JP2015093140A - Ultrasonic measurement device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To consecutively perform ultrasonic measurement while moving a measurement object part.SOLUTION: A supporter type ultrasonic probe 30 includes an elastic supporter part 31 which is mounted to a joint part and freely-detachable small ultrasonic sensor units 40a, 40b, 40c dispersedly attached to the inner surface thereof so as to surround a measurement object portion. A processing device 20 calculates relative positions and relative postures of the ultrasonic sensor units 40a-40c, generates volume data of the measurement portion by composing a three-dimensional ultrasonic image obtained from the result of measurement with each sensor unit so that the calculated relative positions and relative postures match, generates and displays a three-dimensional image related to the entire measurement portion by performing volume rendering.

Description

  The present invention relates to an ultrasonic measurement apparatus.

A technique for non-invasively measuring biological information in a living body using an ultrasonic measuring device is well known.
For example, in Patent Document 1, an ultrasonic probe is supported so as to be swingable by a rotation axis set near the knee joint, and a mechanical ultrasonic probe capable of performing ultrasonic measurement while moving along the upper surface of a bent knee, and measurement An ultrasonic diagnostic apparatus capable of obtaining volume data inside a knee joint based on a result is disclosed.

JP 2010-125 A

  Conventionally, measurement of the joint portion by ultrasonic waves has been performed mainly for diagnosis of a disorder due to low back pain or aging. However, in recent years, it has also been used for a joint disorder due to sports. For example, severe osteochondritis called baseball elbow, ulnar collateral ligament failure, fatigue fracture, rotator cuff disorder called badminton shoulder, patella tendonitis called jumper knee, intestinal shin ligament syndrome called runner knee Ultrasonic measurement has come to be used for inspection. This is because ultrasonic measurement is superior to X-ray and MRI (Magnetic Resonance Imaging) for observing soft tissues such as cartilage, muscles, tendons, and ligaments in joints.

However, in the conventional ultrasonic measurement apparatus, more specifically, the ultrasonic measurement using the conventional ultrasonic probe, some problems remain in the measurement around the joint.
For example, in order to determine the manner of occurrence of a failure and the degree of load on the failure site, it is desirable to continuously observe the joint while moving the joint to various angles. However, for that purpose, it is necessary to sequentially change the position and posture to which the ultrasonic probe is applied in accordance with the movement of the joint, and it is extremely difficult to perform good continuous observation.

  In addition, in an ultrasonic measurement apparatus using a conventional ultrasonic probe, an operator must perform an operation of placing the ultrasonic probe on a measurement target portion with one hand and operate the ultrasonic measurement apparatus with the other hand. . Both hands are blocked. This is inconvenient because it is impossible to search for a damaged part while moving the joint by hand, or to perform injection treatment while confirming the damaged part.

  In the ultrasonic diagnostic apparatus disclosed in Patent Document 1, a part of the above problem can be solved in that both hands of the operator are free. However, it is difficult to solve other problems because of the configuration that performs ultrasonic measurement from one direction along a mechanically predetermined path.

  For example, FIG. 12 is a simplified perspective view around the knee joint showing an example of a runner knee. In an example of a joint disorder called a runner knee, continuous observation is performed in a range where the iliac ligament 90 and the lateral side of the lateral epicondyle of the femur 92 are rubbed by bending the knee (the hatched area in the figure). desired. However, the apparatus disclosed in Patent Document 1 must be measured with the knee bent, and is limited to ultrasonic measurement from the upper surface and the front side of the knee joint. It is unsuitable for observing the entire range where the intestinal shin ligament 90 and the femur 92 rub over the entire range of motion of the joint. It is also unsuitable for continuous observation while the knee is bent and stretched.

  The present invention has been devised in view of such technical background and problems related to ultrasonic measurement of joints, and enables measurement of a measurement target part in a hands-free manner. The purpose is to enable continuous ultrasonic measurement while moving the.

  1st invention for solving the above subject is discretely arranged so that the measurement object part of a subject may be surrounded, and may be based on a plurality of ultrasonic sensors which transmit and receive ultrasonic waves, and information on the transmission and reception of the above-mentioned ultrasonic waves. A relative information calculation unit that calculates relative information of the plurality of ultrasonic sensors, a measurement result of the plurality of ultrasonic sensors, and the relative information are used to generate a three-dimensional ultrasonic measurement image of the measurement target region. An ultrasonic measurement apparatus including a three-dimensional ultrasonic measurement image generation unit.

According to 1st invention, the whole measurement object site | part can be settled in a measurement range by arrange | positioning multiple ultrasonic sensors so that a measurement object site | part may be surrounded. For example, the ultrasonic sensor can be individually attached to the skin surface by sticking or sticking. Therefore, it is possible to perform ultrasonic measurement of the damaged part of the joint part in a hands-free manner.
Then, using the distributed arrangement of the ultrasonic sensors, the relative positions and the relative postures of the ultrasonic sensors are further obtained, and the entire image (three-dimensional ultrasonic waves) relating to the measurement target part is obtained from the result of measurement by each ultrasonic sensor. Measurement image) can also be generated.

  2nd invention is the ultrasonic measurement of 1st invention further provided with the control part which performs the calculation of the said relative information by the said relative information calculation part, and the image generation by the said three-dimensional ultrasonic measurement image generation part Device.

  According to the second invention, the calculation of the relative information of each ultrasonic sensor and the generation of a three-dimensional ultrasonic measurement image related to the measurement target part from the result measured by each ultrasonic sensor can be continuously repeated. It becomes possible. Therefore, it becomes possible to observe the obstacle site continuously and three-dimensionally while moving the joint.

