JP6585352B2 - Ultrasonic observation apparatus, ultrasonic endoscope, ultrasonic diagnostic system, operation method of ultrasonic observation apparatus, and operation program of ultrasonic observation apparatus - Google Patents

Description

  The present invention relates to an ultrasonic observation apparatus, an ultrasonic endoscope, an ultrasonic diagnostic system, an operation method of an ultrasonic observation apparatus, and an operation program for the ultrasonic observation apparatus that observe an observation target tissue using ultrasonic waves.

  Ultrasound may be applied to observe the characteristics of the biological tissue or material that is the object of observation. Specifically, ultrasonic waves are transmitted to the observation target, and predetermined signal processing is performed on the ultrasonic echoes reflected by the observation target, thereby acquiring information related to the characteristics of the observation target.

  In an ultrasound diagnostic system that diagnoses a tissue in a subject using ultrasound, a puncture needle that is a treatment tool for puncturing a site of interest of the subject may be used. When using a puncture needle, it is very important to accurately puncture the site of interest while checking the position of the needle tip in real time.

  Conventionally, as a technique for accurately puncturing a puncture needle into a site of interest, a technique for displaying a straight line connecting the site of interest and the needle tip on a monitor and guiding the puncture direction of the puncture needle to the site of interest has been disclosed. (For example, refer to Patent Document 1).

Japanese Patent Laid-Open No. 6-205776

  However, in the technique disclosed in Patent Document 1, the operator must adjust the puncturing direction while confirming the straight line displayed on the monitor, and it may be difficult to puncture the puncture needle at a desired position. there were.

  The present invention has been made in view of the above, and an ultrasonic observation apparatus, an ultrasonic endoscope, an ultrasonic diagnostic system, and an ultrasonic observation apparatus that can easily puncture a region of interest with a puncture needle It is an object of the present invention to provide an operation method of the above and an operation program of an ultrasonic observation apparatus.

  In order to solve the above-described problems and achieve the object, an ultrasonic observation apparatus according to the present invention transmits ultrasonic waves to an observation target, receives ultrasonic waves reflected by the observation target, and sets a puncture needle. An ultrasonic observation apparatus that can be inserted and protruded from a distal end and that can be connected to an ultrasonic endoscope provided with a regulating member that rises in a predetermined axial direction and regulates the protruding direction of the puncture needle. A puncture position detector for detecting a puncture position of the puncture needle at a site of interest in an ultrasonic image based on an ultrasonic signal received by the ultrasonic endoscope, and the puncture position detected by the puncture position detector And a restricting member control unit that controls the protruding direction of the puncture needle by the restricting member based on the protruding position of the puncture needle in the ultrasonic image.

  In the ultrasonic observation apparatus according to the present invention as set forth in the invention described above, the restricting member control unit calculates a rising angle of the restricting member based on the puncture position and the protruding position.

  The ultrasonic observation apparatus according to the present invention further includes an identification unit that identifies the ultrasonic endoscope connected to the ultrasonic observation apparatus in the above invention, and the regulation member control unit identifies the identification unit. The protruding direction of the puncture needle is controlled based on the protruding position according to the result.

  In the ultrasonic observation apparatus according to the present invention as set forth in the invention described above, the puncture position detection unit detects the region of interest by contour extraction processing.

  The ultrasonic observation apparatus according to the present invention performs control to display at least a distance between the puncture position and the protruding position on the ultrasonic image display unit together with the ultrasonic image in the above invention. A control unit is further provided.

  An ultrasonic endoscope according to the present invention is an ultrasonic endoscope capable of projecting a puncture needle from a tip, and transmits an ultrasonic wave to an observation target and receives an ultrasonic wave reflected by the observation target. The ultrasonic transducer, a regulating member that can be raised with respect to a predetermined axial direction and regulates the protruding direction of the puncture needle, and a region of interest in an ultrasonic image based on the ultrasonic wave received by the ultrasonic transducer The puncture position detection unit that detects the puncture position of the puncture needle in the puncture position detection unit, the puncture position detected by the puncture position detection unit, and the puncture position of the puncture needle in the ultrasonic image, the puncture by the restriction member And a control member control unit that controls the protruding direction of the needle, and an operation unit that raises the control member under the control of the ultrasonic observation apparatus.

  The ultrasonic diagnostic system according to the present invention transmits an ultrasonic wave to an observation target, receives an ultrasonic wave reflected by the observation target, can be inserted through a puncture needle and protrude from the tip, and has a predetermined axial direction. An ultrasonic endoscope provided with a regulating member that rises relative to the puncture needle and regulates the protruding direction of the puncture needle, and a region of interest in an ultrasonic image based on an ultrasonic signal received by the ultrasonic endoscope The puncture needle by the restriction member based on the puncture position detection unit for detecting the puncture position of the puncture needle, the puncture position detected by the puncture position detection unit, and the protruding position of the puncture needle in the ultrasonic image And a restricting member control unit for controlling the protruding direction of the head.

