JP2018000775A - Ultrasonic diagnostic apparatus and medical image processor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an ultrasonic diagnostic apparatus capable of improving objectivity of an ultrasonic diagnosis.SOLUTION: An ultrasonic diagnostic apparatus 1 has an image operation part 16. The image operation part acquires ultrasonic image data, first position information concerning a position of an ultrasonic probe when acquiring the ultrasonic image data which is attached to the ultrasonic image data and second position information concerning a position of a biological reference section, and generates map display image data in which the ultrasonic image data is arranged at a position based on the first position information in a three-dimensional space of a biological coordination system defined on the basis of the second position information.SELECTED DRAWING: Figure 1

Description

  Embodiments described herein relate generally to an ultrasonic diagnostic apparatus and a medical image processing apparatus.

  As a conventional technique, a mechanical four-dimensional probe that swings a plurality of transducers arranged in a row or a two-dimensional array probe in which a plurality of transducers are arranged in a lattice shape is provided, and a three-dimensional ultrasound image is real-time. There is an ultrasound diagnostic device that acquires In addition, using an ultrasonic probe equipped with a position sensor, an ultrasonic probe that acquires a three-dimensional ultrasonic image based on the position of the ultrasonic probe detected by the position sensor and the reflection data received by the ultrasonic probe. There is an ultrasound diagnostic device. In these ultrasonic diagnostic apparatuses, an MPR (Multi-Planar Reconstruction / Reformation) image and / or a VR (Volume Rendering) image are displayed in a three-dimensional space.

  Ultrasonic scanning is performed from various directions depending on the situation. Therefore, it is understood from the displayed image that the displayed image is an image acquired when the ultrasonic probe is brought into contact with the living body surface and in which direction the ultrasonic probe is directed in the body. This can only be done by the scanner. In order to make it possible to estimate and understand the acquisition position from which the ultrasonic image was acquired, an annotation is added to the displayed image. However, what is described in the annotation is a rough organ name, a position in the organ, or a blood vessel name. Therefore, the acquisition position of the ultrasonic image cannot be specified by the annotation. The fact that the scanning area is set by the subjectivity of the scanner and that only the scanner can understand the acquisition position of the ultrasound image is a major factor that makes the objectivity of ultrasound diagnosis lacking.

  The latest ultrasonic diagnostic apparatus reads a three-dimensional CT image acquired by a CT (Computed Tomography) apparatus or a three-dimensional MR image acquired by an MRI (Magnetic Resonance Imaging) apparatus, and obtains an ultrasonic tomogram. And a Fusion mode for displaying an ultrasonic tomogram and a corresponding MPR image acquired from a CT image or an MR image. The Fusion mode is realized by using the positional information of the ultrasonic probe detected by the position sensor and aligning the ultrasonic image and the CT image or MR image. By comparing the ultrasonic tomographic image with the CT image or the MR image, the position of the ultrasonic tomographic image in the body can be transmitted to doctors and engineers other than the scanner. However, diagnosis using an ultrasonic diagnostic apparatus is often the first, and there are limited cases in which a CT image or MR image already exists in the same case and the Fusion mode can be used.

JP2013-59610A JP 2003-319939 A

  An object is to provide an ultrasonic diagnostic apparatus and a medical image processing apparatus capable of improving the objectivity of ultrasonic diagnosis.

  According to the embodiment, the ultrasonic diagnostic apparatus includes an image calculation unit. The image calculation unit adds the ultrasonic image data, the first position information added to the ultrasonic image data, and the position of the ultrasonic probe when the ultrasonic image data is acquired, and the position of the biological reference site And the ultrasonic image data is arranged at a position based on the first position information in a three-dimensional space of a living body coordinate system defined based on the second position information. Generated map display image data is generated.

FIG. 1 is a block diagram illustrating a configuration of an ultrasonic diagnostic apparatus according to the embodiment. FIG. 2 is a diagram illustrating an example of a flow of processing in which the ultrasonic diagnostic apparatus illustrated in FIG. 1 acquires ultrasonic image data. FIG. 3 is a view when the ultrasonic probe shown in FIG. 1 is brought into contact with the body surface of the subject in the vertical direction. FIG. 4 is a diagram when a biological reference site is designated in the ultrasonic tomographic image displayed on the display device shown in FIG. FIG. 5 is a diagram illustrating a flow of processing in which the ultrasonic diagnostic apparatus illustrated in FIG. 1 displays map display image data on a display device. FIG. 6 is a diagram showing a living body coordinate system when a xiphoid process is used as a living body reference site and position information of the living body reference site is acquired as shown in FIG. FIG. 7 is a diagram showing a living body coordinate system when a living body reference site exists in the body and position information of the living body reference site is acquired as shown in FIG. FIG. 8 is a diagram showing map display image data displayed on the display device shown in FIG. FIG. 9 is a diagram when the map display image shown in FIG. 8 is displayed from the y-axis direction. FIG. 10 is a diagram showing a map display image when the two-dimensional image displayed in front of the map display image shown in FIG. 8 is changed. FIG. 11 is a diagram illustrating a map display image that displays only a predetermined two-dimensional image. FIG. 12 is a diagram illustrating a screen on which a map display image and any two-dimensional image of the map display image are displayed. FIG. 13 is a diagram showing another example of the screen shown in FIG. FIG. 14 is a diagram illustrating a screen on which a map display image and any two-dimensional image of the map display image are displayed. FIG. 15 is a diagram illustrating a screen on which a map display image and a two-dimensional image of the map display image are displayed. FIG. 16 is a diagram showing a screen on which a map display image superimposed on an atlas image and any two-dimensional image of the map display image are displayed. FIG. 17 is a diagram showing another example of the screen shown in FIG. FIG. 18 is a diagram illustrating a screen on which a map display image superimposed on an atlas image and any two-dimensional image of the map display image are displayed. FIG. 19 is a diagram illustrating a screen on which a map display image superimposed on an atlas image and a two-dimensional image of the map display image are displayed. FIG. 20 is a diagram illustrating a diagram when acquiring a plurality of position coordinates of the subject. FIG. 21 is a diagram showing another configuration of the position sensor system shown in FIG. FIG. 22 is a diagram showing another configuration of the position sensor system shown in FIG. FIG. 23 is a diagram showing another configuration of the position sensor system shown in FIG.

  Hereinafter, embodiments will be described with reference to the drawings.

  FIG. 1 is a block diagram illustrating a configuration example of an ultrasonic diagnostic apparatus 1 according to the present embodiment. As shown in FIG. 1, the ultrasonic diagnostic apparatus 1 includes a main body device 10, an ultrasonic probe 20, and a position sensor system 30. The main device 10 is connected to the external device 40 via the network 100. Further, the main device 10 is connected to the display device 50.

  The ultrasonic probe 20 includes a plurality of piezoelectric vibrators, 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 20 is detachably connected to the main body device 10. The plurality of piezoelectric vibrators generate ultrasonic waves based on a drive signal supplied from the ultrasonic transmission circuit 11 included in the main body device 10.

  When ultrasonic waves are transmitted from the ultrasonic probe 20 to the subject P, the transmitted ultrasonic waves are reflected one after another on the discontinuous surface of the acoustic impedance in the body tissue of the subject P, and the ultrasonic probe is reflected as a reflected wave signal. Received by a plurality of piezoelectric vibrators 20. 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 on the moving blood flow or the surface of the heart wall depends on the velocity component of the moving body in the ultrasonic transmission direction due to the Doppler effect. And undergoes a frequency shift. The ultrasonic probe 20 receives a reflected wave signal from the subject P and converts it into an electrical signal.

  The operation panel 61 of the main body device has an input unit configured by, for example, a button or the like that receives an instruction for designating a later-described biological reference site from an operator. When the button is pressed by the operator, the operation panel 61 outputs a designation instruction for designating the current position information of the ultrasonic probe 20 as a biological reference site to the main body device 10. The input means may be provided in the position sensor 32 provided in the position sensor system 30 or the ultrasonic probe 20.

