JP2014161598A - Ultrasonic diagnostic apparatus and control program for the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an ultrasonic diagnostic apparatus for enabling an operator who performs puncture procedure to indicate a desired position in an ultrasonic image without operating an operation unit of the apparatus body.SOLUTION: An ultrasonic diagnostic apparatus comprises: a scanning plane specification unit for specifying, in a coordinate system formed in a three-dimensional space, a position and an orientation of an ultrasonic wave scanning plane S formed by an ultrasonic probe sending and receiving ultrasonic waves to and from a subject in the coordinate system formed in the three-dimensional space; a puncture needle specification unit for specifying a position and an orientation of a puncture needle 12 in the coordinate system formed in the three-dimensional space; an intersection display control unit for displaying, in an ultrasonic image associated with the scanning plane S, the position of an intersection P of an extended line l of the puncture needle 12 with the scanning plane S, on the basis of the position and orientation of the puncture needle 12 and the position and orientation of the scanning plane S; and an input unit for allowing the operator to perform input for determining the position of the intersection P.

Description

  The present invention relates to an ultrasonic diagnostic apparatus and a control program therefor.

  In the ultrasonic diagnostic apparatus, an ultrasonic image of the subject can be displayed in real time. Therefore, when the puncture needle is inserted into the subject, the position of the puncture needle can be confirmed by a real-time ultrasonic image.

  For example, as disclosed in Japanese Patent Application Laid-Open No. H10-228688, an ultrasonic image that displays a real-time ultrasonic image of the same cross section of a subject and a reference medical image such as an X-ray CT (Computed Tomography) image or an MRI (Magnetic Resonance Imaging) image There is a sonograph. In this ultrasonic diagnostic apparatus, based on the position of the ultrasonic probe detected by the position sensor, the cross section corresponding to the cross section of the ultrasonic image is specified in the volume data acquired by the X-ray CT apparatus or the MRI apparatus, The reference medical image is displayed for the corresponding cross section. Therefore, even if the ultrasonic probe is moved, an image having the same cross section as the ultrasonic image is always displayed so that the reference medical image follows the reference medical image. In such an ultrasonic diagnostic apparatus, a puncture technique may be performed while confirming an ultrasonic image and a reference medical image.

International Publication No. WO2004-098414 Pamphlet

  As described above, when a surgeon performing a puncture procedure is performing a puncture procedure while confirming an ultrasound image and a reference medical image, a marker is placed on a puncture target such as a tumor in the image. May be set. Usually, the marker is set using an operation unit provided in the apparatus main body of the ultrasonic diagnostic apparatus. However, in the puncture technique, it is necessary for the operator to maintain a clean state, and thus it is difficult to operate the operation unit. A person other than the operator may set the marker by operating the operation unit, but it may be difficult to set the marker at the position intended by the operator.

  Under such circumstances, there is a demand for an ultrasonic diagnostic apparatus in which an operator who performs a puncture technique can indicate a desired position in an ultrasonic image without operating the operation unit of the apparatus main body.

  One aspect of the invention made to solve the above-described problem is an ultrasonic probe that transmits and receives ultrasonic waves to and from a subject in a coordinate system formed in a three-dimensional space, and the ultrasonic probe. A scanning plane specifying unit for specifying the position and orientation of the ultrasonic scanning plane in the coordinate system formed in the three-dimensional space, and the position and orientation of the puncture needle in the coordinate system formed in the three-dimensional space. Based on the puncture needle identification unit to be identified, the position and orientation of the puncture needle identified by the puncture needle identification unit, and the position and orientation of the scanning plane identified by the scanning plane identification unit An intersection display control unit for displaying the position of the intersection of the extension line of the puncture needle in an ultrasonic image on the scanning plane, and an input unit for performing input by the operator to determine the position of the intersection An ultrasonic diagnostic apparatus characterized by obtaining.

  According to the above aspect of the invention, since the intersection of the ultrasound scanning plane and the extension line of the puncture needle is displayed in the ultrasound image of the scanning plane, the operator who performs the puncture technique can operate the operation unit. Even if it does not use, the desired position can be instruct | indicated in an ultrasonic image by using the said puncture needle. The position of the intersection point designated by the operator can be determined by the input unit.

