JP4476430B2 - Ultrasonic diagnostic device capable of detecting the position of a catheter or a small diameter probe - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a monitoring technique for performing diagnosis or treatment by inserting an insertion means such as a catheter or a small diameter probe into a lumen such as a blood vessel or a bile duct, and in particular, a catheter using an extracorporeal three-dimensional ultrasonic diagnostic apparatus. The present invention relates to an ultrasonic diagnostic apparatus capable of detecting the position of a probe or a small-diameter probe.
[0002]
[Prior art]
In recent years, catheters and small-diameter probes have been inserted directly into the lumens of patients' blood vessels and bile ducts to diagnose lesions, stenosis, and invasion into the vessel wall, and to determine surgical planning and post-operative therapeutic effects. TAE (transcatheter arterial embolization), PTCA (percutaneous coronary artery dilatation), PTCR (percutaneous intracoronary thrombolysis) have been tried. For this reason, the surgeon needs to grasp the intrusion position (particularly, the distal end position) of the catheter or the small-diameter probe and confirm that the distal end reaches the diagnosis site or the treatment site.
[0003]
Conventionally, as a method of grasping the distal end position of the catheter or the small diameter probe, an X-ray fluoroscope is used to photograph the catheter or the small diameter probe entry site in the body, and the operator looks at the X-ray image displayed on the monitor. Monitoring the tip position of catheters and small diameter probes. However, in the monitoring by X-ray fluoroscopy, not only the patient but also the surgeon is exposed to excessive X-ray exposure, and there is a problem that the human body is adversely affected.
[0004]
For this reason, a method for confirming the distal end position of a catheter or a small-diameter probe using an ultrasonic diagnostic apparatus instead of an X-ray fluoroscopic apparatus has been proposed. As one of the methods, a transducer is installed at the tip of a catheter or a small-diameter probe, and positional information is obtained by receiving an ultrasonic beam transmitted from an extracorporeal probe. This method is proposed in, for example, Japanese Patent Laid-Open No. 4-129543.
[0005]
On the other hand, a conventional two-dimensional ultrasonic diagnostic apparatus is generally a system that scans one plane by transmitting an ultrasonic beam from a one-dimensional array ultrasonic transducer, and reconstructs and displays a tomographic image. Yes. In recent years, with this system, there have been many attempts to obtain three-dimensional information by collecting a diagnostic image by three-dimensionally irradiating an ultrasonic beam from an ultrasonic probe into a subject. The display of 3D images is expected to have new possibilities. Specifically, for example, research is being conducted by manually or mechanically moving a convex probe or linear array probe for the abdomen, or using a multi-plane probe for transesophagus having a mechanism for rotating the electronic sector probe. ing.
[0006]
However, a conventional two-dimensional ultrasonic diagnostic apparatus is generally a system that reconstructs and displays a tomographic image by scanning an in-plane by transmitting an ultrasonic beam from a one-dimensional array ultrasonic transducer. Yes. Therefore, according to the above-described first method, that is, the method of manually operating the convex probe or the linear array probe, or the method of rotating the electronic sector probe, the acquisition of three-dimensional information itself is considerably more than the conventional tomographic image scanning. Since time is required, movement information cannot be captured for a fast moving object such as the heart. In addition, even if the abdomen is not as fast as the heart, if the probe is not sufficiently fixed, there is a problem that the image is greatly distorted.
[0007]
Therefore, even if an ultrasonic transducer is installed for the purpose of detecting the position by communicating with the probe of an external probe at the tip of a catheter or ultrasonic probe using a conventional two-dimensional ultrasonic diagnostic apparatus, it is three-dimensional. It is difficult to display the travel of various blood vessels and lumens on one screen. Since the conventional two-dimensional ultrasonic diagnostic apparatus mainly displays a tomographic image in the scanning plane of the one-dimensional array ultrasonic transducer, the traveling of the blood vessel and the lumen is displayed by an operator's manual operation. This is because it is necessary to find a tomographic image.
[0008]
In addition, the position of the tip of the catheter or small-diameter probe must always be kept within the scanning plane, and if the subject moves away from the scanning plane due to movement of the subject or a fixed position of the probe due to heartbeat, There is a problem that the scanning plane must be searched again, which affects the time of examination and treatment.
[0009]
Therefore, a three-dimensional ultrasonic diagnosis that has a two-dimensional phased array ultrasonic transducer, has an ultrasonic probe capable of three-dimensionally scanning an ultrasonic beam, and can scan and display a three-dimensional volume image in the frame. The development of equipment is still under study. A technique for detecting the position of an ultrasonic transducer installed in a catheter or the like inserted into a subject using such a three-dimensional ultrasonic diagnostic apparatus is also disclosed in, for example, Japanese Patent Laid-Open No. 10-277040.
[0010]
[Problems to be solved by the invention]
However, in these ultrasonic diagnostic apparatuses described above, in order to increase the frame rate, one transmission beam is thickened, and signals of a plurality of rasters (for example, two directions and four directions) included in the transmission beam are received at the time of reception. A parallel simultaneous reception system for receiving is used. Therefore, when the position detection is performed by receiving with the ultrasonic transducer for position detection at the tip of the catheter or the small-diameter probe, the position accuracy in the raster direction, that is, the azimuth direction, tends to deteriorate from both aspects of the spread of the transmission beam and the decrease in sensitivity. It is in. Furthermore, in an ultrasonic diagnostic apparatus that scans and displays a three-dimensional space in real time, which is under study in recent years, in order to ensure a sufficient display rate, the number of parallel simultaneous receptions is further increased, for example, to 16 directions, that is, a transmission beam Therefore, there is a problem in that the detection position accuracy decreases more and more.
[0011]
[Means for Solving the Problems]
The present invention has been made in order to solve the above-described problems. When monitoring the position of a catheter or a small diameter probe, the operator can reduce the operational burden, and the position can be detected automatically and accurately. An object of the present invention is to provide a three-dimensional ultrasonic diagnostic apparatus having an effective display method.
