JP2013188417A - Ultrasonic diagnostic apparatus, image processor and image processing program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To recognize a position at which a heart valve is damaged.SOLUTION: An ultrasonic diagnostic apparatus according to an embodiment includes an input part 3, an image generation part 14, and a control part 16. The input part 3 receives setting information including a set area set inside a three-dimensional area to be three-dimensionally scanned by ultrasonic waves, and a set phase set as a specified cardiac phase. The image generation part 14 generates, along a time sequence, three-dimensional Doppler image data in which a luminance value is allocated to a voxel corresponding to a position where a blood flow is present, on the basis of blood flow information related to the blood flow flowing through the three-dimensional area. The control part 16 executes control so as to display, on a monitor 2, image data for display based on each of two or more added data to which the luminance value of the three-dimensional Doppler image data in the set area of the set phase is successively added for each voxel along the time sequence.

Description

  Embodiments described herein relate generally to an ultrasonic diagnostic apparatus, an image processing apparatus, and an image processing program.

  Conventionally, an ultrasonic diagnostic apparatus is used for diagnosis of valvular disease. For example, a technique for observing heart valve insufficiency using B-mode volume data collected by an ultrasonic diagnostic apparatus is known. Conventionally, a color Doppler technique has been used to evaluate the degree of blood backflow caused by a broken heart valve.

  The doctor evaluates the degree of backflow with reference to the two-dimensional color Doppler image. The valvular surgery includes “valvuloplasty” for repairing the heart valve or “valve replacement” for completely replacing the heart valve with a heart valve of the population. The doctor needs to confirm the position of the heart valve when deciding on a surgical policy such as whether to adopt “valvuloplasty” or “valve replacement”. However, even if a doctor refers to a two-dimensional color Doppler image, the doctor cannot determine which position of the heart valve is damaged and a backflow occurs.

JP 2010-188118 A

  The problem to be solved by the present invention is to provide an ultrasonic diagnostic apparatus, an image processing apparatus, and an image processing program capable of grasping a position where a heart valve is broken.

  The ultrasonic diagnostic apparatus according to the embodiment includes an input unit, an image generation unit, and a control unit. The input unit receives setting information including a setting region set in a three-dimensional region that is three-dimensionally scanned by ultrasonic waves and a setting phase set as a specific cardiac phase. The image generation unit generates, in a time series, three-dimensional Doppler image data in which luminance values are assigned to voxels corresponding to a position where blood flow exists based on blood flow information related to blood flow flowing in the three-dimensional region. To do. The control unit displays display image data based on each of a plurality of addition data obtained by sequentially adding the luminance values of the three-dimensional Doppler image data in the setting region of the setting phase for each voxel along a time series. To control.

FIG. 1 is a block diagram illustrating a configuration example of an ultrasonic diagnostic apparatus according to the present embodiment. FIG. 2 is a diagram for explaining a surgical operation performed with valvular disease. FIG. 3 is a block diagram illustrating a configuration example of the control unit according to the present embodiment. FIG. 4 is a diagram (1) for explaining the setting area. FIG. 5 is a diagram (2) for explaining the setting area. FIG. 6 is a diagram (1) for explaining the set phase. FIG. 7 is a diagram (2) for explaining the set phase. FIG. 8 is a diagram (1) for explaining the image generation unit according to the present embodiment. FIG. 9 is a diagram (2) for explaining the image generation unit according to the present embodiment. FIG. 10 is a flowchart for explaining an example of the setting information acquisition process of the ultrasonic diagnostic apparatus according to this embodiment. FIG. 11 is a flowchart for explaining an example of setting information acquisition processing of the ultrasonic diagnostic apparatus according to the present embodiment.

  Hereinafter, embodiments of an ultrasonic diagnostic apparatus will be described in detail with reference to the accompanying drawings.

(Embodiment)
First, the configuration of the ultrasonic diagnostic apparatus according to the present embodiment will be described. FIG. 1 is a block diagram illustrating a configuration example of an ultrasonic diagnostic apparatus according to the present embodiment. As illustrated in FIG. 1, the ultrasonic diagnostic apparatus according to the present embodiment includes an ultrasonic probe 1, a monitor 2, an input unit 3, an electrocardiograph 4, and an apparatus main body 10.

  The ultrasonic probe 1 includes a plurality of piezoelectric vibrators, and the plurality of piezoelectric vibrators generate ultrasonic waves based on a drive signal supplied from a transmission / reception unit 11 included in the apparatus main body 10 described later. The ultrasonic probe 1 receives a reflected wave from the subject P and converts it into an electrical signal. The ultrasonic probe 1 includes a matching layer provided in the piezoelectric vibrator, a backing material that prevents propagation of ultrasonic waves from the piezoelectric vibrator to the rear, and the like. The ultrasonic probe 1 is detachably connected to the apparatus main body 10.

  When ultrasonic waves are transmitted from the ultrasonic probe 1 to the subject P, the transmitted ultrasonic waves are reflected one after another at the discontinuous surface of the acoustic impedance in the body tissue of the subject P, and the ultrasonic probe is used as a reflected wave signal. 1 is received by a plurality of piezoelectric vibrators. The amplitude of the received reflected wave signal depends on the difference in acoustic impedance at the discontinuous surface where the ultrasonic wave is reflected. Note that the reflected wave signal when the transmitted ultrasonic pulse is reflected by the moving blood flow or the surface of the heart wall depends on the velocity component of the moving object in the ultrasonic transmission direction due to the Doppler effect. And undergoes a frequency shift.

  Here, the ultrasound probe 1 according to the present embodiment is an ultrasound probe capable of scanning the subject P in two dimensions with ultrasound and scanning the subject P in three dimensions. Specifically, the ultrasonic probe 1 according to the present embodiment scans the subject P two-dimensionally with a plurality of piezoelectric vibrators arranged in a line and moves the plurality of piezoelectric vibrators to a predetermined angle (swing). It is a mechanical 4D probe that scans the subject P three-dimensionally by swinging at a moving angle. Alternatively, the ultrasonic probe 1 according to the present embodiment is a 2D array probe that can ultrasonically scan the subject P in three dimensions by arranging a plurality of piezoelectric vibrators in a matrix. The 2D array probe can also scan the subject P in two dimensions by focusing and transmitting ultrasonic waves.

