JP3340500B2 - Ultrasound 3D 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 tomographic image obtained by inserting an ultrasonic probe into a body cavity, irradiating the object with an ultrasonic pulse and receiving an ultrasonic echo from the object. The present invention relates to an ultrasonic three-dimensional diagnostic apparatus that constructs a three-dimensional image of a cavity, an organ, and the like and performs a diagnosis.

[0002]

2. Description of the Related Art In recent years, a method of irradiating an ultrasonic pulse into a living body, extracting the state of the body from the ultrasonic echo, and finding and diagnosing a lesion has become widespread. Above all, a method of irradiating an ultrasonic pulse from the body by inserting an ultrasonic probe into the body endoscopically is a high-frequency ultrasonic pulse that has a smaller attenuation of the ultrasonic pulse and a higher resolution than the extracorporeal method. It is noted that it can be used.

In such an intracavity ultrasonic probe, a so-called radial scan for scanning a section substantially perpendicular to a lumen axis in a body by rotating an ultrasonic transducer, or an ultrasonic transducer along a lumen axis is used. Obtaining an ultrasonic image of a lumen by performing a so-called linear scan for movement is considered most effective for diagnosis. Further, there has been attempted a method of constructing a three-dimensional image of a lumen by scanning the lumen spirally by combining the above-described radial scan and linear scan.

Here, in the spiral scan, usually, the ratio of the speed of the radial scan to the speed of the linear scan is kept constant, and the movement in the radial direction and the movement in the linear direction are synchronized. As an ultrasonic probe for performing such a spiral scan, the present applicant has disclosed, for example, Japanese Patent Application No. 4-190931 (Japanese Patent Application Laid-Open No. 6-30938).
In, to linearly move the rotation drive unit for driving the ultrasonic transducer to linearly move in the axial direction of the ultrasonic probe by the linear drive unit, detect the amount of movement of the rotation drive unit by the linear drive unit, We have been developing a device that calculates the position of an ultrasonic transducer provided at the tip of the rotation drive unit based on the amount of movement, and constructs a three-dimensional image based on the data.

[0005]

However, according to the present inventors, it has been found that the ultrasonic probe according to the proposal of the present applicant has the following points to be improved. That is, since a special driving device for performing the spiral scan is required, there is a concern that the driving mechanism becomes large. In addition, since the position in the linear movement of the ultrasonic transducer is calculated to construct a three-dimensional image, for example, when a curved lumen or a scan section is curved, the three-dimensional image is accurately constructed. You will not be able to do it.

Further, a large driving force is required to move the ultrasonic vibrator in the ultrasonic transmission medium in the axial direction, and the flexible shaft is stretched during the repetitive movement, so that the amount of linear movement of the rotary drive unit and the end of the linear drive unit are increased. The amount of movement of the provided ultrasonic vibrator does not match, so that image data at predetermined intervals in the linear direction cannot be obtained, and a distorted three-dimensional image may be constructed.

[0007] The present invention is proposed to solve the above problems, and is an ultrasonic probe for constructing a three-dimensional image.
The movement of the probe can be performed by a simple method using a general-purpose ultrasonic probe without using a special driving device,
Further, it is an object of the present invention to provide an ultrasonic three-dimensional diagnostic apparatus capable of obtaining accurate three-dimensional image data.

[0008]

