JP6854501B2 - Training system - Google Patents

Description

The present invention relates to a training system for ultrasonography by the transvaginal method.

In the early stages of pregnancy and during non-pregnancy, ultrasonography is performed to examine the body using ultrasound. In the transvaginal method, which is known as one method of ultrasonography, an ultrasonic probe is inserted into the vaginal cavity to measure the shape and size of the uterus and ovary, the thickness of the endometrium, etc., uterine fibroids, ovarian tumors, etc. It is possible to diagnose endometriosis and the like. Ultrasonography by transvaginal method can also confirm the fetal sac containing the embryo in the uterus and the heartbeat of the foetation. In order to perform the transvaginal method, it is necessary to properly insert the ultrasonic probe into the vaginal cavity.

However, when the transvaginal ultrasonography training is performed using the human body, the subject may feel resistance to the training using his / her own body, so the training is performed. Was difficult. Moreover, in the clinical setting, it was difficult to carry out training efficiently because there are few opportunities to experience diagnosing an abnormality in the body.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a training system capable of performing training for ultrasonic examination by a transvaginal method.

In order to solve the above problems, the present invention is a training system for ultrasonography by the transvaginal method, and is a detection device provided in a probe member that can be inserted into the vaginal cavity of a biological model in which a vaginal cavity is formed. The acquisition means for acquiring the information detected by the detection device that detects the information regarding at least one of the position and the direction of the probe member, and the acquisition when the probe member is inserted into the vaginal cavity. Provided is a training system including an estimation means for estimating at least one of the position and direction of the probe member in the vaginal cavity based on the information (Invention 1).

Here, the information regarding at least one of the position and direction of the probe member may be, for example, the acceleration of the probe member, the angular velocity of the probe member, the magnitude and direction of the magnetic field in the probe member, and the like. It may be, or it may be a combination of these.

According to the present invention (Invention 1), at least one of the positions and directions of the probe member in the vaginal cavity is determined based on the information regarding at least one of the positions and directions of the probe members detected by the detection device provided on the probe member. Can be estimated. This makes it possible to determine whether or not the probe member is properly inserted into the vaginal cavity, so that training for ultrasonography by the transvaginal method can be performed.

In the above invention (Invention 1), it is preferable that the detection device detects at least one of the acceleration and the angular velocity of the probe member as information regarding at least one of the position and direction of the probe member (Invention 2).

Here, the information regarding at least one of the position and the direction of the probe member may be, for example, at least one value of acceleration and angular velocity, or at least one value of acceleration and angular velocity is substituted into a predetermined calculation formula. It may be the value obtained by the above, or it may be information representing at least one degree of acceleration and angular velocity.

According to the present invention (Invention 2), at least one of the position and direction of the probe member in the vaginal cavity can be estimated based on at least one of the acceleration and the angular velocity detected by the detection device. This makes it possible to construct a training system at a lower cost than, for example, when the detection device is composed of a magnetic sensor that detects the magnitude and direction of a magnetic field.

In the above inventions (Inventions 1 and 2), it is preferable to provide a presenting means for presenting information regarding at least one of the estimated positions and directions of the probe member (Invention 3).

According to the present invention (Invention 3), information regarding at least one of the estimated positions and directions of the probe members is presented. Therefore, for example, a training user, a training instructor, or the like is based on the presented information. , It can be easily determined whether or not at least one of the position and direction of the probe member in the vaginal cavity of the biological model is appropriate.

In the above invention (Invention 3), the presenting means includes a storage means for storing at least one of the positions and directions in the vaginal cavity and an ultrasonic image obtained in advance in a state of being associated with each other. When at least one of the positions and directions of the probe member is estimated, at least one of the positions and directions in the vaginal cavity satisfies a predetermined condition with at least one of the estimated positions and directions. And it is preferable to present an ultrasonic image associated with at least one of the directions (Invention 4).

According to the present invention (Invention 4), an ultrasonic image associated with at least one of the estimated positions and directions of the probe member and at least one of the positions and directions satisfying a predetermined condition is presented. , Training can be performed assuming the same situation as the actual transvaginal ultrasound examination.

In the above inventions (Inventions 1 to 4), the detection device is configured to detect at least one of a triaxial acceleration and a triaxial angular velocity, and the acquisition means is a triaxial acceleration detected by the detection device. And it is preferable to obtain information on at least one of the triaxial angular velocities (Invention 5).

