JP3947530B2 - Ultrasonic diagnostic equipment - Google Patents

Description

  The present invention relates to an ultrasonic diagnostic apparatus, and more particularly to an ultrasonic diagnostic apparatus that performs three-dimensional image processing.

  Observing the location and spread of the tumor in the body tissue, the flow and shape of the blood flow, or the extent of the tumor's infiltration into the blood flow and the spread along the blood flow is the progression of the patient's pathology and metastasis. It is medically important in making a diagnosis, determining a method, and predicting a prognosis. At that time, it is clinically useful to diagnose a tissue containing a tumor, a blood flow and a tissue containing a blood flow with an ultrasonic three-dimensional image, or with a multi-directional ultrasonic tomographic image. Related arts such as JP-A-6-254097 or JP-A-2000-242766 are known in the field of extracorporeal ultrasonic diagnosis in which ultrasonic waves are irradiated from outside the body.

  On the other hand, in recent years, in-vivo ultrasound diagnosis in which ultrasound is irradiated to a body-cavity probe from a body cavity lumen with little influence of attenuation due to fat or the like by various ultrasound probes including an ultrasound endoscope. There is technology. Also in this field, when performing invasion diagnosis of gastrointestinal tumors, observation of esophageal varices, and observation of blood flow around the gastrointestinal tumor, ultrasound is used to detect tumor-containing tissue and blood flow and tissue containing blood flow. The usefulness of diagnosing with a three-dimensional image or diagnosing with ultrasonic tomograms in multiple directions is known. As this related technique, related techniques such as Japanese Patent Application Laid-Open No. 2001-161893, Japanese Patent Application Laid-Open No. 6-261900, or Japanese Patent Application Laid-Open No. 11-113913 are known.

  The ultrasonic diagnostic apparatus disclosed in Japanese Patent Laid-Open No. 2001-161693 performs spiral scanning that combines mechanical radial scanning and mechanical linear scanning. By performing this spiral scanning, the ultrasonic diagnostic apparatus acquires data for ultrasonic three-dimensional image display, and simultaneously displays a radial image and a linear image with different observation directions (Dual Plane Reconstruction display). Or display an ultrasonic three-dimensional image.

  The ultrasonic diagnostic apparatus disclosed in JP-A-6-261900 and JP-A-11-113913 is configured by combining an ultrasonic probe (including an ultrasonic endoscope) that performs mechanical radial scanning and a position detector. ing. Then, the ultrasonic diagnostic apparatus acquires data for ultrasonic three-dimensional image display based on information on the position and orientation of the ultrasonic scanning plane from the position detector, and constructs an ultrasonic three-dimensional image. .

  In addition, an ultrasonic transducer array provided along the insertion axis, such as an electronic linear scanning type or an electronic convex scanning type ultrasonic endoscope, which has conventionally acquired Doppler data, is arranged on the insertion axis. 2. Description of the Related Art There is known an ultrasonic diagnostic apparatus that uses an ultrasonic endoscope that obtains a parallel tomographic image and acquires ultrasonic three-dimensional image data by rotating the endoscope around an insertion axis.

  However, when displaying a tissue containing a tumor as an ultrasonic three-dimensional image or displaying ultrasonic tomographic images in a plurality of directions in the intracavitary ultrasonic diagnosis field, the above-described technique has the following problems.

  The ultrasonic diagnostic apparatus disclosed in Japanese Patent Laid-Open No. 2001-161693 uses a flexible and thin ultrasonic probe to be inserted into a body cavity, and an ultrasonic transducer is provided at the tip thereof, and a motor is provided at the root thereof. ing. The ultrasonic transducer and the motor are connected by a flexible flexible shaft, and the rotational drive for radial scanning of the ultrasonic transducer is performed through the flexible shaft.

  For this reason, a deviation occurs between the rotation angle detected by the motor angle detector and the actual rotation angle of the ultrasonic transducer at the tip, and this deviation is uniform in time because of the curved shape of the flexible shaft. There was no. As a result, there is a problem that the acquired image data always has a difference from the actual shape, and distortion occurs in the ultrasonic three-dimensional image and the ultrasonic tomographic images in a plurality of directions.

  In the ultrasonic diagnostic apparatus disclosed in JP-A-6-261900 and JP-A-11-113913, the driving method of the ultrasonic transducer is the same as the method disclosed in JP-A-2001-161693. Accordingly, the obtained image data always has a difference from the actual shape, and there is a problem that distortion occurs in the ultrasonic three-dimensional image and the ultrasonic tomographic images in a plurality of directions.

  Further, the ultrasonic diagnostic apparatuses disclosed in Japanese Patent Laid-Open Nos. 6-261900 and 11-11913 have the following problems. For example, when constructing an ultrasonic three-dimensional image or an ultrasonic tomographic image in a plurality of directions using data indicating a specific direction such as a twelve o'clock direction in the ultrasonic tomographic image detected by the position detector, the position detector Since it is provided outside the insertion portion of the ultrasonic probe instead of the flexible shaft, there is a difference between the orientation of the ultrasonic scanning plane detected by the position detector and the rotation angle detected by the motor angle detector. . The difference between the orientation and the rotation angle is caused by the curved shape of the flexible shaft. Therefore, there has been a problem that a larger distortion occurs in the ultrasonic three-dimensional image and the ultrasonic tomographic images in a plurality of directions.

  Furthermore, an ultrasonic diagnostic apparatus disclosed in Japanese Patent Laid-Open Nos. 6-261900 and 11-1113913 includes an ultrasonic probe (including an ultrasonic endoscope) that performs mechanical radial scanning, and a position detector that uses, for example, a magnetic field. The three-dimensional image data is acquired based on the position and orientation information of the ultrasonic scanning plane from the position detector. For this reason, the magnetic field may be disturbed due to a change in the arrangement of the metal part due to the rotation of the flexible shaft or the ultrasonic transducer inside the insertion portion. As a result, the accuracy of the position and orientation data obtained from the position detector is lowered, and there is a problem that a greater distortion occurs in the ultrasonic three-dimensional image and the ultrasonic tomographic images in a plurality of directions.

  In the case of an ultrasonic diagnostic apparatus using an electronic linear scanning type ultrasonic endoscope that is an ultrasonic endoscope for acquiring Doppler data, an ultrasonic transducer array at the tip is used when performing a three-dimensional scan. In order to rotate around the insertion axis, the operator needs to obtain spatial echo data by twisting the ultrasonic endoscope of 1 to 2 m with the ultrasonic endoscope inserted from the patient's mouth was there. For this reason, it is very difficult to perform uniform and uniform acquisition of 3D data, and acquisition of 3D image data using this apparatus has not been put into practical use.

  Furthermore, when displaying a tissue containing blood flow in the field of intracavitary ultrasound diagnosis as an ultrasonic three-dimensional image or as a multi-directional ultrasonic tomographic image, the above-described conventional technique includes the following: There is a problem like this.

  Since the ultrasonic diagnostic apparatus disclosed in Japanese Patent Laid-Open Nos. 2001-161893, 6-261900, and 11-1113913 is configured to perform mechanical scanning, it originally acquires Doppler data to obtain blood flow and blood. The organization information including the flow could not be obtained.

  An ultrasonic diagnostic apparatus using an ultrasonic endoscope that obtains a tomographic image parallel to the insertion axis, such as an electronic linear scanning type or an electronic convex scanning type ultrasonic endoscope, is configured to perform electronic scanning, and thus has a Doppler effect. Can be used to obtain blood flow information. However, as described above, an operation for uniformly acquiring 3D data uniformly is very difficult, and acquisition of 3D image data with this apparatus has not been put into practical use.

  In view of this, the present invention provides a simple method for obtaining good image data without distortion when displaying a tissue containing a tumor as a three-dimensional ultrasonic image or displaying a plurality of ultrasonic tomographic images in the intracavitary ultrasonic diagnosis field. An object of the present invention is to provide an ultrasonic diagnostic apparatus that can be acquired by operation.

  Furthermore, the present invention provides a blood flow using the Doppler effect when displaying blood flow and a tissue including the blood flow as an ultrasonic three-dimensional image or displaying ultrasonic tomographic images in a plurality of directions in the body cavity ultrasonic field. An object of the present invention is to provide an ultrasonic diagnostic apparatus capable of acquiring flow information by a simple operation.

  The first ultrasonic diagnostic apparatus of the present invention acquires an ultrasonic echo signal of a test part from an ultrasonic probe inserted into a body cavity, and constructs ultrasonic tomographic image data from the ultrasonic echo signal. In the diagnostic apparatus, the ultrasonic probe has a plurality of ultrasonic vibrators provided around a predetermined position of the insertion axis and on a plane perpendicular to the insertion axis. An electronic scanning ultrasonic probe that transmits and receives ultrasonic waves and performs electronic scanning of ultrasonic waves in a plane perpendicular to the insertion axis, a magnetic field transmitting means for generating a magnetic field in space, and a magnetic field for receiving the generated magnetic field Receiving means, and either the magnetic field transmitting means or the magnetic field receiving means is fixed at a predetermined position with respect to the ultrasonic transducer, and the magnetic field transmitting means fixed at the predetermined position or The magnetic field receiving means Either one of the electronic scanning ultrasonic probe moves integrally with the ultrasonic transducer as the electronic scanning ultrasonic probe is manually inserted and removed, so that the position of the scanning plane of the electronic scanning of the electronic scanning ultrasonic probe and Based on a plurality of ultrasonic tomographic image data continuously obtained by detection means for detecting orientation and electronic scanning repeatedly performed by manually inserting and extracting the electronic scanning ultrasonic probe A three-dimensional image processing means for creating an ultrasonic three-dimensional image, the ultrasonic three-dimensional image prepared in advance by the manual insertion / extraction by the three-dimensional image processing means, and electronic scanning after the insertion / extraction. A combining means for generating a three-dimensional guide image by combining a new scanning plane position or orientation and an ultrasonic tomographic image generated from ultrasonic tomographic image data on the new scanning plane; , Characterized by comprising a display means for displaying said three-dimensional guide image on the same screen.

