JP5829022B2 - Ultrasonic diagnostic equipment - Google Patents

Description

  The present invention relates to an ultrasonic diagnostic apparatus that displays an ultrasonic image when using a puncture needle.

  When performing treatment or tissue sampling by inserting a puncture needle into a living tissue, for example, as shown in Patent Document 1, an ultrasonic image displaying a puncture guideline indicating a planned puncture route of the puncture needle is referred to. ing.

  For example, in a biopsy of the prostate using a puncture needle, after confirming the position where the puncture needle is inserted with an ultrasonic image, the puncture needle is inserted while referring to the ultrasonic image, and biological tissue is collected, Inspections such as presence or absence are performed.

JP 2007-236767 A

  In prostate biopsy as described above, a living tissue is collected by inserting a puncture needle into a portion suspected of being a tumor a plurality of times (for example, 10 or more locations). At this time, it is preferable that the biological tissue is collected evenly from the entire suspicious part. However, if the puncture needle is removed, the portion where the puncture needle is inserted is often not known. Therefore, it cannot be confirmed whether or not the puncture needles are equally inserted.

  Under such circumstances, there is a demand for an ultrasonic diagnostic apparatus that can confirm a position where a puncture needle has already been inserted when the puncture needle is inserted multiple times.

  The invention made in order to solve the above-mentioned problem is that the position of the inserted path of the puncture needle inserted into the living tissue in the subject and the position of the ultrasonic transmission / reception area are set to a predetermined point as the origin. The position specifying unit specified in the coordinate system of the subject's three-dimensional space, the storage unit storing the inserted path information of the puncture needle specified by the position specifying unit, and transmission / reception of ultrasonic waves Based on the display image control unit that displays an ultrasonic image based on the obtained echo signal, the positional information of the transmission / reception area of the ultrasonic wave, and the positional information of the inserted path stored in the storage unit, An ultrasonic diagnostic apparatus comprising: an instruction display control unit that displays an instruction display indicating the inserted path on the ultrasonic image.

  In another aspect of the invention, the position of the inserted path of the puncture needle inserted into the living tissue in the subject and the position of the ultrasonic transmission / reception area are determined based on the predetermined point as the origin. A position specifying unit specified in the coordinate system of the three-dimensional space, a storage unit storing the position information of the inserted path of the puncture needle specified by the position specifying unit, and an echo obtained by transmitting / receiving ultrasonic waves A display image control unit for displaying an ultrasonic image based on the signal, a planned insertion path setting unit for setting a planned insertion path for the puncture needle in the coordinate system of the three-dimensional space, and a planned insertion path for the puncture needle A distance measurement unit that measures the distance between the planned insertion path and the inserted path based on the position information of the path and the position information of the inserted path stored in the storage unit, and the distance measurement A distance display control unit for displaying the distance measured by the unit; An ultrasonic diagnostic apparatus comprising: a.

  In another aspect of the invention, the position of the inserted path of the puncture needle inserted into the living tissue in the subject and the position of the ultrasonic transmission / reception area are determined based on the predetermined point as the origin. A position specifying unit specified in the coordinate system of the three-dimensional space, a storage unit storing the position information of the inserted path of the puncture needle specified by the position specifying unit, and an echo obtained by transmitting / receiving ultrasonic waves A display image control unit for displaying an ultrasonic image based on the signal, a planned insertion path setting unit for setting a planned insertion path for the puncture needle in the coordinate system of the three-dimensional space, and a planned insertion path for the puncture needle A distance measurement unit that measures the distance between the planned insertion path and the inserted path based on the position information of the path and the position information of the inserted path stored in the storage unit, and the distance measurement That the distance measured by the A notification unit that, an ultrasonic diagnostic apparatus comprising: a.

  In another aspect of the invention, the position of the inserted path of the puncture needle inserted into the living tissue in the subject and the position of the ultrasonic transmission / reception area are determined based on the predetermined point as the origin. A position specifying unit specified in the coordinate system of the three-dimensional space, a storage unit storing the position information of the inserted path of the puncture needle specified by the position specifying unit, and an echo obtained by transmitting / receiving ultrasonic waves A display image control unit for displaying an ultrasonic image based on the signal, and a three-dimensional region having a predetermined size including the inserted path based on the position information of the inserted path stored in the storage unit. When a two-dimensional transmission / reception region of ultrasonic waves is included in the three-dimensional region and a three-dimensional region setting unit that is set in the three-dimensional space, The three-dimensional area by the transmission / reception area And a cross-sectional display control unit for displaying the cross-sectional display showing a cross section, an ultrasonic diagnostic apparatus comprising: a.

  Furthermore, another aspect of the invention relates to a subject having a predetermined point as an origin, the position of the inserted path of the puncture needle inserted into the biological tissue in the subject and the position of the ultrasonic transmission / reception region. Based on the position specifying unit specified in the coordinate system of the three-dimensional space, the display image control unit for displaying the ultrasonic image based on the echo signal obtained by transmitting and receiving the ultrasonic wave, and the position information of the inserted path, A three-dimensional region setting unit that sets a three-dimensional region having a predetermined size including the inserted path in the three-dimensional space, a storage unit that stores position information of the three-dimensional region, and a storage unit that stores the three-dimensional region setting unit A cross-section showing a cross section of the three-dimensional region by the two-dimensional transmission / reception region in an ultrasonic image of the two-dimensional transmission / reception region when the three-dimensional region includes an ultrasonic two-dimensional transmission / reception region Permission to display the display An ultrasonic diagnostic apparatus characterized by comprising a display control unit.

  According to the invention of the above aspect, since the instruction display control unit displays an instruction display indicating the inserted path of the puncture needle in the ultrasonic image, the position where the puncture needle has already been inserted is confirmed. be able to.