  The ultrasonic probe 20 according to the present embodiment scans the subject P two-dimensionally with ultrasonic waves, and a position sensor 32 is mounted as shown in FIG. The ultrasonic probe 20 can detect position information when the subject P is scanned in three dimensions. Specifically, the ultrasonic probe 20 according to the present embodiment is a one-dimensional array probe having a plurality of ultrasonic transducers that scan the subject P in two dimensions. The ultrasonic probe 20 to which the position sensor 32 is attached is a mechanical four-dimensional probe (machine) that scans the subject P in three dimensions by oscillating the ultrasonic transducer at a predetermined angle (oscillation angle). (Oscillating three-dimensional probe), two-dimensional array probe in which a plurality of ultrasonic transducers are arranged in a matrix, or 1.5-dimensional array probe in which a plurality of transducers arranged in one dimension are divided into a plurality of It may be.

  A position sensor system 30 shown in FIG. 1 is a system for acquiring three-dimensional position information of the ultrasonic probe 20. The position sensor system 30 acquires, for example, three-dimensional position information of the ultrasonic probe 20 by attaching a magnetic sensor, a target for an infrared camera, or the like to the ultrasonic probe 20 as the position sensor 32. Note that a gyro sensor (angular velocity sensor) may be incorporated in the ultrasonic probe 20, and the three-dimensional position information of the ultrasonic probe 20 may be acquired by the gyro sensor. Further, the position sensor system 30 may be a system that images the ultrasonic probe 20 with a camera and detects the position of the ultrasonic probe 20 in a three-dimensional space by image recognition. The position sensor system 30 may be a system that holds the ultrasonic probe 20 with a robot arm and detects the position of the robot arm in the three-dimensional space as the position of the ultrasonic probe 20. In the present embodiment, a case where the position sensor system 30 acquires position information of the ultrasonic probe 20 using a magnetic sensor will be described as an example.

  The position sensor system 30 includes a magnetic generator 31, a position sensor 32, and a position detection device 33.

  The magnetic generator 31 has a magnetic generating coil etc., for example. The magnetic generator 31 is disposed at an arbitrary position, and forms a magnetic field toward the outside centering on the magnetic generator 31. The position sensor 32 is attached to the ultrasonic probe 20. The position sensor 32 detects the strength and inclination of the three-dimensional magnetic field formed by the magnetic generator 31. The position sensor 32 outputs the detected intensity and inclination of the magnetic field to the position detection device 33.

  The position detection device 33 is based on the position and position (x, y, z) of the ultrasonic probe 20 in a three-dimensional space with a predetermined position as the origin based on the strength and inclination of the magnetic field detected by the position sensor 32. And a rotation angle (θx, θy, θz)) is calculated. At this time, the predetermined position is, for example, a position where the magnetic generator 31 is disposed. The position detection device 33 transmits position information regarding the calculated position (x, y, z, θx, θy, θz) to the main body device 10.

  The main body apparatus 10 shown in FIG. 1 is an apparatus that generates an ultrasonic image based on a reflected wave signal received by the ultrasonic probe 20. As shown in FIG. 1, the main body device 10 includes an ultrasonic transmission circuit 11, an ultrasonic reception circuit 12, a B-mode processing circuit 13, a Doppler processing circuit 14, an operation panel 61, an input device 62, a three-dimensional data generation circuit 15, The image processing circuit 16 includes a display processing circuit 17, an internal storage circuit 18, an image memory 19 (cine memory), an input interface circuit 110, a communication interface circuit 111, and a control circuit 112.

  The ultrasonic transmission circuit 11 is a processor that supplies a drive signal to the ultrasonic probe 20. The ultrasonic transmission circuit 11 is realized by, for example, a trigger generation circuit, a delay circuit, and a pulser circuit. The trigger generation circuit repeatedly generates rate pulses for forming transmission ultrasonic waves at a predetermined rate frequency. The delay circuit sets the delay time for each piezoelectric vibrator necessary for determining the transmission directivity by focusing the ultrasonic wave generated from the ultrasonic probe 20 into a beam shape for each rate pulse generated by the trigger generation circuit. Give to. The pulser circuit applies a drive signal (drive pulse) to the ultrasonic probe 20 at a timing based on the rate pulse. By changing the delay time given to each rate pulse by the delay circuit, the transmission direction from the surface of the piezoelectric vibrator can be arbitrarily adjusted.

  The ultrasonic reception circuit 12 is a processor that performs various processes on the reflected wave signal received by the ultrasonic probe 20 and generates a reception signal. The ultrasonic reception circuit 12 is realized by, for example, an amplifier circuit, an A / D converter, a reception delay circuit, and an adder. The amplifier circuit amplifies the reflected wave signal received by the ultrasonic probe 20 for each channel and performs gain correction processing. The A / D converter converts the gain-corrected reflected wave signal into a digital signal. The reception delay circuit gives a delay time necessary for determining the reception directivity to the digital signal. The adder adds a plurality of digital signals given delay times. By the addition processing of the adder, a reception signal in which the reflection component from the direction corresponding to the reception directivity is emphasized is generated.

  The B-mode processing circuit 13 is a processor that generates B-mode data based on the reception signal received from the ultrasonic reception circuit 12. The B-mode processing circuit 13 performs envelope detection processing, logarithmic amplification processing, and the like on the reception signal received from the ultrasonic reception circuit 12, and data in which the signal intensity is expressed by brightness (B-mode data). Is generated. The generated B mode data is stored in a RAW data memory (not shown) as B mode RAW data on a two-dimensional ultrasonic scanning line.

  The Doppler processing circuit 14 is a processor that generates a Doppler waveform and Doppler data based on the received signal received from the ultrasonic receiving circuit 12. The Doppler processing circuit 14 extracts a blood flow signal from the received signal, generates a Doppler waveform from the extracted blood flow signal, and data obtained by extracting information such as average velocity, variance, and power from the blood flow signal at multiple points. (Doppler data) is generated.

  The three-dimensional data generation circuit 15 is a processor that generates three-dimensional image data with position information based on the data generated by the B-mode processing circuit 13 and the Doppler processing circuit 14. When the ultrasonic probe 20 to which the position sensor 32 is attached is a one-dimensional array probe or a 1.5-dimensional array probe, the three-dimensional data generation circuit 15 applies the B-mode RAW data stored in the RAW data memory. The position information of the ultrasonic probe 20 calculated by the position detection device 33 is added. The three-dimensional data generation circuit 15 generates RAW image data composed of pixels by executing RAW-pixel conversion, and the position detection device 33 calculates the generated dimensional image data. The position information of the ultrasonic probe 20 is added.

  In addition, the three-dimensional data generation circuit 15 performs RAW-voxel conversion including interpolation processing with spatial position information on the B-mode RAW data stored in the RAW data memory, so that a desired range of data can be obtained. Three-dimensional image data composed of voxels (hereinafter referred to as volume data) is generated. The position information of the ultrasonic probe 20 calculated by the position detection device 33 is added to the volume data. Similarly, when the ultrasonic probe 20 to which the position sensor 32 is mounted is a mechanical four-dimensional probe (mechanical oscillation type three-dimensional probe) or a two-dimensional array probe, two-dimensional RAW data, two-dimensional image data, And position information is added to the three-dimensional image data.

  The three-dimensional data generation circuit 15 performs rendering processing on the generated volume data and generates rendering image data. The rendering processing is, for example, processing such as volume rendering (VR), multi-section conversion display (MPR: Multi Planar Reconstruction), and maximum value projection display (MIP: Maximum Intensity Projection).

  In addition, the three-dimensional data generation circuit 15 adds the position information of the ultrasonic probe 20 calculated by the position detection device 33 to the M mode image and the spectrum Doppler image collected at a desired scanning position. The three-dimensional data generation circuit 15 includes image quality conditions at the time of scanning (view angle, depth of field, view angle, preset, frequency, image hate processing conditions, etc.), scan mode information, measurement images and measurement results, and applications. The position information of the ultrasonic probe 20 calculated by the position detection device 33 is added to the information and the image.

