JP7169153B2 - Ultrasound diagnostic equipment and program - Google Patents

Description

The present invention relates to an ultrasonic diagnostic apparatus and program, and more particularly to control of electronic scanning and processing of data obtained by electronic scanning.

2. Description of the Related Art In the field of ultrasonic diagnosis, an ultrasonic probe (hereinafter referred to as a 3D probe) equipped with a two-dimensional transducer array is used. A 3D probe is used to acquire volume data from a three-dimensional space inside a living body by two-dimensional electronic scanning of ultrasonic beams. It is also used to acquire cross-sectional data from observation cross-sections in a three-dimensional space.

For example, in ultrasound examination of a fetus in obstetrics, a 3D probe is used to measure the abdomen, head, etc. of the fetus. At that time, the observation section (scanning plane) of the 3D probe is matched with the target section (measurement target section) of the fetus. Then, measurements are performed to obtain distances, areas, and the like on the displayed tomographic image.

Patent Literature 1 discloses an ultrasonic diagnostic apparatus capable of identifying the orientation of a fetus based on volume data acquired from a three-dimensional space inside a living body. Specifically, in the ultrasonic diagnostic apparatus, when there is a guide display request from the user, the two-dimensional ultrasonic image at that time is continuously displayed, and at the same time, volume data is acquired and A fetal orientation is identified based on the volumetric data. A guide is then displayed representing the orientation of the identified fetus.

Note that Patent Document 2 discloses an ultrasonic diagnostic apparatus that can determine the orientation of a fetus based on a plurality of measurement results for the fetus. Patent Literature 3 discloses an ultrasonic diagnostic apparatus capable of searching for a target cross section from search volume data.

JP 2014-124269 A JP 2015-171476 A JP 2017-104248 A

On the premise that real-time tomographic images are continuously displayed as moving images using a 3D probe, it assists the user in observing tissues, assists the user in operating the 3D probe, or assists the user in setting scanning conditions. is desired. For example, in obstetrics, when measuring a fetus, it is desirable to support the user so that a plurality of target cross-sections of the fetus are displayed smoothly in sequence. None of Patent Documents 1 to 3 describes two-dimensional electronic scanning control on the premise of continuous display of real-time tomographic images.

SUMMARY OF THE INVENTION An object of the present invention is to utilize the functions of a 3D probe to assist a user when displaying a real-time tomographic image using the 3D probe.

An ultrasonic diagnostic apparatus according to the present invention includes a 3D probe that forms an ultrasonic beam that is electronically scanned in a three-dimensional space inside a living body, a plurality of basic scans that are intermittently performed on the time axis, and intermittent scans between the basic scans. a controller for controlling electronic scanning of the ultrasonic beam according to a composite scanning sequence including a plurality of auxiliary scans that are sequentially performed; an image forming unit that forms a real-time tomographic image based on a plurality of cross-sectional data; and reference data that is acquired from all or part of the three-dimensional space by the plurality of auxiliary scans and is acquired from a cross section other than the observation cross section. a support information generation unit that generates support information to be provided to the user together with the real-time tomographic image based on reference data including the data.

A program according to the present invention is executed in an ultrasonic diagnostic apparatus, and the program includes a plurality of basic scans intermittently executed on a time axis and a plurality of intermittent basic scans intermittently executed in between them. A function of controlling electronic scanning of an ultrasonic beam in a three-dimensional space according to a composite scanning sequence including auxiliary scanning, and a plurality of cross-sectional data sequentially acquired from observation cross-sections in the three-dimensional space by the plurality of basic scans. Based on, the function of forming a real-time tomographic image, and the reference data obtained from the whole or part of the three-dimensional space by the plurality of auxiliary scans, and the reference data including data obtained from other than the observation cross section and a function of generating support information to be provided to the user together with the real-time tomographic image based on.

ADVANTAGE OF THE INVENTION According to this invention, when displaying a real-time tomographic image using a 3D probe, it becomes possible to provide a user with assistance information.

1 is a block diagram showing an ultrasonic diagnostic apparatus according to an embodiment; FIG. 2 is a flowchart showing an operation example of the ultrasonic diagnostic apparatus shown in FIG. 1; It is a figure which shows the 1st example of compound scanning. FIG. 10 is a diagram showing a second example of compound scanning; FIG. 13 illustrates a composite scanning sequence; It is a figure which shows the 1st structural example of an observation assistance image production|generation part. It is a figure which shows the 1st example of an observation assistance image. It is a figure which shows the 2nd example of an observation assistance image. FIG. 11 is a diagram showing a second configuration example of an observation support image generation unit; FIG. 4 is a diagram showing a configuration example of an operation support image generation unit; FIG. 10 is a diagram showing third examples 1 to 3 of compound scanning; FIG. 10 is a diagram showing operation support images No. 1 to No. 3; FIG. 11 is a diagram showing a fourth example of compound scanning; FIG. 13 illustrates a composite scanning sequence; It is a figure which shows the 1st example of a setting assistance image. It is a figure which shows the modification about the 1st example of a setting assistance image. FIG. 10 is a diagram showing a second example of a setting assistance image; FIG. 11 is a diagram showing a modification of the second example of the setting support image;

Hereinafter, embodiments will be described based on the drawings.

(1) Outline of Embodiment An ultrasonic diagnostic apparatus according to an embodiment includes a 3D probe, a control section, an image forming section, and a support information generating section. A 3D probe is an ultrasound probe that forms an ultrasound beam that is electronically scanned in three-dimensional space within a living body. The control unit controls the electronic scanning of the ultrasonic beam according to a composite scanning sequence including a plurality of basic scans intermittently performed on the time axis and a plurality of auxiliary scans intermittently performed therebetween. . The image forming unit forms a real-time tomographic image based on a plurality of cross-sectional data sequentially acquired from observation cross-sections in a three-dimensional space by a plurality of basic scans. The support information generation unit provides a user with a real-time tomographic image based on reference data that is acquired from all or part of a three-dimensional space by a plurality of auxiliary scans and includes data acquired from other than the observation cross section. Generates supporting information to be provided.