  According to another aspect of the invention, the distance display control unit displays the distance between the planned insertion path and the inserted path, so that the position where the puncture needle has already been inserted is confirmed. be able to.

  According to the invention of the other aspect described above, since the notification unit notifies that the distance between the planned insertion path and the inserted path is less than or equal to a predetermined distance, the puncture needle has already been inserted. The position can be confirmed.

  According to another aspect of the invention, a three-dimensional area having a predetermined size including the inserted path is set by the three-dimensional area setting unit, and a two-dimensional transmission / reception area is set by the cross-section display control unit. Since a cross-sectional display showing the cross section of the three-dimensional region is displayed, the position where the puncture needle has already been inserted can be confirmed.

It is a block diagram which shows an example of schematic structure of the ultrasonic diagnosing device in embodiment of this invention. It is a block diagram which shows the structure of the display control part in the ultrasonic diagnosing device shown in FIG. It is a figure which shows an example of the display part by which the inserted marker and the puncture guideline were displayed on the B mode image. It is a block diagram which shows the structure of an additional display control part. It is a figure which shows an example of the display part by which the puncture guideline was displayed on the B mode image. It is a figure which shows an example of the display part by which the inserted marker and the puncture guideline were displayed on the B mode image. It is a figure which shows the other example of the display part by which the inserted marker and the puncture guideline were displayed on the B mode image. It is explanatory drawing of a transmission / reception area | region. It is explanatory drawing of a transmission / reception area | region. In the 1st modification of 1st embodiment, it is a figure which shows an example of the display part by which the inserted marker and the puncture guideline were displayed on the B mode image. It is a block diagram which shows schematic structure of the ultrasonic diagnosing device of the 2nd modification of 1st embodiment. It is a figure which shows an example of the display part of the 3rd modification of 1st embodiment. It is explanatory drawing of the cross section of the B mode image shown by FIG. It is a figure which shows an example of the display part of the 4th modification of 1st embodiment. It is a block diagram which shows the structure of the display control part in the ultrasonic diagnosing device of 2nd embodiment. It is a block diagram which shows the structure of the additional display control part of 2nd embodiment. It is a figure which shows an example of the display part of 2nd embodiment. It is a block diagram which shows the structure of the additional display control part of the modification of 2nd embodiment. It is a figure which shows an example of the display part of the modification of 2nd embodiment. It is a block diagram which shows the structure of the display control part in the ultrasonic diagnosing device of 3rd embodiment. It is a block diagram which shows the structure of the additional display control part of 3rd embodiment. It is explanatory drawing of the three-dimensional area | region containing the inserted path | route. It is a figure which shows an example of the display part of 3rd embodiment. It is a figure which shows the other example of the display part of 3rd embodiment. It is a figure which shows the other example of the display part of 3rd embodiment. It is a figure which shows the other example of the display part of 3rd embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(First embodiment)
First, a first embodiment will be described in detail with reference to FIGS. 1 includes an ultrasonic probe 2, a transmission / reception unit 3, a B-mode processing unit 4, a display control unit 5, a display unit 6, an operation unit 7, a control unit 8, an HDD (Hard Disk Drive). Drive) 9, a magnetic generator 10 and a magnetic sensor 11.

  The ultrasonic probe 2 includes a plurality of ultrasonic transducers (not shown) arranged in an array, and transmits ultrasonic waves to the subject through these ultrasonic transducers, and an echo signal thereof. Receive. The ultrasonic probe 2 is an example of an embodiment of an ultrasonic probe in the present invention.

  The ultrasonic probe 2 is provided with the magnetic sensor 11 composed of, for example, a Hall element. The magnetic sensor 11 detects magnetism generated from the magnetism generator 10 composed of, for example, a magnetism generating coil. A detection signal in the magnetic sensor 11 is input to the display control unit 5. The detection signal in the magnetic sensor 11 may be input to the display control unit 5 via a cable (not shown), or may be input to the display control unit 5 wirelessly. The magnetism generating unit 10 and the magnetic sensor 11 are for detecting the position and inclination of the ultrasonic probe 2 as will be described later, and are examples of embodiments of the position sensor and the first position sensor in the present invention. It is.

  A puncture needle 13 is attached to the ultrasonic probe 2 by a puncture needle guide jig 12.

  The transmission / reception unit 3 drives the ultrasonic probe 2 under a predetermined transmission condition, and scans the transmission / reception area in an acoustic ray sequence with an ultrasonic beam. The transmission / reception unit 3 drives the ultrasonic probe 2 according to a control signal from the control unit 8.

  The transmitter / receiver 3 performs signal processing such as phasing addition processing on the ultrasonic echo signal obtained by the ultrasonic probe 2 and outputs the echo signal after the signal processing to the echo signal processing unit 4. To do.

  The B-mode processing unit 4 performs predetermined processing such as logarithmic compression processing and envelope detection processing on the echo signal output from the transmission / reception unit 3 to create B-mode data.

  As shown in FIG. 2, the display control unit 5 includes a position calculation unit 51, a memory 52, a display image control unit 53, and an additional display control unit 54. Based on the magnetic detection signal from the magnetic sensor 11, the position calculation unit 51 is configured to obtain information on the position and inclination of the ultrasonic probe 2 in a coordinate system in a three-dimensional space with the magnetic generation unit 10 as an origin (hereinafter, referred to as the following). (Referred to as “probe position information”). Further, the position calculation unit 51 calculates position information of an echo signal transmission / reception region by calculating position information of an echo signal in the coordinate system of the three-dimensional space based on the probe position information. Further, the position calculation unit 51 calculates the position of the inserted path of the puncture needle 13 in the coordinate system of the three-dimensional space based on the probe position information. The position calculation unit 51 is an example of an embodiment of the position calculation unit in the present invention. In addition, the position calculation unit 51, the magnetic generation unit 10, and the magnetic sensor 11 are an example of an embodiment of a position specifying unit in the present invention.