  The method for operating the ultrasonic observation apparatus according to the present invention is capable of transmitting ultrasonic waves to an observation target, receiving ultrasonic waves reflected by the observation target, inserting a puncture needle and projecting from the tip, An ultrasonic observation apparatus connectable to an ultrasonic endoscope provided with a regulating member that rises with respect to the axial direction of the puncture needle and regulates the protruding direction of the puncture needle, wherein the puncture position detector comprises: A puncture position detection unit step for detecting a puncture position of the puncture needle at a site of interest in an ultrasonic image based on an ultrasonic signal received by the ultrasonic endoscope; a regulating member control unit; and the puncture position detection unit And a restricting member control step of controlling the protruding direction of the puncture needle by the restricting member based on the detected puncture position and the protruding position of the puncture needle in the ultrasonic image.

  The operation program of the ultrasonic observation apparatus according to the present invention transmits an ultrasonic wave to an observation target, receives an ultrasonic wave reflected by the observation target, and can be inserted through a puncture needle and protrude from the tip. Is an operation program of an ultrasonic observation apparatus that can be connected to an ultrasonic endoscope provided with a regulating member that rises with respect to the axial direction of the puncture needle and regulates the protruding direction of the puncture needle, A puncture position detection unit for detecting a puncture position of the puncture needle at a site of interest in an ultrasonic image based on an ultrasonic signal received by the ultrasonic endoscope, a regulating member control unit, and the puncture position detection unit A control member control procedure for controlling the protruding direction of the puncture needle by the control member based on the detected puncture position and the protruding position of the puncture needle in the ultrasonic image is caused to be executed by the ultrasonic observation apparatus. Specially To.

  According to the present invention, it is possible to easily puncture a site of interest with a puncture needle.

FIG. 1 is a schematic diagram showing a configuration of an ultrasonic diagnostic system including an ultrasonic observation apparatus according to an embodiment of the present invention. FIG. 2 is a schematic diagram illustrating a configuration of a forceps table provided in the ultrasonic endoscope of the ultrasonic diagnostic system according to the embodiment of the present invention. FIG. 3 is a schematic diagram for explaining a configuration of a forceps table included in the ultrasonic endoscope of the ultrasonic diagnostic system according to the embodiment of the present invention. FIG. 4 is a block diagram showing a configuration of an ultrasonic diagnostic system provided with an ultrasonic observation apparatus according to an embodiment of the present invention. FIG. 5 is a flowchart showing an outline of processing performed by the ultrasonic observation apparatus according to the embodiment of the present invention. FIG. 6 is a schematic diagram for explaining a startup angle calculation process performed by the angle calculation unit of the ultrasonic diagnostic system according to the embodiment of the present invention. FIG. 7 is a schematic diagram illustrating an example of a driving system of a forceps table provided in the ultrasonic endoscope of the ultrasonic diagnostic system according to the embodiment of the present invention. FIG. 8 is a schematic diagram showing an example of a forceps table drive system provided in the ultrasonic endoscope of the ultrasonic diagnostic system according to the embodiment of the present invention. FIG. 9 is a schematic diagram illustrating an example of a forceps table drive system provided in the ultrasonic endoscope of the ultrasonic diagnostic system according to the embodiment of the present invention.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention (hereinafter referred to as “embodiments”) will be described with reference to the accompanying drawings.

(Embodiment)
FIG. 1 is a schematic diagram showing a configuration of an ultrasonic diagnostic system including an ultrasonic observation apparatus according to an embodiment of the present invention. An ultrasonic diagnostic system 1 shown in FIG. 1 transmits an ultrasonic wave to a subject to be observed and receives an ultrasonic wave reflected by the subject, and an ultrasonic endoscope 2. Punctures the region of interest of the subject, the ultrasonic observation device 3 that generates an ultrasonic image based on the ultrasonic signal acquired by the user, the display device 4 that displays the ultrasonic image generated by the ultrasonic observation device 3 And a treatment instrument 5 having a puncture needle 51 for the purpose.

  The ultrasonic endoscope 2 includes an elongated insertion portion 20 to be inserted into the body, an operation portion 21 connected to the proximal end of the insertion portion 20, a universal cord 22 extending from a side portion of the operation portion 21, It comprises.

