JP2022056247A - Information processing device, information processing system, information processing method, and computer program - Google Patents

Abstract

To allow an imaging direction of an IVUS image to be recognized easily.SOLUTION: A control unit of an information processing device connected communicably to an ultrasonic vibrator for receiving, inside a biological tissue, a first ultrasonic wave transmitted by an ultrasonic transmission part to the inside of a body from a body surface, and a reflection wave of a second ultrasonic wave which is transmitted radially, acquires line data indicating the ultrasonic wave received by the ultrasonic vibrator from the ultrasonic vibrator; generates a frame image indicating at least the inside of the biological tissue on the basis of the strength of the reflection wave indicated by the line data; causes the generated frame image to be displayed in a display part; and when the first ultrasonic wave is indicated by the line data, causes the frame image to be displayed in the display part together with an image indicating the direction that the ultrasonic vibrator has received the first ultrasonic wave.SELECTED DRAWING: Figure 4

Description

The present disclosure relates to information processing devices, information processing systems, information processing methods, and computer programs.

It is known that an IVUS image taken by an IVUS (intravascular ultrasound) device and a contrast image taken by an X-ray imaging device are displayed to support an operation by a surgeon such as a doctor. "IVUS" is an abbreviation for Intravascular Ultrasound.

Patent Document 1 describes a technique for displaying an ultrasonic image.

Japanese Unexamined Patent Publication No. 2017-140135

The IVUS image is acquired as a group of tomographic images taken continuously, mainly at the tip of a guide wire inserted into the body, during the pullback operation of the IVUS device. The contrast image is acquired as a plane image obtained by irradiating X-rays from outside the body and detecting the X-rays that have passed through the body. As described above, the IVUS image and the contrast-enhanced image differ in the shooting direction or the property of the image obtained by the shooting, and generally do not have coordinates common to both. Therefore, the surgeon who uses the configuration in which the IVUS image and the contrast image are displayed needs to associate the position and direction in the IVUS image with the position and direction in the contrast image in his / her own brain. For example, in order to recognize which direction the direction of the lesion image read on the IVUS image corresponds to on the contrast image, the surgeon indicates the direction of the bifurcated blood vessel from the IVUS image of the long axis of the blood vessel in his / her brain. It was necessary to make a judgment and compare it with the cine image. Such interpretation work is complicated and requires the experience of the surgeon to carry out the work.

An object of the present disclosure is to make it easy to recognize what direction is in an IVUS image.

The information processing apparatus as one aspect of the present disclosure transmits the first ultrasonic wave transmitted by the ultrasonic wave transmitting unit from the body surface to the inside of the body and the second ultrasonic wave radially to transmit the second supersonic wave. An information processing device that is communicably connected to an ultrasonic transducer that receives reflected waves for sound waves inside a living tissue, and line data indicating the ultrasonic waves received by the ultrasonic transducer is the super. Based on the intensity of the reflected wave acquired from the sound wave oscillator and indicated by the line data, at least a frame image representing the inside of the living tissue is generated, and the generated frame image is displayed on the display unit, and the line is displayed. When the first sound wave is indicated by the data, a control unit for displaying the frame image on the display unit is provided together with an image showing the direction in which the first sound wave is received by the ultrasonic oscillator.

In one embodiment, the control unit separates the first ultrasonic wave and the reflected wave from the line data at different times in the same direction by independent component analysis, and the ultrasonic wave indicated by the line data is described. It is determined whether it corresponds to the reflected wave or the first ultrasonic wave.

In one embodiment, the control unit converts the first ultrasonic wave into the ultrasonic wave based on the direction of the line data indicating the ultrasonic wave having the highest intensity among the line data acquired by the ultrasonic vibrator. Determine the direction received by the transducer.

As one embodiment, the control unit rotates the frame image on the display unit so that the direction in which the first ultrasonic wave is received by the ultrasonic vibrator coincides with a predetermined reference direction. Display.

The information processing system as one aspect of the present disclosure includes the information processing apparatus, the ultrasonic transmitting unit, and the ultrasonic vibrator.

As one embodiment, an image pickup device for acquiring a contrast image of the living tissue is further provided, the information processing device is communicably connected to the image pickup device, and the control unit is the contrast image acquired by the image pickup device. Is displayed on the display unit together with the frame image, and the reference direction is determined according to the shooting direction of the shooting device.

In the information processing method as one aspect of the present disclosure, the first ultrasonic wave transmitted from the body surface toward the inside of the body by the ultrasonic wave transmitting unit and the second ultrasonic wave are radially transmitted to the second supersonic wave. It is an information processing method of an information processing apparatus in which a reflected wave for a sound wave is communicably connected to an ultrasonic vibrator that receives the reflected wave inside a living tissue, and a control unit controls the super-received by the ultrasonic vibrator. Line data indicating sound waves is acquired from the ultrasonic vibrator, a frame image representing at least the inside of the biological tissue is generated based on the intensity of the reflected wave indicated by the line data, and the generated frame image is generated. When the first ultrasonic wave is indicated by the line data on the display unit, the frame image is displayed together with an image showing the direction in which the first ultrasonic wave is received by the ultrasonic oscillator. To display.

The information processing method as one aspect of the present disclosure includes an ultrasonic wave transmitting unit that transmits a first sound wave from the body surface to the inside of the body, and a first sound wave transmitting unit that transmits the first sound wave inside the living tissue. Information processing that is communicably connected to the ultrasonic vibrator that receives the ultrasonic wave of the above and transmits the second sound wave radially to receive the reflected wave for the second sound wave, and the ultrasonic vibrator. It is an information processing method of an information processing system including the device, in which a control unit of the information processing device acquires line data indicating an ultrasonic wave received by the ultrasonic vibrator from the ultrasonic vibrator and obtains the line data. Based on the intensity of the reflected wave indicated by the data, at least a frame image representing the inside of the living tissue is generated, the generated frame image is displayed on the display unit, and the first ultrasonic wave is generated by the line data. When indicated, the frame image is displayed on the display unit together with the image showing the direction in which the first ultrasonic wave is received by the ultrasonic vibrator.

