JP4681977B2 - Ultrasonic diagnostic apparatus, ultrasonic probe driving apparatus and ultrasonic probe - Google Patents

Description

  The present invention relates to an ultrasonic diagnostic apparatus, an ultrasonic probe driving apparatus, and an ultrasonic probe that drive an ultrasonic probe in a radial drive and linear drive.

  In recent years, ultrasonic diagnostic apparatuses have come to use a thin-diameter ultrasonic probe introduced into a body cavity, for example, through a channel for inserting a treatment tool of an endoscope. Such an ultrasonic diagnostic apparatus has an advantage that an ultrasonic tomographic image in a body cavity can be obtained with minimal invasiveness, and observation and diagnosis in the body cavity can be performed.

  Also, recently, in addition to the radial drive that rotates the ultrasonic transducer, the linear drive that moves the ultrasonic transducer forward and backward at the same time performs continuous ultrasonic tomography in the radial direction at predetermined intervals in the linear direction. There has been proposed an ultrasonic diagnostic apparatus that obtains images and processes them to construct a three-dimensional ultrasonic tomographic image.

An ultrasonic probe driving apparatus used in such an ultrasonic diagnostic apparatus is described in, for example, Japanese Patent Application Laid-Open No. 2001-128978. The ultrasonic probe driving device described in this publication includes a radial driving unit that radially drives an ultrasonic transducer incorporated in the ultrasonic probe, and a linear driving unit that linearly drives the entire ultrasonic probe, and the entire driving mechanism. Are housed in a single housing.
JP 2001-128978 A

  In the conventional ultrasonic diagnostic apparatus, an ultrasonic probe can be detachably connected to the ultrasonic probe driving apparatus. However, the ultrasonic probe is set according to the diagnosis target such that the advance / retreat distance in linear drive (hereinafter, linear drive distance or stroke) is long for the esophagus and short for the duodenum. Therefore, ultrasonic probes having different linear drive distances depending on the diagnosis target are prepared.

  The ultrasonic probe in which the stroke is set according to the diagnosis target is configured as a set with the corresponding ultrasonic probe driving device. For this reason, ultrasonic probes having different strokes cannot be connected to the ultrasonic probe driving apparatus. Therefore, the conventional ultrasonic probe driving device requires a number corresponding to the types of ultrasonic probes having different strokes.

  The present invention has been made in view of the above circumstances, and enables an ultrasonic probe having a different linear driving distance (stroke) to be connected to one ultrasonic probe driving device that drives the ultrasonic probe in a radial drive and a linear drive. An object is to provide an ultrasonic diagnostic apparatus, an ultrasonic probe driving apparatus, and an ultrasonic probe.

In order to solve the above-described problems, an ultrasonic diagnostic apparatus according to the present invention includes an ultrasonic probe having an ultrasonic transducer that transmits and receives ultrasonic waves into a body cavity, and a probe connection unit that detachably connects the ultrasonic probe. An ultrasonic diagnostic apparatus comprising: an ultrasonic probe driving device that performs radial driving and linear driving of the ultrasonic probe connected to the probe connecting portion, and corresponds to the ultrasonic probe connected to the probe connecting portion. A movable limit position detecting unit provided in the ultrasonic probe driving device for detecting at least one movable limit position in a forward direction or a backward direction in linear drive, and the ultrasonic probe for operating the movable limit position detecting unit. and the movable limit position detecting unit provided in, the object to be movable limit position detecting unit and the movable limit position detecting unit via It is characterized by comprising a control unit for variably controlling the driving distance in the forward direction or the backward direction in the linear drive in accordance with the moving limit position of the ultrasonic probe detected Te.
The ultrasonic probe driving apparatus according to the present invention has a probe connecting portion for detachably connecting an ultrasonic probe, and an ultrasonic probe driving for radial driving and linear driving of the ultrasonic probe connected to the probe connecting portion. A movable limit position detecting unit that detects at least one movable limit position in a forward direction or a backward direction in linear drive according to the ultrasonic probe connected to the probe connecting unit, and the movable limit position detecting unit in is characterized by comprising a control unit for variably controlling the driving distance in the forward direction or the backward direction in the linear drive in accordance with the movable limit position detected.
The ultrasonic probe according to the present invention includes an ultrasonic transducer that transmits and receives ultrasonic waves in a body cavity, and is detachably connected to a probe connection portion of an ultrasonic probe driving device to be driven in a radial manner and linearly. The ultrasonic probe is provided with a movable limit position detection unit capable of detecting at least one movable limit position in the forward direction or the backward direction in the linear drive, and is detected via the movable limit position detection unit. The drive distance in the forward direction or the backward direction in the linear drive is variably controlled according to the movable limit position .