  Here, a connector 22 connected to a light source device (not shown) is disposed at the base end portion of the universal cord 22. From the connector 221, a cable 222 connected to a camera control unit (not shown) via a connector 222a and a cable 223 detachably connected to the ultrasonic observation apparatus 3 via a connector 223a are extended. Has been. The ultrasonic endoscope 2 is connected to the ultrasonic observation device 3 via the connector 223a, and further connected to the display device 4 via the ultrasonic observation device 3.

  The insertion portion 20 is operated in order from the distal end side, the distal end hard portion (hereinafter referred to as “tip portion”) 201, the bending portion 202 positioned at the rear end of the distal end portion 201, and the rear end of the bending portion 202. A flexible tube 203 having a small diameter, a long length and flexibility reaching the portion 21 is connected to form a main portion.

  FIG. 2 is a schematic diagram illustrating a configuration of a forceps table provided in the ultrasonic endoscope of the ultrasonic diagnostic system according to the embodiment of the present invention. An ultrasonic transducer 23 is disposed on the distal end side of the distal end portion 201. On the base side of the ultrasonic transducer 23, the distal end portion 201 includes an illumination lens constituting the illumination optical system, an observation lens (both not shown) of the observation optical system, and a treatment instrument insertion passage outlet. And a forceps port 201a that is a tip opening that also serves as a suction port, and a forceps base 201b (a regulating member) that is disposed in the forceps port and holds the puncture needle 51 and regulates the protruding direction of the puncture needle 51. It has been. An operation wire is connected to the forceps table 201b, and the lead-out angle of the puncture needle 51 led out from the treatment instrument insertion path can be adjusted by the advance / retreat operation of the operation wire.

  The forceps table 201b is rotatably provided around the shaft 201c. The shaft 201c extends in a direction orthogonal to the longitudinal direction of the distal end portion 201. In other words, the forceps table 201 b can be raised with respect to the longitudinal direction of the distal end portion 201. In the present embodiment, the basic position is a case where the longitudinal direction of the forceps table 201b (the direction in which the puncture needle 51 protrudes) is in a position parallel to the longitudinal direction of the distal end portion 201. 2 is not limited to the forceps table 201b, and may be a member that can regulate the protruding direction of the puncture needle 51, for example, a pipe-like member that can be inserted through the puncture needle 51.

  FIG. 3 is a schematic diagram for explaining a configuration of a forceps table included in the ultrasonic endoscope of the ultrasonic diagnosis system according to the embodiment of the present invention, and shows a case where the forceps table 201b is raised. is there. A broken line P indicates the forceps table 201b at the basic position in FIG. As shown in FIG. 3, the forceps table 201b rises from this basic position (see FIG. 3). At this time, the ultrasonic endoscope 2 controls the inclination angle formed between the longitudinal axis N1 of the forceps table 201b at the basic position and the longitudinal axis N2 of the forceps table 201b when raised, so that the forceps table 201b Adjust the startup amount.

  The operation section 21 includes an angle knob 211 that controls the bending of the bending section 20 in a desired direction, an air / water supply button 212 that performs air supply and water supply operations, a suction button 213 that performs suction operations, and a treatment that is introduced into the body. A treatment instrument insertion port 214 serving as an instrument entrance is disposed.

  Here, the treatment instrument insertion port 214 is communicated with the forceps opening via a treatment instrument insertion channel (not shown) provided in the insertion portion 20. A sheath of an ultrasonic treatment instrument (not shown) can be inserted into the treatment instrument insertion port 214. The puncture needle 51 inserted into the sheath is projected from the forceps port 201a, so that the puncture needle 51 can be disposed in the observation field of the ultrasonic transducer 23 so as to be able to advance and retreat.

  FIG. 4 is a block diagram showing a configuration of an ultrasonic diagnostic system provided with an ultrasonic observation apparatus according to an embodiment of the present invention. The ultrasonic endoscope 2 converts an electrical pulse signal received from the ultrasonic observation apparatus 3 into an ultrasonic pulse (acoustic pulse) at the distal end portion 201 and irradiates the subject, and is reflected by the subject. An ultrasonic transducer 23 that converts the ultrasonic echo into an electrical echo signal (ultrasonic signal) that is expressed by a voltage change and outputs the electrical echo signal, a forceps table operation unit 24 that raises the forceps table 201b, A model information storage unit 25 that stores model information (for example, model ID) of the ultrasonic endoscope 2.

  The ultrasonic transducer 23 may be any of a convex transducer, a linear transducer, and a radial transducer. The ultrasonic endoscope 2 may be one that mechanically scans the ultrasonic transducer 23, and a plurality of elements (element group 232) are provided in the form of an array as the ultrasonic transducer 23 and are related to transmission / reception. Electronic scanning may be performed by electronically switching elements or delaying transmission / reception of each element.