  According to a third aspect of the invention, the three-dimensional ultrasonic measurement image generation unit generates the three-dimensional ultrasonic measurement image by combining the measurement results of the plurality of ultrasonic sensors. It is a sound wave measuring device.

  According to the third invention, it is possible to generate a three-dimensional ultrasonic measurement image from an arbitrary viewpoint or cross section by synthesizing the measurement results of each ultrasonic sensor (for example, volume data of the measurement target part). .

  According to a fourth aspect of the present invention, the plurality of ultrasonic sensors are arranged on a stretchable attachment attached to the measurement target site in a posture in which the ultrasonic transmission surface faces the subject. It is an ultrasonic measuring device of 1 invention.

  According to the fourth invention, the ultrasonic sensors can be collectively arranged at the measurement target site. Moreover, since the wearing tool is stretchable, even if the measurement target part is moved, the ultrasonic sensor is stably adhered to the skin surface, which is effective for continuous observation while moving the measurement part.

  A fifth invention is the ultrasonic measurement apparatus according to the fourth invention, wherein the wearing tool has a cylindrical shape, and the plurality of ultrasonic sensors are arranged in a circumferential direction of the wearing tool. .

  According to the fifth aspect, it is possible to measure the measurement target region in the circumferential direction.

  According to a sixth aspect of the invention, the wearing instrument is a textile product, and the plurality of ultrasonic sensors includes an engaging portion that is detachably engaged with the wearing tool. It is.

  According to the sixth aspect of the invention, it is possible to adjust the attachment position of the ultrasonic sensor and to exchange the ultrasonic sensor individually.

  A seventh invention is the ultrasonic measurement device according to any one of the first to third inventions, wherein the plurality of ultrasonic sensors are arranged on an adhesive member capable of adhering to the subject.

  According to the seventh aspect, the dispersion position of the ultrasonic sensor can be freely changed. It is also possible to optimize the position of the ultrasonic sensor according to the body shape of the subject.

The figure which shows the system structural example of an ultrasonic measuring device. The figure which shows the example of mounting | wearing of the supporter type | mold ultrasonic probe assumed measurement of the joint disorder | damage | failure called a runner knee, and the positional relationship of each ultrasonic sensor unit. Same as FIG. The figure for demonstrating the principle which calculates the relative information of each ultrasonic sensor unit required in order to produce | generate volume data. The conceptual diagram for demonstrating the production | generation of the volume data using an ultrasonic measurement result. The block diagram which shows the function structural example of an ultrasonic measuring device. The figure which shows the example of the program and data which are memorize | stored in the memory | storage part. The figure which shows the data structural example of the basic data for relative information calculation. The flowchart for demonstrating the flow of the process which concerns on measurement control of an ultrasonic measuring device. The figure which shows the modification of a supporter type | mold ultrasonic probe. The figure which shows the modification of the system configuration | structure of an ultrasonic measuring device. The simplified perspective view around the knee joint showing an example of a runner knee.

[First Embodiment]
FIG. 1 is a diagram illustrating a system configuration example of an ultrasonic measurement apparatus 10 according to the present embodiment. The ultrasonic measurement device 10 includes a supporter-type ultrasonic probe 30 to be mounted on a joint, a processing device 20 that is connected to the ultrasonic probe and is connected to the ultrasonic probe to perform calculation processing on the measurement results and continuously generate images of measurement target parts. Is provided.

  The processing device 20 is a device that executes various arithmetic processes related to ultrasonic measurement. For example, it can be realized by a computer including an image display device such as a touch panel 21 and a keyboard 22, an operation input device, a CPU (Central Processing Unit) 23 that performs arithmetic processing, an IC memory 24, a communication control IC 25, and the like. . It may be realized by causing a general-purpose computer such as a personal computer or a tablet computer to execute a predetermined program, or a part or all of the control board 26 may be realized as a dedicated computer realized by hardware such as a dedicated LSI. May be.

  The supporter type ultrasonic probe 30 includes a supporter part 31 having elasticity that covers a joint part to be measured and is in close contact with the skin, and a plurality of ultrasonic sensors that can be attached to and detached from the inner surface of the supporter part 31 in a variable mounting position. The unit 40 (40a, 40b, 40c) and the communication control unit 50 which implement | achieves communication between the processing apparatuses 20 are provided.

  The supporter unit 31 is a mounting tool having elasticity that is mounted on a measurement target part. For example, it can be realized by a stretchable fiber product. The example of FIG. 1 is designed on the assumption that it is attached to the knee joint, but is not limited thereto. The size and shape of the supporter unit 31 are appropriately set according to the type of joint part to be measured, the physique of the measurement target person having the joint part, and the like. Further, in the example of FIG. 1, a perforated cylindrical integrated type is used, but a separated type constituted by a plurality of parts may be used. Moreover, the material and roughness of the surface can be set as appropriate. Not only cloth shape but mesh shape may be sufficient.

  The ultrasonic sensor unit 40 includes a small two-dimensional ultrasonic transducer array 41, a control IC 42 thereof, and an engaging portion 43 that detachably engages the unit with the inner surface of the supporter portion 31.

The two-dimensional ultrasonic transducer array 41 preferably has an ultrasonic transmission surface area of about 1 cm ² or less.