  The input unit 3 includes a mouse, a keyboard, a button, a panel switch, a touch command screen, a foot switch, a trackball, a joystick, and the like, receives various setting requests from an operator of the ultrasonic diagnostic apparatus, The various setting requests received are transferred. The setting information received from the operator by the input unit 3 according to this embodiment will be described in detail later.

  The monitor 2 displays a GUI (Graphical User Interface) for an operator of the ultrasonic diagnostic apparatus to input various setting requests using the input unit 3, and displays an ultrasonic image generated in the apparatus main body 10. To do.

  The electrocardiograph 4 acquires an electrocardiogram (ECG) of the subject P as a biological signal of the subject P that is three-dimensionally scanned. The electrocardiograph 4 transmits the acquired electrocardiogram waveform to the apparatus main body 10.

  The apparatus main body 10 is an apparatus that generates ultrasonic image data based on a reflected wave signal received by the ultrasonic probe 1. Specifically, the apparatus main body 10 according to the present embodiment is an apparatus that can generate three-dimensional ultrasonic image data based on three-dimensional reflected wave data received by the ultrasonic probe 1. Hereinafter, the three-dimensional ultrasound image data may be referred to as “volume data”.

  As shown in FIG. 1, the apparatus main body 10 includes a transmission / reception unit 11, a B-mode processing unit 12, a Doppler processing unit 13, an image generation unit 14, an image memory 15, a control unit 16, and an internal storage unit 17. And have.

  The transmission / reception unit 11 includes a pulse generator, a transmission delay unit, a pulser, and the like, and supplies a drive signal to the ultrasonic probe 1. The pulse generator repeatedly generates rate pulses for forming transmission ultrasonic waves at a predetermined rate frequency. The transmission delay unit generates a delay time for each piezoelectric vibrator necessary for focusing the ultrasonic wave generated from the ultrasonic probe 1 into a beam and determining transmission directivity. Give for each rate pulse. The pulser applies a drive signal (drive pulse) to the ultrasonic probe 1 at a timing based on the rate pulse. That is, the transmission delay unit arbitrarily adjusts the transmission direction of the ultrasonic wave transmitted from the piezoelectric vibrator surface by changing the delay time given to each rate pulse.

  The transmission / reception unit 11 has a function capable of instantaneously changing a transmission frequency, a transmission drive voltage, and the like in order to execute a predetermined scan sequence based on an instruction from the control unit 16 described later. In particular, the change of the transmission drive voltage is realized by a linear amplifier type transmission circuit capable of instantaneously switching the value or a mechanism for electrically switching a plurality of power supply units.

  The transmission / reception unit 11 includes a preamplifier, an A / D (Analog / Digital) converter, a reception delay unit, an adder, and the like. The transmission / reception unit 11 performs various processing on the reflected wave signal received by the ultrasonic probe 1 and reflects it. Generate wave data. The preamplifier amplifies the reflected wave signal for each channel. The A / D converter A / D converts the amplified reflected wave signal. The reception delay unit gives a delay time necessary for determining the reception directivity. The adder performs an addition process on the reflected wave signal processed by the reception delay unit to generate reflected wave data. By the addition processing of the adder, the reflection component from the direction corresponding to the reception directivity of the reflected wave signal is emphasized, and a comprehensive beam for ultrasonic transmission / reception is formed by the reception directivity and the transmission directivity.

  The transmission / reception unit 11 according to the present embodiment transmits a three-dimensional ultrasonic beam from the ultrasonic probe 1 in order to three-dimensionally scan the subject P. The transmission / reception unit 11 according to the present embodiment generates three-dimensional reflected wave data from the three-dimensional reflected wave signal received by the ultrasonic probe 1.

  The form of the output signal from the transmission / reception unit 11 can be selected from various forms such as a signal including phase information called an RF (Radio Frequency) signal or amplitude information after envelope detection processing. Is possible.

  The B-mode processing unit 12 receives the reflected wave data from the transmission / reception unit 11, performs logarithmic amplification, envelope detection processing, and the like, and generates data (B-mode data) in which the signal intensity is expressed by brightness. .

  The Doppler processing unit 13 performs frequency analysis on velocity information from the reflected wave data received from the transmission / reception unit 11, extracts blood flow, tissue, and contrast agent echo components due to the Doppler effect, and obtains moving body information such as velocity, dispersion, and power. Data extracted for multiple points (Doppler data) is generated. The Doppler processing unit 13 according to the present embodiment extracts blood flow information of blood flowing in the heart as moving body information.

  Note that the B-mode processing unit 12 and the Doppler processing unit 13 according to the present embodiment can process both two-dimensional reflected wave data and three-dimensional reflected wave data. That is, the B-mode processing unit 12 generates two-dimensional B-mode data from the two-dimensional reflected wave data, and generates three-dimensional B-mode data from the three-dimensional reflected wave data. The Doppler processing unit 13 generates two-dimensional Doppler data from the two-dimensional reflected wave data, and generates three-dimensional Doppler data from the three-dimensional reflected wave data. The three-dimensional B-mode data is data to which a luminance value corresponding to the reflection intensity of the reflection source located at each of a plurality of points set on each scanning line in the three-dimensional scanning range is assigned. The three-dimensional Doppler data includes data in which a luminance value corresponding to the value of blood flow information (speed, dispersion, power) is assigned to each of a plurality of points set on each scanning line in the three-dimensional scanning range. Become.

  The image generation unit 14 generates ultrasonic image data from the data generated by the B mode processing unit 12 and the Doppler processing unit 13. That is, the image generation unit 14 generates two-dimensional B-mode image data in which the intensity of the reflected wave is represented by luminance from the two-dimensional B-mode data generated by the B-mode processing unit 12. The two-dimensional B-mode image data is data in which a tissue shape in a two-dimensional region that has been subjected to ultrasonic scanning is depicted. Further, the image generation unit 14 generates two-dimensional Doppler image data representing moving body information from the two-dimensional Doppler data generated by the Doppler processing unit 13. The two-dimensional Doppler image data is a velocity image, a dispersion image, a power image, or a combination image thereof. The two-dimensional Doppler image data is data in which a luminance value is assigned to a pixel corresponding to a position where the blood flow exists, based on blood flow information relating to the blood flow flowing in the two-dimensional region that is ultrasonically scanned.

