JP5738507B2 - Ultrasonic probe trajectory expression device and ultrasonic diagnostic device - Google Patents

Description

The present invention relates to an ultrasonic probe trajectory expression apparatus and an ultrasonic diagnostic apparatus capable of expressing an ultrasonic probe movement trajectory.

There is an ultrasonic diagnostic apparatus in which a body mark and a probe mark are displayed side by side on an acquired ultrasonic image. The probe mark is superimposed on the body mark, and the position of the ultrasonic probe on the subject is expressed by the position with respect to the body mark. Therefore, the operator can specify the scan surface of the subject corresponding to the acquired ultrasonic image by viewing the position of the probe mark on the body mark. In particular, since it is difficult to specify a scan plane from an ultrasound image in breast and extremity examinations, display of a body mark and a probe mark is a very effective means for specifying a scan plane.

In a conventional ultrasonic diagnostic apparatus, in order to accurately display a probe mark, a so-called three-dimensional positioning system that can detect the position of an ultrasonic probe in real time may be used (for example, Patent Documents). 1, see Patent Document 2).
JP 2005-118142 A Japanese Patent Laying-Open No. 2005-169070

By the way, in mass screening of mammary glands, doctors have to check many subjects in a short time. Therefore, in recent years, mass screening is divided into primary and secondary examinations to improve examination efficiency, and only when abnormal findings are found in the primary examination, the benign / malignant findings of abnormal findings are found in the secondary examination. Judgment is made.

Therefore, in the temporary examination, it is necessary to scan the entire breast so as not to miss the abnormal findings. However, since the doctor concentrates on the ultrasound image displayed on the monitor, the consciousness cannot be concentrated on the hand that operates the ultrasound probe, and scan leakage may occur.

In the primary examination, the acquired ultrasound image may be stored as a moving image for each continuous operation of the ultrasound probe. Therefore, one video is stored in the memory of the ultrasonic diagnostic apparatus every time the ultrasonic probe is continuously operated, and many videos are stored when the entire breast is completely scanned. become.

Therefore, when interpreting images after an examination, a doctor needs to search an ultrasound image related to a desired scan surface from many moving images. In this case, the doctor refers to the body mark and probe mark associated with the last ultrasonic image of the moving image listed as a thumbnail.

However, since the probe mark displayed on the thumbnail is stationary, the doctor cannot specify the moving direction of the ultrasonic probe in each moving image even when viewing the thumbnail. Therefore, when an ultrasonic image related to a desired scan surface is present in the middle of a moving image, it takes a lot of time to search for an image, which causes a reduction in diagnostic efficiency.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an ultrasonic probe trajectory expression device and an ultrasonic wave that can prevent scan leakage of an examination site and obtain high diagnostic accuracy and throughput. It is to provide a diagnostic device.

An ultrasonic probe trajectory expression device according to an embodiment detects positional information of an ultrasonic probe that transmits and receives ultrasonic waves to and from an examination site of a subject over time with respect to the examination site, and the examination site of the ultrasound probe. Detection means for detecting the presence or absence of contact with the object, storage means for storing the temporal position information triggered by the start of contact of the ultrasonic probe with the subject, and a plurality of information stored for each start of contact. The trajectory information creating means for generating a plurality of trajectory information for expressing the trajectory that the ultrasonic probe has moved in contact with the examination site based on the time-dependent position information, and the examination site are schematically shown. Trajectory expression means for expressing the plurality of trajectory information in a superimposed manner at corresponding positions on the body mark.
An ultrasonic diagnostic apparatus according to an embodiment includes an ultrasonic probe that transmits and receives ultrasonic waves to and from an examination site of a subject and acquires an echo signal from each cross section of the examination site, and the ultrasound probe with respect to the examination site detects the temporal position information, said detecting means for detecting the presence or absence of contact of the to the inspection site of the ultrasonic probe, on the basis of the respective echo signals acquired by the ultrasonic probe, ultrasonic relates each section Image generation means for generating an image, storage means for storing the temporal position information triggered by the start of contact of the ultrasonic probe with the subject, and a plurality of the time-series stored for each contact start Trajectory information generating means for generating a plurality of trajectory information for expressing a trajectory in which the ultrasonic probe has moved in contact with the examination site based on target position information; Site corresponding positions on the body mark shown schematically, is to anda locus representation means for representing each by superimposing the plurality of locus information.

According to the present invention, it is possible to provide an ultrasonic probe trajectory expression apparatus and an ultrasonic diagnostic apparatus that can prevent scan leakage of an examination site and obtain high diagnostic accuracy and throughput.

(First embodiment)
First, a first embodiment of the present invention will be described with reference to FIGS.

(Configuration of ultrasonic diagnostic equipment)
First, the configuration of the ultrasonic diagnostic apparatus will be described with reference to FIG.
FIG. 1 is a block diagram of an ultrasonic diagnostic apparatus according to the first embodiment of the present invention.

As shown in FIG. 1, the ultrasonic diagnostic apparatus according to the present embodiment includes an ultrasonic probe 10, a transmission / reception unit 20, a signal processing unit 30, a display processing unit 40, an image memory 50, a position sensor 60, a position coordinate calculation unit 70, A position coordinate storage unit 80, a reference mark generation unit 90, a control unit 110, an operation panel 120, and a display unit 130 are provided.

The ultrasonic probe 10 transmits / receives ultrasonic waves to / from the examination site of the subject S, and a piezoelectric vibrator for transmitting / receiving ultrasonic waves is disposed in the case. This piezoelectric vibrator is divided into a plurality of elements, and each element constitutes a part of a so-called channel. If the ultrasonic probe 10 includes a 2D array transducer, three-dimensional data can be acquired.

The transmission / reception unit 20 includes a pulser circuit, a delay circuit, and a trigger generation circuit. The pulsar circuit repeatedly generates rate pulses for forming transmission ultrasonic waves at a predetermined rate frequency. The delay circuit gives the delay time necessary for converging the transmission ultrasonic wave in a beam shape for each channel and determining the transmission directivity of the ultrasonic wave for each rate pulse. The transmission direction of the ultrasonic wave based on the ultrasonic probe 10 is controlled by adjusting the delay time given by the delay circuit. The trigger generation circuit applies a drive pulse to the ultrasonic probe 10 at a predetermined timing based on the rate pulse whose delay time is adjusted.