  The control IC 42 can be realized by a known control circuit for a two-dimensional ultrasonic transducer array. In the present embodiment, the ultrasonic sensor unit 40 can transmit and receive ultrasonic waves by the sector method. More specifically, control is performed to converge and radiate an ultrasonic beam in a specified direction defined by an X-axis coordinate value and a Y-axis coordinate value as orthogonal three-dimensional coordinates with the normal direction of the ultrasonic transmission surface as the Z axis. In other words, so-called transmission forming control is possible. In addition, reception forming control for intensively receiving ultrasonic echoes from a designated direction defined by the X-axis coordinate value and the Y-axis coordinate value is possible.

  The engaging portion 43 can be realized by, for example, a hook-and-loop fastener, but may be a hook or a sheet-like magnet. If the pocket-like thing which can insert the ultrasonic sensor unit 40 in the inner surface of the supporter part 31 can be provided, the engaging part 43 can be omitted. In the example of FIG. 1, the two-dimensional ultrasonic transducer array 41 and the control IC 42 are integrally configured, but a separate configuration is also possible. In that case, the engaging part 43 shall be provided in each.

  The ultrasonic sensor unit 40 and the communication control unit 50 are communicatively connected so that signals can be transmitted and received. In the present embodiment, it is assumed that the control IC 42 and the communication control unit 50 are connected by a known elastic wire 46. Of course, a separate short-range wireless unit is provided in the ultrasonic sensor unit 40 (or the control IC 42 has the function of a short-range wireless device), and the communication control unit 50 is also equipped with a short-range wireless function so that both can be wirelessly connected. Communication connection may be used.

The communication control unit 50 includes a communication control IC 51 and an IC memory 52.
Communication between the communication control unit 50 and the processing device 20 can be realized by a known data communication technique. The connection between the two may be either wired or wireless.

  FIG. 2 and FIG. 3 show an example of a joint disorder called a runner knee, and supporter type ultrasound in the present embodiment assuming measurement of a portion where the iliac ligament and the lateral side of the outer epicondyle of the femur rub due to bending of the knee. FIG. 4 is a diagram illustrating an example of mounting of a probe 30 and an example of a positional relationship between each ultrasonic sensor unit 40.

  Before the support type ultrasonic probe 30 is mounted, an acoustic impedance matching medium (so-called “ultrasonic examination gel”) is appropriately applied to the ultrasonic transmission surface of the ultrasonic sensor unit 40 or the knee joint of the subject 4. Appropriately apply a so-called “ultrasound diagnostic cream” or “echo gel”.

  The supporter type ultrasonic probe 30 of the present embodiment is mounted around the knee of the subject 4. The supporter 31 is provided with a hole 32 for inserting the kneecap to reduce the relative displacement caused by the positioning of the knee relative to the knee and the bending and stretching of the knee. Further, since the supporter portion 31 has elasticity, even if the knee is bent and stretched, the inner surface thereof is in close contact with the skin surface of the knee joint, and the ultrasonic transmission surface of the two-dimensional ultrasonic transducer array 41 of the ultrasonic sensor unit 40. Can adhere to the skin.

The supporter-type ultrasonic probe 30 includes a plurality of ultrasonic sensor units 40, but in the following, for the sake of simplicity of description, the supporter-type ultrasonic probe 30 includes three ultrasonic sensor units 40 and is positioned at an appropriate position for measurement of the right knee joint. It will be described as being attached.
Specifically, when the supporter-type ultrasonic probe 30 is attached to the right knee joint, the first ultrasonic sensor unit 40 (40a) is disposed diagonally to the right of the knee joint, and the ultrasonic wave transmission surface is examined. The posture is toward the skin side of the person. In addition, the second ultrasonic sensor unit 40 (40b) and the third ultrasonic sensor unit 40 (40c) are arranged substantially vertically in the diagonally right after the knee joint, and similarly, the ultrasonic wave transmitting surface The posture is directed toward the skin side of the subject.

  That is, the three ultrasonic sensor units 40 are discretely arranged around the measurement target part so as to surround the measurement target part (the part where the intestinal shin ligament and the side surface of the outer epicondyle of the femur rub) in this example. It will be. The ultrasonic measurement ranges (broken line sectors in FIG. 3) of each ultrasonic sensor unit 40 overlap each other even if the knees are bent and stretched, and the measurement site is within the ultrasonic measurement range. It is set to enter.

  Then, the ultrasonic measurement apparatus 10 of the present embodiment performs three-dimensional ultrasonic measurement with the three ultrasonic sensor units 40 arranged so as to sandwich the measurement target part, and determines the measurement target part from the result of the ultrasonic measurement. Such an overall three-dimensional ultrasonic measurement image (overall image) can be generated.

FIG. 4 is a diagram for explaining the principle of calculating the relative information of each ultrasonic sensor unit 40 necessary for generating the entire image.
The relative information of the ultrasonic sensor unit 40 means that any one of the ultrasonic sensor units 40 is a “reference sensor”, and the coordinate system of the reference sensor (the orthogonal triaxial coordinate with the normal vector of the ultrasonic transmission surface as the Z axis). The relative position coordinates of the other sensor unit in the system) and the normal vector of the ultrasonic transmission surface of the other sensor unit, that is, the relative normal vector. The ultrasonic sensor unit 40 used as a reference sensor is designated in advance. In the present embodiment, the first ultrasonic sensor unit 40 (40a) is used.