  Here, the image generation unit 14 generally converts (scan converts) a scanning line signal sequence of ultrasonic scanning into a scanning line signal sequence of a video format represented by a television or the like, and displays ultrasonic waves for display. Generate image data. Specifically, the image generation unit 14 generates ultrasonic image data for display by performing coordinate conversion in accordance with the ultrasonic scanning mode of the ultrasonic probe 1. In addition to the scan conversion, the image generation unit 14 performs various image processing, such as image processing (smoothing processing) for regenerating an average luminance image using a plurality of image frames after scan conversion, Image processing (edge enhancement processing) using a differential filter is performed in the image. In addition, the image generation unit 14 synthesizes character information, scales, body marks, and the like of various parameters with the ultrasound image data.

  That is, the B-mode data and Doppler data are ultrasonic image data before the scan conversion process, and the data generated by the image generation unit 14 is display ultrasonic image data after the scan conversion process. The B-mode data and the Doppler data are also called raw data (Raw Data).

  Further, the image generation unit 14 generates three-dimensional B-mode image data by performing coordinate conversion on the three-dimensional B-mode data generated by the B-mode processing unit 12. Further, the image generation unit 14 generates three-dimensional Doppler image data by performing coordinate conversion on the three-dimensional Doppler data generated by the Doppler processing unit 13. In other words, the image generation unit 14 generates “three-dimensional B-mode image data or three-dimensional Doppler image data” as “volume data that is three-dimensional ultrasound image data”. The three-dimensional B-mode image data is image data indicating a tissue shape in a three-dimensional region that is three-dimensionally scanned by ultrasonic waves. In addition, three-dimensional B-mode image data is assigned a luminance value to a voxel corresponding to a position where blood flow exists based on blood flow information related to blood flow flowing in a three-dimensional region scanned three-dimensionally by ultrasound. Image data.

  Further, the image generation unit 14 performs a rendering process on the volume data in order to generate various two-dimensional image data for displaying the volume data on the monitor 2. The rendering process performed by the image generation unit 14 includes a process of generating MPR image data from volume data by performing a cross-section reconstruction method (MPR: Multi Planer Reconstruction). The rendering processing performed by the image generation unit 14 includes processing for performing “Curved MPR” on volume data and processing for performing “Maximum Intensity Projection” on volume data.

  The rendering processing performed by the image generation unit 14 includes volume rendering (VR) processing that generates two-dimensional image data reflecting three-dimensional information. The image generation unit 14 can also generate MIP image data with thickness and MPR image data with thickness using a region sandwiched between two cross sections set by volume data.

  Here, an image display method using Doppler data will be described. In general, image display methods using Doppler data are roughly classified into a color Doppler method (CDI: Color Doppler Imaging) and a power Doppler method (PDI: Power Doppler Imaging). In the color Doppler method, the image generation unit 14 assigns a luminance value whose hue is changed according to the direction of blood flow and the velocity of blood flow to a voxel corresponding to the position where the blood flow exists. Generate image data. For example, the image generation unit 14 assigns a red color (red to yellow) to the blood flow in the direction toward the ultrasonic probe 1 according to the velocity of the blood flow. Color Doppler image data is generated by assigning a bluish hue (blue to blue-green) to the blood flow in the direction of moving away according to the velocity of the blood flow. In the color Doppler method, the image generation unit 14 may generate color Doppler image data for performing speed-dispersion display in which dispersion information is combined with speed information.

  Further, in the power Doppler method, the image generation unit 14 uses, for example, a luminance value obtained by changing a red hue, brightness, or saturation according to the power value that is the intensity of the Doppler signal. The power image data assigned to the voxel corresponding to the existing position is generated.

  When the color Doppler method is performed by three-dimensional scanning, the image generation unit 14 generates three-dimensional color Doppler image data as three-dimensional Doppler image data from the three-dimensional Doppler data. When performing the power Doppler method by three-dimensional scanning, the image generation unit 14 generates three-dimensional power image data as three-dimensional Doppler image data from the three-dimensional Doppler data. When the three-dimensional scanning is repeatedly performed along the time series, the image generation unit 14 sequentially generates the three-dimensional Doppler image data along the time series.

  Also, the Doppler image data is usually superimposed on the B-mode image data and output to the monitor 2. In the two-dimensional scanning or the three-dimensional scanning, the transmission / reception unit 11 performs B-mode scanning that transmits and receives an ultrasonic beam once with one scanning line, and transmits and receives an ultrasonic beam multiple times with one scanning line. The Doppler mode scan to be performed is performed in parallel. The Doppler processing unit 13 generates Doppler data by performing MTI filter processing, autocorrelation calculation processing, and speed / dispersion / power estimation processing on a plurality of reflected wave data of the same scanning line.

  Alternatively, in order to improve the frame rate and volume rate, there is also a method of performing Doppler mode scanning by performing transmission and reception of an ultrasonic beam once with one scanning line, similarly to scanning for B mode. . In this method, the Doppler processing unit 13 performs MTI filter processing, autocorrelation calculation processing, speed / dispersion in a frame direction or a volume direction with respect to a plurality of reflected wave data at the same position of each frame or each volume. -Doppler data is generated by performing power estimation processing.

  Returning to the description of FIG. 1, the image memory 15 is a memory for storing image data for display generated by the image generation unit 14. The image memory 15 can also store data generated by the B-mode processing unit 12 and the Doppler processing unit 13. The B-mode data and Doppler data stored in the image memory 15 can be called by an operator after diagnosis, for example, and become ultrasonic image data for display via the image generation unit 14. The image generation unit 14 stores the volume data and the time of the ultrasonic scanning performed for generating the volume data in the image memory 15 in association with the electrocardiogram waveform transmitted from the electrocardiograph 4. To do. The control unit 16, which will be described later, can acquire a cardiac time phase at the time of ultrasonic scanning performed for generating volume data by referring to data stored in the image memory 15.

  The internal storage unit 17 stores various data such as a control program for performing ultrasonic transmission / reception, image processing and display processing, diagnostic information (for example, patient ID, doctor's findings, etc.), diagnostic protocol, and various body marks. To do. The internal storage unit 17 is also used for storing image data stored in the image memory 15 as necessary. The data stored in the internal storage unit 17 can be transferred to an external device via an interface (not shown).

