JP2007222322A - Ultrasonic diagnostic apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an ultrasonic diagnostic apparatus with an indication device which makes it possible to intuitively perform three-dimensional control of view point setting, cut plane setting and cross section setting within a three-dimensional space, etc. <P>SOLUTION: The ultrasonic diagnostic apparatus comprises: a transmission/reception means for driving an ultrasonic probe and scanning the inside of a subject by ultrasonic waves; an ultrasonic image generation means for generating image data indicating the form of an object internal organ inside the subject on the basis of reception signals obtained by scanning by the transmission/reception means; a display means for displaying images generated by the ultrasonic image generation means; an operation device in such a shape that it can be carried by an operator for remotely controlling the transmission/reception means, the ultrasonic image generation means and the display means; a position information detection means for detecting the position information of the scanning device; and a three-dimensional control means for performing the three-dimensional control for the display of the images on the basis of the position information detected by the position information detection device. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an ultrasonic diagnostic apparatus, and more particularly to a medical ultrasonic diagnostic apparatus capable of acquiring three-dimensional image information.

  When diagnosing using an ultrasonic diagnostic apparatus capable of acquiring a three-dimensional image, the position of the viewpoint where the portion to be diagnosed is best seen, and the surface that removes unnecessary portions from the view for improving the scanability (cut plane) ) It is necessary to set a cross-section for performing cross-sectional scanning in a three-dimensional space.

  Performing these settings using a two-dimensional pointing device such as a trackball or a mouse is less intuitive than setting a two-dimensional tomographic scan range, and requires a certain amount of proficiency, especially for setting the depth direction. If not, it often takes a long time to get a satisfactory setting, or dislikes it and compromises with an unsatisfactory setting.

  In order to solve this problem, a 3D setting pointing device has also been developed. However, since this 3D setting pointing device is provided separately from the normal scanning panel, the operator can use the probe with one hand. While setting the position of the (probe), it is necessary to set the scanning panel with the other hand or to operate by changing the pointing device for three-dimensional setting.

  Therefore, at present, a switch for switching the position setting direction in addition to the trackball is provided in the operation panel, and by switching this switch, the position control by the trackball is switched between the horizontal direction, the vertical direction, and the rotation direction, and a desired A method of use for performing setting of a viewpoint, setting of a cut plane, and setting of a scanning section has been implemented.

There is a known system for inputting three-dimensional shape information by virtually operating a three-dimensional shape model in a virtual space created in a computer system with various input devices such as a globe-type device and a master-slave arm. (For example, refer to Patent Document 1) However, such a system has not yet been developed in an ultrasonic diagnostic apparatus.
Japanese Patent Laid-Open No. 11-24873

  The present invention has been made in consideration of the above-described circumstances, and has an indication device that can intuitively perform three-dimensional control such as viewpoint setting, cut plane setting, and cross-section setting in a three-dimensional space. An object of the present invention is to provide an ultrasonic diagnostic apparatus.

  In order to solve the above-described problem, an ultrasonic diagnostic apparatus according to the present invention includes a transmission / reception unit that drives an ultrasonic probe and scans the inside of a subject with ultrasonic waves, and the transmission / reception, as described in claim 1. An ultrasonic image generating means for generating image data representing the form of the target organ in the subject based on a received signal obtained by scanning by the means, and a display for displaying an image generated by the ultrasonic image generating means Position information of the scanning device by measuring the positional relationship between the scanning device and the operation device having a shape portable to the operator and remotely controlling the transmission / reception unit, the ultrasonic image generation unit, and the display unit Position information detecting means for detecting the image, and three-dimensional control means for performing three-dimensional control on image display based on the position information detected by the position information detecting means.

  Preferably, the position information detecting means detects six-axis information at maximum between the three orthogonal axes of x, y, and z and the rotation angle around each axis as described in claim 2. Can do.

  Preferably, the three-dimensional control means can control the viewpoint in the three-dimensional image display as described in claim 3, and can control the cut plane in the three-dimensional image display as described in claim 4. It is desirable that, as described in claim 5, it is possible to set a scanning section for performing a section operation in a three-dimensional space.

  The three-dimensional control means preferably includes a controller for controlling start / end of control as described in claim 6. More preferably, the controller is attached to the ultrasonic probe as described in claim 7.

  Preferably, the three-dimensional control means controls the start and end of control by the controller, as described in claim 8, and the three-dimensional operation information at the start position and the start time of the operation device. Can be made to correspond.

  Furthermore, as described in claim 9, the operation device includes a microphone that receives voice input and a microphone controller that controls a voice signal input from the microphone, and the three-dimensional control means receives the input. The three-dimensional control may be started and ended by recognizing the voice.