The transmission / reception unit 20 includes an amplifier circuit, an A / D converter, and an adder. The amplifier circuit amplifies the echo signal captured from the ultrasonic probe 10 for each channel. A /
The D converter gives a delay time necessary for determining the reception directivity of the ultrasonic wave to the echo signal amplified for each channel. The adder adds echo signals given delay times for each channel to generate a reception signal. Thereby, the reflection component from the direction according to the reception directivity of the echo signal is emphasized.

The signal processing unit 30 includes a B-mode processing unit and a Doppler processing unit. B
The mode processing unit performs logarithmic amplification, normal detection processing, and the like on the reception signal output from the transmission / reception unit 20 to generate intensity data in which the intensity of the reception signal is expressed by luminance.
The Doppler processing unit calculates velocity information such as blood flow, tissue, and contrast agent bubble based on the reception signal output from the transmission / reception unit 20, and generates blood flow data such as average velocity, variance, and power. .

The display processing unit 40 performs coordinate conversion on received data such as intensity data or blood flow data output from the signal processing unit 30 to form a scanning line signal sequence in a video format typified by a television or the like. As a result, a tomographic image relating to the tissue shape of the subject S, an average velocity image relating to the blood flow velocity, a dispersion image, a power image, and the like are generated. In the following description, an image generated based on an ultrasonic scan, such as a tomographic image, an average velocity image, a dispersion image, and a power image, is referred to as an ultrasonic image UI.

The display processing unit 40 also generates a body mark B generated by the reference mark generation unit 90.
A reference mark RM is generated by superimposing M, the probe mark PB, and the trajectory mark TM. Then, the display processing unit 40 generates a diagnostic image by combining the ultrasound image UI acquired by the ultrasound scan and the corresponding reference mark RM for reference by the operator or doctor.

The image memory 50 includes an ultrasonic image UI generated by the display processing unit 40 and a reference mark RM.
Save the diagnostic image consisting of Thereby, the operator can refer to the diagnostic image stored in the image memory 50 after the diagnosis. Further, the image memory 50 stores the trajectory mark TM generated by the display processing unit 40 alone without associating it with the ultrasonic image UI. Thereby, the operator can refer to all the trajectory marks TM accumulated in the image memory 50 at a time.

The position sensor 60 is a so-called three-dimensional positioning system, and includes a magnetic field generation device 61 and a magnetic field sensor 62. The magnetic field generator 61 is fixed in the vicinity of, for example, a bed where the subject S is installed, and generates a magnetic field having a predetermined intensity in the movable space of the ultrasonic probe 10. The magnetic field sensor 62 is fixed to the ultrasonic probe 10 and detects the intensity of the magnetic field generated from the magnetic field generator 61.

The position coordinate calculation unit 70 calculates the position coordinates (X, Y, Z, θx, θy, θz) of the ultrasonic probe 10 every predetermined time based on the strength of the magnetic field detected by the position sensor 60. Yes. Here, X, Y, and Z are calculated as positions of predetermined portions of the ultrasonic probe 10, and θ
x, θy, and θz are calculated as inclinations of the ultrasonic probe 10 with respect to the vertical direction. That is, it is possible to calculate what angle the ultrasonic radiation surface of the ultrasonic probe 10 is based on θx, θy, and θz.

The position coordinate storage unit 80 is configured so that the time after the ultrasonic probe 10 contacts the subject S at the same time as the ultrasonic probe 10 contacts the subject S, the position coordinates of the ultrasonic probe 10 at each time, and the time coordinates. Begin to remember. Thus, when the position sensor 60 starts detecting the position of the ultrasonic probe 10, coordinate data regarding the position of the ultrasonic probe 10 after contacting the subject S is accumulated in the position coordinate storage unit 80.

The reference mark generation unit 90 includes a body mark generation unit 91, a probe mark generation unit 92, a locus mark generation unit 93, and a scan plane mark generation unit 94. The body mark generation unit 91 generates a body mark BM corresponding to the examination site based on the information on the subject S input in advance from the operation panel 120. In the present embodiment, since the examination site is the breast B, a body mark BM simulating the breast B is generated.

In the present embodiment, the body mark BM is generated every time information on the subject S is input. However, the present invention is not limited to this. For example, the body mark BM corresponding to the examination site may be selected from a plurality of body marks BM created in advance.

The probe mark generation unit 92 generates a probe mark PM imitating the piezoelectric transducer surface of the ultrasonic probe 10 based on the position coordinates of the ultrasonic probe 10 detected by the position sensor 60. The trajectory mark generation unit 93 generates a trajectory mark TM representing the trajectory of the ultrasonic probe 10 based on the coordinate data stored in the position coordinate storage unit 80. The scan plane mark generation unit generates a scan plane mark SM indicating a region that the ultrasonic probe 10 is currently imaging.

The contact detection unit 100 detects the contact of the ultrasonic probe 10 with the subject S based on the echo signal from the transmission / reception unit 20.

The control unit 110 is configured by a CPU that is operated by software, and controls the operation of each unit of the ultrasonic diagnostic apparatus. Further, the control unit 110 causes the trajectory mark generation unit 93 to generate the trajectory mark TM and the scan plane mark generation unit 94 to start generating the scan plane mark SM based on the detection result of the contact detection unit 100.

The operation panel 120 includes an input switch for inputting various information related to the subject S, such as the ID of the subject S and an examination site, a position determination switch for determining the position coordinates of the ultrasonic probe 10 in calibration described later, A trajectory display switch for collectively displaying all trajectory marks TM stored in the image memory 50 is provided.

As shown in FIG. 3, the display unit 130 displays a diagnostic image that is generated by the display processing unit 40 and includes an ultrasonic image UI and a reference mark RM. The display unit 130 collectively displays all the trajectory marks TM accumulated in the image memory 50 based on instructions from the trajectory display switch of the operation panel 120.

