JP6292866B2 - Ultrasonic imaging device - Google Patents

Description

  The present invention relates to an ultrasound image capturing apparatus and an ultrasound image capturing method, and more particularly to an ultrasound image capturing apparatus and an ultrasound image capturing method used for puncture treatment.

  There has been proposed an ultrasonic diagnostic apparatus that calculates the tip position and insertion direction of a puncture needle from position sensors attached to an ultrasonic probe and a puncture needle, and displays the puncture path and the tip position of the needle on an ultrasonic image ( For example, Patent Document 1).

JP 2005-323669 A

  A technique has been proposed in which a plurality of puncture needles are inserted into a subject, and a puncture target (for example, a tumor) is cauterized by an ablation device provided at the tip of the puncture needle. However, when a plurality of puncture needles are inserted into the subject, there is a problem that the mutual positional relationship becomes complicated and the operator is confused. According to the present invention, by detecting the tip positions and insertion directions of a plurality of puncture needles, it is possible to easily grasp the mutual positional relationship between the puncture needles and to easily grasp the ablation range of a puncture target (for example, a tumor). An ultrasonic imaging apparatus and an ultrasonic imaging method are provided.

An ultrasonic imaging apparatus of the present invention includes an ultrasonic probe that acquires an ultrasonic image of a subject, a volume data storage unit that stores volume data of the subject, and a position of a puncture target in the ultrasonic image A first position sensor that detects a position of the ultrasonic probe that aligns the position of the puncture target in the volume data and a position and direction of a puncture needle that is punctured into the puncture target. and 2 position sensors, based on the positional relationship between the position sensor and the position sensor, and the puncture information calculation unit for calculating the position and orientation of the biopsy needle in the volume data, the object based on the volume data And a display unit for displaying the position and direction of the puncture needle on the three-dimensional image.

  According to this configuration, by displaying a three-dimensional image of the subject and displaying the position and direction of the puncture needle on the three-dimensional image, the positional relationship of the puncture needle can be easily grasped, and the puncture needle and the puncture target Can be easily grasped.

  In the present invention, by detecting the tip positions and insertion directions of a plurality of puncture needles, the mutual positional relationship between the puncture needles can be easily grasped, and the ablation range of the puncture target (for example, a tumor) can be easily grasped.

It is the figure which showed an example of the ultrasonic imaging device which concerns on this Embodiment. It is the figure which showed an example of the puncture control part which concerns on this Embodiment. It is the figure which showed the puncture needle provided with the cauterization apparatus for ablation treatment. It is the figure which displayed displaying the three-dimensional image of a subject and displaying the position and direction of a puncture needle on a three-dimensional image. It is the figure which showed displaying the intersection line which a cross section crosses on a tomographic image. It is the figure which showed displaying ablation position and ablation range on a tomographic image and a three-dimensional image. It is a flowchart which shows an example of the ultrasonic imaging method using an ultrasonic imaging device. It is the figure which showed the positional relationship of a 1st position sensor and a 2nd position sensor.

  An ultrasonic imaging apparatus according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram illustrating an example of an ultrasonic imaging apparatus according to the present embodiment. The ultrasound imaging apparatus 1 according to the present embodiment transmits and receives ultrasound within the subject 100, and generates an ultrasound image of the subject using an ultrasound reception signal. As shown in FIG. 1, the ultrasonic imaging apparatus 1 includes an ultrasonic probe 10, an ultrasonic transmission / reception control circuit 11, a transmission circuit 12, a reception circuit 13, an ultrasonic image generation unit 14, and an image processing unit 18. And a display unit 19. The ultrasonic image generation unit 14 includes a phasing addition circuit 15, a signal processing unit 16, and a scan converter 17. The ultrasonic imaging apparatus 1 also includes a volume data storage unit 20, a first position sensor 21, a second position sensor 22, and a puncture control unit 23.