  The control unit 16 controls the entire processing of the ultrasonic diagnostic apparatus. Specifically, the control unit 16 is based on various setting requests input from the operator via the input unit 3 and various control programs and various data read from the internal storage unit 17. The processing of the processing unit 12, the Doppler processing unit 13, and the image generation unit 14 is controlled. Further, the control unit 16 controls the display 2 to display the ultrasonic image data for display stored in the image memory 15 and the internal storage unit 17.

  The overall configuration of the ultrasonic diagnostic apparatus according to this embodiment has been described above. With this configuration, the ultrasonic diagnostic apparatus according to the present embodiment generates diagnostic image data and displays it on the monitor 2 for a doctor who diagnoses valvular disease. The heart valve that is a diagnosis target of valvular disease is, for example, a mitral valve or an aortic valve.

  Valvular disease is a disease in which the heart valve does not function, and valvular disease is roughly classified into “reflux type” (stuck disease) and “stenosis type” (stenosis) depending on how the heart valve is damaged. . The causes of valvular disease are congenital (bicuspid valve, congenital heart disease) and acquired (rheumatic fever, arteriosclerosis, myocardial infarction, collagen disease, etc.). In addition, many cases in which the cause of valvular disease cannot be identified have been reported. In today's aging society, the progression of arteriosclerosis causes the aortic valve to become stiff, and the aortic valve does not open quickly. Aortic valve stenosis occurs, and the mitral valve tissue weakens. The number of “insufficient” patients is increasing.

  Surgery is required to repair the damaged heart valve itself. Surgery for valvular disease includes “valvuloplasty” to repair the heart valve or “valve replacement” to completely replace the heart valve with a heart valve of the population. FIG. 2 is a diagram for explaining a surgical operation performed with valvular disease.

  FIG. 2A shows “mitral valve prolapse” in which the mitral valve leaflet and the structure that supports the valvular valve are stretched and the mitral valve falls to the left atrium when closed, resulting in mitral valve insufficiency. It is the figure which illustrated the case where valvuloplasty is performed. As shown in FIG. 2A, the cardiac surgeon excises an extra site that causes the insufficiency and sutures the mitral valve after the excision into the original shape. Then, as shown in FIG. 2A, the cardiac surgeon attaches an artificial annulus around the mitral valve after suture.

  Alternatively, if the heart valve damage cannot be repaired by valvuloplasty, the cardiac surgeon performs a valve replacement to replace the damaged heart valve with a prosthetic valve as shown in FIG.

  Whether a heart valve is repaired by valvuloplasty or valve replacement is determined by a cardiac surgeon by checking which heart valve is damaged and how much it is damaged. Ultimately, the cardiac surgeon makes the decision by looking at the actual heart valve at the time of surgery. In addition, valvuloplasty may be a longer operation than normal valve replacement. This is because there may be a case where the valvuloplasty does not proceed as planned, or when a backflow remains even after the valvuloplasty, switching to the artificial valve replacement.

  For this reason, the cardiac surgeon determines which heart valve is damaged to what extent from an ultrasonic image taken non-invasively before the operation. Conventionally, a color Doppler technique has been used to evaluate the degree of blood regurgitation caused by a broken heart valve.

  Specifically, conventionally, a cardiac surgeon has evaluated the degree of backflow with reference to a two-dimensional color Doppler image. However, even with reference to a two-dimensional color Doppler image, a cardiac surgeon cannot determine in three dimensions which position of the heart valve is damaged and a backflow is occurring.

  Therefore, the ultrasonic image diagnostic apparatus according to the present embodiment performs three-dimensional scanning of a region including a heart valve to be diagnosed, and three-dimensional Doppler image data of a three-dimensional region to be three-dimensionally scanned in time series. To generate. Then, the ultrasonic diagnostic imaging apparatus according to the present embodiment grasps the position where the heart valve is damaged from a plurality of three-dimensional Doppler image data generated along the time series by performing the processing described below. Display image data that can be generated is generated.

  FIG. 3 is a block diagram illustrating a configuration example of the control unit according to the present embodiment. As illustrated in FIG. 3, the control unit 16 according to the present embodiment includes a setting information acquisition unit 16a, an image generation control unit 16b, and a display control unit 16c.

  The setting information acquisition unit 16a acquires setting information received by the input unit 3 from the operator. The image generation control unit 16b causes the image generation unit 14 to generate display image data based on the setting information. Specifically, the image generation control unit 16b performs a setting area specifying process received as setting information. Further, the image generation control unit 16b performs a setting phase specifying process received as setting information.

  First, the setting area and the setting phase included in the setting information acquired by the setting information acquisition unit 16a from the input unit 3 will be described. The input unit 3 receives setting information including a setting region set in a three-dimensional region that is three-dimensionally scanned by ultrasonic waves and a setting phase set as a specific cardiac phase. 4 and 5 are diagrams for explaining the setting area.

  The operator of the ultrasonic diagnostic apparatus contacts the subject P so that the region including the heart valve to be diagnosed is three-dimensionally scanned in order to set the setting region. Then, the operator inputs an instruction for performing three-dimensional scanning for collecting three-dimensional B-mode image data to the input unit 3. Hereinafter, a case where the heart valve to be diagnosed is a mitral valve will be described.

  In response to an operator's instruction, the ultrasonic diagnostic apparatus according to the present embodiment starts three-dimensional scanning and collects three-dimensional B-mode image data. The 3D B-mode image data generated by the image generation unit 14 is displayed on the monitor 2. The monitor 2 displays various data illustrated in FIG.

  For example, the monitor 2 has the MPR image data for the A plane of the 3D B-mode image data (see “A” in FIG. 4) and the MPR image data for the B plane of the 3D B-mode image data (“B” in FIG. 4). ”). The A plane is a cross section formed by the arrangement direction of the transducer groups in the ultrasonic probe 1 and the transmission direction of the ultrasonic beam. The B surface is a cross section orthogonal to the contact surface of the ultrasonic probe 1 and a cross section orthogonal to the A surface. A cross section perpendicular to the A plane and the B plane, that is, a cross section perpendicular to the transmission direction of the ultrasonic beam is referred to as a C plane. In other words, the C surface is a cross section parallel to the contact surface.

  In addition, as exemplified in the lower right of FIG. 4, the monitor 2 is a schematic diagram in which the volume data is looked down on the contact surface of the ultrasonic probe 1, and the position of the A surface (see the solid line in the drawing). , A line segment indicating the position of the B surface (see the dotted line in the figure) is superimposed and displayed.