[0012]
The invention according to claim 1 is provided with an ultrasonic wave generating means for generating an ultrasonic wave in the vicinity of the tip, and transmits and receives ultrasonic waves to and from the catheter or a small diameter probe inserted into the object. An ultrasonic probe formed by two-dimensionally arranging a plurality of ultrasonic transducers, and first transmission driving means for generating a drive signal so that the ultrasonic probe transmits ultrasonic waves for generating an ultrasonic image When,
Second transmission drive means for generating a drive signal so that the ultrasonic wave generation means performs position detection ultrasonic wave transmission a plurality of times, ultrasonic wave generation for ultrasonic image generation and ultrasonic wave for position detection At a different timing from the transmission Alternately The control means for controlling the first transmission driving means and the second transmission driving means and the ultrasonic reception signals based on the plurality of position detection ultrasonic waves are added to be executed, and after the addition Position calculation means for obtaining position information of the catheter or the small-diameter probe based on the received signal, and ultrasonic waves for generating an ultrasonic image based on the ultrasonic reception signal corresponding to the ultrasonic wave transmission for generating the ultrasonic image An ultrasonic diagnostic apparatus comprising: an image generation unit; and a display unit that displays a position of the catheter or the small diameter probe together with the ultrasonic image based on the position information.
The invention described in claim 7 is provided with an ultrasonic wave generating means for generating an ultrasonic wave in the vicinity of the tip, and transmits and receives ultrasonic waves to and from the catheter or a small-diameter probe inserted into the object. An ultrasonic probe formed by two-dimensionally arranging a plurality of ultrasonic transducers, and first transmission driving means for generating a drive signal so that the ultrasonic probe transmits ultrasonic waves for generating an ultrasonic image Second transmission driving means for generating a drive signal so that the ultrasonic wave generation means performs ultrasonic wave transmission for position detection a plurality of times, ultrasonic wave generation for generating the ultrasonic image, and position detection At a different timing from ultrasonic transmission Alternately The control means for controlling the first transmission drive means and the second transmission drive means, and the ultrasonic reception signal output from the ultrasonic transducer to be focused along a predetermined scanning line so as to be executed An ultrasonic reception signal by performing a delay addition, a delay addition means that changes a delay characteristic so that a direction of the scanning line changes in accordance with the ultrasonic wave transmission for position detection; and Position calculation means for obtaining position information of the direction and depth of the catheter or the thin probe based on the delay-added ultrasonic reception signal, and ultrasonic reception corresponding to the ultrasonic transmission for generating the ultrasonic image An ultrasonic image generating unit configured to generate an ultrasonic image based on a signal, and configured to identify the position of the catheter or the small-diameter probe on the ultrasonic image based on the position information and the ultrasonic image; A display image generating means for generating a display image, an ultrasonic diagnostic apparatus characterized by comprising a.
Claim 8 The invention described in 1 includes an ultrasonic wave generating means for generating an ultrasonic wave in the vicinity of the tip, a catheter or a small diameter probe inserted into the subject, and a plurality of ultrasonic waves for transmitting / receiving ultrasonic waves to the subject. An ultrasonic probe in which acoustic transducers are two-dimensionally arranged; first transmission driving means for generating a drive signal so that the ultrasonic probe performs ultrasonic transmission for generating an ultrasonic image; A second transmission driving means for generating a drive signal so that the ultrasonic wave generating means performs the ultrasonic wave transmission for position detection a plurality of times; the ultrasonic wave transmission for generating the ultrasonic image; and the ultrasonic wave transmission for position detection. At a different timing from the wave Alternately Based on an ultrasonic reception signal corresponding to the ultrasonic wave for position detection and a control means for controlling the first transmission drive means and the second transmission drive means, Position calculating means for obtaining position information of the probe, image generating means for generating an ultrasonic image based on an ultrasonic wave reception signal corresponding to the ultrasonic wave for generating the ultrasonic image, and based on the position information, An ultrasonic diagnostic apparatus comprising: a tomographic position changing means for changing a tomographic position of an ultrasonic image.
Claim 12 The invention described in 1 includes an ultrasonic wave generating means for generating an ultrasonic wave in the vicinity of the tip, a catheter or a small diameter probe inserted into the subject, and a plurality of ultrasonic waves for transmitting / receiving ultrasonic waves to the subject. An ultrasonic probe in which acoustic transducers are two-dimensionally arranged; first transmission driving means for generating a drive signal so that the ultrasonic probe performs ultrasonic transmission for generating an ultrasonic image; A second transmission drive means for generating a drive signal so that the ultrasonic wave generation means performs position detection ultrasonic wave transmission a plurality of times, and an ultrasonic reception signal based on the plurality of position detection ultrasonic waves, The position calculation means for obtaining the position information of the catheter or the small-diameter probe based on the received signal after addition, and the ultrasonic transmission for generating the ultrasonic image and the ultrasonic transmission for position detection are at different timings. Alternately The control means for controlling the first transmission driving means and the second transmission driving means, and an ultrasonic wave based on the ultrasonic wave reception signal corresponding to the ultrasonic wave transmission for generating the ultrasonic image. An ultrasonic image generating means for generating an ultrasonic image; and a display means for automatically displaying the position of the catheter or the small-diameter probe together with the ultrasonic image based on the position information. This is an ultrasonic diagnostic apparatus.
[0027]
Embodiments according to the present invention include inventions at various stages, and various inventions can be extracted by appropriate combinations of a plurality of disclosed configuration requirements. For example, when an invention is extracted by omitting some constituent elements from all the constituent elements shown in the embodiment, when the extracted invention is implemented, the omitted part is appropriately supplemented by well-known and commonly used techniques. It is what is said.