  FIG. 2 is a diagram showing an example of puncture control unit 23 according to the present embodiment. As shown in FIG. 2, the puncture control unit 23 includes a puncture information calculation unit 24, a puncture route calculation unit 25, an ablation position calculation unit 26, an ablation range calculation unit 27, and a puncture / ablation information storage unit 28. , Connected to the first position sensor 21 and the second sensor 22. The puncture control unit 23 is a drive signal or a power source for driving the first position sensor 21 and the second sensor 22. Further, FIG. 1 shows an example in which the first position sensor 21 and the second sensor 22 are connected to the puncture control unit 23 by wires, but the drive signal may be supplied by either wire or wireless. Good. Further, the power supply of the first position sensor 21 and the second sensor 22 may be either contact or non-contact.

  FIG. 3 is a view showing puncture needles 30, 31, 32 provided with ablation devices 40, 41, 42 for ablation treatment. As shown in FIG. 3, a plurality of puncture needles 30, 31, 32 are inserted into a subject 100, and a tissue 500 (with a cautery device 40, 41, 42 provided at the tip of the puncture needles 30, 31, 32 is provided. For example, the puncture target 50 (for example, a tumor) in the liver) is cauterized.

  The ultrasonic probe 10 of FIG. 1 is for acquiring an ultrasonic image of the subject 100, and is formed by arranging a plurality of transducers. The ultrasonic probe 10 is a three-dimensional ultrasonic probe, and performs beam scanning in three dimensions by mechanically moving the vibrator or by giving an electric delay time to the vibrator. The ultrasonic wave is transmitted to and received from the subject 100. The ultrasonic transmission / reception control circuit 11 controls the timing for transmitting and receiving ultrasonic waves. A transmission circuit 12 generates a transmission pulse for driving the ultrasonic probe 10 to generate an ultrasonic wave, and a convergence point of ultrasonic waves transmitted by a built-in transmission phasing and adding circuit. Is set to a certain depth, and ultrasonic waves are transmitted to the subject 100. The wave receiving circuit 13 receives the ultrasonic signal from the ultrasonic probe 10 and amplifies it with a predetermined gain.

The ultrasonic image generation unit 14 generates an ultrasonic image from the ultrasonic signal received by the wave receiving circuit 13 . The ultrasonic image generation unit 14 generates a two-dimensional ultrasonic image (tomographic image) or a three-dimensional ultrasonic image inside the subject 100. The phasing addition circuit 15 controls the phase of the ultrasonic signal amplified by the wave receiving circuit 13 to form RF signal frame data. The signal processing unit 16 receives the RF signal frame data from the phasing addition circuit 15 and performs various signal processing such as gain correction, log correction, detection, contour enhancement, and filter processing. The scan converter 17 acquires the RF signal frame data output from the signal processing unit 16 at an ultrasonic cycle and converts it into a video signal. The scan converter 17 converts the RF signal frame data from the signal processing unit 16 into a digital signal to generate tomographic image data, and stores the tomographic image data digitized by the A / D converter. Frame memory.

  The image processing unit 18 superimposes a plurality of image data (for example, three-dimensional image data and tomographic image data) and causes the display unit 19 to display them. The display unit 19 includes a D / A converter that converts image data into an analog signal, and a monitor (such as a CRT monitor or a liquid crystal monitor) that receives the analog video signal from the D / A converter and displays it as an image.

  The volume data storage unit 20 stores volume data of the subject 100. The volume data is medical image data (three-dimensional image data) of the subject 100, and includes an ultrasonic image, an X-ray CT image, and an MRI image. The volume data may be 4D ultrasound image data (real-time three-dimensional ultrasound image data) of the subject 100 acquired by the ultrasound probe 10.

