JP2018114166A - Image processing apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image processing apparatus capable of creating accurate three-dimensional image data with high reproducibility even when measurement is performed by continuously changing the posture of a measurement object, or when measurement is performed by displacing the surface of the measurement object.SOLUTION: An image processing apparatus for processing measurement data acquired by measuring a measurement object and generating three-dimensional image data includes: an acquisition part for acquiring measurement data; a detection part for detecting the position and posture of the measurement object and the acquisition part respectively while tracking the position and posture respectively; a calculation part 121 for calculating the position and posture of the acquisition part with respect to the measurement object based on the position and posture of the measurement object and the acquisition part detected by the detection part; and a generation part 123 for generating the three-dimensional image data based on the measurement data acquired by the acquisition part, and the position and posture of the acquisition part with respect to the measurement object calculated by the calculation part 121.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an image processing apparatus that processes measurement data obtained by measuring a measurement object and generates a three-dimensional image.

  Conventionally, this type of device generates 3D image data based on the measurement data obtained by ultrasonic measurement of the measurement object and the spatial position and orientation (coordinate data) of the ultrasonic probe being measured. An image processing apparatus is known (see, for example, Patent Document 1). In the apparatus described in Patent Document 1, the coordinate data of the ultrasonic probe is obtained by a three-dimensional position sensor attached to the ultrasonic probe.

  In addition, the relationship between the target position of the medical image of the measurement target acquired in advance and the probe position when the measurement target is in the first position state, and the probe position and second position state when the measurement target is in the first position state An image processing apparatus that displays a target position of a medical image to be measured corresponding to the probe position in the second position state based on the relationship of the probe position when in the position is known (see, for example, Patent Document 2). . In the apparatus described in Patent Document 2, the medical image of the measurement object corresponding to the probe position in the second position state is performed by performing positioning again when the measurement object moves from the first position state to the second position state. Displays the target position.

JP 2000-126180 A Japanese Unexamined Patent Publication No. 2016-34486

  However, in the apparatus described in Patent Document 1, only the coordinate data of the ultrasonic probe is obtained by the three-dimensional position sensor, and the posture of the measurement target is not considered. For this reason, it can be applied only when measurement is performed in a state where the measurement target maintains a specific posture, and when the measurement target is changed in posture, the surface of the measurement target is measured by an ultrasonic probe or the like. When measurement is performed with displacement, accurate three-dimensional image data with high reproducibility cannot be generated.

  Further, in the apparatus described in Patent Document 2, it is necessary for the user to check the change of the posture of the measurement target and to position the ultrasonic probe again with respect to the measurement target of the new posture. The user's burden increases when the posture is frequently changed and measurement is performed. Further, when measurement is performed by continuously changing the posture of the measurement target, or when measurement is performed by displacing the surface of the measurement target using an ultrasonic probe or the like, it is difficult to apply.

  One aspect of the present invention is an image processing apparatus that processes measurement data obtained by measuring a measurement target to generate three-dimensional image data, and includes an acquisition unit that acquires measurement data, a measurement target, and an acquisition unit. A detection unit that detects while tracking the position and orientation, a calculation unit that calculates the position and orientation of the acquisition unit with respect to the measurement target based on the measurement target and the position and orientation of the acquisition unit detected by the detection unit, and acquisition And a generation unit that generates three-dimensional image data based on the measurement data acquired by the unit and the position and orientation of the acquisition unit with respect to the measurement target calculated by the calculation unit.

  According to the present invention, since the measurement data is processed and the three-dimensional image data is generated based on the position and direction of the acquisition unit with respect to the measurement object, the measurement object is continuously changed in posture. Even when the measurement is performed or when the measurement target surface is displaced, accurate three-dimensional image data with high reproducibility can be generated.

1 is a schematic diagram showing the overall configuration of an image processing apparatus according to an embodiment of the present invention. The perspective view of the ultrasonic probe of FIG. The block diagram which shows the control structure of the process part of the computer of FIG. Explanatory drawing for demonstrating the function of the position direction calculation part of FIG. Explanatory drawing for demonstrating the function of the two-dimensional data generation part of FIG. Explanatory drawing for demonstrating the function of the three-dimensional data generation part of FIG. An example of the screen output to a monitor by the data output part of FIG. The flowchart which shows an example of the process performed by the process part shown in FIG.