It is a block diagram which shows an example of schematic structure of the ultrasonic diagnosing device in embodiment of this invention. It is a block diagram which shows the structure of the display control part in the ultrasonic diagnosing device shown by FIG. It is a figure which shows the display part on which the ultrasonic image and reference medical image of the same cross section in a test object were displayed. It is a figure which shows the display part on which the ultrasonic image in which the marker was set was displayed. It is a flowchart which shows the effect | action of the ultrasonic diagnosing device shown in FIG. It is a figure which shows the display part with which the ultrasonic image and the reference medical image were displayed. It is a figure which shows the display part by which the marker was displayed on the ultrasonic image. It is a figure explaining the intersection of the scanning surface of an ultrasonic wave and the extension line of the said puncture needle. It is a figure which shows the display part to which the cursor for measurement was set.

  Hereinafter, embodiments of the present invention will be described. An ultrasonic diagnostic apparatus 1 shown in FIG. 1 includes an ultrasonic probe 2, a transmission / reception beam former 3, an echo data processing unit 4, a display control unit 5, a display unit 6, an operation unit 7, a control unit 8, and a storage unit 9. The transmission / reception beamformer 3, the echo data processing unit 4, the display control unit 5, the display unit 6, the operation unit 7, the control unit 8, and the storage unit 9 are provided in the apparatus main body of the ultrasonic diagnostic apparatus 1. Moreover, this apparatus main body and the said ultrasonic probe 2 are connected via the cable.

  The ultrasonic probe 2 includes a plurality of ultrasonic transducers (not shown) arranged in an array, and transmits ultrasonic waves to the subject through the ultrasonic transducers, and echo signals thereof. Receive.

  The ultrasonic probe 2 is provided with the first magnetic sensor 10 configured by, for example, a Hall element. The first magnetic sensor 10 detects the magnetism generated from the magnet generator 11 constituted by, for example, a magnet generating coil. A coordinate system in a three-dimensional space is formed by the magnetism generated from the magnetism generator 11. This coordinate system is an example of an embodiment of a coordinate system formed in a three-dimensional space in the present invention.

  A detection signal in the first magnetic sensor 10 is input to the display control unit 5. The detection signal in the first magnetic sensor 10 may be input to the display control unit 5 via a cable (not shown), or may be input to the display control unit 5 wirelessly. The magnetism generator 11 and the first magnetic sensor 10 are provided to detect the position and inclination of the ultrasonic probe 2 as will be described later.

  The first magnetic sensor 10 is an example of an embodiment of the first magnetic sensor in the present invention. Moreover, the said magnetic generation part 11 is an example of embodiment of the magnetic generation part in this invention.

  The transmission / reception beam former 3 supplies an electrical signal for transmitting an ultrasonic wave from the ultrasonic probe 2 under a predetermined scanning condition to the ultrasonic probe 2 based on a control signal from the control unit 8. The transmission / reception beamformer 3 performs signal processing such as A / D conversion and phasing addition processing on the echo signal received by the ultrasonic probe 2, and the echo data after the signal processing is sent to the echo data processing unit 4. Output to.

  The echo data processing unit 4 performs processing for creating an ultrasound image on the echo data output from the transmission / reception beamformer 3. For example, the echo data processing unit 4 performs B mode processing such as logarithmic compression processing and envelope detection processing to create B mode data.

  As shown in FIG. 2, the display control unit 5 includes a scanning plane specifying unit 51, a puncture needle specifying unit 52, an ultrasonic image data creating unit 53, a display image control unit 54, and a marker display control unit 55. Based on the magnetic detection signal from the first magnetic sensor 10, the scanning plane specifying unit 51 is information on the position and orientation of the ultrasonic probe 2 in a three-dimensional space coordinate system with the magnetic generation unit 11 as the origin. (Hereinafter referred to as “probe position information”). Furthermore, the scanning plane specifying unit 51 determines the position information (coordinates) of the echo signal in the coordinate system of the three-dimensional space based on the probe position information, that is, the ultrasonic scanning plane formed by the ultrasonic probe 2. The position and orientation in the coordinate system of the three-dimensional space are specified (scanning plane specifying function).

  A coordinate system in a three-dimensional space having the magnetic generation unit 11 as an origin is referred to as an ultrasound image UI coordinate system. The scanning plane specifying unit 51 is an example of an embodiment of the scanning plane specifying unit in the present invention. The scan plane specifying function executes a function of an example of the scan plane specifying function according to the present invention.

  The puncture needle specifying unit 52 specifies the position and orientation (coordinates) of the puncture needle 12 (see FIG. 1) in a coordinate system in a three-dimensional space with the magnetism generation unit 11 as the origin. More specifically, the puncture needle 12 is provided with a second magnetic sensor 13 made of, for example, a Hall element. The second magnetic sensor 13 detects magnetism generated from the magnetism generator 11. A detection signal in the second magnetic sensor 13 is input to the display control unit 5. The puncture needle specifying unit 52 specifies the position and orientation of the puncture needle 12 based on the magnetic detection signal from the second magnetic sensor 13 (puncture needle specifying function). The puncture needle specifying unit 52 is an example of an embodiment of the puncture needle specifying unit in the present invention. Further, the puncture needle specifying function executes a function of an example of the embodiment of the puncture needle specifying function in the present invention.

