JP6420678B2 - Ultrasonic diagnostic apparatus and control program therefor - Google Patents

Description

  The present invention relates to an ultrasonic diagnostic apparatus that specifies coordinate conversion information between a first coordinate system and a second coordinate system, and a control program therefor.

  For example, Patent Document 1 discloses an ultrasonic diagnostic apparatus capable of displaying a medical image such as an X-ray CT image or an MRI image acquired in advance and an ultrasonic image of the same cross section on a subject. In this ultrasonic diagnostic apparatus, the position and orientation of an ultrasonic probe that performs ultrasonic scanning are detected, and an X-ray CT image or MRI of a cross section corresponding to the acquisition position of an echo signal specified based on the detection information. An image or the like is displayed together with a real-time ultrasonic image.

  In order to display an ultrasound image and a medical image of the same cross section on the subject, a coordinate system in a three-dimensional space where ultrasound is transmitted to and received from the subject, and a medical image such as an X-ray CT image or an MRI image The coordinate conversion information between the coordinate system of the three-dimensional data is used. The coordinate conversion information includes information on the amount of rotation between the coordinate system of the three-dimensional space and the coordinate system of the three-dimensional data of the reference medical image, information on the parallel movement amount, and information on the corresponding size.

Japanese Patent No. 3877747

  By the way, as a method for specifying coordinate conversion information, a user places an ultrasonic probe provided with a position sensor in a direction in which the azimuth direction thereof is orthogonal to the body axis of the subject, and an ultrasonic image and reference There is a method for specifying one point corresponding to each other in each medical image. In this method, based on detection information of the position sensor in the three-dimensional space, three axes that are orthogonal to each other set in the position sensor in the three-dimensional space and a coordinate system of the three-dimensional space are mutually connected. Information on the amount of rotation between three orthogonal coordinate axes is used as information on the amount of rotation in the coordinate conversion information. That is, information on the amount of rotation is specified using three axes set in the position sensor orthogonal to each other as coordinate axes of the coordinate system of the three-dimensional data of the reference medical image. By specifying three axes that are orthogonal to each other set in the position sensor and one point corresponding to each other, information on the amount of translation in the coordinate conversion information is obtained. Further, the corresponding size information in the coordinate conversion information is information stored in advance.

  In the above-described method, the user needs to place the ultrasonic probe in a direction orthogonal to the body axis of the subject. However, there is a demand for an ultrasonic diagnostic apparatus that can specify coordinate conversion information by a simpler method without requiring such a user's procedure.

  One aspect of the invention made to solve the above-described problem is an ultrasonic probe that transmits and receives ultrasonic waves to and from a subject in a three-dimensional space, and a first that constitutes a coordinate system in the three-dimensional space. Coordinate conversion information between a coordinate system and a second coordinate system constituting a coordinate system in the three-dimensional data of a reference medical image for the subject acquired in advance, the first coordinate system and the A coordinate conversion information specifying unit for specifying coordinate conversion information including information on the amount of rotation with respect to the second coordinate system, information on the amount of parallel movement, and information on the corresponding size; and Based on the detection signal of the position sensor provided on the bed on which the subject is lying, the position of the position sensor in the first coordinate system and the directions of the three axes set to the position sensor are orthogonal to each other Detection information processing And the coordinate conversion information specifying unit uses the three axes whose directions are specified by the detection information processing unit as coordinate axes constituting the second coordinate system, and the coordinate axis and the first coordinate system. Is used as information on the amount of rotation in the coordinate conversion information.

  According to the aspect of the invention, the coordinate conversion information specifying unit uses the three axes specified by the detection information processing unit as coordinate axes constituting the second coordinate system, and the coordinate axes and the first coordinates. Information on the amount of rotation between three coordinate axes that are orthogonal to each other constituting the system is used as information on the amount of rotation in the coordinate conversion information. Therefore, since the rotation amount information in the coordinate conversion information can be specified without requiring a user's procedure, the coordinate conversion information can be specified by a method simpler for the user than in the past.