  According to a second ultrasonic diagnostic apparatus of the present invention, the first ultrasonic diagnostic apparatus further includes Doppler signal processing means for creating color data of blood flow of the test part based on the Doppler effect of the echo signal. And the three-dimensional image processing means creates an ultrasonic three-dimensional image of the blood flow based on the color data.

  According to a third ultrasonic diagnostic apparatus of the present invention, in the first or second ultrasonic diagnostic apparatus, the synthesizing unit sequentially changes the synthesis state based on a change in data sequentially output from the detecting unit. Characterized by changes.

  The fourth ultrasonic diagnostic apparatus of the present invention is characterized in that, in the first to third ultrasonic diagnostic apparatuses, the diagram showing the position or orientation is a planar schematic diagram.

  According to a fifth ultrasonic diagnostic apparatus of the present invention, in the fourth ultrasonic diagnostic apparatus, the schematic diagram is superimposed with ultrasonic tomographic image data.

  A sixth ultrasonic diagnostic apparatus according to the present invention is characterized in that, in the first to third ultrasonic diagnostic apparatuses, the diagram indicating the position or orientation is a line superimposed on the blood flow run.

  ADVANTAGE OF THE INVENTION According to this invention, when displaying the structure | tissue containing the tumor by an ultrasonic three-dimensional image in the ultrasonic field in a body cavity, favorable image data without a distortion can be acquired.

  Embodiments of the present invention will be described below with reference to the drawings.

(First embodiment)
1 to 9 are diagrams showing a first embodiment of the present invention. FIG. 1 is a diagram for explaining the overall configuration of the ultrasonic diagnostic apparatus according to the first embodiment. FIG. 2 is a diagram for explaining the configuration of the electronic radial scanning ultrasonic endoscope according to the first embodiment. FIG. 3 is a block diagram of the transmission / reception circuit according to the first embodiment. FIG. 4 is a flowchart illustrating an example of a flow of data recording processing according to the first embodiment. FIG. 5 is a flowchart illustrating an example of a flow of processing for creating a three-dimensional image according to the first embodiment. FIG. 6 is a diagram for explaining the operation of the cube data creation circuit according to the first embodiment. FIG. 7 is a diagram illustrating a display example of the monitor screen according to the first embodiment. FIG. 8 is a diagram for explaining the relationship between the coordinate systems according to the first embodiment. FIG. 9 is a diagram illustrating a modification of the display example of the monitor screen according to the first embodiment.

  First, the overall configuration will be described with reference to FIG.

  As shown in FIG. 1, the ultrasonic diagnostic apparatus 1 of the present embodiment includes an electronic radial scanning ultrasonic endoscope 2, a position / orientation detection unit 3, an ultrasonic processing unit 4, a keyboard 5, and a monitor 6. Have

  In the figure, thick dotted arrows indicate the flow of signals or data related to the three-dimensional image, thick solid arrows indicate the flow of signals or data related to the original image, and thin dotted arrows indicate the position, A signal or data flow related to a direction is shown, and a thin solid arrow indicates a flow of other signals such as a control signal or data.

  The electronic radial scanning ultrasonic endoscope 2 includes an annular ultrasonic transducer array 11 and a transmission coil 12 that transmits a magnetic field at the tip thereof, and a cross section perpendicular to the insertion axis by operating the operation unit 13. Scanning, that is, so-called electronic radial scanning is performed by rotating the ultrasonic beam. The position / orientation detection unit 3 includes a plurality of receiving coils 21 having different orientations fixed in space, and the electronic radial scanning ultrasonic endoscope 2 based on a current output when the receiving coil 21 detects a magnetic field. The position and orientation of the scanning plane are detected remotely. The ultrasonic processing unit 4 processes the ultrasonic echo signal from the ultrasonic endoscope 2 and the position and orientation data from the position / orientation detection unit 3 to construct a desired three-dimensional image. The keyboard 5 includes a scanning control key 22 and a three-dimensional key (hereinafter abbreviated as 3D key) 23 described later, and controls the ultrasonic processing unit 4 from the outside. The monitor 6 displays a three-dimensional image.

  The ultrasonic processing unit 4 includes an ultrasonic signal processing circuit 24, a synchronous writing circuit 25, a hard disk (hereinafter simply referred to as HDD) 26, an image processing circuit 27, a display circuit 28, and a control. Circuit 29.

  The ultrasonic signal processing circuit 24 creates image data of an ultrasonic tomographic image based on the ultrasonic echo signal. The synchronous writing circuit 25 controls the writing to the HDD by associating the image data with the position and orientation data in synchronization. The image processing circuit 27 constructs a three-dimensional image. The display circuit 28 converts the image data of the constructed three-dimensional image into an analog video signal that can be displayed on the monitor 6 and outputs the analog video signal. The control circuit 29 outputs various control signals for controlling each circuit in the ultrasonic processing unit 4.

  The ultrasonic signal processing circuit 24 includes a transmission / reception circuit 31, a B-mode processing circuit 32, a digital scan converter (hereinafter simply referred to as DSC (B)) 33, a Doppler processing circuit 34, and a digital scan converter ( Hereinafter, it is simply abbreviated as DSC (D).) 35 and a mapping circuit 36 for performing color flow mapping processing.

  The transmission / reception circuit 31 forms a single ultrasonic beam for transmission / reception by the ultrasonic transducer array 11, and processes the received beam signal created from the obtained ultrasonic echo signal with the B-mode processing circuit 32 at the subsequent stage and the Doppler processing. Output to both of the circuits 34. Further, the transmission / reception circuit 31 outputs the rotation angle information of the ultrasonic beam at the time of radial scanning to the DSC (B) 33 and DSC (D) 35 in the subsequent stage as rotation angle data. The B-mode processing circuit 32 performs known processes such as logarithmic amplification, envelope detection, A / D conversion, etc. on the received beam signal to convert the ultrasonic signal into digital echo data and output it. The DSC (B) 33 converts the polar coordinate system echo data into an orthogonal coordinate system that can be output to the monitor 6 and outputs it. The Doppler processing circuit 34 performs a known process such as phase detection, A / D conversion, MTI filter (MTI: moving target indicator), autocorrelation, etc. on the received beam signal, thereby using the Doppler effect to A blood flow component is extracted, and color data for coloring the blood flow position in the ultrasonic tomographic image is generated and output. The MTI filter cuts unnecessary components based on low-speed movement due to various factors such as heartbeat and peristalsis. The DSC (D) 35 converts the polar coordinate system color data into an orthogonal coordinate system so that it can be output to the monitor 6 and outputs the result. The mapping circuit 36 superimposes the color data output from the DSC (D) 35 on the blood flow portion on the image data of the ultrasonic tomographic image output from the DSC (B) 33, and outputs image data including color data. To do.

  The image processing circuit 27 includes a cube data creation circuit 41, a color part extraction circuit 42, and a three-dimensional image construction circuit 43. The cube data creation circuit 41 reads out the image data written in the HDD 6 and the position and orientation data, and creates voxel data having a three-dimensional lattice address space, that is, cube data CD. The color part extraction circuit 42 extracts a colored portion from the cube data CD. The three-dimensional image construction circuit 43 constructs a three-dimensional image based on the extracted colored portion data and outputs three-dimensional image data.

  As shown in FIG. 2, the electronic radial scanning ultrasonic endoscope 2 of the present embodiment is roughly divided into an endoscope operation unit 13 and an endoscope insertion unit 14. The endoscope insertion portion 14 is made of a flexible material since it is inserted into a body cavity having a large curvature such as the stomach, esophagus, and large intestine. The endoscope operation unit 13 is provided with a bending knob 15 for performing a bending operation. The user causes the wire (not shown) provided in the endoscope insertion portion 14 to advance and retreat by rotating the bending knob 15 to bend the endoscope insertion portion 14 and change the direction of the tip. Can be made.

  Further, a transmission coil 51, an illumination window 52 for illuminating the inside of the lumen, an optical observation window 53 for observation, and a large number of strip-shaped ultrasonic transducers 54 are provided at the distal end of the endoscope insertion portion 14. An ultrasonic transducer array 55 arranged in an annular shape is provided around the tip of 14. More specifically, a plurality of ultrasonic transducers 54 are provided annularly around the insertion axis at a predetermined position of the insertion axis at the distal end of the insertion portion 14. A signal line 56 is connected to each ultrasonic transducer 54 of the ultrasonic transducer array 55, and the signal line 56 is connected to the ultrasonic processing unit 4. A pulse-like transmission drive voltage for driving each ultrasonic transducer 54 and an ultrasonic echo signal from the ultrasonic transducer 54 are transmitted and received through this signal line 56. As will be described later, ultrasonic waves are transmitted and received by a plurality of ultrasonic transducers, and ultrasonic electronic radial scanning can be performed on a plane perpendicular to the insertion axis.

