JP6956483B2 - Ultrasonic diagnostic equipment and scanning support program - Google Patents

Description

Embodiments of the present invention relate to ultrasonic diagnostic equipment and scanning support programs.

As a conventional technique, a mechanical four-dimensional probe that swings a plurality of vibrators arranged in a row or a two-dimensional array probe in which a plurality of vibrators are arranged in a grid pattern is provided, and a three-dimensional ultrasonic image is obtained in real time. There is an ultrasonic diagnostic device to acquire. In addition, using an ultrasonic probe equipped with a position sensor, a three-dimensional ultrasonic image is acquired based on the position of the ultrasonic probe detected by the position sensor and the reflection data received by the ultrasonic probe. There is an ultrasonic diagnostic device. In these ultrasonic diagnostic apparatus, an MPR (Multi-Planar Reconstruction / Reformation) image and / or a VR (Volume Rendering) image is displayed in a three-dimensional space.

By the way, the scanner performing the scanning acquires an ultrasonic image by bringing the ultrasonic probe into contact with the patient's body and appropriately moving the ultrasonic probe on the surface of the body. On the other hand, since there are many organs in the body, the scanner can properly obtain an image of the organ to be diagnosed by abutting the ultrasonic probe on the surface of the living body and in which direction in the body. May be confused about the decision. Also, depending on the image displayed, it may be difficult for the scanner to identify the organs in the image.

Japanese Unexamined Patent Publication No. 2015-16390 Japanese Unexamined Patent Publication No. 2013-17870 JP-A-2009-56125

An object of the present invention is to provide an ultrasonic diagnostic apparatus capable of supporting scanning using an ultrasonic probe, and a scanning support program.

According to the embodiment, the ultrasonic diagnostic apparatus includes a mapping unit, a support information acquisition unit, and an image calculation unit. The associating unit associates the structure related to the subject included in the ultrasonic image with the structure contained in the biological atlas. The support information acquisition unit recognizes the structure corresponding to the position of the ultrasonic probe based on the biological atlas by utilizing the associated relationship, and acquires the support information regarding the recognized structure. The image calculation unit generates a display image including the ultrasonic image and the support information.

FIG. 1 is a block diagram showing a configuration of an ultrasonic diagnostic apparatus according to a first embodiment. FIG. 2 is a diagram showing a flow of processing in which the ultrasonic diagnostic apparatus shown in FIG. 1 associates the positions of organs and the like included in the ultrasonic image with the positions of the organs and the like included in the three-dimensional atlas image. FIG. 3 is a diagram showing a view when the ultrasonic probe shown in FIG. 1 is brought into contact with the body surface of the subject in the vertical direction. FIG. 4 is a diagram showing a diagram when designating a biological reference site in an ultrasonic tomographic image displayed on the display device shown in FIG. FIG. 5 is a diagram showing scanning of the ultrasonic probe shown in FIG. 1 on the surface of a living body. FIG. 6 is a diagram showing a biological coordinate system when the xiphoid process is used as a biological reference site. FIG. 7 is a diagram showing a biological coordinate system when a biological reference site exists in the body. FIG. 8 is a diagram showing the correspondence between the feature portion in the biological coordinate system and the feature portion in the atlas coordinate system. FIG. 9 is a diagram showing a flow of processing in which the ultrasonic diagnostic apparatus shown in FIG. 1 generates display image data. FIG. 10 is a diagram showing a display image in which a two-dimensional image and a three-dimensional atlas image are displayed side by side. FIG. 11 is a diagram showing a display image in which a support image representing the organ content is displayed in the second display area. FIG. 12 is a diagram showing a display image in which a support image representing the organ content is displayed in the second display area. FIG. 13 is a diagram showing a display image in which an image relating to a scanning method conforming to the inspection guideline for ultrasonic diagnosis is displayed in the second display area. FIG. 14 is a diagram showing a display image in which annotations are displayed on the ultrasonic image displayed in the first display area. FIG. 15 is a diagram showing a display image in which an image based on the inspection history is displayed in the second display area. FIG. 16 is a block diagram showing the configuration of the ultrasonic diagnostic apparatus according to the second embodiment. FIG. 17 is a diagram showing a flow of processing in which the ultrasonic diagnostic apparatus according to the second embodiment associates the positions of organs and the like included in the ultrasonic image with the positions of the organs and the like included in the three-dimensional atlas image. be. FIG. 18 is a diagram showing a display image in which the cross-sectional position of the three-dimensional CT image, the scanning position of the ultrasonic probe, and the ultrasonic tomographic image are associated with each other by the fusion function. FIG. 19 is a diagram showing a flowchart when the control circuit according to the first and second embodiments automatically reads out the support data. FIG. 20 is a diagram showing a flowchart when the control circuits according to the first and second embodiments automatically change the transmission / reception conditions according to the organs to be recognized. FIG. 21 is a diagram showing a display image when displaying an atlas image and a plurality of ultrasonic images corresponding to positions designated by the atlas image. FIG. 22 is a diagram showing the configuration of the position sensor system shown in FIG. FIG. 23 is a diagram showing other configurations of the position sensor system shown in FIG. FIG. 24 is a diagram showing other configurations of the position sensor system shown in FIG. FIG. 25 is a diagram showing other configurations of the position sensor system shown in FIG.

Hereinafter, embodiments will be described with reference to the drawings.

(First Embodiment)
FIG. 1 is a block diagram showing a configuration example of the ultrasonic diagnostic apparatus 1 according to the first embodiment. As shown in FIG. 1, the ultrasonic diagnostic apparatus 1 includes a main body apparatus 10, an ultrasonic probe 20, and a position sensor system 30. The main body device 10 is connected to the external device 40 via the network 100. Further, the main body device 10 is connected to the display device 50.

The ultrasonic probe 20 has a plurality of piezoelectric vibrators, a matching layer provided on the piezoelectric vibrator, a backing material for preventing the propagation of ultrasonic waves from the piezoelectric vibrator to the rear, and the like. The ultrasonic probe 20 is detachably connected to the main body device 10. The plurality of piezoelectric vibrators generate ultrasonic waves based on the drive signal supplied from the ultrasonic transmission circuit 11 included in the main body device 10.

When ultrasonic waves are transmitted from the ultrasonic probe 20 to the subject P, the transmitted ultrasonic waves are reflected one after another on the discontinuity surface of the acoustic impedance in the body tissue of the subject P, and the ultrasonic probe is used as a reflected wave signal. It is received by a plurality of piezoelectric vibrators of 20. The amplitude of the received reflected wave signal depends on the difference in acoustic impedance on the discontinuity where the ultrasonic waves are reflected. The reflected wave signal when the transmitted ultrasonic pulse is reflected by the moving blood flow or the surface of the heart wall or the like depends on the velocity component of the moving body with respect to the ultrasonic transmission direction due to the Doppler effect. And undergo frequency shift. The ultrasonic probe 20 receives the reflected wave signal from the subject P and converts it into an electric signal.

The operation panel 61 of the main body device 10 has an input means including, for example, a button or the like that receives an instruction for designating a biological reference site, which will be described later, from the operator. When the button is pressed by the operator, the operation panel 61 outputs a designation instruction to specify the current position information of the ultrasonic probe 20 as a biological reference site to the main body device 10. The input means may be provided in the position sensor 32 provided in the position sensor system 30 or the ultrasonic probe 20.

The ultrasonic probe 20 according to the present embodiment scans the subject P in two dimensions by ultrasonic waves, and is equipped with a position sensor 32 as shown in FIG. The ultrasonic probe 20 can detect the position information of the probe when the subject P is scanned in three dimensions. Specifically, the ultrasonic probe 20 according to the present embodiment is a one-dimensional array probe having a plurality of ultrasonic transducers that scan the subject P in two dimensions. The ultrasonic probe 20 to which the position sensor 32 is mounted is a mechanical four-dimensional probe (machine) that scans the subject P in three dimensions by swinging the ultrasonic transducer at a predetermined angle (swing angle). Swing type 3D probe), 2D array probe in which multiple ultrasonic transducers are arranged in a matrix, or 1.5-dimensional array probe in which multiple transducers arranged in one dimension are divided into a plurality of It may be.

The position sensor system 30 shown in FIG. 1 is a system for acquiring three-dimensional position information of the ultrasonic probe 20. The position sensor system 30 acquires three-dimensional position information of the ultrasonic probe 20 by, for example, attaching a magnetic sensor, a target for an infrared camera, or the like to the ultrasonic probe 20. A gyro sensor (angular velocity sensor) may be built in the ultrasonic probe 20 and the three-dimensional position information of the ultrasonic probe 20 may be acquired by the gyro sensor. Further, the position sensor system 30 may be a system in which the ultrasonic probe 20 is photographed by a camera and the position of the ultrasonic probe 20 in a three-dimensional space is detected by image recognition. Further, the position sensor system 30 may be a system in which the ultrasonic probe 20 is held by the robot arm and the position of the robot arm in the three-dimensional space is detected as the position of the ultrasonic probe 20. In the present embodiment, a case where the position sensor system 30 acquires the position information of the ultrasonic probe 20 by using a magnetic sensor will be described as an example.

The position sensor system 30 includes a magnetic generator 31, a magnetic sensor 32, and a position detection device 33.

The magnetic generator 31 has, for example, a magnetic generator coil or the like. The magnetic generator 31 is arranged at an arbitrary position and forms a magnetic field outward with its own device as the center. The magnetic sensor 32 is attached to the ultrasonic probe 20. The magnetic sensor 32 detects the strength and inclination of the three-dimensional magnetic field formed by the magnetic generator 31. The magnetic sensor 32 outputs the strength and inclination of the detected magnetic field to the position detection device 33.

The position detection device 33 is based on the strength and inclination of the magnetic field detected by the magnetic sensor 32, and the position of the ultrasonic probe 20 in a three-dimensional space with a predetermined position as the origin (position of the scanning surface (x, y, z)). And the rotation angle (θx, θy, θz)). At this time, the predetermined position is, for example, the position where the magnetic generator 31 is arranged. The position detecting device 33 transmits the position information regarding the calculated position (x, y, z, θx, θy, θz) to the main body device 10. In the following, the three-dimensional coordinate system defined by the position sensor system 30 will be referred to as a magnetic field coordinate system.

The main body device 10 shown in FIG. 1 is a device that generates an ultrasonic image based on a reflected wave signal received by the ultrasonic probe 20. As shown in FIG. 1, the main body device 10 includes an ultrasonic transmission circuit 11, an ultrasonic reception circuit 12, a B mode processing circuit 13, a Doppler processing circuit 14, an operation panel 61, an input device 62, and a three-dimensional data generation circuit 15. It includes an image calculation circuit 16, a display processing circuit 17, an internal storage circuit 18, an image memory 19 (cine memory), an input interface circuit 110, a communication interface circuit 111, and a control circuit 112.

The ultrasonic transmission circuit 11 is a processor that supplies a drive signal to the ultrasonic probe 20. The ultrasonic transmission circuit 11 is realized by, for example, a trigger generation circuit, a delay circuit, a pulsar circuit, or the like. The trigger generation circuit repeatedly generates rate pulses for forming transmitted ultrasonic waves at a predetermined rate frequency. The delay circuit sets the delay time for each piezoelectric vibrator, which is required to focus the ultrasonic waves generated from the ultrasonic probe 20 in a beam shape and determine the transmission directivity, to each rate pulse generated by the trigger generation circuit. Give to. The pulsar circuit applies a drive signal (drive pulse) to the ultrasonic probe 20 at a timing based on the rate pulse. By changing the delay time given to each rate pulse by the delay circuit, the transmission direction from the piezoelectric vibrator surface can be arbitrarily adjusted.

