JP3251682B2 - Ultrasound diagnostic equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an ultrasonic diagnostic apparatus,
In particular, the present invention relates to an ultrasonic diagnostic apparatus that performs puncture by monitoring the inside of a living body with an ultrasonic image.

[0002]

2. Description of the Related Art An ultrasonic diagnostic apparatus can obtain a tomographic image on an arbitrary two-dimensional scanning plane in real time, and can be used for monitoring during puncturing. That is, puncture can be performed while displaying the position of the needle tip by displaying the needle tip of the puncture needle on the tomographic image.

According to this method, when the puncture needle is not on the two-dimensional scan plane, only the point where the puncture needle and the two-dimensional scan plane intersect can be confirmed, and accurate monitoring cannot be performed. Since the inside of the living body has a three-dimensional structure, the tip of the puncture needle is captured on a two-dimensional scanning plane, and a portion to be punctured (hereinafter, referred to as a puncture site)
Positioning the needle tip at a puncture site requires skill. Further, when the ultrasound probe cannot be freely moved like a transrectal probe, it may not be possible to set the two-dimensional scanning plane to pass through the puncture site. The work required for positioning is more difficult.

[0004]

As described above, in the conventional ultrasonic diagnostic apparatus, when puncturing, the needle of a puncture needle is captured on a two-dimensional scanning surface, and considerable skill is required to position the needle at the puncture site. In particular, when the ultrasonic probe cannot be freely moved like a transrectal probe, there is a problem that the work required for identifying the puncture site and positioning the puncture needle becomes particularly difficult.

An object of the present invention is to provide an ultrasonic diagnostic apparatus which can easily perform accurate monitoring of a puncture needle, and can easily identify a puncture site and position the puncture needle. .

[0006]

In order to solve the above-mentioned problems, an ultrasonic diagnostic apparatus according to the present invention comprises: an ultrasonic probe for obtaining an image signal by scanning a living body three-dimensionally with ultrasonic waves;
A three-dimensional image forming means for forming a three-dimensional image from an image signal obtained by the ultrasonic probe, a puncture needle attached to the ultrasonic probe and inserted into a living body, a needle tip position of the puncture needle and a living body Detecting means for detecting the approach route of
Display means for displaying a three-dimensional image formed by the three-dimensional image forming means and displaying on the three-dimensional image a marker indicating the needle tip position and approach path of the puncture needle detected by the detecting means. Features.

A tomographic image of at least two cross sections orthogonal to each other on a straight line connecting a puncture opening of the puncture needle into a living body and a puncture site is created from the three-dimensional image formed by the three-dimensional image forming means. Means for displaying the tomographic image in addition to the three-dimensional image on the display means.

An ultrasonic diagnostic apparatus according to another aspect of the present invention can instantaneously puncture a living body as a puncturing mechanism,
And using a puncture gun configured such that the relative position with respect to the puncture site can be set arbitrarily, displaying information on the relative position of the puncture gun with respect to the puncture site together with the three-dimensional image formed by the three-dimensional image forming means. It is characterized by.

More specifically, the puncture gun can arbitrarily set an elevation angle, an azimuth angle, and a distance to the puncture site as a relative position with respect to the puncture site, and the display means displays the elevation angle, the azimuth angle, and the puncture site. Is displayed together with the three-dimensional image.

[0010]

When a transrectal probe is used as an ultrasonic probe, for example, after inserting the probe from the rectum with the patient sitting or lying down, the relative positional relationship between the probe and the patient may be considered to be almost fixed. . Although real-time display of a three-dimensional image is difficult with current technology, a puncture site can be accurately identified from the three-dimensional image if the positional relationship between the probe and the patient hardly moves.

Focusing on this point, the present invention detects the needle tip position and approach route of the puncture needle and displays a marker indicating the needle tip position and approach route on a three-dimensional image. With such a display, the state of entry of the puncture needle can be monitored accurately and easily, and the puncture needle can be positioned so that the needle tip matches the puncture site.