  The ultrasonic image data creation unit 53 scans the data input from the echo data processing unit 4 using a scan converter and creates ultrasonic image data.

  As shown in FIG. 3, the display image control unit 54 displays an ultrasonic image UI on the display unit 6 and has the same cross section on the ultrasound scanning plane calculated by the position calculation unit 51 and the subject. The reference medical image MI is displayed. Details will be described later.

  The reference medical image MI is a medical image acquired in advance by a medical image apparatus 100 other than the ultrasonic diagnostic apparatus 1, for example. For example, the medical image apparatus 100 is an X-ray CT apparatus, an MRI apparatus, or the like, and the reference medical image is an X-ray CT image, an MRI image, or the like acquired in advance by these X-ray CT apparatus or MRI apparatus.

  The reference medical image MI may be an ultrasound image. In this case, the ultrasonic image may be an image acquired in advance by the ultrasonic diagnostic apparatus 1 or acquired in advance by an ultrasonic diagnostic apparatus (not shown) different from the ultrasonic diagnostic apparatus 1. It may be an image.

  As shown in FIG. 4, the marker display control unit 55 displays a marker MK on the ultrasonic image UI (marker display control function). The marker MK is an indicator that indicates the position of the intersection between the ultrasonic scanning plane and the extension line of the puncture needle 12, and in this example is an “x” mark. The marker MK is an indicator for an operator who performs a puncture procedure to indicate a desired position of the ultrasonic image UI.

  Specific functions of the marker display control unit 55 will be described later. The marker display control unit 55 is an example of an embodiment of an intersection display control unit in the present invention. The marker display control function is an example of an embodiment of the intersection display control function in the present invention.

  The display unit 6 is an LCD (Liquid Crystal Display), a CRT (Cathode Ray Tube), or the like.

  Although not particularly illustrated, the operation unit 7 includes a keyboard for inputting instructions and information by an operator, a pointing device such as a trackball, and the like. The operation unit 7 is an example of an embodiment of an input unit in the present invention.

  The control unit 8 includes a CPU (Central Processing Unit) (not shown). The control unit 8 reads out a control program stored in the storage unit 9 and functions in each unit of the ultrasonic diagnostic apparatus 1 including the scanning plane specifying function, the puncture needle specifying function, and the marker display control function. Is executed.

  The storage unit 9 is an HDD (Hard Disk Drive), a semiconductor memory such as a RAM (Random Access Memory) and a ROM (Read Only Memory). In addition to the control program, the storage unit 9 stores data of the reference medical image MI acquired in advance for the same subject as the ultrasound transmission / reception target. The data of the reference medical image MI is volume data for a three-dimensional region in the subject. The data of the reference medical image MI is stored in the storage unit 9 together with position information in the coordinate system of the reference medical image MI.

  Further, when the position of the marker MK is fixed, the position is stored in the storage unit 9 as will be described later. The position of the marker MK stored in the storage unit 9 is a position in the coordinate system of the ultrasonic image UI. The storage unit 9 is an example of an embodiment of a storage unit in the present invention.

  Now, the operation of the ultrasonic diagnostic apparatus 1 of this example will be described based on the flowchart of FIG. First, in step S1, the ultrasonic probe 2 is brought into contact with the body surface of the subject and transmission / reception of ultrasonic waves is started. Then, the display image control unit 54 causes the display unit 6 to display an ultrasonic image UI created based on the echo signal. The ultrasonic image UI is, for example, a B mode image. Further, the display image control unit 54 displays the reference medical image MI based on the volume data stored in the storage unit 9. The reference medical image MI is, for example, a CT image or an MRI image. As shown in FIG. 6, the display image control unit 54 displays the ultrasonic image UI and the reference medical image MI side by side on the display unit 6. However, the ultrasound image UI and the reference medical image MI displayed here are not images of the same cross section of the subject.

  Next, in step S2, alignment processing between the coordinate system of the ultrasonic image UI and the coordinate system of the reference medical image MI is performed. Specifically, the operator moves the cross-section of one or both images while comparing the ultrasonic image UI displayed on the display unit 6 with the reference medical image MI, and ultrasonic waves having the same cross-section. The image UI and the reference medical image MI are displayed. The cross section of the ultrasonic image UI is moved by changing the position of the ultrasonic probe 2. The cross section of the reference medical image MI is moved by operating the operation unit 7 and inputting an instruction to change the cross section.