The ultrasonic wave receiving circuit 12 is a processor that generates a received signal by performing various processes on the reflected wave signal received by the ultrasonic probe 20. The ultrasonic wave receiving circuit 12 is realized by, for example, an amplifier circuit, an A / D converter, a reception delay circuit, an adder, and the like. The amplifier circuit amplifies the reflected wave signal received by the ultrasonic probe 20 for each channel and performs gain correction processing. The A / D converter converts the gain-corrected reflected wave signal into a digital signal. The reception delay circuit provides the digital signal with the delay time required to determine the reception directivity. The adder adds a plurality of digital signals with a delay time. The addition process of the adder generates a reception signal in which the reflection component from the direction corresponding to the reception directivity is emphasized.

The B-mode processing circuit 13 is a processor that generates B-mode data based on the received signal received from the ultrasonic wave receiving circuit 12. The B-mode processing circuit 13 performs envelope detection processing, logarithmic amplification processing, and the like on the received signal received from the ultrasonic reception circuit 12, and the signal strength is expressed by the brightness of the brightness (B-mode data). To generate. The generated B-mode data is stored in a RAW data memory (not shown) as B-mode RAW data on a two-dimensional ultrasonic scanning line.

The Doppler processing circuit 14 is a processor that generates Doppler waveforms and Doppler data based on the received signal received from the ultrasonic wave receiving circuit 12. The Doppler processing circuit 14 extracts a blood flow signal from the received signal, generates a Doppler waveform from the extracted blood flow signal, and extracts information such as average velocity, dispersion, and power from the blood flow signal at multiple points. Generate (Dopla data).

The three-dimensional data generation circuit 15 is a processor that generates three-dimensional image data with position information based on the data generated by the B-mode processing circuit 13 and the Doppler processing circuit 14. When the ultrasonic probe 20 to which the magnetic sensor 32 is mounted is a one-dimensional array probe or a 1.5-dimensional array probe, the three-dimensional data generation circuit 15 refers to the B-mode RAW data stored in the RAW data memory. , The position information of the ultrasonic probe 20 calculated by the position detection device 33 is added. Further, the three-dimensional data generation circuit 15 generates two-dimensional image data composed of pixels by executing RAW-pixel conversion, and the generated image data is subjected to ultrasonic waves calculated by the position detection device 33. The position information of the probe 20 is added.

Further, the three-dimensional data generation circuit 15 executes RAW-voxel conversion including interpolation processing in which spatial position information is added to the B mode RAW data stored in the RAW data memory to obtain a desired range. Generates three-dimensional image data (hereinafter referred to as volume data) composed of voxels. The position information of the ultrasonic probe 20 calculated by the position detection device 33 is added to the volume data.
Similarly, when the ultrasonic probe 20 to which the magnetic sensor 32 is mounted is a mechanical four-dimensional probe (mechanical swing type three-dimensional probe) or a two-dimensional array probe, two-dimensional RAW data and two-dimensional image data, Position information is added to the 3D image data.

Further, the three-dimensional data generation circuit 15 performs a rendering process on the generated volume data to generate rendered image data. The rendering process is, for example, a process such as volume rendering (VR: Volume Rendering), multi-section conversion display (MPR: Multi Planar Reconstruction), and maximum value projection display (MIP: Maximum Intensity Projection).

Further, the three-dimensional data generation circuit 15 adds the position information of the ultrasonic probe 20 calculated by the position detection device 33 to the M mode image and the spectrum Doppler image collected at a desired scanning position. Further, the three-dimensional data generation circuit 15 provides image quality conditions (angle of view, viewing depth, viewing angle, preset, frequency, image hate processing conditions, etc.) and scanning mode information at the time of scanning, measurement images and measurement results, and an application. The position information of the ultrasonic probe 20 calculated by the position detection device 33 is added to the information and the image.

The image calculation circuit 16 is a processor that generates display image data based on various image data generated by the three-dimensional data generation circuit 15. The image calculation circuit 16 realizes the image generation function 161 by executing the image processing program stored in the internal storage circuit 18. The image generation function 161 is a function of generating display image data based on various image data generated by the three-dimensional data generation circuit 15 and support data stored in the internal storage circuit 18. Specifically, the image calculation circuit 16 executes the image generation function 161 when the support data is acquired. By executing the image generation function 161 the image calculation circuit 16 generates display image data in which various image data generated by the three-dimensional data generation circuit 15 and the acquired support data are displayed in parallel. Further, the image calculation circuit 16 generates display image data to be displayed by superimposing the acquired support data on various image data generated by the three-dimensional data generation circuit 15.

The display processing circuit 17 is a processor that converts various image data generated in the three-dimensional data generation circuit 15 and the image calculation circuit 16 into signals that can be displayed on the display device 50. Specifically, the display processing circuit 17 converts the image data into a video signal by executing various processes such as dynamic range, brightness (brightness), contrast, γ-curve correction, and RGB conversion on the various image data. Convert. The display processing circuit 17 causes the display device 50 to display the video signal. The display processing circuit 17 may display a GUI (Graphical User Interface) for the operator to input various instructions by the input interface circuit 110 on the display device 50. The display processing circuit 17 includes peripheral circuits such as a connector and a cable for connecting to the display device 50.

As the display device 50, for example, a CRT display, a liquid crystal display, an organic EL display, an LED display, a plasma display, or any other display known in the art can be appropriately used.

The image memory 19 has, for example, a magnetic or optical recording medium, a recording medium that can be read by a processor such as a semiconductor memory, or the like. The image memory 19 stores image data corresponding to a plurality of frames immediately before the freeze operation, which is input via the input interface circuit 110. The image data stored in the image memory 19 is, for example, continuously displayed (cine display).

The internal storage circuit 18 has, for example, a magnetic or optical recording medium, a recording medium that can be read by a processor such as a semiconductor memory, or the like. The internal storage circuit 18 stores a control program for realizing ultrasonic transmission / reception, a control program for performing image processing, a control program for performing display processing, and the like. Further, the internal storage circuit 18 is a conversion table or the like in which the range of diagnostic information (for example, patient ID, doctor's findings, etc.), diagnostic protocol, body mark generation program, and color data used for visualization is preset for each diagnostic site. The data group of is stored.

Further, the internal storage circuit 18 stores support data for assisting the scanner to scan the ultrasonic probe 20. Assistance data includes data on vivisection charts, such as atlas data. Atlas data includes data on images and various data on structures in vivo. The data related to the image includes, for example, atlas image data for displaying blood vessels, atlas image data for displaying muscles, atlas image data for displaying skeleton, atlas image data for displaying nerves, and atlas image data for displaying organs. be. Each atlas image data is represented by a two-dimensional or three-dimensional atlas image. Various data on the structure in the living body include data on the name of the part in the living body, data on the physiological function, diagnosis and treatment information of the disease, and examination based on the examination guideline when examining a predetermined organ in the ultrasonic diagnosis. Includes data on findings. In addition, the support data includes data on the scanning method of the ultrasonic probe 20 in accordance with the inspection guideline.

Further, the internal storage circuit 18 follows the storage operation input via the input interface circuit 110, and the two-dimensional image data, volume data, rendered image data, and M-mode image with position information generated by the three-dimensional data generation circuit 15 are used. Stores data and spectrum Doppler image data with position information. The internal storage circuit 18 follows the storage operation input via the input interface circuit 110, and the two-dimensional image data, volume data, rendered image data, and position information with position information generated by the three-dimensional data generation circuit 15 are used. The attached Doppler waveform and the spectrum Doppler data with position information may be stored including the operation order and the operation time. Further, the internal storage circuit 18 stores the map display image data generated by the image calculation circuit 16 according to the storage operation input via the input interface circuit 110. The internal storage circuit 18 stores operation information of the ultrasonic diagnostic apparatus 1, image condition information, ultrasonic data related to ultrasonic inspection, and the like in association with these data. The operation information includes mode change, image quality preset change, display layout change, image saving, measurement start, application start, probe change, and the like. The image quality condition information includes ultrasonic transmission conditions such as frequency, viewing depth, viewing angle, beam density, frame rate, MI (Mechanical Index) value, image processing settings, and three-dimensional image quality parameters. The ultrasonic data includes, for example, measurement information, annotation information, biological reference information such as an electrocardiogram (ECG) waveform, acquisition time information, and the like. Further, the internal storage circuit 18 stores the position information of the biological reference site. The internal storage circuit 18 can also transfer the stored data to an external peripheral device via the communication interface circuit 111.

Further, the internal storage circuit 18 stores image data transferred from the external device 40. For example, the internal storage circuit 18 acquires and stores past image data about the same patient acquired in the past examination from the external device 40. The past image data includes CT (Computed Tomography) image data and MR image data.

The input interface circuit 110 is provided by an operator from an input device 62 such as a mouse, a keyboard, a panel switch, a slider switch, a trackball, and a rotary encoder via an operation panel, a touch command screen (TCS) 61, and the like. Accepts various instructions. The input interface circuit 110 is connected to the control circuit 112 via, for example, a bus, converts an operation instruction input from the operator into an electric signal, and outputs the electric signal to the control circuit 112. In the present specification, the input interface circuit 110 is not limited to those connected to physical operation parts such as a mouse and a keyboard. For example, an electric signal processing circuit that receives an electric signal corresponding to an operation instruction input from an external input device provided separately from the ultrasonic diagnostic apparatus 1 and outputs this electric signal to the control circuit 112 is also input. It is included in the example of the interface circuit 110.

The communication interface circuit 111 connects to the position sensor system 30 and receives the position information transmitted from the position detection device 33. Further, the communication interface circuit 111 is connected to the external device 40 via the network 100 or the like, and performs data communication with the external device 40. The external device 40 is, for example, a database of PACS (Picture Archiving and Communication System), which is a system for managing data of various medical images, a database of an electronic medical record system for managing electronic medical records to which medical images are attached, and the like. Further, the external device 40 is, for example, various medical image diagnostic devices such as an X-ray CT device and an MRI (Magnetic Resonance Imaging) device. The standard for communication with the external device 40 may be any standard, and examples thereof include DICOM (digital imaging and communication in medicine).

The control circuit 112 is a processor that functions as the center of the ultrasonic diagnostic apparatus 1. The control circuit 112 realizes a function corresponding to the program by executing the control program stored in the internal storage circuit 18.

Specifically, the control circuit 112 realizes a process of associating the position of the organ or the like of the subject with the position of the organ or the like included in the three-dimensional atlas image by executing the control program according to the present embodiment. .. That is, the control circuit 112 has an atlas data processing function 1121, a position information registration function 1122, a position information control function 1123, a coordinate conversion function 1124, and an association function 1125 by executing a control program.