In the computer program as one aspect of the present disclosure, the first ultrasonic wave transmitted from the body surface to the inside of the body by the ultrasonic wave transmitting unit and the second sound wave are transmitted radially to the second sound wave. A computer program for a computer that is communicably connected to an ultrasonic transducer that receives the reflected wave against the inside of a living tissue, and line data indicating the ultrasonic wave received by the ultrasonic transducer. The process of acquiring from the ultrasonic vibrator, the process of generating at least a frame image representing the inside of the biological tissue based on the intensity of the reflected wave indicated by the line data, and the process of generating the generated frame image as a display unit. When the first sound wave is indicated by the line data and the process of displaying the first sound wave, the frame image is displayed together with an image showing the direction in which the first sound wave is received by the ultrasonic oscillator. The computer is made to execute the process of displaying on.

According to the present disclosure, it is possible to easily recognize what direction a certain direction is in an IVUS image, and therefore, it is possible to facilitate the work of interpreting an IVUS image and a contrast image in association with each other. ..

It is a figure which shows the structure of the diagnosis support system which concerns on one Embodiment of this disclosure. It is a perspective view of the probe and the drive unit which concerns on one Embodiment of this disclosure. It is a perspective view of the X-ray imaging apparatus which concerns on one Embodiment of this disclosure. It is a block diagram which shows the structure of the diagnosis support apparatus which concerns on one Embodiment of this disclosure. It is a figure which shows the example which the IVUS image is acquired by the diagnostic support apparatus which concerns on one Embodiment of this disclosure. It is a figure which shows the example which the IVUS image is acquired by the diagnostic support apparatus which concerns on one Embodiment of this disclosure. It is a figure which shows the example which the IVUS image is acquired by the diagnostic support apparatus which concerns on one Embodiment of this disclosure. It is a figure which shows the example which the IVUS image is acquired by the diagnostic support apparatus which concerns on one Embodiment of this disclosure. It is a figure which shows the example which the IVUS image is acquired by the diagnostic support apparatus which concerns on one Embodiment of this disclosure. It is a figure explaining an example of photography by the diagnosis support system which concerns on one Embodiment of this disclosure. It is a figure which shows an example of the IVUS image displayed with the image which shows the receiving direction of the ultrasonic wave from an ultrasonic transmitter. It is a figure which shows an example of the IVUS image which was rotated and displayed so that the receiving direction of the ultrasonic wave from an ultrasonic transmitter coincides with a predetermined reference direction. It is a figure which shows an example of the screen which displayed the IVUS image and the contrast image in the diagnosis support system which concerns on one Embodiment of this disclosure. It is a flowchart which shows the operation of the diagnosis support apparatus which concerns on one Embodiment of this disclosure. It is a schematic diagram of the example which acquires the data of another time in the same line. It is a schematic diagram which shows the example of the IVUS image when the body surface wave is ON and OFF. It is a schematic diagram which shows the process of determining the direction of a body surface wave. It is a schematic diagram which shows the process of determining the direction of a body surface wave.

Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. In each drawing, the same or corresponding parts are designated by the same reference numerals. In the description of the present embodiment, the description will be omitted or simplified as appropriate for the same or corresponding parts.

(System configuration)
With reference to FIG. 1, the configuration of the diagnosis support system 100 as the information processing system according to the present embodiment will be described. FIG. 1 is a diagram showing a configuration of a diagnosis support system 100 according to the present embodiment. The diagnosis support system 100 includes an IVUS device 120, an X-ray imaging device 140 as an imaging device for acquiring a contrast image of a living body tissue, a diagnosis support device 160 as an information processing apparatus, and an ultrasonic transmitter 180 as an ultrasonic transmitter. To prepare for.

The X-ray imaging apparatus 140 is an apparatus that irradiates a living tissue such as a blood vessel into which a contrast medium is charged with X-rays (radiation), detects X-rays transmitted through the living tissue, and acquires a contrast image. As will be described later, the X-ray imaging apparatus 140 includes two sets of X-ray generators and an X-ray camera, and acquires two contrast images taken from different angles. However, the X-ray imaging apparatus 140 may be configured to include a set of X-ray generators and an X-ray camera. The contrast image is also referred to as an angio image, an X-ray image, a radiographic image, or the like. Contrast-enhanced images of moving images may also be referred to as cine images.

The diagnosis support device 160 is a dedicated computer specialized for image diagnosis in the present embodiment, but may be a general-purpose computer such as a PC, a WS, or a tablet terminal. "PC" is an abbreviation for Personal Computer. "WS" is an abbreviation for Work Station.

The IVUS device 120, the X-ray imaging device 140, and the diagnostic support device 160 are communicably connected by a cable 12. The IVUS device 120, the X-ray imaging device 140, and the diagnostic support device 160 may be communicably connected by a wireless communication means such as a wireless LAN instead of a wired communication means such as the cable 12. "LAN" is an abbreviation for Local Area Network.

(IVUS device)
The configuration of the IVUS apparatus 120 according to the present embodiment will be described with reference to FIG. FIG. 2 is a perspective view of the probe 20 and the drive unit 13 according to the present embodiment.

The drive unit 13 is used by connecting to the probe 20 and is a device for driving the probe 20. The drive unit 13 is also called an MDU. The probe 20 is applied to IVUS. The probe 20 is also called an IVUS catheter or a diagnostic imaging catheter.

The probe 20 includes a drive shaft 21, a hub 22, a sheath 23, an outer tube 24, an ultrasonic vibrator 25, and a relay connector 26. The drive shaft 21 passes through the sheath 23 inserted into the body cavity of the living body and the outer tube 24 connected to the base end of the sheath 23, and extends to the inside of the hub 22 provided at the base end of the probe 20. The drive shaft 21 has an ultrasonic vibrator 25 for transmitting and receiving signals at its tip, and is rotatably provided in the sheath 23 and the outer tube 24. The relay connector 26 connects the sheath 23 and the outer pipe 24.

The hub 22, the drive shaft 21, and the ultrasonic vibrator 25 are integrally connected to each other so as to move forward and backward in the axial direction of the probe 20. Therefore, for example, when the hub 22 is pushed toward the tip side, the drive shaft 21 and the ultrasonic vibrator 25 move inside the sheath 23 toward the tip side. For example, when the hub 22 is pulled toward the proximal end side, the drive shaft 21 and the ultrasonic transducer 25 move inside the sheath 23 toward the proximal end side as shown by arrows in FIG. As will be described later, the ultrasonic vibrator 25 transmits and receives ultrasonic signals inside a living tissue such as a blood vessel, rotates around the central axis of the probe 20 in conjunction with the drive shaft 21, and rotates the probe 20. Move inside and acquire a tomographic image. In the present embodiment, the ultrasonic transducer 25 also receives the ultrasonic waves transmitted by the ultrasonic transmitter 180 from the body surface to the inside of the body.