  The first position sensor 21 detects the position of the ultrasonic probe 10 obtained by aligning the position of the puncture target 50 in the ultrasonic image and the position of the puncture target 50 in the volume data. A three-dimensional image based on the volume data is displayed on the display unit 19, and the operator can obtain a tomographic image (two-dimensional super image) of the ultrasonic probe 10 on a predetermined cross section (for example, a cross section including the puncture target 50) of the three-dimensional image. The ultrasonic probe 10 is operated so as to match the ultrasonic image), thereby aligning the ultrasonic image and the volume data. The first position sensor 21 is constituted by a 6-axis sensor or the like, and detects a position and direction in a three-dimensional space. The first position sensor 21 may detect the position of the aligned ultrasonic probe 10 and may be attached to the ultrasonic probe 10.

  The second position sensor 22 detects the position and direction of the puncture needles 30, 31, and 32 that are punctured into the puncture target 50. The puncture information calculation unit 24 reads puncture information such as the length, diameter length, and shape of the puncture needles 30, 31, and 32 from the puncture / cauterization information storage unit 28, and the first position sensor 21 and the second position. Based on the positional relationship with the sensor 22, the positions and directions of the puncture needles 30, 31, 32 in the volume data (three-dimensional image) are calculated. In this case, as shown in FIG. 3B, the display unit 19 displays the 3D image 101 of the subject 100 based on the volume data, and the 3D image shows the positions and directions of the puncture needles 30, 31, and 32. 101. The second position sensor 22 is constituted by a 6-axis sensor or the like and detects a position and direction in a three-dimensional space.

  The puncture route calculation unit 25 reads puncture information such as the length, diameter length, and shape of the puncture needles 30, 31, and 32 from the puncture / cauterization information storage unit 28 and is detected by the second position sensor 22. Based on the position and direction of the puncture needles 30, 31, 32, the insertion paths 60, 61, 62 of the puncture needles 30, 31, 32 in the volume data are calculated. In this case, as shown in FIG. 3B, the display unit 19 may display a cross section including the insertion paths 60, 61, 62 on the three-dimensional image 101.

  FIG. 4 is a diagram showing that the display unit 19 displays the three-dimensional image 101 of the subject 100 based on the volume data, and displays the positions and directions of the puncture needles 30, 31, and 32 on the three-dimensional image 101. is there. The display unit 19 displays the cross-sections 70, 71, 72 including the insertion paths 60, 61, 62 on the three-dimensional image 101. The display unit 19 displays tomographic images (ultrasonic images) 80, 81, and 82 of the cross sections 70, 71, and 72 based on at least one of the ultrasonic image and the volume data. In this case, the display unit 19 displays the cross sections 70, 71, 72 including the position of the ultrasound probe 10 and the insertion paths 60, 61, 62 on the three-dimensional image 101. The display unit 19 may display an arbitrary cross section including the insertion paths 60, 61, 62 on the three-dimensional image 101.

  In FIG. 4, the display unit 19 displays a plurality of cross sections 70, 71, 72 corresponding to the plurality of insertion paths 60, 61, 62 on the three-dimensional image 101 in different colors. As a result, the plurality of cross sections 70, 71, 72 in the three-dimensional image 101 can be easily distinguished visually. As shown in FIG. 5, the display unit 19 displays a plurality of cross sections 70, 71, 72 corresponding to the plurality of insertion paths 60, 61, 62 on the three-dimensional image 101, and a plurality of cross sections 70, 71, 72. The intersecting lines 90, 91, and 92 that intersect may be displayed on the tomographic images 80, 81, and 82. An intersection line 90 indicates an intersection line where the cross section 70 intersects, an intersection line 91 indicates an intersection line where the section 71 intersects, and an intersection line 92 indicates an intersection line where the section 72 intersects. The intersection lines 90, 91 and 92 may be colored corresponding to the colors of the cross sections 70, 71 and 72 displayed in the three-dimensional image 101. As a result, it is possible to grasp that there is a possibility that the puncture needles 30, 31, 32 intersect at the intersection lines 90, 91, 92, so that the puncture needles 30, 31, 32 do not contact at the intersection lines 90, 91, 92. The operator can be alerted.