  On the other hand, the position information detecting means preferably has a plurality of transmitters attached to the operation device side and one or more receivers attached to the ultrasonic diagnostic apparatus side as described in claim 10. A position detecting unit configured to detect a position according to a time required for transmission and reception of signals between the transmitter and the receiver, and the operation unit according to claim 11. A plurality of receivers are attached to the device side, and a position detection unit is provided with a plurality of transmitters attached to the ultrasonic diagnostic apparatus side. Depending on the time required for transmission and reception of signals between these transmitters and receivers It is good also as a structure which detects a position.

  Alternatively, the position information detecting means preferably has means for detecting a plurality of accelerations in the operation device, and detects the position by detecting the acceleration of movement as described in claim 12. It is good.

  Furthermore, the position information detecting means preferably has a plurality of reflectors attached to the previous operation device, and follows the reflectors by infrared rays provided on the previous ultrasonic diagnostic apparatus side. A configuration in which the position is detected by the system is also possible.

  With the ultrasonic diagnostic apparatus according to the present invention, it is possible to intuitively perform three-dimensional control such as viewpoint setting, cut plane setting, and cross-section setting in a three-dimensional space.

  Embodiments of an ultrasonic diagnostic apparatus according to the present invention will be specifically described below with reference to the accompanying drawings. The ultrasonic diagnostic apparatus 1 shown in FIG. 1 is a position apart from the apparatus main body 2 as a modality, the ultrasonic probe 3 having an ultrasonic transducer that scans the inside of the subject, and the operation of the ultrasonic diagnostic apparatus 1. And an operation device 4 that can be controlled remotely.

  The ultrasonic diagnostic apparatus 1 includes an operation panel 6 and a monitor 7 connected to the apparatus body 2 as its hardware configuration. The operation panel 6 is equipped with input devices such as switches, buttons, a keyboard, a trackball, and a mouse.

  In addition, a position detection unit 5 that receives a signal from the operation device 4 and detects a positional relationship such as a distance and an angle with the operation device 4 is provided in the vicinity of the monitor 7 of the ultrasonic diagnostic apparatus 1. It is used for optimally setting the control of the viewpoint of the image data and the clipping range. Therefore, the operation device 4 also functions as a three-dimensional position control device.

  As shown in FIG. 1, the operator holds the ultrasonic probe 3 with one hand and holds the operation device 4 in the other hand while observing the image in the subject while touching the subject. A state in which the viewpoint is controlled is activated by pressing a three-dimensional position control activation switch attached to the vise 4 by the sonic probe 3 or the operation. In this state, the position / orientation of the control device 4 is moved to control the viewpoint.

  As described above, according to the three-dimensional position control device, it is possible to optimally and easily set the control of the viewpoint and clipping range of the three-dimensional form image data as compared with the control of the two-dimensional pointing device by switching the control direction. .

  FIG. 2 is a block diagram showing a schematic configuration of the ultrasonic diagnostic apparatus 1. Here, the ultrasonic probe 3 includes a plurality of transducers for mutually converting an electric signal and an acoustic signal so that a three-dimensional region inside the subject can be electronically scanned at high speed with ultrasonic waves. A two-dimensional array type arranged in a matrix is employed.

  In addition to the host CPU 25 responsible for the control center of the entire ultrasound diagnostic apparatus 1, the apparatus body 2 includes units that operate under the control of the host CPU 25, that is, a transmission / reception unit 21, a digital beamformer unit 22, and signal processing. A unit 23 and a display unit 24 are provided.

  The apparatus main body 2 has a communication interface (infrared communication (IrDA), radio waves (predetermined wireless communication standards such as Bluetooth, IEEE 802.11), etc.) 27 that enables wireless communication with the operation device 4. Installed. An antenna unit 27 a such as an infrared communication window or a wireless antenna is connected to the communication interface 27.

  The transmission / reception unit 21 includes a switch (not shown), a transmission scanning circuit, and a reception processing circuit. The switch connects a transmission scanning circuit to the ultrasonic probe 3 when transmitting ultrasonic waves, and connects a reception processing circuit to the ultrasonic probe 3 when receiving echoes. These switching operations are performed under the scanning control of the host CPU 25. In order to make the number of probe cables smaller than the number of element arrays, a transmission circuit may be provided in the probe, or a transmission or reception partial beamformer may be provided.

  Although not shown, the transmission scanning circuit is composed of a clock generator, a frequency divider, a transmission delay circuit, and a pulsar. The clock pulse generated by the clock generator is reduced to a rate pulse of about 5 KHz by the frequency divider, for example. A rate pulse is applied to the pulser through a transmission delay circuit to generate a high-frequency voltage pulse to drive the vibrator, that is, mechanically vibrate.