  An ultrasonic diagnostic apparatus, an ultrasonic probe driving apparatus, and an ultrasonic probe according to the present invention include an ultrasonic probe having a linear driving distance (stroke) different from that of one ultrasonic probe driving apparatus that performs radial driving and linear driving of the ultrasonic probe. Can be connected.

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

  1 to 12 relate to the first embodiment of the present invention, FIG. 1 is an overall configuration diagram showing the ultrasonic diagnostic apparatus of the first embodiment, and FIG. 2 is an ultrasonic probe before the ultrasonic probe of FIG. 1 is connected. FIG. 3 is a right side view showing the inside of the device housing of the drive device, FIG. 3 is a sectional view showing the structure of the probe connector portion of the ultrasonic probe of FIG. 1, and FIG. 4 is an ultrasonic wave when the ultrasonic probe of FIG. FIG. 5 is a left side view showing the inside of the device housing of the ultrasonic probe driving device when the ultrasonic probe of FIG. 1 is connected, and FIG. 6 is a left side view of the device housing of the probe driving device. FIG. 7 is a front view showing the inside of the apparatus housing of the ultrasonic probe driving apparatus when the ultrasonic probe is connected. FIG. 7 is an apparatus housing of the ultrasonic probe driving apparatus when the ultrasonic probe and the outer sheath of FIG. 1 are connected. Right side view showing the inside, Fig. 8 is radial from the state of Fig. 7 FIG. 9 is a right side view showing the inside of the apparatus housing of the ultrasonic probe driving device when the ultrasonic probe is retracted together with the moving unit, and FIG. 9 is a state in which the ultrasonic probe is further retracted from the state of FIG. FIG. 10 is a right side view showing the inside of the apparatus housing of the ultrasonic probe driving apparatus when the lever is pressed by pressing the detection switch, and FIG. 10 shows the detected stroke (linear driving distance) of the ultrasonic probe. FIG. 11 is an explanatory diagram illustrating an example of a display screen of a monitor displaying an ultrasonic tomographic image, and FIG. 12 is a diagram when a new ultrasonic probe is used with respect to FIG. It is explanatory drawing which shows the example of a display screen of the monitor which is displaying the ultrasonic tomographic image.

  As shown in FIG. 1, an ultrasonic diagnostic apparatus 1 includes an ultrasonic probe 2A that can be inserted into a body cavity, an outer sheath 2B that covers the ultrasonic probe 2A, and a body cavity that includes the ultrasonic probe 2A and the outer sheath 2B. An ultrasonic probe driving device 4 for detachably connecting the inner probe 3, an ultrasonic observation device 7 for connecting one connector 6 a of the cable 5 extending from the ultrasonic probe driving device 4, and the cable 5 The image processing apparatus 8 is connected to the other connector 6b, and the monitor 9 is connected to the image processing apparatus 8. The ultrasonic probe driving device 4, the ultrasonic observation device 7, the image processing device 8, and the monitor 9 are placed on a cart 10.

  The ultrasonic probe 2A includes a distal end portion 11 including an ultrasonic transducer (not shown) that transmits and receives an ultrasonic pulse, and a flexible shaft 12a (see FIG. 3) provided with the ultrasonic transducer of the distal end portion 11 on one end side. ) And a probe connector portion 13 provided on the rear end side of the flexible shaft portion 12 and detachably connected to a probe connecting portion 21 (to be described later) of the ultrasonic probe driving device 4. And is configured.

  An ultrasonic transducer is built in the tip portion 11, and an ultrasonic transmission of, for example, water, liquid paraffin, or the like, which is a medium having good ultrasonic pulse transmission properties, is provided around the ultrasonic transducer. The medium is full. In addition, the flexible shaft 12a is formed of a hollow contact coil spring composed of one layer or a plurality of layers, and a signal cable extending from the ultrasonic transducer is inserted into the hollow space.

  The ultrasonic probe 2A is covered with a flexible outer sheath 2B. The outer sheath 2B has an outer sheath insertion portion 15 and a connection portion 16 provided at the rear end thereof, and is detachable from the ultrasonic probe driving device 4 through the connection portion 16. The outer sheath 2B is filled with the ultrasonic transmission medium at least around the ultrasonic transducer in the ultrasonic probe 2A, and an O-ring (not shown) is used so that the ultrasonic transmission medium does not leak to the proximal end side. The predetermined part is sealed.

  The ultrasonic probe driving device 4 is fixed to a support arm 10 a provided in the cart 10. The cable 5 extended from the ultrasonic probe driving device 4 is branched into two on the way, one of which generates a drive signal for the ultrasonic transducer and a signal processing for the received ultrasonic echo signal via the connector 6a. The other is electrically connected to an ultrasonic observation apparatus 7 that performs image processing, and the other is electrically connected to an image processing apparatus 8 that performs image processing via a connector 6b.