  In FIG. 6, the display unit 19 displays the ablation positions 43, 44, 45 and the ablation range 46 of the ablation devices 40, 41, 42 on the tomographic images (ultrasonic images) 80, 81, 82 and the three-dimensional image 101. FIG. The ablation position calculation unit 26 punctures / cauterizes cauterization information (puncture information) such as the position of the ablation devices 40, 41, and 42 in the puncture needles 30, 31, and 32 (for example, the tip position of the puncture needles 30, 31, and 32). Based on the position and direction of the puncture needles 30, 31, 32 read from the information storage unit 28 and detected by the second position sensor 22, the ablation positions 43, 44, 45 of the ablation devices 40, 41, 42 in the volume data. Is calculated. The ablation range calculation unit 27 reads the ablation information of the ablation devices 40, 41, and 42 from the puncture / ablation information storage unit 28, and calculates the ablation range 46 of the puncture target 50 based on the ablation information of the ablation devices 40, 41, and 42. To do. The ablation range calculation unit 27 uses the ablation information of the ablation devices 40, 41, and 42 as the heating temperature, heating rate, and heating time of the ablation devices 40, 41, and 42 and the specific heat of the puncture target 50 (or tissue 500). The ablation range 46 of the puncture target 50 may be calculated based on the heat propagation speed and the like. The display unit 19 displays the ablation positions 43, 44, 45 and the ablation range 46 on the tomographic images (ultrasonic images) 80, 81, 82 and the three-dimensional image 101.

  When the ablation devices 40, 41, and 42 are provided at the distal ends of the plurality of puncture needles 30, 31, and 32, the ablation position calculation unit 26 includes the plurality of puncture needles 30, detected by the second position sensor 22. Based on the positions and directions of 31 and 32, the ablation positions 43, 44, and 45 of the plurality of ablation devices 40, 41, and 42 in the volume data are calculated, and the display unit 19 is located between the ablation positions 43, 44, and 45. The range may be displayed on the three-dimensional image 101 as the ablation range 46. For example, the display unit 19 may display a range (triangle) surrounded by straight lines connecting the ablation positions 43, 44, and 45 as the ablation range 46 on the three-dimensional image 101. When there are two ablation positions, the display unit 19 may display a straight line connecting the two points as the ablation range 46 on the three-dimensional image 101.

  Next, an ultrasonic image capturing method using the ultrasonic image capturing apparatus 1 will be described. FIG. 7 is a flowchart illustrating an example of an ultrasonic image capturing method using the ultrasonic image capturing apparatus 1. FIG. 8 is a diagram showing the positional relationship between the first position sensor 21 and the second position sensor 22. In step S <b> 200 of FIG. 7, the first position sensor (6-axis sensor) 21 is attached to the ultrasonic probe 10. In step S201, the volume data and the tomographic image (ultrasound image) are aligned by searching for a position where the volume data acquired in advance matches the tomographic image (ultrasonic image), and the origin P0 is determined. Is done. In FIG. 8, the position of the first position sensor 21 after alignment is determined as the origin P0, and the position of the ultrasonic probe 10 is detected by the first position sensor 21.

  In step S202, the second position sensor (6-axis sensor) 22 is attached to the puncture needles 30, 31, 32. In step S203, the second position sensor (6-axis sensor) 22 attached to the puncture needles 30, 31, 32 detects the position and direction of the puncture needles 30, 31, 32. In this case, puncture information such as the length, diameter length, and shape of the puncture needles 30, 31, and 32 is stored in the puncture / cauterization information storage unit 28 in advance.

