JP6681778B2 - Ultrasonic image display device and its control program - Google Patents

Description

  The present invention relates to an ultrasonic image display device for displaying an ultrasonic image based on an echo signal obtained by transmitting and receiving ultrasonic waves to and from a subject, and a control program therefor.

  For example, Patent Document 1 discloses an ultrasonic image display device that displays a real-time ultrasonic image of the same cross-section in a subject and a reference image such as an X-ray CT (Computed Tomography) image or an MRI (Magnetic Resonance Imaging) image. Has been done. In this ultrasonic image display apparatus, based on the position of the ultrasonic probe detected by the position sensor, in the volume data acquired by the X-ray CT apparatus or the MRI apparatus, the same cross section of the ultrasonic image and the same section of the subject are obtained. Is specified, and the reference image is displayed for this same cross section. Therefore, even if the ultrasonic probe is moved, the reference image also follows this, and the image of the same cross section as the ultrasonic image is always displayed. This makes it possible to easily compare the ultrasonic image with the reference image.

International Publication No. WO2004-098414 Pamphlet

  In order to display the ultrasonic image and the reference image for the same cross section, alignment is performed to specify coordinate conversion information between the coordinate system of the ultrasonic image and the reference image. Specifically, the user, in the ultrasonic diagnostic apparatus, after displaying the ultrasonic image and the reference image of the same cross-section in the subject, in each image, it seems to be a characteristic point such as a branching portion of the blood vessel. The coordinate conversion information is specified by designating the same position to be displayed using a cursor or the like.

  However, the user needs to move the cursor to a portion that is considered to be a feature point in both the ultrasonic image and the reference image by using a trackball or the like, and then make an input for fixing the position of the cursor. For this reason, the alignment is complicated for the user. In particular, the user of the ultrasonic image display device specifies a cross section including a feature point from among a plurality of cross sections forming volume data that is data of a CT image or an MRI image, and It is difficult to identify the points. Therefore, there is a demand for an ultrasonic image display device that can perform alignment more easily than ever before.

  One aspect of the invention made to solve the above-mentioned problems is volume data of a reference image acquired in advance for a subject and at least one first coordinate system specified in a first coordinate system in the volume data. A storage device that stores position information of points, an ultrasonic probe that scans the subject with ultrasonic waves in a three-dimensional space, and the ultrasonic probe in a second coordinate system formed in the three-dimensional space Position detection unit for detecting the position of, the real-time ultrasonic image based on the echo signal obtained by transmitting and receiving ultrasonic waves to and from the subject by the ultrasonic probe, and a reference image based on the volume data on the display device. An image display control unit for displaying and an indicator showing the position of the first point in the first coordinate system are provided in the reference image. Including the coordinate conversion information regarding the rotational movement and the coordinate conversion information regarding the parallel movement, which is the coordinate conversion information between the indicator display control unit displayed on the display unit, the first coordinate system, and the second coordinate system. It is characterized by comprising a specifying unit that specifies the coordinate conversion information, and an input device that receives an input by a user, wherein the specifying unit is displayed on the reference image when the input device receives the first input. Position information in the first coordinate system of the first point indicated by the indicator, and in the second coordinate system of the second point indicated by the second input in the input device in the ultrasonic image. The position conversion information is used to specify the coordinate conversion information, and the position information of the second point in the second coordinate system is based on the position detection information of the position detection unit. It is identified have an ultrasound image display apparatus according to claim.

  According to the invention of the above aspect, position information in the first coordinate system of the first point indicated by the indicator displayed in the reference image when the input device receives the first input, The coordinate conversion information is specified using the position information in the second coordinate system of the second point designated by the second input in the input device in the sound wave image. Therefore, the user does not need to specify the first point in the reference image by using the cursor or the like, and the alignment can be performed more easily than in the conventional case.