  The transmission coil 51 is composed of a composite of a plurality of solenoid coils wound in a plurality of directions, and when excited, it applies an anisotropic magnetic field to the space, that is, generates a plurality of magnetic fields having different directions. be able to.

  As shown in FIG. 3, the transmission / reception circuit 31 of the present embodiment includes a transmission drive voltage generation circuit 61, a transmission delay circuit 62, a transmission switching circuit 63, a reception switching circuit 64, an amplifier circuit 65, a reception delay, and the like. A circuit 66, an adder circuit 67, and a transmission / reception controller 68 are included.

  The transmission drive voltage generation circuit 61 generates a pulsed transmission drive voltage. The transmission delay circuit 62 outputs the transmission drive voltage with different delays for each signal line. The transmission switching circuit 63 sequentially selects a plurality of ultrasonic transducers 54 involved in the formation of an ultrasonic transmission beam and outputs a transmission drive voltage. The reception switching circuit 64 sequentially selects ultrasonic echo signals from the plurality of ultrasonic transducers 54 involved in the formation of the transmission beam and outputs them to the subsequent amplification circuit 65. The amplification circuit 65 amplifies each ultrasonic echo signal from the reception switching circuit 64. The reception delay circuit 66 outputs the amplified ultrasonic echo signals with a delay similar to the delay with respect to the transmission drive voltage in the transmission delay circuit 62. The adding circuit 67 adds the delayed ultrasonic echo signals to form and output a reception beam signal corresponding to one sound ray. The transmission / reception controller 68 outputs a switching control signal for controlling each circuit in the ultrasonic signal processing circuit 24 and rotation angle data to be described later.

  Next, the operation will be described.

(1) Description until a signal and data relating to an original image (signals and data necessary for creating image data of an ultrasonic tomographic image superimposed with color data) are output to the synchronous writing circuit.

  First, the operation of the transmission / reception circuit 31 will be described.

  The transmission drive voltage generated by the transmission drive voltage generation circuit 61 is appropriately delayed by the transmission delay circuit 62 and supplied to the plurality of ultrasonic transducers 54 selected by the transmission switching circuit 63. At this time, the transmission delay circuit 62 selects a plurality of ultrasonic transducers 54 arranged in succession by a switching control signal from the transmission / reception controller 68. The transmission delay circuit 62 applies a large delay to the transmission drive voltage of the ultrasonic transducer 54 at the center of the array, and applies a small delay to the transmission drive voltage as the ultrasonic transducer 54 moves away from the center of the array. Each of these ultrasonic transducers 54 converts the transmission drive voltage into an ultrasonic wave by electroacoustic conversion, and each ultrasonic wave forms one transmission beam due to this delay. The transmission / reception controller 68 causes the transmission switching circuit 63 to select the ultrasonic transducer 54 so that the ultrasonic beam sequentially turns in the direction of the arrow RS in FIG. 2 (radial scanning direction) via the switching control signal. A so-called radial scan in which a cross section perpendicular to the insertion axis of the ultrasonic endoscope 2 is scanned can be performed.

  The ultrasonic transducer array 55 performs radial scanning while transmitting and receiving ultrasonic waves, converts ultrasonic echoes on the scanning surface into electric signals, and supplies them as an ultrasonic echo signal to the reception switching circuit 64 in the transmission / reception circuit 31. The reception switching circuit 64 selects the same plurality of ultrasonic transducers 54 selected by the transmission switching circuit 63 by the switching control signal from the transmission / reception controller 68, and each ultrasonic echo from the selected ultrasonic transducer 54 is selected. The signal is output to the amplifier circuit 65. Each ultrasonic echo signal is amplified by the amplification circuit 65, is subjected to an appropriate delay by the reception delay circuit 66, and is added by the addition circuit 67 to form one reception beam signal of the ultrasonic wave. The received beam signal is output to the B mode processing circuit 32 and the Doppler processing circuit 34.

  The transmission / reception controller 68 outputs a switching control signal to the transmission switching circuit 63 and the reception switching circuit 64 on the basis of information on which ultrasonic transducer is to be switched, while the rotational angle of radial scanning by the ultrasonic transducer array 55. Is output to DSC (B) 33 and DSC (D) 35 as rotation angle data.

  Next, the operation of the subsequent circuit of the transmission / reception circuit 31 will be described.

  The B-mode processing circuit 32 performs known processes such as logarithmic amplification, envelope detection, and A / D conversion on the received beam signal to convert the ultrasonic signal into digital echo data.

  The DSC (B) 33 converts the echo data of the polar coordinate system into an orthogonal coordinate system that can be output to the monitor 6 based on the rotation angle data, creates image data of the ultrasonic tomogram, and outputs it to the mapping circuit 36 To do.

  The Doppler processing circuit 34 performs known processing such as phase detection, A / D conversion, MTI filter (MTI: moving target indicator), autocorrelation, and the like on the received beam signal, thereby using the Doppler effect to move the tissue. That is, the blood flow component is extracted, and color data for coloring the blood flow position in the ultrasonic tomographic image is created and output. At this time, the color data has a blood flow portion with a hue corresponding to the velocity.

  The DSC (D) 35 converts the polar coordinate system color data into an orthogonal coordinate system that can be output to the monitor 6 based on the rotation angle data, creates blood flow component data, and outputs the blood flow component data to the mapping circuit 36.

  The mapping circuit 36 superimposes the color data output by the DSC (D) 35 on the blood flow portion on the image data of the ultrasonic tomographic image output by the DSC (B) 33, and the ultrasonic tomography on which the color data is superimposed. The image data of the image is output to the synchronous writing circuit 25.

(2) Description until a signal and data relating to position and orientation (hereinafter also referred to as position / orientation data) are output to the synchronous writing circuit 25.

  The position / orientation detection unit 3 outputs a coil excitation signal that is an AC signal to the transmission coil 12 attached to the distal end portion of the ultrasonic endoscope 2. The frequency of this coil excitation signal differs according to the direction in which the conducting wire of each solenoid coil of the transmission coil 12 is wound. In this manner, an alternating magnetic field excited at a different frequency for each direction of each solenoid coil is generated between the subject and the distal end of the endoscope insertion portion 14.

  Each receiving coil 21 outputs a current generated by the magnetic field to the position / orientation detection unit 3.

  The position / orientation detection unit 3 converts the current into a voltage and further decomposes the frequency, thereby resolving the difference in the winding direction of the solenoid coil conductor of the transmission coil 12 based on the magnetic field. The position / orientation data of the transmission coil 12 expressed in a fixed coordinate system is calculated and output to the synchronous writing circuit 25 in the ultrasonic processing unit 4.

  The position and orientation data are calculated as follows.

Position and orientation data:
Position of transmitting coil 12: (Dx, Dy, Dz)
Orientation of transmitter coil 12: (ψ, θ, φ) [Euler angle]
(3) Description until a three-dimensional image is displayed based on the data output to the synchronous writing circuit 25.

  The synchronous writing circuit 25 writes the image data and the position / orientation data in association with each other in a synchronized manner.

  The cube data creation circuit 41 reads the image data and the position / orientation data written in the HDD 26, creates cube data CD having a three-dimensional grid address, and outputs the cube data CD to the color part extraction circuit 42. This cube data CD and the method of creating it will be described later in (4) -2.

  The color portion extraction circuit 42 extracts a colored portion from the cube data CD, and replaces the image data of the other portion in the cube data with “0”, that is, data that is not displayed. The cube data CD processed in this way is output to the three-dimensional image construction circuit 43.

  The three-dimensional image construction circuit 43 constructs a three-dimensional image from the extracted part and outputs the image data to the display circuit 28.

  The display circuit 28 converts the image data of the three-dimensional image into an analog video signal that can be displayed on the monitor 6 and outputs the analog video signal to the monitor 6. The monitor 6 displays a three-dimensional image.

(4) Explanation in accordance with actual use by user (4) -1 Recording of signals and data related to an original image and data related to position / direction to the HDD 26 will be described with reference to FIG.

  The process of FIG. 4 is started when the user presses the scanning control key 22 provided on the keyboard 5, and is controlled by the control circuit 29.

  When the control circuit 29 detects that the scanning control key 22 has been pressed, the control circuit 29 executes a radial scanning process. The ultrasonic transducer array 11 performs radial scanning of the ultrasonic beam according to a command from the control circuit 29 (S11 (hereinafter, step is abbreviated as S)).

  When the radial scan is executed, the reception coil 21 receives the magnetic field signal from the transmission coil 12, and the position / orientation detection unit 3 detects the position and orientation of the scanning plane and creates position / orientation data (S12). At the same time, the ultrasonic signal processing circuit 24 creates image data of an ultrasonic tomographic image on which color data is superimposed (S13).

  Subsequently, the synchronous writing circuit 25 associates the position / orientation data with the image data of the ultrasonic tomographic image on which the color data is superimposed, and records them in the HDD 26 (S14).