On the other hand, when a puncture gun is used, the relative position of the puncture gun with respect to the puncture site, for example, the elevation angle and azimuth of the puncture gun and the distance to the puncture site can be arbitrarily set. If the distance to the puncture site is displayed, the information is set to be an appropriate value and given to the puncture gun, thereby positioning the needle tip of the puncture gun and instantly determining the desired puncture site. It is possible to puncture.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of an ultrasonic diagnostic apparatus according to one embodiment of the present invention.

In FIG. 1, the ultrasonic probe 1 is, for example, a transrectal probe, and is configured as shown in FIG. The ultrasonic probe 1 is formed in a cylindrical shape as a whole, and a front end side in the axial direction is a rotating section 21 configured to be rotatable around the axis, and a rear end side is a non-rotating section 22. A plurality of ultrasonic transducers 23 are arranged on the side surface of the rotating unit 21 along the length direction. That is, the ultrasonic transducer 23 forms a transducer array for linear scanning. The rotating unit 21 includes a non-rotating unit 22
Is driven to rotate by a motor (not shown) installed further rearward.

A puncture needle outlet 24 is formed on the side of the non-rotating portion 22 near the rotating portion 21, and the puncture needle 25 is inserted into the patient through the puncture needle outlet 24. Has become. Note that the position of the puncture needle outlet 24 coincides with the entrance of the puncture needle 25 into the patient, that is, the position of the puncture port.

The puncture needle 25 is moved in the axial direction of the ultrasonic probe 1 (x direction in FIG. 2) with the position of the puncture needle outlet 24 as a fulcrum.
For example, it is mounted so that it can rotate about ± 20 ° and about ± 10 ° in the z direction. In the non-rotating part 22, the x of the puncture needle 25 is
Rotation angle in direction and z direction (hereinafter referred to as puncture angle)
And an encoder 26 for measuring an approach distance within the patient and outputting the information as puncture needle position information.

The ultrasonic probe 1 thus configured is inserted into, for example, the rectum of a patient, and while transmitting and receiving ultrasonic waves by the ultrasonic transducer 23 while rotating the rotating unit 21, as shown in FIG. Scanning of the three-dimensional space 42 is possible. In other words, since the two-dimensional space 41 can be scanned by one linear scan by the ultrasonic transducer 23, an image signal of the three-dimensional space 42 having a fan-shaped cross section can be obtained by repeating this with the rotation of the rotating unit 21. it can.

Returning to FIG. 1, the ultrasonic probe 1 is connected to an ultrasonic transmitting / receiving unit 2. The ultrasonic transmission / reception unit 2 is a circuit that supplies a driving pulse to the ultrasonic transducer 23 and receives and processes a reflected wave signal received by the ultrasonic transducer 23. For example, the ultrasonic transmission / reception unit 2 is configured as shown in FIG. Is done. In FIG. 3, at the time of transmission, the pulse generator 31 outputs a rate pulse for determining the repetition period of the ultrasonic pulse. The rate pulse is input to an N-channel transmission delay circuit 32, where a delay time for electron focusing of the transmission beam is given, and then supplied to an N-channel drive circuit 33. The drive circuit 33 generates a transmission pulse for driving the ultrasonic transducer 23 to generate an ultrasonic wave. The timing of the drive pulse is determined by the output of the transmission delay circuit 32.

The drive pulse output from the drive circuit 33 is transmitted by an electronic switch 34 from among the M ultrasonic transducers 23 used for transmission to the N ultrasonic transducers (basically, N adjacent transducers). To be selectively supplied. As a result, the N ultrasonic transducers are driven, and ultrasonic pulses are emitted from the ultrasonic probe 1 in the form of beams toward a patient (not shown).