  Incidentally, it is assumed that the subject does not move when the puncture needle 13 is inserted, and the position calculation unit 51 determines the position of the ultrasound transmission / reception region in the three-dimensional space of the subject with the magnetic generation unit 10 as the origin. Information and position information of the inserted path are obtained.

  The memory 52 is composed of, for example, a semiconductor memory (Memory) such as a RAM (Random Access Memory) and a ROM (Read Only Memory). The memory 52 stores, for example, B-mode data output from the B-mode processing unit 4 and converted into B-mode image data by the display image control unit 53, as will be described later. The data before being converted into the B-mode image data is referred to as raw data. Raw data may be stored in the HDD 9.

  In addition, the memory 52 stores the position of the inserted path of the puncture needle 13 calculated by the position calculation unit 51. When the insertion of the puncture needle 13 has already been performed a plurality of times, the position of each inserted path is stored.

  The position of the inserted path of the puncture needle 13 may be stored in the HDD 9. The memory 52 and the HDD 9 are an example of an embodiment of a storage unit in the present invention.

  The display image control unit 53 scan-converts the B-mode data processed by the B-mode processing unit 4 into B-mode image data using a scan converter (Scan Converter), and converts the B-mode image based on the B-mode image data. It is displayed on the display unit 6. A B-mode image is an example of an embodiment of an ultrasonic image in the present invention.

  The additional display control unit 54 displays an additional display g on the B-mode image BG as shown in FIG. In this example, the additional display g is a puncture guideline N1 indicating a route (scheduled puncture route) scheduled to be inserted with a puncture needle, and an inserted marker N2 indicating an already inserted puncture route. As shown in FIG. 4, the additional display control unit 54 sets the puncture guideline N1 and displays the planned insertion route display control unit 541, and sets and displays the inserted marker N2. A route display control unit 542. The puncture guideline N1 is indicated by a broken line in this example. The puncture guideline N1 is an example of an embodiment of a planned insertion path according to the present invention, and the planned insertion path display control unit 541 is an example of an embodiment of a planned insertion path setting unit according to the present invention. . The inserted marker N2 is indicated by a solid line in this example. The inserted marker N2 is an example of an embodiment of an instruction display indicating the inserted path in the present invention, and the inserted path display control unit 542 is an embodiment of the instruction display control unit in the present invention. It is an example.

  The display unit 6 includes an LCD (Liquid Crystal Display), a CRT (Cathode Ray Tube), or the like. The operation unit 7 includes a keyboard and a pointing device (not shown) for an operator to input instructions and information.

  The control unit 8 includes a CPU (Central Processing Unit). The control unit 8 reads a control program stored in the HDD 9 and executes functions in each unit of the ultrasonic diagnostic apparatus 1.

  Now, the operation of the ultrasonic diagnostic apparatus 1 of this example will be described. Here, a case where a transrectal probe is used as the ultrasound probe 2 and a biopsy of the prostate is performed will be described as an example.

  The operator starts transmission / reception of ultrasonic waves by the ultrasonic probe 2. Then, the display image control unit 53 displays a real-time B-mode image BG on the display unit 6 as shown in FIG. 5 based on an echo signal obtained by transmitting and receiving ultrasonic waves.

  Moreover, the said puncture planned path | route display control part 541 displays the puncture guideline N1 on the said B mode image BG in real time. Here, the puncture needle 13 is inserted by the puncture needle guide jig 12 along a two-dimensional transmission / reception area of ultrasonic waves. Since the insertion position and insertion angle of the puncture needle 13 with respect to the ultrasonic probe 2, that is, the position of the planned insertion path of the puncture needle 13 is determined in advance by the puncture needle guide jig 12, an ultrasonic transmission / reception region The position of the planned insertion path is specified in advance and stored in the memory 52 or the HDD 9. Therefore, the planned insertion path display control unit 541 displays the puncture guideline N1 on the B-mode image BG based on the position information of the planned insertion path. The puncture guideline N1 is always displayed at the same place on the B-mode image BG.

  The operator determines the insertion path of the puncture needle 13 while viewing the B-mode image BG and the puncture guideline N1. Then, the operator inserts the puncture needle 13 into the living tissue to a predetermined depth. At this time, the puncture needle 13 is inserted along the puncture guideline N1.

  When the operator inserts the puncture needle 13 to a predetermined depth, the operation unit 7 performs an input for storing the inserted path of the puncture needle 13 (stored path storing operation). For example, the operator presses an operation button (not shown) of the operation unit 7 to store the inserted path of the puncture needle 13. Thereby, the inserted path of the puncture needle 13 is stored in at least one of the memory 52 or the HDD 9.

  The path through which the puncture needle 13 is inserted is a path on the puncture guideline N1. Therefore, the position of the puncture guideline N1 may be stored as the inserted path. Alternatively, by inputting the depth from the body surface to the needle tip of the puncture needle 13, the position where the puncture needle 13 is actually inserted on the puncture guideline N1 may be stored. The inserted path includes a path where the puncture needle 13 is actually inserted and an extension line of the path where the puncture needle 13 is actually inserted.

  Incidentally, the input of the depth from the body surface to the needle tip may be performed for each storing operation of the inserted path, and before the puncture is performed if the depth of the insertion performed multiple times is the same. The depth may be input in advance.

  Next, when the puncture needle 13 is inserted into another location, the operator looks at the inserted marker N2 together with the puncture guideline N1 displayed in the B-mode image BG, and the puncture needle 13 Determine the planned insertion path.