In the present embodiment, all the configurations are described as one configuration of the ultrasonic diagnostic apparatus, but each may be configured as an externally attachable unit. For example, the position sensor 60 and the position coordinate calculation unit 70 are configured such that the position coordinate storage unit 80, the reference mark generation unit 90, etc. can be added to a normal ultrasonic diagnostic apparatus as a unit separate from the ultrasonic diagnostic apparatus. May be. It goes without saying that the position coordinate calculation unit 70, the position coordinate storage unit 80, the reference mark generation unit 90, and the like can be configured as program units processed using the CPU of the control unit 110.

(Operation of ultrasonic diagnostic equipment)
Next, with reference to FIG. 2, the inspection process using the ultrasonic diagnostic apparatus will be described.
FIG. 2 is a flowchart of an inspection process using the ultrasonic diagnostic apparatus according to the embodiment.

First, various types of information on the subject S such as the ID of the subject S and the examination site are input from the operation panel 120 (step S1). Then, the body mark generator 91 generates a body mark BM corresponding to the examination site. In the present embodiment, since the examination site is the breast, a body mark BM simulating the breast is generated. The body mark BM generated by the body mark generation unit 91 is sent to the display processing unit 40 and is synthesized with the ultrasonic image UI generated by the ultrasonic scan.

Next, the coordinate data of the ultrasonic probe 10 remaining in the position coordinate storage unit 80 and accumulated in the previous examination of the subject S is cleared (step S2). Naturally, if the diagnosis of another subject has not been performed before the diagnosis of the subject S, the coordinate data of the ultrasonic probe 10 should not be stored in the position coordinate storage unit 80.

Next, the position sensor 60 is calibrated (step S3). FIG. 4 is a schematic diagram for explaining calibration of the position sensor 60 in the embodiment.

In this calibration, as shown in FIG. 4A, the ultrasonic probe 10 is brought into contact with five parts P0 to P5 of the target breast B. Each time the ultrasonic probe 10 is brought into contact with each part P0 to P5 of the breast B, the position of the ultrasonic probe 10 is determined by operating the operation panel 120. As a result, the position coordinates (X,
Y, Z) are positions P0 to P0 defined on the body mark BM, as shown in FIG.
Corresponds to P4. That is, in the calibration according to the present embodiment, the relative position between the body mark BM and the breast B of the subject S and the relative position between the ultrasonic probe 10 and the breast B of the subject S are simultaneously executed. The

  Here, the position information obtained in each of the parts P1 to P5 is three-dimensional position information.

Various methods are conceivable for associating such position information with a two-dimensional body mark. For example, by ignoring one coordinate system in the depth direction, the two-dimensional body mark may be reflected, or a plane is fitted to the position coordinates from P1 to P4, and P0 is applied to the plane.
You may use the coordinate which projected -P4. Furthermore, the body mark BM may be associated with the three-dimensional shape developed so that the surface area of the breast shape estimated from P0 to P5 is maintained as much as possible.

If the calibration accuracy is poor, the correspondence between the ultrasonic image UI and the reference mark RM is shifted. Therefore, the operator accurately places the ultrasonic probe 10 at five positions P1 to P5 defined on the body mark BM. It is preferable to match. Therefore, it may be determined in advance which part of the probe is to be matched with the specified position in which direction, and position information corresponding to the predetermined position may be acquired.

When the calibration of the position sensor 60 is completed through the above steps, the position sensor 6
The position coordinate of the ultrasonic probe 10 is detected by 0 (step S4). The detection of the position coordinates of the ultrasonic probe 10 is continued until all the inspection processes are completed.

When the position coordinates of the ultrasonic probe 10 are detected, the operator brings the ultrasonic probe 10 into contact with the breast B of the subject S along the body axis of the subject S as shown in FIG. To move. At this time, the operator may move the ultrasonic probe 10 along a virtual loop centered on the nipple of the subject S.

When the contact detection unit 100 detects the contact of the ultrasonic probe 10 with the subject S (Yes in step S5), the position coordinate calculation unit 70 starts the ultrasonic probe 10 at predetermined intervals from that time. Is calculated. Each time the position coordinates of the ultrasonic probe 10 are calculated, they are stored in the position coordinate storage unit 80 (step S6). This
The position coordinate storage unit 80 stores coordinate data of an ultrasonic probe that is composed of the time elapsed since the ultrasonic probe 10 contacted the subject S and the position coordinates of the ultrasonic probe 10 at each time. Is done.

Next, the probe mark generation unit 92 generates the probe mark PM based on the coordinate data stored in the position coordinate storage unit 80. The probe mark PM is sent to the display processing unit 40, superimposed on the body mark BM that has already been created, and displayed on the display unit 130 as shown in FIG. 6 (step S7).

At the same time, the trajectory mark generator 93 generates a trajectory mark TM based on the coordinate data stored in the position coordinate storage unit 80. The position coordinate storage unit 80 includes an ultrasonic probe 10.
The position coordinates of the ultrasonic probe 10 from when the object contacts the subject S to the present time are continuously stored. Therefore, a trajectory mark TM representing how the ultrasonic probe 10 has moved on the subject is generated based on the position coordinates of the plurality of continuous ultrasonic probes 10. Specifically, the coordinates of the end portion of the subject contact surface of the ultrasonic probe 10 are derived from the respective position coordinates, and the locus mark TM is generated by arranging these on the coordinate plane.

Further, the ultrasonic trajectory scan plane mark generation unit 94 generates a scan plane mark. The scan plane mark generation unit 94 generates a scan plane mark SM as shown in FIG. 6 when the ultrasonic scan plane transmitted from the ultrasonic probe 10 is viewed from above the breast. As a result, it is possible to indicate the extent of scanning in the body surface direction.

The scan plane mark generation unit 94 acquires information on the irradiation area held by the control unit 110 and reflects the information on the shape of the scan plane mark SM. For example, the operator can adjust the depth of imaging by operating the operation panel 120, and the shape of the scan plane mark SM changes as shown in FIG. 7 according to this depth. Further, the operator can change the imaging region also in the visual field width direction (direction parallel to the ultrasonic radiation surface of the ultrasonic probe 10). Also in such a case, the shape of the scan plane mark SM changes according to the change in the visual field width direction as shown in FIG.