  In step S204, the puncture information calculation unit 24 reads puncture information such as the length, diameter length, and shape of the puncture needles 30, 31, 32 from the puncture / cauterization information storage unit 28, and the first position sensor 21 Based on the positional relationship with the second position sensor 22, the positions and directions of the puncture needles 30, 31, 32 in the volume data are calculated. Depending on the relative position between the first position sensor 21 (origin P0) and the second position sensor 22 (points P1, P2, P3) and the direction of the second position sensor 22, the puncture needles 30, 31, 32 are inserted. Vectors V1, V2, and V3 that are directions are determined, and the insertion states of the puncture needles 30, 31, and 32 (such as the insertion positions of the cautery devices 40, 41, and 42) are detected based on the puncture information. As described above, the puncture information calculation unit 24 determines the position and direction of the puncture needles 30, 31, 32 in the volume data based on the position of the ultrasound probe 10 and the positions and directions of the puncture needles 30, 31, 32. Is calculated. The display unit 19 displays the three-dimensional image 101 of the subject 100 based on the volume data, and displays the positions and directions of the puncture needles 30, 31, and 32 on the three-dimensional image 101. As a result, the positional relationship between the plurality of puncture needles 30, 31, 32 can be easily grasped, and the positional relationship between the puncture needles 30, 31, 32 and the puncture target 50 (or tissue 500) can be easily grasped. .

  In step S204, the insertion path calculation unit 25 calculates the insertion paths 60, 61, and 62 of the puncture needles 30, 31, and 32 in the volume data (three-dimensional image 101). The puncture route calculation unit 25 reads puncture information such as the length, diameter length, and shape of the puncture needles 30, 31, and 32 from the puncture / cautery information storage unit 28, and based on the puncture information, the first position The insertion paths 60, 61, 62 are calculated from the positional relationship between the sensor 21 and the second position sensor 22. The display unit 19 displays the cross-sections 70, 71, 72 including the insertion paths 60, 61, 62 on the three-dimensional image 101, and also displays the tomographic images 80, 81, 82 of the cross-sections 70, 71, 72 (step). S206).

  By repeating steps S202 to S204, it is possible to cope with a case where the puncture needles 30, 31, 32 are changed or a case where the insertion paths 60, 61, 62 are changed. The operator can formulate the insertion plan while observing the insertion paths 60, 61, 62 and the cross sections 70, 71, 72 before actually inserting the puncture needles 30, 31, 32. Further, the operator can grasp the actual insertion state of the puncture needles 30, 31, 32 while observing the tomographic images (ultrasound images) 80, 81, 82.

  In step S205, the ablation position calculation unit 26 determines the ablation position 43 of the ablation devices 40, 41, and 42 in the volume data based on the positions and directions of the puncture needles 30, 31, and 32 detected by the second position sensor 22. , 44, 45, and the ablation range calculation unit 27 calculates the ablation range 46 of the puncture target 50 based on the ablation information of the ablation devices 40, 41, 42. The display unit 19 displays the ablation positions 43, 44, 45 and the ablation range 46 on the tomographic images (ultrasonic images) 80, 81, 82 and the three-dimensional image 101 (step S206). As a result, the operator can formulate an ablation plan while observing the ablation positions 43, 44, 45 and the ablation range 46 before actually inserting the puncture needles 30, 31, 32. Further, the operator can grasp the actual ablation state of the ablation devices 40, 41, 42 while observing the tomographic images (ultrasonic images) 80, 81, 82.

  In step S206, the display unit 19 displays the cross sections 70, 71, and 72 on the three-dimensional image 101, and displays the tomographic images 80, 81, and 82 of the cross sections 70, 71, and 72. In step S207, the display unit 19 displays the cross sections 70, 71, 72 corresponding to the insertion paths 60, 61, 62 on the three-dimensional image 101 in different colors. In step S207, the operator punctures the puncture needles 30, 31, 32 while observing the tomographic images (ultrasound images) 80, 81, 82. The operator cauterizes the puncture target 50 (for example, a tumor) while observing the tomographic images (ultrasound images) 80, 81, and 82.

  As mentioned above, although embodiment concerning this invention was described, this invention is not limited to these, It can change and deform | transform within the range described in the claim.