The drive unit 13 includes a scanner unit 31, a slide unit 32, and a bottom cover 33. The scanner unit 31 is connected to the diagnostic support device 160 via the cable 12.

The scanner unit 31 includes a probe connecting portion 34 connected to the probe 20 and a scanner motor 35 which is a drive source for rotating the drive shaft 21. The probe connecting portion 34 is detachably connected to the probe 20 via the insertion port 36 of the hub 22 provided at the base end of the probe 20. Inside the hub 22, the base end of the drive shaft 21 is rotatably supported, and the rotational force of the scanner motor 35 is transmitted to the drive shaft 21. Further, a signal is transmitted and received between the drive shaft 21 and the diagnosis support device 160 via the cable 12. In the diagnosis support device 160, a cross-sectional image of the living lumen is generated and image processing is performed based on the signal transmitted from the drive shaft 21.

The slide unit 32 mounts the scanner unit 31 so as to be able to move forward and backward, and is mechanically and electrically connected to the scanner unit 31. The slide unit 32 includes a probe clamp portion 37, a slide motor 38, and a switch group 39.

The probe clamp portion 37 is provided at a position coaxial with the probe clamp portion 37 on the distal end side of the probe connecting portion 34, and supports the probe 20 connected to the probe connecting portion 34.

The slide motor 38 is a drive source that generates a driving force in the axial direction of the probe 20. The scanner unit 31 moves forward and backward by driving the slide motor 38, and the drive shaft 21 moves forward and backward in the axial direction of the probe 20 accordingly. The slide motor 38 is, for example, a servo motor.

The switch group 39 includes, for example, a forward switch and a pullback switch that are pressed when the scanner unit 31 is moved forward and backward, and a scan switch that is pressed when the image rendering is started and ended. Not limited to the examples given here, various switches are included in the switch group 39 as needed.

When the forward switch is pressed, the slide motor 38 rotates in the forward direction. In response to this, the scanner unit 31 moves forward. As a result, the hub 22 connected to the probe connection portion 34 of the scanner unit 31 is pushed out toward the tip side. The drive shaft 21 and the ultrasonic vibrator 25 move inside the sheath 23 toward the tip side. On the other hand, when the pullback switch is pressed, the slide motor 38 rotates in the reverse direction, and the scanner unit 31 retracts. As a result, the hub 22 connected to the probe connecting portion 34 is swept toward the proximal end side. The drive shaft 21 and the ultrasonic vibrator 25 move inside the sheath 23 toward the proximal end side.

When the scan switch is pressed, image rendering is started, the scanner motor 35 is driven, and the slide motor 38 is driven to retract the scanner unit 31. A user such as an operator connects the probe 20 to the scanner unit 31 in advance so that the drive shaft 21 moves to the axial base end side while rotating around the central axis of the probe 20 at the start of image rendering. do. The scanner motor 35 and the slide motor 38 stop when the scan switch is pressed again, and the image drawing ends.

The bottom cover 33 covers the bottom surface of the slide unit 32 and the entire circumference of the side surface on the bottom surface side, and is freely close to and separated from the bottom surface of the slide unit 32.

(X-ray equipment)
The configuration of the X-ray imaging apparatus 140 according to the present embodiment will be described with reference to FIG. FIG. 3 is a perspective view of the X-ray imaging apparatus 140 according to the present embodiment. The X-ray imaging apparatus 140 includes X-ray generators 52, 54, X-ray cameras 51, 53, arms 55, 56, and an inspection table 57.

The X-ray generation unit 52 irradiates the X-ray camera 51 with X-rays. The X-ray camera 51 detects the X-rays emitted from the X-ray generation unit 52 and generates a contrast image. The arm 55 holds the X-ray generator 52 and the X-ray camera 51. The arm 55 generates X-rays to the subject while maintaining the relative positional relationship between the X-ray generation unit 52 and the X-ray camera 51 so that the X-ray camera 51 can receive the X-rays emitted from the X-ray generation unit 52. The positions and directions of the unit 52 and the X-ray camera 51 can be changed.

The X-ray generation unit 54 irradiates the X-ray camera 53 with X-rays. The X-ray camera 53 detects the X-rays emitted from the X-ray generation unit 54 and generates a contrast image. The arm 56 holds the X-ray generator 54 and the X-ray camera 53. The arm 56 generates X-rays to the subject while maintaining the relative positional relationship between the X-ray generation unit 54 and the X-ray camera 53 so that the X-ray camera 53 can receive the X-rays emitted from the X-ray generation unit 54. The positions and directions of the unit 54 and the X-ray camera 53 can be changed.

The examination table 57 is a table on which the patient who is the subject lies. The X-ray generation unit 52 and the X-ray camera 51, and the X-ray generation unit 54 and the X-ray camera 53, respectively, constitute an X-ray imaging unit for acquiring a contrast image. The contrast image generated by the X-ray camera 51 and the X-ray camera 53 is transmitted to the diagnostic support device 160. In the present embodiment, the contrast image is acquired as a moving image (cine image).

(Diagnosis support device)
The configuration of the diagnostic support device 160 according to the present embodiment will be described with reference to FIG. FIG. 4 is a block diagram showing the configuration of the diagnostic support device 160 according to the present embodiment. The diagnosis support device 160 includes components such as a control unit 41, a storage unit 42, a communication unit 43, an input unit 44, and an output unit 45.

The control unit 41 is one or more processors. The processor is a general-purpose processor such as a CPU or GPU, or a dedicated processor specialized for a specific process. "CPU" is an abbreviation for Central Processing Unit. "GPU" is an abbreviation for Graphics Processing Unit. The control unit 41 may include one or more dedicated circuits, or the control unit 41 may replace one or more processors with one or more dedicated circuits. The dedicated circuit is, for example, FPGA or ASIC. "FPGA" is an abbreviation for Field-Programmable Gate Array. "ASIC" is an abbreviation for Application Specific Integrated Circuit. The control unit 41 executes information processing related to the operation of the diagnostic support device 160 while controlling each unit of the diagnostic support system 100 including the diagnostic support device 160.