Furthermore, in the present embodiment, the description has been made centering on the case where a rectangular region is scanned using a linear probe, but the present invention is not limited to this. The scan surface mark SM is generated corresponding to the change of the scan area depending on the type of probe. For example, when scanning a trapezoidal area, a scan plane mark SM is displayed as shown in FIG. Further, when a sector type or convex type probe is used, a sector area is scanned. In this case, a scan plane mark SM is displayed as shown in FIG. Needless to say, although not specifically shown in the figure, the probe mark PM should also be deformed in accordance with the change in the probe shape.

The trajectory mark TM and the scan plane mark SM are sent to the display processing unit 40, superimposed on the body mark BM already created, and displayed on the display unit 130 as shown in FIG. 11 (step S8). .

What is important here is that when generating the probe mark PM, the trajectory mark TM, and the scan plane mark SM, the probe mark generation unit 92, the trajectory mark generation unit 93, and the scan plane mark generation unit 94 perform the trajectory of the ultrasonic probe 10 with respect to the breast B. Is converted into the relative position and relative angle of the probe mark PM, trajectory mark TM and scan plane mark SM with respect to the body mark BM. Therefore, the relative position and relative angle with respect to the body mark BM correspond to the relative position and relative angle of the ultrasonic probe 10 with respect to the breast B. As a result, the operator simply looks at the probe mark PM, the trajectory mark TM, and the scan surface mark SM superimposed on the body mark BM, and the position and trajectory of the ultrasonic probe 10 on the breast B and the scan surface being imaged. The area can be confirmed. When the ultrasonic probe 10 moves along a virtual loop centered on the nipple of the subject S, the trajectory mark TM has a ring shape as shown in FIG.

FIG. 3 is a schematic diagram of a diagnostic image displayed on the display unit 130 in the embodiment. As shown in FIG. 3, the display unit 130 displays ultrasonic images UI and reference marks RM corresponding to each other side by side. Therefore, the operator can confirm which part of the breast B of the subject S reflects the displayed ultrasonic image UI by looking at the reference marks RI displayed side by side.

When the ultrasonic probe 10 moves on the subject S by a certain distance, the ultrasonic probe 10 is once separated from the subject S. Then, the operator brings the ultrasonic probe 10 into contact with the breast B of the subject S again and moves it along the body axis of the subject S. At this time, the position of the ultrasonic probe 10 is shifted so that a region that has already been ultrasonically scanned is not rescanned.

FIG. 13 is a schematic view of the reference mark RM in which the trajectory marks TM are collectively displayed in the same embodiment. When the operation of the ultrasonic probe 10 is performed several times, the operator operates the operation panel 1.
By pressing the 20 locus display switch, as shown in FIG. 13, all the locus marks TM generated so far are collectively displayed superimposed on the body mark BM.

If the body mark BM includes a region R that is not covered with the trajectory mark TM, the operator determines that the region R is not ultrasonically scanned, and moves the ultrasonic probe 10 to the corresponding region R of the breast B. Is moved along the body axis of the subject S (No in step S9).
). And finally, if the body mark BM is covered with the trace mark TM,
The operator determines that the entire breast B has been ultrasonically scanned and ends the examination of the breast B (
Yes in step S9).

When the ultrasonic probe 10 is moved away from the subject S, the contact detection unit 100 clears the trajectory mark TM and the scan plane mark SM that have been superimposed on the body mark BM so far (step S10). Thereby, only during the period when the ultrasonic probe 10 is in contact with the subject S, the trajectory mark TM and the scan plane mark S on the body mark BM.
M is displayed in a superimposed manner.

(Image search during interpretation)
Next, for example, a procedure for searching for a specific ultrasound image UI from a plurality of moving images after the primary examination will be described.

For example, in the primary examination, a plurality of ultrasonic images UI may be collected and saved as one moving image. In such a case, the doctor looks at the reference mark RM attached to the last ultrasonic image UI of each moving image listed as a thumbnail, and displays a moving image including a scan plane in which an abnormal finding is found in the primary examination. Identify. Then, the doctor reproduces the moving image while viewing the trajectory mark TM and the scan plane mark SM of the reference mark RM, and displays the ultrasonic image UI related to the specific scan plane where the abnormal findings are found.

(Body mark BM and 2D grid overlay display)
Further, a lattice pattern with a constant interval may be superimposed on the body mark BM as shown in FIG. It is preferable that display / non-display of such a lattice pattern can be switched by an operation of the operator. Further, the same effect can be obtained not only by the lattice pattern but also by arranging a scaled axis in the vicinity of the body mark BM or displaying dots at a predetermined interval.

In addition, based on the result of calibration of the position sensor, the interval such as the lattice pattern may be determined based on the actual size of the subject breast. Further, the same effect can be obtained by displaying how many millimeters the grid interval corresponds to without changing the lattice pattern interval.

(Operation by this embodiment)
In the present embodiment, the trajectories of all the ultrasonic probes 10 generated after the inspection of the target breast B is started are superimposed and displayed on the body mark BM as the trajectory marks TM. Therefore, the operator can confirm a region where the ultrasonic scan by the ultrasonic probe 10 is not performed only by looking at the body mark BM and the trajectory mark TM. as a result,
Because a complete ultrasound scan across the entire breast B can be performed in the minimum amount of time,
The diagnostic accuracy and diagnostic efficiency are improved at the same time.

In the present embodiment, the scan plane imaged by the ultrasonic probe 10 at a specific time is displayed as a scan plane mark SM in a superimposed manner on the body mark BM. Therefore, the operator can confirm the region imaged at a specific point in time only by looking at the body mark BM and the scan plane mark SM. Therefore, the actual positional relationship of the diagnostic image displayed at the time of interpretation can be easily recognized. Further, since the observation can be performed together with the trajectory mark TM, the region where the ultrasonic scan is performed can be confirmed more reliably, and a complete ultrasonic scan over the entire breast B can be executed. As a result, diagnostic accuracy and diagnostic efficiency are improved at the same time.