  Hereinafter, embodiments of the present invention will be described with reference to FIGS. FIG. 1 is a diagram showing a schematic configuration of an image processing apparatus (hereinafter referred to as an apparatus) 10 according to an embodiment of the present invention. The apparatus 10 functions as an image processing apparatus that processes measurement data obtained by ultrasonic measurement of the measurement target 20 and generates a three-dimensional image. The apparatus 10 includes a computer 12, an ultrasonic probe 14, and a distance image sensor 16 including a CPU (processing unit) 12 a, a ROM, a RAM (memory) 12 b, an arithmetic processing unit having other peripheral circuits, and a monitor 12 c. Is provided. The computer 12 and the ultrasonic probe 14, and the computer 12 and the distance image sensor 16 are connected to each other by a communication unit such as a communication cable, and can communicate with each other.

  The ultrasonic probe 14 transmits and receives ultrasonic waves while scanning the surface of the measurement target 20, converts the received waves into electric signals, and transmits the electric signals to the computer 12 as measurement data 14d. The measurement data 14 d can be converted into a tomographic image showing the internal structure of the measurement target 20, in particular, the boundary of the organ of the measurement target 20. In this embodiment, a case where a linear electronic scan probe is used as the ultrasonic probe 14 will be described as an example. However, a sector electronic scan probe or the like may be used, or a mechanical scanning method or a manual scanning method scan may be used. May be.

  FIG. 2 is a perspective view of the ultrasonic probe 14. The ultrasonic probe 14 accommodates a vibrator, an acoustic matching layer, a backing material, an acoustic lens, and the like in a case. The user grasps the case upper portion 14a and performs ultrasonic measurement while scanning the surface of the measurement target 20 with the case bottom portion 14b. The case lower part 14c located between the case upper part 14a and the case bottom part 14b is provided with a protrusion 15a and a protrusion 15b having axes in directions orthogonal to each other in parallel to the case bottom part 14b. As the shape of the protrusions 15a and 15b, for example, a triangular pyramid whose bottom surface is an isosceles triangle is suitable. The material of the protrusions 15a and 15b can be, for example, the same material as the case, but a material that does not deform during measurement is preferable.

  The distance image sensor 16 has a pedestal 16a for placing on the table. The distance image sensor 16 may have a clip for attaching to a bed frame or the like instead of the pedestal 16a. As shown in FIG. 1, the distance image sensor 16 is disposed so that the front faces the ultrasonic probe 14 and the measurement target 20 during ultrasonic measurement. The distance image sensor 16 performs detection while tracking the positions and postures of the ultrasonic probe 14 and the measurement target 20, that is, continuously detects the surfaces of the ultrasonic probe 14 and the measurement target 20, and acquires the three-dimensional position information 16d. To the computer 12.

  As the distance image sensor 16, various non-contact types can be used. For example, a stereo system with two cameras, a system that scans laser slit light, a system that scans laser spot light, a system that projects pattern light onto an article using an apparatus such as a projector, and an article after light is emitted from a projector For example, a system that uses the time of flight from the surface to the light receiver.

  FIG. 3 is a block diagram illustrating a control configuration of the processing unit 12 a of the computer 12. The processing unit 12a receives measurement data 14d obtained by ultrasonic measurement of the measurement target 20 from the ultrasonic probe 14, and is obtained by detecting the surface of the ultrasonic probe 14 and the measurement target 20 from the distance image sensor 16. The three-dimensional position information 16d is received. The processing unit 12a performs predetermined processing based on the received measurement data 14d and the three-dimensional position information 16d, generates three-dimensional data that can be converted into a three-dimensional image showing the boundary of the organ of the measurement target 20, The data is output to the memory 12b and / or the monitor 12c. The processing unit 12a includes a position / direction calculation unit 121, a two-dimensional data generation unit 122, a three-dimensional data generation unit 123, a data output unit 124, and a measurement guide unit 125 as functional configurations.