  Next, it is determined whether the scanning control key 22 has been pressed again by the user (S15). If the user presses the scan control key 22 again, the determination is YES and the process proceeds to the next process S16. In other cases, the process jumps to S11 and the above-described process is repeated.

  In S <b> 16, the control circuit 29 outputs a command (command) for stopping the radial scanning, and the ultrasonic transducer array 11 stops the radial scanning of the ultrasonic beam according to the command from the control circuit 29.

  Here, when the user advances and retracts the radial scanning ultrasonic endoscope 2 with his / her hand or uses the bending knob 15 to change the scanning plane, the above-described series of processing is repeated. The image data of the ultrasonic tomographic image is associated with the position / orientation data and continuously recorded in the HDD 26 as much as necessary for constructing the three-dimensional image.

(4) -2 Three-dimensional image creation from data taken into the HDD 26 will be described with reference to FIG.

  The processing in FIG. 5 is started by the user pressing the 3D key 23 provided on the keyboard, and is controlled by the control circuit 29.

  When it is detected by the control circuit 29 that the 3D key 23 has been pressed, the cube data creation circuit 41, in response to an instruction from the control circuit 29, displays an ultrasonic tomographic image stored in the HDD 26 as shown in FIG. Data and position / orientation data are read (S21). Based on the position / orientation data, the cube data creation circuit 41 embeds image data of an ultrasonic tomographic image in which one piece of color data is superimposed in a memory space having a three-dimensional grid-like address. Go. This embedding method will be described later. In this way, cube data CD as shown in FIG. 6 is created (S22). At this time, since the ultrasonic tomograms are not always parallel to each other, the cube data creation circuit 41 takes an average of the overlapping portions and performs interpolation on the sparse portions to make the data density constant.

  Next, the color portion extraction circuit 42 extracts a colored portion (blood flow portion) from the cube data CD, and replaces image data of other portions in the cube data with “0”, that is, data that is not displayed (S23). ).

  The three-dimensional image construction circuit 43 performs known three-dimensional image processing such as coordinate transformation, hidden surface removal, shading, etc., and constructs a three-dimensional image that expresses blood flow as shown in FIG. 7 from the extracted portion. (S24).

  The display circuit 28 converts the image data of the three-dimensional image into an analog video signal that can be displayed on the monitor 6 and outputs it (S25). As a result, the monitor 6 displays a three-dimensional image representing the blood flow as shown in FIG. A large blood vessel 72 and a small blood vessel 73 are displayed on the screen 71 of the monitor 6.

(4) -3 Detailed description of the cube data creation method (FIG. 5: supplement to S21).

  The user creates cube data CD having a three-dimensional lattice-like address by continuously acquiring ultrasonic tomographic images while moving the tip of the endoscope with a hand. However, for that purpose, each position in each ultrasonic tomographic image continuously captured in the space is expressed as coordinates in a coordinate system fixed in the space using data that can be acquired by the cube data creation circuit 41. It is necessary to The method will be described below.

  The reception coil 21 is fixed in space, and the transmission coil 12 is fixed near the distal end of the endoscope 2. At this time, as shown in FIG. 8, an orthogonal coordinate system O-xyz fixed to the receiving coil 21 and an orthogonal coordinate system O′-x′y′z ′ fixed to the transmitting coil 12 are introduced. . Note that the address of the cube data CD is expressed by coordinates in the orthogonal coordinate system O-xyz.

Table 1 shows the origin, coordinate axes, and unit vectors.

  Here, an arbitrary point on the ultrasonic tomographic image 78 of FIG. 8 is set as A (for example, a part of the blood flow 79), and the cube data creation circuit 41 uses the known data obtained from the HDD 26 to A method for expressing the coordinates in the orthogonal coordinate system O-xyz of the receiving coil 21 fixed in space will be described.

  The known data includes position data in the orthogonal coordinate system O-xyz of the position (horizontal a, vertical b) of the point A in the image and the position O ′ of the transmission coil 12 output by the position / orientation detection unit 3 ( Dx, Dy, Dz) and scanning plane orientation data (ψ, θ, φ) [Euler angle]. Therefore, for the above expression, the position of the point A is used as the unit vector (i, j, k) of the orthogonal coordinate system O-xyz (where i, j, k indicate vectors). ) As long as it can be expressed as a linear combination.

  The following relationship holds now.

Formula 1

Formula 2

Formula 3

式２、式３を式１に代入すると以下の式を得る。

Substituting Equation 2 and Equation 3 into Equation 1 yields the following equation:

Formula 4

式４より、（ｉ’，ｊ’，ｋ’）（ここで、ｉ’、ｊ’、ｋ’はベクトルを示す）が既知の量を用い（ｉ，ｊ，ｋ）（ここで、ｉ、ｊ、ｋはベクトルを示す）で表現されれば良いことになる。オイラー角（ψ、θ、φ）から定義される回転行列Ｔｘ（ψ）、Ｔｙ（θ）、Ｔｚ（φ）を用いると、次の式５のように表すことができる。

From Equation 4, (i ′, j ′, k ′) (where i ′, j ′, k ′ represents a vector) uses a known quantity (i, j, k) (where i, j and k represent vectors). When the rotation matrices Tx (ψ), Ty (θ), and Tz (φ) defined from the Euler angles (ψ, θ, φ) are used, they can be expressed as the following Expression 5.

Formula 5

ここで、回転行列は、次の式６から式８で定義される。

Here, the rotation matrix is defined by the following equations 6 to 8.

Equation 6

Equation 7

Equation 8

式６から式８を式５に代入し、ここから得られるｉ’（ここで、ｉ’はベクトルを示す）とｊ’（ここで、ｊ’はベクトルを示す）を式４に代入することによって、点Ａの位置ｒ（ここで、ｒはベクトルを示す）を、既知のデータａ、ｂ、Ｄｘ、Ｄｙ、Ｄｚ、ψ、θ、φを用い、Ｏ−ｘｙｚ座標系の単位ベクトル（ｉ，ｊ，ｋ）（ここで、ｉ、ｊ、ｋはベクトルを示す）の一次結合として表現できる。即ち、超音波断層像上の任意の点Ａは空間上に固定された座標系で表現できたことになる。

Substituting Expression 6 to Expression 8 into Expression 5, and substituting i ′ (where i ′ represents a vector) and j ′ (where j ′ represents a vector) obtained therefrom into Expression 4. By using the known data a, b, Dx, Dy, Dz, ψ, θ, φ, the position r of the point A (where r represents a vector), the unit vector (i of the O-xyz coordinate system) , J, k) (where i, j, and k represent vectors) can be expressed as linear combinations. That is, an arbitrary point A on the ultrasonic tomographic image can be expressed by a coordinate system fixed in space.

  In this way, the cube data creation circuit 41 expresses the coordinates (a, b) of each point on the ultrasonic tomographic image and the position / orientation data (Dx, Dy, Dz), (ψ, θ, φ). 4. Cube data can be created by substituting into the expression 5 and filling the image data of each point in the space of the cube data, averaging the overlapping portions, and interpolating the sparse portions.

  As described above, according to the present embodiment, the first object and the second object of the present application are achieved.

  Further, since the image data and the position / orientation data are associated and recorded in the HDD 26, it is possible to construct a three-dimensional image at the time of review after inspection.

  Next, a modified example will be described.

  Without using color data, as shown in FIG. 9, a three-dimensional image or other types of three-dimensional images that are expressed by combining such a cross-section 74 and an organ surface 75 in a body cavity with only a black and white ultrasonic tomographic image. You may build. In FIG. 9, 76 indicates a tumor. Therefore, it is possible to observe a three-dimensional image free from distortion caused by twisting of the flexible shaft more easily than conventional mechanical radial scanning type ultrasonic endoscopes and Colvex scanning type ultrasonic endoscopes.

  Further, the synchronous writing circuit 25 records the image data of the ultrasonic tomographic image on which the color data is superimposed on the HDD 26, and the color part extraction circuit 42 extracts only the color data, but the blood flow as in the present embodiment. When displaying a three-dimensional image only for traveling, only the color data may be recorded on the HDD 26 from the beginning.

  Furthermore, the positions of the transmission coil 12 and the reception coil 21 may be reversed, the transmission coil 12 may be fixed in space, and the reception coil 21 may be provided at the distal end of the endoscope insertion portion of the radial scanning ultrasonic endoscope 2. . In this case, the cube data address is expressed by coordinates in the orthogonal coordinate system O'-x'y'z '.

  Furthermore, as the data output by the position / orientation detection unit 3 regarding the orientation, data representing three angles of Euler angles ψ, θ, and φ is used. Other forms of data, such as the direction of the axis being placed, may be used.

(Second embodiment)
10 to 14 show a second embodiment of the present invention. FIG. 10 is a diagram for explaining the overall configuration of the ultrasonic diagnostic apparatus according to the second embodiment of the present invention. FIG. 11 is a flowchart showing an operation flow of the ultrasonic diagnostic apparatus according to the second embodiment. FIG. 12 is a diagram illustrating an example of a monitor screen according to the second embodiment. FIG. 13 is a diagram for explaining a modification of the overall configuration according to the second embodiment. FIG. 14 is a diagram showing a modified example of the monitor screen according to the second embodiment.