[0028]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, first to third embodiments of the present invention will be described with reference to the drawings. In the following description, components having substantially the same function and configuration are denoted by the same reference numerals, and redundant description will be given only when necessary.
[0029]
First, the block configuration of the ultrasonic diagnostic apparatus 10 according to the present invention will be described with reference to FIG.
[0030]
FIG. 1 is a block diagram of an ultrasonic diagnostic apparatus 10 according to the present invention.
[0031]
The ultrasonic diagnostic apparatus 10 can be broadly divided into a three-dimensional ultrasonic diagnostic apparatus, a catheter (or a small diameter probe), and a position detecting ultrasonic transducer drive unit mounted on the catheter tip. Hereinafter, the three-dimensional ultrasonic diagnostic apparatus and the position detecting ultrasonic transducer drive unit will be described in this order.
[0032]
The three-dimensional ultrasonic diagnostic apparatus includes a two-dimensional array ultrasonic probe 21 responsible for transmission / reception of ultrasonic signals with a subject, and an apparatus main body 20 that drives the ultrasonic probe and processes a reception signal of the ultrasonic probe 21. And an operation panel 40 connected to the apparatus main body and capable of inputting instruction information from the operator to the apparatus main body.
[0033]
The two-dimensional array ultrasonic probe 21 is an ultrasonic probe in which ultrasonic transducers are arranged in a matrix. With this two-dimensional array ultrasonic probe 21, dynamic focusing in the slice direction perpendicular to the tomographic plane and scanning of a three-dimensional region are possible.
[0034]
The apparatus main body 20 includes an ultrasonic transmission unit 22, an ultrasonic reception unit 23, an RF memory unit 24, a position detection unit 25, a receiver unit 26, a gray scale mode three-dimensional image reconstruction unit 27, a Doppler unit 28, and a Doppler 3 A dimensional image reconstruction unit 29, an image memory unit 30, a memory composition unit 31, a control circuit 32, and a display unit 33 are provided.
[0035]
The ultrasonic transmission unit 22 includes a pulse generator 221, a delay circuit 222, and a pulser 223, and generates and scans pulsed ultrasonic waves. In the two-dimensional array probe 21, in addition to the focus point control for obtaining an echo signal in an arbitrary direction of space by the delay control of the delay circuit 222, the sound field control in the direction perpendicular to the tomographic image is performed. A more focused echo signal is obtained compared to the probe.
[0036]
The echo signal output from the probe 21 for each channel is taken into the ultrasonic receiver 23. Here, the echo signal is amplified by the preamplifier 231 for each channel, given a delay time necessary for determining the reception directivity by the reception delay circuit 232, added by the adder 233 (phased addition), analog digital It is output via a converter (A / D converter). By this addition, the reflection component from the direction corresponding to the reception directivity is emphasized. A comprehensive ultrasonic beam for transmission and reception is formed by the transmission directivity and the reception directivity.
[0037]
The output data of the ultrasonic receiving unit 23 is recorded and held in the RF memory unit 24.
[0038]
Data related to anatomical or functional information in the subject by transmission / reception of the normal probe 21 is sent from the RF memory unit 24 to the receiver unit 26 or the Doppler unit 28.
[0039]
The data for the gray scale mode is sent to the receiver unit 26. Although not shown, the receiver unit 26 includes a logarithmic amplifier, an envelope detection circuit, and an echo filter. The output of the receiver unit 26 is sent to the image memory unit 30.
[0040]
The gray-scale three-dimensional image reconstruction unit 27 rearranges data necessary for display based on the three-dimensional data recorded in the image memory unit 30, and cuts out arbitrary images or arbitrary viewpoints. Are mapped onto a two-dimensional plane using a desired two-dimensional mapping method, converted into a raster signal sequence in a video format, and sent to the image memory unit 30 and the memory synthesis unit 31. The image memory unit 30 stores and holds the rearranged data, and the memory synthesis unit 31 outputs the video signal to the display unit 33 by arranging or superimposing information such as an image and setting parameters. As described above, the three-dimensional gray scale mode image representing the three-dimensional tissue shape of the subject is displayed.
[0041]
In the color Doppler method, a Doppler unit 28 detects a Doppler signal and calculates three-dimensional information such as speed, power, or dispersion. The calculated three-dimensional information is recorded and held in the image memory unit 30 as in the gray scale mode, and an arbitrary screen is cut out by the Doppler three-dimensional image reconstruction unit 29 or a desired two-dimensional mapping method is used to form a two-dimensional plane. After mapping, it is sent to the image memory unit 30 and the memory composition unit 31. The data is displayed in a form superimposed on the three-dimensional gray scale mode image in the memory composition unit 31.
[0042]
In addition to the three-dimensional data, the image memory unit 30 is a signal from a three-dimensional image reconstruction unit (a two-dimensional signal sequence mapped by three-dimensional image reconstruction, a raster signal sequence in video format, or both) It also has a function to record and hold. Further, as described above, the image memory unit 30 records and holds the three-dimensional information of the gray scale mode and color Doppler. The recorded information can be called up and used by the operator after diagnosis, for example, and in this case, the recorded information is output to the display unit 33 via the three-dimensional image reconstruction units 27 and 29 and the memory synthesis unit 31. Is done.
[0043]
The position detection unit 25 and the control circuit 32 are characteristic components in the ultrasonic diagnostic apparatus according to the present invention.
[0044]
The position detection unit 25 determines the maximum amplitude position or the center of gravity position based on the position information data in the RF memory unit 24 only when a pulse is transmitted from the position detection ultrasonic transducer 52 and received by the probe 21 in synchronization. The obtained position information is output to the control circuit 32.
[0045]
The control circuit 32 transmits a signal for controlling each block. Further, the information on the position from the position detection unit 25 is used to control the subsequent three-dimensional image reconstruction units 27 and 29 and the memory synthesis unit 31, and image marking and position marking processing as shown in the embodiment related to display. Is executed.