  The monitor 2 displays the electrocardiographic waveform of the subject P as illustrated in FIG. Further, as illustrated in FIG. 4, the monitor 2 superimposes and displays a solid line indicating the cardiac phase of the image data currently displayed on the electrocardiographic waveform.

  In addition, the monitor 2 displays image data in which the collected three-dimensional B-mode image data can be stereoscopically observed in the “3D” display area shown in FIG. For example, the monitor 2 displays the VR image data of the three-dimensional B-mode image data in which the viewpoint is set on the contact surface of the ultrasonic probe 1 in the “3D” display area illustrated in FIG. 4. The monitor 2 may display MPR image data of the C plane of the 3D B-mode image data.

  The operator adjusts the position of the ultrasonic probe 1 while referring to an image displayed live on the monitor 2. When the operator determines that the mitral valve is three-dimensionally scanned, for example, the operator presses the Freeze button to set the setting area.

  For example, as shown in FIG. 4, the operator sets two parallel straight lines L <b> 1 and L <b> 2 for the A-plane MPR image data. The straight line L1 illustrated in FIG. 4 is positioned on the left atrium side where blood flows from the left ventricle due to insufficiency of the mitral valve, and the straight line L2 illustrated in FIG. 4 is positioned at the boundary between the left atrium and the left ventricle. . Further, for example, in FIG. 4, the operator sets an arrow L3 that is perpendicular to the straight line L1 and the straight line L2, and that starts from the straight line L1 and goes to the straight line L2. As illustrated in FIG. 4, when the arrow L3 is set, the monitor 2 displays an arrow L4 corresponding to the arrow L3 on the MPR image data on the B surface.

  The input unit 3 notifies the setting information acquisition unit 16a of the position information of the straight line L1 and the straight line L2. The setting information acquisition unit 16a includes a three-dimensional area sandwiched between “a cross section including the straight line L1 and orthogonal to the A plane” and “a cross section including the straight line L2 and orthogonal to the A plane”. Get a candidate area. Further, the input unit 3 notifies the setting information acquisition unit 16a of the direction of the arrow L3. The setting information acquisition unit 16a acquires that a display request for image data for observing the candidate area in the direction of the arrow L3 has been received.

  The above information is notified from the setting information acquisition unit 16a to the image generation control unit 16b, and the image generation control unit 16b controls the image generation unit 14 so that, for example, a candidate area in the three-dimensional B-mode image data is indicated by an arrow. MPR image data with thickness projected in the direction of L3 is generated. Then, under the control of the display control unit 16c, the monitor 2 displays the MPR image data with thickness in the “3D” display area shown in FIG.

  For example, the MPR image data with thickness illustrated in FIG. 4 is obtained by assigning a red hue to a voxel close to the cross section determined by the straight line L1, and assigning a blue color to a voxel close to the cross section determined by the straight line L2. This is image data generated by parallelly projecting voxels in a region onto a cross section defined by a straight line L2.

  The operator refers to the MPR image data with thickness and adjusts the positions of the straight line L1 and the straight line L2. And when it is judged that the area | region which can observe a mitral valve preferentially has been set, the operator presses down the decision button which the input part 3 has, for example. For example, the operator determines the straight line L1, the straight line L2, and the arrow L3 illustrated in FIG. 4 as the setting area.

  Thereby, the setting information acquisition unit 16a acquires that the three-dimensional area sandwiched between two cross sections in the three-dimensional B-mode image data is the setting area as shown in FIG.

  In this embodiment, a rectangular parallelepiped setting region is set as illustrated in FIG. 5B by setting two straight lines in each of the A-plane, B-plane, and C-plane MPR image data. It may be a case.

  In the above description, the case where the three-dimensional scanning for the B mode is performed when setting the setting area has been described. However, in the present embodiment, B mode and Doppler mode 3D scanning is performed in parallel, and the setting region is set with reference to the superimposed image data of 3D B mode image data and 3D Doppler image data. It may be the case.

  Further, the operator sets the setting phase. Here, the set phase is specifically a specific cardiac phase in which backflow can be observed. 6 and 7 are diagrams for explaining the set phase.

  As shown in FIG. 6, the phase at which the mitral valve closes is between the R wave and the S wave of the electrocardiogram waveform, and is known to be in the early stage of the isovolumetric contraction period. In addition, as shown in FIG. 6, the phase at which the mitral valve opens is known to be a little later than the T wave of the electrocardiographic waveform and the end of the isovolumetric relaxation period.

  As shown in FIG. 6, the phase at which the aortic valve closes is a little after the T wave of the electrocardiographic waveform, and is known to be in the early period of the isovolumetric relaxation period. Further, it is known that the phase at which the aortic valve opens is a little after the S wave of the electrocardiogram waveform and the end of the isovolumetric systole.

  For example, as shown in FIG. 7, the operator sets a period of several tens of milliseconds such as 15 milliseconds from the R wave as the set phase so as to include the initial period of the isovolumetric contraction period in which the mitral valve is closed. That is, the set phase is a time phase in which blood flow is not detected in the set region if it is a normal heart valve. If there is a valve disease, blood flow is detected in the set region due to blood leakage due to backflow. It is a time phase.

  The input unit 3 notifies the setting information acquisition unit 16a of the setting phase. Thereby, the setting information acquisition unit 16a acquires the information of the setting phase and notifies the image generation control unit 16b.

  After setting the setting area and the setting phase, the operator depresses the Freeze button again to cancel the Freeze state and resume 3D scanning. Note that the position of the ultrasound probe 1 is fixed so that the coordinates of the setting area are not changed during the Freeze state.

  Here, after the release of the Freeze state, the operator inputs an instruction for performing three-dimensional scanning for collecting three-dimensional Doppler image data to the input unit 3. In the present embodiment, after the release of the Freeze state, the operator gives an instruction to the input unit 3 to perform 3D scanning for collecting 3D B-mode image data and 3D Doppler image data in the same 3D region. input. However, when the three-dimensional B-mode image data of the set phase is collected, the three-dimensional scan performed after the release of the Freeze state may be only the Doppler mode scan.

  When the three-dimensional scanning is resumed, the image generation unit 14 generates three-dimensional Doppler image data in time series. In the present embodiment, three-dimensional color Doppler image data from which blood flow direction information is obtained is used as the three-dimensional Doppler image data. However, when using three-dimensional color Doppler image data, it is desirable to perform three-dimensional scanning so that the direction of the backflow caused by the valve disease is not perpendicular to the direction of the ultrasonic beam.