  As shown in FIG. 10, the ultrasonic diagnostic apparatus 1 according to the present embodiment includes two switchers 81 and 82 (usually ON on the terminal A side) that are switched in conjunction with each other, and a mixer circuit 83. It is provided in the processing unit 4. Further, a cross-sectional superimposing circuit 84 is provided between the color portion extraction circuit 42 and the three-dimensional image construction circuit 43 in the image processing circuit 27. Further, a switching control key 85 is provided on the keyboard. The switching control key 85 switches the switching devices 81 and 82 between the terminal A and the terminal B from one to the other each time the user presses the key.

  Since other configurations are the same as those of the first embodiment, the same components are denoted by the same reference numerals and description thereof is omitted.

  In the figure, thick dotted arrows indicate the flow of signals or data related to the three-dimensional image, thick solid arrows indicate the flow of signals or data related to the original image, and thin dotted arrows indicate the position, A signal or data flow related to a direction is shown. A thin solid arrow indicates a flow of other signals or data such as a control signal, and a thick white arrow indicates a signal or data of an image represented in FIG. .

  Next, the operation of the present embodiment will be described.

  When the switching devices 81 and 82 are switched to the A side, position / orientation data is not input to the cross-sectional superimposing circuit 84, and therefore the cross-sectional superimposing circuit 84 uses the input cube data CD as it is. Output to. Therefore, the same operation as in the first embodiment is performed.

  Operations different from those of the first embodiment will be described below with reference to FIG.

  First, when the user presses the scanning control key 22, the ultrasonic processing unit 4 records data in the HDD 26 as in S11 to S15 of the first embodiment (S31). At this time, the switching devices 81 and 82 are switched to the terminal A side.

  Next, when the user presses the 3D key 23 as in the first embodiment, the cube data creation circuit 41 and the color part extraction circuit 42 perform the same processing as S21 to S23 in the first embodiment (S32). ).

  Then, it is determined whether or not the switching control key 85 has been pressed (S33). If NO in S33, that is, if the switching control key 85 is not pressed, no processing is performed. If YES in S33, that is, if the switching control key 85 is pressed, the process proceeds to S34. In S34, the switching devices 81 and 82 switch the switch from the terminal A side to the terminal B side.

  Further, it is determined whether or not the user has pressed the scanning control key 22 (S35). If NO in S35, that is, if the scanning control key 22 has not been pressed, no processing is performed. If YES in S35, that is, if the scanning control key 22 is pressed, the process proceeds to S36.

  In S36, the ultrasonic transducer array 11 performs radial scanning of the ultrasonic beam again according to a command from the control circuit 29, and the process proceeds to S37.

  In S37, the cross-sectional superimposing circuit 84 writes the scanning surface of the electronic radial scanning ultrasonic endoscope 2 as a plate-like schematic diagram in real time in the space of the cube data CD based on the position / orientation data sequentially input. . The scanning surface writing method at this time will be described later.

  Subsequently, in S38, the three-dimensional image construction circuit 43 superimposes the schematic diagram of the scanning surface on the travel of the blood flow based on the blood flow portion extracted in the cube data and the data of the plate-like schematic diagram. A three-dimensional image (hereinafter also referred to as a guide image) is constructed. This process is performed in real time.

  In S39, the mixer circuit 83 mixes the guide image on the left side and the ultrasonic tomographic image on the right side to create a screen as shown in FIG.

  In S <b> 40, the display circuit 28 converts the screen image data mixed by the mixer circuit 83 into an analog video signal that can be displayed on the monitor 6, and outputs the analog video signal to the monitor 6. In S41, the monitor 6 displays the guide image on the left side and the ultrasonic tomographic image on the right side as shown in FIG.

  In S41, it is determined whether or not the user has pressed the scan control key 22 again. If YES in S41, that is, if the scan control key 22 has been pressed, radial scanning of the ultrasonic beam is terminated by an instruction from the control circuit 29, and the process proceeds to the next process (S42). In other cases, that is, in the case of NO in S41, the process proceeds to S36, and the subsequent processes are repeated.

  In S <b> 42, the ultrasonic transducer array 11 stops the radial scanning of the ultrasonic beam according to a command from the control circuit 29. In S43, the switching devices 81 and 82 are switched from the terminal B to the terminal A.

  Here, it is assumed that the user performs a series of operations from S31 to S43 while the endoscope insertion unit 14 is inserted into the subject. A guide image 87 on the left side of the monitor screen 86 in FIG. 12 shows a schematic diagram 88 representing an ultrasonic scanning plane (indicating the position and orientation of a tomographic image), and a schematic diagram obtained on the scanning plane on the right side. An ultrasonic tomographic image 89 corresponding to the above appears. In FIG. 12, 90 indicates the blood flow A, 91 indicates the blood flow B, 92 indicates the blood flow A displayed in color, and 93 indicates the blood flow B displayed in color. 94 indicates a tumor and 95 indicates the infiltration direction. Furthermore, the schematic diagram 88 on the left side is 3 in the direction indicated by the arrow 96 in accordance with the movement of the distal end of the ultrasonic endoscope 2 according to the position / orientation data sequentially output by the position / orientation detection unit 3 (in conjunction with). Move within a dimensional image. That is, the combined state of the schematic diagram and the three-dimensional image sequentially changes in accordance with the change in data sequentially output from the position / orientation detection unit 3. Also, the right ultrasonic tomogram changes correspondingly. This operation is performed in real time.

  Details of the scanning surface writing method to the cube data CD in S37 are as follows.

  The ultrasonic tomogram is rectangular, and the schematic diagram of the scanning plane is the unit vector i ′ direction (where i ′ represents a vector) of the orthogonal coordinate system O′-x′y′z ′ in the cube data. It can be expressed as a parallelogram with each side in the j ′ direction (where j ′ represents a vector). Therefore, the cross-sectional superimposing circuit 84 substitutes the position / orientation data sequentially input into the above-described equation 5, and i ′ and j ′ (where i ′ and j ′ indicate vectors) are orthogonal coordinate systems O-xyz. Can be expressed as a linear combination of unit vectors i, j, and k (where i, j, and k represent vectors), and this can be used to easily write a schematic diagram of this parallelogram into the cube data space. be able to.

  Other operations are the same as those in the first embodiment.

  As described above, according to the present embodiment, while moving the endoscope insertion portion, a right-side ultrasonic tomogram selects a position where a lesion such as a tumor and blood flow are closest to each other, and the ultrasonic tomogram It is easy to diagnose the degree of invasion of blood vessels by observing.

  Since the scanning plane is shown in real time in the guide image, it is easy to see what plane the ultrasonic transducer array is scanning the blood flow, so that it is easy to depict a lesion. The depth of penetration in the direction of approaching the blood flow of a lesion such as a tumor and the oversight of the degree of progress along the direction along the blood flow are also reduced. This is useful for prognosis prediction such as metastasis.

  In addition, because the guide image displaying blood flow in three dimensions and the ultrasonic tomographic image are easy to compare, the healing effect due to the histological differences in the lesion is reduced compared to the comparison by volume measurement etc. Easy to understand. Other effects are the same as those of the first embodiment.

  Next, a modified example will be described.

  Although the schematic diagram has been described as a simple parallelogram, the image data output from the switching devices 81 and 82 is output in parallel to the mixer circuit 83 and the cross-section superimposing circuit 84 as shown in FIG. Instead of a schematic diagram of a parallelogram, an image obtained by superimposing ultrasonic tomographic image data on a parallelogram as shown in FIG. 14 may be used as a schematic diagram. With this configuration, the positional relationship between a lesion such as a tumor and the blood flow becomes easier to understand. In FIG. 13, thick dotted arrows indicate the flow of signals or data related to the three-dimensional image, thick solid arrows indicate the flow of signals or data related to the original image, and thin dotted arrows indicate the position and direction. A thin solid arrow indicates a flow of other signals or data such as a control signal, and a white thick arrow indicates a signal or data of an image represented in FIG.

  In addition, although the schematic diagram was demonstrated as a parallelogram, you may use a line as demonstrated in FIG. 17 mentioned later as a schematic diagram.

(Third embodiment)
15 to 17 show a third embodiment of the present invention. FIG. 15 is a diagram for explaining the overall configuration of an ultrasonic diagnostic apparatus according to the third embodiment of the present invention. FIG. 16 is a flowchart showing an operation flow of the ultrasonic diagnostic apparatus according to the third embodiment. FIG. 17 is a diagram illustrating a display example of a monitor screen according to the third embodiment.

  As shown in FIG. 15, in the ultrasonic diagnostic apparatus 1 of the present embodiment, a readout circuit 101 is provided in the ultrasonic processing unit 4 and a trackball 102 is provided outside. The control circuit 29 outputs a tomographic position designation signal to the readout circuit 101 based on the output of the trackball 102. The readout circuit 101 retrieves and reads out image data and position / orientation data from the HDD 26 based on the tomographic position designation signal, and outputs the image data to the mixer circuit 83 and the position / orientation data to the tomographic position superimposing circuit 103. To do.

  Other configurations are the same as those of the first and second embodiments, and the same components are denoted by the same reference numerals and description thereof is omitted.