According to the present invention (Invention 5), at least one of the position and direction of the probe member in the vaginal cavity of the biological model can be estimated in three dimensions.

According to the training system of the present invention, it is possible to perform ultrasonic examination training by the transvaginal method, and by extension, it is possible to improve the ultrasonic examination skills of, for example, obstetricians and gynecologists and nurses.

It is a figure which shows schematic the basic structure of the training system which concerns on one Embodiment of this invention. It is a block diagram which shows the structure of a training apparatus. It is a functional block diagram for demonstrating the function which plays a main role in the training system which concerns on one Embodiment of this invention. It is a figure which shows the structural example of the ultrasonic image data. It is a flowchart which shows an example of the main processing of the training system which concerns on one Embodiment of this invention. It is a block diagram which shows the structure of the detection device in the modification.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. However, this embodiment is an example, and the present invention is not limited thereto.

(1) Basic configuration of training system FIG. 1 is a diagram schematically showing a basic configuration of a training system according to an embodiment of the present invention. As shown in FIG. 1, this training system is a training system for ultrasonography by the transvaginal method, and the position and direction of the probe member 10 inserted into the vaginal cavity of the biological model A in which the vaginal cavity is formed. The training device 20 estimates at least one of the above. A detection device 11 for detecting information regarding at least one of the positions and directions of the probe member 10 is provided at the tip end portion (probe head) of the probe member 10. It is connected so that it can communicate wirelessly. Here, the information regarding at least one of the position and the direction of the probe member 10 may be, for example, the acceleration of the probe member 10, the angular velocity of the probe member 10, or the magnetic field of the probe member 10. The size, direction, etc. may be used, or a combination thereof may be used.

In the present embodiment, the case where the detection device 11 is provided at the tip of the probe member 10 is described as an example, but the case is not limited to this case. The detection device 11 is provided, for example, in a portion of the probe member 10 where the relative positional relationship with the tip portion of the probe member 10 is maintained (for example, a root portion (rear end portion) or the like). Information regarding at least one of the positions and directions of the probe member 10 may be detected while being arranged in the portion.

Biological model A is a human model in which female reproductive organs such as ovaries, fallopian tubes, uterus, and vagina are formed, and is easy to mold, has elasticity, and has physical properties equivalent to or similar to those of a living body. It is composed of a material (for example, a synthetic polymer material selected from silicone, vinyl chloride, polyurethane and the like).

The probe member 10 is a member having the same shape as the ultrasonic probe used for the ultrasonic examination by the transvaginal method, and the tip side thereof is formed so as to be inserted into the vaginal cavity of the biological model A. The probe member 10 may be an ultrasonic probe or a pseudo probe that does not have an ultrasonic wave generation and detection function. Here, when the probe member 10 is an ultrasonic probe, the probe member 10 is connected to the training device 20 in a wired or wireless manner so as to generate a two-dimensional or three-dimensional ultrasonic image. The ultrasonic data of the above may be detected and the detected ultrasonic data may be transmitted to the training device 20.

The detection device 11 is provided with at least one of an acceleration sensor and an angular velocity sensor, and the detection device 11 detects at least one of the acceleration and the angular velocity of the probe member 10 as information regarding at least one of the position and direction of the probe member 10. It is designed to do. When the acceleration sensor is provided, the detection device 11 transmits information on the detected acceleration to the training device 20. Further, the detection device 11 transmits information regarding the detected angular velocity to the training device 20 when the angular velocity sensor is provided. The acceleration sensor may be a uniaxial acceleration sensor or a multi-axis acceleration sensor having two or more axes. Further, the angular velocity sensor may be a uniaxial angular velocity sensor or a multi-axis angular velocity sensor having two or more axes. In this embodiment, a case where each of the 3-axis acceleration sensor and the 3-axis angular velocity sensor is provided in the detection device 11 will be described as an example. In this case, the detection device 11 can detect the triaxial acceleration and the triaxial angular velocity.

(2) Configuration of Training Device The training device 20 will be described with reference to FIG. FIG. 2 is a block diagram showing an internal configuration of the training device 20. As shown in FIG. 2, the training device 20 includes a CPU (Central Processing Unit) 21, a ROM (Read Only Memory) 22, a RAM (Random Access Memory) 23, an HDD (Hard Disk Drive) 24, and display processing. A unit 25, a display unit 26, an input unit 27, and a communication interface unit 28 are provided, and a bus 29 for transmitting a control signal or a data signal between the units is provided. The training device 20 may be, for example, a general-purpose personal computer or an ultrasonic diagnostic device.