  FIG. 4 is an explanatory diagram for explaining the function of the position / direction calculation unit 121. Based on the three-dimensional position information 16 d received from the distance image sensor 16, the position / direction calculation unit 121 recognizes the measurement object 20, specifically, the three-dimensional shape of the surface of the measurement object 20 and the position of the skeleton (joint). To do. Based on the recognition result, the position / direction calculation unit 121 sets the measurement region 20a on the surface of the recognized measurement object 20 according to the inspection content. The examination content is selected and input by the user in, for example, a mammary gland examination or a general abdominal examination. The measurement region 20a is set in advance for a general surface shape and skeleton according to the inspection content, and is stored in the memory 12b. The position / direction calculation unit 121 compares the general surface shape and skeleton set in advance with the surface shape and skeleton of the recognized measurement target 20, thereby measuring the measurement region 20a on the surface of the recognized measurement target 20. Set.

  The three-dimensional shape of the surface of the measurement target 20 recognized by the position / direction calculation unit 121 is output to the monitor 12c by the data output unit 124 described later. Instead of automatically setting the measurement area 20a by the position / direction calculation unit 121, the user manually sets the measurement area 20a on the surface of the measurement target 20 output to the monitor 12c by using a mouse pointer or the like. You can also. The set measurement area 20a is stored in the memory 12b in association with information necessary for specifying the current measurement such as the measurement date and time, together with information on the measurement object 20, and the like. When the same measurement object 20 is regularly measured for the same measurement object 20 in a periodic checkup or the like, the previous measurement area 20a stored in the memory 12b is used in the second and subsequent measurements. Note that the size of the measurement target 20 may change between the previous time and the current time due to edema or the like, but since such a change can be regarded as a simple change in scale, the measurement region based on the surface shape and the skeleton The influence on the setting of 20a is very small.

  The position / direction calculation unit 121 further applies the measurement area 20a based on the three-dimensional position information 16d received from the distance image sensor 16, more specifically, based on the measurement area 20a and the three-dimensional position information 16d of the ultrasonic probe 14. The position 14p and the direction 14n of the ultrasonic probe 14 are calculated. The position 14p is the center point of the case bottom 14b (FIG. 2) of the ultrasonic probe 14, and corresponds to the contact point between the ultrasonic probe 14 and the measurement region 20a during ultrasonic measurement. The direction 14n is the central axis of the ultrasonic probe 14 that goes in the direction away from the case bottom 14b through the position 14p, and corresponds to the direction in which the ultrasonic probe 14 transmits ultrasonic waves during ultrasonic measurement. The direction 14n substantially coincides with the normal line at the position 14p of the measurement region 20a (curved surface) during ultrasonic measurement.

  As shown in FIG. 2, the case lower portion 14c of the ultrasonic probe 14 is provided with protrusions 15a and 15b that are parallel to the case bottom portion 14b and have axes in directions orthogonal to each other. Therefore, when calculating the direction 14n of the ultrasonic probe 14 based on the three-dimensional position information 16d, the position / direction calculation unit 121 can correctly recognize the front side and the back side, and the right side and the left side of the ultrasonic probe 14. Thus, the direction 14n of the ultrasonic probe 14 can be calculated more accurately. Further, the bottom surfaces of the protrusions 15 a and 15 b are isosceles triangles whose bottom faces the case bottom 14 b side of the ultrasonic probe 14. Therefore, when calculating the direction 14n of the ultrasonic probe 14 based on the three-dimensional position information 16d, the position / direction calculation unit 121 can correctly recognize the upper side and the lower side of the ultrasonic probe 14, and The direction 14n of the acoustic probe 14 can be calculated more accurately.