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 figure which shows the bed on which a subject lies down. It is a block diagram which shows the structure of the display process part in the ultrasonic diagnosing device shown by FIG. It is a figure which shows the 1st coordinate system which comprises the coordinate system of the three-dimensional space which makes a magnetic generation | occurrence | production part an origin, and three mutually orthogonal axes set to the 1st magnetic sensor. It is a flowchart which shows the effect | action of embodiment. It is a figure which shows the display part by which the reference medical image was displayed with the B mode image. It is a figure which shows the display part of the state in which the same site | part of the subject was instruct | indicated in the B mode image and the reference medical image with the cursor.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. An ultrasonic diagnostic apparatus 1 illustrated in FIG. 1 includes an ultrasonic probe 2, a transmission / reception beam former 3, an echo data processing unit 4, a display processing unit 5, a display unit 6, an operation unit 7, a control unit 8, and a storage unit 9. The ultrasonic diagnostic apparatus 1 has a configuration as a computer.

  The ultrasonic probe 2 is configured to have a plurality of ultrasonic transducers (not shown) arranged in an array, and transmits ultrasonic waves to the subject through the ultrasonic transducers, and the echo signal thereof. Receive.

  Transmission / reception of ultrasonic waves by the ultrasonic probe 2 is performed on a subject lying on the bed B shown in FIG. The bed B is installed in a coordinate system of a three-dimensional space described later. The bed B is provided with a first magnetic sensor 10 made of, for example, a Hall element. The first magnetic sensor 10 detects the magnetism generated from the magnet generator 11 constituted by, for example, a magnet generating coil. The first magnetic sensor 10 is an example of an embodiment of a position sensor and a magnetic sensor in the present invention. The magnetic generator 11 is an example of an embodiment of the magnetic generator in the present invention.

  The ultrasonic probe 2 is provided with a second magnetic sensor 12. The second magnetic sensor 12 is also composed of a Hall element, for example. The second magnetic sensor 10 detects magnetism generated from the magnetism generator 11. The magnetism generator 11 and the magnetic sensor 10 are provided to detect the position and inclination of the ultrasonic probe 2 as described later.

  Detection signals from the first magnetic sensor 10 and the second magnetic sensor 12 are input to the display processing unit 5. Detection signals in the first magnetic sensor 10 and the second magnetic sensor 12 may be input to the display processing unit 5 via a cable (not shown), or may be input to the display processing unit 5 wirelessly.

  The transmission / reception beam former 3 supplies an electrical signal for transmitting an ultrasonic wave from the ultrasonic probe 2 under a predetermined scanning condition to the ultrasonic probe 2 based on a control signal from the control unit 8. The transmission / reception beamformer 3 performs signal processing such as A / D conversion and phasing addition processing on the echo signal received by the ultrasonic probe 2, and outputs the echo data after the signal processing to the echo data processing unit 4. To do.

  The echo data processing unit 4 performs processing for creating an ultrasound image on the echo data output from the transmission / reception beamformer 3. For example, the echo data processing unit 4 performs B mode processing such as logarithmic compression processing and envelope detection processing to create B mode data.

  As illustrated in FIG. 3, the display processing unit 5 includes a first detection information processing unit 51, a second detection information processing unit 52, a coordinate conversion information specifying unit 53, and an image display control unit 54. Based on the magnetic detection signal from the first magnetic sensor 10, the first detection information processing unit 51 and the position of the first magnetic sensor 10 are orthogonal to each other set in the first magnetic sensor 10 as shown in FIG. The directions of the three axes X2, Y2 and Z2 are specified. The first detection information processing unit 51 includes the position of the first magnetic sensor 10 in the first coordinate system constituting the coordinate system in the three-dimensional space with the magnetic generation unit 11 as the origin, and the directions of the axes X2, Y2, and Z2. Is identified. 2 and 4, the axes X1, Y1 and Z1 orthogonal to each other are coordinate axes in the first coordinate system with the magnetic generator 11 as the origin. The axis X1, the axis Y1, and the axis Z1 are set in the magnetism generator 11. The first detection information processing unit 51 is an example of an embodiment of the detection information processing unit in the present invention. Moreover, the function by the 1st detection information processing part 51 is an example of embodiment of the detection information processing function in this invention.