  In the present embodiment, as the three-dimensional Doppler image data, three-dimensional power image data that can detect the position where the blood flow exists without depending on the relative relationship between the direction of the blood flow and the direction of the ultrasonic beam. It may be used. In this embodiment, when the setting area illustrated in FIG. 5B is set, the processing load for generating the three-dimensional Doppler image data is reduced, or the time resolution of the three-dimensional Doppler image data is set. In order to improve the spatial resolution, the restarted three-dimensional scanning area may be narrowed to include the setting area.

  When the three-dimensional scanning is resumed, the control unit 16 performs the following control on the image generation unit 14 using the setting region and the setting phase notified as the setting information. In the following description, it is assumed that one volume data is generated during the set phase.

  The image generation control unit 16b shown in FIG. 3 displays image data for display based on each of a plurality of addition data obtained by sequentially adding the luminance values of the three-dimensional Doppler image data in the setting region of the setting phase for each voxel along the time series. The generation unit 14 generates the data. In the present embodiment, the image generation control unit 16b uses the image data based on the three-dimensional B-mode image data and each of the plurality of addition data in the set phase setting area as display image data. Then, the display control unit 16 c shown in FIG. 3 controls to display the display image data on the monitor 2.

  First, the image generation control unit 16b determines whether or not the three-dimensional Doppler image data sequentially generated by the image generation unit 14 is set phase volume data. When the three-dimensional Doppler image data generated by the image generation unit 14 is volume data of a set phase, the image generation control unit 16b specifies the setting region of the three-dimensional Doppler image data and notifies the image generation unit 14 of it. Specifically, the image generation control unit 16b notifies the image generation unit 14 so that the setting area of the three-dimensional Doppler image data identified as the setting phase is to be rendered. Note that the image generation control unit 16b also notifies the image generation unit 14 of the information on the projection direction (for example, the arrow L3) described above. The image generation control unit 16b repeats the notification process to the image generation unit 14 every time the set phase is specified.

  The image generation unit 14 extracts only the luminance value of the three-dimensional Doppler image data in the set phase setting area based on the information notified from the image generation control unit 16b. Then, for example, the image generation unit 14 generates MPR image data with thickness obtained by projecting voxels having luminance values in the direction of the arrow L3.

  Here, the image generation unit 14 sets the MPR image data with thickness generated from the three-dimensional Doppler image data first generated as the volume data of the set phase after resuming the three-dimensional scan as the first blood flow data. In addition, the image generation unit 14 generates MPR image data with a thickness of the setting region from the three-dimensional B-mode image data generated first as the volume data of the setting phase. The image generation unit 14 converts the MPR image data with thickness of the three-dimensional B-mode image data first generated as the volume data of the set phase under the control of the image generation control unit 16b, into tissue data that is a target for superimposing blood flow data. And 8 and 9 are diagrams for explaining the image generation unit according to the present embodiment.

  As illustrated in FIG. 8, the image generation unit 14 generates data obtained by superimposing the tissue data 100 and the first blood flow data 200 as display image data 300 that is the first frame. That is, the display image data 300 is image data in which the tissue data 100 is superimposed on the addition data of only the blood flow data 200. The display control unit 16 c displays the display image data 300 on the monitor 2.

  Then, as illustrated in FIG. 8, the image generation unit 14 that has received the second notification from the image generation control unit 16 b generates the second blood flow data 201 from the three-dimensional Doppler image data of the second specific phase. Then, the display image data 301 that is the second frame is generated by superimposing the display image data 300 on the display image data 300. That is, the display image data 301 is image data obtained by superimposing the tissue data 100 on the addition data obtained by adding the luminance value for each voxel corresponding to the blood flow data 200 and the blood flow data 201. The display control unit 16 c displays the display image data 301 on the monitor 2.

  Then, as illustrated in FIG. 8, the image generation unit 14 that has received the third notification from the image generation control unit 16 b generates the third blood flow data 202 from the third specific phase three-dimensional Doppler image data. Then, the display image data 302 that is the third frame is generated by superimposing the display image data 301 on the display image data 301. That is, the display image data 302 is image data in which the tissue data 100 is superimposed on the addition data obtained by adding the luminance value for each voxel corresponding to the blood flow data 200, the blood flow data 201, and the blood flow data 202. The display control unit 16 c displays the display image data 302 on the monitor 2.

  FIG. 8 shows that the luminance value at the position where a lot of blood flow is detected is improved every time the frame is updated by sequentially adding the luminance value. In the present embodiment, since three-dimensional color Doppler image data is collected, in the image data shown in FIG. 8, the blood flow is depicted with red brightness.

  By referring to the luminance of the display image data 302 illustrated in FIG. 9, the operator can select the region 400 where the backflow is generated because the heart valve is not completely closed, or a location where the luminance is high on the heart valve. Therefore, it is possible to grasp the region 401 where the heart valve is shown to be broken. In addition, the operator can grasp the degree of insufficiency by observing the size of the region 400, and grasp how the heart valve is broken by observing the shape of the region 402. Can do.

  In the present embodiment, blood flow data (addition data) and tissue data are generated not as thickness-added MPR image data but as thickness-added MIP image data, VR images, or a plurality of MPR image data. good. Further, in the present embodiment, even when the tissue data is generated based on the first three-dimensional B-mode image data, the tissue data is generated based on the latest three-dimensional B-mode image data. good.

  As described above, the control unit 16 performs control processing using the setting region and the setting phase. However, in the present embodiment, the image generation control unit 16b may further perform superimposition adjustment processing using the following two additional information as setting information.

  As the setting information that is the first additional information, the input unit 3 further receives a threshold value. Then, the image generation control unit 16b performs luminance adjustment processing based on the threshold value. Specifically, the image generation control unit 16b controls the image generation unit 14 to use, as the addition data, voxels whose luminance value addition value is equal to or greater than a threshold value. For example, the image generation unit 14 removes voxels whose luminance values are smaller than the threshold value in the addition data obtained by adding the luminance values for the corresponding voxels of the blood flow data 200, the blood flow data 201, and the blood flow data 202.