According to the above configuration, it is possible to provide the user with support information while displaying a real-time tomographic image by electronic scanning control based on the composite scanning sequence. In general, when a 3D probe is used to generate and display real-time tomographic images, it is not necessary to acquire data from other than the observation plane. On the other hand, the above configuration obtains reference data including data from sections other than the observation cross section in a time division manner, and uses the reference data for user support.

Reference data is, for example, volume data, multi-frame data, and the like. A part of the reference data may include data acquired from the observed cross section. The supporting information is preferably image information. However, the support information may be composed of sound, light, or the like. A real-time tomographic image is a moving image representing in real time the cross-sectional appearance and structure of a living body. Of course, such moving images may be saved and the saved moving images may be played. It is desirable that the supporting information is provided even during the playback. When performing measurement, a display frame selected from among a plurality of display frames forming a moving image is usually displayed as a still image.

In an embodiment, each primary scan forms a plurality of ultrasound beams with a high beam density, and each auxiliary scan forms a plurality of ultrasound beams with a low beam density that is lower than the high beam density. When volume data is acquired in multiple sub-scans, a low beam density is set for each of the first and second scan directions.

In order to ensure the quality of real-time tomographic images, it is desired to achieve high beam density in a plurality of basic scans and to ensure a certain frame rate. On the other hand, the multiple auxiliary scans are for generating auxiliary support information, so as long as the purpose of the support information can be achieved, the beam density can be reduced in the multiple auxiliary scans, and the volume rate or It is possible to lower the frame rate. From this point of view, the above configuration sets different scanning conditions for a plurality of basic scans and a plurality of auxiliary scans.

In the embodiment, the support information generation unit includes an orientation determiner that determines the orientation of the target tissue in the three-dimensional space based on the reference data, and an observation support image that generates an observation support image representing the orientation of the target tissue as the support information. a generator; Normally, it is difficult to determine the direction of the target tissue appearing from a tomographic image. For example, when performing a plurality of measurements step by step, it is difficult to determine the direction in which the 3D probe should be moved from the tomographic image. Although it is possible to move the 3D probe on a trial basis, for example, in ultrasound diagnosis of a fetus, the orientation of the fetus itself varies and the target tissue in the fetus is very small. If the 3D probe is moved carelessly, the target tissue may be lost. According to the above configuration, since the orientation of the target tissue can be recognized through observation of the observation support image, it is possible to provide the user with an indication of the direction in which the 3D probe should be moved. The observation support image directly supports the observation of the ultrasonic image, but indirectly supports the operation of the 3D probe.

In the embodiment, the support information generation unit includes a computing unit that calculates the deviation of the observation plane with respect to the target plane based on the reference data, and assists in changing the position and orientation of the observation plane as support information based on the deviation of the observation plane. a manipulation aid image generator for generating a manipulation aid image. According to this configuration, the burden on the operation of the 3D probe is reduced by observing the operation support image. That is, it becomes possible to easily determine the direction in which the 3D probe should be moved. Other operational assistance information may be provided along with the generation of the operational assistance image.

In the embodiment, the calculator analyzes a plurality of deviation components as the deviation of the observed cross section, and the manipulation support image generator generates a plurality of component-based manipulation support images corresponding to the plurality of deviation components as the manipulation support image. A plurality of component-based operation support images may be displayed in stages, or a plurality of component-based operation support images may be displayed simultaneously.

In the embodiment, the operation support image generator includes an orthogonal image generator that generates an orthogonal image having an orthogonal relationship with the observation section based on the reference data, and an orthogonal image as support information and a range marker representing the ultrasonic beam scanning range. and a setting aid image generator for generating a setting aid image comprising: According to this configuration, the scanning range can be confirmed by referring to the range marker with background information that does not appear in the real-time tomographic image.

In the embodiment, the support information generator determines the orientation of the target tissue in the three-dimensional space based on the first reference data as the reference data, and provides observation support representing the orientation of the target tissue as one of the support information. Means for generating an image, calculating the deviation of the observation section based on the second reference data as reference data, and changing the position and orientation of the observation section based on the deviation of the observation section as one of the support information. generating an orthogonal image having an orthogonal relationship with an observation section based on means for generating an operation assistance image to be assisted; and third reference data as reference data; means for generating a setting aid image including range markers representing the range; and means for selectively displaying the viewing aid image, the scanning aid image and the setting aid image.

According to a composite scanning sequence including a plurality of basic scans intermittently performed on a time axis and a plurality of auxiliary scans intermittently performed therebetween, A step of controlling electronic scanning of an ultrasonic beam in a three-dimensional space, and a step of forming a real-time tomographic image based on a plurality of cross-sectional data sequentially acquired from observation cross-sections in the three-dimensional space by a plurality of basic scans. , Support information provided to the user together with real-time tomographic images based on reference data obtained from all or part of the three-dimensional space by multiple auxiliary scans and including data obtained from other than the observation cross section and generating

The above operating methods can be implemented as hardware functions or as software functions. In the latter case, a program for executing the above operating method is installed in the ultrasonic diagnostic apparatus via a portable storage medium or via a network.

(2) Details of Embodiment FIG. 1 shows an ultrasonic diagnostic apparatus according to an embodiment. 2. Description of the Related Art An ultrasonic diagnostic apparatus is a medical apparatus that is installed in a medical institution such as a hospital and forms an ultrasonic image based on data obtained by transmitting and receiving ultrasonic waves to and from a living body. An ultrasound diagnostic apparatus according to an embodiment is an apparatus for performing ultrasound diagnosis of a fetus in obstetrics. However, the illustrated ultrasonic diagnostic apparatus may also be used for ultrasonic diagnosis of other tissues (for example, liver).

In FIG. 1, the 3D probe 10 is, in the illustrated example, an ultrasonic probe that transmits and receives ultrasonic waves while in contact with a living body surface. The 3D probe 10 has a two-dimensional transducer array. A two-dimensional transducer array consists of hundreds, thousands, tens of thousands or more transducers aligned in a first direction and a second direction. The first direction and the second direction are directions perpendicular to the probe central axis, respectively, and the first direction and the second direction are perpendicular to each other. One or both of the first direction and the second direction may be curved.