The storage unit 42 is one or more semiconductor memories, one or more magnetic memories, one or more optical memories, or a combination of at least two of them. The semiconductor memory is, for example, RAM or ROM. "RAM" is an abbreviation for Random Access Memory (writable memory). "ROM" is an abbreviation for Read Only Memory. The RAM is, for example, an SRAM or a DRAM. "SRAM" is an abbreviation for Static Random Access Memory. "DRAM" is an abbreviation for Dynamic Random Access Memory. The ROM is, for example, EEPROM. "EEPROM" is an abbreviation for Electrically Erasable Programmable Read Only Memory. The storage unit 42 functions as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 42 stores information used for the operation of the diagnostic support device 160 and information obtained by the operation of the diagnostic support device 160.

The communication unit 43 is one or more communication interfaces. The communication interface is a wired LAN interface, a wireless LAN interface, or an image diagnostic interface that receives and A / D-converts IVUS signals. "LAN" is an abbreviation for Local Area Network. "A / D" is an abbreviation for Analog to Digital. The communication unit 43 receives the information used for the operation of the diagnostic support device 160, and transmits the information obtained by the operation of the diagnostic support device 160. In the present embodiment, the drive unit 13 is connected to the image diagnosis interface included in the communication unit 43.

The input unit 44 is one or more input interfaces. The input interface is, for example, a USB interface or an HDMI® interface. "HDMI®" is an abbreviation for High-Definition Multimedia Interface. The input unit 44 accepts an operation for inputting information used for the operation of the diagnostic support device 160. In the present embodiment, the keyboard and the pointing device are connected to the USB interface included in the input unit 44, but the keyboard and the pointing device may be connected to the wireless LAN interface included in the communication unit 43.

The output unit 45 is one or more output interfaces. The output interface is, for example, a USB interface or an HDMI® interface. The output unit 45 outputs the information obtained by the operation of the diagnosis support device 160. In the present embodiment, a display as a display unit is connected to the HDMI (registered trademark) interface included in the output unit 45.

The function of the diagnosis support device 160 is realized by executing the diagnosis support program (computer program) according to the present embodiment on the processor included in the control unit 41. That is, the function of the diagnostic support device 160 is realized by software. The diagnostic support program is a program for causing a computer to execute a process of a step included in the operation of the diagnostic support device 160 so that the computer can realize a function corresponding to the process of the step. That is, the diagnosis support program is a program for making the computer function as the diagnosis support device 160.

The program can be recorded on a computer-readable recording medium. A computer-readable recording medium is, for example, a magnetic recording device, an optical disk, a photomagnetic recording medium, or a semiconductor memory. The distribution of the program is carried out, for example, by selling, transferring, or renting a portable recording medium such as a DVD or a CD-ROM in which the program is recorded. "DVD" is an abbreviation for Digital Versatile Disc. "CD-ROM" is an abbreviation for Compact Disc Read Only Memory. The program may be distributed by storing the program in the storage of the server and transferring the program from the server to another computer via the network. The program may be provided as a program product.

For example, the computer temporarily stores the program recorded on the portable recording medium or the program transferred from the server in the main storage device. Then, the computer reads the program stored in the main storage device by the processor, and executes the processing according to the read program by the processor. The computer may read the program directly from the portable recording medium and perform processing according to the program. The computer may sequentially execute processing according to the received program each time the program is transferred from the server to the computer. The process may be executed by a so-called ASP type service that realizes the function only by the execution instruction and the result acquisition without transferring the program from the server to the computer. "ASP" is an abbreviation for Application Service Provider. The program includes information used for processing by a computer and equivalent to the program. For example, data that is not a direct command to the computer but has the property of defining the processing of the computer corresponds to "a program-like data".

A part or all the functions of the diagnostic support device 160 may be realized by a dedicated circuit included in the control unit 41. That is, some or all the functions of the diagnostic support device 160 may be realized by hardware. Further, the diagnostic support device 160 may be realized by a single information processing device or may be realized by the cooperation of a plurality of information processing devices.

(Ultrasonic transmitter)
The ultrasonic transmitter 180 transmits ultrasonic waves from the body surface to the inside of the body, which can be received by the ultrasonic transducer 25 inserted inside the living tissue. The ultrasonic transmitter 180 includes a mechanism for adjusting at least one of the amplitude, frequency and phase of the transmitted ultrasonic wave. The ultrasonic transmitter 180 emits an ultrasonic wave having at least one of the amplitude, frequency, and phase different from that of the ultrasonic wave transmitted by the ultrasonic vibrator 25. As a result, the diagnostic support device 11 pays attention to at least one of the amplitude, frequency, and phase, and the ultrasonic wave indicated by the line data is the reflected wave of the ultrasonic wave transmitted from the ultrasonic vibrator 25 and the ultrasonic transmitter. It is possible to determine which of the ultrasonic waves is transmitted from 180. Further, as will be described later, the ultrasonic transmitter 180 is used to identify a reference direction in an IVUS image, unlike the case where it is used in a normal echo examination. Therefore, the ultrasonic transmitter 180 is provided with a mechanism for attaching the ultrasonic transmitter 180 to the body surface, so that the ultrasonic transmitter 180 is fixed to the body surface and the reference direction in the IVUS image is during the treatment. You can prevent it from moving.

(Acquisition of IVUS image)
The principle of acquiring an IVUS image will be described with reference to FIGS. 5A-5E. 5A-5E are diagrams showing an example in which an IVUS image is acquired by the diagnostic support device 11 according to the present embodiment.

As described above, during the imaging of the IVUS image, the drive shaft 21 is pulled back to the proximal end side where the drive unit 13 exists in accordance with the retreat of the scanner unit 31 while rotating around the central axis of the probe 20. The ultrasonic vibrator 25 provided at the tip of the drive shaft 21 rotates around the central axis of the probe 20 in conjunction with the drive shaft 21 while transmitting and receiving ultrasonic signals inside a living tissue such as a blood vessel. While moving to the proximal end side of the probe 20.

FIG. 5A schematically shows a plane orthogonal to the central axis of the probe 20 passing through the position where the ultrasonic transducer 25 is present. The ultrasonic transducer 25 radially transmits ultrasonic pulse waves while rotating at a constant velocity around the central axis of the probe 20 in the living tissue, and receives reflected waves of pulse waves from each direction. To generate a received signal. 5A-5E show an example in which 512 pulse waves are transmitted at equal intervals while the ultrasonic vibrator 25 rotates 360 degrees, and a reception signal of reflected waves from each direction is generated. In this way, each direction in which the ultrasonic pulse is transmitted is called a line (scanning line) on the entire circumference of the ultrasonic transducer 25, and the data showing the reflected wave of the ultrasonic wave in each line is called line data.