  Here, the display of the inserted marker N2 will be described. When the inserted path exists on the cross section of the B-mode image BG in real time, that is, on the ultrasonic wave transmission / reception area, as shown in FIG. The completed marker N2 is displayed on the B-mode image BG. The inserted marker N2 is a solid line segment in this example. The inserted path display control unit 542 is based on the position information of the ultrasonic transmission / reception area calculated by the position calculation unit 51 and the position information of the inserted path stored in the memory 52 or the HDD 9. Then, the inserted marker N2 is displayed. Incidentally, in FIG. 6, a plurality of the inserted markers N2 are displayed, and an image when a plurality of punctures have already been performed is displayed.

  In the storing operation of the inserted path, when the depth from the body surface to the needle tip of the puncture needle 13 is stored, the inserted path display control unit 542 is based on the stored information. The inserted marker N2 having a length up to the needle tip is displayed. In the B-mode image BG shown in FIG. 6, the inserted marker N2 having a length up to the needle tip is displayed.

  In addition, in the storing operation of the inserted path, when the depth from the body surface to the needle tip of the puncture needle 13 is not stored, the inserted path display control unit 542 displays the position of the inserted path. 7 is displayed on the extension line of the actual inserted path in the B-mode image BG shown in FIG. 7 based on the position information of the past puncture guideline N1 stored as.

  The operator adjusts the position of the ultrasonic probe 2 so that the puncture guideline N1 is at an appropriate distance from the inserted marker N2. For example, when the operator determines that the puncture guideline N1 is too close to the inserted marker N2 in the state shown in FIGS. 6 and 7, the puncture guideline N1 moves away from the inserted marker N2. The ultrasonic probe 2 is moved as described above. When the puncture guideline N1 is at an appropriate position, the operator inserts the puncture needle 13 and performs an operation for storing the inserted path in the same manner as described above.

  When an inserted path storing operation is performed, the inserted path display control unit 542 newly displays the inserted marker N2 on the newly stored path. When the operator punctures another place, the operator determines the inserted path while taking into account the newly displayed inserted marker N2.

  According to the ultrasonic diagnostic apparatus 1 of this example described above, since the inserted marker N2 is displayed on the B-mode image BG, the position where the puncture needle 13 has already been inserted can be confirmed. . Thereby, it becomes easy to insert the puncture needle 13 at an appropriate distance.

  Next, a modification of the first embodiment will be described. For example, when ultrasonic waves are transmitted / received in a plurality of transmission / reception areas and a puncture needle is inserted in the plurality of transmission / reception areas, it is different from a real-time ultrasonic transmission / reception area (the surface from which the puncture needle is to be inserted) There may be a case where a puncture needle has already been inserted along the transmission / reception area (past transmission / reception area).

  Here, for example, as shown in FIG. 8, different transmission / reception areas mean transmission / reception areas α and β on cross sections P1 and P2 that intersect with each other, as shown in FIG. It also means transmission / reception areas γ and δ when the ultrasonic transmission / reception positions by the ultrasonic probe 2 are different.

  For example, as shown in FIG. 8, when a path that has already been inserted exists in a transmission / reception area that is different from the cross section in which the transmission / reception area for real-time ultrasound exists, the real-time transmission / reception area and the insertion path cross As shown in FIG. 10, the inserted path display control unit 542 displays an inserted marker N2 ′ with an X mark on the real-time B-mode image BG as an instruction display indicating the inserted path. . Specifically, the inserted path display control unit 542 is based on the position information of the real-time ultrasonic transmission / reception area and the position information of the inserted path stored in the memory 52 or the HDD 9. In the real-time B-mode image BG, the inserted marker N2 ′ is displayed at a point where the ultrasonic transmission / reception area intersects the inserted path.

  When the inserted path display control unit 542 displays the inserted marker N2 on the extension line of the actual inserted path, the extension line of the inserted path and the ultrasonic transmission / reception area intersect. The inserted marker N2 'may be displayed at a point to be performed.

  In addition, as shown in FIG. 9, when a past transmission / reception area exists on a cross section where a real-time ultrasonic transmission / reception area exists, and the inserted path in the past transmission / reception area exists in the real-time transmission / reception area. Although not particularly illustrated, the inserted path display control unit 542 displays a linearly inserted marker (a display form similar to the inserted marker N1) indicating the inserted path in the past transmission / reception area. The B mode image BG is displayed.

  Next, a second modification will be described. As shown in FIG. 11, the puncture needle 13 may be provided with a magnetic sensor 14 that detects magnetism generated from the magnetism generator 10. In this case, for example, the magnetic sensor 14 is provided in the hollow portion of the distal end portion of the puncture needle 13 formed in a cylindrical shape. The magnetic sensor 14 is an example of an embodiment of the second sensor in the present invention.

  A magnetic detection signal of the magnetic sensor 14 is input to the display control unit 5. Then, the position calculation unit 51 of the display control unit 5 determines the position of the puncture needle 13 in the coordinate system of the three-dimensional space with the magnetic generation unit 10 as the origin based on the magnetic detection signal of the magnetic sensor 14. The position of the inserted path of the puncture needle 13 is calculated.

  Next, a third modification will be described. The ultrasonic probe 2 may transmit and receive ultrasonic waves in a three-dimensional region to obtain a volume echo signal. The volume echo signal is stored in the memory 52 or the HDD 9 together with position information in a coordinate system in a three-dimensional space with the magnetic generator 10 as the origin.

  In this case, the display image control unit 53, based on the volume echo signal of the three-dimensional region, as shown in FIG. 12, the first B mode for the cross section P3 including the planned insertion path of the puncture needle 13 An image BG1 and a second B mode image BG2 for an arbitrary cross section P4 different from the first B mode image BG1 are displayed on the display unit 6. The first B-mode image BG1 is an example of an embodiment of a first ultrasonic image in the present invention, and the second B-mode image BG2 is an example of an embodiment of a second ultrasonic image in the present invention.