An ultrasound beam is formed by a two-dimensional transducer array. An ultrasound beam is conceived as a combined transmit and receive beam that combines transmit and receive beams. In practice, a transmit beam is formed during the transmit process and a receive beam is formed during the subsequent receive process. However, the received beam is actually electronically formed by phasing addition (delayed addition) of a plurality of received signals. Receive dynamic focus is applied in forming the receive beams. Also, if necessary, parallel reception is applied forming multiple receive beams per transmit beam.

In embodiments, the ultrasonic beam is electronically scanned by an electronic linear scanning method, an electronic sector scanning method, or the like. When acquiring volume data, an ultrasound beam is scanned in two dimensions. As a result, a three-dimensional space (three-dimensional data capturing area) 12 is formed in the living body. In the illustrated example, the first electronic scanning direction is the θ direction and the second electronic scanning direction is the φ direction. The depth direction is the d direction. The three-dimensional space 12 is an assembly of a plurality of frames F1, F2, F3, . . . , Fn arranged in the φ direction in the illustrated example. Each individual frame F1, F2, F3, . . . , Fn corresponds to a scanning plane. A plurality of frame data are acquired from a plurality of frames F1, F2, F3, . . . , Fn. These frame data constitute volume data. Each frame data consists of a plurality of beam data arranged in the θ direction, and each beam data consists of a plurality of echo data arranged in the d direction.

When displaying a tomographic image (real-time tomographic image), the scanning plane 14 is repeatedly formed at a fixed position. The scanning plane 14 corresponds to an observation section as a two-dimensional data capturing area. Normally, the position where the scanning plane 14 is formed is the midpoint (origin) in the φ direction, that is, the scanning plane 14 is the center scanning plane. However, the scanning surface 14 may be formed at other positions.

The ultrasonic diagnostic apparatus according to the embodiment has three support modes in order to provide the user with support information when displaying real-time tomographic images. That is, it has an observation support mode, an operation support mode, and a setting support mode. Three or more composite scan sequences are provided to achieve the three modes of assistance. Depending on the selected mode, a composite scan sequence to be actually used is selected from a plurality of composite scan sequences, and the electronic scanning of the ultrasonic beam is controlled accordingly. Each composite scanning sequence includes a plurality of basic scans intermittently performed on the time axis and a plurality of auxiliary scans intermittently performed therebetween. That is, each composite scanning sequence is composed of a plurality of scanning units that are time-divisionally executed in a predetermined pattern on the time axis. The multiple basic scans are for forming a real-time tomographic image, whereby multiple cross-sectional data are sequentially acquired from the observation cross-section. A plurality of sub-scans are for forming a support image as support information, thereby obtaining reference data from the three-dimensional space 12 .

As will be described later, scanning conditions differ between basic scanning and auxiliary scanning, specifically beam densities. In basic scanning, a plurality of ultrasonic beams are formed at high beam densities in order to form high-quality tomographic images. In sub-scanning, multiple ultrasound beams are formed at low beam densities as long as a supporting image can be produced. Depending on the purpose and circumstances, the composition or time distribution of individual composite scan sequences may be changed. A C-MUT (Capacitive Micro-machined Ultrasound Transducer) may be used as the two-dimensional transducer array.

The transmission unit 16 is a transmission beamformer that supplies a plurality of transmission signals in parallel to the two-dimensional transducer array at the time of transmission, and is configured as an electronic circuit. The receiving unit 18 is a receiving beamformer that performs phasing addition (delayed addition) of a plurality of received signals output in parallel from the two-dimensional transducer array at the time of reception, and is configured as an electronic circuit. The receiving section 18 includes a plurality of A/D converters, detection circuits, and the like. Beam data is generated by phasing addition of a plurality of received signals in the receiving unit 18 . When parallel reception is applied, for example, 16 reception beams spreading two-dimensionally are simultaneously formed per transmission/reception, that is, 16 beam data are obtained simultaneously. A beam data processing unit located after the receiving unit 18 is omitted from the drawing.

The tomographic imaging unit 20 functions in any of three support modes, which process multiple frames of data obtained sequentially from multiple basic scans. In embodiments, the tomographic imaging unit 20 includes a digital scan converter (DSC). A DSC has a coordinate conversion function, a pixel interpolation function, a frame rate conversion function, and the like. More specifically, the tomographic image forming unit 20 creates a tomographic image ( real-time tomographic images). The tomographic image data is sent to the display processing unit 24 .

The cine memory 22 stores a plurality of frame data acquired in chronological order as needed. The cine memory 22 is configured as a ring buffer, for example. During data reproduction, a plurality of frame data sequentially read out from the cine memory 22 are input to the tomographic image forming section 20 . A cine-memory may be provided in the rear stage of the tomographic image forming section 20 . Alternatively, an image storage unit equivalent to a cine memory may be connected to the display processing unit 24 .

The 3D memory 26 is a memory for storing volume data. In the embodiment, volume data as reference data is acquired from the three-dimensional space 12 and stored in the 3D memory 26 by executing a plurality of auxiliary scans in the observation support mode and the setting support mode. Volume data may be acquired from the entire three-dimensional space, or volume data may be acquired from a portion of the three-dimensional space. Orthogonal data, which will be described later, can be mentioned as one of such volume data. Coordinate transformation is performed when data is written to the 3D memory 26 . Alternatively, coordinate transformation is performed when reading data from the 3D memory 26 . The coordinate conversion is, for example, conversion from the dθφ coordinate system to the xyz coordinate system.

The observation support image generator 30 functions in the observation support mode. The observation support image generator 30 generates an observation support image based on the volume data read out from the 3D memory. A viewing aid image is an auxiliary or additional image representing the orientation of the fetus (eg, the side on which the head resides). The observation support image will be detailed later. Data of the observation support image is sent to the display processing unit 24 .