  The first magnetic sensor 10 is provided so that the direction of the axis Z2 is the longitudinal direction of the bed B. Therefore, the direction of the axis Z2 coincides with the direction of the body axis of the subject lying on the bed B so that the longitudinal direction of the bed B coincides with the body axis direction.

  Based on the magnetic detection signal from the second magnetic sensor 12, the second detection information processing unit 52 is orthogonal to the position of the first magnetic sensor 10 in the first coordinate system and the second magnetic sensor 10. The direction in the first coordinate system of three axes (not shown) is specified. And the 2nd detection information processing part 52 is the position of the 2nd magnetic sensor 12, the direction of the three axes | shafts set to the 2nd magnetic sensor 12, and the 2nd magnetic sensor 12 and ultrasonic probe 2 which were specified beforehand. Are used to calculate the position and orientation of the ultrasonic probe 2 in the first coordinate system. Further, the second detection information processing unit 52 calculates position information of the echo signal in the first coordinate system based on the position and orientation of the ultrasonic probe 2 in the first coordinate system. By calculating the position information, the position information in the first coordinate system of the ultrasonic scanning surface of the ultrasonic probe 2 is specified.

  The coordinate conversion information specifying unit 53 is between the first coordinate system and the second coordinate system constituting the coordinate system in the three-dimensional data of the reference medical image for the subject that is the same target as the ultrasonic transmission / reception target. Specify the coordinate conversion information. The coordinate conversion information is a coordinate conversion formula including information on the amount of rotation between the first coordinate system and the second coordinate system, information on the amount of parallel movement, and information on the corresponding size. The coordinate conversion information is a coordinate conversion formula that converts coordinates in the first coordinate system into corresponding coordinates in the second coordinate system, or coordinates that convert coordinates in the second coordinate system into corresponding coordinates in the first coordinate system. It is a conversion formula. The coordinate conversion information specifying unit 53 is an example of an embodiment of the coordinate conversion information specifying unit in the present invention. The coordinate conversion information specifying function by the coordinate conversion information specifying unit 53 is an example of an embodiment of the coordinate conversion information specifying function in the present invention.

  The image display control unit 54 scans and converts the data input from the echo data processing unit 4 by a scan converter (Scan Converter) to create ultrasonic image data. For example, the image display control unit 54 scans B-mode data to create B-mode image data.

  In addition, the image display control unit 54 causes the display unit 6 to display an ultrasonic image based on the ultrasonic image data. The ultrasonic image is a B-mode image based on the B-mode image data, for example.

  The image display control unit 54 causes the display unit 6 to display the ultrasound image and the reference medical image having the same cross section in the subject as well as the ultrasound image. The data of the reference medical image is stored in the storage unit 9 as will be described later. Based on the position information of the echo signal obtained by the second detection information processing unit 52 and the coordinate conversion information specified by the coordinate conversion information specifying unit 53, the image display control unit 54 A sound wave image and a reference medical image are displayed. The image display control unit 54 is an example of an embodiment of the image display control unit in the present invention.

  The display unit 6 is an LCD (Liquid Crystal Display), an organic EL (Electro-Luminescence) display, or the like.

  The operation unit 7 is a device through which a user inputs instructions and information. For example, although not particularly illustrated, the operation unit 7 includes a keyboard, and further includes a pointing device such as a trackball.

  The control unit 8 is a processor such as a CPU (Central Processing Unit). The control unit 8 reads the program stored in the storage unit 9 and controls each unit of the ultrasonic diagnostic apparatus 1. For example, the control unit 8 reads a program stored in the storage unit 9 and causes the functions of the transmission / reception beamformer 3, the echo data processing unit 4, and the display processing unit 5 to be executed by the read program.