Means for Solving the Problems According to the invention of the ultrasonic three-dimensional diagnostic apparatus according to the first aspect of the present invention, the insertion operation is performed so as to be able to advance and retreat into the body cavity of the subject , and the insertion is performed in accordance with the advance and retreat
Ultrasonic waves are radiated on the subject radially about the axis.
And receives reflected waves from the subject to
An ultrasonic transducer capable of acquiring ultrasonic tomographic information
A flexible ultrasonic probe provided at a predetermined position, and the ultrasonic vibrator at the insertion end of the ultrasonic probe .
Provided at a position Luo predetermined distance, and acceleration detecting means for detecting an acceleration of the insertion-side front end of the ultrasonic probe, wherein
Integrating the acceleration detected by the acceleration detecting means;
Thereby, the ultrasonic sound accompanying the advance / retreat operation of the ultrasonic probe
Displacement amount calculating means for calculating a displacement amount of the wave transducer along the insertion axis; and a plurality of displacement means centered on the axial direction obtained from the ultrasound transducer as the ultrasound probe advances and retreats . Each of the slice information and the change calculated by the displacement amount calculating means.
Storage means for storing image data for constructing a three-dimensional image in association with a displacement based on the position . Further, in the invention of the ultrasonic three-dimensional diagnostic apparatus according to claim 2, the insertion operation is performed so as to be able to advance and retreat into a body cavity of the subject , and the insertion and release is performed about the insertion axis with the advance and retreat.
Irradiating the subject with ultrasonic waves in a protruding manner;
Receiving the reflected wave from the ultrasonic tomographic information of the subject
Equipped with an ultrasonic transducer that can be acquired at a predetermined position at the tip
A flexible ultrasonic probe, provided at a position at a predetermined distance from the ultrasonic vibrator at the distal end on the insertion side of the ultrasonic probe, and provided at the distal end on the insertion side of the ultrasonic probe. First acceleration detecting means for detecting acceleration, and a predetermined distance in the insertion axis direction between the ultrasonic vibrator and the first acceleration detecting means at an insertion-side end of the ultrasonic probe.
Provided at a position, a second acceleration detecting means for detecting an acceleration of the insertion-side front end of the ultrasonic probe, wherein the
Acceleration detected by the first and second acceleration detecting means
Were each integrated; accompanied the advancing and retracting operation of the ultrasonic probe
Calculating means for calculating the position of the ultrasonic transducer along the insertion axis and the inclination angle of the tip of the ultrasonic probe; and the ultrasonic vibration as the ultrasonic probe advances and retreats.
Image data for constructing a three-dimensional image is stored by associating each of a plurality of pieces of tomographic information about the axial direction obtained from a moving element with the calculated values of the position and the tilt angle calculated by the calculating means. Storage means. Furthermore, the invention according to claim 3 is the ultrasonic three-dimensional diagnostic apparatus according to claim 1 or 2, wherein the three-dimensional image construction means constructs a three-dimensional image based on the image data stored in the storage means. Is further provided.

[0009]

As described above, the ultrasonic probe having the ultrasonic transmission / reception means is inserted into the body cavity so as to be able to advance and retreat, and the three-dimensional spatial movement amount of the tip on the insertion side is detected by the acceleration detection means provided on the insertion side. and calculates the position of the ultrasonic probe tip in three-dimensional space, since to obtain the image data for constructing a three-dimensional image using the calculated value, ultrasound for constructing a three-dimensional image probe
Movement can be performed by a simple method using a general-purpose ultrasonic probe without using a special driving device, and accurate three-dimensional even when a curved lumen or a scan section is curved. Image data can be obtained.

[0010]

1 and 2 show a first embodiment of the present invention. As shown in the cross-sectional view of FIG. 1, the ultrasonic probe 1 has an ultrasonic transducer 2, an x-axis direction acceleration sensor 3, a y-axis direction acceleration sensor 4, and a z-axis direction acceleration sensor 5 at its tip. The ultrasonic transducer 2 is fixed to the tip of a flexible shaft 6 extending in the axial direction, and the x-axis acceleration sensor 3, the y-axis acceleration sensor 4, and the z-axis acceleration sensor 5 have their detection surfaces orthogonal to each other. And is connected to a signal line 7 extending to a position signal processing unit described later.

A tip cap 8 is provided on the tip side of the x-axis direction acceleration sensor 3, the y-axis direction acceleration sensor 4, and the z-axis direction acceleration sensor 5.
An insertion hole 12 for inserting a guide wire 11 is formed in the outer surface of the probe sheath 9 further on the distal end side to the opening 10 at the end of the probe sheath 9. A sliding member 13 such as Teflon, polyacetal, or rulon is provided at a portion where the guide wire 11 passes through the probe sheath 9 so that the guide wire 11 can be inserted smoothly.