  In the figure, thick dotted arrows indicate the flow of signals or data related to the three-dimensional image, thick solid arrows indicate the flow of signals or data related to the original image, and thin dotted arrows indicate the position, A signal or data flow relating to a direction is shown, a thin solid arrow indicates a flow of other signals or data such as a control signal, and a white thick arrow indicates a signal or data of an image represented in FIG. .

  Next, the operation of the present embodiment will be described.

  The effect | action of this embodiment is divided roughly into the review during the test | inspection of the subject by an operator, and a test | inspection after a test | inspection.

(1) Operation during inspection Since it is the same as that of the second embodiment, a description thereof will be omitted.

(2) Action after inspection The action after the inspection will be described with reference to FIG. It is assumed that image data of an ultrasonic tomographic image necessary for constructing a three-dimensional image is recorded in advance in the HDD 26 during inspection.

  When the user presses the 3D key 23, the process of FIG. 16 is started. First, in S51, the cube data creation circuit 41 and the color part extraction circuit 42 perform the same processing as S21 to S23 in the first embodiment (S51). Next, in S52, the tomographic position superimposing circuit 103 shows the scanning plane from which the ultrasonic tomographic image is obtained as shown in the guide image 87 on the left side of FIG. 17 in the extracted blood flow portion in the cube data. A line (hereinafter, tomographic position designation cursor) 111 is superimposed. It should be noted that the superimposed position at the beginning of the process may be any position in the blood flow portion.

  Next, in S53, the three-dimensional image construction circuit 43 constructs a guide image 87 on which the tomographic position designation cursor 111 is superimposed. Then, the guide image 87 on which the tomographic position designation cursor 111 is superimposed is displayed on the monitor 6 through the mixer circuit 83 and the display circuit 28 (S54). It is assumed that the ultrasonic tomographic image 89 is not yet displayed on the monitor screen 86 at the beginning of the process.

  The user moves the trackball 102 while looking at the tomographic position designation cursor 111 on the guide image 87. In S55, it is detected whether or not the trackball 102 has been moved.

  If NO in S55, that is, if the trackball 102 is not moved, no processing is executed. If YES in S55, that is, if the trackball 102 is moved, the process proceeds to S56. Based on the output of the trackball 102, the control circuit 29 outputs to the readout circuit 101 information on the distance to which the tomographic position designation cursor 111 should move in which direction on the monitor screen 86 as a tomographic position designation signal ( S56).

  The sequential circuit 101 searches the HDD 26 for position / orientation data that matches or is close to the position of the tomographic position designation cursor 111 designated by the tomographic position designation signal, and the position / orientation data and the image of the ultrasonic tomographic image associated therewith. Data is read out (S57). The tomographic position superimposing circuit 103 superimposes a new tomographic position specifying cursor on the extracted pedigree part in the cube data based on this position orientation data instead of the old tomographic position specifying cursor (S58). The three-dimensional image construction circuit 43 constructs a guide image 87 on which the tomographic position designation cursor 111 is superimposed (S59).

  Then, the mixer circuit 83 mixes the image data of the guide image 87 and the image data of the ultrasonic tomographic image 89 associated with the position / orientation data corresponding to the tomographic position designation cursor 111 (S60). A guide image on which a new tomographic position designation cursor is superimposed instead of the guide image on which the old tomographic position designation cursor is superimposed and an ultrasonic tomogram corresponding to the guide image are displayed on the monitor 6 via the mixer circuit 83 and the display circuit 28. (S61). In S62, it is determined whether or not the user has pressed the 3D key again. If YES, the process is terminated by an instruction from the control circuit 29. Otherwise, the process jumps to S55 and the subsequent processing is repeated.

  Accordingly, when the user moves the cursor 111 to the position to be observed on the guide image 87 on the left side of the monitor screen by moving the cursor 111 in the direction indicated by the arrow 112 using the trackball 102, for example, The sonic tomographic image 89 is sequentially changed and updated in accordance with the movement of the cursor. This is as shown in FIG. Other operations are the same as those of the second embodiment.

  As described above, according to the present embodiment, when the user moves the cursor position to the position to be observed on the guide image on the left side of the monitor screen using the trackball, the ultrasonic tomogram on the right side moves the cursor. Since it is configured to be changed and updated sequentially corresponding to the above, it is easy to understand how a lesion such as a tumor spreads along the blood flow, and it is easy to make a progress diagnosis. In addition, since the processing is executed based on the image data and the position / orientation data recorded in the HDD, it is possible to make a diagnosis in an easy-to-understand manner when reviewing a case after the examination. Other effects are the same as those of the second embodiment.

  Next, a modified example will be described.

  In the present embodiment described above, the readout circuit 101 searches the HDD 26 for position / orientation data that matches or is close to the position of the tomographic position designation cursor 111, and extracts the position / orientation data and the ultrasonic tomographic image 89 associated therewith. The image data is read out. However, by replacing the readout circuit 101 with an arbitrary tomographic image creating circuit, an ultrasonic tomographic image having a cross section perpendicular to the blood flow direction may be newly created from the image data recorded in the HDD 26. Usually, diagnosis of invasion into a blood vessel is made by diagnosing a distant part of the blood vessel close to the blood vessel, so it is preferable to make a diagnosis with an ultrasonic tomogram in a cross section perpendicular to the blood flow. Therefore, with this configuration, it is possible to satisfactorily observe an ultrasonic tomographic image on a vertical section, not an ultrasonic tomographic image on an oblique section with respect to the travel of the blood vessel. Further, in such a case, if a schematic diagram of a parallelogram as shown in FIG. 12 is used in place of the tomographic position designation cursor 111 and this schematic diagram is moved by the trackball 102, an ultrasonic tomogram and blood The positional relationship with the flow can be made easier to understand.

(Fourth embodiment)
18 and 20 show a fourth embodiment of the present invention. FIG. 18 is a diagram for explaining the overall configuration of an ultrasonic diagnostic apparatus according to the fourth embodiment of the present invention. FIG. 19 is a flowchart showing an operation flow of the ultrasonic diagnostic apparatus according to the fourth embodiment. FIG. 20 is a diagram illustrating a display example of a monitor screen according to the fourth embodiment.

  As shown in FIG. 18, the ultrasonic diagnostic apparatus 1 of the present embodiment is provided with a trackball 102 outside. Further, in place of the color part extraction circuit 42 and the three-dimensional image construction circuit 43 of the first embodiment, a plurality of tomographic image construction circuits 121 for constructing a plurality of ultrasonic tomographic images having different directions are provided. Further, a DPR key 122 is provided instead of the 3D key 23 on the keyboard 5. The control circuit 29 creates a tomographic position designation signal based on the output of the trackball 102 and outputs it to the multiple tomographic image construction circuit 121.

  Since other configurations are the same as those of the first embodiment, the same components are denoted by the same reference numerals, and description thereof is omitted.

  In the figure, thick dotted arrows indicate the flow of signals or data related to the three-dimensional image, thick solid arrows indicate the flow of signals or data related to the original image, and thin dotted arrows indicate the position, A signal or data flow related to a direction is shown, and a thin solid arrow indicates a flow of other signals such as a control signal or data.

  Next, the operation of the present embodiment will be described.

  The operation of this embodiment is the same as that of the first embodiment except for the operation of the trackball 102, the control circuit 29, and the multiple tomographic image construction circuit 121.

  The operation different from that of the first embodiment will be described below with reference to FIG.

  It is assumed that image data of an ultrasonic tomographic image necessary for constructing a three-dimensional image is recorded in advance in the HDD 26 by the same method as S11 to S16 in the first embodiment.

  The user presses the DPR key 122 provided on the keyboard 5 to start the process of FIG.

  When the DPR key 122 is pressed, the cube data creation circuit 41 performs the same processing as S21 to S22 in the first embodiment, and creates cube data CD (S71). The multiple tomographic image construction circuit 121 extracts image data of a plane perpendicular to the x-axis and a plane perpendicular to the y-axis of the cube data CD shown in FIG. 6 according to a command from the control circuit 29 (S72). In the following, an ultrasonic tomographic image P (131) is composed of image data of a plane perpendicular to the x axis, and an ultrasonic tomogram is composed of image data of a plane perpendicular to the y axis. It will be referred to as image Q (132). The plane positions of the ultrasonic tomographic image P (131) and the ultrasonic tomographic image Q (132) are set to the center of the cube data shown in FIG. 6, that is, x = L / 2 and y = D / 2 by default. It is assumed that

  Next, the multiple tomographic image construction circuit 121 superimposes the intersection line of the plane P and the plane Q on the ultrasonic tomographic image P (131) (S73). Hereinafter, the cut line superimposed on the ultrasonic tomographic image P (131) will be referred to as a cut line P (133). The multiple tomographic image construction circuit 121 superimposes the intersection line of the plane P and the plane Q on the ultrasonic tomographic image Q (132) (S74). Hereinafter, the cut line superimposed on the ultrasonic tomographic image Q (132) will be referred to as a cut line Q (134).

  In S75, the multiple tomographic image constructing circuit 121 displays a plurality of ultrasonic tomographic images in different directions, that is, image data in which the ultrasonic tomographic image P (131) and the ultrasonic tomographic image Q (132) are arranged on the display circuit 28. Output. The display circuit 28 converts the image data of a plurality of tomographic images into an analog video signal that can be displayed on the monitor 6 and outputs the analog video signal (S76). The monitor 6 displays a plurality of tomographic images representing the blood flow 135 shown in FIG. 20 in a colored manner (S77).