It is a block diagram which shows an example of schematic structure of the ultrasonic diagnosing device in embodiment of this invention. 3 is a block diagram showing a configuration of a display processing unit in the ultrasonic diagnostic apparatus shown in FIG. 1. FIG. It is a flow chart which shows processing of alignment in a first embodiment. It is a figure which shows the screen of the display device in which the ultrasonic image and the reference image were displayed. It is a figure which shows the screen of the display device in which the reference image of the cross section in which the 1st point exists is displayed. It is a figure which shows the screen of the display device in which the ultrasonic image of the cross section where the 1st point exists and the same cross section in a test object was displayed. It is a figure which shows the screen of a display device in the state where the 1st point and the same point in a test object are designated by the cursor in an ultrasonic image. It is a flow chart which shows processing of alignment in a modification of a first embodiment. It is a flow chart which shows processing of alignment in a second embodiment. It is a figure which shows the screen of the display device in which the reference image was displayed. It is a figure which shows the screen of the display device in which the reference image of the cross section in which the 1st point exists is displayed. It is a figure which shows the screen of the display device in which the ultrasonic image was displayed side by side with the reference image.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following embodiment, an ultrasonic diagnostic apparatus that displays a medical ultrasonic image will be described as an example of the ultrasonic image display apparatus.
(First embodiment)
First, the first embodiment will be described. The ultrasonic diagnostic apparatus 1 shown in FIG. 1 includes an ultrasonic probe 2, a transmission / reception beamformer 3, an echo data processing unit 4, a display processing unit 5, a display device 6, an operation device 7, a control unit 8, and a storage device 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 the ultrasonic transducers transmit ultrasonic waves to a subject and generate echo signals thereof. To receive. The ultrasonic probe 2 is an example of an embodiment of the ultrasonic probe in the present invention.

  The ultrasonic probe 2 is provided with a magnetic sensor 10 including, for example, a Hall element. The magnetic field generated by the magnetic field generator 11 installed in, for example, a three-dimensional space is detected by the magnetic sensor 10. The magnetic field generator 11 is composed of a magnetic field coil, for example. A detection signal from the magnetic sensor 10 is input to the display processing unit 5. The detection signal from the magnetic sensor 10 may be input to the display processing unit 5 via a cable (not shown) or may be wirelessly input to the display processing unit 5. The magnetic field generator 11 and the magnetic sensor 10 are an example of a position sensor provided to detect the position of the ultrasonic probe 2 as described later.

  The transmission / reception beam former 3 supplies an electric 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 controller 8. The transmission / reception beamformer 3 also 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 ultrasonic 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 shown in FIG. 2, the display processing unit 5 includes a position calculation unit 51, an image display control unit 52, an indicator display control unit 53, and a specification unit 54. The position calculation unit 51 calculates the position of the ultrasonic probe 2 in the coordinate system of the three-dimensional space with the magnetic generation unit 11 as the origin, based on the magnetic detection signal from the magnetic sensor 10. The position calculator 51 may calculate the position of the echo data in the coordinate system of the three-dimensional space based on the position of the ultrasonic probe 2.

  The position calculator 51 and the magnetic sensor 10 are an example of an embodiment of the position detector in the present invention. The function of the position calculation unit 51 is an example of the embodiment of the position calculation function of the present invention.

  The image display control unit 52 scan-converts the data input from the echo data processing unit 4 with a scan converter (Scan Converter) to create ultrasonic image data. For example, the ultrasonic image data creation unit 52 scan-converts the B-mode data to create the B-mode image data.

  The image display control unit 52 displays an ultrasonic image on the display device 6 based on the ultrasonic image data. The ultrasonic image is, for example, a B-mode image based on the B-mode image data.

  The image display control unit 52 also causes the display device 6 to display a reference image based on the volume data stored in the storage device 9. The volume data is data of reference medical images such as an X-ray CT image acquired by an X-ray CT apparatus (not shown) and an MRI image acquired by an MRI apparatus (not shown). Further, the volume data may be ultrasonic image data acquired for a plurality of cross sections having a three-dimensional positional relationship. The data of the ultrasonic image forming the volume data may be data acquired by the ultrasonic diagnostic apparatus 1, or may be acquired by an ultrasonic diagnostic apparatus other than the ultrasonic diagnostic apparatus 1, The data captured in 1 may be used. The image display control unit 52 is an example of an embodiment of the image display control unit in the present invention. The function of the image display control unit 52 is an example of the embodiment of the image display control function in the present invention.

  The image display control unit 52 displays the real-time ultrasonic image and the reference image of the same cross section of the subject after the coordinate conversion information described below is specified. Specifically, the image display control unit 52 performs coordinate conversion of the position information calculated by the position calculation unit 51 using the coordinate conversion information, and a real-time ultrasonic image and reference image of the same cross section of the subject. Is displayed.

  The indicator display control unit 53 displays an indicator In indicating the position of the first point in the coordinate system in the volume data on the reference image RI, as shown in FIG. Details will be described later. The indicator display control unit 53 is an example of an embodiment of the indicator display control unit in the present invention. Further, the function of the indicator display control unit 53 is an example of the embodiment of the indicator display control function in the present invention.