In the present embodiment, the locus mark TM is superimposed on the body mark BM only when the locus display switch provided on the operation panel 120 is pressed. Therefore, only one trajectory mark TM is superimposed and displayed on the body mark BM during the examination of the breast B, so that the visibility of the operator is good.

In the present embodiment, the probe mark PM is generated only when the ultrasonic probe 10 is in contact with the subject S. Therefore, when the ultrasonic probe 10 is floating in the air, the trajectory mark TM of the ultrasonic probe 10 is not superimposed on the body mark BM, so that the body mark BM is not damaged by the unnecessary trajectory mark TM.

In the present embodiment, when the ultrasonic image UI stored as a moving image is reproduced, the reference mark RM including the trajectory mark TM is displayed in the vicinity of the ultrasonic image UI. For this reason, for example, even when the image is interpreted after the primary examination, the doctor simply looks at the body mark BM and the trajectory mark TM displayed side by side on the ultrasound image UI, and can scan the scan surface on which an abnormal finding exists. Can be easily identified.

In the present embodiment, a lattice pattern, scale axes, dots, and the like are displayed together with the body mark BM. Therefore, it becomes easy to grasp the positional relationship between the body mark BM, the probe mark PM, the trajectory mark TM, and the scan plane mark SM. It is also possible to display a lattice pattern reflecting the actual size of the breast based on the result of calibration. for that reason,
The operator can grasp the position and operation of the probe mark PM on the body mark BM and the actual position of the breast and the ultrasonic probe 10 in correspondence with each other more accurately and easily.

In mammary gland diagnosis, diagnosis by other modalities such as X-ray mammography is often used in combination. In such a case, according to the present embodiment, it is possible to easily identify the correlation of the diagnostic position with other modalities and the position of the abnormal part.

(Second Embodiment)
Next, a second embodiment will be described with reference to FIGS. 15 and 16.
FIG. 15 is a schematic view of an ultrasonic probe 10 according to the second embodiment of the present invention.

In the ultrasonic diagnostic apparatus according to the first embodiment, the position sensor 60 using a three-dimensional positioning system is used to detect the position coordinates of the ultrasonic probe 10. However, in the ultrasonic diagnostic apparatus according to this embodiment, as shown in FIG. 15, a position sensor 60A using an image sensor typified by an optical mouse or the like is used.

The position sensor 60A is fixed to the ultrasonic probe 10, and the ultrasonic probe 10
The movement distance and direction of movement are detected. Therefore, the position sensor 60A in the present embodiment cannot detect the coordinate position of the ultrasonic probe 10 unlike the position sensor 60 in the first embodiment. However, compared with the magnetic sensor 62, it can be made relatively inexpensive, and since it is not affected by anything such as metal that disturbs magnetism, the place of use is not limited.

FIG. 16 is a schematic diagram for explaining calibration of the position sensor 60A in the embodiment of the present invention.

As shown in FIG. 16, in the calibration of the position sensor 60 </ b> A in the present embodiment, the ultrasonic probe 10 is first brought into contact with the nipple of the breast B. Then, as shown in FIG. 16A, the ultrasonic probe 10 is moved toward the four portions Q1 to Q4 arranged around the breast B. As a result, the four parts Q1 to Q4 around the breast B with reference to the nipple of the breast B are used.
Distances L1 to L4 are measured. In addition, each region Q1 around the breast B from the nipple
Every time the distances L1 to L4 up to Q4 are measured, the distance input is determined by operating the operation panel 120. As a result, the distances L1 to L4 from the nipple to each part Q1 to Q4 around the breast B
As shown in FIG. 16B, L4 is a distance L1 to L defined on the body mark BM.
4 is associated. That is, in the calibration in the present embodiment, only the relative position between the body mark BM and the breast B of the subject S is calibrated, and the ultrasonic probe 10 and the subject S are calibrated.
Calibration of the relative position with respect to the breast B is not performed.

If the calibration accuracy is poor, the correspondence between the ultrasonic image UI and the reference mark RM may be shifted. Therefore, the operator accurately matches the starting point of the ultrasonic probe 10 with the nipple of the breast B, It is necessary to accurately move the ultrasonic probe 10 toward the end points Q1 to Q4.

In this embodiment, the operator moves the ultrasonic probe 10 from the nipple to the respective parts Q1 to Q4 of the breast B. However, the nipple is started from the respective parts Q1 to Q4 of the breast B. The ultrasonic probe 10 may be moved toward the head.

When the calibration of the position sensor 60A is completed through the above steps, the operator
The ultrasonic probe 10 is moved in each direction of the breast B while being in contact with the breast B of the subject S. At this time, every time the ultrasonic probe 10 contacts the breast B, the operator operates the operation panel 12.
By operating 0, the body mark BM is moved to a position in the probe mark PM corresponding to the position where the ultrasonic probe 10 contacts the breast B. Thereby, the ultrasonic probe 1
Even if 0 moves on the breast B, the position of the probe mark PM with respect to the body mark BM,
The position of the ultrasonic probe 10 with respect to the breast B of the subject S corresponds. This procedure is performed in order to teach the starting point of the ultrasonic probe 10 to the apparatus main body, and the relative position between the ultrasonic probe 10 and the breast B of the subject S is not calibrated. It is a procedure peculiar to.

(Third embodiment)
Next, a third embodiment will be described with reference to FIG.

FIG. 17 is a schematic diagram for illustrating a display example of the body mark BM and the like in the second embodiment of the present invention.

In the ultrasonic diagnostic apparatus according to the first embodiment, the body mark BM is represented two-dimensionally,
It does not correspond to the three-dimensional shape of the breast. However, in the ultrasonic diagnostic apparatus according to this embodiment, the body mark BM and the trajectory mark TM are displayed in a three-dimensional manner.