  In FIG. 1, the cable 5 has a form that branches into two in the middle, but of course, a form in which the two cables 5 extend from the ultrasonic probe driving device 4 may be used. The ultrasonic observation apparatus 7 and the image processing apparatus 8 are electrically connected via a communication cable (not shown) on the rear panel. The image processing apparatus 8 and the monitor 9 are electrically connected via a signal cable (not shown) on the rear panel.

  The ultrasonic probe driving device 4 rotates the flexible shaft 12a of the ultrasonic probe 2A to rotate the ultrasonic transducer in a radial direction that is a direction orthogonal to the longitudinal axis direction, thereby radial driving. The ultrasonic transducer 2A is moved forward and backward in the direction of the insertion axis, thereby moving the ultrasonic transducer forward and backward to perform linear driving.

  The ultrasonic observation device 7 generates an ultrasonic signal for controlling and driving the ultrasonic transducer of the ultrasonic probe 2A, and outputs the ultrasonic signal to the ultrasonic transducer. The image processing device 8 processes an ultrasonic echo signal from the ultrasonic transducer of the ultrasonic probe 2 </ b> A and displays an ultrasonic tomographic image on the display screen of the monitor 9.

Next, the ultrasonic probe driving device 4 will be described in detail.
As shown in FIG. 2, in the ultrasonic probe driving device 4, a connection pipe 4 b that connects and fixes the connection portion 16 at the rear end of the outer sheath 2 </ b> B extends to a device exterior member 4 a that is a device housing. A probe connection portion 21 for detachably connecting the probe connector portion 13 of the ultrasonic probe 2A is disposed at a rear position coaxial with the connection pipe 4b. Further, the ultrasonic probe driving device 4 includes a radial driving unit 20 and a linear driving unit 30.

  The radial drive unit 20 includes the probe connecting portion 21, a radial drive motor 22 that generates a drive force for radial drive, and the drive force of the radial drive motor 22 to the flexible shaft 12a of the ultrasonic probe 2A. And a radial driving force transmission mechanism 23 for transmitting to the motor. The probe connecting portion 21, the radial driving motor 22, the radial driving force transmission mechanism 23, and a slip ring encoder 51 (see FIG. 4) described later are supported by a radial ground plate 24.

  The linear drive unit 30 includes a linear drive motor 31 that generates a drive force for linear drive, a linear movement guide 32 that connects the radial drive unit 20 so as to be able to advance and retreat, and a drive force of the linear drive motor 31. And a linear driving force transmission mechanism 33 that transmits the torque to the radial driving unit 20.

  The linear drive motor 31 is disposed in a linear movement range of the radial drive unit 20 and in a position parallel to the radial drive unit 20. The linear movement guide 32 guides the radial drive unit 20 so as to be able to advance and retreat. At the time of linear drive, the radial drive unit 20 and the ultrasonic probe 2A move integrally.

  The ultrasonic probe 2 </ b> A removably connects the probe connector portion 13 to the probe connection portion 21 of the ultrasonic probe driving device 4, thereby driving force from the radial drive unit 20 and the linear drive unit 30. Is transmitted so that radial driving and linear driving are performed.

  The probe connector portion 13 of the ultrasonic probe 2A includes a connector main body 43 formed by bonding and fixing a resin first cover 41 and a second cover 42 as shown in FIG. A connector unit 44 is arranged.

A hard shaft 45 protrudes from the distal end portion 44 a of the rotary connector unit 44. A rear end portion of the flexible shaft 12a is integrally connected and fixed to a front end portion of the hard shaft 45. The hard shaft 45 is held by a bearing 47 disposed at the rear end portion of the base member 46 disposed in the connector main body 43.
The flexible shaft 12 a rotates by rotating the hard shaft 45, and rotates an ultrasonic transducer built in the tip portion 11.

  On the other hand, a male coaxial connector 48a and a rotational torque transmission pin 48b provided on a concentric circle of the coaxial connector 48a project from the rear end portion of the rotary connector unit 44. In the coaxial connector 48a, a cable from the ultrasonic transducer passes through the flexible shaft 12a and extends to the probe connector unit 13, and is electrically connected to the coaxial connector 48a via a matching coil (not shown) in the rotary connector unit 44. Connected.

Reference numeral 49 a denotes an O-ring that is disposed on the tip side of the bearing 47 and maintains watertightness between the hard shaft 45 and the base member 46. A rotation protection pipe 49b is disposed on the outer peripheral side of the rotary connector unit 44. The rotation protection pipe 49b is integrally fixed to the base member 46 with screws 49c.
Thereby, the radial drive unit 20 can detachably hold the ultrasonic probe 2 </ b> A by connecting the probe connector portion 13 to the probe connection portion 21.

Hereinafter, the radial drive unit 20 will be described in more detail.
As shown in FIG. 2, the radial drive unit 20 is advanced and retracted by a linear movement guide 32 of the linear drive unit 30. The radial drive motor 22 is a power source for radial drive.