An ultrasonic pulse emitted from the ultrasonic probe 1 into the patient is reflected inside the patient, and the reflected wave is received by the ultrasonic probe 1. At the time of receiving the reflected wave, the same ultrasonic transducer as at the time of transmission is selected by the electronic switch 34, and only the reflected wave received by the selected ultrasonic transducer is extracted from the electronic switch 34 as a reflected wave signal. The reflected wave signal taken out via the electronic switch 34 is sent to an N-channel reception delay circuit 36, where a delay time similar to that of the transmission delay circuit 32 is given, and then sent to an adder 37 to be added and synthesized. You. The output signal of the adder 37 is logarithmically compressed and amplified by a logarithmic amplifier 38 and further detected by an envelope detector 39.

Returning to FIG. 1, the output signal of the transmitting / receiving section 2 (the output signal of the envelope detector 39 in FIG. 3) is A / A
The data is converted into a digital signal by the D converter 3 to become image data, and this image data is temporarily stored in the image memory 4. The image data stored in the image memory 4 is input to a two-dimensional image forming unit 7 including a frame memory 5 and a two-dimensional coordinate conversion unit 6, where the two-dimensional image,
That is, a B-mode tomographic image of the two-dimensional space 41 shown in FIG.

The data of the two-dimensional image obtained by the two-dimensional image forming unit 7 is input to a three-dimensional image forming unit 10 comprising a three-dimensional memory 8 and a three-dimensional coordinate transforming unit 9, where the three-dimensional image An image, that is, an image of the three-dimensional space 42 shown in FIG. 4 is configured.

Further, the data of the three-dimensional image obtained by the three-dimensional image forming unit 10 is input to the cross-section conversion image memory 11, where the data is drawn on a straight line connecting the puncture needle outlet 24 (puncture port) and the puncture site. The tomographic images of at least two cross sections orthogonal to each other are obtained by the cross section conversion.

Two-dimensional image forming unit 7, three-dimensional image forming unit 1
0 and the image data from the cross section conversion image memory 11 are input to the adder 13 together with the image data from the graphic memory 12 and added. The output signal of the adder 13 is converted into an analog signal by a D / A converter 14 and then input to a display unit 15 composed of a TV monitor. The graphic memory 12 stores a signal for displaying a graphic image indicating a scanning position of a two-dimensional image in a three-dimensional space on the display unit 15.

The system controller 16 controls the ultrasonic probe 1
Receiving the puncture needle position information from the encoder 26 and the puncture site designation information from the puncture site designation unit 17 provided in the ultrasonic transmitter / receiver 2, the two-dimensional image construction unit 7, the three-dimensional image construction unit 10, and the cross-section conversion image This is a circuit for controlling the memory 11 for graphics and the graphic memory 12. The puncture site specifying unit 17 is configured using, for example, a trackball, and is for specifying a puncture site on the display unit 15.

Next, the operation of this embodiment will be described. First,
Insert the ultrasonic probe 1 into the rectum of the patient,
By rotating the rotating part 21 of the three-dimensional space 4 shown in FIG.
Scan 2 is performed. The image data in the three-dimensional space 42 obtained from the ultrasonic probe 1 through the transmission / reception unit 2 and the A / D converter 3 by this scanning is temporarily stored in the image memory 4 and then stored in the two-dimensional image forming unit 7. Are converted into two-dimensional coordinates corresponding to the display unit 15 by the two-dimensional coordinate conversion unit 6 and stored in the frame memory 7. That is,
In the frame memory 7, image data of tomographic images, which are two-dimensional images of the two-dimensional space 41 forming the three-dimensional space 42, are sequentially obtained. Image data read from the frame memory 7 is input to a three-dimensional image forming unit 10, converted into three-dimensional coordinates by a three-dimensional coordinate conversion unit 9,
Is stored as three-dimensional image data.