FIG. 2 is a block diagram of a three-dimensional ultrasonic diagnostic apparatus according to the present invention. The ultrasonic transducer 2 is connected to the probe driving unit 14 via a cable that passes through the inside of the flexible shaft. The probe driving unit 14 is connected to the ultrasonic signal processing unit 15, and the output of the ultrasonic transducer 2 is input to the ultrasonic signal processing unit 15. The ultrasonic signal processing unit 15 is connected to the image capture switch 16 and to the B-mode image terminal 18 of the display changeover switch 17. Also, an image capture switch 1
6 is connected to the storage device 19. One of the outputs of the ultrasonic signal processing unit 15 is stored in the storage device 19, and the other is output in B
The input is made to the mode image terminal 18.

The x-axis direction acceleration sensor 3, the y-axis direction acceleration sensor 4, and the z-axis direction acceleration sensor 5 are a position signal processing unit 2
0, one of the outputs from the position signal processing unit 20 is connected to the image capture switch 16 and the other is output to the storage device 1.
9 is input. The storage device 19 is connected to the three-dimensional image processing unit 21 and
The output from 1 is input to the three-dimensional image terminal 22. The output side of the display changeover switch 17 is connected to the display device 23.

Next, the operation of the first embodiment configured as described above will be described. First, the operator uses the guide wire 11.
From the tip of the ultrasonic probe 1 to a deep part in the body cavity,
By advancing the ultrasonic probe 1 along the guide wire 11, the ultrasonic probe 1 can be inserted deep into the body cavity. The ultrasonic probe 1 is inserted deep into the body cavity, an ultrasonic pulse is emitted from the ultrasonic transducer 2 toward the subject at a predetermined position, and the reflected echo is received. In this case, the ultrasonic transducer 2 performs a radial scan by rotating the flexible shaft 6. Further, a spiral scan is performed by moving the ultrasonic probe 1 forward or backward in the axial direction (FIG. 1).

Next, based on the echo signal sent from the ultrasonic transducer 2, the ultrasonic signal processing unit 15 creates a B-mode signal, and outputs the B-mode image of the image capturing switch 16 and the display changeover switch 17. Output to the terminal 18 as an ultrasonic image signal. The image capture switch 16
Is usually open. On the other hand, the x-axis direction acceleration sensor 3, y
A voltage corresponding to acceleration signals from the axial acceleration sensor 4 and the z-axis acceleration sensor 5 is output to the position signal processing unit 20 in real time. Then, the position signal processing unit 20 calculates the displacement amount of each acceleration sensor from the sequentially sent voltage values (FIG. 2).

For example, assuming that the acceleration of the x-axis direction acceleration sensor 3 changes with time, this is set as Ax (t),
The x-axis direction acceleration sensor 3 detects a voltage Vx proportional to Ax (t).
Output (t). Further, here, Vx (t) = αA
x (t). The time when a reset switch (not shown) provided in the position signal processing unit 20 is turned on is t = 0.
The distance x (t) that the x-axis direction acceleration sensor 3 has moved from that time is

(Equation 1) Is calculated.

Similarly, for other acceleration sensors, y
(t) and z (t) are calculated. Further, the position signal processing unit 2
0, (x ₀ , y ₀ , z
₀ ) is stored. Then, the position signal processing unit 20

(Equation 2) Is calculated.

The operator inputs a certain value δ ₀ by input means (not shown). When δ becomes greater than δ _{0, the} position signal processing unit 20 transmits an image capture signal to the image capture switch 16, and the displacement (x (t), y (t), z) of the ultrasonic transducer 2 at this time. (t)) to (x ₀ ,
y ₀ , z ₀ ) is stored in the memory, and this value is transmitted to the storage device 19.

The image capturing switch 16 is closed when receiving the image capturing signal, outputs the B-mode image from the ultrasonic signal processing unit 15 to the storage device 19, and opens again. Thus, the storage device 19 stores the displacements (x (t), y (t), z (t)
) Is stored. Since the operator moves the ultrasonic probe 1 forward and backward, the storage device 19
Stores ultrasonic tomographic images at regular intervals for each δ ₀ and position data of the ultrasonic transducer 2 corresponding thereto.