  The radial driving force transmission mechanism 23 has a predetermined rotation speed ratio, converts the rotation of the radial driving motor 22 into a speed and driving torque suitable for the rotation of the ultrasonic probe 2A, and slips as shown in FIG. This is transmitted to the ring encoder 51. In the present embodiment, the radial driving force transmission mechanism 23 is configured by a gear, a belt, and a shaft. However, other configurations may be used as long as the object can be achieved.

  A control board 52 is disposed at a position substantially parallel to the linear movement guide 32 and in series with the linear drive motor 31. Connected to the control board 52 are a connection cable 5 electrically connected to the ultrasonic observation apparatus 7 and a connection cord 53b electrically connected to the linear drive motor 31.

  A control circuit 52 a for controlling each part of the ultrasonic probe driving device 4 is mounted on the control board 52. The control circuit 52a performs echo signal processing from the ultrasonic transducer, encoder signal processing from the encoder unit 51c (see FIG. 4), and exchange of information with the ultrasonic observation apparatus 7. The control circuit 52a detects the stroke of the ultrasonic probe 2A connected to the probe connecting portion 21 by executing an initial operation described later, and controls linear driving and radial driving according to the detected stroke. Execute. The control circuit 52a notifies the detected stroke of the ultrasonic probe 2A.

  A head amplifier board 54 which is a flexible board is connected to the control board 52. The head amplifier board 54 has a head amplifier part 54 a and a connection part 54 b for the control board 52. The head amplifier portion 54 a is attached to the back surface of the radial drive motor 22. The head amplifier 54 a is connected to a connection cord 53 c with a radial drive motor 22 and a connection cord 53 d with the slip ring encoder 51.

  The connection portion 54 b is disposed within the front projection area of the radial drive unit 20 shown in FIG. 6 and is connected to the control board 52. The radial drive unit 20 and the ultrasonic observation apparatus 7 are electrically connected via a head amplifier board 54 and a control board 52.

  As shown in FIGS. 4 and 5, the slip ring encoder 51 is connected to a rotating shaft 51 a extending from the probe connection portion 21. The slip ring encoder 51 transmits the rotational driving force from the radial drive motor 22 to the rotational torque transmission pin 48b of the probe connector portion 13 through the rotational shaft 51a.

The encoder unit 51c generates an encoder signal in synchronization with the rotation of the rotating shaft 51a. This encoder signal is transmitted to the control circuit 52a of the control board 52. The control circuit 52a controls the radial drive rotation speed based on the transmitted encoder signal. Note that the slip ring portion 51b ensures electrical continuity with the probe connection portion 21 and serves as an electric signal transmission path.
With this configuration, the radial drive unit 20 holds the ultrasonic probe 2A and rotates the ultrasonic transducer, so that radial drive is possible.

Next, the linear drive unit 30 will be described in detail.
The linear drive motor 31, the linear movement guide 32, and the linear drive force transmission mechanism 33 are supported by a linear base plate 55 to constitute the linear drive unit 30. The linear movement guide 32 is arranged in series with the linear drive motor 31.

  The linear drive motor 31 is a linear drive power source. A pinion gear 56 is fixed to the shaft of the linear drive motor 31. The linear driving force transmission mechanism 33 has a predetermined rotational speed ratio, and converts the rotation of the linear driving motor 31 into a speed and driving torque suitable for linear movement. In the present embodiment, the linear driving force transmission mechanism 33 is configured with a gear and a belt, but other configurations may be used as long as the object can be achieved.

Next, the linear driving force transmission mechanism 33 will be described in detail.
A reduction gear 57 is engaged with the pinion gear 56. The reduction gear 57 is adapted to transmit the driving force of the linear drive motor 31 to the drive pulley 58 (see FIGS. 5 and 6). A transmission belt 60 is hung between the drive pulley 58 and a driven pulley 59 (see FIGS. 4 and 5). The drive pulley 58 and the driven pulley 59 are arranged so that the transmission belt 60 is parallel to the linear movement guide 32. The driven pulley 59 is supported by a pulley holder 61. The pulley holder 61 is fixed to the linear base plate 55 with screws. However, the pulley holder 61 may be configured to apply tension by a spring or the like as long as the transmission belt 60 does not slack.

  A gear base plate 62 is fixed to the linear base plate 55 so that the reduction gear 57 and the drive pulley 58 do not come off. The linear drive unit 30 rotates the linear drive motor 31 to rotate the transmission belt 60 and move the linear movement guide 32 in parallel.

Next, a configuration in which the radial drive unit 20 moves linearly will be described.
The radial drive unit 20 is fixed to the stage 32 b of the linear movement guide 32. The stage 32b moves along the rail 32a. The radial ground plane 24 is mechanically coupled to a part of the transmission belt 60 (see FIGS. 4 and 5).