FIG. 5B shows an example of acquiring a luminance image by performing luminance conversion of the received signal of the reflected wave in each line. As shown in FIG. 5B, the received signal of each line is converted into a detection waveform indicating its amplitude, and logarithmic conversion is performed. Then, the luminance conversion is performed in order to associate the signal intensity with the luminance in the image. The control unit 41 of the diagnostic support device 11 allocates 256 levels of grayscale colors according to the intensity of the reflected signal, and constructs luminance data for one line. The horizontal axis of each figure in FIG. 5B indicates time. The vertical axis of the received signal, the detection waveform, and the logarithmic conversion in FIG. 5B shows the signal strength. The speed at which ultrasonic waves propagate is constant. Therefore, the time from transmitting the ultrasonic wave to receiving the reflected wave is proportional to the distance between the ultrasonic vibrator 25 and the object reflecting the ultrasonic wave. Therefore, the line data obtained by the process of FIG. 5B shows the intensity of the reflected signal according to the distance from the ultrasonic transducer 25 by the brightness of the image.

FIG. 5C is an example in which the line data of each line 1 to 512 that has undergone luminance conversion are stacked and displayed. By converting this image into polar coordinates, a cross-sectional image of a living tissue as shown in FIG. 5D is acquired. One cross-sectional image is generated from 512 line data acquired while the ultrasonic transducer 25 rotates 360 degrees around the central axis of the probe 20. Such a single cross-sectional image is called a frame image, and the data is called frame data. The image generated by the frame image is called an IVUS image. The position of each pixel included in the frame image related to the IVUS image is specified by the distance r from the ultrasonic vibrator 25 and the rotation angle θ from the reference angle of the ultrasonic vibrator 25.

As described above, the acquisition of the IVUS image is performed while the ultrasonic transducer 25 is pulled back to the proximal end side of the probe 20. Therefore, as shown in FIG. 5E, when the ultrasonic transducer 25 moves in the blood vessel, the imaging catheter (probe 20) is swept (pulled back) in the long axis direction of the blood vessel to acquire a continuous frame image 60. It will be. Here, the ultrasonic transducer 25 acquires frame data one by one while moving. Therefore, the long axis direction of the blood vessel in the plurality of frame data acquired continuously corresponds to the time direction. Hereinafter, the two orthogonal directions in the same frame image are referred to as spatial directions to distinguish them from the time direction. In FIG. 5E, the x-direction and the y-direction correspond to the spatial direction. The z direction corresponds to the time direction. In FIGS. 5A to 5E, an example in which the number of line data acquired for each rotation of the probe 20 is 512 has been described, but the number of line data is not 512, for example, 256 or 1024. It may be an individual or the like.

(Operation example)
The diagnostic support device 160 transmits the first ultrasonic wave transmitted from the body surface toward the body by the ultrasonic wave transmitter 180 and the second ultrasonic wave radially to transmit the reflected wave to the second ultrasonic wave. Is communicably connected to the ultrasonic transducer 25 that receives the ultrasonic wave inside the living tissue. The control unit 41 of the diagnostic support device 160 acquires line data indicating the ultrasonic waves received by the ultrasonic vibrator 25 from the ultrasonic vibrator 25. The control unit 41 generates a frame image showing at least the inside of the living tissue based on the intensity of the reflected wave indicated by the line data. Then, the control unit 41 displays the generated frame image on a display as a display unit. When the first ultrasonic wave transmitted from the ultrasonic transmitter 180 is indicated by line data, the control unit 41 has a frame together with an image showing the direction in which the ultrasonic oscillator 25 receives the first ultrasonic wave. Display the image on the display. Therefore, according to the configuration according to the present embodiment, the IVUS image can be grasped in association with the direction of the ultrasonic wave transmitted by the ultrasonic transmitter 180, and the shooting direction of the IVUS image can be easily recognized. It becomes.

The operation of the diagnosis support system 100 according to the present embodiment will be described with reference to FIGS. 6 to 9.

FIG. 6 is a diagram illustrating an example of photographing by the diagnosis support system 100. In FIG. 6, 200 is the human body of the patient who is the subject. In FIG. 6, the human body 200 schematically shows a state in which a patient lies on the examination table 57 on his back and a cross section cut at the chest is viewed from the head. 210 is the patient's heart. 220 is a blood vessel present in the heart 210. In FIG. 6, the probe 20 is inserted into the blood vessel 220 of the heart 210, and the ultrasonic transducer 25 transmits and receives ultrasonic waves in the blood vessel 220. At the same time, the blood vessel 220 is photographed by the X-ray generating unit 52 and the X-ray camera 51. Further, the ultrasonic transmitter 180 is attached to the body surface of the human body 200. The ultrasonic transmitter 180 can be provided in the vicinity of the region between the X-ray generator 52 and the X-ray camera 51 through which ultrasonic waves pass. As a result, the diagnostic support device 160 displays an image indicating the direction of the ultrasonic transmitter 180 together with the frame image, so that the user can use the IVUS image and the contrast image acquired by the X-ray generator 52 and the X-ray camera 51. The positional relationship with and can be easily grasped.

In such a configuration, the ultrasonic transducer 25 receives not only the reflected wave of the ultrasonic wave transmitted from the ultrasonic transducer 25 but also the ultrasonic wave transmitted from the ultrasonic transmitter 180, and these ultrasonic waves are received. Line data indicating ultrasonic waves is transmitted to the diagnostic support device 160. The control unit 41 generates a frame image based on the reflected wave of the ultrasonic wave transmitted from the ultrasonic transducer 25, and identifies the ultrasonic wave transmitted from the ultrasonic transmitter 180, and the ultrasonic transducer 25 identifies the frame image. An image showing the direction in which the ultrasonic waves are received is displayed on the display unit together with the frame image.

FIG. 7A is a diagram showing an example of an IVUS image displayed together with an image showing the receiving direction of ultrasonic waves from the ultrasonic transmitter 180. In FIG. 7A, 61 is a frame image generated based on the reflected wave of the ultrasonic wave transmitted from the ultrasonic vibrator 25. 62 is an image showing the receiving direction of the ultrasonic wave from the ultrasonic wave transmitter 180. Reference numeral 65 corresponds to the direction in which the body surface exists. 63 indicates a portion where a lesion is observed. 66 indicates the direction in which the lesion is present. In this way, by also showing the receiving direction of the ultrasonic wave transmitted from the ultrasonic transmitter 180 in the IVUS image, the surgeon can grasp the IVUS image and easily recognize the shooting direction of the IVUS image. It becomes possible to do. In particular, when the ultrasonic transmitter 180 is provided in the vicinity of the region between the X-ray generator 52 and the X-ray camera 51 through which ultrasonic waves pass, the surgeon corresponds the IVUS image to the contrast-enhanced image. It becomes possible to easily grasp the relationship.