  Whether the cross sections are the same or not is determined, for example, by referring to a characteristic part by the operator. When the ultrasonic image UI and the reference medical image MI for the same cross section are displayed, the operator designates an arbitrary point of the ultrasonic image UI using the trackball of the operation unit 7 or the like. The operator also designates a point in the reference medical image MI that seems to be at the same position as the point designated in the ultrasound image UI. The operator designates such points for a plurality of points.

  Here, the data of the reference medical image MI has position information. Therefore, as described above, when a point that is considered to be the same position in the ultrasound image UI and the reference medical image MI is designated, the corresponding position between the coordinate system of the ultrasound image UI and the coordinate system of the reference medical image MI is determined. Identified. Then, by specifying a plurality of corresponding points between the coordinate system of the ultrasonic image UI and the coordinate system of the reference medical image MI, the coordinate system of the ultrasonic image UI and the coordinate system of the reference medical image MI are determined. Coordinate conversion is possible. This completes the alignment process.

  When the alignment processing in step S2 is completed, in step S3, the display image control unit 54 performs a real-time ultrasonic image UI and a cross section corresponding to the position of the echo signal specified by the scanning plane specifying unit 51. The reference medical image MI is displayed. Thereby, as shown in FIG. 3, the ultrasonic image UI and the reference medical image MI of the same cross section in the subject are displayed.

  Specifically, the display image control unit 54 performs coordinate conversion of the position and orientation information of the scanning plane specified by the scanning plane specifying unit 51 into the coordinate system of the reference medical image MI, and the reference medical use An area corresponding to the position of the scanning plane is specified in the volume data of the image MI. Next, the display image control unit 54 displays the reference medical image MI based on the cross-sectional data including the corresponding region together with the real-time ultrasonic image UI as shown in FIG. In FIG. 3, a region surrounded by the contour line Ol displayed on the reference medical image MI is a region corresponding to the ultrasound image UI in the reference medical image MI. The image within the contour line Ol and the ultrasonic image UI in the reference medical image MI are images of the same region in the subject.

  Next, in step S4, a marker MK is set in the ultrasonic image UI. Specifically, for example, a person other than an operator who performs a puncture technique first performs an input to display the marker MK in the operation unit 7. When this input is made, the marker display control unit 55 displays the marker MK on the ultrasonic image UI as shown in FIG.

  As shown in FIG. 8, the marker MK is displayed at the position of an intersection P between the ultrasonic scanning plane S and the extension line 1 of the puncture needle 12. More specifically, the marker display control unit 55 first determines the puncture needle 12 in the coordinate system of the ultrasonic image UI based on the position and orientation of the puncture needle 12 specified by the puncture needle specifying unit 52. Specify the position and orientation of the extension line. Next, the marker display control unit 55 specifies the intersection point P between the scanning plane S whose position and orientation are specified by the scanning plane specifying unit 51 and the extension line l of the puncture needle 12, and the ultrasonic wave The marker MK is displayed on the image UI.

  When the marker MK is displayed on the ultrasonic image UI, the operator who has the puncture needle 12 can move the marker MK by changing the direction and position of the puncture needle 12. The surgeon adjusts the direction and position of the puncture needle 12 and places the marker MK at a desired position in the ultrasonic image UI. For example, the operator places the marker MK at the position of the puncture target such as a tumor.

  When the operator places the marker MK at a desired position, the surgeon instructs surrounding persons to perform an input for determining the position of the marker MK. The person who receives the instruction operates the operation unit 7 to perform an input for determining the position of the marker MK. When this input is made, the marker display control unit 55 determines the position of the marker MK and does not change the position of the marker MK even if the position and orientation of the puncture needle 12 changes. Thus, the setting of the marker MK to the ultrasonic image UI is completed.

  When there is an input for determining the position of the marker MK, the control unit 8 stores the position of the marker MK (the position of the intersection point P) in the coordinate system of the ultrasonic image UI in the storage unit 9.

  When the setting of the marker MK is completed in step S4, the operator inserts the puncture needle 12 into the subject in step S5. The surgeon performs the puncture procedure while viewing the real-time ultrasonic image UI and the reference medical image MI in the same cross section.

  According to the ultrasonic diagnostic apparatus 1 of this example described above, the operator himself / herself can move the marker MK in the ultrasonic image UI by using the puncture needle 12. Therefore, the marker MK can be easily set at a position intended by the operator.