  As a result, when the radial drive unit 20 drives the linear drive motor 31 to rotate the transmission belt 60, the radial ground plate 24 coupled to the transmission belt 60 is moved to the linear movement guide 32. It is linearly moved along, and will move linearly.

  The ultrasonic probe driving device 4 constitutes the body cavity probe 3 by inserting the ultrasonic probe 2A from the distal end portion 11 into the outer sheath 2B. In this state, the probe connector portion 13 of the ultrasonic probe 2A is connected to the radial drive unit 20. 7 and connecting the connecting portion 16 of the outer sheath 2B to the connecting pipe 4b, as shown in FIG.

  The ultrasonic probe driving device 4 drives the linear drive motor 31 under the control of the control circuit 52a, and rotates (rotates forward and backward) this linear motor 31 so that the linear drive force is as described above. The transmission mechanism 33 is operated to move the radial drive unit 20 attached to the stage 32b of the linear movement guide 32 forward and backward along the rail 32a.

  At this time, the linear drive motor 31 has, for example, forward rotation as a forward direction and reverse rotation as a backward direction. The ultrasonic probe driving device 4 rotates the linear driving motor 31 in the reverse direction, thereby retracting the radial driving unit 20 along the rail 32a, and conversely rotating the linear driving motor 31 in the normal direction. The radial drive unit 20 is advanced.

  When the ultrasonic probe 2A is connected to the probe connecting portion 21, the ultrasonic probe driving device 4 can move the ultrasonic probe 2A forward and backward in the outer sheath 2B.

  During such a linear movement, the ultrasonic probe driving device 4 drives the radial driving unit 20 under the control of the control circuit 52a, and rotates the ultrasonic transducer of the ultrasonic probe 2A so as to generate a radial. Drive can be performed. As a result, the ultrasonic probe driving device 4 performs linear driving in addition to radial driving to enable three-dimensional driving in the subject.

  The ultrasonic probe 2A is set according to the diagnosis target such that the stroke, which is a linear driving distance, is long for, for example, the esophagus and short for the duodenum. For example, if the ultrasonic probe 2A has a stroke of 30 mm and a pitch of 0.25 mm, 120 ultrasonic tomographic images are obtained.

  In the present embodiment, the ultrasonic probe 2A having a different linear driving distance (stroke) can be connected to one ultrasonic probe driving device 4 that performs radial driving and linear driving of the ultrasonic probe 2A.

  More specifically, the ultrasonic probe driving device 4 is provided with a detection switch 71 as a movable limit position detecting unit that detects a movable limit position for detecting the stroke of the ultrasonic probe 2A. This detection switch 71 is disposed in the vicinity of the probe connection portion 21. The detection switch 71 has an extended connection cord 71a connected to the control board 52 and is electrically connected to the control circuit 52a. On the other hand, the ultrasonic probe 2A serves as a movable limit position detection unit that operates the detection switch 71 at a predetermined distance corresponding to a corresponding stroke, for example, a position S of 120 mm, from the rear end side of the connector main body 13a of the probe connector unit 13. An operation lever 72 is provided (see FIG. 2).

After the ultrasonic probe 2A is connected to the probe connection portion 21, the control circuit 52a controls the linear drive unit 30 as an initial operation to temporarily move the ultrasonic probe 2A forward and backward.
When the ultrasonic probe 2A is connected to the probe connection portion 21, the control circuit 52a sets the position of the radial drive unit 20 (stage 32b) on the rail 32a as the origin position. An origin detection sensor (not shown) is arranged on the rail 32a.

  The control circuit 32a detects the movable limit position of the ultrasonic probe 2A by retracting the ultrasonic probe 2A from the origin position and pressing the detection switch 71 to turn on the operation lever 72. I have to.

The control circuit 52a transmits the ON signal of the detection switch 71 to stop the backward movement of the ultrasonic probe 2A, and the stroke of the ultrasonic probe 2A based on the drive information from the linear drive unit 30. Get data. After obtaining the stroke data of the ultrasonic probe 2A, the control circuit 52a advances the ultrasonic probe 2A and returns it to the original origin position.
After the initial operation, when the ultrasonic diagnosis is started by the operator's operation, the control circuit 52a performs linear driving and radial driving according to the detected stroke.

  The ultrasonic probe driving apparatus 4 configured as described above constitutes the ultrasonic diagnostic apparatus 1 by connecting the ultrasonic probe 2A.

  The surgeon inserts the ultrasonic probe 2A into the outer sheath 2B from the distal end portion 11 to form the body cavity probe 3, and connects the ultrasonic probe 2A to the probe connecting portion 21 of the ultrasonic probe driving device 4. The outer sheath 2B is connected to the connection pipe 4b of the ultrasonic probe driving device 4.