[0046]
Note that the position detection executed by the position detection unit 25 and the transmission / reception control sequence executed by the control circuit 32 will be described in detail later with reference to FIGS.
[0047]
A trackball 42, a keyboard 43, a foot switch 44, and the like are connected to or installed on the operation panel 40. In the conventional diagnosis, the apparatus conditions are set and the region of interest (ROI) is set, but they are also used to change the setting conditions of various parts of the present invention.
[0048]
Next, the position detecting ultrasonic transducer drive unit 50 will be described.
[0049]
The position detecting ultrasonic transducer drive unit 50 is electrically connected to the three-dimensional ultrasonic diagnostic apparatus, and is a position mounted on the distal end of the catheter 51 synchronously based on a control signal from the three-dimensional ultrasonic diagnostic apparatus. The ultrasonic transducer for detection 52 is driven to transmit ultrasonic waves.
[0050]
(Location information detection process)
Next, detection processing of position information of the catheter 51, which is executed by the ultrasonic diagnostic apparatus having the above configuration, will be described. Unlike the conventional method, the position detection process is characterized in that position information is obtained based on information after the received position detection ultrasonic signal is focused by delay addition. According to the position detection process described below, it is possible to improve the S / N ratio as compared with the prior art and to provide highly accurate image information.
[0051]
The control circuit 32 performs transmission / reception control with respect to the position detecting transducer 52 and the extracorporeal two-dimensional array probe 21 mounted at the distal end of the catheter 51 so as not to interfere with each other. That is, the control circuit 32 stops the transmission when one is transmitting. On the other hand, the control circuit 32 controls the reception so that the extracorporeal two-dimensional array probe 21 always performs reception.
[0052]
More specifically, it is as follows. That is, the control circuit 32 receives the data related to the position information by the extracorporeal two-dimensional array probe 21 when transmitting by the position detecting transducer 52. At this time, the probe 21 stops transmission. In addition, when transmitting with the extracorporeal two-dimensional array probe 21, the probe 21 receives reflected echo from the living body, that is, data relating to the image configuration of the in-vivo information. At this time, the position detecting transducer 52 stops transmission.
[0053]
The circuit configuration and signal processing procedure vary depending on these transmission / reception control sequences. A transmission / reception control processing sequence will be described with reference to FIGS.
[0054]
FIG. 2A is a diagram for explaining a first processing sequence example, and for external use for transmitting a volume initial signal indicating the start of each volume and an ultrasonic pulse for obtaining in-vivo information. The timing chart regarding the transmission trigger of the two-dimensional array probe 21, the transmission trigger of the transducer 52 for position detection for transmitting the ultrasonic pulse for position detection, and the position detection process is shown.
[0055]
FIG. 3 shows a transmission / reception state A corresponding to each of periods A and B in FIG. 2A (a state showing scanning of one volume of ultrasonic waves for in-body monitoring by only the two-dimensional array probe 21), transmission / reception. It is a figure for demonstrating the state B (The state which shows the ultrasonic transmission for position detection from the transducer 52 for position detection, and the ultrasonic reception for position detection by the two-dimensional array probe 21). Note that C = A + B, where C is a one-volume scanning period based on the in-body monitoring ultrasound scan and the position detection ultrasound scan.
[0056]
In the first processing sequence shown in FIG. 2A, transmission / reception for position detection is performed for only one rate or several rates in one volume scan (period C), and transmission / reception for normal image configuration is performed at other rates. Is an example of As described above, the data for image configuration collected in each channel of the two-dimensional array probe 21 is subjected to signal amplification, delay, and addition processing in the ultrasonic receiving unit 23, stored in the RF memory unit 24, and collected data. Depending on the mode, the receiver unit 26 or the Doppler unit 28 receives processing. Thereafter, the image is sent to the grayscale mode three-dimensional image reconstruction unit 27 or the Doppler three-dimensional image reconstruction unit 29.
[0057]
On the other hand, the position detection reception data passes through the ultrasonic reception unit 23 and is stored in the RF memory unit 24 in the period B shown in FIG. At this time, the reception data for position detection is not subjected to the delay process in the ultrasonic receiver 23, and the addition process is controlled to be performed when transmission / reception of several rates is performed for the purpose of improving the S / N. The reason why delay processing is not performed in the ultrasonic receiver 23 is that the position detector 25 performs parallel processing so as not to impair the real-time performance of scanning. Then, the position detection data stored in the RF memory unit 24 is read to the position detection unit 25.
[0058]
Next, another example of the transmission / reception control processing sequence will be described.
[0059]
FIG. 2B is a diagram for explaining a second processing sequence example. The second processing sequence is an example in which transmission / reception for position detection is performed using one volume after normal scanning of several volumes or one volume.
[0060]
That is, the position detector 25 detects the maximum amplitude position by using the ultrasonic receiver 23 and the data stored in the RF memory 24. This is done alternately or every few volumes. The advantage of this second processing sequence is that since the ultrasonic receiving unit 23 can be used, there are few calculation processes in the position detecting unit and it is advantageous in terms of S / N.
[0061]
In the second processing sequence, it is conceivable that the volume rate decreases because scanning for one volume must be performed for position detection. As a countermeasure in this case, the position detection signal uses the fact that the passing path is half that of normal scanning, and the pulse repetition frequency (PRF) is switched to twice when the position detection signal is received. That is, a function for switching PRF between volumes is provided. This makes it possible to suppress the degree of volume rate reduction. For example, when normal scanning and position detection scanning are performed alternately for one volume, the volume rate is reduced to 1/2 in the same PRF, but if the PRF can be switched, a reduction of 2/3 is sufficient.
[0062]
Further, for the embodiments of the first and second processing sequences, instead of detecting the maximum amplitude position, the center of gravity position may be obtained.
[0063]
Next, a circuit configuration example of the position detection unit 25 that realizes the position detection process will be described.