  During the ultrasonic measurement, the position / direction calculation unit 121 continuously receives the measurement region 20 a and the three-dimensional position information 16 d of the ultrasonic probe 14 from the distance image sensor 16. Therefore, the position / direction calculation unit 121 can continuously recognize the measurement region 20a and continuously calculate the position 14p and the direction 14n of the ultrasonic probe 14 with respect to the measurement region 20a. Therefore, even when the ultrasonic measurement is performed by changing the posture of the measurement target 20, it is not necessary to calibrate the position 14p and the direction 14n of the ultrasonic probe 14 with respect to the measurement region 20a before and after changing the posture of the measurement target 20. . Even when the ultrasonic measurement is performed by continuously changing the posture of the measurement target 20, the position 14p and the direction 14n of the ultrasonic probe 14 with respect to the measurement region 20a can be calculated continuously.

  Further, the three-dimensional position information 16d detected by the distance image sensor 16 includes information on the shape of the measurement region 20a, that is, information on the degree to which the ultrasonic probe 14 is pushed into the measurement region 20a. For this reason, the surface of the measurement object 20 is displaced by pushing the ultrasonic probe 14, in other words, even when the measurement is performed by changing the shape of the measurement region 20a, the shape of the measurement region 20a is changed. Accordingly, the position 14p and the direction 14n of the ultrasonic probe 14 with respect to the measurement region 20a can be continuously calculated.

  FIG. 5 is an explanatory diagram for explaining the function of the two-dimensional data generation unit 122. Based on the measurement data 14 d received from the ultrasound probe 14, the two-dimensional data generation unit 122 generates two-dimensional data 14 e 2 that can be converted into a tomographic image (two-dimensional image) indicating the internal structure of the measurement target 20. The two-dimensional data 14e2 includes two-dimensional coordinate information and luminance information for each pixel. When the two-dimensional data 14e2 is output to the monitor 12c, the two-dimensional data 14e2 is displayed as a tomographic image showing an organ boundary BA as shown in a simplified manner in FIG. Note that when a linear electronic scan probe is used as the ultrasonic probe 14 as in the present embodiment, a rectangular tomographic image is obtained, but the shape of the tomographic image varies depending on the type of the ultrasonic probe 14 used (for example, sector When using an electronic scan probe, a fan-shaped tomogram is obtained). The type of the ultrasonic probe 14 is selected and input by the user together with the examination content.

  FIG. 6 is an explanatory diagram for explaining the function of the three-dimensional data generation unit 123. The three-dimensional data generation unit 123 includes the position 14p and the direction 14n of the ultrasonic probe 14 relative to the measurement region 20a calculated by the position / direction calculation unit 121 and the ultrasonic probe 14 relative to the measurement region 20a detected by the distance image sensor 16. Based on the degree of pressing (FIG. 6A), the two-dimensional data 14e2 generated by the two-dimensional data generation unit 122 is synthesized (FIG. 6B), and a three-dimensional image showing the internal structure of the measurement target 20 The three-dimensional data 14e3 that can be converted into (3) is generated (FIGS. 6C and 6D). The three-dimensional data 14e3 includes three-dimensional coordinate information and luminance information for each voxel. Therefore, the three-dimensional data 14e3 output to the monitor 12c can be displayed as a three-dimensional image viewed from a desired direction or a tomographic image of a desired cross section. Based on the three-dimensional data 14e3, the length of a line segment on the three-dimensional image or the tomographic image (for example, the major axis or minor axis of the lymph node) can be automatically calculated. A voxel in a three-dimensional image corresponding to an unmeasured location or a pixel in a tomographic image of a desired cross section has no luminance information. By highlighting unmeasured points, it can be confirmed whether there is any omission in the inspection.

  FIG. 7 is an example of a screen output to the monitor 12 c by the data output unit 124. The data output unit 124 outputs the two-dimensional data 14e2 generated by the two-dimensional data generation unit 122 to the memory 12b together with the position 14p of the ultrasonic probe 14 at the time of measurement, the direction 14n, and the degree of pressing. In addition, the data output unit 124 outputs the three-dimensional data 14e3 generated by the three-dimensional data generation unit 123 to the memory 12b. All the two-dimensional data 14e2 are stored in the memory 12b in association with the position 14p, the direction 14n, and the degree of pressing of the ultrasonic probe 14 at the time of measurement. On the other hand, only the last received three-dimensional data 14e3 from the data output unit 124 is stored in the memory 12b (that is, always updated to the latest one). The two-dimensional data 14e2 and the three-dimensional data 14e3 are stored in the memory 12b in association with information necessary for specifying the current measurement such as the measurement date and time, together with the measurement region 20a.