Next, the operator turns on a power switch (not shown) of the ultrasonic probe driving device 4.
In the ultrasonic probe driving device 4, when the power switch is turned on, the above-described initial operation is performed by the control circuit 52a.

  The control circuit 52a controls the linear drive unit 30 to retract the ultrasonic probe 2A. At this time, the control circuit 52a reverses the linear drive motor 31 to retract the radial drive unit 20 along the rail 32a as shown in FIG. As a result, in the ultrasonic probe driving device 4, the ultrasonic probe 2 </ b> A moves backward together with the radial driving unit 20.

  As shown in FIG. 9, the backward movement is performed until the operation lever 72 of the ultrasonic probe 2A presses the detection switch 71 and the detection switch 71 is turned on. When the detection switch 71 is turned on, it outputs an on signal to the control circuit 52a.

  When receiving the ON signal from the detection switch 71, the control circuit 52a stops reverse rotation of the linear drive motor 31, thereby stopping the backward movement of the radial drive unit 20 and the ultrasonic probe 2A. At the same time, the control circuit 52a receives the ON signal from the detection switch 71 and obtains the stroke data of the ultrasonic probe 2A based on the drive information from the linear drive unit 30.

After obtaining the stroke data of the ultrasonic probe 2A, the control circuit 52a controls the linear drive unit 30 to advance the ultrasonic probe 2A and return it to the original origin position.
At this time, the control circuit 52a rotates the linear drive motor 31 in the forward direction to reverse the radial drive unit 20 along the rail 32a from the state of FIG. 9 as shown in FIG. To move forward. As a result, in the ultrasonic probe driving device 4, the ultrasonic probe 2 </ b> A moves forward together with the radial drive unit 20.
This advancement is performed until the ultrasonic probe 2A returns to the original origin position as shown in FIG. 7, that is, until the control circuit 52a detects the origin position by an origin detection sensor (not shown).

  When receiving the sensor signal from the origin detection sensor, the control circuit 52a stops the forward rotation of the radial drive unit 20 and the ultrasonic probe 2A by stopping the forward rotation of the linear drive motor 31.

  The control circuit 52a stops the radial drive unit 20 and the ultrasonic probe 2A, and then notifies the obtained stroke data of the ultrasonic probe 2A on the display screen of the monitor 9 for a predetermined time. Thereby, the control circuit 52a obtains stroke data of the ultrasonic probe 2A and ends the initial operation.

  For example, as shown in FIG. 10, the display screen 70 of the monitor 9 displays “the stroke (linear drive distance) of the currently connected ultrasonic probe is 120 mm”. The surgeon confirms that the ultrasonic probe 2A connected by the display screen 70 of the monitor 9 has a desired stroke. When the ultrasonic probe 2A is not in a desired stroke, the operator removes the currently connected ultrasonic probe 2A and connects a new ultrasonic probe 2A having a desired stroke to the ultrasonic probe driving device 4. The initial operation described above is performed.

  The surgeon connects the desired ultrasonic probe 2A to the ultrasonic probe driving apparatus 4, and then inserts the ultrasonic probe 2A (intra-body cavity probe 3) into the patient as the subject to perform ultrasonic diagnosis. The control circuit 52a executes linear driving and radial driving according to the detected stroke when ultrasonic diagnosis is started by an operation of the operator.

  At this time, the obtained ultrasonic tomographic image is displayed on the display screen of the monitor 9, for example, as shown in FIG. As shown in FIG. 11, the display screen 80 of the monitor 9 is provided with an information display unit 81 for displaying patient information such as name, gender, driving information such as stroke and pitch, and other information such as date at the top of the screen. ing. An ultrasonic tomographic image display unit 82 is provided below the information display unit 81. For example, a radial image display unit 82a is provided on the left side, and a linear image display unit 82b is provided on the right side.

  The information display unit 81 is provided with a stroke display unit 81a for displaying the detected stroke. In addition, the monitor display example shown in FIG. 11 has shown the case where the ultrasonic probe whose detected stroke is 40 mm is used.

  Next, when the surgeon wants to perform an ultrasonic diagnosis using an ultrasonic probe having a stroke longer than 40 mm, the operator removes the currently connected ultrasonic probe having a stroke of 40 mm and starts a new stroke having a desired stroke. An ultrasonic probe is connected to the ultrasonic probe driving device 4 to perform the initial operation described above.

  At this time, when the detected stroke is 80 mm, although not shown, the display screen of the monitor 9 displays “the stroke of the currently connected ultrasonic probe (linear driving distance) is 80 mm”. Is done.

  The operator connects a desired ultrasonic probe to the ultrasonic probe driving device 4 and then inserts an ultrasonic probe (intra-body cavity probe) into the patient as the subject to perform ultrasonic diagnosis. The control circuit 52a executes linear driving and radial driving according to the detected stroke when ultrasonic diagnosis is started by an operation of the operator.