[0064]
FIG. 4A shows a first circuit configuration example of the position detection unit 25.
[0065]
As shown in FIG. 4A, the position detection unit 25 includes a calculation unit 251 that performs calculation for position detection and a memory 252 that stores and holds detection results as needed. The read position detection data is subjected to reception delay calculation, addition, amplitude calculation, and amplitude comparison processing in the calculator 251, and the maximum amplitude position, that is, the position of the catheter tip is detected as needed. The maximum amplitude position selected in the amplitude comparison is updated in the memory 252 for each comparison, and finally detected position information is sent to the control circuit 32. The detection position information is sent from the control circuit 32 to the three-dimensional image reconstruction units 27 and 29, and is used to cut out a cross section including the detection position, for example, using image construction data temporally corresponding to the detection position. . At the same time, the position information is sent to the memory composition unit 31 and used to attach a marker indicating the catheter tip position on the image created by the three-dimensional image reconstruction unit 27 or 29. The marker display ON / OFF is controlled by input signals from the external input devices 41 to 43 and the like.
[0066]
Further, the position detection processing performed by the position detection unit 25 may use only several channels of position detection data instead of using all the channels of data as described above for the purpose of reducing the calculation load. In that case, only the position detection data for each target channel is read from the RF memory unit 24, and the maximum amplitude position detection is performed in the calculator 251. The maximum amplitude position for each channel is stored in the memory 252. Based on these values, the calculation unit 251 again detects the position by three-point surveying, or detects the extreme value by quadratic surface fitting using the least square method. The final detected position information is output to the control circuit 32. This detection process has the advantage of not causing a decrease in volume rate. This is because when a sufficient S / N is secured for detecting the maximum amplitude position, transmission / reception at only one rate or several rates is sufficient. Therefore, since position detection can be performed from relatively small information, the circuit configuration can be simplified. Also, by performing the fitting, it is possible to reduce the influence of the variation in the position of each point due to noise.
[0067]
In the apparatus according to the present invention, the position detection process can be performed if there are received signals received by three different ultrasonic transducers at least.
[0068]
Further, in the position detection processing, three suitable ultrasonic reception signals are selected from the received plural ultrasonic signals for position detection, and 3 based on the arrival time difference between the selected three signals. Position detection may be performed by point surveying. As a method of selecting these three locations, for example, a method of selecting received signals received by three different ultrasonic transducers separated by a predetermined interval or more can be considered. In this method, position information is obtained from signals at three points, so that the circuit configuration can be simplified.
[0069]
The position detection device 25 may be configured as shown in FIG. 4B in order to further improve the position accuracy.
[0070]
FIG. 4B shows a second circuit configuration example of the position detection unit 25.
[0071]
As shown in FIG. 4 (b), the position detector 25 provides the position detector 25 with the position detection unit 25 in order to improve the position accuracy because the maximum amplitude position detection gives the sampled raster position and depth position. An interpolation circuit 253 may be provided. In this case, at least one or more data before and after the raster and depth data for the maximum detection position detected by the calculator 251 is required. Therefore, these data are read from the RF memory unit 24 to the interpolation circuit 253 based on the position information detected by the calculator 251. Interpolation processing is performed based on the read data, and the interpolated data is stored in the memory 252. The interpolation data stored in the memory 252 is read again to the calculator 251, undergoes processing for maximum amplitude position detection, and final detected position information is output to the control circuit 32. However, since it is usually sampled sufficiently finely in the depth direction, it is not necessary to interpolate in particular. However, when the scanning line density is low in a deep part such as a sector probe, interpolation is performed in the scanning line direction. . This interpolation processing may be similarly applied to the position detection unit 25 in FIG.
[0072]
When receiving a position detection signal, the delay time for reception focus is equivalent to twice the delay time performed by a normal extracorporeal probe (because the passing path is one way), so the delay Time switching control is required.
[0073]
(Position detection information display)
Subsequently, the display relating to the detected position information will be described using two display methods as examples.
[0074]
FIG. 5 is a diagram for explaining the first display method.
[0075]
As shown in FIG. 5, the first display method is a display mainly using a gray scale image. That is, the detected catheter tip position is displayed by following and a marker, and a tomographic image including the tip position is always automatically updated and displayed.
[0076]
For example, in the case of a sector probe, a tomographic image including the center point of the arrangement position of the two-dimensional array transducer and two points of the catheter tip position is displayed. As described above, this is executed by the control signal sent from the control circuit 32 to the three-dimensional image reconstruction unit 27 or 29 based on the position information detected by the position detection unit 25. However, although the tip position of the catheter is included in the tomographic image, the lumen such as the blood vessel or bile duct into which the catheter is inserted has a three-dimensional structure, so that it is not necessarily the tomographic image desired by the operator. Is not limited. Accordingly, for example, it is preferable to have a function of arbitrarily changing and displaying the tomographic plane using the trackball 41 or the like as an external input device with the straight line connecting the two points as the rotation axis. Note that one of the two points for determining the rotation axis is a detection position, but the other point can be arbitrarily set and can be determined as necessary by an external input device such as the trackball 41.
[0077]
Further, the external input device for determining the direction of the tomographic image may be mounted on the probe body, for example, so that the operator can easily and quickly handle it.
[0078]
FIGS. 6A, 6B, and 6C show examples of the probe 21 equipped with an external input device for determining the direction of the tomographic image. 6A shows an example in which a trackball and a marker display ON / OFF switch are incorporated, and FIG. 6B shows an example in which a joystick and a marker display ON / OFF switch are incorporated in the probe. Yes. FIG. 6C shows an example in which a trackball and a marker display ON / OFF switch are mounted as attachments.