  The cross sections P3 and P4 will be described with reference to FIG. 13. The cross section P3 including the planned insertion path is a cross section set in advance at a predetermined position with respect to the ultrasonic probe 2. Therefore, when the position calculation unit 51 specifies the position of the ultrasonic probe 2 in the coordinate system of the three-dimensional space, the position of the first B-mode image BG1 in the three-dimensional space is specified.

  The cross section P4 is set in a predetermined positional relationship with respect to the cross section P3 in advance. The cross section P4 may be changed by an input operation using the operation unit 7 by an operator. In this example, the cross section P4 is a cross section orthogonal to the cross section P3. When the position of the first B-mode image BG1 is specified, the position of the second B-mode image BG2 is also specified.

  The first B-mode image BG1 and the second B-mode image BG2 are images that are displayed while performing the transmission / reception, that is, real-time images. The puncture planned path display control unit 541 displays the puncture guideline N1 on the first B-mode image BG1. In addition, the planned insertion path display control unit 541 displays a puncture guide marker N1 ′ at a position corresponding to the position of the puncture guideline N1 in the first B mode image BG1 in the second B mode image BG2. . This puncture guide marker N1 ′ is also a display showing a planned puncture route of the puncture needle 13, as with the puncture guideline N1.

  On the other hand, the inserted path display control unit 542, when an inserted path exists at the position of the first B-mode image BG1 and the position of the second B-mode image BG2 in the three-dimensional space, The inserted markers N2 and N2 ′ are displayed on the first B-mode image BG1 and the second B-mode image BG2.

  Next, a fourth modification will be described. As shown in FIG. 14, the display image control unit 53 displays a real-time two-dimensional first B-mode image BG1 ′ on the display unit 6 and also stores volume echoes stored in the memory 52 or the HDD 9 in advance. A second B-mode image BG2 ′ having an arbitrary cross section based on the signal is displayed on the display unit 6.

  The first B-mode image BG1 ′ is a real-time image based on an echo signal obtained by transmitting and receiving ultrasonic waves for a two-dimensional region. The volume echo signal is acquired in advance by transmitting and receiving ultrasonic waves for a three-dimensional region, and includes position information in a coordinate system of a three-dimensional space with the magnetic generator 10 as an origin. It is stored in the memory 52 or the HDD 9.

  The first B-mode image BG1 ′ is an image of an ultrasonic transmission / reception area by the ultrasonic probe 2, and is a cross-sectional image including a planned insertion path of the puncture needle 13 as in the third modification. . The second B-mode image BG2 ′ is an image of a cross-section having a predetermined positional relationship set in advance with respect to the cross-section of the first B-mode image BG1 ′, as in the third modified example. It is an image of the cross section orthogonal to the cross section of 1st B mode image BG1.

  Similarly to the third modification, when the position of the ultrasonic probe 2 in the coordinate system of the three-dimensional space is specified, the position of the first B-mode image BG1 ′ is specified. In addition, since the volume echo signal has position information in the three-dimensional space, the position of the second B mode image BG2 ′ created based on the volume echo signal is the first B mode image. It is specified by specifying the position of BG1 ′. As in the third modification, the puncture guideline N1, the puncture guide marker N1 ′, and the inserted markers N2, N2 ′ are added to the first B mode image BG1 ′ and the second B mode image BG2 ′. Is displayed.

(Second embodiment)
Next, a second embodiment of the present invention will be described. In addition, about the structure same as 1st embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  As shown in FIG. 15, the display control unit 5 of this example includes a distance measurement unit 55 in addition to the position calculation unit 51, the memory 52, the display image control unit 53, and the additional display control unit 54. . As shown in FIG. 16, the additional display control unit 54 of this example includes a distance display control unit 543 in addition to the planned insertion route display control unit 541 and the inserted route display control unit 542. Yes. The distance measurement unit 55 is an example of an embodiment of a distance measurement unit in the present invention, and the distance display control unit 543 is an example of an embodiment of a distance display control unit in the present invention.

  The distance measuring unit 55 measures the distance between the planned insertion path of the puncture needle 13 and the inserted path. More specifically, the distance measuring unit 55 includes the position information of the inserted path stored in the memory 52 or the HDD 9 and the position of the planned insertion path set by the planned insertion path display control unit 541. The distance is measured based on the information.

  The distance display control unit 543 causes the display unit 6 to display a distance display D indicating the smallest distance among the distances measured by the distance measuring unit 55 as shown in FIG. 17 as the additional display g. Since the distance display D indicates the distance from the puncture guideline L1 to the closest insertion path, the position where the puncture needle 13 is inserted can be confirmed. Therefore, also in this example, similarly to the first embodiment, it becomes easy to insert the puncture needle 13 at an appropriate distance.

  Incidentally, in this example, the inserted marker N2 may not be displayed. Even if the inserted marker N2 is not displayed, the operator can perform puncturing based on the distance display D.

  Next, a modification of the second embodiment will be described. As shown in FIG. 18, the additional display control unit 54 may include a warning display control unit 544 instead of the distance display control unit 543. When the smallest distance among the distances measured by the distance measurement unit 55 is smaller than a predetermined threshold value, the warning display control unit 544 displays a warning on the display unit 6 as shown in FIG. W is displayed. The warning display control unit 544 is an example of an embodiment of a notification unit in the present invention.

  However, it is not limited to the case where the warning display W is displayed when the smallest distance among the distances measured by the distance measuring unit 55 is smaller than a predetermined threshold value set in advance. The planned insertion route display control unit 541 may change the display form of the puncture guideline N1. For example, the planned insertion path display control unit 541 determines the puncture guideline N1 when the smallest distance among the distances measured by the distance measurement unit 55 is smaller than a predetermined threshold value. The color may be different, or the two-dot chain puncture guideline N1 may be displayed. In this case, the planned insertion route display control unit 541 is an example of an embodiment of a notification unit in the present invention.