FIG. 7B is an example of an IVUS image in which the image 62 and the frame image 61 showing the receiving direction are rotated and displayed so that the receiving direction of the ultrasonic wave from the ultrasonic transmitter 180 coincides with a predetermined reference direction. It is a figure which shows. In the example of FIG. 7B, the reference direction is provided at the upper part of the screen, and the image 62 showing the receiving direction of the ultrasonic wave from the ultrasonic transmitter 180 is attached to the upper part of the frame image 61. In this way, by rotating and displaying the IVUS image so that the receiving direction of the ultrasonic wave from the ultrasonic transmitter 180 coincides with the predetermined reference direction, the surgeon can change the shooting direction of the IVUS image. It can be recognized more easily. This reference direction can be determined according to the imaging direction of the X-ray imaging apparatus 140. This allows the operator to easily recognize the correspondence between the contrast image captured by the X-ray imaging apparatus 140 and the IVUS image.

Instead of such a display, the control unit 41 displays, for example, an image 62 showing the receiving direction in a direction corresponding to the spatial direction in which the ultrasonic transmitter 180 emits ultrasonic waves toward the patient. The image 62 and the frame image 61 showing the reception direction may be rotated and displayed. For example, the control unit 41 indicates the reception direction so that the image 62 showing the reception direction by an angle between the direction of the ultrasonic wave emitted by the ultrasonic transmitter 180 and the vertically downward position is located at a position rotated from the upper part of the screen. The image 62 and the frame image 61 may be rotated and displayed. The direction of the ultrasonic wave emitted by the ultrasonic transmitter 180 is acquired by measuring the posture of the ultrasonic transmitter 180 with a gyro sensor or the like. In this way, the control unit 41 rotates and displays the image 62 indicating the receiving direction and the frame image 61 so that the image 62 indicating the receiving direction is located at a position corresponding to the posture of the ultrasonic transmitter 180. , The surgeon can more easily recognize the shooting direction of the IVUS image.

FIG. 8 is a diagram showing an example of a screen on which an IVUS image and a contrast image are displayed in the diagnosis support system 100. 81 is a screen displayed on the display. The frame image 61 acquired by the IVUS apparatus 120 and the contrast image 71 acquired by the X-ray imaging apparatus 140 are displayed on the screen 81. The frame image 61 is displayed together with the image 62 showing the receiving direction of the ultrasonic wave from the ultrasonic wave transmitter 180. As described with reference to FIGS. 7A and 7B, the direction of the lesion corresponds to the direction of travel of the ultrasonic waves from the ultrasonic transmitter 180. In the contrast image 71, the ellipse pointed to by the arrow 72 points in the direction of the lesion. Therefore, the operator who observes the screen 81 can grasp at a glance what kind of relationship the direction in the frame image 61 and the direction in the contrast image 71 have, and can easily interpret the contrast image. It is possible.

FIG. 9 is a flowchart showing the operation of the diagnosis support device 160. The operation of the diagnostic support device 160 described with reference to FIG. 9 corresponds to the information processing method according to the present embodiment. The operation of each step in FIG. 9 is executed based on the control of the control unit 41.

Prior to the start of the flow of FIG. 6, the probe 20 is fitted into the probe connection portion 34 and the probe clamp portion 37 of the drive unit 13 and connected and fixed to the drive unit 13. Then, the probe 20 is inserted to the target site in the blood vessel. The diagnostic support system 100 pulls back the ultrasonic transducer 25 while rotating it around the central axis of the probe 20, and starts taking an IVUS image. Further, the diagnostic support system 100 pulls back the ultrasonic vibrator 25 while rotating it around the central axis of the probe 20, and starts taking a contrast image of the same affected area in parallel with taking an IVUS image. do.

In step S11, the control unit 41 acquires line data indicating the ultrasonic waves received by the ultrasonic vibrator 25 rotating in the probe 20. Such ultrasonic waves are reflected waves for signal waves radially transmitted from the ultrasonic transducer 25 toward the outside of the probe 20 at predetermined time intervals, or ultrasonic waves transmitted from the ultrasonic transmitter 180. It is a sound wave (hereinafter referred to as "body surface wave").

In step S12, the control unit 41 determines whether or not the ultrasonic wave indicated by the line data acquired in step S11 is a reflected wave for the ultrasonic wave transmitted from the ultrasonic vibrator 25. If it is a reflected wave (YES in step S12), the control unit 41 performs the processing after step S13. When the ultrasonic wave indicated by the line data is not a reflected wave, that is, a body surface wave (NO in step S12), the control unit 41 performs the processing after step S15.

The control unit 41 determines whether the ultrasonic wave indicated by the line data corresponds to a reflected wave or a body surface wave based on at least one of the amplitude, phase, and frequency of the ultrasonic wave indicated by the line data. Can be done. Specifically, the control unit 41 can distinguish between a signal wave in which a reflected wave and a body surface wave are mixed by using an independent component analysis (ICA) method. ICA is an abbreviation for Independent Component Analysis. The control unit 41 may separate the reflected wave and the body surface wave from the data at different times on the same line by using the method of independent component analysis. FIG. 10 is a schematic diagram of an example of acquiring data at different times on the same line. For example, the control unit 41 acquires line data a92, a'93, ... Of the same line at different times from the frame image 91 in which the reflected wave and the body surface wave are mixed. The control unit 41 distinguishes between the line data by using an independent component analysis method on the premise that the line data is data generated by mixing reflected waves and body surface waves, which are independent data. May be good.

Alternatively, the ultrasonic transmitter 180 may periodically repeat the transmission (“ON”) and non-transmission (“OFF”) of the pulsed body surface wave at a predetermined timing. FIG. 11 is a schematic diagram showing an example of an IVUS image when the body surface wave is ON and OFF. The control unit 41 may distinguish between the reflected wave and the body surface wave based on the periodic change of the frame image 94 when the body surface wave is ON and the frame image 95 when the body surface wave is OFF. That is, by repeating ON and OFF of the body surface wave, the reflected wave and the body surface wave are visually raised. Therefore, the control unit 41 may separate the reflected wave and the body surface wave from the frame image in which a plurality of input data are considered to exist by data processing.