When the power is turned on to the training device 20, the CPU 21 loads various programs stored in the ROM 22 or the HDD 24 into the RAM 23 and executes them. The CPU 21 receives the signal transmitted from the detection device 11 via the communication interface unit 28, and interprets the signal. When the probe member 10 is an ultrasonic probe, the CPU 21 receives the signal transmitted from the probe member 10 via the communication interface unit 28 and interprets the signal.

The HDD 24 is a non-volatile storage device, and stores an operating system (OS) and a program executed on the OS. Further, the HDD 24 may store ultrasonic image data (shown in FIG. 4), which will be described later. Although the case where the HDD 24 is provided is described here as an example, another non-volatile storage device (for example, a flash memory or the like) may be provided instead of the HDD 24.

The display processing unit 25 displays the display data given by the CPU 21 on the display unit 26. The display unit 26 is, for example, an LCD (Liquid Cristal Display) monitor including thin film transistors arranged in pixel units in a matrix, and by driving the thin film transistors based on the display data, the displayed data is displayed on the display screen. indicate.

When the training device 20 is a button input type communication terminal, the input unit 27 includes a plurality of buttons for accepting the user's operation input, recognizes the pressing (operation) input of each button, and outputs the input to the CPU 21. Includes an interface circuit for

When the training device 20 is a touch panel input type device, the input unit 27 mainly accepts touch panel type input by touching the display screen with a fingertip or a pen. The touch panel input method may be a known method such as a capacitance method.

The communication interface unit 28 includes an interface circuit for communicating with the detection device 11. Further, when the probe member 10 is an ultrasonic probe, the communication interface 28 may include an interface circuit for communicating with the ultrasonic probe.

(3) Outline of Each Function in the Training System The functions realized by the training system according to the present embodiment will be described with reference to FIG. FIG. 3 is a functional block diagram for explaining a function that plays a major role in the training system according to the present embodiment. In the functional block diagram of FIG. 3, the acquisition means 31 and the estimation means 32 correspond to the main configurations of the present invention. The other means (presentation means 33 and storage means 34) are not necessarily essential components, but are components for further favoring the present invention.

In explaining each function in the training system of the present embodiment, the detection device 11 detects and transmits the 3-axis acceleration and the 3-axis angular velocity at all times or at predetermined intervals (for example, at intervals of several tens to several hundreds of milliseconds). Assuming that.

The acquisition means 31 is a detection device 11 provided on the probe member 10 that can be inserted into the vaginal cavity of the biological model A in which the vaginal cavity is formed, and detects information on at least one of the position and direction of the probe member 10. The detection device 11 has a function of acquiring the detected information.

The detection device 11 may detect at least one of the acceleration and the angular velocity of the probe member 10 as information regarding at least one of the position and direction of the probe member 10. In this case, the information regarding at least one of the position and direction of the probe member 10 may be, for example, at least one value of acceleration and angular velocity, or at least one value of acceleration and angular velocity can be used in a predetermined calculation formula. It may be a value obtained by substituting, or it may be information representing at least one degree of acceleration and angular velocity. Thereby, at least one of the position and direction of the probe member 10 in the vaginal cavity can be estimated based on at least one of the acceleration and the angular velocity detected by the detection device 11.

Further, when the detection device 11 is configured to detect at least one of the three-axis acceleration and the three-axis angular velocity, the acquisition means 31 detects at least one of the three-axis acceleration and the three-axis angular velocity detected by the detection device 11. You may get information about. In this case, at least one of the position and direction of the probe member 10 in the vaginal cavity of the biological model A can be estimated in three dimensions.

The function of the acquisition means 31 is realized, for example, as follows. The CPU 21 of the training device 20 receives (acquires) information transmitted from the detection device 11 (information regarding 3-axis acceleration and 3-axis angular velocity in the present embodiment) via the communication interface unit 28, starting from a predetermined timing. Each time, the received information is stored in, for example, the RAM 23. Here, the predetermined timing may be, for example, a timing in which the start of training is instructed by using the input unit 27. Further, the training may be started in a state where the tip of the probe member 10 is in contact with the vaginal opening of the biological model A. Thereby, the position and direction of the probe member 10 in the vaginal cavity can be estimated three-dimensionally with the position and direction of the probe member 10 in the vaginal opening of the biological model A as a reference position and direction.