  The control unit 8 may execute all the functions of the transmission / reception beamformer 3, all of the functions of the echo data processing unit 4, and all of the functions of the display processing unit 5 by a program, Only some functions may be executed by a program. When the control unit 8 executes only a part of the functions, the remaining functions may be executed by hardware such as a circuit.

  The functions of the transmission / reception beamformer 3, the echo data processing unit 4, and the display processing unit 5 may be realized by hardware such as a circuit.

  The storage unit 9 is an HDD (Hard Disk Drive), a semiconductor memory (RAM) such as a RAM (Random Access Memory), a ROM (Read Only Memory), or the like.

  The ultrasonic diagnostic apparatus 1 may have all of HDD, RAM, and ROM as the storage unit 9. The storage unit 9 may be a portable storage medium such as a CD (Compact Disk) or a DVD (Digital Versatile Disk).

  The program executed by the control unit 8 is stored in a non-transitory storage medium such as an HDD or a ROM. The program may be stored in a non-transitory storage medium such as a CD or a DVD.

  In addition to the program, the storage unit 9 stores reference medical image data acquired in advance for the same subject as the ultrasound transmission / reception target. The reference medical image data is medical image data acquired in advance by a medical image apparatus other than the ultrasound diagnostic apparatus 1, that is, X-ray CT image data or MRI acquired in advance by, for example, an X-ray CT apparatus or an MRI apparatus. This is image data. The reference medical image data may be ultrasound image data or raw data. However, in this case, the ultrasound image data or raw data has position information. The reference medical image data is three-dimensional data (volume data).

  The coordinate system in the three-dimensional data of the reference medical image constitutes a second coordinate system. As will be described later, the coordinate conversion information specifying unit 53 uses the axes X2, Y2, and Z2 set in the first magnetic sensor 10 when specifying the rotation amount information in the coordinate conversion formula as will be described later. The coordinate axes constituting the second coordinate system are used.

  Further, the storage unit 9 stores information on the corresponding size (distance) between the first coordinate system and the second coordinate system. The corresponding size information is information on the corresponding size of the same part of the subject between the first coordinate system and the second coordinate system.

  Now, the operation of the ultrasonic diagnostic apparatus 1 of this example will be described based on the flowchart of FIG. Here, a process of displaying a reference medical image having the same cross section as the ultrasound image of the subject lying on the bed B will be described. First, in step S <b> 1, the user starts transmitting / receiving ultrasonic waves to / from the subject using the ultrasonic probe 2. Then, a real-time B-mode image is displayed on the display unit 6 based on the ultrasonic echo signal obtained by the ultrasonic probe 2.

  It is assumed that the subject that is the object of ultrasound transmission / reception lies in a predetermined direction with respect to the bed B. That is, the subject lies on the bed B so that one end of the bed B in the longitudinal direction of the bed B is the head at one end.

  Next, in step S2, the user inputs on the operation unit 7, and as shown in FIG. 6, the reference medical image MI based on the reference medical image data stored in the storage unit 9 is displayed on the display unit 6. To display. The reference medical image MI is displayed side by side with the real-time B-mode image BI.

  Next, in step S <b> 3, the user performs an input for instructing one point corresponding to each other in the B mode image BI and the reference medical image MI on the operation unit 7. For example, the user designates the same portion of the subject as one point corresponding to each other in the B-mode image BI and the reference medical image MI with the cursor CU displayed on the display unit 6 as shown in FIG. When the reference medical image MI and the B-mode image BI displayed in step S2 do not include the same portion in the subject, the user can change the cross section of the reference medical image MI or change the position of the ultrasound probe 2 The reference medical image MI and the B-mode image BI including the same portion in the subject are displayed by adjusting the angle or angle.

  Next, in step S4, the coordinate conversion information specifying unit 53 specifies the coordinate conversion information. This will be specifically described. The coordinate conversion information includes information on the amount of rotation between the first coordinate system and the second coordinate system, information on the amount of parallel movement, and information on the corresponding size. Since the information of the size corresponding between the first coordinate system and the second coordinate system is stored in the storage unit 9, the coordinate conversion information specifying unit 53 includes the rotation amount information and the parallel movement amount information. Identify information.