After completion of the above-described spiral scan, the three-dimensional image processing section 21 constructs a three-dimensional image by performing interpolation between ultrasonic tomographic images based on a series of image data stored in the storage device 19. Further, the three-dimensional image processing unit 21 outputs the constructed three-dimensional image to the three-dimensional image terminal 22 of the display changeover switch 17. With the display changeover switch 17, either the ultrasonic tomographic image or the three-dimensional image is displayed on the display device 2.
3 is switched.

In this embodiment, only one set of three acceleration sensors corresponding to the x, y, and z axes is used. However, a plurality of sets may be used. For example, two sets of acceleration sensors are arranged at different positions at the tip of the probe, and an ultrasonic signal processing unit
If 20 makes the inclination angle of the tip of the ultrasonic probe be calculated from two sets of data (x, yz), the inclination formed by each of the plurality of tomographic images can be known.

FIG. 3 shows a second embodiment of the present invention, in which parts corresponding to those of the first embodiment are denoted by the same reference numerals.
In the second embodiment, a rotary encoder 24 is provided at a connection portion of the probe drive unit 14 with the flexible shaft. This rotary encoder 24 is a frequency dividing circuit 2
5 to receive an output from the rotary encoder 24. Further, the frequency dividing circuit 25
Is input to the image capturing switch 16 and the position signal processing unit 20. Other configurations are the same as in the first embodiment.

Next, the operation of the second embodiment will be described. When radial scanning is performed by the ultrasonic transducer 2 while rotating the flexible shaft, the rotary encoder 24 detects the rotation of the flexible shaft. Then, the rotary encoder 24 outputs a pulse to the frequency dividing circuit 25 every rotation. The frequency dividing circuit 25 outputs a pulse multiplied by a preset frequency dividing ratio to the image capturing switch 16 and the position signal processing unit 20 via setting means (not shown).

The image capturing switch 16 is provided with a frequency dividing circuit 2
When a pulse is received from 5, the B-mode image from the ultrasonic signal processing unit 15 is output to the storage device 19 and opened again. When receiving the pulse, the position signal processing unit 20 outputs the position data to the storage device 19. Other operations are the same as in the first embodiment.

As described above, since the frequency division ratio is variable in this embodiment, if the frequency division ratio is reduced, an ultrasonic tomographic image can be obtained at a fine slice pitch, and a series of fine three-dimensional images can be constructed. Become like For other effects,
This is the same as the embodiment.

FIG. 4 shows an embodiment of the tip shape of the ultrasonic probe. In this embodiment, the tip cap 8
A screw portion 8a for attaching a guide wire holder, which will be described later, is formed on the tip side of the. The guide wire holder 26 has a hole 27 at the tip thereof for attaching the guide wire 11 and a hole 28 for injecting an adhesive from a direction perpendicular to the hole 27. . Therefore, to attach the guide wire 11, after inserting one end of the guide wire 11 into the hole 27, an adhesive is injected from the hole 28.

The guide wire holder 26 is provided with a screw hole 29 for the screw portion 8a. By screwing the screw portion 8a into the screw hole 29, an ultrasonic probe can be easily formed. The guide wire holder 26 can be attached to one probe sheath 9. For other configurations,
This is the same as the first embodiment. With such a configuration, thrombus and the like hardly adhere to the inside of the probe sheath 9,
Cleaning after use of the ultrasonic probe 1 becomes easy. Also,
Since the guide wire holder 26 is detachably attached to the ultrasonic probe 1, it can be easily replaced with another guide wire holder 26 or the like.

FIG. 5 shows another embodiment of the tip shape of the ultrasonic probe. This embodiment is a modification of the embodiment shown in FIG. 4, and is performed by the brazing portion 30 when the guide wire 11 is attached to the guide wire holder 26. Guide wire 1 is inserted into hole 27 of guide wire holder 26.
1 is inserted, and the end in the insertion direction is fixed via a brazing portion 30. Other configurations are the same as those in the above embodiment. With this configuration, the fixing strength of the guide wire 11 to the guide wire holder 26 can be improved. Other effects are the same as in the above embodiment.