After the necessary image data is stored in the image memory 4 and the three-dimensional memory 8 by performing the three-dimensional scanning in this manner, the puncture site is identified. FIG. 5 shows a display screen 50 of the display unit 15 at this time. In this case, first, the tomographic images 51 of the two-dimensional space 41 in the three-dimensional space 42 are sequentially formed at constant intervals by the two-dimensional image forming unit 7, and the frame is forwarded on the display unit 15 through the adder 13 and the D / A converter 14. Is displayed with. At this time, the graphic image 5 showing the scanning position of the two-dimensional space 41 in the three-dimensional space 42
2 is also displayed at the same time. In the graphic image 52, the shaded portion indicates the current scanning position.

First, the operator performing the puncture is tomographic image 5
1. Search for puncture site 54 on 1. In other words, the puncture site 5
Find the cross section where 4 exists. When the section in which the puncture site 54 exists is found, the operator specifies the puncture site by the puncture site specifying unit 17 using, for example, a trackball. When the puncture site is specified, a straight line 55 connecting the puncture port 53 and the puncture site 54 is displayed on the graphic image 52, and the angle (puncture angle, x in FIG. 2) when the puncture needle 25 in FIG. 2 is inserted. Direction and z-direction angle) and puncture port 5
Puncture needle position information 56 such as the distance from 3 to puncture site 54 (puncture distance) is displayed.

The marker (●) representing the puncture opening 53, the marker (×) representing the puncture site 54, and the image showing the straight line 55 connecting the puncture opening 53 and the puncture site 54 are provided by the encoder provided on the ultrasonic probe 1. It is created by the system control unit 16 based on the puncture needle position information from the puncture needle position information 26 and the puncture site designation information from the puncture site designation unit 17 and written into the graphic memory 12 to be superimposed and displayed on the graphic image 52. Is done.

Next, the image data read from the three-dimensional memory 8 is subjected to cross-section conversion by the cross-section conversion image memory 11 so that the puncture port 53 and the puncture site 5 shown in FIG.
4, two cross sections 61 and 62 orthogonal to each other on a straight line 55
Thus, images of a cross section 63 orthogonal to the cross sections 61 and 62 are formed, and the images of these cross sections 61 to 63 are displayed on the display unit 15 as shown in FIGS. Also,
As shown in FIG. 7A, a graphic image 52 indicating the scanning position shown in FIG. 5, a marker indicating the puncture opening 53 and the puncture site 54, a straight line 55 connecting them, and an entry path of the puncture needle 25 (puncture opening 53). The marker 56 indicating the route from the to the needle point 64) is also displayed at the same time.

Next, the operation for actually performing puncturing will be described. As described above, the encoder 26 in the ultrasonic probe 1
Thereby, the puncture angle and the puncture distance of the puncture needle 25 are measured. The puncture needle position information is input to the system control unit 16, and the needle tip position of the puncture needle 25 and the position in the three-dimensional space 41 where the entry path into the patient is located are calculated. Then, the data of the stylus position and the approach route are written into the graphic memory 12 and displayed as shown in FIG. FIG. 7A shows a three-dimensional space 41.
And (b), (c), and (d) are two-dimensional images of the three cross sections 61, 62, and 63 shown in FIG.

The operator confirms the position of the needle tip and the entry path of the puncture needle 25 in the three-dimensional space 41 in the patient while viewing the display of FIG. 7, and inserts the puncture needle 25. It is determined whether the puncture site 54 can be correctly reached. If the approach path is shifted, the puncture needle 25 is inserted again. When it is confirmed that the tip of the puncture needle 25 has reached a desired puncture site, biopsy cutting is performed.

As described above, according to the present embodiment, a three-dimensional image of the inside of the patient is displayed, and the position of the puncture needle 25 and the approach path are detected by the encoder 26 to indicate the needle position and the approach path. By displaying the marker on the three-dimensional image, it is possible to accurately and easily monitor the entry state of the puncture needle 25, and to position the puncture needle 25 so that the needle tip matches the puncture site. it can.