  The data output unit 124 converts the three-dimensional data 14e3 generated by the three-dimensional data generation unit 123 or the three-dimensional data 14e3 stored in the memory 12b into a three-dimensional image indicating the internal structure of the measurement target 20. And output to the monitor 12c (left side in FIG. 7). As shown in FIG. 7, the current position 14p and direction 14n of the ultrasonic probe 14, the current measurement surface, and the like may be displayed together with the three-dimensional image. Further, the data output unit 124 converts the two-dimensional data 14e2 generated by the two-dimensional data generation unit 122 into a tomographic image (two-dimensional image) indicating the internal structure of the measurement target 20, and outputs the tomographic image to the monitor 12c ( (Upper right side of FIG. 7). Further, the data output unit 124 selects, from the two-dimensional data 14e2 stored in the memory 12b in the previous measurement, the two-dimensional data 14e2 corresponding to the current position 14p, direction 14n, and push-in degree of the ultrasonic probe 14. Then, it is converted into a tomographic image showing the internal structure of the measuring object 20 and outputted to the monitor 12c (lower right side in FIG. 7).

  In regular medical examinations, the same content is regularly measured. Among the tomogram currently being measured (upper right side in FIG. 7) and the previously measured tomographic image, the tomographic image corresponding to the current position 14p and direction 14n of the ultrasonic probe 14 and the degree of depression (lower right side in FIG. 7). ) At the same time, it becomes easy for the user to compare the previous part with the previous part for the same part, and the follow-up observation becomes easy. If there is a part to be followed up, the position 14p, the direction 14n, and the degree of push-in of the ultrasonic probe 14 currently being measured are measured on the measurement surface to be measured next time by voice input by the user while measuring the part. The position 14p, direction 14n, and push-in degree of the corresponding ultrasonic probe 14 are designated and recorded in the memory 12b.

  When the measurement surface to be measured this time specified during the previous measurement remains, the measurement guide unit 125 instructs the user to that effect by voice or visual information. When a measurement guide is requested by voice input by the user, the measurement guide unit 125 performs the measurement guide by voice or visual information. Specifically, the measurement guide unit 125 is configured such that the position 14p, the direction 14n, and the push-in degree of the ultrasonic probe 14 that is currently being measured correspond to the position 14p, the direction 14n, and the push-in degree corresponding to the measurement surface to be measured this time. Guide the user to be. More specifically, the direction in which the ultrasonic probe 14 is to be scanned as the position 14p and the degree of pressing is guided by sound or visual information such as front and rear, right and left, and up and down. When “down” is guided as the direction in which the ultrasonic probe 14 is to be scanned, the ultrasonic probe 14 is pushed into the measurement target 20. Similarly, when “upper” is guided as the direction in which the ultrasonic probe 14 is to be scanned, the pressed ultrasonic probe 14 is returned. Following the position 14p and the degree of depression, the direction 14n is guided by visual information.

  Such a measurement guide function is particularly effective when the user who performs the next measurement is unfamiliar, and can stably and accurately perform ultrasonic measurement regardless of the user's proficiency level. When there are few measurement surfaces to be measured next time, a measurement jig such as a stent may be created instead of the guide by sound or visual information. When creating a measurement jig, a 3D printer or the like is used by using data such as the surface shape of the measurement object 20 stored in the memory 12b, the position 14p of the ultrasonic probe 14, the direction 14n, and the degree of pressing. Can be created relatively easily.