  For example, in the display image data 302 shown in FIG. 9, the area 402 that is noise is depicted as if it is a reverse flow. In order to observe a broken shape or the like of the heart valve, it is desirable to display only the place where the luminance value is improved by updating the frame. By adding a threshold value serving as a lower limit threshold value as setting information, noise such as the region 402 can be removed. As a result, the broken shape of the heart valve is emphasized or the open shape is emphasized, so that the operator can accurately diagnose the valve disease. Further, by increasing the threshold value, not only noise removal but also, for example, only severely damaged parts on the heart valve can be emphasized. In addition, this embodiment may be a case where an upper limit threshold is set so that luminance is not saturated according to the performance of the monitor 2 as well as the above lower limit threshold.

  As setting information that is second additional information, the input unit 3 further accepts an addition number. Then, the image generation control unit 16b performs luminance adjustment processing based on the addition number. Specifically, the image generation control unit 16b controls the image generation unit 14 so that the plurality of addition data is added data corresponding to the number of additions.

  For example, if there is a serious valve disease and the amount of blood that flows backward is high in one heartbeat, updating the addition data indefinitely makes the high-intensity area wide, so the degree of regurgitation and heart valve damage can be accurately detected. Can not be observed. In such a case, for example, the operator sets the addition number to “3”. When the addition number is set to “3”, the image generation unit 14 generates three frames of display image data using three volumes of three-dimensional Doppler image data.

  Or, for example, if it is a mild valve disease and the amount of blood that flows backward is very small in one heartbeat, if the addition number is small, the high-intensity area becomes narrow, so the degree of regurgitation and heart valve damage are accurate. Can not be observed. In such a case, for example, the operator sets the addition number to “20”. When the addition number is set to 20, the image generation unit 14 generates 20 frames of display image data using 20 volumes of three-dimensional Doppler image data.

  In the present embodiment, the threshold value and the addition number may be set together with the setting area and the setting phase, and an operator who refers to an image displayed with the setting area and the setting phase being set is added. It may be set in Further, the present embodiment is a case where the addition number is set after setting the threshold value, the setting area, and the setting phase, or the threshold value is set after setting the addition number, the setting area, and the setting phase. Also good.

  Further, in the present embodiment, if the volume rate is high and a plurality of volume data can be generated during the set phase, even if a plurality of frames of display image data are generated during the set phase. good. Also. The present embodiment may be a case where only the addition data of blood flow data is used as the display image data, without using the tissue data based on the three-dimensional B-mode image data in the setting region of the setting phase. Moreover, this embodiment can be applied not only to a mitral valve but also to other heart valves such as an aortic valve and a tricuspid valve. Further, the present embodiment may be a case where a PCG (phonocardiogram) waveform is used as information for specifying the cardiac phase.

  Next, processing of the ultrasonic diagnostic apparatus according to the present embodiment will be described with reference to FIGS. 10 and 11. FIG. 10 is a flowchart for explaining an example of the setting information acquisition process of the ultrasonic diagnostic apparatus according to the present embodiment. FIG. 11 is an example of the setting information acquisition process of the ultrasonic diagnostic apparatus according to the present embodiment. It is a flowchart for demonstrating.

  As shown in FIG. 10, the ultrasonic diagnostic apparatus according to the present embodiment determines whether or not a three-dimensional scan start request has been received (step S101). If the three-dimensional scanning start request is not accepted (No at Step S101), the ultrasonic diagnostic apparatus waits until a three-dimensional scanning start request is accepted.

  On the other hand, when a three-dimensional scan start request is received (Yes at Step S101), the control unit 16 starts collecting reflected wave data and generating volume data (Step S102). For example, the volume data is 3D B-mode image data. Then, under the control of the control unit 16, the image generation unit 14 generates image data for region setting, and the monitor 2 displays the image data for region setting (step S103).

  And the control part 16 determines whether the Freeze button was pressed down (step S104). If the Freeze button is not pressed (No at Step S104), the control unit 16 continues the process at Step S103.

  On the other hand, when the Freeze button is pressed (Yes at Step S104), the control unit 16 determines whether or not the input unit 3 has accepted the setting area (Step S105). Here, when the input unit 3 has not received the setting area (No at Step S105), the control unit 16 waits until the setting area is received.

  On the other hand, when the input unit 3 receives the set region (Yes at Step S105), the control unit 16 determines whether or not the input unit 3 has received the set phase (Step S106). Here, when the input unit 3 has not received the set phase (No at Step S106), the control unit 16 waits until the set phase is received.

  On the other hand, when the input unit 3 receives the set phase (Yes at Step S106), the control unit 16 determines whether or not the input unit 3 receives the threshold value and the addition number (Step S107). Here, when the input unit 3 has not received the threshold and the addition number (No at Step S107), the control unit 16 waits until the threshold and the addition number are received.

  On the other hand, when the input unit 3 receives the threshold value and the addition number (Yes at Step S107), the control unit 16 determines that the setting information has been acquired, and ends the process. The order in which the setting information is received is not limited to the order illustrated in FIG. The setting information other than the setting area may be set by the operator before starting the three-dimensional scanning. Further, the threshold value and the addition number may not be set in the flowchart illustrated in FIG.

  Subsequently, as illustrated in FIG. 11, the ultrasonic diagnostic apparatus according to the present embodiment determines whether the setting information is set and the Freeze state is released (Step S <b> 201). Here, when the setting information is set and the Freeze state is not released (No at Step S201), the ultrasonic diagnostic apparatus enters a standby state.

  On the other hand, when the setting information is set and the Freeze state is canceled (Yes in step S201), the control unit 16 collects reflected wave data and generates volume data (3D B-mode image data and 3D Doppler image data). Is resumed (step S202).

  Then, the control unit 16 determines whether or not three-dimensional Doppler image data having a set phase has been generated (step S203). Here, when the three-dimensional Doppler image data of the set phase is not generated (No at Step S203), the control unit 16 waits until the three-dimensional Doppler image data of the set phase is generated.

  On the other hand, when the three-dimensional Doppler image data of the set phase has been generated (Yes at Step S203), the control unit 16 causes the image generation unit 14 to perform addition processing and luminance adjustment using the three-dimensional Doppler image data of the set region. Processing is instructed (step S204). Then, the image generation unit 14 generates display image data, and the monitor 2 displays the display image data (step S205).

  And the control part 16 determines whether the process for the addition number was performed (step S206). If the process for the number of additions has not been performed (No at Step S206), the control unit 16 returns to Step S203 and continues the setting phase specifying process.