  At this time, the obtained ultrasonic tomographic image is displayed on the display screen of the monitor 9, for example, as shown in FIG. As shown in FIG. 12, on the display screen 80B of the monitor 9, the detected stroke is displayed as 80 mm on the stroke display portion 81a.

  As a result, the ultrasonic probe driving device 4 according to the present embodiment can detect the stroke of the ultrasonic probe 2A with one detection switch 71 regardless of the stroke of the connected ultrasonic probe 2A. Accordingly, linear driving can be performed simultaneously with radial driving.

  Therefore, according to the present embodiment, the ultrasonic probe 2A having a different linear drive distance (stroke) can be connected to one ultrasonic probe driving device 4 that drives the ultrasonic probe 2A in a radial drive and a linear drive.

  Note that the ultrasonic probe driving apparatus 4 of the present embodiment retracts the ultrasonic probe 2A with the point when the ultrasonic probe 2A is connected to the probe connecting portion 21 as the origin position, and the operation lever 72 detects the detection. The switch 71 is pressed and turned on to detect the movable limit position of the ultrasonic probe 2A. However, the present invention is not limited to this, and the ultrasonic probe 2A moves forward from the origin position. In this case, the operation lever 72 may be configured to be pressed by pressing the detection switch 71.

  Further, the ultrasonic probe driving apparatus may be configured to further provide a set of detection switches and operation levers so as to detect the movable limit positions in the forward and backward directions by moving forward and backward from the origin position. In this case, for example, the operation lever on the forward direction side is long, the operation lever on the reverse direction side is short, and the operation lever on the forward direction side and the operation lever on the reverse direction side do not interfere with each other. The detection switch disposed on the forward direction side is operated, and the operation lever on the reverse direction side operates the detection switch disposed on the reverse direction.

  Further, the ultrasonic probe driving device 4 of the present embodiment includes a detection switch 71 as a movable limit position detecting unit that detects a movable limit position for detecting the stroke of the ultrasonic probe 2A, and a movable limit position detecting unit. Although the mechanical switch is provided with the operation lever 72 for operating the detection switch 71, the present invention is not limited to this, and the electric switch that is electrically operated when the operation lever contacts the detection switch. A contact type switch may be provided. Alternatively, the ultrasonic probe driving apparatus may be configured by providing a magnetic switch in which the detection switch is magnetically operated using a magnetic material instead of the operation lever 72. Alternatively, the ultrasonic probe driving apparatus may be configured by providing an optical switch that reflects or emits light to the detection switch instead of the operation lever 72.

  Note that embodiments configured by partially combining the above-described embodiments also belong to the present invention.

[Appendix]
According to the embodiment of the present invention described in detail above, the following configuration can be obtained.

(Additional item 1)
An ultrasonic probe having an ultrasonic transducer for transmitting and receiving ultrasonic waves in a body cavity, and a probe connecting portion for detachably connecting the ultrasonic probe, and the ultrasonic probe connected to the probe connecting portion is radial An ultrasonic diagnostic apparatus comprising an ultrasonic probe driving device that drives and linearly drives,
A movable limit position detecting unit provided in the ultrasonic probe driving device for detecting at least one movable limit position in a forward direction or a backward direction in linear driving according to the ultrasonic probe connected to the probe connecting unit;
A movable limit position detector provided in the ultrasonic probe for operating the movable limit position detector;
An ultrasonic diagnostic apparatus characterized in that the distance in the forward direction or the backward direction in the linear drive is variable according to the ultrasonic probe to be connected.

(Appendix 2)
When the movable limit position detection unit detects a movable limit position in the forward direction or the backward direction of the ultrasonic probe, the ultrasonic probe is stopped and the ultrasonic probe is moved to the original position. The ultrasonic diagnostic apparatus according to Supplementary Item 1.

(Additional Item 3)
The ultrasonic diagnostic apparatus according to claim 1, wherein the movable limit position detection unit is disposed in the vicinity of the probe connection unit.
(Appendix 4)
The ultrasonic diagnostic apparatus according to claim 1, wherein after the movable limit position of the ultrasonic probe is detected, the movable limit position of the ultrasonic probe is notified.

(Appendix 5)
An ultrasonic probe driving device having a probe connecting part for detachably connecting an ultrasonic probe, and radial driving and linear driving the ultrasonic probe connected to the probe connecting part,
The ultrasonic wave connected to the probe connecting part is provided with a movable limit position detecting part for detecting at least one movable limit position in the forward direction or the backward direction in linear driving according to the ultrasonic probe connected to the probe connecting part. An ultrasonic probe driving apparatus characterized in that a distance in a forward direction or a backward direction in linear driving is variable in accordance with a probe.