  The coordinate system in the volume data is called the first coordinate system. The first coordinate system is a coordinate system composed of three XYZ axes (hereinafter, referred to as "XYZ axes") orthogonal to each other. This first coordinate system is an example of an embodiment of the first coordinate system in the present invention.

  On the other hand, the coordinate system in the three-dimensional space having the above-mentioned magnetic field generator 11 as the origin is referred to as a second coordinate system. The second coordinate system is a coordinate system composed of three x-y-z axes (hereinafter, referred to as "xyz axes") that are orthogonal to each other. The second coordinate system is an example of an embodiment of the second coordinate system formed in the three-dimensional space in the present invention. The second coordinate system formed in the three-dimensional space in the present invention is a coordinate system whose origin is a predetermined point such as the magnetic field generator.

  The specifying unit 54 specifies coordinate conversion information between the first coordinate system in the volume data and the second coordinate system in the three-dimensional space. The specifying unit 54 is an example of an embodiment of the specifying unit according to the present invention. The function of the specific unit 54 is an example of an embodiment of the specific function in the present invention.

  The coordinate conversion information is for obtaining position information of the same point in the subject regarding the point in the first coordinate system and the point in the second coordinate system. That is, the coordinate conversion information is a coordinate conversion of a point in the first coordinate system, and the position coordinate of the same point in the subject as the point in the first coordinate system is specified in the second coordinate system, or The coordinates of the points in the second coordinate system are converted, and the position coordinates of the same point in the subject as the points in the second coordinate system are specified in the first coordinate system. The coordinate conversion information includes coordinate conversion information regarding rotational movement and coordinate conversion information regarding parallel movement.

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

  The operation device 7 is an input device that receives an input from the user. For example, the operation device 7 includes a button that receives an instruction and information input from a user, a keyboard, and the like, and further includes a pointing device such as a trackball. The operation device 7 is an example of an embodiment of the input device according to the present invention.

  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 device 9 and controls each unit of the ultrasonic diagnostic apparatus 1. For example, the control unit 8 reads the program stored in the storage device 9, and causes the read / write program to execute the functions of the transmission / reception beamformer 3, the echo data processing unit 4, and the display processing unit 5.

  The control unit 8 may execute all of 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 programmatically. When the control unit 8 executes only some 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 device 9 is a hard disk drive (HDD), a semiconductor memory (Memory) such as a RAM (Random Access Memory) or a ROM (Read Only Memory), or the like.

  The ultrasonic diagnostic apparatus 1 may include the HDD, the RAM, and the ROM as the storage device 9. The storage device 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. Further, the program may be stored in a portable, non-transitory storage medium such as a CD or a DVD.

  The storage device 9 stores volume data of the reference image acquired in advance for the subject. Further, the storage device 9 stores the position information of at least one first point specified in the first coordinate system in the volume data. In this example, position information of a plurality of first points is stored as the first point.

  Now, the operation of the ultrasonic diagnostic apparatus 1 of this example will be described. Here, the alignment of the first coordinate system and the second coordinate system will be described. The alignment is performed in order to display an ultrasonic image and a reference image of the same cross section in the subject when an examination or operation is performed on the subject, such as inserting a puncture needle into the subject. Done.

  Here, before the alignment is performed, the first point is specified in advance in the first coordinate system. For example, the first point is specified in a state in which the subject is not in the room where the examination or the treatment is performed before the day when the examination or the treatment is performed on the subject. As described above, since the first point is specified in advance before the alignment is performed, the user actually transmits and receives ultrasonic waves to and from the subject in front of the subject, and When displaying the ultrasonic image and the reference image, the alignment can be smoothly performed.

  The first point is set to a portion having a characteristic shape in the subject, such as a branched portion of a blood vessel in the subject. For example, the first point may be set by image processing that extracts a characteristic shape based on the volume data. Also, the first point may be set by the user designating with a cursor or the like in the reference image. The first point may be set at the time of a previously performed examination or treatment, and the position information in the first coordinate system may be stored in the storage device 9. In this example, two first points P1-1 and P1-2 are set. However, the first point may be set more or less than two.

  Positioning of the first coordinate system and the second coordinate system will be described based on the flowchart of FIG. First, in step S1, the ultrasonic probe 2 is arranged in the three-dimensional space such that the ultrasonic wave transmitting / receiving surface is parallel to the cross section of the volume data stored in the storage device 9 in the subject. For example, the user arranges the ultrasonic probe 2 in the three-dimensional space so that the axial surface of the volume data (the surface orthogonal to the body axis of the subject) and the transmitting / receiving surface of the ultrasonic waves are parallel to each other. . By placing the ultrasonic probe 2 on the subject in the three-dimensional space so that the body axis and the ultrasonic wave transmitting / receiving surface are orthogonal to each other, the axial plane of the volume data and the ultrasonic wave transmitting / receiving surface become parallel. . The subject in the three-dimensional space is the subject from which the volume data was acquired.