  In step S3, the coordinate conversion information specifying unit 53 determines the first coordinate based on the position coordinates in the first coordinate system and the second coordinate system of one point designated in the B-mode image BI and the reference medical image MI. Information on the amount of translation between the coordinate system and the second coordinate system is specified.

  Further, the coordinate conversion information specifying unit 53 uses the three axes X2, Y2, and Z2 set in the first magnetic sensor 10 as coordinate axes constituting the second coordinate system as shown in FIG. Specify the amount of rotation information at. This will be specifically described.

  The coordinate conversion information specifying unit 53 sets the axes X1 and X2, which are the coordinate axes of the first coordinate system, as axes corresponding to each other in the first coordinate system and the second coordinate system. Also, the coordinate conversion information specifying unit 53 sets the axes Y1 and Y2 that are the coordinate axes of the first coordinate system as mutually corresponding axes in the first coordinate system and the second coordinate system. In addition, the coordinate conversion information specifying unit 53 sets the axes Z1 and Z2 that are the coordinate axes of the first coordinate system as mutually corresponding axes in the first coordinate system and the second coordinate system. The coordinate conversion information specifying unit 53 obtains information on the amount of rotation between the three axes X2, Y2, and Z2 whose directions are specified in the first coordinate system and the axes X1, Y1, and Z1. Information on the amount of rotation between the first coordinate system and the second coordinate system is used. The directions of the axis X2, the axis Y2, and the axis Z2 are specified by the first detection information processing unit 51.

  Next, in step S5, the image display control unit 54 causes the display unit 6 to display the B-mode image BI and the reference medical image MI having the same cross section in the subject. The image display control unit 54 converts the position information of the echo signal in the first coordinate system obtained by the second detection information processing unit 52 into coordinates in the second coordinate system using the coordinate conversion information, and the same cross section in the subject. The B-mode image BI and the reference medical image MI are displayed.

  According to this example, among the coordinate conversion information, as information on the rotation amount between the first coordinate system and the second coordinate system, the three axes X2, Y2 and axes set in the first magnetic sensor 10 are used. Since information on the amount of rotation between Z2 and the axes X1, Y1, and Z1 which are the coordinate axes of the first coordinate system is used, information on the amount of rotation in the coordinate conversion information can be obtained without requiring a user's procedure. Can be identified. Since the corresponding size information between the first coordinate system and the second coordinate system is stored in the storage unit 9, the user designates one point in the B-mode image BI and the reference medical image MI. Just by doing this, the coordinate conversion information is specified. Therefore, the coordinate conversion information can be specified by a method easier for the user than in the past.

  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.

DESCRIPTION OF SYMBOLS 1 Ultrasonic diagnostic apparatus 2 Ultrasonic probe 8 Control part 9 Memory | storage part
DESCRIPTION OF SYMBOLS 10 1st magnetic sensor 11 Magnetic generation part 51 1st detection information processing part 53 Coordinate conversion information specific | specification part 54 Image display control part

Claims (10)