The atlas data processing function 1121 is a function for acquiring coordinate information of a feature portion in the coordinate system of a three-dimensional atlas image. In the present embodiment, the characteristic site is a characteristic structure existing in the living body, and is a site used when associating the position of the organ or the like of the subject with the position of the organ or the like included in the three-dimensional atlas image. Is. The characteristic site includes, for example, a characteristic organ, a characteristic organ site, an organ boundary, an organ axis, a characteristic blood vessel, a characteristic blood vessel site, and the like. Characteristic organ sites include, for example, S1 to S8, which are areas of the liver. Characteristic blood vessel sites include, for example, blood vessel bifurcations and the like. Specifically, the control circuit 112 executes the atlas data processing function 1121 when a feature portion is designated on the atlas image via, for example, the input interface circuit 110. By executing the atlas data processing function 1121, the control circuit 112 acquires the coordinate information on the three-dimensional atlas image of the designated feature portion.

The position information registration function 1122 is a function of storing the position information related to the structure in the subject in the internal storage circuit 18, that is, a function of registering the position information of the biological reference site and the position information of the feature site. In the present embodiment, the biological reference site is a site that is the origin of the biological coordinate system. Specifically, for example, the control circuit 112 executes the position information registration function 1122 when it receives a designation instruction of a biological reference site or a feature site. By executing the position information registration function 1122, the control circuit 112 registers the position information of the magnetic field coordinate system in the position sensor system 30 of the ultrasonic probe 20 acquired when the designated instruction is received. In the example of the magnetic sensor 32 shown in FIG. 1, the control circuit 112 registers the position information of the magnetic sensor 32 installed in the ultrasonic probe 20. Alternatively, the control circuit 112 may use the shape information of the ultrasonic probe 20 to register a desired position such as the center of the ultrasonic transmission / reception surface of the ultrasonic probe 20 as position information.

The position information control function 1123 is a function of calculating the position of a designated portion via an ultrasonic tomographic image. Specifically, for example, the control circuit 112 executes the position information control function 1123 when the operator specifies a biological reference site or a feature site for the ultrasonic tomographic image displayed on the display device 50. .. By executing the position information control function 1123, the control circuit 112 has a magnetic field in the position sensor system 30 based on the position of the ultrasonic probe 20 when the ultrasonic tomographic image is acquired and the position specified in the ultrasonic tomographic image. Calculate the position coordinates of the coordinate system.

The coordinate conversion function 1124 is a function of converting the coordinates of the designated feature portion into the coordinates of the biocoordinate system. Specifically, for example, the control circuit 112 executes the coordinate conversion function 1124 when the position coordinates of the feature portion in the magnetic field coordinate system by the position sensor system 30 are acquired. By executing the coordinate conversion function 1124, the control circuit 112 converts the coordinates of the feature portion in the magnetic field coordinate system into the coordinates of the biological coordinate system defined based on the position of the biological reference portion. The control circuit 112 defines the biological coordinate system based on the position (x, y, z, θx, θy, θz) of the biological reference site in the magnetic field coordinate system. For example, in the biological coordinate system, the position (x, y, z) is the origin, the x-axis is set in the azimuth direction, which is the scanning direction, and the y-axis is in the depth direction, based on the rotation angle (θx, θy, θz). Is set, and the z-axis is set in the elevation direction, which is the swing direction.

The association function 1125 is a function for associating the position of the organ or the like of the subject with the position of the organ or the like included in the three-dimensional atlas image. Specifically, for example, the control circuit 112 executes the association function 1125 when the coordinates of the feature portion in the atlas coordinate system and the coordinates of the feature portion in the biological coordinate system are acquired. By executing the associating function 1125, the control circuit 112 associates the feature portion handled in the biological coordinate system with the feature portion handled in the atlas coordinate system, which is the same as this feature portion. As a result, the magnetic field space created by the position sensor system 30 and the coordinate space in the three-dimensional atlas image are associated with each other.

In the present embodiment, the position of the characteristic part of the living body in the magnetic field coordinate system is converted into the biological coordinate system based on the biological reference part, and then the characteristic part handled in the biological coordinate system is the same as the characteristic part. It is associated with the feature parts handled in the atlas coordinate system. Since the installation position of the magnetic generator 31 is different for each examination, the position of the living body in the magnetic field coordinate system is different for each examination. By introducing the biocoordinate system, for example, in a plurality of examinations of the same patient, it becomes possible to associate with the atlas coordinate system without being affected by the difference in the magnetic field coordinate system. However, the present embodiment is not limited to the case where the feature portion handled in the atlas coordinate system and the feature portion of the living body are associated with each other via the biocoordinate system. It is also conceivable to directly associate the atlas coordinate system with the coordinate system of the position sensor system. That is, when the coordinates of the feature portion in the magnetic field coordinate system and the coordinates of the feature portion in the atlas coordinate system that are the same as the feature portion are acquired, the control circuit 112 has the feature portion handled in the magnetic field coordinate system and the atlas. Corresponds to the feature parts handled in the coordinate system.

Further, the control circuit 112 realizes a process of acquiring support data desired by the operator from the internal storage circuit 18 by executing the control program according to the present embodiment. Specifically, the control circuit 112 has a support information acquisition function 1126 by executing a control program. The support information acquisition function 1126 is a function of acquiring support data desired by the operator from the internal storage circuit 18. Specifically, for example, the control circuit 112 executes the support information acquisition function 1126 when the support data is requested via the input interface circuit 110. By executing the support information acquisition function 1126, the control circuit 112 reads the requested support data from the internal storage circuit 18.

In the above, the image generation function 161, the atlas data processing function 1121, the position information registration function 1122, the position information control function 1123, the coordinate conversion function 1124, the association function 1125, and the support information acquisition function 1126 are included in the present embodiment. It is assumed that it is a module that constitutes such a processing program. However, it is not limited to this. For example, the image calculation circuit 16 may have a dedicated hardware circuit that realizes the image generation function 161. Further, the image calculation circuit 16 is an integrated circuit for specific use (ASIC) incorporating this dedicated hardware circuit, a field programmable logic device (FPGA), and other composites. It may be realized by a programmable logic device (Complex Programmable Logic Device: CPLD) or a simple programmable logic device (Simple Programmable Logic Device: SPLD). Further, for example, the control circuit 112 is a dedicated hardware circuit that realizes the atlas data processing function 1121, a dedicated hardware circuit that realizes the position information registration function 1122, and a dedicated hardware circuit that realizes the position information control function 1123. , A dedicated hardware circuit that realizes the coordinate conversion function 1124, a dedicated hardware circuit that realizes the association function 1125, and a dedicated hardware circuit that realizes the support information acquisition function 1126 may be provided. The control circuit 112 also includes application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), other composite programmable logic devices (CPLDs), or simple programmable logics that incorporate these dedicated hardware circuits. It may be realized by a device (SPLD).

FIG. 2 shows the positions of organs and the like included in various image data generated by the three-dimensional data generation circuit 15 and the organs and the like included in the three-dimensional atlas image data in the ultrasonic diagnostic apparatus 1 according to the first embodiment. It is a figure which shows the example of the process flow which associates with the position of. In the following, a case where the biological reference site is a xiphoid process will be described as an example. Using the xiphoid process as a biological reference site corresponds to setting a biological reference site on the body surface.

Prior to the execution of the ultrasonic examination on the subject P, the input of diagnostic information, the setting of transmission / reception conditions, the setting of various reception signal collection conditions, and the like are executed according to the instruction of the operator via the input interface circuit 110. .. This information is stored in the internal storage circuit 18.

The operator defines a feature portion that can be commonly recognized in the three-dimensional atlas image and the ultrasonic image. The characteristic site represents, for example, a characteristic organ, a characteristic organ site, an organ boundary, an organ axis, a characteristic blood vessel site, a characteristic structure, and the like. Specifically, for example, a three-dimensional atlas image is displayed on the display device 50. The operator designates a plurality of feature parts related to this inspection among the plurality of feature parts in the three-dimensional atlas image displayed on the display device 50. The operator designates the feature portion by directly contacting the feature portion displayed on the display device 50 via, for example, a touch command screen provided on the surface of the display device 50. Further, the operator, for example, by operating a trackball or the like, aligns the cursor displayed on the display device 50 with the feature portion, and presses the enter button provided on the input interface circuit 110 to specify the feature portion. You may.

The control circuit 112 executes the atlas data processing function 1121 when the feature portion is specified. By executing the atlas data processing function 1121, the control circuit 112 acquires the coordinate information (xa, ya, za) on the three-dimensional atlas image of the designated feature portion (step S21). The control circuit 112 stores the acquired coordinate information of the feature portion in the internal storage circuit 18.

Subsequently, the operator registers the position information of the biological reference site R. Specifically, for example, the operator abuts the ultrasonic probe 20 on the body surface of the subject P in the vertical direction so as to scan the axial surface including the xiphoid process set as the biological reference portion R. FIG. 3 is a diagram showing a schematic view when the ultrasonic probe 20 is brought into contact with the body surface of the subject P in the vertical direction. When the ultrasonic probe 20 is brought into contact with the subject P, the operator presses the operation panel 61 or the button provided on the ultrasonic probe 20. As a result, the designated instruction is input to the control circuit 112. Upon receiving the designated instruction, the control circuit 112 executes the position information registration function 1122. By executing the position information registration function 1122, the control circuit 112 acquires the position (x, y, z, θx, θy, θz) of the ultrasonic probe 20 calculated by the position detection device 33 when the designated instruction is input. (Step S22). The position information of the ultrasonic probe 20 is the position information of the magnetic sensor 32 installed in the ultrasonic probe 20, or the shape information of the ultrasonic probe 20, such as the center of the ultrasonic transmission / reception surface of the ultrasonic probe 20. It may be position information about a desired position.

When the xiphoid process is set to the biological reference site R, there is no designation for an arbitrary site in the ultrasonic tomographic image displayed on the display device 50 following the pressing of the button (No in step S23). The control circuit 112 registers the position (x, y, z, θx, θy, θz) of the ultrasonic probe 20 acquired in step S22 as the position of the biological reference site R (step S25).

On the other hand, the biological reference site does not always exist on the body surface. The biological reference site may be present in the body such as the mitral valve, the portal vein bifurcation, the abdominal aortic bifurcation, or the inside of an organ. In such a case, following the pressing of the button, an arbitrary part in the ultrasonic tomographic image displayed on the display device 50 is designated. Following the pressing of the button, when an arbitrary part in the ultrasonic tomographic image displayed on the display device 50 is specified (Yes in step S23), the control circuit 112 executes the position information control function 1123. By executing the position information control function 1123, the control circuit 112 determines the position (x, y, z, θx, θy, θz) of the ultrasonic probe 20 calculated by the position detection device 33 when the designated instruction is input. The position (x', y') in the ultrasonic tomographic image of the part specified in the ultrasonic tomographic image is acquired. FIG. 4 is a diagram showing a schematic diagram when designating a biological reference site R in an ultrasonic tomographic image displayed on the display device 50.

In FIG. 2, a two-step designation of pressing the button after bringing the ultrasonic probe 20 into contact with the subject P and then designating the reference site R on the image is described as an example. However, the designation of the reference site R may be performed only by the operation of designating the reference site on the image. In that case, the control circuit 112 acquires the position information of the ultrasonic probe 20 at the same time as designating the reference portion on the image.

The control circuit 112 is designated in the ultrasonic tomographic image from the position of the ultrasonic probe 20 (x, y, z, θx, θy, θz) and the position in the ultrasonic tomographic image (x', y'). The position coordinates of the magnetic field coordinate system in the position sensor system 30 of the site are calculated (step S24). The control circuit 112 registers the calculated position coordinates as the position coordinates of the biological reference portion R in the body (step S25).