First, generation of the body mark BM will be described. First, each part P1-P5 of the breast B
The position coordinates (X, Y, Z) are obtained in the same manner as in the first embodiment. Since these represent three-dimensional positions, the three-dimensional shape of the breast can be estimated based on these position information. The probe mark generation unit 91 generates a body mark BM indicating a three-dimensional shape based on the estimated three-dimensional shape of the breast. As an example, there is a model imitating a perspective view of a breast as shown in FIG. Although not specifically shown in (a), the body mark BM is preferably displayed in a wire frame or represented by a plurality of cubic blocks in order to more clearly represent a three-dimensional shape. In the present embodiment, the probe mark PM is represented by a stacked state of cubic blocks.

Next, generation of the probe mark PM and the scan surface mark SM will be described. The probe mark PM and the scan plane mark SM are displayed by the probe mark generator 92 and the scan plane mark generator 94 so that the positional relationship with the breast can be grasped based on the acquired position information. In the figure, a probe imitating the shape of the entire probe is displayed as the probe mark PM, but it may be a simple one representing only the ultrasonic radiation surface with a line segment.

Next, the display of the locus will be described. FIGS. 17B and 17C are diagrams for explaining the display of the trajectory. In this figure, the body mark BM is a cube for convenience of explanation. However, in actuality, the cubes are displayed so as to be stacked, resembling the shape of a breast. Here, each cube corresponds to voxel region mapping of the breast. Since the three-dimensional region to be imaged can be grasped by the position information of the ultrasonic probe 10 and the transmission / reception conditions, the trajectory mark generator 93 corresponds to the imaged region based on such information. Delete the displayed cube. That is, the cube (body mark BM) displayed corresponding to the imaged area displayed as shown in FIG. 17B at the beginning of the inspection is moved to the state shown in FIG. In the end, the cube (body mark BM) displayed corresponding to the imaged area is completely erased. The disappearance of the cube (body mark BM) displayed corresponding to the imaged region means that the entire three-dimensional region of the breast has been imaged. Therefore, the operator moves the ultrasonic probe 10 so that all the cubes (body marks BM) displayed corresponding to the imaged area disappear.

Further, the cube (body mark BM) displayed corresponding to the imaged area may be changed in color tone and luminance by moving the probe . In case of this, in order to allow viewing the cube corresponding to the non-imaging area hidden inside, a cube corresponding to the imaged region or translucent display, the display of the cube frame consisting of side only Or

According to the present embodiment, since the probe mark PM and the body mark BM are displayed three-dimensionally, three-dimensional grasp of the imaging region is facilitated, contributing to improvement of diagnosis efficiency and reliable detection of disease.

Furthermore, according to the present embodiment, the part corresponding to the imaged area of the body mark BM is deleted three-dimensionally, so it is obvious whether there is a non-imaged area. Therefore, compared to using the two-dimensional body mark BM, there is no so-called omission and it is easy to acquire an ultrasound image of the entire breast, which contributes to improvement of diagnosis efficiency and reliable detection of disease.

(Fourth embodiment)
Next, a fourth embodiment will be described.

The present embodiment is characterized in that the position of a diseased part when a diseased part such as a tumor is found during ultrasonic examination is recorded. Hereinafter, the operation of the ultrasonic diagnostic apparatus according to the present embodiment will be described.

First, it is assumed that the operator finds a tumor by observing the ultrasonic image displayed on the display unit 130. At that time, the operator designates the center position of the part on the ultrasonic image.
When a part is designated, the control unit 110 grasps position information (Xi, Yi) on the image.
The control unit 110 acquires the position coordinates (X, Y, Z, θx, θy, θz) of the ultrasonic probe 10 when acquiring the ultrasonic image in which the part is specified. Based on this information, the control unit 110
The position information of the tumor site is stored in a storage means (not shown).

Various forms of the position information of the tumor site to be recorded are conceivable. First, (Xi, Y
The absolute coordinates of the tumor position can be acquired from the information i) and (X, Y, Z, θx, θy, θz). Here, the absolute coordinate indicates a coordinate system based on the subject, preferably a coordinate system with the nipple portion as the origin. In this way, it is possible to perform processing such as marking the part where the tumor is displayed in all the stored images, and displaying it when diagnosing the tumor part again. It is also possible to do. Also, the ultrasonic probe 10
The position information (X, Y, Z, θx, θy, θz) may be stored as it is.
In this way, when the tumor site is diagnosed again, the tumor image can be reproduced by moving the ultrasonic probe 10 in accordance with the display of (X, Y, Z, θx, θy, θz).

This information is also useful during open surgery for removal of abnormal sites. Since this position information is given as coordinates from the nipple, if the surgeon knows this in advance, the incision can be made by calculation without directly marking the subject at the time of incision. .

Furthermore, it is also effective during treatment with a puncture needle and biopsy. 2. Description of the Related Art A treatment using a puncture needle insertion planned path superimposed on a real-time ultrasonic image using an ultrasonic diagnostic apparatus and using this as a puncture guide is widely performed. Here, the planned insertion path connects the puncture adapter provided on the ultrasonic probe and the target site in the non-sample, but if there is location information of the abnormal site as described above, the planned insertion path is set. Or assisting in setting the needle guide angle of the puncture adapter, which contributes to quick and reliable diagnosis.

(Fifth embodiment)
Next, a fifth embodiment will be described.

In the above-described embodiment, the position sensor 60 of the ultrasonic probe 10 is described as an example using a magnetic field. A sensor using such a magnetic field is generally sufficiently accurate in an ideal environment. However, in an environment where an ultrasonic diagnostic apparatus is normally used, there are many things that disturb the magnetic field, such as iron beds. The present embodiment is characterized in that it has a function of correcting an error of the position sensor 60 caused by such disturbance of the magnetic field. Hereinafter, the operation of the ultrasonic diagnostic apparatus according to the present embodiment will be described.

First, the operator measures the magnetic field distortion at the same place where the inspection is performed before starting the inspection. Specifically, the operator moves the ultrasonic probe 10 up, down, left, and right by a predetermined distance and measures the strength of the magnetic field at several points. For example, the actual positional relationship can be obtained by operating a predetermined button of the operation panel 120 in a state where the ultrasonic probe 10 is applied to a plurality of end portions such as bars, flat plates, and rectangular parallelepipeds whose sizes are already known. Measurements at known locations are possible.