  When the user moves the trackball 102, it is detected that the trackball 102 has been moved, and YES is obtained in S78, and the process proceeds to S79. If the trackball 102 is not moved, no processing is performed. In S79, based on the output of the trackball 102, the control circuit 29 outputs to the multiple tomographic image construction circuit 121 information as to which distance on which to move on the monitor screen 86 and which distance to move as a tomographic position designation signal. . Next, based on the tomographic position designation signal included in the command from the control circuit 29, the multiple tomographic image constructing circuit 121 again forms an ultrasonic tomographic image P (131) perpendicular to the x axis and an ultrasonic perpendicular to the y axis. A sonic tomographic image Q (132) is extracted (S80). The plane positions of the ultrasonic tomographic image P (131) and the ultrasonic tomographic image Q (132) are newly determined from the contents of the tomographic position designation signal (S80). In S81, it is determined whether or not the user has pressed the DPR key 122 again. If it is detected that the user has pressed the key, the determination is YES and the process is terminated in accordance with the command from the control circuit 29. In other cases, the process jumps to the process of S73 and the process is repeated.

  Therefore, for example, when the blood flow 135 is confirmed on the ultrasonic tomographic image P using the trackball 102 and the cut line 133 is aligned with the site, the ultrasonic tomographic image Q (corresponding to the position of the cut line 133 on the right side. 132) is displayed, and the travel of the blood flow 135 can be observed from two directions. Other operations are the same as those in the first embodiment.

  As described above, in this embodiment, as shown in FIG. 20, a plurality of ultrasonic tomographic images P (131) and Q (132) having different directions are displayed side by side simultaneously on the monitor screen 86. . Therefore, in a case such as an esophageal varices, for example, the user slowly pulls the endoscope insertion portion inserted into the esophagus so that the vein flowing along the esophagus can be traveled by the ultrasonic tomogram P (131) or the ultrasonic tomography. It is easy to understand and display on the image Q (132). FIG. 20 shows a state when the electronic radial scanning ultrasonic endoscope 2 is pulled along the x-axis direction of the orthogonal coordinate system to which the receiving coil 21 is fixed. In this case, an ultrasonic tomogram is displayed. P is a tomographic image perpendicular to the endoscope insertion axis, and the ultrasonic tomographic image Q corresponds to a parallel tomographic image. With this method, it is possible to display blood flow that is difficult to express with conventional ultrasonic endoscopes by coloring it with color data, and for example, it is important to determine the state of blood flow aneurysm and blood flow bypass travel This is useful for the diagnosis of esophageal varices. Other effects are the same as those of the first embodiment.

  Next, a modified example will be described.

  In the present embodiment, a so-called DPR display mode in which two orthogonal ultrasonic tomographic images are displayed on the screen has been described. This is also an MPR display (Multi Plane Construction) in which a larger number of ultrasonic tomographic images are displayed on the screen. Good. Further, the ultrasonic tomographic image does not have to be orthogonal depending on the case and the situation.

  From the configuration described above, the configuration shown in the following supplementary notes is characteristic.

[Additional notes]
(1) In an ultrasonic diagnostic apparatus for acquiring an ultrasonic echo signal of a test part from an ultrasonic probe inserted into a body cavity,
A plane having a plurality of ultrasonic transducers provided annularly around the insertion shaft at a predetermined position of the insertion shaft, and transmitting and receiving ultrasonic waves from the plurality of ultrasonic transducers and perpendicular to the insertion shaft An electronic radial ultrasonic probe that performs ultrasonic electronic radial scanning with
Voxel data creating means for creating voxel data based on ultrasonic tomographic image data by echo signals continuously obtained by electronic radial scanning of the electronic radial ultrasonic probe;
An ultrasonic diagnostic apparatus comprising:

(2) In the ultrasonic diagnostic apparatus according to Additional Item (1),
A detecting means for detecting a position or orientation of a scanning plane of electronic radial scanning of the electronic radial ultrasonic probe;
The ultrasound diagnostic apparatus, wherein the voxel data creation means includes a 3D image processing means for creating an ultrasound 3D image based on the position or orientation data.

(3) In the ultrasonic diagnostic apparatus according to the additional items (1) and (2),
Further comprising Doppler signal processing means for creating color data of blood flow of the test portion based on the Doppler effect of the echo signals obtained continuously,
The ultrasonic diagnostic apparatus, wherein the voxel data creation means includes a three-dimensional image processing means for creating an ultrasonic three-dimensional image of the blood flow based on the color data.

(4) In the ultrasonic diagnostic apparatus according to Additional Item (3),
A tomographic image processing means for creating an ultrasonic diagnostic image from the echo signal;
Synthesis means for creating a three-dimensional guide image by synthesizing the ultrasonic three-dimensional image of blood flow traveling and a diagram showing the position or orientation of the ultrasonic tomographic image;
Display means for displaying the ultrasonic tomographic image created by the tomographic image processing means and the three-dimensional guide image created by the synthesizing means on the same screen;
An ultrasonic diagnostic apparatus comprising:

(5) In the ultrasonic diagnostic apparatus according to Additional Item (4),
The ultrasonic diagnostic apparatus, wherein the synthesis unit sequentially changes the synthesis state based on a change in data sequentially output from the detection unit.

(6) In the ultrasonic diagnostic apparatus according to Additional Item (4) and Additional Item (5),
The ultrasonic diagnostic apparatus, wherein the diagram showing the position or orientation is a planar schematic diagram.

(7) In the ultrasonic diagnostic apparatus according to Additional Item (6),
An ultrasonic diagnostic apparatus, wherein the schematic diagram superimposes ultrasonic tomographic image data.

(8) In the ultrasonic diagnostic apparatus according to Additional Item (4) and Additional Item (5),
The ultrasonic diagnostic apparatus, wherein the diagram showing the position or orientation is a line superimposed on blood flow running.

(9) In an ultrasonic diagnostic apparatus for acquiring an ultrasonic echo signal of a test part from an ultrasonic probe inserted into a body cavity,
A plane having a plurality of ultrasonic transducers provided annularly around the insertion shaft at a predetermined position of the insertion shaft, and transmitting and receiving ultrasonic waves from the plurality of ultrasonic transducers and perpendicular to the insertion shaft An electronic radial ultrasonic probe that performs ultrasonic electronic radial scanning with
A plurality of tomographic image processing means for creating a plurality of ultrasonic tomographic images in different directions based on ultrasonic tomographic image data by echo signals continuously obtained by radial scanning of the ultrasonic probe;
An ultrasonic diagnostic apparatus comprising:

(10) In the ultrasonic diagnostic apparatus according to (9),
Further comprising detection means for detecting a position or orientation of a scanning plane of the electronic radial ultrasonic probe;
The ultrasonic diagnostic apparatus, wherein the plurality of tomographic image processing means creates a plurality of ultrasonic tomographic images having different directions based on the position or the orientation.

(11) In the ultrasonic diagnostic apparatus according to Additional Item (9) and Additional Item (10),
Providing Doppler signal processing means for creating blood flow color data using the Doppler effect of the echo signal from the electronic radial ultrasonic endoscope,
The ultrasonic diagnostic apparatus, wherein the plurality of tomographic image processing means create a plurality of ultrasonic tomographic images having different directions from each other on which the color data is superimposed.

(12) In the ultrasonic diagnostic apparatus according to any one of the additional items (2) to (8) and the additional items (10) to (11),
The ultrasonic diagnostic apparatus, wherein the detection means detects the position or orientation of a scanning plane remotely by a magnetic field.

(13) In the ultrasonic diagnostic apparatus according to any of the additional items (1) to (12),
An ultrasonic diagnostic apparatus, wherein the electronic radial ultrasonic probe is an electronic radial ultrasonic endoscope provided with an optical observation window at a tip thereof.

  The effect of the additional item (1) is as follows.

  The ultrasonic diagnostic apparatus has a plurality of ultrasonic transducers arranged in a ring around the insertion axis at a predetermined position of the insertion axis, and transmits and receives ultrasonic waves from the plurality of ultrasonic transducers to be perpendicular to the insertion axis. An electronic radial ultrasonic probe that performs electronic radial scanning of ultrasonic waves on a flat surface and voxel that creates voxel data based on ultrasonic tomographic image data based on echo signals continuously obtained by electronic radial scanning of the electronic radial ultrasonic probe Since it is configured to include the data creation means, it is possible to easily construct an ultrasonic three-dimensional image and ultrasonic tomographic images in a plurality of directions from voxel data.

  The effect of the above additional item (2) is as follows.

  An ultrasonic probe is composed of an electronic radial ultrasonic probe in which a plurality of ultrasonic transducers are provided in a ring around the insertion axis, and performs ultrasonic electronic radial scanning on a plane perpendicular to the insertion axis. 3D image processing means for creating an ultrasound 3D image based on ultrasound tomographic image data acquired in this way is provided, so that tissue containing tumors in the body cavity ultrasound field is displayed as an ultrasound 3D image. In this case, good image data without distortion can be obtained by a simple operation.