The memory 28 functions in the operation support mode, and in the embodiment, the memory 28 stores frame data sets (multi-frame data) obtained from cross-section sets in the three-dimensional space 12 . A cross-section set consists of an observation cross-section and a plurality of cross-sections having a predetermined spatial relationship to it. In an embodiment, the cross-section set consists of three cross-sections in parallel or intersecting relation, as described below. The frame data sets may be stored in the 3D memory 26 without the memory 28 being provided. The frame data set is also one form of reference data for generating support information, similar to the volume data described above.

In the operation assistance mode, the operation assistance image generation unit 34 calculates the deviation (or the direction of deviation) of the observation section from the target section based on the frame data set read from the memory 28, and based on the deviation, creates a 3D image. A manipulation support image is generated to support manipulation of the probe. The operation support image will be detailed later. Data of the operation support image is sent to the display processing unit 24 .

In the setting support mode, the setting support image generator 36 generates a setting support image based on the volume data read from the 3D memory 26 and the scanning range setting value specified by the user. In the embodiment, the setting support image is an image for supporting the setting of the scanning range in the φ direction or the setting of both scanning ranges in the θ direction and the φ direction. The setting support image will be detailed later. Data of the setting support image is sent to the display processing unit 24 .

Note that the reference data acquired when generating the support information (specifically, the observation support image, the operation support image, and the setting support image) includes at least data acquired from sections other than the observation cross section in the three-dimensional space. . A portion of the reference data may include data obtained from observed cross-sections.

A rendering unit and an MPR (Multi-Planar Reconstruction) image forming unit may be provided between the 3D memory 26 and the display processing unit 24 . The rendering section is a module that forms a three-dimensional ultrasound image based on volume data in the 3D memory 26 . A volume rendering method, a surface rendering method, and the like are known as rendering methods. The MPR image forming section is a module that forms MPR images based on the volume data in the 3D memory 26 .

The display processing unit 24 has a display image generation function, an image synthesis function, a color processing function, a graphic image generation function, and the like. A display image generated by the display processing unit 24 is displayed on the display unit 38 . The display unit 38 is configured by an LCD, an organic EL display device, or the like.

The tomographic image forming unit 20, the observation support image generation unit 30, the operation support image generation unit 34, the setting support image generation unit 36, and the display processing unit 24 described above are each configured by a processor, for example. Those functions may be implemented in a single processor. Those functions may be implemented by the CPU described below.

The control unit 40 is composed of a CPU and an operation program. The control unit 40 controls the operation of each component shown in FIG. The control unit 40 has a transmission/reception control (electronic scanning control) function, which is expressed as a transmission/reception control unit 42 in FIG. The transmission/reception control unit 42 executes special transmission/reception control for simultaneously displaying the real-time tomographic image and the support image. Specifically, as described below, the transmit/receive control unit 42 controls electronic scanning of the ultrasound beam according to a composite scanning sequence corresponding to a user-selected assistance mode. An operation panel 44 connected to the control unit 40 is an input device, which has multiple switches, multiple buttons, a trackball, a keyboard, and the like.

FIG. 2 shows a rough flow chart of the operation of the ultrasonic diagnostic apparatus shown in FIG. The content also indicates the control of the control unit. Specific contents of each step will be described in detail later.

In FIG. 2, when execution of the support mode is instructed, the type of support mode is selected in S10. Specifically, the user selects one of the support modes from observation support mode, operation support mode, and setting support mode. The assistance mode may be automatically selected depending on the situation.

If the observation support mode is selected in S10, transmission/reception control according to the first composite scanning sequence is started in S12. In S14, a real-time tomographic image is displayed, and an observation support image is displayed therewith. In that case, a real-time tomographic image is formed based on a plurality of frame data obtained from observation cross sections by a plurality of basic scans, and an observation support image is formed based on volume data obtained by a plurality of auxiliary scans. . In S16, it is determined whether or not to terminate the observation support mode, and when it is determined to continue the observation support mode, the step of S14 is repeatedly executed. If it is determined in S16 that the observation support mode is to be terminated, it is determined in S18 whether or not to switch the support mode.

When the operation support mode is selected in S10, transmission/reception control according to the second composite scanning sequence is started in S20. In S22, a real-time tomographic image is displayed, and an operation support image is displayed therewith. In that case, a real-time tomographic image is formed based on a plurality of frame data obtained from an observation section by a plurality of basic scans, and an operation support image is formed based on a frame data set obtained by a plurality of auxiliary scans. be. In S24, it is determined whether or not to end the operation support mode, and when it is determined to continue the operation support mode, the step of S22 is repeatedly executed.

If the setting support mode is selected in S10, transmission/reception control according to the third composite scanning sequence is started in S26. In S28, a real-time tomographic image is displayed, and a setting support image is displayed therewith. In that case, a real-time tomographic image is formed based on a plurality of frame data obtained from an observed section by a plurality of basic scans, and volume data (actually partial volume data) obtained by a plurality of auxiliary scans and A setting assist image is formed based on the setting value of the scanning range. In S30, it is determined whether or not to end the setting support mode, and when it is determined to continue the setting support mode, the process of S28 is repeatedly executed.

According to the above operation example, an arbitrary support mode can be executed, or a plurality of support modes can be executed step by step, depending on the situation. When performing measurement, generally, after a freeze operation (transmission/reception stop operation), the frame data string (a plurality of cross-sectional data arranged in chronological order) stored in the cine memory is reproduced, and a tomographic image suitable for measurement is selected. . Measurement is then performed using the selected tomographic image. Alternatively, measurement is performed using a tomographic image as a still image displayed after the freeze operation.

In the embodiment, a plurality of cross-sectional data obtained by a plurality of basic scans and reference data (one or a plurality of reference data) obtained by a plurality of auxiliary scans are stored while being associated with each other. This makes it possible to reuse the reference data associated with a plurality of cross-sectional data when reproducing them. A real-time tomographic image as a moving image and a support image as a moving image may be stored while being associated with each other. According to such a configuration, it is possible to reproduce the support image when reproducing the real-time tomographic image.

Next, the observation support mode will be specifically described with reference to FIGS. 3 to 9. FIG. In the following, attention is paid to receive beams under parallel reception.