  Furthermore, when the smallest distance among the distances measured by the distance measuring unit 55 becomes smaller than a predetermined threshold value, this may be notified by voice.

(Third embodiment)
Next, a third embodiment of the present invention will be described. In addition, about the structure same as 1st, 2nd embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  As shown in FIG. 20, the display control unit 5 of this example includes a three-dimensional region setting unit 56 in addition to the position calculation unit 51, the memory 52, the display image control unit 53, and the additional display control unit 54. ing. Further, as shown in FIG. 21, the additional display control unit 54 of this example includes a cross-section display control unit 545 in addition to the planned insertion path display control unit 541. The three-dimensional region setting unit 56 is an example of an embodiment of a three-dimensional region setting unit in the present invention, and the cross-section display control unit 545 is an example of an embodiment of a cross-section display control unit in the present invention.

  The three-dimensional region setting unit 56 has a predetermined size of a three-dimensional region including the inserted path in a three-dimensional space with the magnetic generation unit 10 as an origin, based on position information of the inserted path. Set. In this example, as shown in FIG. 22, the three-dimensional area setting unit 56 sets, as the three-dimensional area, a cylinder C having a cross section of a circle with a radius r centered on the inserted path X.

  The radius r may be set in advance, or may be input by the operator through the operation unit 7. The size of the radius r is set, for example, to the distance from the inserted path X to the puncture needle 13 to be secured at a minimum. In this case, the cylinder C means a region where the puncture needle 13 should not be inserted.

  When the ultrasonic transmission / reception area is included in the cylinder C, the cross-section display control unit 545 includes a B-mode image BG for the transmission / reception area in the cylinder by the ultrasonic transmission / reception area as shown in FIG. A cross-sectional display S showing the cross section of C is displayed.

  The ultrasonic transmission / reception area is a real-time transmission / reception area and is a two-dimensional area. The cross-section display control unit 545 displays the cross-section display S on the real-time B-mode image BG based on the position information of the transmission / reception area calculated by the position calculation unit 51 and the position information of the cylinder C.

  The ultrasonic transmission / reception area is a plane including a planned insertion path of the puncture needle 13, and the planned insertion path display control unit 541 displays the puncture guideline N1 on the B-mode image BG. The operator adjusts the position of the ultrasonic probe 2 so that the puncture guideline N1 is not located in the cross-sectional display S, and determines the planned puncture route of the puncture needle 13.

  Incidentally, the cross-sectional display S shown in FIG. 23 is a display showing a cross-section of a three-dimensional region including the inserted path of the puncture needle 13 inserted along the cross-section where the ultrasonic wave transmission / reception region exists. is there. In this case, the three-dimensional region setting unit 56 sets the three-dimensional region including the inserted path of the puncture needle 13 inserted along the cross section where the real-time ultrasonic wave transmission / reception region exists as the cylinder C. To do. The three-dimensional region set in this case is an example of an embodiment of the first three-dimensional region in the present invention.

  Here, the three-dimensional area setting unit 56 is configured to display the cross-sectional display S one by one when displaying the cross-sectional display S based on the positional information of all the past inserted paths stored in the memory 52 or the HDD 9. An original area may be set, but each time position information of the inserted path is obtained, the three-dimensional area is set, and the position information of the three-dimensional area is stored in the memory 52 or the HDD 9. Also good. Then, the cross-section display control unit 545 may display the cross-section display S based on the position information of the three-dimensional area stored in the memory 52 or the HDD 9.

  Also in this example described above, the position where the puncture needle 13 is inserted can be confirmed as in the above embodiments.

  Incidentally, also in this example, as in the first modification of the first embodiment, when the puncture needle 13 is inserted along a cross section different from the cross section in which the real-time ultrasonic wave transmission / reception area exists, the tertiary The original region setting unit 56 sets a three-dimensional region including the inserted path of the puncture needle 13 as a cylinder C ′ (not shown). The three-dimensional region set in this case is an example of an embodiment of the second three-dimensional region in the present invention. Then, as shown in FIG. 24, the cross-section display control unit 545 displays a cross-section display S ′ showing a cross-section of the cylinder C ′ in a real-time ultrasonic wave transmission / reception area together with the cross-section display S in real time B-mode image BG. To display.

  Note that even when a past transmission / reception area insertion path exists in a cross section in which a real-time ultrasonic transmission / reception area exists, a cross-sectional display of a three-dimensional area including the insertion path is displayed in real time. It may be displayed on the BG.

  Similarly to the third modification of the first embodiment, the display image control unit 53, as shown in FIG. 25, includes a cross section P3 including the planned insertion path of the puncture needle 13, based on the volume echo signal. A first B-mode image BG1 for and a second B-mode image BG2 for an arbitrary cross section P4 different from the first B-mode image BG1 may be displayed on the display unit 6. In this case, when the three-dimensional region exists at the position of the first B-mode image BG1 and the position of the second B-mode image BG2 in the three-dimensional space, the cross-section display control unit 545 uses the first B mode. The cross-sectional displays S and S ′ are displayed on the image BG1 and the second B-mode image BG2. The planned insertion path display control unit 541 displays the puncture guideline N1 on the first B-mode image BG1, and displays the puncture guide marker N1 ′ on the second B-mode image BG2.