Further, the control unit 41 may distinguish between the reflected wave and the body surface wave based on the reachable depth. On the frame image, the image of the body surface wave from the ultrasonic transmitter 180 is farther than the image of the reflected wave for the ultrasonic wave radially transmitted from the ultrasonic oscillator 25. It is common to be able to observe up to a distance. Therefore, the control unit 41 has a depth at which the reflected wave does not reach on the frame image, that is, the reflected wave does not return and cannot be observed on the frame image, but the body surface wave is the body based on the data of the observable depth. The surface wave may be determined.

Using these methods, the control unit 41 can determine whether or not the ultrasonic wave indicated by the line data is a reflected wave with respect to the ultrasonic wave transmitted from the ultrasonic vibrator 25.

In step S13, the control unit 41 generates a frame image using the line data acquired in step S11. The specific processing procedure for generating the frame image is as described above. While the line data sufficient to generate one frame image is not received, the processes of steps S13 and S14 are skipped, and the process returns to step S11.

In step S14, the control unit 41 displays the frame image generated in step S13 on the display as the display unit. Then, the control unit 41 performs the processing after step S19.

In step S15, the control unit 41 determines the direction in which the ultrasonic transducer 25 receives the body surface wave transmitted from the ultrasonic transmitter 180. Specifically, the control unit 41 determines that the direction in which the intensity of the ultrasonic wave received from the body surface is the highest is the reception direction of the body surface wave. 12A and 12B are schematic views showing a process of determining the direction of the body surface wave. As shown in FIG. 12A, the ultrasonic transmitter 180 transmits ultrasonic waves from the body surface in the human body 200. In parallel with this, the ultrasonic oscillator 25 in the blood vessel 220 transmits and receives ultrasonic waves. In such a case, the IVUS image formed by the ultrasonic transducer 25 is as shown in FIG. 12B. In FIG. 12B, the frame image 96 shows the reception of ultrasonic waves having high intensity by the line data 98 due to the body surface wave in the direction 97 in which the ultrasonic waves are received from the ultrasonic vibrator 25. Therefore, the control unit 41 superimposes the body surface wave transmitted from the ultrasonic transmitter 180 based on the direction of the line data indicating the ultrasonic wave having the highest intensity among the line data acquired by the ultrasonic vibrator 25. The direction received by the sound wave oscillator 25 is determined.

In step S16, the control unit 41 determines whether or not to rotate the frame image based on the direction in which the ultrasonic transducer 25 receives the body surface wave. This determination can be made, for example, by having the user set whether or not to rotate the frame image in advance of processing and referencing the setting contents. It should be noted that the user may be able to set whether or not to rotate the frame image during the process. When it is determined to rotate the frame image (YES in step S16), the control unit 41 performs the processing after step S17. If it is not determined to rotate the frame image (NO in step S16), the control unit 41 performs the processing after step S18.

In step S17, the control unit 41 rotates the frame image and the image indicating the direction received by the ultrasonic vibrator 25 according to the direction received by the ultrasonic vibrator 25. The control unit 41 may rotate the frame image so that the direction in which the ultrasonic wave oscillator 25 receives the ultrasonic waves from the ultrasonic wave transmitter 180 coincides with a predetermined reference direction, for example. Alternatively, the control unit 41 may rotate the frame image according to the posture of the ultrasonic transmitter 180, for example.

In step S18, the control unit 41 displays an image indicating the direction in which the ultrasonic wave from the ultrasonic wave transmitter 180 is received by the ultrasonic vibrator 25 on a display as a display unit. When the frame image is rotated in step S17, the control unit 41 displays an image indicating the direction in which the ultrasonic transducer 25 receives the ultrasonic waves from the ultrasonic transmitter 180 rotated in accordance with the rotation. The processes of steps S13 and S14 and the processes of steps S15 to S18 can be executed in parallel. Therefore, when the ultrasonic wave from the ultrasonic transmitter 180 is shown by the line data by the series of processing of steps S13 to S18, the frame together with the image showing the direction in which the ultrasonic wave oscillator 25 receives the ultrasonic wave. The image can be displayed on the display.

In step S19, the control unit 41 acquires the contrast image captured by the X-ray imaging device 140 from the X-ray imaging device 140.

In step S20, the control unit 41 displays the contrast image acquired in step S19 on the display as the display unit. As described above, the control unit 41 displays the frame image together with the image showing the receiving direction of the ultrasonic wave from the ultrasonic transmitter 180 (steps S14 and S18), and displays the contrast image in step S19. Therefore, the surgeon can easily associate and recognize the position and direction in the IVUS image and the position and direction in the contrast image. In particular, the control unit 41 frames the frame so that the direction in which the ultrasonic transducer 25 receives the ultrasonic waves from the ultrasonic transmitter 180 coincides with the reference direction determined according to the imaging direction of the X-ray imaging device 140. The image may be rotated and displayed on the display unit. In this case, the surgeon can intuitively and easily recognize the position and direction in the IVUS image and the position and direction in the contrast image.

In step S21, the control unit 41 determines whether or not to end the process. When terminating (YES in step S20), the control unit 41 ends the process. If it does not end (NO in step S20), the control unit 41 returns to step S11 and continues the process.

As described above, in the diagnostic support system 100, the ultrasonic transducer 25 is not only the reflected wave of the ultrasonic wave transmitted by the ultrasonic transducer 25, but also the ultrasonic wave from the ultrasonic transmitter 180 provided on the body surface. Is received, and the transmission direction of the ultrasonic wave on the frame image is acquired. As a result, the direction on the frame image and the body surface direction are related, and it becomes possible to utilize the relationship between the direction on the body surface and the direction on the contrast image. Therefore, it becomes easy to read the direction of the lesion on the contrast image.

By using the diagnostic support system 100 in endovascular treatment, the surgeon can easily confirm the relationship between the captured image and the IVUS image when advancing the wire into the living tissue. Therefore, the surgeon can easily confirm the branching of the blood vessel and proceed with the treatment, and can shorten the procedure time. Also, for example, when proceeding with directional coronary resection (DCA), it is possible to improve the accuracy of determining the direction of DCA and reduce the risk of vascular perforation. "DCA" is an abbreviation for Directional Coronary Atherectomy.