  First, with the reference sensor as a “transmission sensor”, transmission control of an ultrasonic beam is performed so as to sequentially scan the entire ultrasonic measurement range for relative position calculation. Specifically, the ultrasonic beam is transmitted in a specific direction within the ultrasonic measurement range at every transmission timing (t1, t2,..., Tn,...). The specific direction referred to here is called a “transmission vector”.

  On the other hand, the ultrasonic sensor unit 40 (in this embodiment, the second and third ultrasonic sensor units 40 (40b, 40c)) other than the transmission sensor is a “reception sensor”. Each reception sensor measures the reception intensity over the entire measurement range every time the transmission sensor transmits an ultrasonic beam, that is, at each transmission timing (t1, t2,..., Tn,...), And obtains a distribution of reception echoes. .

  In the example of FIG. 4, the second ultrasonic sensor unit 40 (40b) measures the received intensity distribution for a predetermined range of the XbYb coordinate system in which the normal vector of its own ultrasonic transmission surface is orthogonal to the Zb axis. Although not shown, the received intensity distribution of the third ultrasonic sensor unit 40 (40c) is similarly measured for a predetermined range of the XcYc coordinate system.

  If the ultrasonic beam from the transmission sensor has arrived, a peak exceeding a predetermined reference value Rt is obtained in some source direction vector Vs in the distribution of received echoes at any transmission timing. Become.

  When the timing at which the peak of the received intensity value exceeding the reference value Rt is obtained, more specifically, the timing at which the maximum value of the peak is obtained is the maximum reception timing tm, the distance L from the transmission sensor to the reception sensor is the reference It can be obtained from the product of the transmission / reception time difference at the timing when the peak of the received intensity value exceeding the value Rt is given and the ultrasonic wave propagation velocity Cs.

  Further, since the direction from the transmission sensor to the reception sensor is the transmission vector (maximum reception transmission vector Vt) at the transmission timing tn that gives the maximum peak of the reception intensity value exceeding the reference value Rt, the transmission sensor of the reception sensor The relative position coordinate with reference to is the position of the distance L in the direction of the maximum reception transmission vector Vt. The relative direction of the ultrasonic transmission surface of the reception sensor with respect to the transmission sensor, that is, the relative normal vector, the maximum reception transmission vector Vt and the transmission source direction vector Vs have a reverse relationship. Can be obtained by converting the coordinates.

  However, depending on the arrangement conditions of the ultrasonic sensor unit 40, relative information of all the ultrasonic sensor units 40 may not be obtained only by irradiation of an ultrasonic beam using the reference sensor as a transmission sensor. For example, in the example of FIG. 4, when it is assumed that the ultrasonic sensor unit 40 d is located at the left adjacent position of the first ultrasonic sensor unit 40 (40 a), the first ultrasonic wave that is a reference sensor is connected to the sensor unit. The ultrasonic beam from the sensor unit 40 (40a) does not reach. Therefore, when there is a sensor unit in which the relative information cannot be obtained even after the ultrasonic beam is irradiated using the reference sensor as a transmission sensor, the reception sensor (for example, FIG. In the example of 4, the transmission sensor is changed to the second ultrasonic sensor unit 40 (40b), and transmission control of the ultrasonic beam is performed so as to scan the entire ultrasonic measurement range for relative position calculation. The relative position information obtained in this way is converted into a coordinate system with the reference sensor as a reference and corresponds.

  Before performing ultrasonic measurement, relative information is calculated for all ultrasonic sensor units 40 in this way. Then, if the relative positions and relative postures of all the ultrasonic sensor units 40 are clarified, for example, as shown in FIG. 5, the results of the respective ultrasonic measurements performed at the same timing (first ultrasonic sensor unit The three-dimensional images 70a, 70b, 70c based on the measurement results of the respective ultrasonic sensor units 40a to 40c (one fan-shaped range represents a two-dimensional image, and a set of the three-dimensional images constitutes a three-dimensional image. In the XaYaZa coordinate system of the reference sensor, the three-dimensional images 70a, 70b, and 70c can be synthesized so as to match each relative information.

  The ultrasonic measurement apparatus 10 of the present embodiment generates volume data 72 of the entire measurement region from the three-dimensional images 70a, 70b, and 70c obtained by performing the three-dimensional ultrasonic measurement with each ultrasonic sensor unit 40. be able to. Note that individual volume data (small areas) may be generated from each of the three-dimensional images 70a, 70b, and 70c, and the volume data 72 of the entire measurement region may be generated from the intermediately generated volume data. In the present embodiment, the former method without intermediate generation will be described below.

  Then, the ultrasonic measurement apparatus 10 performs an overall image of the measurement site (for example, an external appearance image formed on the surface of each tissue constituting the measurement target site, or a fluoroscopy through the internal structure based on the generated volume data 72. Image and an internal cross-sectional image) are generated by volume rendering and displayed on the touch panel 21 of the processing device 20, for example. In addition, the ultrasonic measurement apparatus 10 calculates the relative value information, performs the three-dimensional ultrasonic measurement, generates the volume data, and performs the overall three-dimensional operation related to the measurement target part while bending and stretching the knee of the subject 4. By repeatedly executing volume rendering for rendering an ultrasonic measurement image (entire image) and display control of the entire image in a predetermined control cycle (for example, 20 fps), the state of the disordered part during knee flexion and extension is continuously displayed. Observable.