  FIG. 8 is a flowchart illustrating an example of processing executed by the processing unit 12a. First, in step S1, the three-dimensional position information 16d of the measurement target 20 and the ultrasonic probe 14 including the degree of pressing of the ultrasonic probe 14 with respect to the measurement target 20 (measurement region 20a) is received from the distance image sensor 16. Next, in step S <b> 2, the measurement target 20 is recognized based on the three-dimensional position information 16 d of the measurement target 20 by processing in the position / direction calculation unit 121. Next, in step S3, a measurement region 20a is set on the surface of the recognized measurement object 20. Next, in step S4, the position 14p and the direction 14n of the ultrasonic probe 14 with respect to the measurement region 20a are calculated based on the three-dimensional position information 16d of the measurement region 20a and the ultrasonic probe 14.

  Next, in step S5, measurement data 14d is received from the ultrasonic probe 14. Next, in step S6, two-dimensional data 14e2 is generated based on the measurement data 14d by processing in the two-dimensional data generation unit 122. Next, in step S7, the processing in the three-dimensional data generation unit 123 synthesizes the two-dimensional data 14e2 based on the position 14p, the direction 14n, and the degree of pressing of the ultrasonic probe 14 with respect to the measurement region 20a, and the three-dimensional data 14e3. Is generated (FIG. 6).

  Next, in step S8, the position 14p, the direction 14n, and the degree of pressing of the ultrasonic probe 14, the two-dimensional data 14e2, and the three-dimensional data 14e3 are output to the memory 12b by the processing in the data output unit 124. Next, in step S9, the two-dimensional data 14e2 / three-dimensional data 14e3 is converted into a tomographic image / three-dimensional image and output to the monitor 12c (left side in FIG. 7 / upper right side in FIG. 7). Next, in step S10, the two-dimensional data 14e2 corresponding to the current position 14p, direction 14n, and push-in degree of the ultrasonic probe 14 is converted into a tomographic image from the previous two-dimensional data 14e2 and is displayed on the monitor 12c. Output (lower right side in FIG. 7). If there is no previous measurement data, step S10 is skipped.

  Next, in step S11, it is determined whether or not the measurement surface to be measured this time has been measured by the processing in the measurement guide unit 125, and if not measured, the user is instructed to perform additional measurement. When a measurement guide is requested by voice input or the like by the user in response to the additional measurement instruction, the measurement guide is executed by voice or visual information in step S12.

According to the embodiment of the present invention, the following effects can be obtained.
(1) The image processing apparatus (apparatus) 10 is an image processing apparatus that processes the measurement data 14d obtained by measuring the measurement object 20 to generate the three-dimensional data 14e3, and acquires the measurement data 14d. (As an example, an ultrasonic probe 14), a detection unit (as an example, a distance image sensor 16) that detects while tracking the positions and orientations of the measurement object 20 and the ultrasonic probe 14, and the distance image sensor 16. Based on the position and orientation of the measurement object 20 and the ultrasonic probe 14, the position / direction calculation unit 121 for calculating the position 14p and the direction 14n of the ultrasonic probe 14 relative to the measurement object 20 (measurement region 20a) The measurement data 14d acquired by the above and the measurement region 20a calculated by the position / direction calculation unit 121 It provided that position based on the 14p and direction 14n of the ultrasonic probe 14, a three-dimensional data generation unit 123 to generate three-dimensional data 14E3, the.

  That is, since the position / direction calculation unit 121 continuously calculates the position 14p and the direction 14n of the ultrasonic probe 14 with respect to the measurement region 20a, even when the ultrasonic measurement is performed by changing the posture of the measurement target 20, It is not necessary to calibrate the position 14p and the direction 14n of the ultrasonic probe 14 with respect to the measurement region 20a before and after changing the posture of the measurement object 20. Even when the ultrasonic measurement is performed by continuously changing the posture of the measurement target 20, the position 14p and the direction 14n of the ultrasonic probe 14 with respect to the measurement region 20a can be calculated continuously. Therefore, even when ultrasonic measurement is performed by continuously changing the posture of the measurement target 20, the measurement data 14d is synthesized based on the continuously calculated position 14p and direction 14n of the ultrasonic probe 14, Accurate and reproducible three-dimensional data 14e3 can be generated.