When the biological reference site R is registered, the operator specifies the feature site in the subject P that corresponds to the feature site on the three-dimensional atlas image specified in step S21. Specifically, for example, the operator brings the ultrasonic probe 20 into contact with the subject P so that the feature portion specified in step S21 is included in the ultrasonic tomographic image. When the ultrasonic tomographic image displayed on the display device 50 includes a characteristic portion, the operator specifies the characteristic portion included in the ultrasonic tomographic image. The operator designates the feature portion by directly contacting the feature portion displayed on the display device 50 via, for example, a touch command screen provided on the surface of the display device 50. Further, the operator, for example, by operating a trackball or the like, aligns the cursor displayed on the display device 50 with the feature portion, and presses the enter button provided on the input interface circuit 110 to specify the feature portion. You may.

When the feature portion included in the ultrasonic tomographic image is specified, the control circuit 112 executes the position information registration function 1122 and the position information control function 1123. By executing the position information control function 1123, the control circuit 112 determines the position (x, y, z, θx, θy, θz) of the ultrasonic probe 20 calculated by the position detection device 33 when the designated instruction is input. The position (x', y') in the ultrasonic tomographic image of the part specified in the ultrasonic tomographic image is acquired. The control circuit 112 is designated in the ultrasonic tomographic image from the position of the ultrasonic probe 20 (x, y, z, θx, θy, θz) and the position in the ultrasonic tomographic image (x', y'). The position coordinates of the magnetic field coordinate system in the position sensor system 30 of the featured portion are calculated. The control circuit 112 registers the position coordinates calculated by the position information registration function 1122 as the position coordinates of the featured portion in the body (step S26). As shown in FIG. 5, the operator scans the ultrasonic probe 20 on the biological surface of the subject P to obtain the feature sites corresponding to all the feature sites specified in step S21 on the ultrasonic tomographic image. specify. The control circuit 112 calculates the position coordinates for all the feature parts designated on the ultrasonic tomographic image, and registers the calculated position information.

When the position coordinates of the feature portion in the magnetic field coordinate system of the position sensor system 30 are registered, the control circuit 112 executes the coordinate conversion function 1124. By executing the coordinate conversion function 1124, the control circuit 112 converts the position coordinates of the feature portion in the magnetic field coordinate system into the position coordinates of the biocoordinate system defined based on the position of the bioreference portion R (step S27). FIG. 6 is a diagram showing an example of a biological coordinate system when the xiphoid process is a biological reference portion R and the position information of the biological reference portion R is acquired as shown in FIG. Further, FIG. 7 is a diagram showing an example of a biological coordinate system when the biological reference site R exists in the body and the position information of the biological reference site R is acquired as shown in FIG.

When the position coordinates of the feature portion in the biocoordinate system are acquired, the control circuit 112 executes the association function 1125. By executing the association function 1125, the control circuit 112 sets the feature portion in the biocoordinate system and the feature portion in the atlas coordinate system, the position coordinates in the biocoordinate system, and the position in the atlas coordinate system, as shown in FIG. Correspondence is made based on the coordinates (step S28). As a result, the magnetic field space created by the position sensor system 30 and the coordinate space in the three-dimensional atlas image are associated with each other.

By the way, the distance between the feature parts in the atlas image is set based on the standard physique. On the other hand, the physiques of the subjects are different. Therefore, the feature site registered for the subject may be different from the feature site in the atlas image. According to the process shown in FIG. 2, since the feature part in the biological coordinate system and the feature part in the atlas coordinate system are associated with each other, there is a difference between the body shape of the subject and the body shape represented by the atlas image. Increases or decreases the distance between feature sites in the atlas image based on the feature sites in the biocoordinate system. Alternatively, the relationship between the feature parts in the atlas image is deformed based on the feature parts in the biocoordinate system. Therefore, the ultrasonic diagnostic apparatus 1 is an organ included in various image data generated by the three-dimensional data generation circuit 15 even when there is a difference between the physique of the subject and the physique represented by the atlas image. Etc., and the positions of organs and the like included in the three-dimensional atlas image data can be associated with each other. That is, the ultrasonic diagnostic apparatus 1 can refer to the atlas data and recognize which position of the subject P the ultrasonic probe 20 is scanning. The deformation of the distance between the feature parts in the atlas image may be adjusted for the whole body or for each organ. FIG. 5 shows an example in which information on the physique is input based on the position information of the ultrasonic probe 20.

In addition, when associating the characteristic part in the magnetic field coordinate system with the characteristic part in the atlas coordinate system, if there is a difference between the physique of the subject and the physique represented by the atlas image, it is based on the characteristic part in the magnetic field coordinate system. The distance between feature sites in the atlas image is expanded, reduced, or transformed. Further, the relationship between the feature parts in the atlas image is deformed based on the feature parts in the magnetic field coordinate system.

FIG. 9 is a diagram showing an example of a processing flow in which the ultrasonic diagnostic apparatus 1 according to the first embodiment generates display image data. In the description of FIG. 9, it is assumed that the magnetic field space by the position sensor system 30 and the coordinate space in the three-dimensional atlas image are associated with each other by the process shown in FIG. Further, in the following, a case where two-dimensional image data is generated by the three-dimensional data generation circuit 15 will be described as an example.

First, the operator performs an ultrasonic examination of the subject P using the ultrasonic probe 20. The position coordinates of the ultrasonic probe 20 are detected by the position sensor system 30. The detected position coordinates are output to the main body device 10 as position information in the magnetic field coordinate system (step S91).

When the position coordinates of the ultrasonic probe 20 are detected, the control circuit 112 executes the support information acquisition function 1126. When the support information acquisition function 1126 is executed, the control circuit 112 reads out the three-dimensional atlas image data from the internal storage circuit 18. The image calculation circuit 16 executes the image generation function 161 and generates display image data composed of a three-dimensional atlas image. The image calculation circuit 16 converts the acquired position information into the position coordinates of the atlas coordinate system based on the relationship between the magnetic field space and the atlas coordinate space associated with the process shown in FIG. The image calculation circuit 16 superimposes an ultrasonic probe icon (hereinafter, referred to as a virtual probe G22) on a three-dimensional atlas image based on the converted position coordinates. Further, the image calculation circuit 16 superimposes a virtual scan area A1 simulating the ultrasonic waves transmitted from the ultrasonic probe 20 on the tip of the virtual probe G22. The image calculation circuit 16 creates the virtual scan area A1 based on, for example, ultrasonic transmission condition information. The display processing circuit 17 converts the display image data on which the virtual probe G22 and the virtual scan area A1 are superimposed into a video signal and displays it on the display device 50 (step S92).

The ultrasonic probe 20 manually scans the subject P in three dimensions, for example, by a plurality of ultrasonic vibrators that scan the subject P in two dimensions. The ultrasonic waves transmitted from the ultrasonic probe 20 to the subject P are reflected one after another on the discontinuity surface of the acoustic impedance in the body tissue of the subject P, and are received by the ultrasonic probe 20 as a reflected wave signal. The ultrasonic wave receiving circuit 12 performs various processes on the reflected wave signal received by the ultrasonic probe 20 to generate a received signal (step S93).

The B-mode processing circuit 13 generates B-mode RAW data on a two-dimensional ultrasonic scanning line based on the received signal received from the ultrasonic wave receiving circuit 12. The three-dimensional data generation circuit 15 generates a plurality of two-dimensional image data by executing RAW-pixel conversion on the two-dimensional B-mode RAW data generated by the B-mode processing circuit 13 (step S94). ). The plurality of 2D image data represents a double tomographic image collected while moving manually. The image calculation circuit 16 uses the two-dimensional image data of one of the generated two-dimensional image data as the display image data to be displayed side by side with the three-dimensional atlas image. The display processing circuit 17 converts the generated display image data into a video signal and displays it on the display device 50 (step S95).

FIG. 10 is a diagram showing an example of a display image in which a two-dimensional image and a three-dimensional atlas image are displayed side by side. The display image shown in FIG. 10 includes a first display area G10 for displaying a two-dimensional image and a second display area G20 for displaying support data. In the example shown in FIG. 10, an ultrasonic image including the liver is displayed in the first display area G10, and a three-dimensional atlas image G21 including organs and bones in the whole image of the living body is displayed in the second display area G20. Will be done. Further, in the second display area G20 shown in FIG. 10, the virtual probe G22 is superimposed on the position based on the position coordinates of the magnetic field coordinate system of the ultrasonic probe 20. Further, a virtual scan area A1 representing a virtual scan area is superimposed on the tip of the virtual probe G22.

Note that FIG. 10 shows a case where a three-dimensional atlas image of the entire living body image is displayed in the second display area G20. However, it is not limited to this. The atlas image displayed in the second display area G20 may be a three-dimensional atlas image showing the whole image of the organ, or a two-dimensional atlas image showing the corresponding cross section. Further, the atlas image displayed in the second display area G20 may be a three-dimensional atlas image representing a blood vessel or a muscle. The operator can select the atlas image to be displayed in the second display area G20 as needed. The image calculation circuit 16 switches the display of the second display area G20 to the selected atlas image.

The operator scans the subject P while moving the ultrasonic probe 20. The display position of the virtual probe G22 displayed in the second display area G20 and the display position of the virtual scan area A1 move in conjunction with the movement of the ultrasonic probe 20 by the operator.

The control circuit 112 determines in the support information acquisition function 1126 whether or not there is a request for further support data from the operator (step S96). The display image displayed on the display device 50 is provided with, for example, an input area for receiving a request from the operator. When there is an input from the operator in the input area (Yes in step S96), the control circuit 112 includes a search word input in the input area and an organ name, a part name, recognized from the position of the ultrasonic probe 20. Using the blood vessel name and the like as search keys, the support data requested by the operator is read out from the internal storage circuit 18. The control circuit 112 presents the search result to the operator by displaying the support data searched based on the search word, the recognized organ name, and the like on the display device 50. The control circuit 112 accepts selections for the presented support data. The image calculation circuit 16 displays an image based on the selected support data in the second display area G20 (step S97).

An example of the display image generated by the image calculation circuit 16 will be described with reference to FIGS. 11 to 15. 11 and 12 are diagrams showing an example of a display image in which a support image representing the organ content is displayed in the second display area G20. In FIG. 11, an ultrasonic image relating to the knee region is displayed in the first display area G10, and a support image G31 is displayed in the second display area G20. In the support image G31 shown in FIG. 11, a surface rendered image of the MR image relating to the knee region and an MPR image of the MR image are displayed.

An operator who desires to display the display image shown in FIG. 11 inputs a search word such as "MR image" in the input area, for example. The control circuit 112 searches for necessary information from the internal storage circuit 18 and the external device 40 connected via the network 100 based on the search word and the scan of the knee region recognized based on the atlas data. The control circuit 112 reads, for example, the electronic medical record information about the subject P, and based on the read electronic medical record information, confirms whether or not there is an MR image taken by the subject P about the knee in the past. If there is an MR image previously taken of the subject P about the knee, the control circuit 112 reads, for example, this MR image from the PACS database. The image calculation circuit 16 causes the display device 50 to display the read MR image. The operator selects an image suitable for comparison with the ultrasonic image from the MR images displayed on the display device 50. The image calculation circuit 16 displays the selected MR image as the support image G31.