[Description of functional configuration]
Next, a functional configuration for realizing the present embodiment will be described.
FIG. 6 is a block diagram illustrating a functional configuration example of the ultrasonic measurement apparatus 10 according to the present embodiment. The ultrasonic measurement apparatus 10 includes an operation input unit 100, a first ultrasonic transducer control unit 110a to an nth ultrasonic transducer control unit 110n (n is an integer of 2 or more), and a first ultrasonic transducer array 120a. To nth ultrasonic transducer array 120n, communication unit 150, processing unit 200, image display unit 360, and storage unit 500.

  The operation input unit 100 receives various operation inputs by the operator and outputs an operation input signal corresponding to the operation input to the processing unit 200. It can be realized with a button switch, lever switch, dial switch, trackpad, mouse, etc. In the example of FIG. 1, the touch panel 21 and the keyboard 22 correspond.

The first ultrasonic transducer control unit 110a to the nth ultrasonic transducer control unit 110n transmit ultrasonic waves and ultrasonic echoes by the corresponding first ultrasonic transducer array 120a to nth ultrasonic transducer array 120n. Control related to reception and image generation processing based on the reception result are executed. For example, this can be realized by a known ultrasonic transducer control technique.
For example, 1) a transmission focus control unit 111 that executes control related to transmission focusing, and 2) transmission of a drive signal (pulse voltage) to the corresponding first ultrasonic transducer array 120a to nth ultrasonic transducer array 120n. And a transmission / reception circuit 112 that acquires a reception signal of an ultrasonic echo, a reception focus control unit 113 that performs reception focusing control, and a two-dimensional image that generates a two-dimensional image (for example, a two-dimensional B-mode image) from the ultrasonic echo A generation unit 114 and a three-dimensional image generation unit 115 that generates a three-dimensional image from ultrasonic echoes are included. In the example of FIG. 1, the control IC 42 corresponds.

  The first ultrasonic transducer array 120a to the nth ultrasonic transducer array 120n are ultrasonic transducer groups corresponding to transmission focusing of ultrasonic beams and reception focusing that selectively receives ultrasonic echoes from a predetermined position. It is. In the example of FIG. 1, the two-dimensional ultrasonic transducer array 41 corresponds.

  The communication unit 150 manages signal transmission / reception between the first ultrasonic transducer control unit 110a to the nth ultrasonic transducer control unit 110n and the processing unit 200. This can be realized by a communication control IC, a communication cable, a socket, a wireless communication device, or the like. In the example of FIG. 1, the communication control unit 50 of the supporter type ultrasonic probe 30 and the communication control IC 25 of the processing device 20 correspond to this.

  The processing unit 200 is realized by, for example, a microprocessor such as a CPU or a GPU, or an electronic component such as an ASIC or an IC memory. The processing unit 200 performs input / output control of data with each functional unit, executes various arithmetic processes based on a predetermined program and various data, and calculates relative information of the ultrasonic sensor unit 40. Control, volume data generation, overall image generation by volume rendering, and overall image display control. In the example of FIG. 1, the control board 26 of the processing apparatus 20 corresponds.

  The processing unit 200 of this embodiment includes a relative information calculation unit 202, an ultrasonic measurement control unit 204, an overall image generation unit 210, a repetition control unit 220, a time measurement unit 230, and an image generation unit 260. Have.

  The relative information calculation unit 202 calculates the relative information of the relative position and the relative posture based on the ultrasonic transmission / reception information of the first ultrasonic transducer array 120a to the nth ultrasonic transducer array 120n that are discretely arranged. The control related to the calculation of the relative position information described with reference to FIG. 4 is performed.

  The ultrasonic measurement control unit 204 includes a first ultrasonic transducer array 120a to an nth ultrasonic transducer array 120n corresponding to the first ultrasonic transducer control unit 110a to the nth ultrasonic transducer control unit 110n, respectively. Simultaneously (or substantially simultaneous in the sense of allowing a time lag that does not hinder diagnosis) is executed.

  The whole image generation unit 210 measures the first ultrasonic transducer array 120a to the nth ultrasonic transducer array 120n from the first ultrasonic transducer control unit 110a to the nth ultrasonic transducer control unit 110n, respectively. The obtained result data is acquired, and an overall three-dimensional ultrasonic measurement image (overall image) related to the measurement target part is generated. The entire image generation unit 210 corresponds to a three-dimensional ultrasonic measurement image generation unit.

  More specifically, the entire image generation unit 210 includes a volume data generation unit 212, a display control unit 214, and a volume rendering unit 216.

  The volume data generation unit 212 generates two-dimensional images and three-dimensional image data of measurement target parts in the respective measurement ranges generated by the first ultrasonic transducer control unit 110a to the nth ultrasonic transducer control unit 110n ( Data of the partial image of the measurement target part) is acquired. Then, the relative positions and the relative postures of the corresponding first ultrasonic transducer array 120a to nth ultrasonic transducer array 120n are matched so that a predetermined reference coordinate system (examples of FIGS. 4 and 5) is obtained. Then, the data is synthesized by the coordinate system of the first ultrasonic sensor unit 40 to generate volume data of the entire measurement target region.

  In response to a predetermined display setting operation from the operation input unit 100, the display control unit 214 sets the viewpoint and cross section of the three-dimensional ultrasonic measurement image (entire image) related to the measurement target portion to be rendered by the volume rendering unit 216. . The volume rendering unit 216 generates volume data of the entire measurement target part by rendering an image viewed from a set viewpoint or cross section.

  The repetition control unit 220 performs control to repeatedly execute the calculation of relative information by the relative information calculation unit 202, the control of ultrasonic measurement by the ultrasonic measurement control unit 204, and the image generation by the overall image generation unit 210. The repetition control unit 220 corresponds to a control unit.