Next, another embodiment of the present invention will be described. In the above-described embodiment, the puncture angle and the puncture distance of the puncture needle 25 are detected by the encoder 26 incorporated in the ultrasonic probe 1, and the needle tip position and the approach path of the puncture needle 25 are obtained from the information. As shown in FIG. 8A, an ultrasonic transmitter 27 is built in the tip of the puncture needle 25, and the ultrasonic wave from the ultrasonic transmitter 27 is transmitted to the ultrasonic transducer 23.
To detect the needle point position and the approach route.

That is, ultrasonic pulses are emitted from the ultrasonic transmitter 27 at regular intervals during puncturing, and the ultrasonic pulses are transmitted to the ultrasonic transducer 2 while rotating the rotating unit 21.
3 is received by the transducers at both ends A and B in the array direction. During the puncture, the ultrasonic transducer 23
As shown in FIG. 8 (b), since A1, B1, and A are shifted by a predetermined angle in the rotation direction,
Detection is performed at three positions indicated by 2, 2, B3, A3, and B3. The needle tip position of the puncture needle 25 can be detected from these six received data, and the entry route of the puncture needle 25 can be detected from the needle tip position and the position of the puncture needle outlet 24.
The method for detecting the needle tip and the approach path of the puncture needle 25 may be, for example, a method using a magnetic sensor, and is not particularly limited.

Next, an embodiment in which a puncture gun 90 is used as shown in FIG. 9 in place of a normal puncture needle will be described. The puncture gun 90 is configured so that a puncture needle 91 can be instantaneously inserted into a patient and punctured by a power source such as an electromagnetic solenoid, and is attached via a shaft 92 in the present embodiment. The ultrasonic probe 1 is supported by the fixed part 22 of the ultrasonic probe 1 by the attached attachment 93.

The puncture gun 90 is rotatable up and down with the shaft 92 as a fulcrum, as shown by an arrow P.
Further, it is rotatable about the attachment 93 in the direction of arrow R. That is, the puncturing gun 90 has an elevation angle θp that is a rotation angle in the direction of arrow P and an azimuth angle θ that is a rotation angle in the direction of arrow R as relative positions with respect to the puncture site 94.
r and the distance (puncture distance) L to the puncture site 94 can be set arbitrarily.

The three-dimensional scanning and identification of the puncture site are performed in the same manner as in the previous embodiment. When the puncture site is identified, the elevation angle θp and the azimuth angle θr described above are
And the puncture distance L are obtained, and these information are displayed on the display unit 15 together with the three-dimensional image. The operator adjusts the elevation angle θp, the azimuth angle θr, and the puncture distance L from this display so as to be appropriate, and supplies the values to the drive system of the puncture gun 90 through the system control unit 16 to set these values. Thereafter, by firing the puncture gun 90, it is possible to puncture the set puncture site in an instant.

[0039]

As described above, according to the present invention, the needle position and the approach route of the puncture needle are detected, and a marker indicating the needle position and the approach route is displayed on a three-dimensional image, so that the puncture can be performed. The approach state of the needle can be monitored accurately and easily, and the puncture needle can be correctly positioned so that the needle tip matches the puncture site.

When puncturing is performed using a puncturing gun, relative positions such as the elevation angle and azimuth of the puncturing gun with respect to the puncturing site and the distance to the puncturing site can be arbitrarily set. Is displayed, and each information is set to an appropriate value and given to the puncture gun, whereby a desired portion can be punctured instantaneously.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of an ultrasonic diagnostic apparatus according to one embodiment of the present invention.

FIG. 2 is a side view showing the configuration of the ultrasonic probe unit in FIG.

FIG. 3 is a block diagram showing a configuration of an ultrasonic transmission / reception unit in FIG. 1;

FIG. 4 is a diagram for explaining three-dimensional scanning by an ultrasonic probe.

FIG. 5 is a view showing a display screen when a puncture site is identified in the embodiment.

FIG. 6 is an explanatory diagram of a cross section of an image stored in a cross section conversion image memory in FIG. 1;

FIG. 7 shows a display screen at the time of puncturing in the embodiment.