The estimation means 32 has a function of estimating at least one of the position and direction of the probe member 10 in the vaginal cavity based on the acquired information when the probe member 10 is inserted into the vaginal cavity.

The function of the estimation means 32 is realized, for example, as follows. Each time the CPU 21 of the training device 20 acquires the information transmitted from the detection device 11 with the probe member 10 inserted in the vaginal cavity based on the function of the acquisition means 31, the CPU 21 is based on the acquired information. The position and direction of the probe member 10 are estimated by calculating the moving distance and the rotation direction of the probe member 10 from the time when the information was acquired last time. When the position and direction of the probe member 10 are estimated, the CPU 21 stores the estimated position and direction data in, for example, the RAM 23.

The presenting means 33 has a function of presenting information regarding at least one of the estimated positions and directions of the probe member 10. As a result, information regarding at least one of the estimated positions and directions of the probe member 10 is presented. Therefore, for example, a training user, a training instructor, or the like can use the vagina of the biological model A based on the presented information. Whether or not at least one of the positions and directions of the probe member 10 in the cavity is appropriate can be easily determined.

The function of the presentation means 33 is realized, for example, as follows. The CPU 21 of the training device 20 extracts data of the position and direction of the probe member 10 stored in the RAM 23, for example, every time the position and direction of the probe member 10 are estimated based on the function of the estimation means 32. Then, the CPU 21 may control the display processing unit 25 so as to generate text information and / or image information including the extracted position and direction data and display the generated information on the display unit 26. Further, the CPU 21 may generate voice information including the extracted position and direction data, and output the generated voice information from, for example, a voice output device (for example, a speaker or the like) provided in the training device 20.

The storage means 34 has a function of storing at least one of the positions and directions in the vaginal cavity and the ultrasonic image obtained in advance in a corresponding state.

The function of the storage means 34 is realized, for example, as follows. The CPU 21 of the training device 20 contains data including, for example, an ultrasonic image obtained in advance and the position and direction of the ultrasonic probe in the vaginal cavity when the ultrasonic image is obtained, for example, the input unit 27. When the data is input using the above, the ultrasonic image data stored in the HDD 24 is accessed, and the input data is stored in the ultrasonic image data. Further, the CPU 21 receives data including the ultrasonic image and the position and direction of the ultrasonic probe in the vaginal cavity when the ultrasonic image is generated from, for example, an external device via the communication interface unit 28. If so, the received data may be stored in the ultrasonic image data.

The ultrasonic image data shown in FIG. 4 is data recorded in a state in which ultrasonic images generated at the positions and directions are associated with each position and direction of the ultrasonic probe in the vaginal cavity. Here, the ultrasonic image is generated based on the ultrasonic data acquired by the ultrasonic probe in advance, may be generated by using the human body, or may be generated by using the biological model A. It may have been generated.

Here, when at least one of the positions and directions of the probe member 10 is estimated, the presenting means 33 is between at least one of the estimated positions and directions in the vaginal cavity. May present an ultrasonic image associated with at least one of a position and a direction satisfying a predetermined condition. As a result, an ultrasonic image associated with at least one of the estimated positions and directions of the probe member 10 and at least one of the positions and directions satisfying a predetermined condition is presented. Training can be performed assuming the same situation as the ultrasonic examination by.

The predetermined condition is, for example, that the difference between the position and direction stored in the ultrasonic data and the position and direction estimated based on the function of the estimation means 32 is not more than a predetermined value. May be good. In this case, it is possible to present an ultrasonic image obtained in advance at a position and direction close to the position and direction of the probe member 10 in the vaginal cavity of the biological model A.

Further, the predetermined condition may be that the difference between the position stored in the ultrasonic data and the position estimated based on the function of the estimation means 32 is not more than a predetermined value. Further, the predetermined condition may be that the difference between the direction stored in the ultrasonic data and the direction estimated based on the function of the estimation means 32 is not more than a predetermined value.

The function of the presentation means 33 in this case is realized, for example, as follows. Here, the predetermined condition is that the difference between the position and direction stored in the ultrasonic data and the position and direction estimated based on the function of the estimation means 32 is equal to or less than the predetermined value. The case will be described as an example. The CPU 21 of the training device 20 accesses the ultrasonic data each time the position and direction of the probe member 10 are estimated based on the function of the estimation means 32, and among the positions and directions stored in the ultrasonic data. , The position where the difference between the position stored in the ultrasonic data and the estimated position is less than or equal to the predetermined value, and the difference between the direction stored in the ultrasonic data and the estimated direction is less than or equal to the predetermined value. And extract the direction. Then, when the position and direction are extracted, the CPU 21 controls the display processing unit 25 so that the display unit 26 displays the ultrasonic image corresponding to the extracted position and direction.