By this measurement, the control unit 110 acquires the magnetic field recognized by the position sensor 60. And
The control unit 110 compares the ideally recognized magnetic field calculated from the actual moving distance of the ultrasonic probe with the magnetic field recognized by the position sensor 60.

FIG. 18 shows a graph comparing the actually measured magnetic field actually measured and the actually measured magnetic field. Thus, the obtained magnetic field can be approximated as a quadratic curve or a cubic curve according to the distance direction. The control unit 110 stores such a relationship, performs inverse transformation of the measurement space during actual inspection, and outputs accurate position information.

(Sixth embodiment)
Next, a sixth embodiment will be described with reference to FIG.
FIG. 19 is a schematic view of a push switch 100A according to the fifth embodiment of the present invention.

In the ultrasonic diagnostic apparatus according to the first embodiment, the contact detection unit 100 built in the apparatus main body.
Detects the contact of the ultrasonic probe 10 with the subject S, and simultaneously stores the position coordinates of the ultrasonic probe 10 in the position coordinate storage unit 80, that is, generates the probe mark PM, the trajectory mark TM, and the scan plane mark SM. Be started. However, in the ultrasonic diagnostic apparatus according to the present embodiment, the probe mark PM and the trajectory mark TM are used instead of using the contact detection unit 100.
As a trigger for starting the generation of the scan plane mark SM, a manual push switch 100A is used as shown in FIG.

The push switch 100A is disposed on the ultrasonic probe 10 and can be easily turned on / off by an operator holding the ultrasonic probe 10. When the push switch 100A is turned on by the operator's finger, the storage of the position coordinates of the ultrasonic probe 10 in the position coordinate storage unit 80 is started. When the push switch 100A is turned off, the position of the position coordinates of the ultrasonic probe 10 is started. The storage in the coordinate storage unit 80 is stopped.

As described above, compared to the contact detection unit 100 in the first embodiment, the push switch 100A in the present embodiment requires an ON / OFF operation by an operator, but contact detection requires complicated processing. Compared to the part 100, the probe mark PM is very simple.
The generation of the trajectory mark TM and the scan mark SM is started. Moreover, since the push switch 100A is disposed on the ultrasonic probe 10, the ON / OFF operation is very simple.

(Seventh embodiment)
Next, a seventh embodiment will be described with reference to FIG.
FIG. 20 is a schematic view of a foot switch 100B according to the sixth embodiment of the present invention.

In the ultrasonic diagnostic apparatus according to the first embodiment, the contact detection unit 100 built in the apparatus main body.
Detects the contact of the ultrasonic probe 10 with the subject S, and simultaneously stores the position coordinates of the ultrasonic probe 10 in the position coordinate storage unit 80, that is, generates the probe mark PM, the trajectory mark TM, and the scan plane mark SM. Be started. However, in the ultrasonic diagnostic apparatus according to the present embodiment, the probe mark PM and the trajectory mark TM are used instead of using the contact detection unit 100.
As a trigger for starting the generation of the scan plane mark SM, as shown in FIG. 20, a foot-operated foot switch 100B is used.

The foot switch 100B is disposed on the floor, and can be easily turned on / off by an operator holding the ultrasonic probe 10. When the foot switch 100B is turned on by the operator's foot, the position coordinate storage unit 80 of the position coordinates of the ultrasonic probe 10 is used.
When the storage is started and turned OFF, the storage of the position coordinates of the ultrasonic probe 10 in the position coordinate storage unit 80 is stopped.

As described above, when the foot-operated foot switch 100B is used as in the present embodiment, the operator is free to hold the ultrasonic probe 10 even at the moment of turning on / off. Therefore, the work efficiency of the operator increases.

The present invention is not limited to the above-described embodiments as they are, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. Moreover, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, you may combine suitably the component covering different embodiment.

1 is a block diagram of an ultrasonic diagnostic apparatus according to a first embodiment of the present invention. 5 is a flowchart of an inspection process using the ultrasonic diagnostic apparatus according to the embodiment. Schematic of the diagnostic image displayed on the monitor in the embodiment. Schematic for demonstrating the calibration of the position sensor in the embodiment. The schematic diagram of the ultrasonic probe in contact with the subject in the embodiment. FIG. 3 is a schematic diagram of a reference mark on which a scan surface mark is superimposed according to the first embodiment of the present invention. Schematic of a reference mark when changing the imaging depth in the first embodiment of the present invention. FIG. 6 is a schematic diagram of a reference mark when the viewing width direction of the imaging region is changed in the first embodiment of the present invention. FIG. 3 is a schematic diagram of a reference mark when scanning a trapezoidal area in the first embodiment of the present invention. Schematic of the reference mark at the time of using the convex probe or the sector probe in the 1st Embodiment of this invention. The schematic diagram of a reference mark when the ultrasonic probe in the embodiment is moved along the body axis of the subject. The schematic diagram of a reference mark when the ultrasonic probe in the embodiment moves along the virtual loop centering on the nipple of the subject. The schematic diagram of the reference mark by which the locus mark in the embodiment was displayed collectively. The schematic diagram of the reference mark at the time of displaying the lattice pattern in the 1st embodiment of the present invention. Schematic of the ultrasonic probe in the 2nd Embodiment of this invention. Schematic for demonstrating the calibration of the position sensor in the embodiment. Schematic of the reference mark in the 3rd Embodiment of this invention. The conceptual diagram for demonstrating the magnetic field correction | amendment in the 5th Embodiment of this invention. Schematic of the ultrasonic probe in the 6th Embodiment of this invention. Schematic of the foot switch in the seventh embodiment of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Ultrasonic probe 20 ... Display processing part 30 ... Signal processing part 40 ... Display processing part 50 ... Image memory 60 ... Position sensor 61 ... Magnetic field generator 62 ... Magnetic field sensor 70 ... Position coordinate calculation part 80 ... Position coordinate storage part 90 Reference mark generator 91 ... Body mark generator 92 ... Probe mark generator 93 ... Trajectory mark generator 94 ... Scan plane mark generator 100 ... Contact detector 100A ... Push switch 100B ... Foot switch 100 ... Contact detector 110 ... Control unit 130 ... Display unit S ... Subject B ... Breast UI ... Ultrasound image RM ... Reference mark BM ... Body mark PM ... Probe mark TM ... Trajectory mark SM ... Scan plane mark