FIG. 3 schematically shows a first example of the first composite scanning performed in the observation support mode. In FIG. 3, the three-dimensional space 12A is expressed as a plan view or projection view. Each receive beam in the three-dimensional space 12A is specified by the .theta.-direction coordinate and the .phi.-direction coordinate. In the illustrated example, one scan plane 14A is formed by one basic scan. The basic scan entity is a one-dimensional electronic scan of the transmit and receive beams. The scanning plane 14A is composed of a plurality of receiving beams 52 arranged in the θ direction, as shown in a partially enlarged view 14B. The pitch between receive beams is indicated by Δθ1. Parallel reception may be applied in forming the scan plane 14A.

A plurality of basic scans are intermittently executed sequentially on the time axis at a predetermined frame rate. A temporal gap exists between two basic scans adjacent on the time axis, and an auxiliary scan is executed in each gap. That is, on the time axis, a plurality of auxiliary scans are intermittently executed between a plurality of basic scans.

In an embodiment, multiple sub-scans are used to acquire volume data. Reference numeral 50 denotes one beam data array forming a unit of volume data. One beam data array corresponds to one transmission/reception, and specifically consists of 16 beam data. In an embodiment, two beam data arrays are acquired in one sub-scan. One volume data is composed of n beam data arrays from 3D1 to 3Dn. Assuming this, one piece of volume data is obtained by 2/n times of auxiliary scanning. However, the data acquired by one auxiliary scan can be determined arbitrarily. For example, one beam data array may be acquired per sub-scanning, or three or more beam data arrays may be acquired.

As shown in the partially enlarged view 50A, 16 reception beams 54 aligned in the θ and φ directions are formed per parallel reception. That is, 16 beam data are acquired by one transmission/reception, and one beam data array 50 is formed by them. In other words, the 16 receive beams 54 constitute a receive beam array. The pitch of the receiving beam array in the .theta. direction is indicated by .DELTA..theta.2, and the pitch of the receiving beam array in the .phi. direction is indicated by .DELTA..phi.2. Δθ2 is larger than Δθ1, and is, for example, several times, ten times, or twenty times as large as Δθ1. Δφ2 is also larger than Δθ1, and is, for example, several times, ten times, twenty times, or thirty times as large as Δθ1. As indicated at 56, the receive beam array is raster scanned throughout the three-dimensional space 12A. And it repeats. A volume rate is defined as an acquisition interval of a plurality of volume data on the time axis. The volume rate is higher than the frame rate, for example tens of times, hundreds of times or more. Each numerical value described in the specification of the present application is an example, and each numerical value may change depending on the specific situation.

FIG. 4 schematically shows a second example of the first composite scanning performed in the observation support mode. As described above, the scanning surface 14A is repeatedly formed by intermittently executing a plurality of basic scans. A plurality of auxiliary scans are intermittently performed between the execution of a plurality of basic scans.

In the illustrated example, four frames are simultaneously formed by one-dimensional scanning of the receive beam array in the θ direction, that is, four frame data are acquired simultaneously. A frame data set (for example, 3D1) is composed of four frame data. A beam data array 50 is a constituent unit of the frame data set.

The volume data is composed of n frame data sets 3D1 to 3Dn arranged in the φ direction in the illustrated example. Incidentally, two frame data sets are obtained for one sub-scan. Of course, one frame data set may be obtained per sub-scanning, or three or more frame data sets may be obtained. The beam density conditions are similar to those shown in FIG. Again in this second example the frame rate is much faster than the volume rate.

FIG. 5 schematically shows a first composite scanning sequence 58 performed in viewing aid mode. The horizontal axis in the upper part of FIG. 5 is the time axis. Reference numeral 60 indicates one basic scan, and reference numeral 62 indicates one auxiliary scan. In the embodiment, one B-mode scan is performed in one basic scan 60 to obtain one frame data. Two data (for example, 3D1 and 3D2) are obtained in one sub-scan 62 . Individual data are, for example, beam data arrays or frame data sets, as described above. By changing the configuration of the first composite scan sequence 58, the frame rate and volume rate are varied.

A plurality of frame data obtained by executing a plurality of basic scans form a frame data string 64 arranged on the time axis. A real-time tomographic image is formed based on the frame data train 64 . The volume data 66 is constructed by performing a plurality of (specifically, n/2) sub-scans. An observation support image is generated based on the volume data 66 . Although the xyz coordinate system after coordinate transformation is shown in FIG. 5, it is for convenience only.

FIG. 6 shows a first configuration example of the observation support image generator 30 shown in FIG. The observation support image generator 30 has a calculator 68 , a memory 70 and an observation support image generator 72 . The calculator 68 functions as a cross-section recognizer 76 and an orientation determiner 78 . A plurality of templates 80 , 82 , 84 are stored in memory 70 . The cross-section recognizer 76 searches the input volume data 66 for two cross-sections that match, for example, two specific templates 80 and 82 . At that time, a pattern matching method or the like is used. For example, as shown in the lower right part of FIG. identified. The orientation determiner 78 identifies the orientation of the tissue, in this embodiment, the orientation 86 of the body axis of the fetus, from the positional relationship between the two cross-sections 80A, 82A. It represents the orientation of the head viewed from the observed cross section 74 (the side or direction on which the head is present viewed from the observed cross section 74). The observation support image generator 72 generates an observation support image reflecting the orientation of the fetus's head.

The template 84 corresponds, for example, to the sagittal plane (longitudinal section) of the fetus. By using such a template 84, it is possible to determine the orientation of the head by itself without using other templates. For example, templates 80 and 82 corresponding to the measurement cross sections may be prepared. As the cross-section recognizer 76, a machine-learning cross-section estimator may be used.

FIG. 7 shows a first example of an observation support image displayed when the observation support mode is executed. The displayed image 88 includes a real-time tomographic image 90 and an observation support image 94 . A mark 92 indicates the electronic scanning direction or the electronic scanning start edge in basic scanning. In the real-time tomographic image 90, for example, cross sections such as the abdomen and head of the fetus appear. The observation support image 94 is a relatively small image displayed additionally or auxiliary. 102. The scanning plane mark 98 indicates an observation section, and the position, direction, or side of the head viewed from the observation section is represented by an arrow 100 as a graphic and characters 102 . The position and orientation of arrow 100 and the position of character 102 are determined based on the determination result of the orientation determiner. Note that the observation support image 94 also includes a mark 104 indicating the electronic scanning direction or the electronic scanning start edge.