(2) Since the acquisition unit is the ultrasonic probe 14 that transmits and receives ultrasonic waves while scanning the measurement target 20, a load applied to the measurement target 20 during measurement is small.

  (3) The measurement target 20 is a living body, and the distance image sensor 16 further detects the degree of pushing of the ultrasonic probe 14 against the measurement target 20 (measurement region 20a), and the three-dimensional data generation unit 123 uses the ultrasonic probe. 14, the measurement data 14 d acquired by 14, the position 14 p and direction 14 n of the ultrasonic probe 14 with respect to the measurement region 20 a calculated by the position / direction calculation unit 121, and the ultrasonic probe with respect to the measurement region 20 a detected by the distance image sensor 16. The three-dimensional data 14e3 is generated based on the degree of pressing 14. Therefore, even when the measurement is performed by changing the shape of the measurement region 20a by displacing the surface of the measurement target 20 by pushing the ultrasonic probe 14, in other words, according to the shape change of the measurement region 20a. Thus, the position 14p and the direction 14n of the ultrasonic probe 14 with respect to the measurement region 20a can be calculated continuously, and thus accurate three-dimensional data 14e3 with high reproducibility can be generated.

  In this embodiment, as illustrated in FIG. 1 and the like, the measurement target 20 has been described as a living body, but the measurement target 20 may be an object. For example, the seabed can be measured in the same manner with the acoustic probe 14 mounted on the ship's bottom as the measurement target 20. Specifically, a distance image sensor 16 is additionally mounted on a conventional acoustic probe 14 for obtaining formation information under the seabed 20, and the position 14 p and the direction 14 n of the acoustic probe 14 with respect to the seabed 20 are calculated. As a result, the measurement data 14d can be accurately analyzed regardless of the movement or shaking of the ship. Furthermore, since the relative speed of the acoustic probe 14 with respect to the measurement target 20 can be calculated based on the three-dimensional positional information 16d with time obtained by the distance image sensor 16, the measurement data 14d can be calculated in consideration of the Doppler phenomenon. Analysis accuracy can also be improved.

  The above description is merely an example, and the present invention is not limited to the above-described embodiments and modifications unless the features of the present invention are impaired. The constituent elements of the embodiment and the modified examples include those that can be replaced while maintaining the identity of the invention and that are obvious for replacement. That is, other forms conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention. Moreover, it is also possible to arbitrarily combine one or more of the above-described embodiments and modified examples.

DESCRIPTION OF SYMBOLS 10 Image processing (apparatus), 14 Ultrasonic probe, 14d Measurement data, 14e3 3D data, 14n direction, 14p position, 16 distance image sensor, 20 Measurement object, 121 Position direction calculation part, 122 2D data generation part, 123 3D data generation unit, 124 data output unit, 125 measurement guide unit

Claims (3)

An image processing apparatus that processes measurement data obtained by measuring a measurement object and generates three-dimensional image data,
An acquisition unit for acquiring the measurement data;
A detection unit that detects the measurement object and the position and orientation of the acquisition unit while tracking them;
A calculation unit that calculates the position and orientation of the acquisition unit with respect to the measurement target based on the measurement target and the position and orientation of the acquisition unit detected by the detection unit;
A generation unit that generates the three-dimensional image data based on the measurement data acquired by the acquisition unit and the position and orientation of the acquisition unit with respect to the measurement target calculated by the calculation unit; An image processing apparatus. The image processing apparatus according to claim 1,
The image processing apparatus, wherein the acquisition unit is an ultrasonic probe that transmits and receives ultrasonic waves while scanning the measurement target. The image processing apparatus according to claim 2,
The measurement object is a living body,
The detection unit further detects a degree of pushing of the acquisition unit with respect to the measurement target,
The generation unit includes the measurement data acquired by the acquisition unit, the position and orientation of the acquisition unit with respect to the measurement target calculated by the calculation unit, and the acquisition for the measurement target detected by the detection unit. An image processing apparatus that generates the three-dimensional image data based on a degree of pressing of a unit.

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