  The image calculation circuit 16 is a processor that generates map display image data for displaying various image data in a bird's-eye view in the three-dimensional space of the biological coordinate system based on the various image data generated by the three-dimensional data generation circuit 15. The image arithmetic circuit 16 implements a function corresponding to the program by executing the image processing program stored in the internal storage circuit 18.

  Specifically, the image calculation circuit 16 is based on the two-dimensional image data generated by the three-dimensional data generation circuit 15 and displays map display image data that displays the two-dimensional image data in a three-dimensional space of the biological coordinate system. Is generated. Further, the image calculation circuit 16 is a map that displays the rendering image data in a three-dimensional space of the biological coordinate system based on the rendering image data (MPR image and VR image) generated by the three-dimensional data generation circuit 15. Display image data is generated.

  Further, the image calculation circuit 16 is a map display image data for displaying the M mode image data in a bird's eye view in the three-dimensional space of the biological coordinate system based on the M mode image data to which the position information is added by the three-dimensional data generation circuit 15. Is generated. The image calculation circuit 16 is a map display image data for displaying the spectrum Doppler image data in a bird's-eye view in the three-dimensional space of the biological coordinate system based on the spectrum Doppler image data to which the position information is added by the three-dimensional data generation circuit 15. Is generated. Further, the image calculation circuit 16 displays a bird's-eye view of the image quality condition and scanning mode information at the time of scanning, the measurement image and the measurement result, and the application information and the image to which the position information is added by the three-dimensional data generation circuit 15. Map display image data to be generated.

  The display processing circuit 17 performs various processes such as dynamic range, brightness (brightness), contrast, γ curve correction, and RGB conversion on various image data generated in the three-dimensional data generation circuit 15 and the image calculation circuit 16. By executing this, the image data is converted into a video signal. The display processing circuit 17 displays the video signal on the display device 50. Note that the display processing circuit 17 may cause the display device 50 to display a GUI (Graphical User Interface) for an operator to input various instructions using the input interface circuit 110. As the display device, for example, a CRT display, a liquid crystal display, an organic EL display, an LED display, a plasma display, or any other display known in the art can be used as appropriate.

  The image memory 19 includes, for example, a magnetic or optical recording medium, or a recording medium that can be read by a processor such as a semiconductor memory. The image memory 19 stores image data corresponding to a plurality of frames immediately before the freeze operation input via the input interface circuit 110. The image data stored in the image memory 19 is continuously displayed (cine display), for example.

  The internal storage circuit 18 includes, for example, a magnetic or optical recording medium, or a recording medium that can be read by a processor such as a semiconductor memory. The internal storage circuit 18 stores a control program for realizing ultrasonic transmission / reception, a control program for performing image processing, a control program for performing display processing, and the like. The internal storage circuit 18 also includes diagnostic information (for example, patient ID, doctor's findings, etc.), diagnostic protocol, body mark generation program, and conversion table that presets the range of color data used for imaging for each diagnostic site. The data group is memorized. The internal storage circuit 18 stores an anatomical chart related to the structure of the organ in the living body, for example, an atlas.

  The internal storage circuit 18 also receives the 2D image data, volume data, rendering image data, and M mode image with position information generated by the 3D data generation circuit 15 in accordance with the storage operation input via the input interface circuit 110. Data and spectrum Doppler image data with position information are stored. Note that the internal storage circuit 18 has two-dimensional image data with position information, volume data with position information, and position information generated by the three-dimensional data generation circuit 15 in accordance with a storage operation input via the input interface circuit 110. The attached rendering image data, the Doppler waveform with position information, and the spectrum Doppler data with position information may be stored including the operation order and operation time. Further, the internal storage circuit 18 stores map display image data generated by the image calculation circuit 16 in accordance with a storage operation input via the input interface circuit 110. The internal storage circuit 18 stores operation information, image condition information, ultrasonic data related to ultrasonic examination, and the like of the ultrasonic diagnostic apparatus 1 in association with these data. The operation information includes a mode change, an image quality preset change, a display layout change, an image storage, a measurement start, an application start, a probe change, and the like. The image quality condition information includes an ultrasonic transmission condition such as a frequency, a depth of field, a viewing angle, a beam density, a frame rate, an MI (Mechanical Index) value, an image processing setting, a three-dimensional image quality parameter, and the like. The ultrasonic data includes, for example, measurement information, annotation information, biological reference information such as an electrocardiogram (ECG) waveform, ultrasonic transmission condition information such as an MI (Mechanical Index) value, acquisition time information, and the like. Further, the internal storage circuit 18 stores position information of the biological reference site. The internal storage circuit 18 can also transfer the stored data to an external peripheral device via the communication interface circuit 111.

  The internal storage circuit 18 stores image data transferred from the external device 40. For example, the internal storage circuit 18 acquires and stores past image data regarding the same patient acquired in the past examination from the external device 40. The past image data includes ultrasound image data, CT (Computed Tomography) image data, MR image data, PET (Positron Emission Tomography) image data, and X-ray image data.

  The input interface circuit 110 is, for example, input from an input device 62 such as a mouse, a keyboard, a panel switch, a slider switch, a trackball, and a rotary encoder, via an operation panel, a touch command screen (TCS) 61, and the like. Accepts various instructions. The input interface circuit 110 is connected to the control circuit 112 via, for example, a bus, converts an operation instruction input from the operator into an electric signal, and outputs the electric signal to the control circuit 112. In the present specification, the input interface circuit 110 is not limited to one that is connected to physical operation components such as a mouse and a keyboard. For example, an electrical signal processing circuit that receives an electrical signal corresponding to an operation instruction input from an external input device provided separately from the ultrasound diagnostic apparatus 1 and outputs the electrical signal to the control circuit 112 is also input. An example of the interface circuit 110 is included.

  The communication interface circuit 111 is connected to the position sensor system 30 by radio, for example, and receives position information transmitted from the position detection device 33. The communication interface circuit 111 is connected to the external device 40 via the network 100 or the like, and performs data communication with the external device 40. The external device 40 is, for example, a PACS (Picture Archiving and Communication System) database that is a system that manages data of various medical images, a database of an electronic medical record system that manages an electronic medical record to which medical images are attached, and the like. The external device 40 includes various medical images other than the ultrasonic diagnostic apparatus 1 according to the present embodiment, such as an X-ray CT apparatus, an MRI (Magnetic Resonance Imaging) apparatus, a nuclear medicine diagnostic apparatus, and an X-ray diagnostic apparatus. It is a diagnostic device. The standard for communication with the external device 40 may be any standard, for example, DICOM (digital imaging and communication in medicine).

  The control circuit 112 is a processor that functions as the center of the ultrasonic diagnostic apparatus 1. The control circuit 112 implements a function corresponding to the program by executing the control program stored in the internal storage circuit 18. For example, the control circuit 112 has a function of storing the position information of the biological reference site in the internal storage circuit 18, that is, a registration function of registering the position information of the biological reference site.

  The image calculation circuit 16 shown in FIG. 1 executes an image processing program according to the present embodiment, and thus, various image data generated by the three-dimensional data generation circuit 15 is viewed in a three-dimensional space of a biological coordinate system. A process for generating map display image data to be displayed is realized. Specifically, the image calculation circuit 16 has a reference site control function 161, a coordinate conversion function 162, and an image generation function 163 by executing an image processing program.

  When the reference operation control function 161 is executed, the image calculation circuit 16 receives the designation of the living body reference region from the operator for the ultrasonic tomographic image displayed on the display device 50, and the image calculation circuit 16 obtains the ultrasonic image when the ultrasonic tomographic image is acquired. Based on the position of the acoustic probe 20 and the position specified in the ultrasonic tomographic image, the position of the biological reference site in the three-dimensional space defined by the position sensor system 30 is calculated.

  By executing the coordinate conversion function 162, the image calculation circuit 16 converts the position coordinates added to the various image data generated by the three-dimensional data generation circuit 15 into a biological coordinate system defined based on the position of the biological reference site. Convert. Specifically, the image calculation circuit 16 uses the three-dimensional data generation circuit 15 to transfer the position coordinates added to the two-dimensional image data, rendering image data, M-mode image data, or spectrum Doppler image data to the living body coordinate system. Convert. The image calculation circuit 16 defines the biological coordinate system based on the position (x, y, z, θx, θy, θz) of the biological reference site. For example, in the biological coordinate system, the position (x, y, z) is the origin, the x-axis is set in the azimuth direction that is the scan direction, and the y-axis is in the depth direction based on the rotation angle (θx, θy, θz). And the z-axis is defined to be set in the elevation direction that is the swinging direction.