According to the observation support image 94, it is possible to obtain information as to which direction the 3D probe should be moved when it is desired to move the observation section toward the head side. Therefore, measurement can be efficiently performed. Alternatively, the possibility of losing sight of the target tissue can be reduced. A figure other than the arrow 100 may be adopted. The characters 102 may be displayed as required. As the probe mark 96 and the scanning plane mark 98, it is desirable to use marks expressed three-dimensionally. For example, tomographic image data and observation support image data may be transferred from the ultrasonic diagnostic apparatus to the information processing apparatus. The observation support image 94 can also be useful when reproducing tomographic images.

FIG. 8 shows a second example of the observation support image. Elements that are the same as those shown in FIG. 7 are denoted by the same reference numerals, and description thereof will be omitted. This is the same for each figure after FIG. 8 .

In this second example, the observation support image 106 has a fetal model (object) 108 as a three-dimensional abstract figure in addition to the probe mark 96 and scanning plane mark 98 . The fetus model 108 consists of a head 108a that simulates the head and a body 108b that simulates the trunk. In the illustrated example, the scanning plane mark 98 is crossed by the body 108b, and a three-dimensional expression is adopted. Using the model with arrows in this way makes it easier to intuitively recognize the orientation of the fetus.

FIG. 9 shows a second configuration example of the observation support image generator. The observation support image generator 110 has an integrator 112 , an orientation determiner 114 , a memory 116 and an observation support image generator 118 . The integrator 112 applies, for example, an x-direction integration process to the input volume data 66 to generate an integrated image 120 . The integrator 112 also applies, for example, y-direction integration processing to the volume data 66 to generate an integrated image 122 .

A template group 124 stored in memory 116 consists of a plurality of templates to be compared with integrated image 120 . A template group 126 stored in the memory 116 consists of a plurality of templates to be compared with the integrated image 122 . Information specifying the orientation of the head of the fetus is added to each template. A reference numeral 128 indicates an example of a template in the template group 124. For example, a reference numeral 130 abstractly expresses information specifying the orientation. Similarly, reference numeral 132 indicates an example of a template in template group 126, and reference numeral 134, for example, abstractly expresses information specifying orientation.

Orientation determiner 114 identifies a template from template group 124 that has the highest similarity to integrated image 120, and at the same time, identifies a template from template group 126 that has the highest similarity to integrated image 122. do. Subsequently, the orientation determiner 114 identifies the orientation of the head with respect to the observed cross-section based on the two identified templates or based on the template with the higher degree of similarity. The observation aid image generator 118 generates the observation aid image shown in FIG. 7 or 8 based on the specified orientation. A machine learning type estimator may be used as the orientation determiner 114 .

Next, the operation support mode will be specifically described with reference to FIGS. 10 to 12. FIG. FIG. 10 shows a configuration example of the operation support image generator 34 shown in FIG.

The operation support image generator 34 has a function of generating three operation support images. To generate the three manipulation assistance images, three cross-sectional data sets corresponding to the three cross-sectional sets are acquired in sequence, as shown later in FIG. They are input to three similarity calculators 136 , 138 and 140 . Each similarity calculator 136, 138, 140 is a module that compares three cross-sectional data and teacher data and calculates three degrees of similarity (similarity sets). Different teacher data are prepared for each of the similarity calculators 136, 138, and 140 (and for each target section). They are stored in memory 142 .

The similarity calculator 136 calculates a similarity set for determining the translation direction, and the similarity set is input to the translation direction determiner 144 . A translation direction determiner 144 determines a 3D probe translation direction for matching the observation plane to the target plane. The similarity calculator 138 calculates a similarity set for determining the tilt direction, and the similarity set is input to the tilt direction determiner 146 . A tilt direction determiner 146 determines a 3D probe tilt direction for matching the observation plane to the target plane. The similarity calculator 140 calculates a similarity set for determining the rotation direction, and the similarity set is input to the rotation direction determiner 148 . The tilt direction determiner 146 determines the 3D probe rotation direction for matching the observation cross section with the target cross section.

One similarity calculator may calculate three similarity sets. Similarly, a single determiner may be used to determine the direction of translation, the direction of tilt, and the direction of rotation. The manipulation support image generator 150 generates three manipulation support images based on the determined translation direction, tilt direction, and rotation direction.

FIG. 11 shows second composite scans 1 to 3 in three-dimensional space. The second composite scanning sequence executed in the operation support mode consists of a plurality of basic scans and a plurality of auxiliary scans. In each basic scan, cross-sectional data is sequentially acquired from observed cross-sections for formation of real-time tomographic images. be done. In each sub-scan, a cross-section set consisting of, for example, three cross-sections is set in the three-dimensional space. FIG. 11 shows three cross-section sets.

When generating the operation support image No. 1 indicating the translation direction of the 3D probe, a cross-section set 152 is set in the three-dimensional space 12B. The cross-section set 152 consists of a cross-section 154 corresponding to the observation cross-section, a cross-section 156 existing on one side of the cross-section 154 , and a cross-section 158 existing on the other side of the observation cross-section 154 . The three cross-sections 154, 156, 158 are aligned in the translation direction with parallel relationship, or aligned in the φ direction. The distance between the cross sections is, for example, 5 mm. A cross-sectional data set or frame data set is obtained from the three cross-sections 154 , 156 , 158 . Low beam densities are set at three cross-sections 154, 156, 158. FIG.