  The state where the ultrasonic transmission / reception surface is parallel to the cross section in the volume data in the subject means that the orientation of the ultrasonic transmission / reception surface matches the required cross section orientation in the volume data.

  Next, in step S2, the specifying unit 54 specifies the coordinate conversion information regarding the rotational movement. Specifically, first, in a state where the ultrasonic probe 2 is arranged in the three-dimensional space so that the ultrasonic transmission / reception surface is parallel to the cross section of the volume data stored in the storage device 9 in the subject. In some cases, the operation device 7 receives an input indicating that this state has been entered from the user. For example, the user inputs by pressing a predetermined button on the operation device 7. The input in step S1 is an example of an embodiment of the third input in the present invention.

  When the operation device 7 receives the input, the specifying unit 54 specifies the coordinate conversion information regarding the rotational movement. The coordinate conversion information regarding the rotational movement is a coordinate conversion formula that performs coordinate conversion so that the orientations of the XYZ axes in the first coordinate system and the orientations of the xyz axes in the second coordinate system match. The specifying unit 54 specifies the coordinate conversion information regarding the rotational movement based on the position information calculated by the position calculating unit 51. Since the orientation of the ultrasonic transmission / reception surface matches the orientation of the required cross section in the volume data, the coordinate conversion information regarding the rotational movement can be specified based on the position information calculated by the position calculation unit 51. .

  By specifying the coordinate conversion information regarding the rotational movement, the reference image of the cross section of the real-time ultrasonic image and the cross section parallel to the subject is displayed. Specifically, first, in step S3, the user starts transmission and reception of ultrasonic waves by the ultrasonic probe 2 with respect to the subject in the three-dimensional space. As shown in FIG. 4, the image display control unit 52 displays the ultrasonic image UI based on the ultrasonic echo signal on the display device 6.

  In addition, the image display control unit 52 displays the reference image RI of the cross section of the ultrasound image UI parallel to the cross section of the subject on the display device 6 based on the volume data, side by side with the ultrasound image UI. Specifically, the image display control unit 52 performs coordinate conversion of the position information calculated by the position calculation unit 51 based on the coordinate conversion information regarding the rotational movement specified in step S2. In addition, the image display control unit 52 performs coordinate conversion of the position information calculated by the position calculation unit 51 based on the coordinate conversion information regarding parallel movement that is provisionally set in advance. Then, the image display control unit 52 displays on the display device 6 the reference image RI of the required cross section specified by the coordinate conversion in this way.

  As described above, the reference image RI of the cross section of the ultrasonic image UI and the cross section parallel to the subject is displayed.

  Further, in this step S3, the indicator display control unit 53 displays the indicators In1 and In2 on the reference image RI displayed on the display device 6. The indicators In1 and In2 indicate the positions of the two first points P1-1 and P1-2 in the first coordinate system.

  The indicators In1 and In2 refer to the first points P1-1 and P1-2 in the first coordinate system when the first points P1-1 and P1-2 do not exist in the cross section of the reference image RI. The distance in the first coordinate system from the cross section of the image RI is shown. In FIG. 4, the reference image RI of the cross section where the first points P1-1 and P1-2 do not exist is displayed. In FIG. 4, the indicators In1 and In2 include a quadrangle having a size corresponding to the distance between the first points P1-1 and P1-2 and the cross section of the reference image RI in the first coordinate system. However, the indicator is not limited to a quadrangle, and may be a figure having a size according to the distance. Further, the indicators In1 and In2 include the numbers “1” and “2” for distinguishing the first points P1-1 and P1-2.

  On the other hand, the indicators In1 and In2 are the positions of the first points P1-1 and P1-2 in the reference image RI when the first points P1-1 and P1-2 are present in the cross section of the reference image RI. Indicates. Details will be described later.

  Next, in step S4, the user displays the reference image RI of the cross section in which any one of the first points P1-1 and P1-2 exists. Specifically, the user moves the ultrasonic probe 2 to move the cross section of the reference image RI. When the ultrasonic probe 2 moves, its position information is coordinate-converted and a new reference image RI is displayed. This new reference image RI is also an image of a cross section parallel to the cross section of the ultrasonic image UI and the subject. The user moves the ultrasonic probe 2 to move the cross section of the reference image RI, so that the reference image RI of the cross section where any one of the first points P1-1 and P1-2 exists. Is displayed.