[0079]
In any of the above examples, cordless processing may be performed by a conventional communication technique using infrared rays or the like. Further, the type of the input device is not limited to the trackball shown in this example, and may be any form that allows desired input. Moreover, it is not necessary to integrate with the probe 21, it takes the form of a remote controller, the probe 21 may be operated with one hand, and the remote controller may be operated as an external input device with the other hand. If the necessary minimum operations can be performed without having to change the direction of the operation panel on the apparatus, diagnosis can be performed smoothly. For example, a remote controller that can be operated with one hand can be operated more complicatedly than the foot switch 43, and can be handled with a blind touch if the user gets used to it.
[0080]
In addition, instead of manually determining an arbitrary point for determining the tomographic plane as described above using an external input device, the detection position of a past catheter or small-diameter probe is used as follows. It is also possible to have the apparatus determine the tomographic plane automatically.
[0081]
Using the newly updated detection position information and at least one or more past detection position information, the traveling direction of the lumen is estimated as a straight line or a curve, and includes a tangent line of the straight line or the curve. For example, a two-dimensional array transducer If the cross section passing through the center point in the arrangement direction is determined, the longitudinal cross section of the lumen can be automatically displayed. The simplest example is to determine a straight line simply by using one past position information or past detected position information several distances away and updated detected position information. If no movement occurs while the position of the catheter or small probe is detected, the straight line or curve will not be determined properly. If the movement is below a certain threshold, the previous cross section will be displayed as error processing. This can be avoided.
[0082]
A marker that displays the detected tip position of the catheter 51 or the small diameter probe is added by controlling the memory synthesis unit 31 from the control circuit 32 based on the information obtained by the position detection unit 25. Assuming that. However, in order to give a sense of depth to the marker position using the VR display, the 3D image reconstruction units 7 and 9 may perform a process of attaching a marker. The marker is based on displaying with a certain hue, brightness and size, but with different hue or brightness, lighting or blinking, hue change or brightness change, size change or shape change, or a combination thereof Variations such as being created may be provided. In addition, as described above, the marker display is switched ON / OFF by the external input devices 41 to 43, the operation panel 40, the external input device mounted on or mounted on the probe 21 body described above, or the remote controller. The
[0083]
Further, in addition to the mode for displaying the tomographic image as it is, in order to simultaneously indicate which tomographic image is displayed in the scanning volume, the tomographic image is displayed on the wire frame indicating the scanning volume region shown in FIG. Inset and display. Furthermore, in order to add anatomical information to the wire frame portion, as shown in FIG. 7B, an image of the scanning surface may be pasted and displayed, or may be pasted to volume rendering and displayed three-dimensionally. .
[0084]
As another display, as shown in FIGS. 7C and 7D, a two-section display including the catheter tip position or a two-section display using a C-mode plane parallel to the transducer array surface of the probe 1 or FIG. 3 cross-section display as shown in FIG. However, the important point here is that the display is not a simple two-section (including C-mode plane) or three-section display, and the tip position of the catheter is always included in those planes. It has the feature that it is tracked and displayed.
[0085]
In addition to the simultaneous display of the several cross sections, a two-screen display function of a three-dimensional display image (example in FIG. 7) as a position guide and the tomographic image (example in FIG. 5) is provided. In this case, mainly the three-dimensional display image is used for the purpose of understanding where the tomographic image showing the tip position of the catheter 51 is anatomically, while the tomographic image is used for the purpose of diagnosis. In this case, high resolution is required for the latter tomogram for the purpose of diagnosis. The former three-dimensional display image does not necessarily require high resolution depending on the purpose. Therefore, in order to reduce the load of image processing calculation and improve the display rate, the number of voxel data to be processed in the three-dimensional display image for position guide may be reduced, and the calculation amount may be reduced at the expense of resolution. For the same purpose, the number of updates on the position guide 3D display image side is decreased (the image is continuously displayed in the previous state without being updated, that is, the image is created for 3D display in several volumes. Alternatively, the displayed three-dimensional display image may be a freeze image and the marker indicating the distal end position of the catheter 51 may be simply updated. However, the freeze image has a function that can be updated in response to an operator's request (when the update switch is pressed, for example, an image for three-dimensional display is created at the next volume scan). Conversely, even if the display rate is lowered, mode changeover switches such as a resolution priority mode, a display rate priority mode, and a neutral mode are provided for the three-dimensional display image so that a request to know the position of the catheter 51 in detail can be met. As a result, the operator can easily use them according to the purpose.
[0086]
The tomographic image display is not limited to the gray scale, and a Doppler image may be displayed.
[0087]
Next, the second display method will be described with reference to FIG.
[0088]
As shown in FIG. 8, the second display method mainly constructs a three-dimensional image of a lumen such as a blood vessel or a body cavity to be inserted into a catheter by using a harmonic image using a color Doppler or a contrast medium. In this display method, the catheter position is synthesized and displayed on the three-dimensional image of the constructed lumen with a marker. A grayscale image is displayed in combination as a portion corresponding to the background. In this case, the gray scale image may display a fixed surface or may have a function of following the detected catheter by being separated by an equal distance. Further, the gray scale image display has an ON / OFF function and is controlled by an external input device as shown in the first display method. These display images can be rotated in any direction.
[0089]
Therefore, according to the ultrasonic diagnostic apparatus described in the present embodiment, there are the following benefits compared to the conventional apparatus.
[0090]
(1) Even if an ultrasonic transducer is installed at the tip of a catheter or ultrasonic probe for detecting the position by detecting the position of the catheter or ultrasonic probe using a conventional two-dimensional ultrasonic diagnostic apparatus, Since it is necessary to find one tomogram in which the blood vessel and lumen travel is displayed by human work, it is difficult to display the three-dimensional blood vessel and lumen travel on one screen. In addition, if the subject moves away from the scanning plane due to movement of the subject's breathing or heartbeat or the fixed position of the probe, the position of the tip of the catheter or small-diameter probe will always be maintained by human work so that it is always within the scanning plane. Therefore, it was necessary to search the scanning surface again, which had an influence on the examination and treatment time.