If the subject P has never taken an MR image of the knee in the past, the control circuit 112 may read, for example, the MR image of the knee included in the atlas data. The control circuit 112 may also read, for example, an MR image of the knee for another patient from the PACS database. Further, the image displayed on the support image G31 is not limited to the MR image. An image acquired by another medical image diagnostic apparatus may be displayed on the support image G31. As a result, the scanner can scan the ultrasonic probe 20 while collating the organs and the like included in the ultrasonic image with the image acquired by another medical image diagnostic apparatus.

In FIG. 12, an ultrasonic image relating to the liver is displayed in the first display area G10, and a support image G41 is displayed in the second display area G20. The support image G41 shown in FIG. 12 displays findings relating to the liver.

An operator who desires to display the display image shown in FIG. 12 inputs a search word such as "findings" in the input area, for example. The control circuit 112 searches for necessary information from the internal storage circuit 18 and the external device 40 connected via the network 100 based on the search word and the scan of the liver recognized based on the atlas data. The control circuit 112 reads, for example, the laboratory findings contained in the atlas data in accordance with the liver examination guidelines. The image calculation circuit 16 causes the display device 50 to display the read inspection findings. The operator selects the inspection findings displayed on the display device 50 that are suitable for comparison with the ultrasonic image. The image calculation circuit 16 displays the selected findings as the support image G41. As a result, the scanner can scan the ultrasonic probe 20 while confirming the inspection findings of the organs and the like included in the ultrasonic image. In addition, it is possible to objectively acquire a finding image that does not depend on the examiner while referring to the finding information. The inspection findings read out by the control circuit 112 may be inspection findings in medical image diagnosis other than ultrasonic diagnosis.

In FIG. 11, an image taken by another modality is displayed as an example of the organ content, and in FIG. 12, an inspection finding is displayed as an example of the organ content. The organ content displayed in the second display area G20 is not limited to these. The organ content displayed in the second display area G20 may include information on physiological functions, disease diagnosis information, and disease treatment information. In addition, electronic medical record information of the organ being scanned may be displayed. The information on the physiological function includes information on the result of a non-imaging test such as a blood test of a patient.

FIG. 13 is a diagram showing an example of a display image in which an image relating to a scanning method conforming to the inspection guideline for ultrasonic diagnosis is displayed in the second display area G20. In FIG. 13, an ultrasonic image relating to the liver is displayed in the first display area G10, and a three-dimensional atlas image G21 and a support image G51 superimposed on the three-dimensional atlas image G21 are displayed in the second display area G20. Is displayed. In the support image G51 shown in FIG. 13, an image relating to a scanning method in accordance with the liver examination guideline is displayed. In the support image G51 shown in FIG. 13, the method of contacting the ultrasonic probe 20 with the surface of the living body, the moving direction, and the like are displayed as scanning methods.

An operator who desires to display the display image shown in FIG. 13 inputs a search word such as "scanning method" in the input area, for example. The control circuit 112 searches for necessary information from the internal storage circuit 18 and the external device 40 connected via the network 100 based on the search word and the scan of the liver recognized based on the atlas data. The control circuit 112 reads, for example, a scanning method of the ultrasonic probe 20 in accordance with the liver examination guideline from the internal storage circuit 18. The image calculation circuit 16 causes the display device 50 to display the read scanning method. The operator selects a scanning method that is considered to be helpful for the current scanning from the scanning methods displayed on the display device 50. The image calculation circuit 16 displays the selected scanning method as the support image G51. As a result, the know-how of ultrasonic inspection will be universalized, and the opportunities for applying ultrasonic diagnostic equipment will be expanded. In addition, according to a predetermined scanning technique, it is possible to objectively perform an inspection and image collection without depending on an examiner.

In the example shown in FIG. 13, the support image G51 shows a case where the method of contacting the ultrasonic probe 20 with the surface of the living body, the moving direction, and the like are displayed as scanning methods. However, it is not limited to this. The support image G51 may display a region to be scanned in the organ displayed in the ultrasonic image. The area to be scanned is set based on, for example, inspection findings in accordance with inspection guidelines.

FIG. 14 is a diagram showing an example of a display image in which annotations are superimposed and displayed on the ultrasonic image displayed in the first display area G10. For example, in the display image shown as shown in FIG. 10, when the operator requests the display of annotations, the image calculation circuit 16 relates to the structure included in the ultrasonic image displayed in the first display area G10. , Annotate as shown in FIG. The annotations shown in FIG. 14 include, for example, the areas of the liver "S5", "S7", and "S8". Further, the annotations shown in FIG. 14 include, for example, "anterior portal branch", "upper portal vein", "anterior portal vein", "right hepatic vein", and "inferior vena cava" representing the site of a blood vessel. Is included. The process of annotating the ultrasonic image is performed as follows, for example.

For example, when the operator requests the display of annotations, the control circuit 112 reads out the names related to the organs, blood vessels, and the like included in the ultrasonic image from the atlas data. The image calculation circuit 16 displays the read name as a menu, for example, as shown in the support image G61 of FIG. The operator assigns the displayed names to the organs, blood vessels, etc. included in the ultrasonic image.

Further, the control circuit 112 may automatically assign annotations based on the standard screen. For example, the image calculation circuit 16 displays the position of the ultrasonic probe 20 for capturing a standard screen on a three-dimensional atlas image. The operator scans the ultrasonic probe 20 so as to align the virtual probe G22 with a desired imaging position among 15 types of imaging positions displayed on the three-dimensional atlas image, and acquires an ultrasonic image. The standard screen includes an ultrasonic image acquired in the midline, an ultrasonic image acquired vertically, an ultrasonic image acquired in the horizontal direction of the median, and the like. The image calculation circuit 16 assigns the name of the structure included in the standard image of the atlas data to the same structure included in the actually acquired standard image. As a result, the scanner can scan the ultrasonic probe 20 while confirming the names of the organs and the like included in the ultrasonic image. In addition, the trouble of inputting annotations is greatly reduced.

The control circuit 112 stores the inspection history displayed on the three-dimensional atlas image in the internal storage circuit 18. The inspection history includes the locus of the virtual probe G22. When a correction instruction is input from the operator via the input interface circuit 110, the control circuit 112 corrects the inspection history stored in the internal storage circuit 18 according to the correction instruction. Further, when a confirmation instruction is input from the operator via the input interface circuit 110, the control circuit 112 confirms the inspection history stored in the internal storage circuit 18.

The control circuit 112 reads the inspection history from the internal storage circuit 18 when the operator requests the display of the support data based on the inspection history. The image calculation circuit 16 causes the display device 50 to display an image based on the read inspection history. FIG. 15 is a diagram showing an example of a display image in which an image based on the inspection history is displayed in the second display area G20. In FIG. 15, an ultrasonic image relating to the liver is displayed in the first display area G10, and a two-dimensional atlas image G71 relating to the liver and the two-dimensional atlas image G71 are superimposed on the second display area G20. The non-scanning area G72 is displayed. The non-scanned area G72 represents an area that was not scanned in the inspection. In order to create a more accurate non-scanning region G72, it is preferable to define a plurality of feature sites for one organ and associate the magnetic field space with the atlas space using a plurality of feature sites for one organ. .. The image based on the inspection history is not limited to the non-scanning region G72. The image calculation circuit 16 may display the scanning area together with the atlas image in the second display area G20. Further, the image based on the inspection history may be displayed in real time or may be displayed after the inspection. This improves the objectivity of ultrasonic diagnosis. In addition, it is possible to prevent oversight of inspections.

The support data displayed on the display device 50 may be switched to support data representing other information based on the selection instruction input by the operator via the input interface circuit 110. For example, the image calculation circuit 16 generates display image data so as to display support data designated by the operator.

The operator gazes at the display image displayed on the display device 50 in step S95 or step S97, and when it is determined that the display image contains a desired structure or the like, the operator performs a freeze operation via the input interface circuit 110. do. The two-dimensional image data corresponding to the plurality of frames immediately before the freeze operation is stored in the image memory 19. When the operator confirms the two-dimensional image stored in the image memory 19 and determines that the stored two-dimensional image is a two-dimensional image to be stored in the internal storage circuit 18, the operator passes through the input interface circuit 110. A storage operation is performed on this two-dimensional image.

The control circuit 112 determines whether or not the storage operation has been performed (step S98). When the memory operation is performed (Yes in step S98), the control circuit 112 adds the position information in the magnetic field coordinate system and the tag representing the recognized organ to the two-dimensional image data targeted for the memory operation. Then, it is stored in the internal storage circuit 18 (step S99). The two-dimensional image data may be stored with the position information related to the biological coordinate system after the coordinate conversion added, or may be stored with the position information related to the atlas coordinate system added. Further, the tag added to the two-dimensional image data is not limited to the organ, and may be a tag representing the part of the organ. Further, the two-dimensional image data may be stored with a confirmed inspection history added.

When the storage operation is not performed (No in step S98), the control circuit 112 releases the freeze operation and shifts the process to step S91.

As described above, in the first embodiment, the control circuit 112 converts the coordinates of the featured portion of the magnetic field coordinate system by the position sensor system 30 into the coordinates of the biocoordinate system. Then, the control circuit 112 includes the position of the organ or the like of the subject and the three-dimensional atlas image by associating the feature portion represented by the coordinates of the biological coordinate system with the feature portion represented by the atlas coordinate system. Correspond to the position of the organs, etc. The control circuit 112 recognizes the scanning position of the ultrasonic probe 20 in the coordinate space in the atlas image. Then, the image calculation circuit 16 displays the support information based on the internal structure of the subject P grasped from the coordinate space in the atlas image on the display device 50. As a result, the ultrasonic diagnostic apparatus 1 can present to the scanner the instruction information corresponding to the portion scanned by the ultrasonic probe 20 in the ultrasonic examination.

Therefore, according to the ultrasonic diagnostic apparatus 1 according to the first embodiment, scanning using an ultrasonic probe can be supported.

Further, in the first embodiment, for example, as shown in step S99 of FIG. 9, the internal storage circuit 18 is added with the image data, the position information in the magnetic field coordinate system, and the tag representing the recognized organ. I try to remember it. This allows medical facilities such as hospitals to collect ultrasound images along with the scanned organ positions. In addition, medical facilities can classify and manage ultrasonic images by tags. Further, for example, when a large amount of ultrasonic images classified by tags are managed in a database or the like, it is possible to extract only necessary ultrasonic images based on predetermined features. For example, it is possible to extract an ultrasonic image of a "pancreas" and confirm an ultrasonic image of a typical pancreas. Therefore, it is possible to objectively perform inspections that do not depend on the examiner and collect images. In addition, the burden of diagnosis will be reduced even after the examination.

Further, in the first embodiment, the image data is stored in the internal storage circuit 18 with the inspection history added. This allows the medical facility to collect the ultrasound image along with the scan trajectory. This kind of image data may be used in big data analysis using a scan locus.

(Second Embodiment)
In the first embodiment, the control circuit 112 converts the coordinates of the featured portion of the magnetic field coordinate system by the position sensor system 30 into the coordinates of the biocoordinate system. Then, the control circuit 112 associates the feature portion represented by the coordinates of the biological coordinate system with the feature portion represented by the atlas coordinate system, so that the magnetic field space by the position sensor system 30 and the coordinates in the three-dimensional atlas image can be obtained. It is designed to associate with space. In the second embodiment, the magnetic field space by the position sensor system 30 is associated with the coordinate space in the three-dimensional atlas image via the three-dimensional medical image data such as the three-dimensional MR image data or the three-dimensional CT image data. You may.