  The ultrasonic wave thus generated is reflected at the boundary of the acoustic impedance in the subject, returns to the ultrasonic probe 3, and mechanically vibrates the vibrator. Thereby, an electric signal is individually generated in each vibrator.

  The host CPU 25 can electronically scan or focus the transmitted ultrasonic beam in a fan shape by changing the timing of the voltage applied to a large number of (linear array) ultrasonic transducers arranged in two dimensions. it can.

  This electric signal is amplified by the reception processing circuit, then sent to the digital beam former unit 22 and phased and added. Thereby, a signal (echo signal) having directivity is generated.

  In order to shorten the time required for three-dimensional scanning (also referred to as volume scanning), improve the number of scans (volume rate) of the three-dimensional area per second, and promote real-time characteristics, it is given to each transducer. The ultrasonic beam is intentionally thickened by voltage pulse delay control. Further, in order to generate a plurality of echo signals having different directivities each time this thick ultrasonic beam is transmitted, that is, so-called multi-directional simultaneous reception, the digital beam former unit 22 includes a plurality of echo signals. A digital beamformer is provided, and phasing addition is performed with different phase shift patterns.

  The host CPU 25 also controls the directivity of the plurality of digital beam formers. Directivity is performed by combining horizontal deflection and vertical change when the three-dimensional scanning form is a pyramid shape. The form of the scanning section is not limited to the sector-type electronic scanning type, but may be a linear scanning type, and the three-dimensional scanning form is not limited to the pyramid shape, and may be a fan-shaped section translated or a conical shape. .

  The signal processing unit 23 is equipped with three processors 231 to 233. The echo processor 231 generates B-mode image data that provides morphological information of the tissue based on the echo signal from the digital beamformer unit 22.

  The Doppler processor 232 is a unit that realizes so-called color Doppler imaging (CDI). First, an echo signal from the digital beamformer unit 22 is detected in quadrature phase, and a Doppler signal subjected to frequency shift is extracted and extracted. Further, only a specific frequency component is passed from the Doppler signal by the MTI filter, the frequency of the passed signal is obtained by the autocorrelator, and the average speed, variance, and power are calculated by the calculation unit from this frequency.

  By adjusting the pass band of the MTI filter, a general Doppler mode that mainly visualizes blood flow (image data in this mode is referred to as blood flow Doppler image data), and organs such as the heart muscle are mainly used. It is possible to switch to a tissue Doppler mode for imaging (image data in this mode is referred to as tissue Doppler image data).

  The 3D processor 233 first stores, for example, 3D form image data representing the 3D form of the left indoor wall in a 3D display memory (not shown) from the B mode image data generated by the echo processor 231 described above. The processor 233 performs volume rendering and multi-section display. In this volume display, in addition to the display using all the collected information, a function for performing three-dimensional reconstruction with partial data called clipping is implemented, and the control of the clipping range is performed by the 3D processor 233 with another three-dimensional It is performed together with display control (luminance, transparency, line-of-sight direction, etc.).

  Furthermore, the 3D processor 233 synthesizes the above-described three-dimensional morphological image data by aligning with the corresponding position of arbitrary three-dimensional functional image data such as a blood flow Doppler image. A composite image of the three-dimensional form image data and the three-dimensional functional image data is displayed on the monitor 7 via the display unit 24.

  The host CPU 25 has a function as control means of the present invention. As an example, the CPU (processor), memory (RAM / ROM), hard disk device, removable medium (CD-ROM, connected to an internal bus (not shown) It functions as a computer having a drive device for a flexible disk, a memory card, etc.) and other peripheral devices, and controls the entire operation of the ultrasonic diagnostic apparatus 1 according to a procedure programmed in advance at the time of inspection. This control operation is performed not only on the operation panel 6 but also on the basis of each mode such as diagnosis, inspection, and display, transmission / reception conditions, and the like according to a command from the operation device 4.

  The ultrasound diagnostic apparatus 1 also includes a workflow system (also referred to as “Protocol Assistant System: PAS”, but hereinafter abbreviated as “WFS” in the description of the present embodiment) in the apparatus body 2. The operation device 4 controls the operation of the ultrasonic diagnostic apparatus 1 including the time of the WFS2 operation by remote operation from a remote position.

  The WFS 2 is configured by software that implements the control means of the present invention through the operation of the host CPU 25, and for example, a workflow system disclosed in Japanese Patent Application Laid-Open No. 2001-137237 is applied. This system 2 is based on work procedure data (hereinafter referred to as “workflow data”) in which the execution order of a plurality of implementation items (hereinafter referred to as “activity”) executed in the operation of the apparatus body 2 is predetermined. In addition to sequentially reading and executing small programs (hereinafter referred to as “activity programs”) corresponding to a plurality of activities, the operation of the apparatus main body 2 can be switched and the execution order of the activities can be changed according to the operation by the operation device 4 It is configured.