  FIG. 5 shows a state in which the reference image RI of the cross section including the first point P1-1 is displayed. The indicator In1 includes a cross figure showing the first point P1-1 in the reference image RI.

  Next, in step S5, the operation device 7 receives the input of the user who instructs to use the first point P1-1 indicated by the indicator In1 displayed in the reference image RI for alignment. For example, the user inputs by pressing a predetermined button on the operation device 7. When this input is performed, the image display control unit 52 fixes the cross section of the reference image RI. That is, even if the ultrasonic probe 2 moves, the image display control unit 52 does not move the cross section of the reference image RI, and the reference image RI of the cross section including the first point P1-1 remains displayed. And

  In this example, when the operation device 7 receives the input in step S5, the cross section of the reference image RI among the first points P1-1 and P1-2 indicated by the indicators In1 and In2 displayed in the reference image RI. Is used for alignment. This alignment means specifying coordinate conversion information regarding parallel movement, as will be described later. The input instructing to use for alignment in step S5 is an example of the first input embodiment of the present invention.

  The position information of the first point P1-1 in the first coordinate system is stored in the storage device 9 as the position information of the point used for alignment.

  Next, in step S6, the user moves the ultrasonic probe 2 to display an ultrasonic image UI of the same cross section in the subject as the cross section in which the first point P1-1 exists, as shown in FIG. Display it. However, even if the ultrasonic probe 2 moves, the cross section of the reference image RI does not move and remains fixed.

  Next, in step S7, in the ultrasonic image UI displayed in step S6, the operation device 7 receives an input indicating the same point in the subject as the first point P1-1 from the user. Specifically, the user uses the cursor C displayed in the ultrasonic image UI as shown in FIG. 7 to change the ultrasonic wave to the second point that is the same point in the subject as the first point P1-1. Instruct in the image UI. The user moves the cursor C to the same point in the ultrasonic image UI as the first point P1-1 and the same point in the subject by using, for example, a trackball in the operation device 7 to fix the position, Give the second instruction.

  In step S7, the input for designating the first point P1-1 and the second point at the same position in the subject in the ultrasonic image UI is an example of the second input embodiment of the present invention. is there. In step S7, the position information in the second coordinate system of the second point designated in the ultrasonic image UI is used for the alignment. The alignment is to specify the coordinate conversion information regarding the parallel movement, as in the above. The second point designated in the ultrasonic image UI in step S7 is an example of the embodiment of the second point in the present invention. The position information in the second coordinate system of the second point designated in the ultrasonic image UI is stored in the storage device 9 as the position information of the point used for alignment.

  Next, in step S8, the specifying unit 54 specifies the coordinate conversion information regarding the parallel movement. Specifically, the identifying unit 54 identifies the position information in the first coordinate system of the first point P1-1 designated in step SS5 and the second point designated in the ultrasonic image UI in step S6. The coordinate conversion information regarding the parallel movement is specified using the position information in the second coordinate system. The position calculation unit 51 calculates the position information in the second coordinate system of the second point designated in the ultrasonic image UI.

  By the above processing, the coordinate conversion information regarding the rotational movement and the coordinate conversion information regarding the parallel movement are specified, and the coordinate conversion between the first coordinate system and the second coordinate system becomes possible. As a result, the position information calculated by the position calculation unit 51 is coordinate-converted, and the real-time ultrasonic image UI and the reference image RI of the same cross section of the subject are displayed.

  According to the ultrasonic diagnostic apparatus 1 of the present embodiment described above, when the user aligns the first coordinate system and the second coordinate system, the user simply presses the button in step S5 to use for the alignment. You can specify the first point. Therefore, the user does not need to indicate the first point in the reference image RI by using the cursor or the like, and thus the alignment can be performed more easily than in the past.

  Next, a modified example of the first embodiment will be described. In this modification, alignment is performed according to the flowchart shown in FIG. In the flowchart shown in FIG. 8, the processes of steps S11 to S13 and steps S16 to S18 are the same as the processes of steps S1 to S3 and steps S6 to S8, and the description thereof will be omitted. The processes of steps S14 and S15 will be described below.

  In step S14, similarly to step S4, the user moves the probe 2 to move the cross section of the reference image RI. Then, when the distance between the cross section of the reference image RI displayed on the display device 6 and any one of the first points P1-1 and P1-2 becomes a required distance, the user operates the operation device 7 by the user. Make an input. The required distance is set to any number greater than zero. Therefore, the input is performed in a state where any one of the first points P1-1 and P1-2 does not exist in the cross section of the reference image RI. The reference image of the cross section in which the first points P1-1 and P1-2 do not exist is referred to as a first reference image RI1. The first reference image RI1 is an example of an embodiment of the first reference image in the present invention.