  The effect of the additional item (3) is as follows.

  A Doppler signal processing means for creating blood flow color data using the Doppler effect of the echo signal from the electronic radial ultrasonic endoscope is provided, and the three-dimensional image processing means uses the color data for blood flow ultrasound 3 Since it is configured to create a three-dimensional image, blood flow information using the Doppler effect can be acquired by a simple operation when displaying a blood flow and a tissue including the blood flow as an ultrasonic three-dimensional image in the intracavitary ultrasound field. be able to.

  The effects of the additional items (4), (5), (6), and (8) are as follows.

  A three-dimensional guide image is created by synthesizing a tomographic image processing means for creating an ultrasonic tomographic image from an echo signal, an ultrasonic three-dimensional image of blood flow traveling, and a diagram showing the position or orientation of the ultrasonic tomographic image. Since the composition means and the display means for displaying on the same screen the ultrasonic tomogram created by the tomogram processing means and the three-dimensional guide image created by the composition means are provided, the three-dimensional guide image is referred to. While moving the endoscope insertion portion, it is easy to diagnose the degree of invasion into the blood vessel by selecting a position where a lesion such as a tumor is closest to the blood flow in the ultrasonic tomogram and observing the ultrasonic tomogram.

  In addition, since it is easy to understand in which plane the ultrasonic transducer is scanning the blood flow, it is easy to depict a lesion. There is also little oversight of the degree of penetration in the direction of approaching the bloodstream of a lesion such as a tumor or the degree of progress along the direction along the bloodstream. This is useful for prognosis prediction such as metastasis.

  In addition, because the guide image displaying blood flow in three dimensions and the ultrasonic tomographic image are easy to compare, the healing effect due to the histological differences in the lesion is reduced compared to the comparison by volume measurement etc. Easy to understand.

  The effect of the additional item (7) is as follows.

  Since the schematic diagram showing the position or orientation is configured such that the ultrasonic tomographic image data is superimposed, the positional relationship between a lesion such as a tumor and the blood flow becomes easier to understand.

  The effects of the additional items (9) and (10) are as follows.

  The ultrasonic probe consists of an electronic radial ultrasonic probe in which a plurality of ultrasonic transducers are annularly arranged around the insertion axis, and the ultrasonic scanning is performed in a plane perpendicular to the insertion axis, and is continuously acquired by electronic radial scanning. And a plurality of tomographic image processing means for creating a plurality of ultrasonic tomographic images having different directions based on the ultrasonic tomographic image data, so that tissue including tumors in a plurality of directions in a body cavity ultrasonic field When displaying with an ultrasonic tomographic image, good image data without distortion can be obtained by a simple operation.

  The effect of the additional item (11) is as follows.

  Providing Doppler signal processing means for creating blood flow color data using the Doppler effect of echo signals from an electronic radial ultrasonic endoscope, and a plurality of tomographic image processing means having a plurality of color data superimposed on each other Blood flow information using the Doppler effect can be easily displayed when displaying tissue including blood flow and blood flow in multiple directions in the intracavitary ultrasound field. Can be obtained by simple operation.

  For example, in cases such as esophageal varices, the user slowly draws the endoscope insertion part inserted into the esophagus, and the blood flow that is difficult to express with a conventional ultrasonic endoscope is colored with color data. For example, it is useful for diagnosing esophageal varices, in which it is important to judge the state of blood flow aneurysm or the flow of blood flow bypass.

  The present invention is not limited to the above-described embodiments, and various changes and modifications can be made without departing from the scope of the present invention.

It is a figure for demonstrating the whole structure of the ultrasound diagnosing device which concerns on 1st embodiment of this invention. It is a figure for demonstrating the structure of the electronic radial scanning ultrasonic endoscope which concerns on 1st embodiment. 1 is a block diagram of a transmission / reception circuit according to a first embodiment. It is a flowchart which shows the example of the flow of a data recording process concerning 1st embodiment. It is a flowchart which shows the example of the flow of a process of 3D image creation which concerns on 1st embodiment. It is a figure for demonstrating the effect | action of the cube data creation circuit which concerns on 1st embodiment. It is a figure which shows the example of a display of the monitor screen which concerns on 1st embodiment. It is a figure for demonstrating the relationship of each coordinate system which concerns on 1st embodiment. It is a figure which shows the modification of the example of a display of the monitor screen which concerns on 1st embodiment. It is a figure for demonstrating the whole structure of the ultrasonic diagnosing device concerning 2nd embodiment of this invention. It is a flowchart which shows the flow of operation | movement of the ultrasonic diagnosing device concerning 2nd embodiment. It is a figure which shows the example of the monitor screen concerning 2nd embodiment. It is a figure for demonstrating the modification of the whole structure concerning 2nd embodiment. It is a figure which shows the modification of the monitor screen concerning 2nd embodiment. It is a figure for demonstrating the whole structure of the ultrasonic diagnosing device concerning 3rd embodiment of this invention. It is a flowchart which shows the flow of operation | movement of the ultrasonic diagnosing device concerning 3rd embodiment. It is a figure which shows the example of a display of the monitor screen concerning 3rd embodiment. It is a figure for demonstrating the whole structure of the ultrasonic diagnosing device concerning 4th Embodiment of this invention. It is a flowchart which shows the flow of operation | movement of the ultrasonic diagnosing device concerning 4th embodiment. It is a figure which shows the example of a display of the monitor screen concerning 4th embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Ultrasonic diagnostic apparatus 2 ... Electronic radial scanning ultrasonic endoscope 3 ... Position and orientation detection part 4 ... Ultrasonic processing part 5 ... Keyboard 6 ... Monitor 11, 55 ... Ultrasonic transducer array 12, 51 ... Transmitting coil 13 ... Endoscope operating section 14 ... Endoscope insertion section 15 ... Bending knob 21 ... Receiving coil 22 ... Scan control key 23 ... 3D key 24 ... Ultrasonic signal processing circuit 26 ... Hard disk 27 ... Image processing circuit 52 ... Illumination window 53 ... Optical observation window 54 ... Ultrasonic vibration Child 56: Signal lines 71, 86 ... Monitor screen 72 ... Large blood vessel 73 ... Small blood vessel 74 ... Cross section 75 ... Body cavity internal body surface 76, 94 ... Tumor 78, 89 131, 132 ... ultrasonic tomographic images 79, 135 ... blood flow 81, 82 ... switching 85 ... Switching control key 87 ... Guide image 88 ... Schematic diagram 90, 91, 92, 93 ... Blood flow 102 ... Trackball 111 ... Tomographic position designation cursor 133 134 ... cut line 136 ... blood clot
Attorney Susumu Ito

Claims (6)

In an ultrasonic diagnostic apparatus that acquires an ultrasonic echo signal of a test part from an ultrasonic probe inserted into a body cavity and constructs ultrasonic tomographic image data from the ultrasonic echo signal,
The ultrasonic probe has a plurality of ultrasonic transducers provided around a predetermined position of the insertion axis and on a plane perpendicular to the insertion axis, and transmits and receives ultrasonic waves from the plurality of ultrasonic transducers. An electronic scanning ultrasonic probe that performs electronic scanning of ultrasonic waves in a plane perpendicular to the insertion axis,
A magnetic field transmitting means for generating a magnetic field in space; and a magnetic field receiving means for receiving the generated magnetic field, wherein one of the magnetic field transmitting means and the magnetic field receiving means is predetermined with respect to the ultrasonic transducer. The ultrasonic transducer is fixed in accordance with manual insertion / extraction of the electronic scanning ultrasonic probe, either of the magnetic field transmitting means or the magnetic field receiving means fixed at the predetermined position. Detecting means for detecting the position and orientation of the scanning plane of the electronic scanning of the electronic scanning ultrasonic probe,
An ultrasonic three-dimensional image of a test part is created based on a plurality of the ultrasonic tomographic image data continuously obtained by electronic scanning repeatedly performed by manually inserting and extracting the electronic scanning ultrasonic probe. Three-dimensional image processing means for
The ultrasonic three-dimensional image prepared in advance by the manual insertion / extraction by the three-dimensional image processing means and a diagram showing the position or orientation of a new scanning plane electronically scanned after the insertion / extraction are synthesized. Combining means for creating a three-dimensional guide image;
An ultrasonic tomogram created from ultrasonic tomogram data at the new scanning plane;
Display means for displaying the three-dimensional guide image on the same screen;
An ultrasonic diagnostic apparatus comprising: Further comprising Doppler signal processing means for creating color data of blood flow of the test part based on the Doppler effect of the echo signal;
The ultrasonic diagnostic apparatus according to claim 1, wherein the three-dimensional image processing unit creates an ultrasonic three-dimensional image of the blood flow based on the color data.   The ultrasonic diagnostic apparatus according to claim 1, wherein the synthesis unit sequentially changes the synthesis state based on a change in data sequentially output from the detection unit.   The ultrasonic diagnostic apparatus according to claim 1, wherein the diagram showing the position or orientation is a planar schematic diagram.   The ultrasonic diagnostic apparatus according to claim 4, wherein the schematic diagram superimposes ultrasonic tomographic image data.   The ultrasonic diagnostic apparatus according to claim 1, wherein the diagram indicating the position or orientation is a line superimposed on blood flow travel.

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