  As an example of the software module configuration, the WFS 26 has a workflow data storage unit that stores workflow data, an activity program storage unit that stores an activity program, and a workflow data based on the workflow data in the workflow data storage unit, although not shown. A workflow engine unit that reads out and executes an activity program corresponding to the activity at each stage from the activity program storage unit.

  The operation device 4 is configured to be capable of remote operation by wireless communication with the apparatus main body 2. The operation device 4 is of an appropriate size and shape that can be carried and operated by the operator at a position such as a bedside away from the apparatus main body 2, and is small and easy to hold with a hand. Applicable handy type (palm size) is applied.

  As an example shown in FIG. 2, the operation device 4 is connected to a host controller 44 such as a CPU that plays a central role in control of each unit that operates by power supply from a power supply unit 45 such as a battery, and the host controller 44. Various switch controllers 48 and communication interfaces (infrared communication (IrDA), radio waves (predetermined wireless communication standards such as Bluetooth, IEEE802.11, etc.)) 47 are incorporated.

  Further, the operation device 4 is connected to the host controller 44 via various switch controllers 48 and a communication interface 47, and a plurality of switches SW1, SW2,. An antenna unit 47a such as an antenna is mounted.

  The host controller 44 is constituted by an IC (integrated circuit) unit such as a mouse controller equipped with a CPU, for example, but may be constructed as an integrated IC unit together with at least a part of the various switch controllers 48 and the communication interface 47. .

  The host controller 44 sends control commands (commands) S1 such as various switch commands set in advance to the apparatus main body 2 via the communication interface 47 according to the operation of the operator, and from the host CPU 25 of the apparatus main body 2. In response to various control commands (commands) S2 to be described later via the communication interface 27, the operation of the ultrasound diagnostic apparatus 1 is controlled by transmitting and receiving these commands.

  Any type of switches such as push type and rotary type (rotary encoder, etc.) can be applied to the plurality of switches SW1 to SWn. For example, these switches are configured to have an optical sensor mechanism, but in this case, it is possible to improve the cleaning property such as removing the unevenness (grooves) and the drive unit and making the maintenance easy, Alternatively, it is possible to take advantage of the fact that there is no unevenness and to obtain an effect such as using a cover for preventing dirt.

  As an example, each of the switches SW1 to SWn is provided with various switches such as a movement button, an execution button, and a switching button necessary for the operation of the WFS 26, and preliminary switches. An example is shown in FIG.

  In this example, the operation device 4 has a rectangular device body, and in addition to seven switches SW1 to SW7 on the flat front side, three switches SW8 to SW10 on the left side and on the right side. One switch SW11 is provided. (In this example, an antenna portion (infrared communication window) 47a and a power switch 46 are installed on the side surface on the upper side of the operation device 4).

  Of these, the switch SW11 on the upper front side of the device is a joystick-type execution button for determining an item such as an activity during WFS operation, and a direction key for up / down / left / right movement for selecting an item such as an activity. The switch SW12 is a cursor movement The direction key (trackball function) that can specify a two-dimensional position, and the like, and a gain control switch that uses a rotary encoder mechanism.

  The switch SW3 at the center of the front of the device is composed of, for example, a rotary button that can adjust the depth of field of the ultrasonic image obtained by the ultrasonic scan. Consists of execute buttons.

  The switch SW5 on the right side of the front center of the device is constituted by a push-type execution button for freezing regardless of, for example, WFS operation or normal inspection, and the switch SW6 on the lower left side of the front of the device is for printing (printout), for example. Consists of push-type execution buttons.

  Further, the switch SW7 on the lower right side of the front of the device is constituted by, for example, a push button that can adjust the focus of the ultrasonic scan, and the switch SW8 on the left side of the device is, for example, a key for WFS / an apparatus key for normal inspection. Consists of changeover switches. Hereinafter, various functions are also assigned to the switches SW9 to SW11.

  When each of the switches SW1 to SWn is operated, it is classified into a move button, an execution button, a switch button, etc. assigned to the operated switches SW1 to SWn under the control of various switch controllers 48 and the host controller 44. A control command S1 of a switch command (an arbitrary command can be defined) according to the command is sent from the operation device 4 side to the apparatus body 2 side via the communication interface 47.

  The operation device 4 also has three transmitters 41 to 43 attached to the upper side surface thereof, and transmits infrared pulses and the like to the three receivers 51 to 53 attached to the position detection unit 5. The operation device 4 and the position in a state in which the time from transmission to reception from each of the three points can be independently measured by transmitting from the three transmitters 41 to 43 at different timings or by transmitting with different pulse sequences. The distance measurement between the detection units 5 is periodically performed. The signal to be transmitted / received can be realized by any energy as long as it has time resolution, such as a sound wave, a radio wave, and a magnetic field.