  For example, a motor that raises the forceps table 201b is used for the forceps table operation unit 24. The raising angle of the forceps table 201b is controlled by, for example, the amount of rotation of the motor. Note that feedback control may be performed based on the detection result using an angle sensor to adjust the rising angle of the forceps table 201b.

  The ultrasonic endoscope 2 usually has an imaging optical system and an imaging device, and is inserted into a digestive tract (esophagus, stomach, duodenum, large intestine) or respiratory organ (trachea / bronchi) of a subject for digestion. Images of ducts, respiratory organs and surrounding organs (pancreas, gallbladder, bile duct, biliary tract, lymph node, mediastinal organ, blood vessel, etc.) can be imaged. The ultrasonic endoscope 2 has a light guide that guides illumination light to be irradiated onto the subject during imaging. The light guide has a distal end portion that reaches the distal end of the insertion portion of the ultrasonic endoscope 2 into the subject, and a proximal end portion that is connected to a light source device that generates illumination light.

  The ultrasonic observation apparatus 3 includes a transmission / reception unit 31, a signal processing unit 32, an image processing unit 33, an identification unit 34, a puncture position detection unit 35, a forceps table operation control unit 36 (regulation member control unit), An input unit 37, a control unit 38, and a storage unit 39 are provided.

  The transmission / reception unit 31 is electrically connected to the ultrasonic endoscope 2 and transmits a transmission signal (pulse signal) including a high voltage pulse to the ultrasonic transducer 23 based on a predetermined waveform and transmission timing. An echo signal, which is an electrical reception signal, is received from the sonic transducer 23 to generate and output digital radio frequency (RF) signal data (hereinafter referred to as RF data).

  The frequency band of the pulse signal transmitted by the transmission / reception unit 31 may be a wide band that substantially covers the linear response frequency band of the electroacoustic conversion of the pulse signal to the ultrasonic pulse in the ultrasonic transducer 23.

  The transmission / reception unit 31 transmits various control signals output from the control unit 38 to the ultrasonic endoscope 2, and receives various types of information including an identification ID from the ultrasonic endoscope 2 to receive the control unit 38. It also has a function to transmit to.

The signal processing unit 32 generates digital B-mode reception data based on the RF data received from the transmission / reception unit 31. Specifically, the signal processing unit 32 performs known processing such as a bandpass filter, envelope detection, and logarithmic conversion on the RF data to generate digital B-mode reception data. In logarithmic conversion, the common logarithm of the amount obtained by dividing the RF data by the reference voltage V _c is taken and expressed as a decibel value. The signal processing unit 32 outputs the generated B-mode reception data for one frame to the image processing unit 33. The signal processing unit 32 is realized by using a CPU (Central Processing Unit), various arithmetic circuits, and the like.

  The image processing unit 33 generates image data based on the RF data received from the transmission / reception unit 31. The image processing unit 33 performs signal processing using known techniques such as scan converter processing, gain processing, and contrast processing on the B-mode reception data and is determined according to the image display range on the display device 4. B-mode image data is generated by thinning out data in accordance with the data step width. In the scan converter process, the scan direction of the B-mode reception data is converted from the ultrasonic scan direction to the display direction of the display device 4. The B-mode image is a grayscale image in which values of R (red), G (green), and B (blue), which are variables when the RGB color system is adopted as a color space, are matched.

  The image processing unit 33 performs coordinate conversion to rearrange the scanning range so that the scanning range can be spatially correctly represented on the B-mode reception data from the signal processing unit 32, and then performs interpolation processing between the B-mode reception data. The gap between the B mode reception data is filled, and B mode image data is generated.

  When the connection with the ultrasound endoscope 2 is detected, the identification unit 34 refers to the model information storage unit 25 to acquire model information, and identifies the model of the connected ultrasound endoscope 2. The identification unit 34 outputs the identification result to the control unit 38.

  The puncture position detection unit 35 detects a region of interest that is a puncture target based on the B-mode image generated by the image processing unit 33, and detects the puncture position of the detected region of interest. Specifically, the puncture position detection unit 35 performs contour extraction processing on the B-mode image to detect a site of interest, detects the center of gravity of the detected site of interest (contour), and sets the center of gravity as the puncture position. To do. In addition to the center of gravity, the puncture position may be a puncture position by detecting the center, the edge, or a position instructed via the input unit 37. In addition to the contour extraction processing described above, the region of interest may be detected by pattern matching or the like, or the region input via the input unit 37 may be the region of interest.