  By executing the image generation function 163, the image calculation circuit 16 arranges various image data generated by the three-dimensional data generation circuit 15 at corresponding positions in the three-dimensional space of the coordinate system after the coordinate conversion, that is, the biological coordinate system. Generate map display image data.

  Specifically, the image calculation circuit 16 generates map display image data in which two-dimensional image data, rendering image data, M-mode image data, or spectrum Doppler image data is arranged at position coordinates after coordinate conversion. Thereby, in the map display image data, various image data are displayed in a bird's-eye view in the three-dimensional space of the biological coordinate system.

  The reference part control function 161, the coordinate conversion function 162, and the image generation function 163 are assumed to be modules constituting the image processing program according to the present embodiment. However, it is not limited to this. For example, the image calculation circuit 16 has a dedicated hardware circuit that realizes the reference site control function 161, a dedicated hardware circuit that realizes the coordinate conversion function 162, and a dedicated hardware circuit that realizes the image generation function 163. You may do it. The image arithmetic circuit 16 includes an application specific integrated circuit (ASIC), a field programmable gate device (FPGA), and other composites that incorporate these dedicated hardware circuits. You may implement | achieve by a programmable logic device (Complex Programmable Logic Device: CPLD) or a simple programmable logic device (Simple Programmable Logic Device: SPLD).

  FIG. 2 is a diagram illustrating an example of a processing flow in which the ultrasound diagnostic apparatus 1 according to the present embodiment acquires two-dimensional image data. In the following, a case where the living body reference site is a xiphoid process will be described as an example. Note that setting the xiphoid process as the living body reference site corresponds to setting the living body reference site on the body surface. In the following, a case where two-dimensional image data is generated by the three-dimensional data generation circuit 15 will be described as an example.

  Prior to performing an ultrasonic examination on the subject P, input of diagnostic information, setting of transmission / reception conditions, setting of collection conditions of various ultrasonic data, and the like are executed in accordance with an operator instruction via the input interface circuit 110. The These pieces of information are stored in the internal storage circuit 18.

  Further, the operator registers the position information of the biological reference site R prior to performing the ultrasonic examination on the subject P. Specifically, for example, the operator brings the ultrasonic probe 20 into contact with the body surface of the subject P in the vertical direction so as to scan the axial surface including the sword-like projection set as the living body reference region R. FIG. 3 is a diagram showing a schematic diagram when the ultrasonic probe 20 is brought into contact with the body surface of the subject P in the vertical direction. When the operator brings the ultrasonic probe 20 into contact with the subject P, the operator presses a button provided on the operation panel 61 or the ultrasonic probe 20. As a result, a designation instruction is input to the control circuit 112. The control circuit 112 acquires the position of the ultrasonic probe 20 calculated by the position detection device 33 at the time when the designation instruction is input (step S21).

  When the ultrasonic probe 20 is brought into contact with the subject P, ultrasonic waves are transmitted from the ultrasonic probe 20 to the subject P, and an ultrasonic tomographic image of the subject P at a position where the ultrasonic probe 20 is brought into contact is obtained. It is displayed on the display device 50. Following the pressing of the button, the control circuit 112 determines whether or not there is designation for an arbitrary part in the ultrasonic tomographic image displayed on the display device 50 (step S22). On the surface of the display device 50, for example, a touch command screen as the input interface circuit 110 is provided. When the operator touches a predetermined part in the ultrasonic tomographic image displayed on the display device 50, the touch command screen senses contact with the part and recognizes that the operator has designated the part. It should be noted that the cursor in the display device 50 may be operated with a trackball or the like so that the operator designates a predetermined part in the ultrasonic tomographic image displayed on the display device 50.

  When the xiphoid process is set as the living body reference region R, there is no designation to an arbitrary region in the ultrasonic tomographic image displayed on the display device 50 following the pressing of the button (No in step S22). The control circuit 112 registers the position of the ultrasonic probe 20 acquired in step S21 as the position of the reference site (step S23).

  On the other hand, the biological reference site does not necessarily exist on the body surface. The biological reference site may exist in the body, for example, a mitral valve and a network branch. In such a case, after pressing the button, an arbitrary part in the ultrasonic tomographic image displayed on the display device 50 is specified (Yes in step S22). When an arbitrary part in the ultrasonic tomographic image displayed on the display device 50 is specified following the pressing of the button, the control circuit 112 detects the ultrasonic wave calculated by the position detection device 33 when the specification instruction is input. The position (x, y, z, θx, θy, θz) of the probe 20 and the position (x ′, y ′) in the ultrasonic tomographic image of the site specified in the ultrasonic tomographic image are acquired. FIG. 4 is a diagram illustrating a schematic diagram when the living body reference region R is designated in the ultrasonic tomographic image displayed on the display device 50.

  When the position (x, y, z, θx, θy, θz) of the ultrasonic probe 20 and the position (x ′, y ′) in the ultrasonic tomographic image are acquired, the image calculation circuit 16 acquires the reference region. The control function 161 is executed. By executing the reference site control function 161, the image calculation circuit 16 determines the position (x, y, z, θx, θy, θz) of the ultrasonic probe 20 and the position (x ′, y ′) in the ultrasonic tomographic image. Then, the position of the part designated in the ultrasonic tomographic image in the three-dimensional space defined by the position sensor system 30 is calculated (step S24). The control circuit 112 registers the calculated position as the position of the biological reference site R in the body (step S23).

  Note that the operator may refer to the past image data regarding the same patient acquired in the past examination when setting the living body reference site. The past image data includes ultrasonic image data, CT image data, MR image data, PET image data, and X-ray image data. The control circuit 112 may store the referenced past image data in the internal storage circuit 18 in association with the acquired image data.

  Moreover, in steps S22 to S24, the case where the position of the living body reference part existing in the body is acquired based on the designation to an arbitrary part in the ultrasonic tomographic image displayed on the display device 50 has been described as an example. However, this embodiment is not limited to this. The ultrasonic diagnostic apparatus 1 includes a three-dimensional ultrasonic image including a region corresponding to a position equivalent to an ultrasonic tomographic image acquired in real time on the display device 50 from the same subject in a past examination. An image reference function may be provided in which a three-dimensional CT image, a three-dimensional MR image, or a three-dimensional X-ray image is displayed as a reference image and is referred to by an operator at the time of ultrasonic examination. In order to realize such an image reference function, it is necessary to associate the position of the ultrasonic probe 20 with the position in the three-dimensional image prior to performing the ultrasonic examination. Hereinafter, a process in the case where a past three-dimensional CT image is displayed as a reference image on the display device 50 will be specifically described.

  The coordinate system of the position sensor system 30 and the coordinate system of the three-dimensional CT data are aligned in advance by a desired method.

  The control circuit 112 determines whether or not there is designation for an arbitrary part in the three-dimensional CT image displayed on the display device 50 following the pressing of the button provided on the operation panel 61 or the ultrasonic probe 20. . When there is designation of an arbitrary part in the three-dimensional CT image displayed on the display device 50 following the pressing of the button, the control circuit 112 causes the ultrasonic probe 20 calculated by the position detection device 33 at the designated time. And the position in the 3D CT image of the part designated in the 3D CT image. When the position of the ultrasonic probe 20 and the position in the three-dimensional CT image are acquired, the image calculation circuit 16 acquires the three-dimensional CT in the three-dimensional space defined by the position sensor system 30 based on these positions. The position of the designated part in the image is calculated. The control circuit 112 registers the calculated position as the position of the living body reference site R in the living body.

  Moreover, in step S22, the case where the arbitrary part in the ultrasonic tomographic image displayed on the display apparatus 50 is designated by the operator was described as an example. However, it is not limited to this. An arbitrary part in the ultrasonic tomographic image or the reference image displayed on the display device 50 may be specified by automatically recognizing a desired part by the image analysis function.