  The position detection unit 5 includes at least three receivers 51 to 53 having a timer function that can be synchronized with the transmitters 41 to 43 of the operation device 4, and the operation device 4 received by the receivers 51 to 53. Is received by a position analysis unit 28 provided in the apparatus main body 2 and position information is analyzed.

  The receivers 51 to 53 are receivers having the same configuration. For example, when one receiver 51 is taken as an example, a reception antenna and reception that amplifies radio waves from the reception antenna 25 are omitted in the figure. A clock generation unit that oscillates based on a synchronization signal from the position analysis unit 28, a sampling unit that samples a received signal at the timing of the clock signal of the clock generation unit, a storage unit that stores sampling data by the sampling unit, and the like Prepare. The same applies to the other receivers 52 and 53.

  In FIG. 2, the position analysis unit 28 shown in the apparatus main body 2 includes a correlation unit for examining a correlation of signals based on data from the respective receivers 51 to 53 (not shown), and a relative time from the time when the correlation is obtained. A calculation unit that calculates the distance and obtains the position of the object to be measured and a synchronization signal generation unit that sends a synchronization signal to each of the receivers 51 to 53 are provided.

  The distance from the operation device 4 to the position detection unit 5 is such that, for example, specific radio signals are transmitted from the transmitters 41 to 43, received by the receivers 51 to 53, and these received signals are sampled by a clock signal. The arrival time difference to each receiving station is detected, and the distance from the transmitters 41 to 43 to each receiver 51 to 53 is calculated.

  The signal processing unit 23 according to the present embodiment constitutes an ultrasonic image generating unit according to the present invention, and the transmitters 41 to 43, the position detection unit 5 and the position analysis unit 28 according to the present embodiment are included in the present invention. The positional information detection means which concerns on is comprised. Further, the three-dimensional position control switch 31 according to the present embodiment constitutes a controller according to the present invention.

  Next, in the state shown in FIG. 4, a calculation for calculating the three-dimensional position of the receiver from the position of the transmitter group from the three measured distances is performed from the three transmitters 41 to 43 to one receiver 51. The case of transmitting to will be described as an example.

  Here, the coordinates of the transmitter 41 are (x1, y1, z1), the coordinates of the transmitter 42 are (x2, y2, z2), and the coordinates of the transmitter 43 are (x3, y3, z3). The distance measurement results from 41 to 43 to the receiver 51 are set as D1, D2, and D3, and the coordinates (x, y, z) of the target receiver 51 are obtained.

  As shown in FIG. 4, the X-axis intersects the long axis (center line in the long direction) of the operation device 4 and the tip surface of the operation device 4 (surface formed by three receivers) as shown in FIG. The Y axis is a line parallel to the operation surface of the operation device 4, and the Z axis is a line perpendicular to the operation surface of the operation device 4.

  As a result, the coordinates (x, y, z) of the receiver 51 are obtained. Similarly, the coordinates of the receiver 52 and the receiver 53 can also be obtained. Then, as shown in FIG. 4, by detecting the positions of the three receivers 51 to 53 of the position detection unit 5, not only the position of the operation device 4 but also the rotation angles α and y about the x axis. Six-axis information obtained by adding the rotation angle β and the rotation angle γ around the z axis can be obtained.

  Next, the procedure for setting the position of the surface in the three-dimensional space will be described with reference to the flowchart shown in FIG.

  First, when the operator operates one or more switches SW of the operation device 4, a provisional cut plane is set as shown in FIG. 6 (step S1). At this time, the temporary cut plane CP is displayed stationary on the three-dimensional ultrasonic image IM on the monitor.

  Thereafter, when the operator turns on the three-dimensional position control switch, the control of the three-dimensional position is started (step S2). That is, the cut plane moves when the operation device 4 is moved back and forth, and right and left, and the cut plane also rotates when the operation device 4 is rotated about the x axis, the y axis, and the z axis.

  Assuming that the setting of the cut plane always operates, the cut plane CP moves and rotates even with a slight movement of the operation device 4. The operator needs to keep holding the operation device 4 in order to prevent such unintentional movement / rotation, which is a burden on the operator. Therefore, these controls are performed after waiting for start and end commands by the operator.

  The start / end of this three-dimensional position control is performed by turning on and off the three-dimensional position control switch 31 provided in the ultrasonic probe 3, as shown in FIG. The three-dimensional position control switch 31 of the ultrasonic probe 3 is controlled by a wireless signal such as BlueTooth or through a probe cable.