FIG. 8 is a diagram showing a configuration of an ultrasonic probe unit according to another embodiment of the present invention.

FIG. 9 is a diagram showing a configuration of an ultrasonic probe unit and a puncturing gun according to still another embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Ultrasonic probe 2 ... Ultrasonic transmission / reception part 3 ... A / D converter 4 ... Image memory 7 ... Two-dimensional image construction part 10 ... Three-dimensional image construction part 11 ... Cross-section conversion image memory 12 ... Graphic memory 13 ... Addition Device 14 ... D / A converter 15 ... Display unit 16 ... System control unit 17 ... Puncture site designation unit 21 ... Rotating unit 22 ... Fixed unit 23 ... Ultrasonic transducer 24 ... Puncture needle outlet 25 ... Puncture needle 26 ... Encoder 27 ... ultrasonic transmitter 41 ... two-dimensional space 42 ... three-dimensional space 50 ... display screen 51 ... tomographic image 52 ... graphic image 53 ... puncture opening 54 ... puncture site 55 ... straight line 61-63 ... cross-section converted cross section 64 ... needle Marker indicating tip 65 Marker indicating approach route 90 Puncturing gun 91 Puncturing needle

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Toru Hirano 1385-1, Shimoishigami, Otawara-shi, Tochigi Pref. Toshiba Nasu Plant (72) Inventor Yoshitaka Mine 1385-1, Shimoishigami, Otawara-shi, Tochigi Toshiba, Inc. Inside the Nasu Plant (72) Inventor Akihiro Sano 1385-1, Shimoishigami, Otawara City, Tochigi Prefecture Inside Nasu Plant, Toshiba Corporation (72) Inventor Takanobu Uchibori 1385-1, Shimoishigami, Otawara City, Tochigi Prefecture Toshiba Medical Engineering Corporation ( 72) Inventor Noboru Hirama No. 1385-1, Shimoishigami, Otawara-shi, Tochigi Pref. Toshiba Nasu Factory (56) References JP-A-62-284635 (JP, A) JP-A-61-8037 (JP, A) JP-A-4-28354 (JP, A) JP-A-2-246948 (JP, A) JP-A-2-36854 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) A61 B 8/00-8/15

Claims (4)

(57) [Claims] 1. An ultrasonic probe for obtaining an image signal by scanning a living body three-dimensionally with ultrasonic waves, a three-dimensional image forming means for forming a three-dimensional image from the image signals obtained by the ultrasonic probe, A puncture needle that is attached to an ultrasonic probe and inserted into a living body; a detection unit that detects a needle tip position of the puncture needle and an approach path in the living body; and a three-dimensional image formed by the three-dimensional image forming unit. And a display unit for displaying on a three-dimensional image a marker indicating the needle tip position and the approach path of the puncture needle detected by the detection unit. 2. A tomographic image of at least two cross sections orthogonal to each other on a straight line connecting a puncture opening of a puncture needle into a living body and a puncture site from a three-dimensional image formed by the three-dimensional image forming means. 2. The ultrasonic diagnostic apparatus according to claim 1, further comprising: a display unit that displays the tomographic image. 3. An ultrasonic probe for obtaining an image signal by scanning a living body three-dimensionally with ultrasonic waves, a three-dimensional image forming means for forming a three-dimensional image from the image signals obtained by the ultrasonic probe, A puncturing gun configured to be capable of instantaneously puncturing a living body and arbitrarily setting a relative position with respect to a puncturing site; and information on the relative position of the puncturing gun configured by the three-dimensional image forming unit. And a display unit for displaying the three-dimensional image together with the displayed three-dimensional image. 4. The puncturing gun according to claim 1, wherein an elevation angle, an azimuth angle, and a distance to the puncture site can be arbitrarily set as relative positions with respect to the puncture site, and the display means displays the elevation angle, the azimuth angle, and the distance to the puncture site. 4. The ultrasonic diagnostic apparatus according to claim 3, wherein information on the distance is displayed.