  When the biological reference site R is registered, the operator performs an ultrasonic examination of the subject P using the ultrasonic probe 20. The position of the ultrasonic probe 20 is detected by the position sensor system 30, and is output to the main body apparatus 10 as position information (step S25). The ultrasonic probe 20 manually scans the subject P three-dimensionally, for example, manually using a plurality of ultrasonic transducers that scan the subject P two-dimensionally. The ultrasonic waves transmitted from the ultrasonic probe 20 to the subject P are successively reflected by the discontinuous surface of the acoustic impedance in the body tissue of the subject P, and are received by the ultrasonic probe 20 as a reflected wave signal. The ultrasonic reception circuit 12 performs various processes on the reflected wave signal received by the ultrasonic probe 20 to generate a reception signal (step S26).

  The B-mode processing circuit 13 generates B-mode RAW data on a two-dimensional ultrasonic scanning line based on the reception signal received from the ultrasonic receiving circuit 12. The three-dimensional data generation circuit 15 performs a RAW-pixel conversion on the two-dimensional B-mode RAW data generated by the B-mode processing circuit 13, thereby a plurality of two-dimensional image data to which position information is added. Is generated (step S27). The plurality of two-dimensional image data represents a multiple tomographic image acquired while moving manually. The display processing circuit 17 converts one two-dimensional image data out of the plurality of generated two-dimensional image data into a video signal and displays it on the display device 50 (step S28).

  When the operator watches the two-dimensional image displayed on the display device 50 while moving the ultrasonic probe 20 and determines that the displayed two-dimensional image includes a desired structure or the like, the input interface circuit 110 Perform freeze operation via Two-dimensional image data corresponding to a plurality of frames immediately before the freeze operation is stored in the image memory 19. When the operator confirms the two-dimensional image stored in the image memory 19 and determines that the stored two-dimensional image is a two-dimensional image to be stored in the internal storage circuit 18, the operator inputs via the input interface circuit 110. A storage operation is performed on the two-dimensional image to which the position information is added. At this time, the storage operation for the two-dimensional image to which the position information is added may be performed when a predetermined switch operation is started and when a predetermined time elapses or until the next switch operation.

  The control circuit 112 determines whether a storage operation has been performed (step S29). When the storage operation is performed (Yes in step S29), the control circuit 112 adds the position information to the two-dimensional image data that is the target of the storage operation and stores it in the internal storage circuit 18 (step S210). The two-dimensional image data may be stored with position information related to the biological coordinate system after coordinate conversion. When the ultrasonic probe 20 to which the position sensor 32 is attached is a mechanical four-dimensional probe (a mechanical swing type three-dimensional probe) or a two-dimensional array probe, the control circuit 112 performs the two-dimensional operation target of the storage operation. Simultaneously with the image data, the position of the ultrasonic probe 20, the three-dimensional operation information, and the like are added to a plurality of two-dimensional image data F1 to Fn generated by swinging the ultrasonic probe 20 or scanning in the electronic slice direction. Is added and stored in the internal storage circuit 18 (step S210). Note that the two-dimensional image data F1 to Fn may be stored with position information related to the biometric coordinate system after the coordinate conversion. F1 to Fn represent the order in which the two-dimensional image data is acquired. If the storage operation has not been performed (No in step S29), the control circuit 112 cancels the freeze operation, and the process proceeds to step S25. Note that there is no step S29, and it is conceivable that position information is always added to the image in real time.

  FIG. 5 is a diagram illustrating an example of a flow of processing in which the ultrasound diagnostic apparatus 1 according to the present embodiment displays map display image data on the display device 50. In the description of FIG. 5, it is assumed that the two-dimensional image data F1 to Fn are stored in the internal storage circuit 18 by the processing shown in FIG.

  When the operator reviews past ultrasonic examinations or creates a report on the ultrasonic examinations performed, the operator gives a display instruction to display the two-dimensional ultrasonic images acquired in the past examinations on the display device 50. Input is performed via the input interface circuit 110. When the display instruction is input, the control circuit 112 causes the display device 50 to display a plurality of desired two-dimensional image data from a plurality of two-dimensional image data acquired in the past examination. Two-dimensional image data is displayed. For example, a plurality of two-dimensional image data acquired in past examinations may be displayed as thumbnail images representing each two-dimensional image data on the display screen. In addition, a plurality of two-dimensional image data acquired in the past examination may be displayed by being grouped or sorted using diagnosis information, operation information, image condition information, ultrasonic data, acquisition position, and the like. Good.

  The display according to the display instruction from the operator may be as follows. When a display instruction is input, the image calculation circuit 16 executes the image generation function 163 and reads the position of the registered biological reference site. By executing the image generation function 163, the image calculation circuit 16 generates image data representing only the coordinate axes of the living body coordinate system based on the read position of the living body reference portion. Image data representing only the coordinate axes of the living body coordinate system is displayed on the display device 50 through processing in the display processing circuit 17. Then, the operator may designate a predetermined part on the coordinate axis of the biological coordinate system displayed on the display device 50 by an input from the input interface circuit 110. When a predetermined part on the coordinate axis of the living body coordinate system is designated, it is recognized that the designated part or two-dimensional image data acquired in the vicinity of the designated part is selected.

  When the operator selects the two-dimensional image data F1 to Fn, the control circuit 112 reads the two-dimensional image data F1 to Fn from the internal storage circuit 18 (step S51). When the two-dimensional image data F1 to Fn are generated, the image calculation circuit 16 executes the coordinate conversion function 162. Position information is added to the two-dimensional image data F1 to Fn. By executing the coordinate conversion function 162, the image calculation circuit 16 converts the position coordinates added to the two-dimensional image data F1 to Fn into a living body coordinate system defined based on the position of the living body reference site R (step S52). ). FIG. 6 is a diagram illustrating a living body coordinate system when a xiphoid process is used as the living body reference portion R and position information of the living body reference portion R is acquired as shown in FIG. FIG. 7 is a diagram showing a living body coordinate system when the living body reference site R exists in the body and position information of the living body reference site R is acquired as shown in FIG.

  Subsequently, the image calculation circuit 16 executes an image generation function 163. By executing the image generation function 163, the image calculation circuit 16 generates map display image data in which the two-dimensional image data F1 to Fn are arranged at corresponding positions in the three-dimensional space of the living body coordinate system (step S53). The generated map display image data is displayed on the display device 50 through various processes in the display processing circuit 17 (step S54).

  FIG. 8 is a diagram illustrating an example of map display image data displayed on the display device 50. The map display image shown in FIG. 8 displays on the display device 50 map display image data acquired when the xiphoid process is a biological reference region R and the ultrasonic probe 20 is brought into contact with the biological reference region R. It has been made. The two-dimensional image data F1 to Fn acquired by bringing the ultrasonic probe 20 into contact with the xiphoid process includes, for example, an image of an organ such as the liver. The coordinate axes shown in FIG. 8 coincide with the coordinate axes shown in FIG. According to FIG. 8, the two-dimensional image F1 based on the two-dimensional image data F1 is arranged so that the transmission position of the ultrasonic wave in the two-dimensional image F1 coincides with the origin in the living body coordinate system. The two-dimensional images F2 to Fn based on the two-dimensional image data F2 to Fn are arranged at positions separated from the two-dimensional image F1 by a distance corresponding to the swing angle in the z-axis direction.

  The operator can change the display direction of the map display image by input via the input interface circuit 110. FIG. 9 is a diagram showing a display example when the map display image shown in FIG. 8 is displayed from the y-axis direction. Further, the operator can select the two-dimensional image displayed in the foreground in the map display image by inputting via the input interface circuit 110. FIG. 10 is a diagram illustrating an example of a map display image when the two-dimensional image Fm is displayed on the foremost side by, for example, operating a slider switch. Note that the operator may intuitively select the two-dimensional image displayed at the forefront from a group of two-dimensional images included in the map display image using a mouse or a touch command screen. Further, the operator can select a two-dimensional image to be displayed in the map display image by inputting via the input interface circuit 110. FIG. 11 is a diagram illustrating an example of a map display image when only the two-dimensional image Fm is displayed by operating a slider switch, for example. Note that the operator may intuitively select the displayed two-dimensional image from the two-dimensional image group included in the map display image using a mouse or a touch command screen.