An ultrasound probe that transmits and receives ultrasound to and from a subject in a three-dimensional space;
Coordinate conversion between the first coordinate system constituting the coordinate system in the three-dimensional space and the second coordinate system constituting the coordinate system in the three-dimensional data of the reference medical image for the subject acquired in advance. Coordinate conversion information for specifying coordinate conversion information including information on the amount of rotation between the first coordinate system and the second coordinate system, information on the amount of parallel movement, and information on the corresponding size A specific part,
The position of the position sensor in the first coordinate system and the position sensor set to be orthogonal to each other based on a detection signal of a position sensor installed in a bed placed in the three-dimensional space and on which the subject lies. A detection information processing unit for identifying the directions of the three axes to be
With
The coordinate conversion information specifying unit uses the three axes whose directions are specified by the detection information processing unit as coordinate axes that constitute the second coordinate system, and is orthogonal to each other that constitutes the first coordinate system. The information on the amount of rotation between the three coordinate axes is used as the information on the amount of rotation in the coordinate conversion information.   The direction of one axis among the directions of three axes orthogonal to each other set in the position sensor coincides with the body axis direction of the subject lying on the bed. Ultrasound diagnostic equipment.   The information on the parallel movement amount is information specified based on the position coordinates of one point corresponding to each other in the first coordinate system and the second coordinate system. An ultrasonic diagnostic apparatus according to 1.   One point corresponding to each other in the first coordinate system and the second coordinate system is an ultrasonic image created and displayed based on an echo signal of an ultrasonic wave obtained by the ultrasonic probe, and the reference The ultrasonic diagnostic apparatus according to claim 3, wherein each reference medical image displayed based on medical image data is a point designated by the user as the same position in the subject.   The information on the corresponding size is information on the size corresponding to the same part of the subject between the first coordinate system and the second coordinate system. The ultrasonic diagnostic apparatus as described in any one of -4.   The ultrasonic diagnostic apparatus according to claim 1, wherein the position sensor is a magnetic sensor that detects magnetism generated by a magnetism generator installed in the three-dimensional space.   The first coordinate system is a coordinate system having the magnetic generation unit as an origin, and three axes set in the magnetic generation unit and orthogonal to each other are coordinate axes. Ultrasound diagnostic equipment.   An ultrasonic image based on an ultrasonic echo signal obtained by the ultrasonic probe based on the position and inclination of the ultrasonic probe in the first coordinate system and the coordinate conversion information; The ultrasonic diagnostic apparatus according to claim 1, further comprising an image display control unit configured to display a reference medical image having the same cross section in a specimen. An ultrasound probe that transmits and receives ultrasound to and from a subject in a three-dimensional space;
A processor;
With
The processor is
Coordinate conversion between the first coordinate system constituting the coordinate system in the three-dimensional space and the second coordinate system constituting the coordinate system in the three-dimensional data of the reference medical image for the subject acquired in advance. Coordinate conversion information for specifying coordinate conversion information including information on the amount of rotation between the first coordinate system and the second coordinate system, information on the amount of parallel movement, and information on the corresponding size Specific functions,
The position of the position sensor in the first coordinate system and the position sensor set to be orthogonal to each other based on a detection signal of a position sensor installed in a bed placed in the three-dimensional space and on which the subject lies. A detection information processing function that identifies the directions of the three axes to be
Is executed programmatically,
The coordinate conversion information specifying function uses the three axes whose directions are specified by the detection information processing function as coordinate axes that constitute the second coordinate system, and the coordinate axes and the first coordinate system that are orthogonal to each other. The information on the amount of rotation between the three coordinate axes is used as the information on the amount of rotation in the coordinate conversion information. An ultrasound probe that transmits and receives ultrasound to and from a subject in a three-dimensional space;
A processor;
An ultrasonic diagnostic apparatus control program comprising:
To the processor,
Coordinate conversion between the first coordinate system constituting the coordinate system in the three-dimensional space and the second coordinate system constituting the coordinate system in the three-dimensional data of the reference medical image for the subject acquired in advance. Coordinate conversion information for specifying coordinate conversion information including information on the amount of rotation between the first coordinate system and the second coordinate system, information on the amount of parallel movement, and information on the corresponding size Specific functions,
The position of the position sensor in the first coordinate system and the position sensor set to be orthogonal to each other based on a detection signal of a position sensor installed in a bed placed in the three-dimensional space and on which the subject lies. A detection information processing function that identifies the directions of the three axes to be
A control program for executing
The coordinate conversion information specifying function uses the three axes whose directions are specified by the detection information processing function as coordinate axes that constitute the second coordinate system, and the coordinate axes and the first coordinate system that are orthogonal to each other. The information on the rotation amount between the three coordinate axes is used as the information on the rotation amount in the coordinate conversion information.

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