  The timer 230 measures a system clock that is a reference for transmission timing and reception timing.

  The image generation unit 260 generates and outputs an image signal for causing the image display unit 360 to display various operation screens and an entire image.

  The image display unit 360 displays and outputs an image based on the image signal input from the image generation unit 260. The touch panel 21 corresponds to the example of FIG.

  The storage unit 500 is realized by a storage medium such as an IC memory, a hard disk, or an optical disk, and stores various types of data such as various programs and calculation process data of the processing unit 200. In the example of FIG. 1, the IC memory 24 mounted on the control board 26 of the processing apparatus 20 corresponds. Note that the connection between the processing unit 200 and the storage unit 500 is not limited to the connection by an internal bus circuit in the apparatus, but may be realized by a communication line such as a LAN (Local Area Network) or the Internet. In that case, the storage unit 500 may be realized by an external storage device different from the ultrasonic measurement device 10.

FIG. 7 is a diagram illustrating an example of programs and data stored in the storage unit 500.
The storage unit 500 includes a system program 501, a measurement control program 502, a system clock 506, relative information calculation basic data 510, sensor-specific relative information 540, sensor-specific three-dimensional image data 550, and display control data 560. And volume data 562 and whole image data 564 are stored. In addition, various data for calculating the relative position information of the ultrasonic sensor unit 40, generating volume data, and volume rendering can be stored as appropriate.

  The system program 501 is a program for realizing a basic input / output function of the processing device 20 as a computer. The processing unit 200 is realized by executing the measurement control program 502 while the system program 501 is being executed. In addition, when each function part which these process parts 200 have is implement | achieved by hardware, such as an electronic circuit, a part of program for implement | achieving the said function can be abbreviate | omitted.

  Relative information calculation basic data 510 includes relative information on the relative positions and relative orientations of the first ultrasonic transducer control unit 110a to the nth ultrasonic transducer control unit 110n, that is, the ultrasonic sensor unit 40 (FIG. 1). This is basic data for calculation. Relative information calculation basic data 510 is generated for each setting of the transmission sensor for calculating relative information.

  For example, as illustrated in FIG. 8, a transmission sensor ID 511 that stores identification information of the ultrasonic sensor unit 40 serving as a transmission sensor, and a plurality of transmission / reception data sets 520 created at each transmission timing are included.

  One transmission / reception data set 520 includes a transmission timing 522 for storing the system clock 506 at the time of transmission, a transmission vector 524 in which the transmission direction of the ultrasonic beam is described in the coordinate system of the transmission sensor, and a plurality of data created for each reception sensor. Received data 530.

  One reception data 530 stores a reception sensor ID 531 indicating which ultrasonic sensor unit 40 has received the data, and a plurality of reception echo distribution data 532.

  The reception echo distribution data 532 is a measurement result of the reception intensity for the entire measurement range of the ultrasonic sensor unit 40 serving as the reception sensor. For example, the reception timing 533, the reception focus coordinates 534 described in the coordinate system of the ultrasonic sensor unit 40 serving as the reception sensor, and the reception intensity value 535 of the reception echo are stored in association with each other.

  Returning to FIG. 7, the sensor-specific relative information 540 is created for each ultrasonic sensor unit 40 and stores a sensor ID for identifying each sensor unit, a relative position coordinate, and a relative normal vector.

  The sensor-specific three-dimensional image data 550 is created for each ultrasonic sensor unit 40, and stores three-dimensional partial image data of a measurement site based on the result of ultrasonic measurement by each sensor unit.

  The display control data 560 defines a volume rendering viewpoint for generating an entire image and a section of volume data.

[Description of process flow]
Next, the operation of the ultrasonic measurement apparatus 10 will be described.
FIG. 9 is a flowchart for explaining the flow of processing related to the measurement control of the ultrasonic measurement apparatus 10, and is executed when a predetermined measurement start operation is detected. It is assumed that the supporter-type ultrasonic probe 30 is attached to the knee joint of the subject 4 in advance. When a predetermined display control operation is detected, the processing unit 200 changes the display control data 560 each time.

  When detecting the predetermined measurement start operation, the processing unit 200 of the ultrasonic measurement apparatus 10 repeatedly executes the loop A in a predetermined cycle for each drawing frame until a predetermined end operation is detected (steps S2 to S32).

  In the loop A, the ultrasonic measurement apparatus 10 first creates the relative information calculation basic data 510 and sets the transmission sensor ID 511 to a predetermined reference sensor (the first ultrasonic sensor unit 40a in the present embodiment; FIGS. 3 and 4). (Step S4), and the transmission vector 524 is initialized in the direction in which the ultrasonic beam is first transmitted (step S6). Then, a value indicated by the current system clock 506 is set at the transmission timing 522, and an ultrasonic beam is transmitted from the transmission sensor in the direction of the transmission vector 524 (step S8).

  On the other hand, the ultrasonic measurement apparatus 10 measures the reception echo over the entire measurement range for each reception sensor, and stores the reception echo distribution data 532 in the relative information calculation basic data 510 (step S10). Accordingly, it is assumed that the transmission time of the ultrasonic beam from the transmission sensor is transmitted for a time sufficient for each reception sensor to obtain the reception echo distribution data 532 in step S10.