  The forceps table operation control unit 36 calculates the raising angle of the forceps table 201b, and controls the forceps table operation unit 24 so that the forceps table 201b is inclined at the calculated raising angle. The forceps table operation control unit 36 includes an angle calculation unit 36a that calculates the raising angle of the forceps table 201b. The angle calculation unit 36a calculates a rising angle based on the protruding position of the puncture needle 51 in the B-mode image of the model identified by the identification unit 34 and the puncture position detected by the puncture position detection unit 35.

  The input unit 37 is realized using a user interface such as a keyboard, a mouse, a touch panel, and a trackball, and receives input of various types of information. Examples of the various types of information include puncture mode setting input information for puncturing a region of interest with the puncture needle 51.

  The control unit 38 controls the entire ultrasound diagnostic system 1. The control unit 38 is realized by using a CPU having arithmetic and control functions, various arithmetic circuits, and the like. The control unit 38 controls the ultrasonic observation apparatus 3 in an integrated manner by reading information stored and stored in the storage unit 39 from the storage unit 39 and executing various arithmetic processes related to the operation method of the ultrasonic observation apparatus 3. To do. Note that the control unit 38 may be configured using a CPU or the like common to the signal processing unit 32.

  The storage unit 39 stores various programs for operating the ultrasonic diagnostic system 1 and data including various parameters necessary for the operation of the ultrasonic diagnostic system 1. The storage unit 39, for example, the rising angle of the forceps table for each model of the ultrasonic endoscope 2 or the protruding position of the puncture needle 51 in the B-mode image (distance between the ultrasonic transducer 23 and the forceps table 201b). ) Is remembered.

  In addition, the storage unit 39 stores various programs including an operation program for executing the operation method of the ultrasonic diagnostic system 1. The operation program can be recorded on a computer-readable recording medium such as a hard disk, a flash memory, a CD-ROM, a DVD-ROM, or a flexible disk and widely distributed. The various programs described above can also be obtained by downloading via a communication network. The communication network here is realized by, for example, an existing public line network, a LAN (Local Area Network), a WAN (Wide Area Network) or the like, and may be wired or wireless.

  The storage unit 39 having the above configuration is realized using a ROM (Read Only Memory) in which various programs and the like are installed in advance, and a RAM (Random Access Memory) that stores calculation parameters and data of each process. .

  FIG. 5 is a flowchart showing an outline of the raising control process of the forceps table 201b performed by the ultrasonic observation apparatus 3 having the above configuration. First, the control unit 38 determines whether there is an ultrasonic endoscope connection detection signal indicating that the ultrasonic endoscope 2 is connected (step S101). For example, the control unit 38 determines whether there is an input of a signal indicating that the ultrasonic endoscope 2 and the ultrasonic observation apparatus 3 are electrically connected. Here, when there is no ultrasonic endoscope connection detection signal indicating that the ultrasonic endoscope 2 is connected (step S101: No), the control unit 38 detects the ultrasonic endoscope connection detection signal. repeat.

  When there is an ultrasonic endoscope connection detection signal indicating that the ultrasonic endoscope 2 is connected (step S101: Yes), the control unit 38 proceeds to step S102. In step S102, the identification unit 34 refers to the model information storage unit 25 of the connected ultrasonic endoscope 2 to acquire model information, and identifies the model of the connected ultrasonic endoscope 2. The identification unit 34 outputs the identification result to the control unit 38.

  Thereafter, the control unit 38 refers to the storage unit 39 based on the identification result from the identification unit 34 and determines the protruding position (puncture needle protruding position) of the puncture needle 51 of the connected ultrasonic endoscope 2. Obtain (step S103).

  Subsequently, the control unit 38 determines whether or not the input unit 37 has received a setting input for setting the puncture mode (step S104). When the input unit 37 has not received a setting input for setting to the puncture mode (step S104: No), the control unit 38 repeats confirmation of setting input reception. If there is a setting input for a mode other than the puncture mode (for example, the flow mode), setting processing for the mode in which the setting has been input is performed. In addition, the puncture mode is for determining whether or not to perform the raising angle calculation process, and the surgeon may puncture without performing the raising angle calculation process.

  When the control unit 38 determines that the input unit 37 has received a setting input for setting the puncture mode (step S104: Yes), the control unit 38 sets the operation mode of the ultrasound observation apparatus 3 to the puncture mode, and the step The process proceeds to S105. In steps S105 to S108, the puncture position detection unit 35 detects the puncture position of the puncture needle 51, and the forceps table operation control unit 36 calculates the raising angle of the forceps table 201b.