FIG. 16 is a block diagram showing a configuration example of the ultrasonic diagnostic apparatus 1a according to the second embodiment. As shown in FIG. 16, the ultrasonic diagnostic apparatus 1a includes a main body apparatus 10a, an ultrasonic probe 20, and a position sensor system 30. The main body device 10a is connected to the external device 40 via the network 100. Further, the main body device 10a is connected to the display device 50.

The main body device 10a shown in FIG. 16 is a device that generates an ultrasonic image based on the reflected wave signal received by the ultrasonic probe 20. As shown in FIG. 16, the main body device 10a includes an ultrasonic transmission circuit 11, an ultrasonic reception circuit 12, a B mode processing circuit 13, a Doppler processing circuit 14, a three-dimensional data generation circuit 15, an image calculation circuit 16, and a display processing circuit. 17. Internal storage circuit 18, image memory 19, input interface circuit 110, communication interface circuit 111, and control circuit 112a.

The control circuit 112a is a processor that functions as the center of the ultrasonic diagnostic apparatus 1a. The control circuit 112a realizes a function corresponding to the program by executing the control program stored in the internal storage circuit 18. Specifically, the control circuit 112a realizes a process of associating the position of the organ or the like of the subject with the position of the organ or the like included in the three-dimensional atlas image by executing the control program according to the present embodiment. .. That is, the control circuit 112 has the association function 1125a and the fusion function 1127 by executing the control program.

The associating function 1125a is a function of associating the position of an organ or the like included in the 3D MR image or the position of the organ or the like included in the 3D CT image with the position of the organ or the like included in the 3D atlas image. Specifically, for example, when the association is requested via the input interface circuit 110, the control circuit 112a executes the association function 1125a. By executing the association function 1125a, the control circuit 112a is included in the feature portion included in the 3D MR image data or the 3D CT image data by using the alignment between images, for example, using a landmark-based alignment algorithm. The feature part is associated with the feature part included in the 3D atlas image data.

The fusion function 1127 is a function for associating a three-dimensional MR image data or a three-dimensional CT image data with an ultrasonic image. Specifically, for example, when the association between the feature part included in the 3D MR image data or the feature part included in the 3D CT image data and the feature part included in the 3D atlas image data is completed, control is performed. The circuit 112a executes the fusion function 1127. By executing the fusion function 1127, the control circuit 112a associates the three-dimensional MR image data with the position of the ultrasonic image and the position of the ultrasonic probe 20. Alternatively, the control circuit 112a associates the three-dimensional CT image data with the position of the ultrasonic image and the position of the ultrasonic probe 20.

FIG. 17 shows the positions of organs and the like included in various image data generated by the three-dimensional data generation circuit 15 and the organs and the like included in the three-dimensional atlas image data in the ultrasonic diagnostic apparatus 1a according to the second embodiment. It is a figure which shows the example of the process flow which associates with the position of.

Prior to the execution of the ultrasonic examination on the subject P, the input of diagnostic information, the setting of transmission / reception conditions, the setting of various reception signal collection conditions, and the like are executed according to the instruction of the operator via the input interface circuit 110. .. This information is stored in the internal storage circuit 18.

The control circuit 112a accepts a request to associate the positions of the organs and the like included in the various image data generated by the three-dimensional data generation circuit 15 with the positions of the organs and the like included in the three-dimensional atlas image data. The operator inputs a request for associating from, for example, the input interface circuit 110. The control circuit 112a executes the association function 1125a when the association is requested via the input interface circuit 110. By executing the association function 1125a, the control circuit 112a reads out the three-dimensional MR image data or the three-dimensional CT image data from the internal storage circuit 18. Further, the control circuit 112a reads out the three-dimensional atlas image data from the internal storage circuit 18. The control circuit 112a uses a landmark-based alignment algorithm to form a feature portion included in the 3D MR image data or a feature portion included in the 3D CT image data, and a feature portion included in the 3D atlas image data. (Step S171).

When the feature part included in the 3D MR image data or the feature part included in the 3D CT image data is associated with the feature part included in the 3D atlas image data, the control circuit 112a performs the fusion function 1127. Run. By executing the fusion function 1127, the control circuit 112a determines the three-dimensional MR image data, the position of the ultrasonic image, and the position of the ultrasonic probe 20 based on the position information of the ultrasonic probe 20 acquired by the position sensor system 30. To associate. Alternatively, the control circuit 112a associates the three-dimensional CT image data with the position of the ultrasonic image and the position of the ultrasonic probe 20 based on the position information of the ultrasonic probe 20 acquired by the position sensor system 30 (step). S172). FIG. 18 is a diagram showing an example of a display image in which the cross-sectional position of the three-dimensional CT image, the scanning position of the ultrasonic probe 20, and the ultrasonic tomographic image are associated with each other by the fusion function 1127. In FIG. 18, an ultrasonic image relating to the liver is displayed in the first display area G10, and an MPR image representing the same cross section as the ultrasonic image is displayed in the third display area G30. As a result, the magnetic field space created by the position sensor system 30 and the coordinate space in the three-dimensional atlas image are associated with each other.

As described above, in the second embodiment, the control circuit 112a is included in the position of the organ or the like included in the 3D MR image, the position of the organ or the like included in the 3D CT image, and the 3D atlas image. Correspond to the position of organs, etc. The control circuit 112 associates the three-dimensional MR image data or the three-dimensional CT image data with the ultrasonic image by the fusion function. Then, the image calculation circuit 16 displays the support information based on the internal structure of the subject P grasped from the coordinate space in the atlas image on the display device 50. As a result, the ultrasonic diagnostic apparatus 1a can present the scanner with instruction information corresponding to the portion scanned by the ultrasonic probe 20 in the ultrasonic examination.

Therefore, according to the ultrasonic diagnostic apparatus 1a according to the second embodiment, scanning using an ultrasonic probe can be supported.

(Other embodiments)
In the above embodiment, for example, as shown in step S97 of FIG. 9, the control circuit 112 has been described by taking the case of acquiring support data based on the input from the operator as an example. However, it is not limited to this. The control circuits 112 and 112a may specify the organ included in the ultrasonic image based on the atlas coordinates and automatically read the support data corresponding to the specified organ or the like from the internal storage circuit 18.

FIG. 19 is a diagram showing a flowchart when the control circuits 112 and 112a automatically read the support data. First, the ultrasonic image or the three-dimensional atlas image corresponding to the position of the ultrasonic probe 20 is displayed in, for example, the second display area G20 of the display device 50 (step S191). The three-dimensional atlas image may represent a cross section. When the three-dimensional atlas image is displayed, the control circuits 112 and 112a execute the support information acquisition function 1126. By executing the support information acquisition function 1126, the control circuits 112 and 112a acquire the coordinate information of the displayed three-dimensional atlas image in the atlas coordinate system. The control circuits 112 and 112a identify the organ and / or the biological structure included in the three-dimensional atlas image based on the acquired coordinate information (step S192). The control circuits 112 and 112a display the specified organ and / or the biological structure on the display device 50, and accept the designation from the operator for the candidate of the organ or the biological structure for which the support data is requested (step S193). ). For example, any of the plurality of organs and / or biostructures identified on the atlas image is designated via the input device 62. At this time, the operator, for example, aligns the cursor displayed on the display device 50 with the specified organ and / or biological structure. Further, the specified organs and / or biological structures may be displayed on the display device 50 in a list, and selection from the operator for the list may be accepted. If there is only one specified organ or biological structure, it is not necessary to accept the designation from the operator. That is, the process of step S193 may be skipped.

When the organs and / or biostructures included in the 3D atlas image are designated, the control circuits 112, 112a read the support data for the designated organs and / or biostructures from the internal storage circuit 18 ( Step S194). The control circuits 112 and 112a display the read support data on the display device 50 (step S195).

In the above, in the support information acquisition function 1126, the control circuits 112 and 112a acquire the coordinate information of the three-dimensional atlas image in the atlas coordinate system, and based on the acquired coordinate information, the organ included in the three-dimensional atlas image. And / or the case of specifying a biological structure has been described as an example. However, it is not limited to this. The control circuits 112 and 112a acquire the coordinate information of the 3D atlas image in the atlas coordinate system by executing the control program, and based on the acquired coordinate information, the organs included in the 3D atlas image and / or A structure specifying function for specifying a biological structure may be realized.
Further, the ultrasonic diagnostic apparatus 1, 1a according to the above embodiment may automatically change the transmission / reception conditions according to the organ to be recognized. For example, blood flow is slow in the kidneys and fast in the heart. The control circuits 112 and 112a, for example, reduce the speed range at the time of color Doppler when the organ to be recognized is the kidney, and increase the speed range at the time of color Doppler when the organ to be recognized is the heart.

FIG. 20 is a diagram showing a flowchart when the control circuits 112 and 112a automatically change the transmission / reception conditions according to the organ to be recognized. First, the ultrasonic image or the three-dimensional atlas image corresponding to the position of the ultrasonic probe 20 is displayed in, for example, the second display area G20 of the display device 50 (step S201). When the three-dimensional atlas image is displayed, the control circuits 112 and 112a execute the support information acquisition function 1126. By executing the support information acquisition function 1126, the control circuits 112 and 112a acquire the coordinate information of the displayed three-dimensional atlas image in the atlas coordinate system. The control circuits 112 and 112a identify the organ and / or the biological structure included in the three-dimensional atlas image based on the acquired coordinate information (step S202). The control circuits 112 and 112a display the specified organ and / or the biological structure on the display device 50, and accept the designation from the operator for the candidate of the organ or the biological structure for which the support data is requested (step S203). ). For example, any of the plurality of organs and / or biostructures identified on the atlas image is designated via the input device 62. If there is only one specified organ or biological structure, it is not necessary to accept the designation from the operator. That is, the process of step S203 may be skipped.

When the organs and / or biostructures included in the 3D atlas image are specified, the control circuits 112, 112a internally include image quality conditions and / or display conditions for the designated organs and / or biostructures. Read from the storage circuit 18 (step S204). The control circuits 112 and 112a set the read image quality condition and / or the display condition (step S205). The ultrasonic diagnostic apparatus 1, 1a transmits and receives ultrasonic waves according to the set image quality conditions and / or display conditions, and generates an ultrasonic image.

Further, in the above embodiment, the case where the image calculation circuit 16 is interlocked with the scanning of the ultrasonic probe 20 and the support data is displayed in parallel with the ultrasonic image in real time has been described as an example. However, it is not limited to this. The image calculation circuit 16 may generate display image data based on the stored image data after the inspection. At this time, for example, the control circuits 112 and 112a read the image data after the inspection and recognize the position of the ultrasonic probe 20 when the read image data is acquired from the position information added to the image data. The control circuits 112 and 112a acquire the position information of the atlas coordinate system corresponding to the recognized position information, and recognize the organs and the like included in the image data. The control circuits 112 and 112a read the support data corresponding to the recognized organ and the like from the internal storage circuit 18. Then, the image calculation circuit 16 generates display image data from the image data and the read support data.