Note that FIG. 9 shows an example in which the CPU 41 performs a process of generating a frame image in steps S13 and S14 and a process of displaying an image indicating the reception direction of the body surface wave in steps S15 to S18 for convenience of explanation. ing. Further, FIG. 9 shows an example in which the CPU 41 displays a contrast image after performing the processes of S11 to S18 for convenience of explanation. However, these processes do not have to be performed in this order, and may be executed in parallel, for example.

The present disclosure is not limited to the embodiments described above. For example, the plurality of blocks described in the block diagram may be integrated. Alternatively, one block may be divided. The plurality of steps described in the flowchart may be executed in parallel or in a different order depending on the processing power of the device that executes each step, or as necessary, instead of executing the steps in chronological order according to the description. .. Other changes are possible without departing from the spirit of this disclosure.

12 Cable 13 Drive unit 20 Probe 21 Drive shaft 22 Hub 23 Sheath 24 Outer tube 25 Ultrasonic transducer 26 Relay connector 31 Scanner unit 32 Slide unit 33 Bottom cover 34 Probe connection 35 Scanner motor 36 Outlet 37 Probe clamp 38 Slide motor 39 Switch group 41 Control unit 42 Storage unit 43 Communication unit 44 Input unit 45 Output unit 51 X-ray generator 52 X-ray camera 53 X-ray generator 54 X-ray camera 55 Arm 56 Arm 57 Inspection table 60 Frame image 100 Diagnosis Assistance system 120 IVUS equipment 140 X-ray equipment 160 Diagnostic support equipment 180 Ultrasound transmitter 200 Human body

Claims (9)

Inside the living tissue, the first ultrasonic wave transmitted from the body surface toward the body by the ultrasonic wave transmitting unit and the reflected wave for the second ultrasonic wave by transmitting the second ultrasonic wave radially. An information processing device that is communicably connected to the receiving ultrasonic transducer.
Line data indicating the ultrasonic wave received by the ultrasonic vibrator is acquired from the ultrasonic vibrator, and the line data is obtained from the ultrasonic vibrator.
Based on the intensity of the reflected wave indicated by the line data, at least a frame image showing the inside of the living tissue is generated.
The generated frame image is displayed on the display unit, and the frame image is displayed on the display unit.
When the first ultrasonic wave is indicated by the line data, a control unit for displaying the frame image on the display unit together with an image showing the direction in which the first ultrasonic wave is received by the ultrasonic vibrator is provided. Information processing device to be equipped. The control unit separates the first ultrasonic wave and the reflected wave from the line data at different times in the same direction by independent component analysis, and the ultrasonic wave indicated by the line data is the reflected wave and the first. The information processing apparatus according to claim 1, wherein it is determined which of the ultrasonic waves of 1. The control unit received the first ultrasonic wave by the ultrasonic vibrator based on the direction of the line data indicating the ultrasonic wave having the highest intensity among the line data acquired by the ultrasonic vibrator. The information processing apparatus according to claim 1 or 2, wherein the direction is determined. The control unit rotates the frame image so that the direction in which the first ultrasonic wave is received by the ultrasonic vibrator coincides with a predetermined reference direction, and causes the display unit to display the first ultrasonic wave. The information processing apparatus according to any one of 3 to 3. An information processing system including the information processing apparatus according to claim 4, the ultrasonic transmitting unit, and the ultrasonic vibrator. Further equipped with an imaging device for acquiring a contrast image of the living tissue,
The information processing device is communicably connected to the photographing device and is connected to the information processing device.
The control unit displays the contrast image acquired by the imaging device on the display unit together with the frame image.
The information processing system according to claim 5, wherein the reference direction is determined according to the photographing direction of the photographing apparatus. Inside the living tissue, the first ultrasonic wave transmitted from the body surface toward the body by the ultrasonic wave transmitting unit and the reflected wave for the second ultrasonic wave by transmitting the second ultrasonic wave radially. It is an information processing method of an information processing device that is communicably connected to the receiving ultrasonic transducer.
The control unit
Line data indicating the ultrasonic wave received by the ultrasonic vibrator is acquired from the ultrasonic vibrator, and the line data is obtained from the ultrasonic vibrator.
Based on the intensity of the reflected wave indicated by the line data, at least a frame image showing the inside of the living tissue is generated.
The generated frame image is displayed on the display unit, and the frame image is displayed on the display unit.
When the first ultrasonic wave is indicated by the line data, an information processing method for displaying the frame image on the display unit together with an image showing the direction in which the first ultrasonic wave is received by the ultrasonic vibrator. .. An ultrasonic transmitter that emits the first ultrasonic wave from the body surface to the inside of the body,
Inside the living tissue, ultrasonic vibration that receives the first ultrasonic wave transmitted by the ultrasonic wave transmitting unit, transmits the second ultrasonic wave radially, and receives the reflected wave for the second ultrasonic wave. With a child
It is an information processing method of an information processing system including an information processing device connected to the ultrasonic vibrator so as to be communicable.
The control unit of the information processing device
Line data indicating the ultrasonic wave received by the ultrasonic vibrator is acquired from the ultrasonic vibrator, and the line data is obtained from the ultrasonic vibrator.
Based on the intensity of the reflected wave indicated by the line data, at least a frame image showing the inside of the living tissue is generated.
The generated frame image is displayed on the display unit, and the frame image is displayed on the display unit.
When the first ultrasonic wave is indicated by the line data, an information processing method for displaying the frame image on the display unit together with an image showing the direction in which the first ultrasonic wave is received by the ultrasonic vibrator. .. Inside the living tissue, the first ultrasonic wave transmitted from the body surface toward the body by the ultrasonic wave transmitting unit and the reflected wave for the second ultrasonic wave by transmitting the second ultrasonic wave radially. A computer program for a computer that is communicably connected to the receiving ultrasonic transducer.
The process of acquiring line data indicating the ultrasonic waves received by the ultrasonic oscillator from the ultrasonic oscillator, and
A process of generating at least a frame image showing the inside of the living tissue based on the intensity of the reflected wave indicated by the line data.
The process of displaying the generated frame image on the display unit,
When the first ultrasonic wave is indicated by the line data, a process of displaying the frame image on the display unit together with an image showing the direction in which the first ultrasonic wave is received by the ultrasonic vibrator is performed. A computer program to be executed by the computer.

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