[0091]
On the other hand, according to the ultrasonic diagnostic apparatus described in the present embodiment, the position of the catheter or the like is automatically detected and automatically displayed together with a lumen such as a blood vessel or a bile duct as a three-dimensional image. Therefore, it is not necessary to search for a tomogram by human work, position detection can be performed automatically with high accuracy, and an image effective for monitoring can be displayed. In addition, the burden on the operator can be reduced.
[0092]
(2) In the conventional ultrasonic diagnostic apparatus, in order to increase the frame rate, one transmission beam is thickened, and a plurality of raster signals (for example, two directions and four directions) included in the transmission beam are received at the time of reception. The parallel simultaneous reception method is used. Therefore, when the position detection is performed by receiving with the ultrasonic transducer for position detection at the tip of the catheter or the small-diameter probe, the position accuracy in the raster direction, that is, the azimuth direction, tends to deteriorate from both aspects of the spread of the transmission beam and the decrease in sensitivity. It is in. Furthermore, in an ultrasonic diagnostic apparatus that scans and displays a three-dimensional space in real time, in order to ensure a sufficient display rate, it is necessary to further increase the number of parallel simultaneous receptions, for example, to 16 directions, that is, to thicken the transmission beam. In addition, there is a problem that the detection position accuracy is further reduced.
[0093]
On the other hand, according to the ultrasonic diagnostic apparatus described in the present embodiment, when one of the position detection transducer and the extracorporeal two-dimensional array probe is transmitting, the other stops the transmission, and the reception is the extracorporeal two-dimensional. The configuration is always performed by a three-dimensional array probe. Therefore, the position can be automatically detected with high accuracy without causing the spread and interference of the ultrasonic beam, and an image effective for monitoring can be displayed.
[0094]
Although the present invention has been described based on the embodiments, those skilled in the art can come up with various changes and modifications within the scope of the idea of the present invention. It is understood that it belongs to the scope of the present invention.
[0095]
【The invention's effect】
As described above, according to the present invention, when monitoring the position of a catheter or a small-diameter probe, the burden on the operator can be reduced, and the position can be detected automatically and accurately, which is an effective display for monitoring. A three-dimensional ultrasonic diagnostic apparatus equipped with the method can be realized.
[Brief description of the drawings]
FIG. 1 is a block diagram of an ultrasonic diagnostic apparatus according to the present invention.
FIGS. 2A and 2B show a sequence example related to catheter position information detection processing. FIG.
FIG. 3 is a diagram showing a transmission / reception state A and a transmission / reception state B corresponding to periods A and B in FIG. 2 (a), respectively.
FIGS. 4A and 4B are diagrams illustrating an example of a circuit configuration of a position detection unit 25 that executes position detection processing.
FIG. 5 is a diagram for explaining a display method related to position detection information;
FIGS. 6A, 6B, and 6C show examples of probes equipped with an external input device for determining the direction of a tomogram.
FIG. 7 is a diagram for explaining a display method related to position detection information;
FIG. 8 is a diagram for explaining another display method related to position detection information;
[Explanation of symbols]
10. Ultrasonic diagnostic equipment
20 ... Main unit
21 ... Two-dimensional array probe
22 ... Ultrasonic transmitter
23 ... Ultrasonic wave receiver
24 ... RF memory section
25. Position detection unit
26 ... Receiver unit
27. Gray scale 3D image reconstruction unit
28 ... Doppler unit
29. Doppler 3D image reconstruction unit
30. Image memory section
31 ... Memory synthesis unit
32. Control circuit
33 ... Display section
40 ... Control panel
41 ... Trackball
42 ... Keyboard
43 ... Foot switch
50. Ultrasonic transducer drive unit for position detection
51. Catheter
52. Ultrasonic transducer for position detection
221, 501, pulse generator
223, 502 ... pulsar
222: Transmission delay circuit
231 ... Preamplifier
232: Reception delay circuit
233, 251 ... Adder
252 ... Memory
253 ... Interpolator

Claims (14)

An ultrasonic generation means for generating an ultrasonic wave in the vicinity of the tip, a catheter or a small-diameter probe inserted into a subject;
An ultrasonic probe formed by two-dimensionally arranging a plurality of ultrasonic transducers for transmitting and receiving ultrasonic waves to and from the subject;
First transmission drive means for generating a drive signal so that the ultrasonic probe performs ultrasonic transmission for generating an ultrasonic image;
Second transmission drive means for generating a drive signal so that the ultrasonic wave generation means performs ultrasonic wave transmission for position detection a plurality of times;
The first transmission driving unit and the second transmission driving unit are controlled so that the ultrasonic wave transmission for ultrasonic image generation and the ultrasonic wave transmission for position detection are alternately executed at different timings. Control means to
Position calculation means for adding ultrasonic reception signals based on the plurality of position detection ultrasonic waves, and obtaining position information of the catheter or the small diameter probe based on the received signals after the addition,
Ultrasonic image generating means for generating an ultrasonic image based on an ultrasonic reception signal corresponding to the ultrasonic wave transmission for generating the ultrasonic image;
Display means for displaying the position of the catheter or the small-diameter probe together with the ultrasonic image based on the position information;
An ultrasonic diagnostic apparatus comprising:   The calculation means uses the ultrasonic reception signals received by three different ultrasonic transducers, and obtains the position information based on the time difference between the maximum amplitude position or the gravity center position in the ultrasonic reception signals at the three positions. The ultrasonic diagnostic apparatus according to claim 1. The computing means selects three different ultrasonic reception signals that are separated by a predetermined interval or more from the ultrasonic reception signals received by the ultrasonic transducer, and the position information based on the ultrasonic reception signals The ultrasonic diagnostic apparatus according to claim 1, wherein: Means for obtaining a temporal change in a position corresponding to the maximum amplitude using an ultrasonic reception signal received by the ultrasonic diagnostic apparatus ;
Means for obtaining a predetermined function by a fitting process using a temporal change in a position corresponding to the maximum amplitude ,
The calculating means obtains the position information based on the function;