  The three-dimensional position control activation is not limited to a physical switch. For example, a microphone and a microphone controller may be mounted on the operation device 4 to control start / end by voice recognition.

  However, since the ultrasonic probe 3 provided with such a three-dimensional position control switch 31 becomes special and expensive, it is difficult to sterilize, so as shown in FIG. One of the switches SW of the operation device 4 is assigned to the three-dimensional position control switch to control the start / end of the three-dimensional position control.

  When an instruction to start the three-dimensional position control is transmitted, under the control of the host CPU 25, as shown in FIG. 6, the x axis, the y axis, and the z axis on the cut plane CP and the respective axes around the respective axes. Six axes including rotation angles α, β, and γ are set (step S3). Thereby, the movement / rotation of the cut plane CP can be made to correspond to the movement / rotation of the operation device 4. The position and direction of the cut plane CP when the three-dimensional position control switch 31 is turned on and the three-dimensional position control is started are associated with the position and direction of the operation device 4 at that time, and reflect the subsequent relative change. 3D position control is performed. This prevents a sudden change in the position and direction of the cut plane at the start of the three-dimensional position control.

  For example, as shown in FIG. 8, when the operator rotates the tip of the operation device 4 upward by an angle β1 and the position analysis unit 28 recognizes it (step S4), the cut plane CP and the cut plane CP are placed on the cut plane CP. The set coordinate system is rotated downward by an angle β1 with respect to the three-dimensional ultrasonic image IM by the signal processing unit 23 and the display unit 24 under the instruction of the host CPU 25 (step S5). Similarly, as shown in FIG. 9, when the operator rotates the tip of the operation device 4 to the right by the angle γ1, the cut plane CP and the coordinate system move to the left by the angle γ1 with respect to the three-dimensional ultrasound image IM. To be rotated.

  As shown in FIG. 10, when the operator brings the operation device 4 close to the three-dimensional ultrasonic image on the monitor 7 by a distance Δ1, and the position analysis unit 28 recognizes it (step S6), the cut plane CP and The coordinate system is moved backward by a distance kΔ1 with respect to the three-dimensional ultrasonic image IM by the signal processing unit 23 and the display unit 24 under the instruction of the host CPU 25 (step S7). Here, k is a preset proportionality constant. The actual amount of change in the position / direction of the cut plane CP can be easily manipulated by enlarging or reducing the amount of change in the position / direction of the operation device 4 with a certain scale. If the value of k is changed, the moving amount of the cut plane CP can be adjusted.

  The operator repeats the rotation and / or movement instructions until the desired cut plane CP is obtained (steps S4 to S7). If the desired cut plane CP is obtained, the three-dimensional position control switch is pressed, and an instruction to end control of the three-dimensional position is issued (step S8).

  As a result, the host CPU 25 sends a work end signal to the position analysis unit 28, and the cut plane CP is determined to be stationary (step S9).

  In this way, the position and direction of the cut plane CP at the time of three-dimensional reconstruction can be controlled simply by moving and rotating the operation device 4 while holding it in one hand, so it is very easy to set the cut plane. Can be done.

  The three-dimensional position control is not limited to the case of this cut plane, and the three-dimensional position / direction of the viewpoint of the three-dimensional ultrasonic image can also be controlled. The setting procedure in this case is changed from “provisional cut plane setting” in step S1 to “temporary viewpoint setting” in step S1 and “cut plane determination” in step S9 to “view point determination” in the flowchart shown in FIG. However, the other procedures are substantially the same as in the case of the cut plane setting, and a description thereof will be omitted.

  In order to change the control target from the cut plane to the viewpoint or from the viewpoint to the cut plane, the operator operates one or more switches SW of the operation device 4.

  Alternatively, for example, a microphone and a microphone controller may be mounted on the operation device 4 so that switching between viewpoint setting and cut plane setting can be controlled by voice recognition.

  For example, as shown in FIG. 11 (a), when the operator rotates the tip of the operation device 4 upward by an angle β2 and the position analysis unit 28 recognizes it (step S4), the viewpoint of the three-dimensional ultrasound image The coordinate system set on the three-dimensional ultrasonic image is rotated downward by an angle β2 with respect to the original three-dimensional ultrasonic image IM by the signal processing unit 23 and the display unit 24 under the instruction of the host CPU 25. (Step S5). Similarly, as shown in FIG. 11B, when the operator rotates the tip of the operation device 4 to the right by the angle γ2, the viewpoint and the coordinate system of the three-dimensional ultrasound image are the same as the original three-dimensional ultrasound. The image IM is rotated rightward by an angle γ2.