Next, the ultrasonic measurement apparatus 10 determines whether or not the ultrasonic beam has been transmitted over the entire measurement range of the transmission sensor in the current transmission of the ultrasonic beam (step S12). Since the transmission / reception data set 520 for each transmission vector is stored in the relative information calculation basic data 510, a negative determination is made if the transmission / reception data set 520 has not reached the predetermined number.
If negative (NO in step S12), the ultrasonic measurement apparatus 10 creates a new transmission / reception data set 520, sets the transmission vector 524 to indicate the next direction, and changes the transmission direction. (Step S14). Then, the process returns to step S8.

  Eventually, if the transmission of the ultrasonic beam reaches the entire measurement range of the transmission sensor (YES in step S12), the ultrasonic measurement apparatus 10 then sets the reference value Rt (FIG. 4) for all the reception sensors. It is determined whether the reception intensity value of the received reception echo has been obtained (step S18).

  If negative (NO in step S16), the ultrasonic measurement apparatus 10 regards that the ultrasonic sensor unit 40 whose relative position and relative posture cannot be obtained remains, and has already received a reception intensity value equal to or greater than the reference value Rt. Is selected as a new transmission sensor (step S18). Specifically, the basic data 510 for relative information calculation is newly generated, and the identification information of the ultrasonic sensor unit 40 that is set as a new transmission sensor is set in the transmission sensor ID 511. Then, the process returns to step S6.

  If the reception intensity values of the received echoes that reach the reference value Rt are obtained by all the reception sensors (YES in step S16), the ultrasonic measurement device 10 determines when the maximum reception intensity is obtained for each reception sensor. A relative position and a relative normal vector with respect to the transmission sensor are calculated and stored in the sensor-specific relative information 540 (step S20).

At this stage, there may be a case where the maximum received intensity value is obtained when the ultrasonic sensor unit 40 different from the reference sensor is used as the transmission sensor in step S18.
Therefore, the ultrasonic measurement apparatus 10 next receives the relative position and the relative normal vector obtained in step S18 for the reception sensor whose transmission sensor ID 511 when the maximum reception intensity value is obtained does not indicate the predetermined reference sensor. Is converted so as to be described in the coordinate system of the reference sensor based on the relative position and relative orientation of the transmission sensor and the reference sensor when the maximum received intensity value is obtained (step S22).

  Now that the relative information (relative position and relative posture) of all the ultrasonic sensor units 40 has been clarified, the ultrasonic measurement apparatus 10 performs ultrasonic measurement using all the ultrasonic sensor units 40 (step S24). ).

  Next, the ultrasonic measurement apparatus 10 generates a three-dimensional image for each ultrasonic sensor unit (three-dimensional images 70a, 70b, and 70c in FIG. 5) based on the result of the ultrasonic measurement (step S26), and is found out. Based on the relative information of each ultrasonic sensor unit 40, volume data 562 of the entire measurement region is generated from the three-dimensional image for each ultrasonic sensor unit (step S28).

  Then, an entire image at the viewpoint or cross section defined in the display control data 560 is generated from the generated volume data 562 and displayed on the touch panel 21 (step S30).

  As described above, according to the present embodiment, the elastic supporter 31 supports the small ultrasonic sensor unit 40, and the ultrasonic sensor can be kept in close contact with the skin surface even when the joint is moved. . Of course, the operator's hand is not blocked. Further, during this time, the relative information of the relative position and relative posture of each ultrasonic sensor unit 40 is continuously calculated, and the entire measurement target region is measured using the measurement results and relative information of each ultrasonic sensor unit 40. A three-dimensional ultrasonic measurement image is generated. Therefore, it is possible to continuously measure and observe the obstacle site while moving the joint to various angles.

Specifically, volume data is created by synthesizing 3D images of joints based on the results measured by each ultrasonic sensor unit 40, and an entire image in which the measurement target part is viewed from an arbitrary viewpoint or cross-section is sequentially generated. Can be displayed.
Therefore, if the measurement control of the present embodiment is performed while moving the joint, it is possible to continuously observe the state of the faulty part in real time.

[Modification]
As mentioned above, although embodiment which applied this invention was described, the form which can apply this invention is not restricted to the said embodiment, A component can be added, abbreviate | omitted, and changed suitably.

For example, the number of ultrasonic sensor units 40 included in the support type ultrasonic probe 30 and their attachment positions can be changed without being limited to the above embodiment.
For example, as shown in FIG. 10, it is good also as a structure which attaches the some ultrasonic sensor unit 40 over the perimeter and the full length in the circumferential direction of the supporter part 31 which is a cylindrical mounting tool.

  Further, a configuration in which the supporter unit 31 of the supporter type ultrasonic probe 30 is omitted is also possible. For example, as in an ultrasonic probe set 30C shown in FIG. 11, each ultrasonic sensor unit 40 is supported by a sensor support 34 having an adhesive portion 33 made of an adhesive member capable of adhering to the skin. It is good also as detachably attaching to the skin surface of the joint part to perform.

  Further, as a configuration other than the support type ultrasonic probe 30, a “compressed type ultrasonic probe” configured by dispersing small ultrasonic sensor units 40 on the inner surface side of a stretchable cloth-like body, A “belly-wrapped ultrasonic probe” in which small ultrasonic sensor units 40 are dispersedly arranged on the inner surface side of a stretchable annular cloth-like body may be configured.

  In the above-described embodiment, as an example of use of the supporter-type ultrasonic probe 30, it has been described that an obstacle site can be continuously observed hands-free while moving a joint. However, it is also possible to continuously observe a built-in affected part with little body movement as a “pack type ultrasonic probe” or “abdominal wound type ultrasonic probe” as described above.