  FIG. 6 is a schematic diagram for explaining a startup angle calculation process performed by the angle calculation unit of the ultrasonic diagnostic system according to the embodiment of the present invention. The angle calculation unit 36a calculates an inclination angle formed by the first axis L3 corresponding to the longitudinal axis N1 of the forceps table 201b at the basic position and the longitudinal axis N2 of the forceps table 201b when raised, as the raising angle.

  The puncture position detection unit 35 performs the contour extraction process on the B-mode image 100 generated by the image processing unit 33, thereby detecting the region of interest S that is a puncture target, and the detected region of interest S (contour). The center of gravity is detected, and the center of gravity is set as the puncture position (puncture position P shown in FIG. 6) (step S105: puncture position detection step). When there are a plurality of detected regions of interest (puncture positions), the puncture position may be displayed on the display device 4 to allow the operator to select the condition, or the puncture position detection unit 35 is set in advance. A puncture position that satisfies the above may be selected.

  Thereafter, the forceps table motion control unit 36 generates a straight line L1 that connects the puncture needle protrusion position (puncture needle protrusion position Q shown in FIG. 5) acquired in step S103 and the puncture position P detected in step S105. Then, by measuring the length of the straight line L1, the distance between the puncture position P and the puncture needle protruding position Q is measured (step S106). Specifically, the angle calculation unit 36a measures the actual distance by multiplying the measurement length by the magnification of the B-mode image after measuring the length of the straight line L1. In addition, the angle calculation part 36a may obtain | require only the length of the straight line L1. As long as the scales of subsequent processing are uniform, the distance may be the actual distance or the length of the straight line L1.

  Subsequently, the angle calculation unit 36a measures the distance in the beam direction between the puncture position P and the puncture needle protrusion position Q based on the positional relationship between the puncture position P and the puncture needle protrusion position Q (step S107). ). Specifically, the angle calculation unit 36a extracts a straight line L2 that is a beam direction component of the straight line L1. After extracting the straight line L2, the actual distance is measured by multiplying the measurement length by the magnification of the B-mode image. The “beam direction” herein refers to a transmission direction of ultrasonic waves and a direction orthogonal to the longitudinal direction of the distal end portion 201 (insertion axis of the insertion portion 20). In the present embodiment, description will be made assuming that the beam direction is orthogonal to the direction of the longitudinal axis N1 at the basic position of the forceps table 201b.

After measuring each distance according to the straight lines L1 and L2, the angle calculation unit 36a calculates the angle θ ₀ formed by the straight lines L1 and L2 by the following formula (1), and according to the longitudinal axis N1 of the forceps table 201b at the basic position. and a straight line L3, a straight line L1 connecting the puncturing position P and the puncture needle projecting position Q, the inclination angle theta ₁ formed by the straight line L1 showing the puncture direction is calculated by the following equation (2), the inclination angle theta ₁ is the raising angle of the forceps table 201b (step S108).
θ ₀ = arccos (L2 / L1) (1)
θ ₁ = 90 ° −θ ₀ (2)

  After calculating the raising angle, the forceps table operation control unit 36 outputs the control information including the raising angle to the forceps table operation unit 24, thereby performing the raising control of the forceps table 201b (step S109: restriction member). Control step).

  By raising the forceps table 201b so as to obtain the rising angle obtained by the above-described rising angle calculation processing, the protruding direction of the puncture needle 51 is determined, and the puncture position P of the site of interest S exists in the protruding direction. Therefore, the surgeon can puncture the puncture needle 51 at the puncture position of the site of interest simply by projecting the puncture needle 51.

  Further, under the control of the control unit 38, the distance between the puncture position P and the puncture needle protruding position Q calculated in step S106 may be displayed on the display device 4. By displaying the distance between the puncture position P and the puncture needle protrusion position Q, the operator can confirm the optimal protrusion amount (protrusion length) of the puncture needle 51, so that the puncture amount is more suitable. This makes it possible to puncture the site of interest.

  Here, the forceps table operation unit 24 that performs the raising operation of the forceps table 201b will be described with reference to the drawings. 7 to 9 are schematic diagrams illustrating an example of a driving system of a forceps table included in the ultrasonic endoscope of the ultrasonic diagnostic system according to the embodiment of the present invention. As shown in FIG. 7, for example, the forceps table operation unit 24 includes a motor 26 provided in the operation unit 21, and a wire 261 that connects the motor 26 and the forceps table 201b. The motor 26 raises the forceps table 201b by pulling the wire 261 based on the raising angle acquired from the forceps table operation control unit 36.