  As the input, for example, the user presses a button on the operation device 7. This input is an instruction to use one of the first points P1-1 and P1-2, which has a smaller distance from the cross section of the first reference image RI1, for alignment. Therefore, of the indicators In1 and In2 displayed on the first reference image RI1, the coordinates of the first point indicated by the one with the smaller square size is used for the alignment. In other words, the first reference among the first points P1-1 and P1-2 indicated by the indicators In1 and In2 displayed in the first reference image RI when the operation device 7 receives the input in step S14. The coordinates of the first point having the smaller distance from the cross section of the image RI are used for the alignment.

  The input in step S14 is another example of the embodiment of the first input in the present invention.

  When the input is performed in step S14, in step S15, the image display control unit 52 replaces the first reference image RI1 with the first reference image of the first points P1-1 and P1-2. The second reference image RI2 for the cross section in which the point having the smaller distance from the cross section of RI1 exists is displayed. This cross section is, for example, an axial surface. Further, when displaying the second reference image RI2, the image display control unit 52 fixes the cross section of the second reference image RI2, as in step S4. The second reference image RI2 is an example of an embodiment of the second reference image in the present invention.

  According to this modification, when the operation device 7 receives the user's input in step S14, the first reference image RI of the cross section where the first points P1-1 and P1-2 do not exist is displayed. If so, in step S15, the second reference image RI is displayed instead of the first reference image RI. Therefore, when the user displays the first reference image RI1 in the vicinity of the cross section where the first points P1-1 and P1-2 exist, the user does not move the ultrasonic probe 2 any more and operates the operating device 7 By inputting in, it is possible to display the reference image in which any of the first points P1-1 and P1-2 exists.

(Second embodiment)
Next, a second embodiment will be described. In this second embodiment, alignment is performed by a method different from that of the first embodiment. In the second embodiment, the identifying unit 54 includes position information of at least four first points in the first coordinate system, and at least four points that are the same points in the subject as the at least four first points. Using the position information of the second point in the second coordinate system, the coordinate conversion information regarding the rotational movement and the coordinate conversion information regarding the parallel movement are specified. In this example, the storage device 9 stores position information of a plurality of points as the first point. The plurality of points is at least four or more points.

  The alignment processing in the second embodiment will be described based on the flowchart of FIG. 9. First, in step S21, the operation device 7 receives an input for displaying the reference image RI from the user. Based on this input, the image display control unit 52 displays the reference image RI based on the volume data on the display device 6, as shown in FIG. Indicators In1 to In4 indicating each of the plurality of first points are displayed on the reference image RI. However, although four indicators In1 to In4 are shown in FIG. 10, four or more indicators may be displayed.

  Next, in step S22, as shown in FIG. 11, the reference image RI of the cross section in which any one of the plurality of first points is present is displayed. Specifically, the operating device 7 receives an input for moving the cross section of the reference image RI from the user. Based on this input, the image display control unit 52 moves the cross section of the reference image RI. The user performs input on the operation device 7 so that the reference image RI of the cross section in which any one of the plurality of first points exists is displayed. In FIG. 11, the reference image RI of the cross section in which the first point indicated by the indicator In1 is present is displayed.

  Next, in step S23, the operation device 7 receives the input of the user instructing to use the first point existing in the cross section of the reference image RI among the plurality of first points for alignment. . For example, the user inputs by pressing a predetermined button on the operation device 7. When this input is performed, the image display control unit 52 fixes the cross section of the reference image RI.

  Also in this example, when the operation device 7 receives the input in step S23, the first point existing in the cross section of the reference image RI among the first points indicated by the indicators In1 to In4 displayed in the reference image RI. Points are used for registration. The input instructing to use for the positioning in step S23 is an example of the embodiment of the first input in the present invention. The position information in the first coordinate system of the first point existing in the cross section of the reference image RI in step S23 is stored in the storage device 9 as the position information of the point used for alignment.

  Next, in step S24, the user starts transmission and reception of ultrasonic waves by the ultrasonic probe 2 with respect to the subject in the three-dimensional space. The image display control unit 52 displays a real-time ultrasonic image UI on the display device 6, as shown in FIG. The image display control unit 52 displays the ultrasonic image UI side by side with the reference image RI.