[0029]

As described above, according to the present invention, the surgeon moves the ultrasonic probe for constructing a three-dimensional image using a general-purpose ultrasonic probe without using a special driving device. The probe can be moved in a simple manner by simply moving the probe in the axial direction, and there is no need to mechanically drive the ultrasonic transducer in the axial direction. In this case, accurate three-dimensional image data can be obtained.

[Brief description of the drawings]

FIG. 1 is a sectional view of a first embodiment of an ultrasonic three-dimensional diagnostic apparatus according to the present invention.

FIG. 2 is a block diagram of an ultrasonic three-dimensional diagnostic apparatus.

FIG. 3 is a block diagram of a second embodiment of the ultrasonic three-dimensional diagnostic apparatus of the present invention.

FIG. 4 is a sectional view of an embodiment of a tip portion of an ultrasonic probe.

FIG. 5 is a cross-sectional view of another embodiment of the tip portion of the ultrasonic probe.

[Explanation of symbols]

 Reference Signs List 2 ultrasonic transducer 3 x-axis acceleration sensor 4 y-axis acceleration sensor 5 z-axis acceleration sensor 14 probe driving unit 15 ultrasonic signal processing unit 16 image capture switch 17 display switching switch 18 B-mode image terminal 19 storage device Reference Signs List 20 position signal processing unit 21 three-dimensional image processing unit 22 three-dimensional image terminal 23 display device

Claims (3)

(57) [Claims] 1. A is retractably inserted operated into a body cavity of a subject, an ultrasonic radially around the insertion axis with this back and forth
Is irradiated on the subject, and the reflected wave from the subject
To receive ultrasonic tomographic information of the subject.
A flexible vibrator equipped with an ultrasonic vibrator at a predetermined position at the tip
An ultrasonic probe, and an ultrasonic vibrator at an end on the insertion side of the ultrasonic probe.
An acceleration detection means provided at a predetermined distance from the acceleration probe for detecting the acceleration of the insertion-side tip of the ultrasonic probe, and integrating the acceleration detected by the acceleration detection means
By doing so, the ultrasonic probe moves forward and backward
A variable for calculating the amount of displacement of the ultrasonic transducer along the insertion axis.
Position amount calculating means, and each of a plurality of pieces of tomographic information centered on the axial direction obtained from the ultrasonic transducer with the advance and retreat of the ultrasonic probe
And the displacement calculated by the displacement calculator.
Storage means for storing image data for constructing a three-dimensional image in association with a displacement , and an ultrasonic three-dimensional diagnostic apparatus comprising: 2. An insertion operation is performed so as to be able to advance and retreat into a body cavity of a subject, and an ultrasonic wave is radiated around an insertion axis in accordance with the advance and retreat.
Is irradiated on the subject, and the reflected wave from the subject
To receive ultrasonic tomographic information of the subject.
A flexible vibrator equipped with an ultrasonic vibrator at a predetermined position at the tip
An ultrasonic probe, and an ultrasonic vibrator at an end on the insertion side of the ultrasonic probe.
A first acceleration detecting means provided at a position at a predetermined distance from the ultrasonic probe to detect the acceleration of the insertion-side tip of the ultrasonic probe; and the ultrasonic transducer at the insertion-side tip of the ultrasonic probe. the insertion axis direction from the first acceleration detecting means with respect to
A second acceleration detecting means provided at a position at a predetermined distance from the ultrasonic probe and detecting the acceleration of the distal end on the insertion side of the ultrasonic probe, and the acceleration detected by the first and second acceleration detecting means.
Calculation means for integrating the accelerations and calculating the position of the ultrasonic transducer along the insertion axis and the inclination angle of the tip of the ultrasonic probe in accordance with the advance / retreat operation of the ultrasonic probe. And each of a plurality of pieces of tomographic information about the axial direction obtained from the ultrasonic transducer with the advance and retreat of the ultrasonic probe
3D ultrasound diagnostic apparatus characterized by having a storage means for storing image data for constructing a three-dimensional image in association with the calculated value of the calculated position and tilt angle by the calculating means and. 3. The ultrasonic three-dimensional diagnosis according to claim 1, further comprising a three-dimensional image construction unit configured to construct a three-dimensional image based on the image data stored in the storage unit. apparatus.