  The effect is, for example, that it is possible to freely display images with various viewpoints and cross-sections in a hands-free manner, so that it is easy to search for tumors and stones in the body, which can lead to early detection. The same is true for the discovery of heart diseases, and the progress of tumors and diseases after surgery can be continuously observed. Of course, it is possible to always observe the progress of treatment with drugs or injections. In addition, the state of the fetus can always be observed hands-free, and abnormalities can be discovered quickly. Furthermore, incontinence can be prevented by constantly observing the amount of livestock urine in the bladder.

  The above observation can be performed with the above-described “pack type ultrasonic probe” and “belly-wrap type ultrasonic probe” in addition to the support type ultrasonic probe 30. Since observation is possible even when the subject's body moves, there is no need to fix the posture of the subject. In other words, the subject can always be in a comfortable posture without worrying about the probe even when the posture changes during walking, in addition to the sleeping posture (recumbent posture or supine posture) or sitting position. It also has an effect.

  In the above embodiment, the relative information calculation unit 202 and the entire image generation unit 210 are configured to be realized by the processing device 20, but may be configured to be provided in the supporter type ultrasonic probe 30. For example, the relative information calculation unit 202 and the entire image generation unit 210 may be realized by hardware such as LSI, and mounted on the communication control unit 50 of the supporter-type ultrasonic probe 30.

  In the above embodiment, as shown in FIG. 6, the first ultrasonic transducer control unit 110a to the nth ultrasonic transducer control unit 110n are the transmission focus control unit 111, the transmission / reception circuit 112, and the reception focus control unit 113. Although it has been described that the two-dimensional image generation unit 114 and the three-dimensional image generation unit 115 are included, the processing unit 200 may have a part of these functional units.

  4 ... Subject, 10 ... Ultrasonic measuring device, 20 ... Processing device, 21 ... Touch panel, 22 ... Keyboard, 24 ... IC memory, 25 ... Communication control IC, 26 ... Control board, 30 ... Supporter type ultrasonic probe, 30C ... Ultrasonic probe set, 31 ... Supporter part, 32 ... Hole part, 33 ... Adhesive part, 34 ... Sensor support, 40 ... Ultrasonic sensor unit, 41 ... Two-dimensional ultrasonic transducer array, 42 ... Control IC, DESCRIPTION OF SYMBOLS 43 ... Engagement part, 46 ... Electric wire, 50 ... Communication control unit, 51 ... Communication control IC, 52 ... IC memory, 70a-70c ... Three-dimensional image, 72 ... Volume data, 100 ... Operation input part, 110a ... 1st Ultrasonic transducer control unit, 110n ... nth ultrasonic transducer control unit, 111 ... transmission focus control unit, 112 ... transmission / reception circuit, 113 ... reception focus control unit, 14 ... 2D image generation unit, 115 ... 3D image generation unit, 120a ... first ultrasonic transducer array, 120n ... nth ultrasonic transducer array, 150 ... communication unit, 200 ... processing unit, 202 ... relative Information calculation unit, 204 ... Ultrasonic measurement control unit, 210 ... Whole image generation unit, 212 ... Volume data generation unit, 214 ... Display control unit, 216 ... Volume rendering unit, 220 ... Repeat control unit, 230 ... Timekeeping unit, 260 ... Image generation part, 360 ... Image display part, 500 ... Storage part, 501 ... System program, 502 ... Measurement control program, 506 ... System clock, 510 ... Basic data for relative information calculation, 511 ... Transmission sensor ID, 520 ... Transmission / reception Data set, 522 ... transmission timing, 524 ... transmission vector, 530 ... reception data, 531 ... reception sensor D, 532... Reception echo distribution data, 533... Reception timing, 534... Reception focus coordinates, 535... Reception intensity value, 540 .. sensor relative information, 550 .. sensor three-dimensional image data, 560. Volume data, 564 ... Whole image data

Claims (7)

A plurality of ultrasonic sensors that are discretely arranged so as to surround the measurement target site of the subject and transmit / receive ultrasonic waves,
A relative information calculation unit that calculates relative information of the plurality of ultrasonic sensors based on information on transmission and reception of the ultrasonic waves;
Using the measurement results of the plurality of ultrasonic sensors and the relative information, a three-dimensional ultrasonic measurement image generation unit that generates a three-dimensional ultrasonic measurement image of the measurement target part;
Ultrasonic measuring device with A control unit that executes the calculation of the relative information by the relative information calculation unit and the image generation by the three-dimensional ultrasonic measurement image generation unit;
The ultrasonic measurement apparatus according to claim 1, further comprising: The three-dimensional ultrasonic measurement image generation unit generates the three-dimensional ultrasonic measurement image by combining measurement results of the plurality of ultrasonic sensors.
The ultrasonic measurement apparatus according to claim 1. The plurality of ultrasonic sensors are disposed in a stretchable mounting device to be mounted on the measurement target site, with the ultrasonic wave sending surface facing the subject.
The ultrasonic measurement apparatus according to claim 1. The wearing tool has a cylindrical shape,
The plurality of ultrasonic sensors are arranged over the circumferential direction of the wearing tool,
The ultrasonic measurement apparatus according to claim 4. The wearing device is a textile product;
The plurality of ultrasonic sensors have engagement portions that are detachably engaged with the wearing tool,
The ultrasonic measurement apparatus according to claim 4 or 5. The ultrasonic measurement device according to claim 1, wherein the plurality of ultrasonic sensors are arranged on an adhesive member that can adhere to the subject.

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