Further, the image calculation circuit 16 according to the above embodiment displays an ultrasonic image acquired in an area substantially the same as the designated position on the display device 50 when a predetermined position on the atlas image is designated by the operator. You may let me. FIG. 21 is a diagram showing an example in which an atlas image G21 and a plurality of ultrasonic images corresponding to positions designated by the atlas image G21 are displayed. As shown in FIG. 21, the operator moves the virtual probe G22 onto the desired organ on the atlas image. When the virtual probe is moved, the control circuits 112 and 112a execute the support information acquisition function 1126. When the support information acquisition function 1126 is executed, the control circuits 112 and 112a specify the range of the magnetic field coordinate system corresponding to the position range of the organ in the atlas coordinate system. The control circuits 112 and 112a read out the ultrasonic image included in the range in the specified magnetic field coordinate system from the internal storage circuit 18 and display it on the display device 50. At this time, the internal storage circuit 18 stores an ultrasonic image associated with the atlas image. The displayed ultrasonic image may be a two-dimensional ultrasonic image, a three-dimensional ultrasonic image, or a four-dimensional ultrasonic image. Further, the displayed ultrasonic image may be an MPR image or a VR image.

Further, in the above embodiment, as shown in FIG. 22, the case where the position sensor system 30 includes the magnetic sensor 32 has been described. However, the number of magnetic sensors provided in the position sensor system 30 is not limited to one. The position sensor system 30 may include a second magnetic sensor 34, as shown in FIG. The second magnetic sensor 34 is attached to, for example, a biological reference site on the body surface of the subject P. The position detection device 33 transmits the position information of the second magnetic sensor 34 to the main body devices 10 and 10a. The control circuits 112 and 112a recognize the position of the second magnetic sensor 34 as the position of the biological reference portion. When the biological reference site exists in the body, the position of the biological reference site is calculated from the position of the second magnetic sensor 34 and the position of the designated site in the ultrasonic tomographic image. This makes it possible to continuously recognize the biological reference site even when the subject P moves during the examination or when it becomes necessary to change the position of the subject P during the examination.

Further, in the above embodiment, a case where the position of the biological reference portion is acquired by using the position sensor system 30 using the position sensor has been described as an example. However, the position sensor system 30 is not limited to the one using the position sensor. For example, as shown in FIG. 24, a position sensor system using the robot arm 140 may be used.

The robot arm control unit 141 of the robot arm 140 drives the robot arm 140. The position of the ultrasonic probe 20 supported by the probe holder 142 of the robot arm 140 is acquired based on the output from the robot arm sensor 143 attached to the robot arm 140. As the robot arm sensor 143, a position sensor, a speed sensor, an acceleration sensor, a pressure sensor, and the like are used. When the ultrasonic probe 20 comes into contact with the biological reference portion, the operator of the robot arm 140 inputs a designated instruction from an input means provided in the robot arm control unit 141, for example, a button or the like. The control circuits 112 and 112a register the position of the robot arm 140, which is grasped at the time when the designated instruction is input, as the position of the biological reference portion.

The number of robot arms provided in the position sensor system is not limited to one. The position sensor system may include a second robot arm. The second robot arm is controlled so as to follow a biological reference site on the body surface of the subject P, for example. The robot arm control unit 141 controls the movement of the second robot arm while grasping the position of the second robot arm. The control circuit 112 recognizes that the position followed by the second robot arm is the position of the biological reference portion. When the biological reference site exists in the body, the position of the biological reference site is calculated from the position followed by the second robot arm and the position of the designated site in the ultrasonic tomographic image. This makes it possible to continuously recognize the biological reference site even when the subject P moves during the examination or when it becomes necessary to change the position of the subject P during the examination.

Further, in the above embodiment, a case where the position of the biological reference portion is acquired by using the position sensor system 30 using the position sensor has been described as an example. However, the position sensor system 30 is not limited to the one using the position sensor. For example, as shown in FIG. 25, a position sensor system using an image pickup device 150 such as a camera may be used.

The imaging device 150 is installed, for example, at a position where the whole body of the subject P can be photographed. The image analysis device recognizes the position of the ultrasonic probe 20 in the three-dimensional coordinate system by analyzing the image taken by the image pickup device. When the operator of the ultrasonic diagnostic apparatus 1, 1a abuts the ultrasonic probe 20 on the biological reference site, the operator inputs a designated instruction from the input means provided in the ultrasonic probe 20. The control circuit 112 registers the position of the ultrasonic probe 20 recognized at the time when the designated instruction is input as the position of the biological reference site.

Further, in the above embodiment, the atlas data processing function 1121, the position information registration function 1122, the position information control function 1123, the coordinate conversion function 1124, the association function 1125, and the support information acquisition function 1126 are super-exposed as shown in FIG. The case where the ultrasonic diagnostic apparatus 1 is provided has been described as an example. However, the device provided with these functions is not limited to the ultrasonic diagnostic device 1. These functions may be provided in a medical image processing device such as a workstation.

Further, in the above embodiment, the atlas image is not limited to the schema. As the atlas image, it is also possible to use a standardized CT image and an MR image.

The word "processor" used in the above description means, for example, a CPU (central processing unit), a GPU (Graphics Processing Unit), an integrated circuit for a specific application (Application Specific Integrated Circuit: ASIC)), or a programmable logic device (for example, a programmable logic device). , Simple Programmable Logic Device (SPLD), Complex Programmable Logic Device (CPLD), and Field Programmable Gate Array (FPGA)). The processor realizes the function by reading and executing the program stored in the storage circuit. It should be noted that each processor of the present embodiment is not limited to the case where each processor is configured as a single circuit, and a plurality of independent circuits may be combined to form one processor to realize its function. good. Further, the plurality of components in FIG. 1 may be integrated into one processor to realize the function.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, as well as in the scope of the invention described in the claims and the equivalent scope thereof.

1,1a ... Ultrasonic diagnostic device, 10,10a ... Main unit device, 11 ... Ultrasonic transmission circuit, 12 ... Ultrasonic reception circuit, 13 ... B mode processing circuit, 14 ... Doppler processing circuit, 15 ... Three-dimensional data generation circuit , 16 ... image calculation circuit, 161 ... image generation function, 17 ... display processing circuit, 18 ... internal storage circuit, 19 ... image memory, 110 ... input interface circuit, 111 ... communication interface circuit, 112, 112a ... control circuit, 1121 ... Atlas data processing function, 1122 ... Position information registration function, 1123 ... Position information control function, 1124 ... Coordinate conversion function, 1125, 1125a ... Correspondence function, 1126 ... Support information acquisition function, 1127 ... Fusion function, 20 ... Ultrasonic Probe, 30 ... position sensor system, 31 ... magnetic generator, 32 ... magnetic sensor, 33 ... position detector, 34 ... second magnetic sensor, 40 ... external device, 50 ... display device, 61 ... operation panel, 62 ... Input device, 100 ... network, 140 ... robot arm, 141 ... robot arm control unit, 142 ... probe holder, 143 ... robot arm sensor, 150 ... imaging device.

Claims (29)