  Further, for example, as shown in FIG. 8, the forceps table operation unit 24 may include a motor 27 provided at the distal end portion 201 and a wire 271 that connects the motor 27 and the forceps table 201 b. Good. The motor 27 raises the forceps table 201b by pulling the wire 271 based on the raising angle acquired from the forceps table operation control unit. In this configuration, since the motor 27 is provided at the distal end portion 201, the wire 271 can be shortened, and the raising accuracy can be improved as compared with the case where the wire 261 is used.

  The forceps table operation unit 24 includes, for example, a forceps operation shaft 214a provided in the operation unit 21, a gripping unit 214b provided at one end of the forceps operation shaft 214a, and a forceps as in the drive system 214 illustrated in FIG. It may be composed of a wire 214c that connects the other end of the operation shaft 214a and the forceps table 201b. By operating the gripping part 214b and rotating the forceps operating shaft 214a, the wire 214c is pulled to raise the forceps table 201b. In this case, it is preferable that a guide portion indicating the inclination angle of the forceps operation shaft 214a and the raising angle of the forceps table 201b is provided on the side surface of the operation portion 21 or the like. After confirming the raising angle displayed on the display device 4, the surgeon can tilt the forceps operating shaft 214 a while looking at the guide portion, thereby setting the forceps table 201 b to a desired raising angle.

  According to the embodiment of the present invention described above, the puncture position detection unit 35 detects the puncture position of the region of interest based on the B-mode image, and the forceps table operation control unit 36 detects the puncture position and the puncture needle. The forceps table 201b is calculated based on the protruding position 51, and the forceps table operation unit 24 is controlled so that the forceps table 201b is inclined at the calculated angle. It is possible to easily puncture the region of interest.

  In the above-described embodiment, the forceps table 201b is raised so that the rising angle is calculated based on the detected puncture position and the preset protruding position of the puncture needle 51. Although it has been described that the operator inserts the puncture needle 51 and makes it protrude, the puncture position and the protrusion position are displayed on the display device 4, and the operator confirms whether or not fine adjustment of each position is necessary. You may make it prompt. Further, the region of interest, the puncture position, and the puncture needle protruding position may be a position where the operator inputs an instruction via the input unit 37 using a trackball or the like.

  In the above-described embodiment, the projection position of the puncture needle 51 set in advance has been described. However, the B-mode image including the tip of the puncture needle 51 is acquired, and the angle calculation unit 36 a The tip of the puncture needle 51 and the longitudinal axis of the puncture needle 51 may be detected by processing, and the protruding position may be determined based on the detection result.

  In the above-described embodiment, the thickness of the puncture needle 51 may be used as a parameter, and the puncture needle protrusion position may be corrected based on the parameter. Depending on the thickness of the puncture needle 51, the protruding position from the forceps table 201b may be shifted. By performing the correction described above, a more accurate raising angle can be calculated.

  So far, the embodiment for carrying out the present invention has been described, but the present invention should not be limited only by the embodiment described above. For example, the case where the observation target is a living tissue has been described as an example, but the present invention can also be applied to an industrial ultrasonic endoscope that observes the characteristics of a material. The ultrasonic endoscope according to the present invention can be applied to both inside and outside the body.

  As described above, the present invention can include various embodiments without departing from the technical idea described in the claims.

DESCRIPTION OF SYMBOLS 1 Ultrasonic diagnostic system 2 Ultrasound endoscope 3 Ultrasound observation apparatus 4 Display apparatus 5 Treatment tool 20 Insertion part 21 Operation part 22 Universal code 23 Ultrasonic transducer 24 Forceps stand operation part (operation part)
25 Model information storage unit 31 Transmission / reception unit 32 Signal processing unit 33 Image processing unit 34 Identification unit 35 Puncture position detection unit 36 Forceps table operation control unit (regulation member control unit)
36a Angle calculation unit 37 Input unit 38 Control unit 39 Storage unit 51 Puncture needle

Claims (11)