  On the other hand, when processing for the number of additions has been performed (Yes at Step S206), the control unit 16 determines whether an image display end request has been received (Step S207). If an end request has not been received (No at Step S207), the control unit 16 determines whether a setting information change request has been received (Step S208).

  If the setting information change request is not accepted (No at Step S208), the control unit 16 determines to continue the process without changing the setting information (Step S209), and returns to Step S203 to specify the setting phase. Continue processing.

  On the other hand, when the setting information change request is received (Yes at Step S208), the control unit 16 determines to continue the processing with the changed setting information (Step S210), and returns to Step S203 to specify the setting phase specifying process. Continue.

  When an end request is received (Yes at Step S207), the control unit 16 stores the display image data for all frames displayed on the monitor 2 in, for example, the internal storage unit 17 (Step S211), and performs processing. finish.

  As described above, in the present embodiment, diagnostic image data is generated using three-dimensional Doppler image data instead of two-dimensional Doppler image data. Specifically, the present embodiment is blood flow information of a set phase including a cardiac phase in which the heart valve is closed, and blood flow in a set region set as a three-dimensional region in the vicinity of the heart valve to be diagnosed Display image data using addition data obtained by sequentially adding information for each set phase is displayed in time series. The operator can grasp the position where the brightness is improved every time the frame is updated as the position where the heart valve is damaged and the backflow is generated.

  Here, the control unit 16 that controls the image generation unit 14 can acquire the correspondence between the position of each voxel of the volume data and the position of each pixel of the display image data. For this reason, when the operator refers to the display image data and designates the position at which the heart valve is damaged using the input unit 3, the control unit 16 designates the designated position as volume data. Can be converted to a position at. Therefore, in this embodiment, the position where the heart valve is damaged can be grasped.

  Moreover, in this embodiment, the display image data according to the diagnostic purpose of the cardiac surgeon who is an operator can be produced | generated by using a threshold value and the addition number as setting information. In the present embodiment, the display image data is generated using the three-dimensional B-mode image data in the set phase setting region, so that the shape of the heart valve can be grasped. As a result, in this embodiment, the position where the heart valve is damaged can be easily grasped.

  Note that the image processing method described in the present embodiment may be performed by an image processing apparatus installed independently of the ultrasonic diagnostic apparatus. Such an image processing apparatus can perform the image processing method described in the present embodiment by acquiring three-dimensional Doppler image data and three-dimensional B-mode image data.

  Further, each component of each illustrated apparatus is functionally conceptual, and does not necessarily need to be physically configured as illustrated. In other words, the specific form of distribution / integration of each device is not limited to the one shown in the figure, and all or a part of the distribution / integration is functionally or physically distributed in arbitrary units according to various loads or usage conditions. Can be integrated and configured. Furthermore, all or a part of each processing function performed in each device can be realized by a CPU and a program that is analyzed and executed by the CPU, or can be realized as hardware by wired logic.

  The image processing method described in the present embodiment can be realized by executing an image processing program prepared in advance on a computer such as a personal computer or a workstation. This image processing program can be distributed via a network such as the Internet. The control program is recorded on a computer-readable non-transitory recording medium such as a flash memory such as a hard disk, a flexible disk (FD), a CD-ROM, an MO, a DVD, a USB memory, and an SD card memory. It can also be executed by being read from a non-transitory recording medium by a computer.

  As described above, according to this embodiment, the position where the heart valve is damaged can be grasped.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1 Ultrasonic probe 2 Monitor 3 Input part 10 Apparatus main body 11 Transmission / reception part 12 B mode process part 13 Doppler process part 14 Image generation part 15 Image memory 16 Control part 16a Setting information acquisition part 16b Image generation control part 16c Display control part 17 Inside Memory

Claims (6)

An input unit that receives setting information including a setting region set in a three-dimensional region that is three-dimensionally scanned by ultrasonic waves, and a setting phase that is set as a specific cardiac phase;
An image generation unit that generates, in time series, three-dimensional Doppler image data in which a luminance value is assigned to a voxel corresponding to a position where the blood flow exists based on blood flow information relating to a blood flow flowing in the three-dimensional region; ,
Control for controlling display image data based on each of a plurality of added data obtained by sequentially adding the luminance values of the three-dimensional Doppler image data in the set region of the set phase for each voxel along a time series. And
An ultrasonic diagnostic apparatus comprising: The input unit further accepts a threshold value as the setting information,
The ultrasonic diagnostic apparatus according to claim 1, wherein the control unit uses, as the addition data, a voxel whose luminance value addition value is equal to or greater than the threshold value. The input unit further accepts an addition number as the setting information,
The ultrasonic diagnostic apparatus according to claim 1, wherein the control unit sets the plurality of addition data as addition data for the addition number.   The control unit is three-dimensional B-mode image data indicating a tissue shape in the three-dimensional region, and is an image based on the three-dimensional B-mode image data in the setting region of the setting phase and each of the plurality of addition data The ultrasonic diagnostic apparatus according to claim 1, wherein data is the display image data. An input unit that receives setting information including a setting region set in a three-dimensional region that is three-dimensionally scanned by ultrasonic waves, and a setting phase that is set as a specific cardiac phase;
A plurality of three-dimensional Doppler image data generated along a time series as an image in which a luminance value is assigned to a voxel corresponding to a position where the blood flow exists based on blood flow information relating to a blood flow flowing in the three-dimensional region. The display image data based on each of a plurality of added data obtained by sequentially adding the luminance values of the three-dimensional Doppler image data in the set region of the set phase in time series to each voxel is displayed on the display unit. A control unit for controlling
An image processing apparatus comprising: An acquisition procedure for acquiring setting information including a setting region set in a three-dimensional region that is three-dimensionally scanned by ultrasonic waves and a setting phase set as a specific cardiac phase, via the input unit;
A plurality of three-dimensional Doppler image data generated along a time series as an image in which a luminance value is assigned to a voxel corresponding to a position where the blood flow exists based on blood flow information relating to a blood flow flowing in the three-dimensional region. The display image data based on each of a plurality of added data obtained by sequentially adding the luminance values of the three-dimensional Doppler image data in the set region of the set phase in time series to each voxel is displayed on the display unit. Control procedure to control,
An image processing program for causing a computer to execute.

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