(4) Main processing flow of the training system of the present embodiment Next, an example of the main processing flow performed by the training system of the present embodiment will be described with reference to the flowchart of FIG.

First, the detection device 11 detects and transmits the triaxial acceleration and the triaxial angular velocity at all times or at predetermined intervals (for example, at intervals of several tens to several hundreds of milliseconds).

On the other hand, the CPU 21 of the training device 20 receives the information transmitted from the detection device 11 (in the present embodiment, information on the 3-axis acceleration and the 3-axis angular velocity) via the communication interface unit 28 (in the present embodiment), starting from a predetermined timing. Each time it is acquired), the received information is stored in, for example, the RAM 23 (step S100).

Next, when the CPU 21 of the training device 20 acquires the information transmitted from the detection device 11 with the probe member 10 inserted in the vaginal cavity, when the information is acquired last time based on the acquired information. The position and direction of the probe member 10 are estimated by calculating the moving distance and the rotation direction of the probe member 10 from the above (step S102).

Then, when the position and direction of the probe member 10 are estimated, the CPU 21 of the training device 20 generates text information and / or image information including the estimated position and direction, and displays the generated information on the display unit 26. The display processing unit 25 is controlled so as to be displayed (step S104). Next, the CPU 21 may shift to the process of step S100.

As described above, according to the training system of the present embodiment, the probe member in the vaginal cavity is based on the information regarding at least one of the position and the direction of the probe member 10 detected by the detection device 11 provided in the probe member 10. At least one of the ten positions and directions can be estimated. This makes it possible to determine whether or not the probe member 10 is properly inserted into the vaginal cavity, so that training for ultrasonic examination by the transvaginal method can be performed.

The program that realizes the functions of the acquisition means 31, the estimation means 32, the presentation means 33, and the storage means 34 of the present embodiment may be stored in a computer-readable storage medium. The storage medium on which this program is recorded may be the ROM 22 or HDD 24 of the training device 20 shown in FIG. Further, the storage medium may be a CD-ROM or the like that can be read by being inserted into a program reading device such as a CD-ROM drive. Further, the storage medium may be a magnetic tape, a cassette tape, a flexible disk, an MO / MD / DVD, or the like, or may be a semiconductor memory.

The embodiments described above are described for facilitating the understanding of the present invention, and are not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

In the above embodiment, when at least one of the positions and directions of the probe member 10 is estimated, the presenting means 33 and at least one of the estimated positions and directions in the vaginal cavity and at least one of the estimated positions and directions. Although the case of presenting an ultrasonic image associated with at least one of a position and a direction satisfying a predetermined condition is described as an example, the present invention is not limited to this case. For example, when the probe member 10 is an ultrasonic probe, the CPU 21 of the training device 20 detects the probe member 10 in a state where the probe member 10 is inserted into the vaginal cavity of the human body in an actual ultrasonic inspection. An ultrasonic image may be generated based on the ultrasonic data. As a result, the ultrasonic image obtained by using the probe member 10 in the actual ultrasonic inspection can be used for the training of the ultrasonic inspection.

Further, the CPU 21 of the training device 20 may control the display processing unit 25 so that the generated ultrasonic image is displayed on the display unit 26. Further, the CPU 21 may store the generated ultrasonic image in, for example, the HDD 24 in a state in which the generated ultrasonic image is associated with at least one of the position and the direction in the vaginal cavity of the probe member 10 that has detected the ultrasonic data. Furthermore, the CPU 21 may control the display processing unit 25 so that the stored ultrasonic image is displayed on the display unit 26 based on the instruction using the input unit 27.

Further, in the above embodiment, the case where the detection device 11 detects the acceleration and the angular velocity has been described as an example, but the case is not limited to this case. For example, the detection device 11 may detect either acceleration or angular velocity. In this case, the CPU 21 of the training device 20 may estimate the position or direction of the probe member 10 based on the detected acceleration or angular velocity.

Further, in the above embodiment, the case where the detection device 11 includes each of the acceleration sensor and the angular velocity sensor has been described as an example, but the case is not limited to this case. For example, the detection device 11 may be configured to include at least one of an acceleration sensor, an angular velocity sensor, and a magnetic sensor, or a sensor capable of detecting each of acceleration, angular velocity, and magnetic field (for example, a motion sensor). It may be composed of.