(Appendix 6)
An ultrasonic probe that has an ultrasonic transducer for transmitting and receiving ultrasonic waves in a body cavity, is detachably connected to a probe connecting portion of an ultrasonic probe driving device, and is radially driven and linearly driven.
A movable limit position detector for detecting at least one movable limit position in the forward or backward direction in the linear drive is provided, and the distance in the forward or backward direction in the linear drive is variable. Ultrasonic probe.

  An ultrasonic diagnostic apparatus, an ultrasonic probe driving apparatus, and an ultrasonic probe according to the present invention include an ultrasonic probe having a linear driving distance (stroke) different from that of one ultrasonic probe driving apparatus that performs radial driving and linear driving of the ultrasonic probe. Therefore, it is suitable for acquiring a desired ultrasonic tomographic image according to the diagnostic object.

1 is an overall configuration diagram illustrating an ultrasonic diagnostic apparatus according to Embodiment 1. FIG. FIG. 3 is a right side view showing the inside of the apparatus housing of the ultrasonic probe driving apparatus before the ultrasonic probe of FIG. 1 is connected. It is sectional drawing which shows the structure of the probe connector part of the ultrasonic probe of FIG. It is a top view which shows the apparatus housing inside of the ultrasonic probe drive device when the ultrasonic probe of FIG. 1 is connected. FIG. 3 is a left side view showing the inside of the apparatus housing of the ultrasonic probe driving apparatus when the ultrasonic probe of FIG. 1 is connected. It is a front view which shows the apparatus housing inside of the ultrasonic probe drive device when the ultrasonic probe of FIG. 1 is connected. FIG. 3 is a right side view showing the inside of the apparatus housing of the ultrasonic probe driving apparatus when the ultrasonic probe and the outer sheath of FIG. 1 are connected. FIG. 8 is a right side view showing the inside of the device housing of the ultrasonic probe driving device when the ultrasonic probe is retracted together with the radial drive unit from the state of FIG. 7. FIG. 9 is a right side view showing the inside of the apparatus housing of the ultrasonic probe driving device when the ultrasonic probe is further moved backward together with the radial drive unit from the state of FIG. 8 and the operation lever is pressed by pressing the detection switch. It is explanatory drawing which shows the example of a display screen of the monitor which is displaying the stroke (linear drive distance) of the detected ultrasonic probe. It is explanatory drawing which shows the example of a display screen of the monitor which is displaying the ultrasonic tomographic image. It is explanatory drawing which shows the example of a display screen of the monitor which is displaying the ultrasonic tomographic image at the time of using a new ultrasonic probe with respect to FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Ultrasonic diagnostic apparatus 2A Ultrasonic probe 2B Outer sheath 3 Intracorporeal probe 4 Ultrasonic probe drive apparatus 11 Tip part 12 Flexible shaft part 12a Flexible shaft 13 Probe connector part 20 Radial drive unit 21 Probe connection part 30 Linear drive unit 31 Linear drive Motor 52a Control circuit 80 Detection switch 80B Operation lever

Claims (3)

An ultrasonic probe having an ultrasonic transducer for transmitting and receiving ultrasonic waves in a body cavity, and a probe connecting portion for detachably connecting the ultrasonic probe, and the ultrasonic probe connected to the probe connecting portion is radial An ultrasonic diagnostic apparatus comprising an ultrasonic probe driving device that drives and linearly drives,
A movable limit position detecting unit provided in the ultrasonic probe driving device for detecting at least one movable limit position in a forward direction or a backward direction in linear driving according to the ultrasonic probe connected to the probe connecting unit;
A movable limit position detector provided in the ultrasonic probe for operating the movable limit position detector;
A control unit that variably controls the driving distance in the forward or backward direction in linear drive according to the movable limit position of the ultrasonic probe detected via the movable limit position detection unit and the movable limit position detection unit ;
An ultrasonic diagnostic apparatus comprising: An ultrasonic probe driving device having a probe connecting part for detachably connecting an ultrasonic probe, and radial driving and linear driving the ultrasonic probe connected to the probe connecting part,
A movable limit position detector for detecting at least one movable limit position of the forward direction or the backward direction in the linear drive in accordance with the ultrasound probe connected to the probe connection portion,
A control unit that variably controls the driving distance in the forward or backward direction in linear driving according to the movable limit position detected by the movable limit position detection unit ;
An ultrasonic probe driving device comprising: An ultrasonic probe that has an ultrasonic transducer for transmitting and receiving ultrasonic waves in a body cavity, is detachably connected to a probe connecting portion of an ultrasonic probe driving device, and is radially driven and linearly driven.
A movable limit position detector that can detect at least one movable limit position in the forward direction or the backward direction in the linear drive is provided, and according to the movable limit position detected via the movable limit position detector An ultrasonic probe, wherein a driving distance in a forward direction or a backward direction in linear driving is variably controlled .

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