The ultrasonic diagnostic apparatus according to claim 1. The ultrasonic probe is
Transmitting and receiving ultrasonic waves to and from a three-dimensional region in the subject;
Having an input means for changing a tomographic position of an ultrasonic image to be displayed;
The ultrasonic diagnostic apparatus according to any one of claims 1 to 4, wherein: The ultrasonic probe is
Transmitting and receiving ultrasonic waves to and from a three-dimensional region in the subject;
Having an input means for switching display / non-display of the position of the catheter or the small-diameter probe;
The ultrasonic diagnostic apparatus according to any one of claims 1 to 5, wherein: An ultrasonic generation means for generating an ultrasonic wave in the vicinity of the tip, a catheter or a small-diameter probe inserted into a subject;
An ultrasonic probe formed by two-dimensionally arranging a plurality of ultrasonic transducers for transmitting and receiving ultrasonic waves to and from the subject;
First transmission drive means for generating a drive signal so that the ultrasonic probe performs ultrasonic transmission for generating an ultrasonic image;
Second transmission drive means for generating a drive signal so that the ultrasonic wave generation means performs ultrasonic wave transmission for position detection a plurality of times;
The first transmission driving unit and the second transmission driving unit are controlled so that the ultrasonic wave transmission for ultrasonic image generation and the ultrasonic wave transmission for position detection are alternately executed at different timings. Control means to
An ultrasonic reception signal is formed by performing delay addition for focusing along a predetermined scanning line to an ultrasonic reception signal output from the ultrasonic transducer, and the ultrasonic transmission signal for position detection A delay adding means whose delay characteristics change so that the direction of the scanning line changes along with,
Based on the delay-added ultrasonic reception signal, position calculating means for obtaining position information of the direction and depth of the catheter or the small diameter probe;
Ultrasonic image generating means for generating an ultrasonic image based on an ultrasonic reception signal corresponding to the ultrasonic wave transmission for generating the ultrasonic image;
Display image generating means for generating a display image including information indicating the position of the catheter or the small-diameter probe on the ultrasonic image based on the position information and the ultrasonic image;
An ultrasonic diagnostic apparatus comprising: An ultrasonic generation means for generating an ultrasonic wave in the vicinity of the tip, a catheter or a small-diameter probe inserted into a subject;
An ultrasonic probe formed by two-dimensionally arranging a plurality of ultrasonic transducers for transmitting and receiving ultrasonic waves to and from the subject;
First transmission drive means for generating a drive signal so that the ultrasonic probe performs ultrasonic transmission for generating an ultrasonic image;
Second transmission drive means for generating a drive signal so that the ultrasonic wave generation means performs ultrasonic wave transmission for position detection a plurality of times;
The first transmission driving unit and the second transmission driving unit are controlled so that the ultrasonic wave transmission for ultrasonic image generation and the ultrasonic wave transmission for position detection are alternately executed at different timings. Control means to
Based on an ultrasonic reception signal corresponding to the ultrasonic wave for position detection, position calculating means for obtaining position information of the catheter or the small diameter probe;
Image generating means for generating an ultrasonic image based on an ultrasonic wave reception signal corresponding to the ultrasonic wave for generating the ultrasonic image;
A tomographic position changing means for changing a tomographic position of the ultrasonic image based on the positional information;
An ultrasonic diagnostic apparatus comprising: 9. The ultrasonic diagnostic apparatus according to claim 8, wherein the tomographic position changing means changes the tomographic position to a position separated by a predetermined distance from the position of the catheter or the small diameter probe. The tomographic position changing means includes an ultrasonic image of a first tomogram including the position of the catheter or the small diameter probe,
9. The ultrasonic diagnostic apparatus according to claim 8 , wherein an ultrasonic image of a second tomography including the position of the catheter or the small diameter probe and different from the first tomography is displayed. The tomographic position changing means changes the tomographic position based on the past position information and the current position information so that the tomographic position sequentially changes between the past position and the current position. The ultrasonic diagnostic apparatus according to claim 8 . An ultrasonic generation means for generating an ultrasonic wave in the vicinity of the tip, a catheter or a small-diameter probe inserted into a subject;
An ultrasonic probe formed by two-dimensionally arranging a plurality of ultrasonic transducers for transmitting and receiving ultrasonic waves to and from the subject;
First transmission drive means for generating a drive signal so that the ultrasonic probe performs ultrasonic transmission for generating an ultrasonic image;
Second transmission drive means for generating a drive signal so that the ultrasonic wave generation means performs ultrasonic wave transmission for position detection a plurality of times;
Position calculation means for adding ultrasonic reception signals based on the plurality of position detection ultrasonic waves, and obtaining position information of the catheter or the small diameter probe based on the received signals after the addition,
The first transmission driving unit and the second transmission driving unit are controlled so that the ultrasonic wave transmission for ultrasonic image generation and the ultrasonic wave transmission for position detection are alternately executed at different timings. Control means to
Ultrasonic image generating means for generating an ultrasonic image based on an ultrasonic reception signal corresponding to the ultrasonic wave transmission for generating the ultrasonic image;
Display means for automatically displaying the position of the catheter or small-diameter probe together with the ultrasonic image based on the position information;
An ultrasonic diagnostic apparatus comprising: The control means controls the timing so that the drive signal generation by the second transmission drive means is executed at least once for the drive signal generation of one volume or more by the first transmission drive means,
The position of the catheter or small probe is automatically updated in real time and displayed with the ultrasound image;
The ultrasonic diagnostic apparatus according to claim 12 . The ultrasonic diagnostic apparatus according to claim 12 , wherein a repetition cycle of ultrasonic waves generated by the ultrasonic wave generation unit can be arbitrarily set.

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