  Further, as in the fourth modification of the first embodiment, the display image control unit 53 causes the display unit 6 to display a real-time two-dimensional first B-mode image BG1 ′ as shown in FIG. Further, a second B-mode image BG2 ′ having an arbitrary cross section based on a volume echo signal stored in advance in the memory 52 or the HDD 9 may be displayed on the display unit 6. Also in this case, when the three-dimensional region exists at the position of the first B-mode image BG1 ′ and the position of the second B-mode image BG2 ′ in the three-dimensional space, the cross-section display control unit 545 The cross-sectional display C is displayed on the first B-mode image BG1 ′ and the second B-mode image BG2 ′. Further, the planned insertion path display control unit 541 displays the puncture guideline N1 on the first B-mode image BG1 ′ and displays the puncture guide marker N1 ′ on the second B-mode image BG2 ′.

  As mentioned above, although this invention was demonstrated by the said embodiment, of course, this invention can be variously implemented in the range which does not change the main point. For example, also in the second embodiment and the third embodiment, the magnetic sensor 14 may be provided on the puncture needle 13 as in the second modification of the first embodiment.

  In the second embodiment, the first B mode images BG1, BG1 ′ and the second B mode images BG2, BG2 ′ are displayed as in the third modification and the fourth modification of the first embodiment. May be. Further, in the second embodiment, the inserted path display control unit 542 displays an inserted marker indicating the inserted path in the transmission / reception area different from the real-time ultrasonic transmission / reception area on the real-time B-mode image. You may let them.

DESCRIPTION OF SYMBOLS 1 Ultrasonic diagnostic apparatus 2 Ultrasonic probe 10 Magnetic generation part 11 Magnetic sensor (position sensor, 1st position sensor)
13 Puncture needle 14 Magnetic sensor (second position sensor)
51 Position Calculation Unit 52 Memory (Storage Unit)
53 Display Image Control Unit 55 Distance Measurement Unit 56 Three-dimensional Area Setting Unit 541 Planned Insertion Route Display Control Unit (Planned Insertion Route Setting Unit)
542 Inserted route display control unit (instruction display control unit)
543 Distance display control unit 544 Warning display control unit (notification unit)
545 Section display control unit N2, N2 'Inserted marker (indication display)
D Distance display W Warning display S, S 'Cross section display

Claims (18)