  The image data generated by the image generation function 163 of the image arithmetic circuit 16 is not limited to map display image data. By executing the image generation function, the image calculation circuit 16 generates image data including map display image data and two-dimensional image data selected from the two-dimensional image data group indicated by the map display image data. Good. 12 to 15 are diagrams showing display examples of image data including map display image data and two-dimensional image data. The images shown in FIGS. 12 to 15 include a first display area G10 that displays a two-dimensional image and a second display area G20 that displays a map display image.

  The first display area G10 includes a display bar G30 for selecting the two-dimensional image displayed in the first display area G10 from the two-dimensional image group included in the map display image data. In the display bar G <b> 30, the operator can move the indicator G <b> 31 left and right by input from the input interface circuit 110. The displayed two-dimensional image is switched according to the movement of the indicator G31. At this time, the order in which the two-dimensional images are arranged on the display bar G30 may be the order related to the position or the order of the collection time. In the present embodiment, a case where two-dimensional images are arranged in the order related to the position on the display bar G30 will be described as an example. In the first display area G10, ultrasonic data such as annotation information D1, ultrasonic transmission condition information D2 such as MI value, and acquisition time information D3 is read from the internal storage circuit 18 and displayed.

  12 and 13 illustrate a case where the two-dimensional image F1 selected in the map display image displayed in the second display area G20 is displayed in the first display area G10. At this time, the indicator G31 in the display bar G30 is located at the left end. For example, the operator can select a desired two-dimensional image from a group of two-dimensional images included in the map display image by operating a slider switch. Note that the operator may intuitively select a desired two-dimensional image from a group of two-dimensional images included in the map display image by touching the map display image with a mouse or a touch command screen. The operator may select a desired two-dimensional image from the two-dimensional image group included in the map display image by operating the indicator G31 on the display bar G30 with a mouse or a touch command screen.

  14 and 15 show a case where the two-dimensional image Fm selected in the map display image displayed in the second display area G20 is displayed in the first display area G10. At this time, the indicator G31 in the display bar G30 is located near the center, for example.

  Further, the image data generated by the image generation function 163 of the image calculation circuit 16 is not limited to the image data. By executing the image generation function 163, the image calculation circuit 16 generates image data in which map display image data is superimposed on an image schematically representing a structure such as an organ in a living body (hereinafter referred to as an atlas image). May be. 16 to 19 are diagrams showing display examples of image data in which map display image data is superimposed on an atlas image. The image shown in FIGS. 16 to 19 includes a first display area G10 that displays a two-dimensional image, and a third display area G40 that displays a map display image superimposed on the atlas image G41.

  At this time, if the display position of the map display image on the atlas image G41 is a position corresponding to the acquisition position of the two-dimensional image data, the acquisition position of the two-dimensional image data can be understood more effectively. For example, according to FIGS. 16 to 19, in the map display image, the position of the xiphoid process from which the two-dimensional image data is acquired, that is, the origin of the biological coordinate system is positioned at the xiphoid process on the atlas image G41. Thus, it is superimposed on the atlas image G41. For this reason, according to FIGS. 16 to 19, it is possible to easily understand that the two-dimensional image data F1 and Fm are acquired in the shape of a sword projection. The method of associating the position where the two-dimensional image data is acquired with the display position on the atlas image G41, for example, adds reference information regarding a structure such as an organ that acquired the data to the generated two-dimensional image data. There are various methods such as a method, a method of pre-assigning coordinate information about the living body coordinate system to the atlas image G41. 16 to 19 show an example in which map display image data is superimposed on the two-dimensional atlas image G41. However, the atlas image is not limited to two dimensions, and may be three dimensions.

  In addition, when displaying the atlas image, if the size, shape, position, etc. of a structure such as an organ drawn in the atlas image is adjusted according to the physique of the subject P, the acquisition position of the two-dimensional image data is changed. It is possible to understand more effectively. Information relating to the physique and the like of the subject P, that is, physique information can be acquired by, for example, registering a plurality of three-dimensional position information of the subject P. For example, as shown in FIG. 20, when registering the position of the biological reference site, the positions of the left and right body sides are also registered as physique information. By executing the image generation function 163, the image calculation circuit 16 corrects the size, shape, position, and the like of a structure such as an organ drawn in the atlas image based on the registered physique information. Atlas image correction processing based on physique information is effective when superimposing ultrasonic images acquired on structures such as breasts that have relatively large individual differences between subjects on the atlas image. Such correction processing is also effective when superimposing ultrasonic images acquired for the legs and arms on the atlas image.

  Further, a predetermined part in the atlas image displayed on the display device 50 may be specified by the operator by input from the input interface circuit 110. In step S51 in FIG. 5, the case where desired two-dimensional image data is selected from a plurality of two-dimensional image data displayed on the display device 50 has been described as an example. When the operator designates a predetermined part of the atlas image via the input interface circuit 110, map display image data in which two-dimensional image data acquired in the vicinity of the designated part or the designated part is arranged on the atlas image. May be displayed. The method for associating the designated part on the atlas image with the part from which the two-dimensional image data has been acquired is, for example, adding reference information regarding a structure such as an organ from which this data has been acquired to the generated two-dimensional image data. There are various methods, for example, a method of assigning coordinate information about a biological coordinate system to an atlas image in advance. In addition, a cursor that designates a predetermined part of the atlas image may have a shape imitating the shape of the ultrasonic probe 20. When a predetermined part of the atlas image is designated by the ultrasonic probe-shaped cursor, the image calculation circuit 16 displays the map display image data in which the two-dimensional image data actually acquired by the ultrasonic probe 20 in the same posture is arranged. Is displayed on the atlas image. Thereby, the operator can more intuitively understand the position where the two-dimensional image data is acquired.

  Further, the image data generated by the image generation function 163 of the image calculation circuit 16 is not limited to the image data. By executing the image generation function 163, the image calculation circuit 16 may generate CT image data related to the same patient acquired in a past examination, or image data obtained by superimposing map display image data on MR image data. The CT image data and MR image data at this time may be two-dimensional image data or three-dimensional image data. At this time, if the display position of the two-dimensional image on the CT image or the MR image is a position corresponding to the acquisition position of the two-dimensional image data, the acquisition position of the two-dimensional image data can be understood more effectively. Is possible. The method of associating the acquisition position of the two-dimensional image data with the display position on the CT image or the MR image is obtained by, for example, referring to the generated two-dimensional image data with reference information regarding a structure such as an organ that has acquired the data. There are various methods such as a method of adding, a method of pre-assigning coordinate information about the biological coordinate system on the CT image or the MR image.

  In addition, a predetermined part in the CT image or MR image displayed on the display device 50 may be specified by the operator through input from the input interface circuit 110. In step S51 in FIG. 5, the case where desired two-dimensional image data is selected from a plurality of two-dimensional image data displayed on the display device 50 has been described as an example. When the operator designates a predetermined part of the CT image or MR image via the input interface circuit 110, map display image data in which two-dimensional image data acquired in the designated part or in the vicinity of the designated part is arranged. May be displayed on the CT image or the MR image. A method for associating a designated part on a CT image or MR image with a part from which two-dimensional image data has been acquired is, for example, reference to a structure such as an organ from which this data has been acquired and the generated two-dimensional image data. There are various methods such as a method of adding information and a method of pre-assigning coordinate information about the biological coordinate system to the atlas image. In addition, a cursor that designates a predetermined part of the CT image or MR image may have a shape imitating the shape of the ultrasonic probe 20. When a predetermined part of the CT image or MR image is designated by the ultrasonic probe shape cursor, the image calculation circuit 16 arranges the two-dimensional image data actually acquired by the ultrasonic probe 20 in the same posture. Map display image data is displayed on a CT image or an MR image. Thereby, the operator can more intuitively understand the position where the two-dimensional image data is acquired.