  Next, in step S25, the user moves the ultrasonic probe 2 so that the cross section of the reference image RI displayed from the time when the input is performed in step S23, that is, the first point used for alignment is displayed. An ultrasonic image UI of the same cross section in the subject and the existing cross section is displayed.

  Next, in step S26, the operation device 7 inputs an input indicating a second point which is the same point in the subject as the first point indicated by the indicator In1 in the ultrasonic image UI displayed in step S24. Accept from. For example, similarly to the first embodiment, the user uses the cursor C displayed on the ultrasonic image UI to change the ultrasonic wave to the second point that is the same point on the subject as the first point indicated by the indicator In1. Instruct in the image UI. The input in step S26 is an example of the embodiment of the second input in the present invention. Further, the second point designated in step S26 is an example of the embodiment of the second point in the present invention.

  In step S26, the position information in the second coordinate system of the second point designated in the ultrasonic image UI is used for the alignment. The position information in the second coordinate system of the second point designated in step S26 is stored in the storage device 9 as the position information of the point used for the alignment.

  Next, in step S27, the control unit 8 determines whether or not N first and second points used for alignment have been specified. N is at least 4 or more. In this example, N is 4. The image display control unit 52 may display the determination result of the control unit 8 on the display device.

  When it is determined in step S27 that N first and second points used for alignment have not been specified (“NO” in step S27), the process returns to step S22 and subsequent steps for alignment. The other first and second points to use are specified.

  On the other hand, if it is determined in step S27 that N first and second points used for alignment have been specified (“YES” in step S27), the process proceeds to step S28. In step S28, the identifying unit 54 identifies coordinate conversion information between the first coordinate system and the second coordinate system. Specifically, the identifying unit 54 uses the position information of the first point and the second point stored in the storage device 9 as the position information of the point used for the alignment, and uses the coordinate conversion information and the parallel conversion information regarding the rotational movement. The coordinate conversion information regarding movement is specified.

  In this example, the position information of the four first points and the position information of the four second points are stored in the storage device 9 as the position information of the points used for the alignment. The specifying unit 54 specifies the coordinate conversion information regarding the rotational movement and the coordinate conversion information regarding the parallel movement by using the position information of the four first points and the four second points.

  Also in this example, as in the first embodiment, when the user aligns the first coordinate system and the second coordinate system, the user points the first point in the reference image RI using a cursor or the like. You don't have to.

  Note that, also in the second embodiment, similarly to the modification of the first embodiment, when the first reference image of the cross section in which the first point does not exist is displayed, the cross section and the cross section are input by the user. The second reference image of the cross section in which the first point having the smallest distance is present may be displayed. The user's input in this case is also an input for instructing to use the first point existing in the cross section of the second reference image for alignment.

  Although the present invention has been described above with reference to the above-described embodiments, it is needless to say that the present invention can be variously modified and implemented without departing from the spirit of the invention. For example, the present invention is not limited to being applied to an ultrasonic diagnostic apparatus. For example, it can be applied to an ultrasonic image display device that displays ultrasonic images other than medical ultrasonic images, such as an ultrasonic image display device that displays an ultrasonic image of a non-destructive inspection target.

DESCRIPTION OF SYMBOLS 1 Ultrasonic diagnostic apparatus 2 Ultrasonic probe 51 Position calculation part 52 Image display control part 53 Indicator display control part 54 Identification part 6 Display device 7 Operation device 8 Control part 9 Storage device 10 Magnetic sensor 11 Magnetic generation part

Claims (9)