An ultrasonic image in a first three-dimensional coordinate system that defines a first three-dimensional space, or a position detection unit that detects the position of an ultrasonic probe in the first three-dimensional space.
A biological anatomical chart processing unit that uses a biological anatomical chart defined by a second three-dimensional coordinate system that defines a second three-dimensional space different from the first three-dimensional space.
A coordinate conversion unit that converts the position and orientation of the feature portion into a biological coordinate system based on the position and orientation of the feature portion represented by the first three-dimensional coordinate system.
Using the position and orientation of the feature site in the biocoordinate system and the position and orientation of the feature site included in the vivisection diagram in the second three-dimensional coordinate system, the subject included in the ultrasonic image. And the associating part that associates the structure with respect to the structure included in the vivisection diagram,
An ultrasonic diagnostic apparatus comprising. Based on the biocoordinate system, the associating unit expands, reduces, or deforms the second three-dimensional coordinate system to associate with the second three-dimensional coordinate system.
The ultrasonic diagnostic apparatus according to claim 1. An ultrasonic image in a first three-dimensional coordinate system that defines a first three-dimensional space, or a position detection unit that detects the position of an ultrasonic probe in the first three-dimensional space.
A biological anatomical chart processing unit that uses a biological anatomical chart defined by a second three-dimensional coordinate system that defines a second three-dimensional space different from the first three-dimensional space.
Utilizing the position and orientation of the structure related to the subject included in the ultrasonic image in the first three-dimensional coordinate system and the position and orientation of the structure included in the bioanatomical chart in the second three-dimensional coordinate system. Then, the associating portion for associating the structure related to the subject included in the ultrasonic image with the structure included in the bioanatomical chart,
A three-dimensional medical image alignment unit that aligns the positions of the first three-dimensional coordinate system and the three-dimensional medical image stored in advance, and the three-dimensional medical image alignment unit.
Equipped with
The associating portion associates the feature portion included in the three-dimensional medical image with the feature portion included in the vivisection diagram by alignment between images.
Ultrasonic diagnostic equipment. An ultrasonic image in a first three-dimensional coordinate system that defines a first three-dimensional space, or a position detection unit that detects the position of an ultrasonic probe in the first three-dimensional space.
A biological anatomical chart processing unit that uses a biological anatomical chart defined by a second three-dimensional coordinate system that defines a second three-dimensional space different from the first three-dimensional space.
Utilizing the position and orientation of the structure related to the subject included in the ultrasonic image in the first three-dimensional coordinate system and the position and orientation of the structure included in the bioanatomical chart in the second three-dimensional coordinate system. Then, the associating portion for associating the structure related to the subject included in the ultrasonic image with the structure included in the bioanatomical chart,
Based on the position of the ultrasonic probe or the information of the bioanatomical chart corresponding to the position of the ultrasonic image, the organ and / or the biological structure included in the ultrasonic image is recognized, and the recognized organ, And / or the support information acquisition department that acquires support information about biological structures,
An image calculation unit that generates an ultrasonic image and a display image including the support information in parallel with the ultrasonic image and the support information, or by superimposing the support information on the ultrasonic image.
Equipped with
When the organ and / or the biological structure is recognized, the support information acquisition unit receives the support information based on the position of the ultrasonic probe or the information of the bioanatomical chart corresponding to the position of the ultrasonic image. As the above, the examination findings of the ultrasonic examination of the organ, the image data acquired in the past by the medical image diagnosis device including the ultrasonic image, the examination findings of the medical image diagnosis other than the ultrasonic of the organ, and the above. Acquire any one of the diagnostic information and / or treatment information of the organ, the result of the non-imaging test including the blood test of the subject, and the electronic chart data of the subject.
Ultrasonic diagnostic equipment. An ultrasonic image in a first three-dimensional coordinate system that defines a first three-dimensional space, or a position detection unit that detects the position of an ultrasonic probe in the first three-dimensional space.
A biological anatomical chart processing unit that uses a biological anatomical chart defined by a second three-dimensional coordinate system that defines a second three-dimensional space different from the first three-dimensional space.
Utilizing the position and orientation of the structure related to the subject included in the ultrasonic image in the first three-dimensional coordinate system and the position and orientation of the structure included in the bioanatomical chart in the second three-dimensional coordinate system. Then, the associating portion for associating the structure related to the subject included in the ultrasonic image with the structure included in the bioanatomical chart,
Based on the position of the ultrasonic probe or the information of the bioanatomical chart corresponding to the position of the ultrasonic image, the organ and / or the biological structure included in the ultrasonic image is recognized, and the recognized organ, And / or the support information acquisition department that acquires support information about biological structures,
An image calculation unit that generates an ultrasonic image and a display image including the support information in parallel with the ultrasonic image and the support information, or by superimposing the support information on the ultrasonic image.
Equipped with
The support information acquisition unit acquires a vivisection image and a scanning method of the ultrasonic probe as the support information.
The image calculation unit generates a display image in which the scanning method is superimposed on the vivisection image.
Ultrasonic diagnostic equipment. An ultrasonic image in a first three-dimensional coordinate system that defines a first three-dimensional space, or a position detection unit that detects the position of an ultrasonic probe in the first three-dimensional space.
A biological anatomical chart processing unit that uses a biological anatomical chart defined by a second three-dimensional coordinate system that defines a second three-dimensional space different from the first three-dimensional space.
Utilizing the position and orientation of the structure related to the subject included in the ultrasonic image in the first three-dimensional coordinate system and the position and orientation of the structure included in the bioanatomical chart in the second three-dimensional coordinate system. Then, the associating portion for associating the structure related to the subject included in the ultrasonic image with the structure included in the bioanatomical chart,
Based on the position of the ultrasonic probe or the information of the bioanatomical chart corresponding to the position of the ultrasonic image, the organ and / or the biological structure included in the ultrasonic image is recognized, and the recognized organ, And / or the support information acquisition department that acquires support information about biological structures,
An image calculation unit that generates an ultrasonic image and a display image including the support information in parallel with the ultrasonic image and the support information, or by superimposing the support information on the ultrasonic image.
Equipped with
The support information acquisition unit acquires the names of the recognized organs and / or biological structures as the support information.
The image calculation unit assigns the name to the recognized organ and / or biological structure to generate a display image.
Ultrasonic diagnostic equipment. An ultrasonic image in a first three-dimensional coordinate system that defines a first three-dimensional space, or a position detection unit that detects the position of an ultrasonic probe in the first three-dimensional space.
A biological anatomical chart processing unit that uses a biological anatomical chart defined by a second three-dimensional coordinate system that defines a second three-dimensional space different from the first three-dimensional space.
Utilizing the position and orientation of the structure related to the subject included in the ultrasonic image in the first three-dimensional coordinate system and the position and orientation of the structure included in the bioanatomical chart in the second three-dimensional coordinate system. Then, the associating portion for associating the structure related to the subject included in the ultrasonic image with the structure included in the bioanatomical chart,
Based on the position of the ultrasonic probe or the information of the bioanatomical chart corresponding to the position of the ultrasonic image, the organ and / or the biological structure included in the ultrasonic image is recognized, and the recognized organ, And / or the support information acquisition department that acquires support information about biological structures,
An image calculation unit that generates an ultrasonic image and a display image including the support information in parallel with the ultrasonic image and the support information, or by superimposing the support information on the ultrasonic image.
Equipped with
The image calculation unit switches the display so as to display the selected support information in response to the selection instruction of the support information to be displayed.
Ultrasonic diagnostic equipment. An ultrasonic image in a first three-dimensional coordinate system that defines a first three-dimensional space, or a position detection unit that detects the position of an ultrasonic probe in the first three-dimensional space.
A biological anatomical chart processing unit that uses a biological anatomical chart defined by a second three-dimensional coordinate system that defines a second three-dimensional space different from the first three-dimensional space.
Utilizing the position and orientation of the structure related to the subject included in the ultrasonic image in the first three-dimensional coordinate system and the position and orientation of the structure included in the bioanatomical chart in the second three-dimensional coordinate system. Then, the associating portion for associating the structure related to the subject included in the ultrasonic image with the structure included in the bioanatomical chart,
Based on the position of the ultrasonic probe or the information of the bioanatomical chart corresponding to the position of the ultrasonic image, the organ and / or the biological structure included in the ultrasonic image is recognized, and the recognized organ, And / or the support information acquisition department that acquires support information about biological structures,
An image calculation unit that generates an ultrasonic image and a display image including the support information in parallel with the ultrasonic image and the support information, or by superimposing the support information on the ultrasonic image.
A storage unit that stores ultrasonic images with location information,
Equipped with
The support information is a vivisection image.
When the image calculation unit receives a designation for a predetermined position in the vivisection image, the image calculation unit reads an ultrasonic image acquired in a region substantially the same as the designated position from the storage unit, and the read ultrasonic wave. Generate a display image that includes an image,
Ultrasonic diagnostic equipment. An ultrasonic image in a first three-dimensional coordinate system that defines a first three-dimensional space, or a position detection unit that detects the position of an ultrasonic probe in the first three-dimensional space.
A biological anatomical chart processing unit that uses a biological anatomical chart defined by a second three-dimensional coordinate system that defines a second three-dimensional space different from the first three-dimensional space.
Utilizing the position and orientation of the structure related to the subject included in the ultrasonic image in the first three-dimensional coordinate system and the position and orientation of the structure included in the bioanatomical chart in the second three-dimensional coordinate system. Then, the associating portion for associating the structure related to the subject included in the ultrasonic image with the structure included in the bioanatomical chart,
Based on the position of the ultrasonic probe or the information of the bioanatomical chart corresponding to the position of the ultrasonic image, the organ and / or the biological structure included in the ultrasonic image is recognized, and the recognized organ, And / or the support information acquisition department that acquires support information about biological structures,
An image calculation unit that generates an ultrasonic image and a display image including the support information in parallel with the ultrasonic image and the support information, or by superimposing the support information on the ultrasonic image.
Equipped with
The support information acquisition unit acquires a vivisection diagram image as the support information, and
The image calculation unit generates a display image in which information based on the inspection history obtained by scanning the ultrasonic probe is superimposed on the vivisection image.
Ultrasonic diagnostic equipment. A storage unit that stores the support information and the information based on the inspection history, or the support information, the information based on the inspection history, and the inspection image.
Further equipped,
The ultrasonic diagnostic apparatus according to claim 9. The support information acquisition unit acquires an image by using the support information stored in the storage unit and the information based on the inspection history.
The ultrasonic diagnostic apparatus according to claim 10. Based on the position of the ultrasonic probe or the information of the bioanatomical chart corresponding to the position of the ultrasonic image, the organ and / or the biological structure included in the ultrasonic image is recognized, and the recognized organ, And / or the support information acquisition department that acquires support information about biological structures,
An image calculation unit that generates an ultrasonic image and a display image including the support information in parallel with the ultrasonic image and the support information, or by superimposing the support information on the ultrasonic image.
Further equipped,
The ultrasonic diagnostic apparatus according to any one of claims 1 to 3. An interface that accepts specifications from the operator and
Further equipped,
The support information acquisition unit recognizes a plurality of organs and / or biological structures, and among the recognized plurality of organs and / or biological structures, an organ designated via the interface and / or Obtain support information on biological structures,
The ultrasonic diagnostic apparatus according to any one of claims 4 to 12. A storage unit that stores the ultrasonic image and the support information in association with each other,
Further equipped,
The ultrasonic diagnostic apparatus according to any one of claims 4 to 13. A storage unit that stores the support information and
Further equipped,
The support information acquisition unit acquires an image by using the support information stored in the storage unit.
The ultrasonic diagnostic apparatus according to any one of claims 4 to 14. An interface that accepts specifications from the operator and
Further equipped,
The association portion includes the position and orientation of the structure related to the subject included in the ultrasonic image, which is designated via the interface, in the first three-dimensional coordinate system, and the structure included in the bioanatomical chart. By utilizing the position and orientation in the second three-dimensional coordinate system of the above, the structure related to the subject included in the ultrasonic image is associated with the structure included in the bioanatomical chart.
The ultrasonic diagnostic apparatus according to any one of claims 1 to 15. The support information is a vivisection image.
The ultrasonic diagnostic apparatus according to any one of claims 4 to 15. In the vivisection image, an icon representing the position of the ultrasonic probe is superimposed on the position corresponding to the position of the ultrasonic probe.
The ultrasonic diagnostic apparatus according to claim 17. The vivisection image is a whole living body image, an whole organ image, or a cross-sectional image.
The ultrasonic diagnostic apparatus according to claim 17 or 18. The vivisection image is an image representing at least one of blood vessels, muscles, skeletons, nerves, and organs.
The ultrasonic diagnostic apparatus according to any one of claims 17 to 19. The vivisection image is a schema image.
The ultrasonic diagnostic apparatus according to any one of claims 17 to 20. The vivisection image is a CT image or an MR image.
The ultrasonic diagnostic apparatus according to any one of claims 17 to 20. The position detection unit detects the position of the ultrasonic probe in the first three-dimensional space based on the output from the sensor attached to the robot arm that supports the ultrasonic probe.
The ultrasonic diagnostic apparatus according to any one of claims 1 to 22. The position detection unit detects the position of the ultrasonic probe in the first three-dimensional space by analyzing an image relating to the ultrasonic probe.
The ultrasonic diagnostic apparatus according to any one of claims 1 to 22. An ultrasonic image in a first three-dimensional coordinate system that defines a first three-dimensional space, or a position detection process for detecting the position of an ultrasonic probe in the first three-dimensional space.
A bioanatomical chart utilization process using a bioanatomical chart defined in a second three-dimensional coordinate system that defines a second three-dimensional space different from the first three-dimensional space, and
A coordinate conversion process for converting the position and orientation of the feature portion into a biocoordinate system based on the position and orientation of the feature portion represented by the first three-dimensional coordinate system.
Using the position and orientation of the feature site in the biocoordinate system and the position and orientation of the feature site included in the vivisection diagram in the second three-dimensional coordinate system, the subject included in the ultrasonic image. And the associative process of associating the structure related to the structure with the structure included in the vivisection diagram.
Is a scanning support program that is executed by the processor installed in the ultrasonic diagnostic equipment. An ultrasonic image in a first three-dimensional coordinate system that defines a first three-dimensional space, or a position detection process for detecting the position of an ultrasonic probe in the first three-dimensional space.
A bioanatomical chart utilization process using a bioanatomical chart defined in a second three-dimensional coordinate system that defines a second three-dimensional space different from the first three-dimensional space, and
Utilizing the position and orientation of the structure related to the subject included in the ultrasonic image in the first three-dimensional coordinate system and the position and orientation of the structure included in the bioanatomical chart in the second three-dimensional coordinate system. Then, the associative processing for associating the structure related to the subject included in the ultrasonic image with the structure included in the bioanatomical chart,
A three-dimensional medical image alignment process for aligning the positions of the first three-dimensional coordinate system and a three-dimensional medical image stored in advance, and
Is a scanning support program that is executed by the processor installed in the ultrasonic diagnostic equipment.
In the associative processing, the feature portion included in the three-dimensional medical image and the feature portion included in the vivisection diagram are associated with each other by alignment between images.
Scanning support program. Based on the position of the ultrasonic probe or the information of the bioanatomical chart corresponding to the position of the ultrasonic image, the organ and / or the biological structure included in the ultrasonic image is recognized, and the recognized organ, And / or support information acquisition processing to acquire support information related to biological structures,
An image calculation process generated by arranging the ultrasonic image and the support information in parallel or superimposing the support information on the ultrasonic image on a display image including the ultrasonic image and the support information.
To the processor further
The scanning support program according to claim 25 or 26. A storage process for storing the ultrasonic image and the support information in association with each other,
To the processor further
The scanning support program according to claim 27. A storage process for storing the support information in the storage unit, and
Image search processing to acquire images using the stored support information,
To the processor further
The scanning support program according to claim 27 or 28.

Images