  In addition, FIG. 5 illustrates the processing in the case where map display image data is displayed when reviewing past ultrasonic examinations or creating a report on the implemented ultrasonic examinations. However, it is not limited to this. The image generation function 163 of the image calculation circuit 16 may be executed while acquiring two-dimensional image data in the ultrasonic examination. At this time, in addition to the image shown in any of FIGS. 8 to 19, the display device 50 displays a two-dimensional image based on the two-dimensional image data acquired in real time.

  The two-dimensional image data group arranged in the map display image data to be displayed together with the two-dimensional image acquired in real time is displayed while the one acquired in the same examination as the displayed two-dimensional image is updated. It may also be possible to display what has been acquired in the past for the same subject. At this time, it is necessary to match the position of the biological reference site registered in the past examination with the position of the biological reference site registered in the current examination. By updating and displaying the map display image acquired in the same examination together with the two-dimensional image acquired in real time, the operator can accurately grasp the part to be confirmed from another direction. Become. Further, by displaying the map display image acquired in the past inspection together with the two-dimensional image acquired in real time, the operator can proceed with the inspection while recognizing the progress of the region of interest.

  As described above, in this embodiment, the image calculation circuit 16 uses the position information of the predetermined three-dimensional coordinate system added to the stored image data based on the position information about the living body reference site. Convert to coordinate system position. Then, the image calculation circuit 16 generates map display image data for displaying the image data in a bird's-eye view in the three-dimensional space of the biological coordinate system based on the converted position information. As a result, if the map display image data is viewed, the image data is scanned to determine which position on the surface of the living body the ultrasonic probe is in contact with, and in which direction in the body the ultrasonic probe is directed. Even if it is not a person, it becomes possible to understand easily.

  Therefore, according to the ultrasonic diagnostic apparatus 1 according to the present embodiment, the objectivity of the ultrasonic diagnosis can be improved.

  In the above embodiment, the case where the position sensor system 30 includes the position sensor 32 has been described. However, the position sensor provided in the position sensor system 30 is not limited to one. The position sensor system 30 may include a second position sensor 34. As shown in FIG. 21, the second position sensor 34 is attached to, for example, a sword-like projection that is a living body reference site on the body surface of the subject P. The position detection device 33 transmits the position information of the second position sensor 34 to the main body device 10. The control circuit 112 recognizes the position of the second position sensor 34 as the position of the biological reference site. When the biological reference site exists in the body, the position of the biological reference site is calculated from the position of the second position sensor 34 and the position of the designated site in the ultrasonic tomographic image. Thereby, even when the subject P moves during the examination and when it is necessary to change the posture of the subject P during the examination, it is possible to continuously recognize the biological reference site. Further, in the follow-up observation, by installing the second position sensor 34 at the living body reference site at the same place, a common living body coordinate system is generated, and the organs at the same place can be easily observed and compared.

  Moreover, in the said embodiment, the case where the position of the biological reference site | part was acquired using the position sensor system 30 using a position sensor was demonstrated to the example. However, the position sensor system 30 is not limited to the one using the position sensor. For example, as shown in FIG. 22, a position sensor system using a robot arm 140 may be used.

  The robot arm control unit 141 of the robot arm 140 drives the robot arm 140. The position of the ultrasonic probe 20 supported by the probe holder 142 of the robot arm 140 is acquired based on the output from the robot arm sensor 143 attached to the robot arm 140. As the robot arm sensor 143, a position sensor, a speed sensor, an acceleration sensor, a pressure sensor, or the like is used. When the ultrasonic probe 20 comes into contact with the living body reference site, the operator of the robot arm 140 inputs a designation instruction from an input means such as a button provided in the robot arm control unit 141. The control circuit 112 registers the position of the robot arm 140 that is grasped when the designation instruction is input as the position of the biological reference site.

  Note that the number of robot arms provided in the position sensor system is not limited to one. The position sensor system may include a second robot arm. For example, the second robot arm is controlled to follow a living body reference site on the body surface of the subject P. The robot arm control unit 141 controls the movement of the second robot arm while grasping the position of the second robot arm. The control circuit 112 recognizes the position followed by the second robot arm as the position of the biological reference site. When the biological reference site exists in the body, the position of the biological reference site is calculated from the position followed by the second robot arm and the position of the designated site in the ultrasonic tomographic image. Thereby, even when the subject P moves during the examination and when it is necessary to change the posture of the subject P during the examination, it is possible to continuously recognize the biological reference site.

  Moreover, in the said embodiment, the case where the position of the biological reference site | part was acquired using the position sensor system 30 using a position sensor was demonstrated to the example. However, the position sensor system 30 is not limited to the one using the position sensor. For example, as shown in FIG. 23, a position sensor system using an imaging device 150 such as a camera may be used.

  For example, the imaging device 150 is installed at a position where the whole body of the subject P can be imaged. The image analysis device recognizes the position of the ultrasonic probe 20 in the three-dimensional coordinate system by analyzing the image taken by the imaging device. When the operator of the ultrasonic diagnostic apparatus 1 brings the ultrasonic probe 20 into contact with the living body reference site, the operator inputs a designation instruction from an input unit provided in the ultrasonic probe 20. The control circuit 112 registers the position of the ultrasonic probe 20 recognized at the time when the designation instruction is input as the position of the biological reference site.

  In the above-described embodiment, the case where the image calculation circuit 16 is provided in the ultrasonic diagnostic apparatus 1 as illustrated in FIG. 1 has been described as an example. However, the apparatus provided with the image arithmetic circuit 16 is not limited to the ultrasonic diagnostic apparatus 1. The image calculation circuit 16 may be provided in a medical image processing apparatus such as a workstation, for example.

  The term “processor” used in the above description is, for example, a central processing unit (CPU), a graphics processing unit (GPU), or an application specific integrated circuit (ASIC)), a programmable logic device (for example, It means a circuit such as a simple programmable logic device (SPLD), a complex programmable logic device (CPLD), and a field programmable gate array (FPGA). The processor implements a function by reading and executing a program stored in the storage circuit. Note that each processor of the present embodiment is not limited to being configured as a single circuit for each processor, but may be configured as a single processor by combining a plurality of independent circuits to realize the function. Good. Furthermore, a plurality of components in FIG. 1 may be integrated into one processor to realize the function.

  Although the embodiment of the present invention has been described, this embodiment is presented as an example and is not intended to limit the scope of the invention. This embodiment 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 diagnostic apparatus, 10 ... Main body apparatus, 11 ... Ultrasonic transmission circuit, 12 ... Ultrasonic reception circuit, 13 ... B mode processing circuit, 14 ... Doppler processing circuit, 15 ... Three-dimensional data generation circuit, 16 ... Image Arithmetic circuit 161 ... reference part control function 162 ... coordinate conversion function 163 ... image generation function 17 ... display processing circuit 18 ... internal storage circuit 19 ... image memory 110 ... input interface circuit 111 ... communication interface circuit , 112 ... control circuit, 20 ... ultrasonic probe, 30 ... position sensor system, 31 ... magnetic generator, 32 ... position sensor, 33 ... position detection device, 34 ... second position sensor, 40 ... external device, 50 ... Display device 61 ... Operation panel 62 ... Input device 100 ... Network 140 ... Robot arm 141 ... Robot arm control unit 142 ... Professional Buhoruda, 143 ... robot arm sensors 150 ... imaging device.