FIG. 6 is a block diagram showing the configuration of the detection device 11 in the modified example of the above-described embodiment. In this modification, the detection device 11 is configured as a magnetic sensor and includes a transmitter 11a, a receiver 11b, a control unit 11c, and a communication interface unit 11d. When the detection device 11 is configured as a magnetic sensor, the biological model A is preferably composed of a non-magnetic substance, and is a synthetic polymer selected from, for example, silicone, vinyl chloride, polyurethane, and the like. It may be composed of a material or the like.

The transmitter 11a is a device that generates a magnetic field, and is configured to generate a magnetic field by flowing a current based on the control of the control unit 11c. The receiver 11b is provided at the tip of the probe member 10 and includes a coil inside. In this coil, an induced current is generated when the receiver 11b is present in the magnetic field generated by the transmitter 11a. The installation position of the transmitter 11a is not particularly limited as long as the receiver 11b can exist in the magnetic field generated by the transmitter 11a.

Further, in this modification, the case where the receiver 11b is provided at the tip of the probe member 10 is described as an example, but the case is not limited to this case. The receiver 11b may be provided, for example, in a portion of the probe member 10 in which the relative positional relationship with the tip portion of the probe member 10 is maintained (for example, a root portion (rear end portion) or the like). ..

The control unit 11c includes a CPU, RAM, ROM, HDD, and the like, and when the power is turned on to the detection device 11, for example, the ROM or the program stored in the HDD is loaded into the RAM and executed. The control unit 11c, for example, transmits a predetermined control signal to the transmitter 11a to control the current flowing through the transmitter 11a. Further, the control unit 11c measures the position and direction of the receiver 11b (that is, the position and direction of the probe member 10) with reference to the position of the transmitter 11a by measuring the induced current generated by the receiver 11b.

The communication interface unit 11d includes an interface circuit for communicating with the training device 20 by wire or wirelessly. The control unit 11c transmits the measured information regarding the position and direction of the receiver 11b to the training device 20 via the communication interface unit 11d.

Even when the detection device 11 in this modification is used, the probe member in the vaginal cavity is based on information on at least one of the positions and directions of the probe member 10 detected by the receiver 11b provided on the probe member 10. At least one of the ten positions and directions can be estimated.

Further, in the above-described embodiment, the training device 20 is configured to realize the functions of the acquisition means 31, the estimation means 32, the presentation means 33, and the storage means 34, but the configuration is not limited to this. All of these means may be realized by the probe member 10 or the detection device 11, or at least a part of the means may be realized by the probe member 10 or the detection device 11.

The training system of the present invention as described above can perform ultrasonic examination training by the transvaginal method, and can improve the ultrasonic examination skills of, for example, obstetricians and gynecologists and nurses. Therefore, its industrial potential is extremely high.

10 ... Probe member 11 ... Detection device 20 ... Training device 31 ... Acquisition means 32 ... Estimating means 33 ... Presentation means 34 ... Storage means A ... Biological model

Claims (2)

It is a training system for ultrasonography by the transvaginal method.
A detection device provided at the tip of a probe member that can be inserted into the vaginal cavity of a biological model in which a vaginal cavity is formed or a portion where a relative positional relationship with the tip is maintained. An acquisition means for acquiring information detected by a detection device that detects information on at least one of the position and direction of the probe member, and
When the probe member is inserted into the vaginal cavity, an estimation unit based on the acquired information, to estimate the position and square direction of the probe member within the vaginal cavity,
With
The detection device detects the acceleration and angular velocity of the probe member as information about the position and square direction of the probe member,
A presentation means for presenting information regarding the estimated position and direction of the probe member, and
Further provided with a storage means for storing the position and direction in the vaginal cavity and the ultrasonic image obtained in advance in a state of being associated with each other.
When the position and direction of the probe member are estimated, the presenting means presents an ultrasonic image associated with a position and direction satisfying a predetermined condition with the estimated position and direction.
The predetermined condition is a training system in which the difference between the position and direction of the associated ultrasonic image and the estimated position and direction is equal to or less than a predetermined value. The detection device is configured to detect the three-axis acceleration and 3 axis angular velocity,
The acquisition unit, the detecting device to obtain information about the three-axis acceleration and 3 axis angular velocity detected, the training system according to claim 1.

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