A position specifying unit that specifies the position of the inserted path of the puncture needle inserted into the living tissue in the subject and the position of the ultrasonic transmission / reception area in one coordinate system;
A storage unit for storing position information of the inserted path of the puncture needle specified by the position specifying unit;
A display image control unit for displaying an ultrasonic image based on an echo signal obtained by transmitting and receiving ultrasonic waves;
In the one coordinate system, a planned insertion path setting unit for setting a planned insertion path for the puncture needle,
Based on the position information of the planned insertion path of the puncture needle and the positional information of the inserted path stored in the storage unit, the distance between the planned insertion path and the inserted path is measured. A distance measuring unit;
An ultrasonic diagnostic apparatus comprising: a distance display control unit that displays a distance measured by the distance measurement unit. A position specifying unit that specifies the position of the inserted path of the puncture needle inserted into the living tissue in the subject and the position of the ultrasonic transmission / reception area in one coordinate system;
A storage unit for storing position information of the inserted path of the puncture needle specified by the position specifying unit;
A display image control unit for displaying an ultrasonic image based on an echo signal obtained by transmitting and receiving ultrasonic waves;
In the one coordinate system, a planned insertion path setting unit for setting a planned insertion path for the puncture needle,
Based on the position information of the planned insertion path of the puncture needle and the positional information of the inserted path stored in the storage unit, the distance between the planned insertion path and the inserted path is measured. A distance measuring unit;
An ultrasonic diagnostic apparatus comprising: a notifying unit for notifying that a distance measured by the distance measuring unit is equal to or less than a predetermined value. Positions of a plurality of already inserted paths of a puncture needle inserted into a living tissue in a subject, positions of planned insertion paths of a puncture needle scheduled to be inserted into the living tissue, and positions of ultrasonic transmission / reception areas And a position specifying unit that specifies in one coordinate system,
A storage unit for storing position information of a plurality of already inserted paths of the puncture needle specified by the position specifying unit and a planned insertion path of the puncture needle;
A display image control unit for displaying a two-dimensional ultrasonic image based on an echo signal obtained by transmitting and receiving ultrasonic waves;
Based on the position information of the ultrasonic transmission / reception area, and the position information of the plurality of inserted paths and the planned insertion path stored in the storage unit, the plurality of inserted paths and the inserted paths An ultrasonic diagnostic apparatus comprising: an instruction display control unit configured to display an instruction display indicating a planned route in a straight line on the subject displayed in the ultrasonic image in real time . The instruction display control unit displays, as the instruction display, an instruction display indicating an inserted path of a puncture needle inserted along a cross section in which a real-time ultrasonic transmission / reception area exists, on the real-time ultrasonic image. The ultrasonic diagnostic apparatus according to claim 3, wherein the ultrasonic diagnostic apparatus is displayed. When there is an inserted path of a puncture needle inserted along a cross-section different from the cross-section in which the real-time ultrasonic transmission / reception area exists in the real-time ultrasonic transmission / reception area, the instruction display control unit As the instruction display, an instruction display indicating the inserted path of the puncture needle inserted along a cross section different from the cross section of the real-time ultrasonic transmission / reception region is displayed on the real-time ultrasonic image. The ultrasonic diagnostic apparatus according to claim 3 or 4 , characterized by the above. Equipped with an ultrasonic probe that transmits and receives ultrasonic waves in a three-dimensional region to acquire volume echo signals,
The display image control unit, based on the volume echo signal, a real-time first ultrasonic image of a cross section along a planned insertion path of the puncture needle and a cross section different from the first ultrasonic image. Display the second ultrasound image,
The indication display control unit, the ultrasonic diagnostic apparatus according to any one of claims 3-5, characterized in that for displaying the instruction displayed on the first ultrasound image and the second ultrasound image.   The ultrasonic diagnostic apparatus according to claim 6, wherein the first ultrasonic image and the second ultrasonic image are real-time images. The display image control unit is an arbitrary one based on a real-time first ultrasonic image of a cross section along the inserted path of the puncture needle and a volume echo signal acquired in advance by transmission / reception of ultrasonic waves in a three-dimensional region. Display a second ultrasound image of the cross section,
The indication display control unit, the ultrasonic diagnostic apparatus according to any one of claims 3-5, characterized in that for displaying the instruction displayed on the first ultrasound image and the second ultrasound image. A position specifying unit that specifies the position of the inserted path of the puncture needle inserted into the biological tissue in the subject and the position of the ultrasonic transmission / reception area in the coordinate system of the three-dimensional space;
A storage unit for storing position information of the inserted path of the puncture needle specified by the position specifying unit;
A display image control unit for displaying a two-dimensional ultrasonic image based on an echo signal obtained by transmitting and receiving ultrasonic waves;
Based on the position information of the inserted path stored in the storage unit, the operator inputs a radius value and inserts the puncture needle in a three-dimensional area of a cylinder including the inserted path A three-dimensional region setting unit for setting a non-shouldable three-dimensional region in the three-dimensional space;
When the two-dimensional transmission / reception area of ultrasonic waves is included in the three-dimensional area, a cross-sectional display showing a cross section of the three-dimensional area by the two-dimensional transmission / reception area is displayed on the ultrasonic image of the two-dimensional transmission / reception area. An ultrasonic diagnostic apparatus comprising: a cross-sectional display control unit for displaying. A position specifying unit that specifies the position of the inserted path of the puncture needle inserted into the biological tissue in the subject and the position of the ultrasonic transmission / reception area in the coordinate system of the three-dimensional space;
A display image control unit for displaying a two-dimensional ultrasonic image based on an echo signal obtained by transmitting and receiving ultrasonic waves;
Based on the position information of the inserted path, a radius value is input by an operator, and the 3D area of the cylinder including the inserted path is not inserted with the puncture needle. A three-dimensional region setting unit to be set in a three-dimensional space;
A storage unit for storing position information of the three-dimensional region;
When the two-dimensional transmission / reception region of the ultrasonic wave is included in the three-dimensional region stored in the storage unit, the three-dimensional region by the two-dimensional transmission / reception region is included in an ultrasonic image of the two-dimensional transmission / reception region. An ultrasonic diagnostic apparatus comprising: a cross-sectional display control unit that displays a cross-sectional display showing a cross section of the head. The sectional display control unit ultrasonic diagnostic apparatus according to claim 9 or 1 0, characterized in that for displaying the cross-sectional display real time of the ultrasonic image. The three-dimensional region setting unit sets, as the three-dimensional region, a first three-dimensional region including a punctured path of the puncture needle inserted along a cross section in which a real-time ultrasonic transmission / reception region exists. And
The cross-sectional display control unit displays, as the cross-sectional display, a cross-sectional display showing a cross section of the first three-dimensional region by a real-time ultrasonic transmission / reception region on the real-time ultrasonic image. Item 9. The ultrasonic diagnostic apparatus according to any one of Items 9 to 11. The three-dimensional region setting unit includes, as the three-dimensional region, a second tertiary including the inserted path of the puncture needle inserted along a cross-section different from a cross-section in which a real-time ultrasonic transmission / reception region exists. Set the original area,
The cross-sectional display control unit displays, as the cross-sectional display, a cross-sectional display showing a cross-section of the second three-dimensional region by a real-time ultrasonic transmission / reception region on the real-time ultrasonic image. Item 9. The ultrasonic diagnostic apparatus according to any one of Items 9 to 12 . Equipped with an ultrasonic probe that acquires volume echo signals by transmitting and receiving ultrasonic waves in a three-dimensional region,
The display image control unit, based on the volume echo signal, a first ultrasonic image of a cross section along the inserted path of the puncture needle and a second cross section different from the first ultrasonic image. Display an ultrasound image,
The sectional display control unit ultrasonic diagnostic apparatus according to any one of claims 9-1 3, characterized in that for displaying the cross-section displayed on the first ultrasound image and the second ultrasound image .   The ultrasonic diagnostic apparatus according to claim 14, wherein the first ultrasonic image and the second ultrasonic image are real-time images. The display image control unit is an arbitrary one based on a real-time first ultrasonic image of a cross section along the inserted path of the puncture needle and a volume echo signal acquired in advance by transmission / reception of ultrasonic waves in a three-dimensional region. Display a second ultrasound image of the cross section,
The sectional display control unit ultrasonic diagnostic apparatus according to any one of claims 9-1 3, characterized in that for displaying the cross-section displayed on the first ultrasound image and the second ultrasound image . The position specifying unit includes:
A position sensor for detecting the position and angle of an ultrasonic probe that transmits and receives ultrasonic waves to and from the living tissue;
Based on the position and angle of the ultrasonic probe detected by the position sensor, a position calculation unit that calculates the position of the inserted path, the planned insertion path, and the ultrasonic transmission / reception area;
It is composed of the ultrasonic diagnostic apparatus according to any one of claims 1 to 8, wherein. The position specifying unit includes:
A first position sensor that detects a position and an angle of an ultrasonic probe that transmits and receives ultrasonic waves to and from the living tissue;
A second position sensor for detecting the position of the puncture needle;
The position of the ultrasonic wave transmission / reception area is calculated based on the detection signal of the first position sensor, and the positions of the inserted path and the planned insertion path are calculated based on the detection signal of the second position sensor. A position calculation unit;
It is composed of the ultrasonic diagnostic apparatus according to any one of claims 1 to 8, wherein.

Images