When generating the operation support image 2 that indicates the tilt direction (tilt direction) of the 3D probe, a cross-section set 160 is set in the three-dimensional space 12B. Cross-section set 160 includes a cross-section 162 corresponding to the observation cross-section, a cross-section 164 defined by rotating cross-section 162 to one side about horizontal axis 168 by a predetermined angle, and a cross-section 162 defined by rotating cross-section 162 to the other side about horizontal axis 168. and a cross-section 166 defined by rotating a predetermined angle to . The three cross-sections 162, 164, 166 are aligned about a horizontal axis 168, ie, obliquely aligned. Their angular interval is, for example, 5 degrees. A cross-sectional data set or frame data set is obtained from the three cross-sections 162 , 164 , 166 . Low beam densities are set at three cross-sections 162, 164, 166. FIG.

When generating the third operation support image indicating the rotation direction of the 3D probe, a cross-section set 170 is set within the three-dimensional space 12B. The cross-section set 170 includes a cross-section 172 corresponding to the observation cross-section, a cross-section 174 defined by rotating the cross-section 172 to one side about a vertical axis (central axis) 178 by a predetermined angle, and a cross-section 172 on the vertical axis 178. and a cross-section 176 defined by rotating a predetermined angle to the other side about the circumference. The three cross-sections 172, 174, 176 are aligned about a vertical axis 178, ie, rotationally aligned. Their angular interval is, for example, 5 degrees. A cross-sectional data set or frame data set is obtained from the three cross-sections 172 , 174 , 176 . Low beam densities are set at three cross-sections 172, 174, 176. FIG. Note that frame data corresponding to the slices 154, 162, and 172 may be generated by converting the resolution of the frame data obtained from the observed slices.

For each frame data set obtained as described above, three degrees of similarity are calculated by comparing the individual frame data that constitute it with teacher data (teacher image) representing the target cross section. For example, when three cross sections A1, A2, and A3 are arranged in that order, the three degrees of similarity are expressed as α1, α2, and α3. Here, if the condition α1<α2<α3 is satisfied, it is determined that the 3D probe should be moved so that the observed cross section approaches cross section A3. Conversely, if the condition α1>α2>α3 is satisfied, it is determined that the 3D probe should be moved so that the observed cross section approaches cross section A1. If the similarity α2 is the highest, it is determined that the observed cross section matches the target cross section, that is, the posture of the 3D probe should be maintained. Although the directionality of three types of deviation (three types of deviation components) is determined in the embodiment, the directionality of one or two deviations may be determined. The order of determination can also be set arbitrarily. A cross-section set may consist of five cross-sections, or may consist of more cross-sections.

FIG. 12 shows operation support images No. 1 to No. 3 (180, 184, 188). In the illustrated example, first, the operation support image 1 (180) is displayed, and the user performs a parallel movement operation. After that, the operation support image No. 2 (184) is displayed, and the tilt operation is performed by the user. After that, the operation support image No. 3 (188) is displayed, and the rotation operation is performed by the user.

Specifically, manipulation support image 1 ( 180 ) includes probe mark 96 , scan plane mark 98 , fetal model 108 , and also has manipulation direction mark 182 . The operation direction mark 182 is composed of a straight arrow indicating the translation direction of the 3D probe. Further, the operation support image 1 (180) also includes a measurement name (AC measurement). Operation support image No. 2 ( 184 ) has an operation direction mark 186 . The operation direction mark 186 is composed of an arcuate arrow indicating the tilting direction (tilting motion direction) of the 3D probe. Operation support image 3 ( 188 ) has an operation direction mark 190 . The operation direction mark 190 is configured by an annular arrow indicating the rotation direction of the 3D probe. Each of the operating direction marks 182, 186, 190 are examples, and marks having other forms may be employed. Other operational assistance information, such as voice, may be provided.

In executing a specific measurement, when the operation support mode is selected when the observation cross section is close to the measurement cross section, the operation support images 1 to 3 (180, 184, 188) shown in FIG. 12 are displayed. displayed in order. With those references and 3D probe manipulations, the position and pose of the 3D probe are optimized over time. That is, the observation section is fitted to the target section. Real-time tomographic images can be observed at any time during the course of such operations. Actually, by observing real-time tomographic images, it is possible to obtain auxiliary information for adjusting the position and orientation of the 3D probe by observing the operation support image in the process of matching the observation section to the target section. It becomes possible. The operation support images 1 to 3 (180, 184, 188) include the fetus model 108 as described above. The fetal model 108 may be automatically generated by concurrent execution of the viewing aided mode. Fetal model 108 may be generated by other methods.

Next, the setting support mode will be specifically described with reference to FIGS. 13 to 18. FIG. FIG. 13 shows an example of a third composite scan in three-dimensional space. A third composite scanning sequence executed in the setting support mode consists of a plurality of basic scans and a plurality of auxiliary scans, and in each basic scan, cross-sectional data is acquired from the observed cross-section for formation of a real-time tomographic image. be done. Partial volume data is acquired from the subspace 191 in the three-dimensional space 12C by a plurality of subscans. The illustrated partial space 191 is a space that has a relationship orthogonal to the observed cross section 14C and spreads over a certain range in the θ direction centering on the midpoint in the θ direction. A partial space 191 is composed of a plurality of frames F1 to Fn arranged in the θ direction. Each frame F1 to Fn corresponds to a scanning plane. The partial volume data is composed of a plurality of frame data acquired from a plurality of frames F1-Fn.

A set of these frame data spreads in the d direction and the φ direction, and constitutes orthogonal data when viewed from the observation section 14C as a reference. Orthogonal data extending in the θ and φ directions may be acquired. An integrated image is constructed by integrating orthogonal data in the thickness direction.

A third composite scan sequence is shown in FIG. It consists of a plurality of intermittently performed basic scans 194 and a plurality of intermittently performed auxiliary scans 196 therebetween. A plurality of cross-sectional data are sequentially acquired at a constant frame rate by a plurality of basic scans, and a real-time tomographic image is formed based on them. Partial volume data is sequentially acquired at a constant volume rate by a plurality of sub-scans 196 . Based on the individual partial volume data and the specification of the scanning range in the .theta. direction, a setting support image, which will be described in detail below, is generated.