  As mentioned above, although this invention was demonstrated by the said embodiment, of course, this invention can be variously implemented in the range which does not change the main point. For example, the indicator that the operator who performs the puncture technique indicates the desired position is not limited to the marker MK, and the present invention can be applied to cases other than the case where the marker MK is set to the puncture target. . For example, using the puncture needle 12, as shown in FIG. 9, measurement cursors CU1 and CU2 may be set as the indicators. Also in this case, the operator adjusts the position and orientation of the puncture needle 12 and places the cursors CU1 and CU2 at desired positions in the ultrasonic image UI. An input for determining the positions of the cursors CU1 and CU2 is performed by the person other than the operator at the operation unit 7 in response to an instruction from the operator. When the cursors CU1 and CU2 are determined, the distance between the cursors CU1 and CU2 is measured. In addition, the present invention can be applied when an operator sets an indicator that indicates a desired position of an ultrasonic image.

  The puncture needle 12 may be provided with a button as an input unit through which an operator can perform an operation input. In this case, when the operator presses the button, an input for confirming the positions of the indicators such as the marker MK and the cursors CU1 and CU2 can be performed. A signal indicating that the button has been pressed is input to the apparatus main body of the ultrasonic diagnostic apparatus 1 and predetermined processing is performed in the apparatus main body. The button is an example of an embodiment of an input unit provided on the puncture needle in the present invention.

DESCRIPTION OF SYMBOLS 1 Ultrasonic diagnostic apparatus 2 Ultrasonic probe 7 Operation part (input part)
9 Memory part
DESCRIPTION OF SYMBOLS 10 1st magnetic sensor 11 Magnetic generation part 12 Puncture needle 13 2nd magnetic sensor 51 Scanning surface specific part 52 Puncture needle specific part 55 Marker display control part (intersection display control part)

Claims (8)

An ultrasonic probe that transmits and receives ultrasonic waves to a subject in a coordinate system formed in a three-dimensional space; and
A scanning plane specifying unit that specifies the position and orientation of the ultrasonic scanning plane formed by the ultrasonic probe in the coordinate system formed in the three-dimensional space;
A puncture needle specifying unit for specifying the position and orientation of the puncture needle in the coordinate system formed in the three-dimensional space;
Based on the position and orientation of the puncture needle identified by the puncture needle identification unit and the position and orientation of the scanning plane identified by the scanning plane identification unit, the extension line of the puncture needle on the scanning plane An intersection display control unit for displaying the position of the intersection on the ultrasonic image of the scanning plane;
An input unit for performing an input by an operator to determine the position of the intersection;
An ultrasonic diagnostic apparatus comprising:   The ultrasonic diagnostic apparatus according to claim 1, further comprising a storage unit that stores a position of the intersection in the three-dimensional space by the confirmation input in the input unit.   The ultrasonic diagnostic apparatus according to claim 1, wherein the coordinate system is formed by a magnetic generation unit installed in the three-dimensional space. The ultrasonic probe is provided with a first magnetic sensor for detecting the magnetism of the magnetism generation unit,
The ultrasonic diagnostic apparatus according to claim 3, wherein the scanning plane specifying unit specifies the position and orientation of the scanning plane based on a detection signal of the first magnetic sensor. The puncture needle is provided with a second magnetic sensor for detecting magnetism of the magnetic detection unit,
The ultrasonic diagnostic apparatus according to claim 3 or 4, wherein the puncture needle specifying unit specifies the position and orientation of the puncture needle based on a detection signal of the second magnetic sensor.   The ultrasonic diagnostic apparatus according to claim 1, wherein the input unit is an operation unit provided in an apparatus main body of the ultrasonic diagnostic apparatus.   The ultrasonic diagnostic apparatus according to claim 1, wherein the input unit is provided on the puncture needle. On the computer,
The coordinate system formed in the three-dimensional space indicates the position and orientation of the ultrasonic scanning surface formed by the ultrasonic probe that transmits and receives ultrasonic waves to the subject in the coordinate system formed in the three-dimensional space. A scanning plane specifying function specified in
A puncture needle specifying function for specifying the position and orientation of the puncture needle in the coordinate system formed in the three-dimensional space;
Based on the position and orientation of the puncture needle identified by the puncture needle identification function and the position and orientation of the scanning plane identified by the scanning plane identification function, the extension line of the puncture needle on the scanning plane An intersection display control function for displaying the position of the intersection on an ultrasonic image of the scanning plane, and an intersection display control function for determining the position of the intersection by an input for determining the position of the intersection by an operator;
A control program for an ultrasonic diagnostic apparatus, characterized in that

Images