  Further, as shown in FIG. 11C, when the operator brings the operation device 4 close to the three-dimensional ultrasonic image on the monitor 7 by a distance Δ2, and the position analysis unit 28 recognizes it (step S6), the cut is performed. The plane CP and the coordinate system are moved backward by the distance kΔ2 with respect to the original three-dimensional ultrasonic image IM by the signal processing unit 23 and the display unit 24 under the instruction of the host CPU 25 (step S7).

  In this way, since the position and direction of the viewpoint at the time of three-dimensional reconstruction is controlled simply by moving and rotating the operation device 4 with one hand, it is possible to set the viewpoint very easily. It becomes possible.

  This three-dimensional position control is also used when controlling the three-dimensional position / direction of a scanning section in a three-dimensional space, for example, when setting an arbitrary scanning section. The setting procedure in this case is shown in the flowchart of FIG. In this setting procedure, as shown in the figure, “provisional cut plane setting” in step S1 is changed to “provisional scanning section”, “cut plane determination” in step S9 is changed to “scanning section determination”, and 5 are basically different from the case of the cut plane in FIG. 5 except that steps S6 and S7 are not provided, and other configurations are substantially the same, and the description thereof is omitted.

  When the scanning cross section is always limited to a cross section passing through the center of the transducer surface, that is, in the case of a three-dimensional sector scan in which the axis center of the ultrasonic transmission / reception beam is based on the center of the transducer surface, position control is not necessary. The direction of the scanning surface, that is, the inclination of the scanning surface with respect to the transducer surface is controlled. This is defined by two slopes. Therefore, steps S6 and S7 are not necessary.

  For example, as shown in FIG. 13A, when the operator rotates the tip of the operation device 4 upward by an angle β3 and the position analysis unit 28 recognizes it (step S14), the difference cross section SS and this The coordinate system set on the scanning section SS is rotated downward by an angle β3 with respect to the original scanning section SS by the signal processing unit 23 and the display unit 24 under the instruction of the host CPU 25 (step S15). Similarly, as shown in FIG. 13B, when the operator rotates the tip of the operation device 4 to the right by the angle γ3, the scanning section SS and the coordinate system are at an angle γ3 with respect to the original scanning section SS. Only rotated to the right.

  In this way, the direction of the scanning section can be controlled simply by moving and rotating the operation device 4 while holding it in one hand, so that the direction of the scanning section can be set very easily.

  The embodiments described above are for illustrative purposes and do not limit the scope of the invention. Accordingly, those skilled in the art can employ embodiments in which each or all of these elements are replaced by equivalents thereof, and these embodiments are also included in the scope of the present invention.

  For example, in this embodiment, the setting of the cut plane, the setting of the viewpoint, and the setting of the scanning section in the three-dimensional space have been described. However, the present invention is not limited to these cases, and the distance measurement is performed in the three-dimensional form image. It may be used for setting a reference point, setting a curved surface, or specifying a specific three-dimensional area.

  Further, in the present embodiment, the case where the transmitters 41 to 43 are provided on the operation device 4 side and the receivers 51 to 53 are provided on the position detection unit 5 side has been described as an example. In addition, a receiver may be provided on the operation device 4 side, and a transmitter may be provided on the position detection unit 5 side.

  Furthermore, in this embodiment, the case where the position information of the operation device is obtained by measuring the distance between the transmitters 41 to 43 and the receivers 51 to 53 has been described as an example. For example, three infrared reflectors are affixed at predetermined positions on the operation device 4 side, and have a transmitter and an infrared camera for emitting infrared rays on the ultrasonic apparatus side or on a patient bed. The attached three reflector images are recognized by the camera image, and the six-axis information (three-dimensional coordinate position and three rotation angles) of the operation device is calculated from these three positions. It is possible to adopt a configuration in which the control is performed, or a configuration in which a plurality of acceleration detectors are provided on the operation device 4 side and the position is detected by detecting the acceleration of movement.

  In addition, it can be used for setting a color Doppler scanning region and a three-dimensional setting of a detection position of pulse Doppler. Further, the operation device 4 has been described with an example in which position detection transmitters 41 to 43 are provided. It is also possible to adopt a configuration in which the position of the operation device is indirectly detected by providing a position detection transmitter or receiver in the mechanism that holds the operation device 4, and three-dimensional control is performed.