Claims (20)

Detection means for detecting temporal position information of the ultrasonic probe for transmitting and receiving ultrasonic waves to and from the inspection site of the subject, and detecting presence or absence of contact of the ultrasonic probe with the inspection site;
Storage means for storing the temporal position information triggered by the start of contact of the ultrasonic probe with the subject;
Trajectory information generating means for generating a plurality of trajectory information for expressing a trajectory in which the ultrasonic probe has moved in contact with the examination site, based on a plurality of the temporal position information stored for each contact start. When,
Trajectory expression means for representing the plurality of trajectory information by superimposing them at corresponding positions on a body mark schematically showing the examination site,
A trajectory expression device for an ultrasonic probe, comprising: An ultrasonic probe that transmits and receives ultrasonic waves to and from an examination site of a subject and obtains an echo signal from each cross section of the examination site;
Detecting means for detecting position information of the ultrasonic probe over time with respect to the inspection site, and detecting presence or absence of contact of the ultrasonic probe with the inspection site;
Based on each echo signal acquired by the ultrasonic probe, image generating means for generating an ultrasonic image related to each cross section;
Storage means for storing the temporal position information triggered by the start of contact of the ultrasonic probe with the subject;
Trajectory information generating means for generating a plurality of trajectory information for expressing a trajectory in which the ultrasonic probe has moved in contact with the examination site, based on a plurality of the temporal position information stored for each contact start. When,
Trajectory expression means for representing the plurality of trajectory information by superimposing them at corresponding positions on a body mark schematically showing the examination site,
An ultrasonic diagnostic apparatus comprising:   The trajectory expression means superimposes the trajectory information and the current position of the ultrasonic probe on a corresponding position on a body mark schematically showing the examination site, and displays the current position of the ultrasonic probe. The ultrasonic diagnostic apparatus according to claim 2, wherein an ultrasonic image corresponding to the position is displayed.   The trajectory expression means creates a probe mark that is superimposed on the body mark and represents the position of the ultrasonic probe relative to the examination site based on the position or movement of the ultrasonic probe detected by the detection means, The ultrasonic diagnostic apparatus according to claim 2, wherein a current position of the ultrasonic probe is expressed by the probe mark.   The ultrasonic diagnostic apparatus according to claim 2, wherein the detection unit includes a positioning system that detects a position of the ultrasonic probe.   The ultrasonic diagnostic apparatus according to claim 2, wherein the detection unit includes an image sensor that detects a movement direction and a movement amount of the ultrasonic probe.   The ultrasonic diagnostic apparatus according to claim 2, wherein the detection unit detects contact of the ultrasonic probe with the examination site based on an echo signal received by the ultrasonic probe.   The trajectory expression means collectively displays all the trajectory information created in a period from the start to the end of the inspection of the target inspection site. Ultrasonic diagnostic equipment.   The trajectory expression unit creates a scan plane mark for indicating an imaging area when the ultrasonic probe is at a certain position, and displays the scan plane mark together with the probe mark. 2. The ultrasonic diagnostic apparatus described in 2. The ultrasonic diagnostic apparatus according to claim 9 , wherein the trajectory expression unit generates the scan plane mark corresponding to a depth of the ultrasonic image. The trajectory expression unit generates the scan plane mark according to an opening through which ultrasonic waves from the ultrasonic probe are transmitted and received. The ultrasonic diagnostic apparatus according to claim 9 . The trajectory expression unit generates the scan plane mark in correspondence with the type of the ultrasonic probe. The ultrasonic diagnostic apparatus according to claim 9 .   The ultrasonic diagnostic apparatus according to claim 2, wherein the trajectory expression unit displays a grid, points at predetermined intervals, or a scale axis so as to be superimposed on the body mark.   The trajectory expressing unit generates a three-dimensional body mark for expressing the three-dimensional shape of the subject, and the color tone, luminance, and transparency of a region corresponding to the imaged region of the subject of the three-dimensional body mark The ultrasonic diagnostic apparatus according to claim 2, wherein the trajectory information is expressed by changing any of the above. A designation means for an operator to designate a predetermined part in the ultrasonic image;
3. The apparatus according to claim 2, further comprising means for recording coordinates of a position designated by the designation means based on the position of the ultrasonic probe detected by the detection means and displaying the value on a screen. The ultrasonic diagnostic apparatus as described. The detection means includes a sensor that detects a position based on detection of a magnetic field generated so that the position and the magnetic field intensity have a predetermined relationship,
3. The method according to claim 2, further comprising an error correction unit that compares the detection result of the magnetic field strength at a specific position with the predetermined relationship and corrects an error in position detection by the detection unit. Ultrasonic diagnostic equipment. The trajectory expression means includes a first mode for collectively displaying all the trajectory information created during a period from the start to the end of the inspection of the target inspection site, and the latest trajectory information. ultrasonic diagnostic apparatus as claimed in any one of claims 2 to 16, characterized in that it comprises a second display mode for displaying only. The trajectory information creation means generates the trajectory information by converting the relative position and relative angle of the trajectory of the ultrasonic probe with respect to the examination site into the relative position and relative angle of the trajectory of the ultrasonic probe with respect to the body mark. The ultrasonic diagnostic apparatus according to any one of claims 2 to 17 , wherein The ultrasonic diagnostic apparatus according to claim 18 , wherein the trajectory information creation unit performs the conversion based on a plurality of position correspondences between the ultrasonic probe and the examination site. The locus representation means, said triggered by the ultrasound probe away from the subject, the locus information of any one of claims 2 to 19, characterized in that the erasing from said body mark Ultrasonic diagnostic equipment.

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