Claims (39)

  Ultrasound image data, first position information added to the ultrasound image data and related to the position of the ultrasound probe when the ultrasound image data is acquired, and a second position regarding the position of the biological reference site Map display image data obtained by arranging the ultrasonic image data at a position based on the first position information in a three-dimensional space of a biological coordinate system defined based on the second position information An ultrasonic diagnostic apparatus comprising an image calculation unit that generates a noise. The ultrasonic diagnostic apparatus according to claim 1, further comprising a storage unit that stores the ultrasonic image data to which the first position information is added and the second position information. An ultrasonic probe for transmitting an ultrasonic wave and receiving a reflected wave signal in which the ultrasonic wave is reflected in a subject;
A display unit for displaying the ultrasonic image data generated based on the reflected wave signal;
The ultrasonic diagnostic apparatus according to claim 1, further comprising a registration unit that registers the second position information regarding the subject using an ultrasonic image displayed on the display unit. A position sensor system for detecting the position of the ultrasonic probe;
Ultrasound is reflected within the subject and ultrasonic image data generated based on the reflected wave signal received by the ultrasonic probe is used as the position information detected by the position sensor system as the first position information. A storage unit for adding and storing as,
The ultrasonic diagnostic apparatus according to claim 1, further comprising a registration unit that registers the second position information in the storage unit. The biological reference site is present on the body surface of the subject,
The ultrasound diagnostic apparatus according to claim 3 or 4, wherein the registration unit registers the position of the ultrasound probe when the ultrasound probe is in contact with the living body reference site as the second position information. The biological reference site is present in the subject,
The registration unit is based on a position of the ultrasonic probe when the ultrasonic probe is in contact with the subject and a position of a part designated in an image of an image acquired at the position. The ultrasonic diagnostic apparatus according to claim 3 or 4, wherein the calculated position is registered as the second position information.   The ultrasonic diagnostic apparatus according to claim 6, wherein the image acquired at the position is an ultrasonic image acquired by the ultrasonic probe.   The image acquired at the position is a reference image including a region corresponding to the position equivalent to the ultrasonic image acquired from the same subject in the past examination and acquired by the ultrasonic probe. Ultrasound diagnostic equipment.   The ultrasonic diagnostic apparatus according to claim 6, wherein the designation in the image acquired at the position is based on an input from an operator.   The ultrasonic diagnostic apparatus according to claim 6, wherein designation in an image acquired at the position is based on automatic recognition using an image analysis technique.   The ultrasonic diagnostic apparatus according to claim 1, wherein the image calculation unit converts the first position information into a position in a three-dimensional space of the biological coordinate system.   The ultrasonic diagnostic apparatus according to claim 1, wherein the image calculation unit is arranged in the living body coordinate system and superimposes the map display image data on a corresponding position in a schematic diagram representing a structure in the living body.   The ultrasonic diagnostic apparatus according to claim 12, wherein the image calculation unit acquires a plurality of pieces of position information related to a subject and corrects the schematic diagram based on the acquired pieces of position information.   The image calculation unit arranges the schematic diagram in the living body coordinate system, and an ultrasonic image acquired at a designated part or in the vicinity of a designated part according to designation of a predetermined part in the arranged schematic diagram The ultrasonic diagnostic apparatus according to claim 12 or 13, wherein map display image data in which data is arranged is superimposed on the schematic diagram.   The ultrasonic diagnostic apparatus according to claim 14, wherein in the schematic diagram, the image calculation unit sets a cursor for designating the part to the shape of an ultrasonic probe.   The image calculation unit is arranged in the living body coordinate system, and displays the map display image data to a corresponding position in a CT (Computed Tomography) image or MR (Magnetic Resonance) image acquired from the same subject in a past examination. The ultrasonic diagnostic apparatus according to claim 1, wherein:   The image calculation unit arranges the CT image or the MR image in the living body coordinate system, and is obtained at a designated part or in the vicinity of a designated part according to a designation of a predetermined part in the arranged image. The ultrasonic diagnostic apparatus according to claim 16, wherein map display image data on which acoustic image data is arranged is superimposed on the image.   The ultrasonic diagnostic apparatus according to claim 17, wherein the image calculation unit sets a cursor for designating the region in the CT image or the MR image to have an ultrasonic probe shape.   The image calculation unit generates coordinate axes of the living body coordinate system, and ultrasonic image data acquired at or near a designated part is arranged according to designation of a predetermined part on the generated coordinate axis. The ultrasonic diagnostic apparatus according to claim 1, wherein the map display image data is generated.   The ultrasonic diagnostic apparatus according to claim 1, wherein the ultrasonic image data is two-dimensional image data, rendering image data, M-mode image data, or spectrum Doppler image data.   The storage unit stores at least one of operation information, image condition information, and ultrasonic data related to ultrasonic examination in association with the ultrasonic image data to which the first position information is added. The ultrasonic diagnostic apparatus as described.   The ultrasonic data includes measurement information, annotation information, biological reference information including an electrocardiogram (ECG) waveform, ultrasonic transmission condition information including an MI (Mechanical Index) value, and acquisition time information. Ultrasound diagnostic equipment.   The ultrasonic diagnostic apparatus according to claim 2, wherein the storage unit further stores past image data acquired in a past examination for the subject.   The image calculation unit generates map display image data in which the ultrasonic image data is arranged at a position based on the first position information in a three-dimensional space of a living body coordinate system, and is arranged in the map display image data The ultrasonic diagnostic apparatus according to claim 1, wherein two-dimensional image data corresponding to the designated ultrasonic image data is generated in accordance with designation for the ultrasonic image data.   The super image according to claim 1, wherein the image calculation unit generates map display image data in which two-dimensional image data acquired in real time is arranged at a position based on the first position information in a three-dimensional space of a living body coordinate system. Ultrasonic diagnostic equipment. The ultrasonic image data is a plurality of two-dimensional image data,
The ultrasonic diagnostic apparatus according to claim 24, wherein the image calculation unit arranges the plurality of two-dimensional image data in order of acquisition time in the map display image data. The ultrasonic image data is a plurality of two-dimensional image data,
The ultrasonic diagnostic apparatus according to claim 24, wherein the image calculation unit arranges the plurality of two-dimensional image data in order of acquisition positions in the map display image data. The ultrasonic probe is a one-dimensional array probe, a 1.25-dimensional array probe, or a 1.5-dimensional array probe,
The ultrasonic diagnostic apparatus according to claim 3, wherein the ultrasonic image data is two-dimensional image data. The ultrasonic probe is a two-dimensional array probe, a 1.75-dimensional array probe, or a mechanical swing type three-dimensional probe,
The ultrasonic diagnostic apparatus according to claim 3, wherein the ultrasonic image data is two-dimensional image data or rendering image data. The position sensor system includes:
A position sensor using magnetism or a position sensor using infrared;
The ultrasonic diagnostic apparatus according to claim 4, further comprising: a position detection device that detects a position of the ultrasonic probe from information acquired by the position sensor.   The ultrasonic diagnostic apparatus according to claim 30, wherein the position sensor system further includes a second position sensor disposed at the biological reference site. The biological reference site is present on the body surface of the subject,
32. The ultrasonic diagnostic apparatus according to claim 31, wherein the registration unit registers the position of the second position sensor as the second position information. The ultrasonic probe has a gyro sensor,
The ultrasonic diagnostic apparatus according to claim 4, wherein the position sensor system includes a position detection device that detects a position of the ultrasonic probe from information acquired by the gyro sensor. The position sensor system includes:
A robot arm that supports the ultrasonic probe;
The ultrasonic diagnostic apparatus according to claim 4, further comprising a control device that acquires a position of the ultrasonic probe from a position of the robot arm.   35. The ultrasonic diagnostic apparatus according to claim 34, wherein the position sensor system further includes a second robot arm that follows the biological reference site.   36. The ultrasonic diagnostic apparatus according to claim 35, wherein the registration unit registers the position of the second robot arm as the second position information. The position sensor system includes:
An imaging device for imaging the subject;
The ultrasonic diagnostic apparatus according to claim 4, further comprising: an image analysis apparatus that recognizes a position of the ultrasonic probe by analyzing an image captured by the imaging apparatus. The image analysis device recognizes a position of the biological reference site by analyzing an image captured by the imaging device,
38. The ultrasonic diagnostic apparatus according to claim 37, wherein the registration unit registers the recognized position of the living body reference site as the second position information.   Ultrasound image data, first position information added to the ultrasound image data and related to the position of the ultrasound probe when the ultrasound image data is acquired, and a second position regarding the position of the biological reference site Map display image data obtained by arranging the ultrasonic image data at a position based on the first position information in a three-dimensional space of a biological coordinate system defined based on the second position information A medical image processing apparatus comprising an image computing unit that generates