1 is a diagram showing an outline of an embodiment of an ultrasonic diagnostic apparatus according to the present invention. 1 is a block diagram showing a schematic configuration of an ultrasonic diagnostic apparatus according to the present embodiment. It is a figure which shows an example of an operation device, (a) is a front view, (b) is a left view, (c) is a right view. The figure explaining the coordinate system of an operation device and a position detection unit. The flowchart which shows the setting procedure of the position of the cut plane in three-dimensional space. The figure which shows an example of the coordinate system set on the temporary cut plane and this temporary cut plane. It is a figure which shows the example of a three-dimensional position control switch, (a) is a figure which shows the case where each is provided in an ultrasonic probe, (b) is each provided in the operation device. The figure which shows an example which rotates a cut plane to the orthogonal | vertical direction. The figure which shows an example which rotates a cut plane in a horizontal direction. The figure which shows an example which moves a cut plane to the front-back direction. It is a figure which shows the example which rotates and moves the eyes | visual_axis of a three-dimensional ultrasonic image, (a) is a vertical direction, (b) is each rotated in a horizontal direction, (c) is a case where it is moved in the front-back direction. Figure. The flowchart which shows the setting procedure of the position of the scanning cross section in three-dimensional space. It is a figure which shows the example which rotates an ultrasonic scanning cross section, (a) is a figure around a horizontal axis, (b) is a figure which shows the case where it rotates around a vertical axis, respectively.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Ultrasonic diagnostic apparatus 2 Apparatus main body 3 Ultrasonic probe 4 Operation device 5 Position detection unit 51-53 Receiver 1-3
6 Operation Panel 7 Monitor 21 Transmission / Reception Unit 22 Digital Beamformer Unit 23 Signal Processing Unit 231 Echo Processor 232 Doppler Processor 233 3D Processor 24 Display Unit 14
25 Host CPU
26 Workflow system (WFS)
27 Communication interface (device main unit side)
27a Antenna part (device main unit side)
31 Three-dimensional position control switches 41 to 43 Transmitters 1 to 3
44 Host controller 45 Power supply unit 46 Power switch 47 Communication interface (operation device side)
47a Antenna (operation device side)
48 Various switch controllers CP Cut plane IM Three-dimensional ultrasound image SS Scanning section SW1 to SWn Switch (execution button, movement button, switching button, etc.)

Claims (13)

Transmitting / receiving means for driving the ultrasonic probe to scan the inside of the subject with ultrasonic waves;
Ultrasonic image generating means for generating image data representing the form of the target organ in the subject based on a received signal obtained by scanning by the transmitting / receiving means;
Display means for displaying the image generated by the ultrasonic image generation means;
An operation device having a shape that can be carried by an operator, and remotely controlling the transmission / reception means, the ultrasonic image generation means, and the display means;
Position information detecting means for detecting position information of the scanning device;
Three-dimensional control means for performing three-dimensional control on image display based on position information detected by the position information detection means;
An ultrasonic diagnostic apparatus comprising: The ultrasonic diagnostic apparatus according to claim 1, wherein the position information detection unit detects 6-axis information at the maximum between three orthogonal axes of x, y, and z and a rotation angle around each axis. The ultrasonic diagnostic apparatus according to claim 1, wherein the three-dimensional control unit controls a viewpoint in a three-dimensional image display. The ultrasonic diagnostic apparatus according to claim 1, wherein the three-dimensional control unit controls a cut plane in a three-dimensional image display. The ultrasonic diagnostic apparatus according to claim 1, wherein the three-dimensional control unit sets a scanning section for performing a section operation in a three-dimensional space. The ultrasonic diagnostic apparatus according to claim 1, wherein the three-dimensional control unit includes a controller that controls start and end of control. The ultrasonic diagnostic apparatus according to claim 6, wherein the controller is attached to the ultrasonic probe. The ultrasonic wave according to claim 6, wherein the three-dimensional control means controls the start / end of control by the controller, and associates the start position of the operation device with the three-dimensional operation information at the start. Diagnostic device. The operation device includes a microphone that receives voice input, and a microphone controller that controls a voice signal input from the microphone.
The ultrasonic diagnostic apparatus according to claim 1, wherein the three-dimensional control unit starts and ends the three-dimensional control by recognizing an input voice. The position information detection means includes a position detection unit in which a plurality of transmitters are attached to the operation device side, and one or a plurality of receivers are attached to the ultrasonic diagnostic apparatus side. 2. The ultrasonic diagnostic apparatus according to claim 1, wherein the position is detected based on a time required for transmitting and receiving signals between the receivers. The position information detection means includes a position detection unit in which a plurality of receivers are attached to the operation device side, and a plurality of transmitters are attached to the ultrasonic diagnostic apparatus side. These transmitters and receivers The ultrasonic diagnostic apparatus according to claim 1, wherein the position is detected based on a time required for transmission / reception of signals between them. The ultrasonic diagnostic apparatus according to claim 1, wherein the position information detection unit includes a unit that detects a plurality of accelerations in the operation device, and detects a position by detecting a movement acceleration. The first-term position information detecting means includes a plurality of reflectors attached to the first-term operation device, and detects a position by a reflector tracking system using infrared rays provided on the first-term ultrasonic diagnostic apparatus side. Ultrasound diagnostic equipment.

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