  The present invention can easily grasp the mutual positional relationship of the puncture needles by detecting the tip positions and insertion directions of a plurality of puncture needles, and can easily grasp the ablation range of the puncture target (for example, a tumor) It is useful as an ultrasonic imaging device and an ultrasonic imaging method used for puncture treatment.

DESCRIPTION OF SYMBOLS 1 Ultrasonic imaging device 10 Ultrasonic probe 11 Ultrasonic transmission / reception control circuit 12 Transmission circuit 13 Receiving circuit 14 Ultrasonic image generation part 15 Phased addition circuit 16 Signal processing part 17 Scan converter 18 Image processing part 19 Display Unit 20 Volume data storage unit 21 First position sensor 22 Second position sensor 23 Puncture control unit 24 Puncture information calculation unit 25 Puncture route calculation unit 26 Cauterization position calculation unit 27 Cauterization range calculation unit 28 Puncture / cauterization information storage unit 30, 31, 32 Puncture needle 40, 41, 42 Cauterization device 43, 44, 45 Ablation position 46 Ablation range 50 Puncture target 60, 61, 62 Insertion path 70, 71, 72 Cross section 80, 81, 82 Tomographic image 101 3 Dimensional image

Claims (8)

An ultrasound probe for acquiring an ultrasound image of the subject;
A volume data storage unit for storing volume data of the subject;
A first position sensor for detecting a position of the ultrasonic probe obtained by aligning a position of the puncture target in the ultrasonic image and a position of the puncture target in the volume data;
A second position sensor for detecting a position and direction of a puncture needle to be punctured into the puncture target;
A puncture information calculation unit that calculates the position and direction of the puncture needle in the volume data based on the positional relationship between the first position sensor and the second position sensor;
An ultrasonic imaging apparatus comprising: a display unit configured to display a three-dimensional image of the subject based on the volume data and to display a position and a direction of the puncture needle on the three-dimensional image. A puncture route computing unit for computing a puncture route of the puncture needle in the volume data based on the position and direction of the puncture needle detected by the second position sensor;
The ultrasonic image capturing apparatus according to claim 1, wherein the display unit displays a cross section including the insertion path in the three-dimensional image.   The ultrasonic image imaging apparatus according to claim 2, wherein the display unit displays the cross section including the position of the ultrasonic probe and the insertion path on the three-dimensional image.   The ultrasonic image imaging apparatus according to claim 2, wherein the display unit displays the tomographic image of the cross section based on at least one of the ultrasonic image and the volume data. The insertion path calculation unit calculates the insertion paths of the plurality of puncture needles,
The ultrasonic wave according to any one of claims 2 to 4, wherein the display unit displays the plurality of cross sections corresponding to the plurality of insertion paths on the three-dimensional image in different colors. Imaging device. The insertion path calculation unit calculates the insertion paths of the plurality of puncture needles,
The display unit displays a plurality of the cross sections corresponding to the plurality of insertion paths in the three-dimensional image, and displays intersection lines where the plurality of cross sections intersect in the tomographic image. 4. The ultrasonic imaging apparatus according to 4. A cautery device that is provided at the tip of the puncture needle and cauterizes the puncture target;
An ablation position calculator that calculates the ablation position of the ablation device in the volume data based on the position and direction of the puncture needle detected by the second position sensor;
A cautery range calculation unit that calculates the cauterization range of the puncture target based on the cauterization information of the cauterization device
The ultrasonic image imaging apparatus according to claim 1, wherein the display unit displays the ablation range on the three-dimensional image. A plurality of ablation devices each provided at the tip of a plurality of puncture needles for ablating the puncture target;
Based on the positions and directions of the plurality of puncture needles detected by the second position sensor,
A cauterization position calculation unit that calculates the cauterization positions of the plurality of cauterization devices in the volume data,
The ultrasonic image capturing apparatus according to any one of claims 1 to 7, wherein the display unit displays a range between the ablation positions as the ablation range on the three-dimensional image.

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