Volume data of a reference image acquired in advance for the subject, and a storage device that stores position information of at least one first point specified in the first coordinate system in the volume data,
An ultrasonic probe for performing ultrasonic scanning on the subject in a three-dimensional space,
A position detection unit that detects the position of the ultrasonic probe in the second coordinate system formed in the three-dimensional space,
An image display control unit that displays a real-time ultrasonic image based on an echo signal obtained by transmitting and receiving ultrasonic waves to and from the subject by the ultrasonic probe, and a reference image based on the volume data on a display device,
An indicator display control unit that displays an indicator indicating the position of the first point in the first coordinate system on the reference image,
A specifying unit for specifying coordinate conversion information between the first coordinate system and the second coordinate system, the coordinate conversion information including coordinate conversion information regarding rotational movement and coordinate conversion information regarding parallel movement. ,
An input device that accepts user input,
Is provided,
The specifying unit, in the ultrasonic image, position information in the first coordinate system of the first point indicated by the indicator displayed in the reference image when the input device receives the first input. Using the position information in the second coordinate system of the second point indicated by the second input in the input device, to specify the coordinate conversion information,
The position information of the second point in the second coordinate system is specified based on the position detection information of the position detection unit. The first coordinate system and the second coordinate system is a coordinate system consisting of three coordinate axes,
The specifying unit, the transmitting and receiving surface of the ultrasonic wave by the ultrasonic probe is in a state of being parallel to the cross-section of the reference image in the subject, when the input device receives a third input, When the coordinate conversion information related to the rotational movement is specified and the input device further receives the first input and the second input, position information of the first point in the first coordinate system, and The ultrasonic image display device according to claim 1, wherein coordinate conversion information regarding the parallel movement is specified based on position information of two points in the second coordinate system.   The specifying unit is position information in the first coordinate system of at least four first points, and at least four second points that are the same points in the subject as the at least four first points. 2. The ultrasonic image display device according to claim 1, wherein the coordinate conversion information regarding the rotational movement and the coordinate conversion information regarding the parallel movement are specified by using the position information in the second coordinate system of.   The said indicator shows the position of the said 1st point in the said reference image, when the said 1st point exists in the cross section of the said reference image, The any one of the Claims 1-3 characterized by the above-mentioned. The ultrasonic image display device according to.   The ultrasonic image display according to any one of claims 1 to 4, wherein the indicator indicates a distance between the first point in the first coordinate system and a cross section of the reference image. apparatus. The at least first point comprises a plurality of first points,
The indicator display control unit displays a plurality of indicators corresponding to the plurality of first points,
Among the plurality of first points indicated by the plurality of indicators displayed in the reference image when the input device receives the first input, the specifying unit is a distance from the cross section of the reference image. The ultrasonic image display device according to claim 5, wherein the position information of the first point having the smallest value in the first coordinate system is used for specifying the coordinate conversion information.   The image display control unit, when the input device receives the first input, when the first reference image of the cross section in which the first point does not exist, is displayed in the first reference image. The ultrasonic image display device according to claim 6, which instead displays a second reference image of a cross section in which a first point having the smallest distance from the cross section of the first reference image exists. . Volume data of a reference image acquired in advance for the subject, and a storage device that stores position information of at least one first point specified in the first coordinate system in the volume data,
An ultrasonic probe for performing ultrasonic scanning on the subject in a three-dimensional space,
An input device that accepts user input,
A processor,
An ultrasonic image display device comprising:
The processor is
A position calculation function for calculating the position of the ultrasonic probe in the second coordinate system formed in the three-dimensional space,
An image display control function of displaying a real-time ultrasonic image based on an echo signal obtained by transmitting and receiving ultrasonic waves to and from the subject by the ultrasonic probe, and a reference image based on the volume data on a display device,
An indicator display control function for displaying an indicator showing the position of the first point in the first coordinate system on the reference image,
A specific function of specifying coordinate conversion information between the first coordinate system and the second coordinate system, the coordinate conversion information including coordinate conversion information regarding rotational movement and coordinate conversion information regarding parallel movement. ,
Programmatically,
The specific function is position information in the first coordinate system of the first point indicated by the indicator displayed in the reference image when the input device receives a first input, and in the ultrasonic image. Using the position information in the second coordinate system of the second point indicated by the second input in the input device, to specify the coordinate conversion information,
The position information of the second point in the second coordinate system is specified based on the position detection information of the position detection unit. Volume data of a reference image acquired in advance for the subject, and a storage device that stores position information of at least one first point specified in the first coordinate system in the volume data,
An ultrasonic probe for performing ultrasonic scanning on the subject in a three-dimensional space,
An input device that accepts user input,
A processor,
A control program for an ultrasonic image display device comprising:
The control program causes the processor to
A position calculation function for calculating the position of the ultrasonic probe in the second coordinate system formed in the three-dimensional space,
An image display control function of displaying a real-time ultrasonic image based on an echo signal obtained by transmitting and receiving ultrasonic waves to and from the subject by the ultrasonic probe, and a reference image based on the volume data on a display device,
An indicator display control function for displaying an indicator showing the position of the first point in the first coordinate system on the reference image,
A specific function of specifying coordinate conversion information between the first coordinate system and the second coordinate system, the coordinate conversion information including coordinate conversion information regarding rotational movement and coordinate conversion information regarding parallel movement. ,
Is executed,
The specific function is position information in the first coordinate system of the first point indicated by the indicator displayed in the reference image when the input device receives a first input, and in the ultrasonic image. Using the position information in the second coordinate system of the second point indicated by the second input in the input device, to specify the coordinate conversion information,
The position information of the second point in the second coordinate system is specified based on the position detection information of the position detection unit.