FIG. 15 shows the first setting support image. The displayed image 198 includes a real-time tomographic image 200 and a setting assistance image 202 . The setting support image 202 includes an integrated image 204 , scanning range markers 208 and observation cross-section markers 206 . The integrated image 204 is generated by integrating the partial volume data in the θ direction (thickness direction). A scanning range marker 208 indicates the currently set scanning range in the θ direction. For example, when setting a three-dimensional region of interest (3D-ROI) for 3D image formation, measurement, or other reasons, the range (scanning range) of the three-dimensional region of interest in the θ direction is determined by the user while referring to the scanning range marker 208. adjusted by The range in the θ direction may be automatically calculated based on the integrated image 204 . Note that a marker indicating the range (scanning range) of the three-dimensional region of interest in the φ direction may be displayed on the real-time tomographic image 200 . According to such display, it is possible to accurately determine the range in the φ direction. After setting the three-dimensional region of interest, the scanning range is actually changed if necessary. Scan range markers 208 may be utilized for other purposes. In the setting support image 216 shown in FIG. 17, the scanning range in the .theta. direction is also displayed as numerical values (see reference numeral 216).

FIG. 16 shows a modification of the setting support image No. 1. In FIG. The setting support image 213 includes a box-shaped marker 214 that indicates a three-dimensional region of interest limited in the depth direction. The marker 214 indicates the range in the θ direction and depth direction of the three-dimensional region of interest.

FIG. 17 shows the second setting support image. The setting support image 216 includes an integrated image 218 , scanning range markers 220 and observation cross-section markers 222 . The integrated image 218 is generated by integrating partial volume data extending in the θ and φ directions in the d direction (thickness direction). The marker 220 has a rectangular shape that indicates the range in the θ direction and the range in the φ direction of the three-dimensional region of interest. A marker 224 indicates the reference end or start end of electronic scanning in the θ direction. A range in the .theta. direction is displayed as a numerical value 216. FIG. Markers 220 may also be used for other purposes.

FIG. 18 shows a modification of the second setting support image. The setting aid image 226 includes a box-shaped marker 228 that indicates the three-dimensional region of interest. The marker 228 indicates the range in the .theta. direction and the range in the .phi. direction in the three-dimensional region of interest.

According to the above embodiments, electronic scanning control based on a composite scanning sequence can provide a user with assistance information while displaying a real-time tomographic image. Specifically, it is possible to obtain reference data including data from sections other than observation sections in a time division manner, and use the reference data to assist the user. In the above embodiments, multiple assistance modes may be run simultaneously. Each individual support mode has value on its own, ie can be employed on its own.

10 3D probe, 12 three-dimensional space, 14 scanning plane (observation section), 20 tomographic image forming unit, 24 display processing unit, 30 observation support image generation unit, 34 operation support image generation unit, 36 setting support image generation unit.

Claims (4)

a 3D probe that forms an ultrasonic beam that is electronically scanned in an in vivo three-dimensional space;
a control unit for controlling electronic scanning of the ultrasonic beam according to a composite scanning sequence including a plurality of basic scans intermittently performed on the time axis and a plurality of auxiliary scans intermittently performed in between the basic scans; ,
an image forming unit that forms a real-time tomographic image based on a plurality of cross-sectional data sequentially acquired from observation cross-sections in the three-dimensional space by the plurality of basic scans;
Provided to the user together with the real-time tomographic image based on reference data obtained from all or part of the three-dimensional space by the plurality of auxiliary scans and including data obtained from other than the observation cross section a support information generation unit that generates support information;
including
The support information generation unit
means for determining the orientation of the target tissue in the three-dimensional space based on the first reference data as the reference data, and generating an observation support image representing the orientation of the target tissue as one of the support information; ,
calculating the displacement of the observation slice based on the second reference data as the reference data, and assisting in changing the position and orientation of the observation slice based on the displacement of the observation slice as one of the support information; means for generating a manipulation assistance image;
An orthogonal image having an orthogonal relationship with the observation section is generated based on third reference data as the reference data, and a range marker representing a scanning range of the orthogonal image and the ultrasonic beam as one of the support information means for generating a configuration aid image comprising
means for selectively displaying the observation support image, the operation support image, and the setting support image;
including,
An ultrasonic diagnostic apparatus characterized by: The ultrasonic diagnostic apparatus according to claim 1,
A plurality of ultrasonic beams are formed at a high beam density in each basic scan,
A plurality of ultrasonic beams are formed at a low beam density lower than the high beam density in each of the auxiliary scans.
An ultrasonic diagnostic apparatus characterized by: The ultrasonic diagnostic apparatus according to claim 1 ,
The means for generating the manipulation support image analyzes a plurality of deviation components as the deviation of the observed cross section , and generates a plurality of component-specific manipulation support images corresponding to the plurality of deviation components as the manipulation support image.
An ultrasonic diagnostic apparatus characterized by: A program executed in an ultrasonic diagnostic apparatus,
Electronic scanning of ultrasonic beams in a three-dimensional space is controlled according to a composite scanning sequence that includes a plurality of basic scans intermittently performed on the time axis and a plurality of auxiliary scans intermittently performed therebetween. and the ability to
A function of forming a real-time tomographic image based on a plurality of cross-sectional data sequentially acquired from observation cross-sections in the three-dimensional space by the plurality of basic scans;
Provided to the user together with the real-time tomographic image based on reference data obtained from all or part of the three-dimensional space by the plurality of auxiliary scans and including data obtained from other than the observation cross section and the ability to generate supporting information for
including
The function to generate the support information includes:
a function of determining the orientation of the target tissue in the three-dimensional space based on the first reference data as the reference data, and generating an observation support image representing the orientation of the target tissue as one of the support information; ,
calculating the displacement of the observation slice based on the second reference data as the reference data, and assisting in changing the position and orientation of the observation slice based on the displacement of the observation slice as one of the support information; A function to generate an operation support image;
An orthogonal image having an orthogonal relationship with the observation section is generated based on third reference data as the reference data, and as one of the support information, the orthogonal image and a range marker representing an ultrasonic beam scanning range a function to generate a configuration aid image containing
a function of selectively displaying the observation support image, the operation support image, and the setting support image;
including,
A program characterized by

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