction, and the probe The case is characterized in that it swings within a correction swing range shifted by a difference in swing angle of the vibrator portion including the part in the scanning area of the imaging angle at the tilt angle at which the case is tilted. The ultrasonic diagnostic apparatus according to claim 1. A transducer unit that is arranged in the probe case and has a plurality of transducers so that ultrasonic scanning can be performed on the subject;
Detecting means for detecting an inclination angle of the probe case;
Rocking means that is held in the probe case so as to be able to rock, and that can vary the rocking angle of the vibrator based on information on the tilt angle detected by the detecting means. A characteristic ultrasonic probe.

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