The ultrasonic wave is transmitted to the observation target, the ultrasonic wave reflected by the observation target is received, and the puncture needle can be inserted through the puncture needle and protrude from the tip. An ultrasonic observation apparatus that can be connected to an ultrasonic endoscope provided with a regulating member that regulates the protruding direction of
A puncture position detector for detecting a puncture position of the puncture needle at a site of interest in an ultrasonic image based on an ultrasonic signal received by the ultrasonic endoscope;
The calculated on the ultrasound image, the puncture position detection unit detected prior Symbol puncturing position, and a first straight line connecting the projecting position of the puncture needle, and the predetermined axial direction of the first straight line A restricting member control unit that controls a protruding direction of the puncture needle by the restricting member based on a second straight line that is a component in a direction orthogonal to each other ;
An ultrasonic observation apparatus comprising: The ultrasonic observation according to claim 1, wherein the restriction member control unit calculates a rising angle of the restriction member based on a distance between the first straight line and a distance between the second straight lines. apparatus. An identification unit for identifying the ultrasonic endoscope connected to the ultrasonic observation apparatus;
The ultrasonic observation apparatus according to claim 1, wherein the restriction member control unit controls a protruding direction of the puncture needle based on the protruding position according to the identification result of the identification unit.   The ultrasonic observation apparatus according to claim 1, wherein the puncture position detection unit detects the region of interest by contour extraction processing. 5. The apparatus according to claim 1, further comprising a control unit configured to perform control for displaying the distance of the first straight line together with the ultrasonic image on a display unit that displays at least the ultrasonic image. The ultrasonic observation apparatus according to one.   The restriction member control unit detects a tip position of the puncture needle or a longitudinal axis direction of the puncture needle on the ultrasonic image, and determines the protruding position based on the detected result. The ultrasonic observation apparatus according to 1.   The ultrasonic observation apparatus according to claim 1, wherein the restricting member control unit determines the protruding position based on a thickness of the puncture needle. An ultrasonic endoscope capable of projecting a puncture needle from the tip,
An ultrasonic transducer that transmits ultrasonic waves to an observation target and receives ultrasonic waves reflected by the observation target;
A regulating member that can be raised with respect to a predetermined axial direction and regulates the protruding direction of the puncture needle;
A puncture position detector for detecting a puncture position of the puncture needle at a site of interest in an ultrasonic image based on the ultrasonic wave received by the ultrasonic transducer, and the puncture position detector calculated on the ultrasonic image There detected before Symbol puncturing position, and a first straight line connecting the projecting position of the biopsy needle, based on a second straight line is the direction of the component orthogonal to the predetermined axis direction in said first linear A control member control unit that controls a protruding direction of the puncture needle by the control member, and an operation unit that raises the control member under the control of an ultrasonic observation device comprising:
An ultrasonic endoscope characterized by comprising: The ultrasonic wave is transmitted to the observation target, the ultrasonic wave reflected by the observation target is received, and the puncture needle can be inserted through the puncture needle and protrude from the tip. An ultrasonic endoscope provided with a regulating member for regulating the protruding direction of
A puncture position detector for detecting a puncture position of the puncture needle at a site of interest in an ultrasonic image based on an ultrasonic signal received by the ultrasonic endoscope;
A first straight line connecting the puncture position detected by the puncture position detection unit and the protruding position of the puncture needle , calculated on the ultrasonic image, and orthogonal to the predetermined axial direction on the first straight line a regulating member control unit for controlling the projecting direction of the puncture needle by the regulating member based on the second straight line is the direction of the component,
An ultrasonic diagnostic system comprising: The ultrasonic wave is transmitted to the observation target, the ultrasonic wave reflected by the observation target is received, and the puncture needle can be inserted through the puncture needle and protrude from the tip. An operation method of an ultrasonic observation apparatus connectable to an ultrasonic endoscope provided with a regulating member that regulates the protruding direction of
A puncture position detecting unit for detecting a puncture position of the puncture needle at a site of interest in an ultrasonic image based on an ultrasonic signal received by the ultrasonic endoscope;
Regulating member control unit, in the calculated on the ultrasound image, the puncture position detection unit detected prior Symbol puncturing position, and a first straight line connecting the projecting position of the puncture needle, the first straight line A restricting member control step of controlling a protruding direction of the puncture needle by the restricting member based on a second straight line that is a component in a direction orthogonal to the predetermined axial direction ;
A method for operating an ultrasonic observation apparatus, comprising: The ultrasonic wave is transmitted to the observation target, the ultrasonic wave reflected by the observation target is received, and the puncture needle can be inserted through the puncture needle and protrude from the tip. An operation program for an ultrasonic observation apparatus that can be connected to an ultrasonic endoscope provided with a regulating member that regulates the protruding direction of
A puncture position detection unit detects a puncture position of the puncture needle at a site of interest in an ultrasonic image based on an ultrasonic signal received by the ultrasonic endoscope; and
Regulating member control unit, in the calculated on the ultrasound image, the puncture position detection unit detected prior Symbol puncturing position, and a first straight line connecting the projecting position of the puncture needle, the first straight line A restricting member control procedure for controlling a protruding direction of the puncture needle by the restricting member based on a second straight line that is a component in a direction orthogonal to the predetermined axial direction ;
Is executed by the ultrasonic observation apparatus. A program for operating the ultrasonic observation apparatus.

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