JP7237512B2 - ultrasound diagnostic equipment - Google Patents

Description

An embodiment of the present invention relates to an ultrasound diagnostic apparatus.

For example, in a hospital, for the purpose of follow-up, the same subject (for example, patient) may be periodically subjected to ultrasound examination. In such a case, an ultrasonic image obtained by performing an ultrasonic scan on the subject during the previous examination is compared with an ultrasonic image obtained by performing an ultrasonic scanning on the subject during the current examination. In this case, it is desirable that the ultrasonic image for the current examination be an ultrasonic image obtained by performing an ultrasonic scan on the same cross section as that for the previous examination. However, performing an ultrasonic scan in the same cross section as in the previous examination also depends on the skill of the operator who operates the ultrasonic probe.

Japanese Patent Application Laid-Open No. 2005-279013 Japanese Patent Application Laid-Open No. 2004-329608

The problem to be solved by the present invention is to assist the operation of an ultrasonic probe.

An ultrasonic diagnostic apparatus according to an embodiment includes an ultrasonic probe that performs an ultrasonic scan on a subject, position information detected by a first detection unit attached to the ultrasonic probe, and provided at a set position Obtaining position information relative to the position information detected by the second detection unit as first position information, and obtaining the relative position information when the ultrasonic scan was performed last time as second position information and a determination unit that determines whether or not the first location information matches the second location information.

FIG. 1 is a block diagram showing an example of the configuration of an ultrasonic diagnostic apparatus according to this embodiment. FIG. 2 is a diagram showing an example of position information (position and orientation) obtained by a position sensor. FIG. 3 is a flowchart showing the procedure of processing by the ultrasonic diagnostic apparatus according to this embodiment. FIG. 4 is a diagram showing an example of a screen displayed on the display. FIG. 5 is a diagram showing an example of the previous inspection image displayed on the screen. FIG. 6 is a diagram showing an example of a screen displayed on the display. FIG. 7 is a diagram showing an example of a screen displayed on the display. FIG. 8 is a diagram showing an example of a previous inspection image displayed on the screen.

An ultrasonic diagnostic apparatus according to an embodiment will be described below with reference to the accompanying drawings. In addition, embodiment is not restricted to the following embodiments. In addition, the contents described in one embodiment are in principle similarly applied to other embodiments.

FIG. 1 is a block diagram showing a configuration example of an ultrasonic diagnostic apparatus 1 according to this embodiment. As shown in FIG. 1, the ultrasonic diagnostic apparatus 1 according to this embodiment includes an apparatus main body 100, an ultrasonic probe 101, an input device 102, a display 103, position sensors 104 and 106, and a transmitter 105. Prepare. The ultrasonic probe 101 , the input device 102 and the display 103 are each connected to the device body 100 .

The ultrasonic probe 101 transmits and receives ultrasonic waves (ultrasonic scanning). For example, the ultrasonic probe 101 is brought into contact with the body surface of the subject P to transmit and receive ultrasonic waves. The ultrasonic probe 101 has multiple piezoelectric transducers. The plurality of piezoelectric vibrators are piezoelectric elements having a piezoelectric effect that mutually converts electrical signals (pulse voltage) and mechanical vibrations (vibrations caused by sound), and drive signals (electrical signals) supplied from the apparatus main body 100 based on which ultrasonic waves are generated. The generated ultrasonic waves are reflected by an acoustic impedance mismatching surface in the subject P and received by a plurality of piezoelectric transducers as reflected wave signals (electrical signals) including components scattered by scattering bodies in the tissue. be done. The ultrasonic probe 101 sends reflected wave signals received by a plurality of piezoelectric transducers to the device body 100 .

Here, in the present embodiment, the ultrasonic probe 101 is a 1D array probe having a plurality of piezoelectric transducers arranged one-dimensionally in a predetermined direction, or a 1D array probe having a plurality of piezoelectric transducers arranged two-dimensionally in a lattice. Any form of ultrasonic probe may be used, such as a 2D array probe or a mechanical 4D probe that scans a three-dimensional area by mechanically oscillating a plurality of piezoelectric transducers arranged in one dimension.

The input device 102 has a mouse, a keyboard, buttons, panel switches, a touch command screen, a foot switch, a wheel, a trackball, a joystick, etc., and receives various setting requests from the operator of the ultrasonic diagnostic apparatus 1, 100 to transfer various setting requests received. Note that the input device 102 is an example of means for implementing an input unit.

The display 103 displays a GUI (Graphical User Interface) for the operator of the ultrasonic diagnostic apparatus 1 to input various setting requests using the input device 102, and displays ultrasonic image data generated in the apparatus main body 100. to display. Further, the display 103 displays various messages in order to notify the operator of the processing status of the apparatus body 100 . The display 103 also has a speaker (not shown) and can output sound. For example, the speaker of the display 103 outputs a predetermined sound such as a beep to notify the operator of the processing status of the device body 100 . Note that the display 103 is an example of means for realizing a display unit.

Position sensors 104 and 106 and transmitter 105 are devices for acquiring position information of ultrasonic probe 101 . For example, position sensor 104 is a magnetic sensor attached to ultrasound probe 101 . For example, the transmitter 105 is a device that is placed at an arbitrary position and forms a magnetic field outward from its center. For example, the position sensor 106 is a magnetic sensor provided at a set position. Specifically, the position sensor 106 is provided at a set position on the body surface of the subject P via the mounting table 4 . For example, the mounting table 4 is provided at a set position on the body surface of the subject P, which is “XX cm directly above the left nipple”, and the position sensor 106 is mounted on the mounting table 4 . As the mounting table 4, "omniTRAX (trademark) bracket" (manufactured by Sibuco Corporation) is exemplified. The position sensor 104 is an example of a first detector, and the position sensor 106 is an example of a second detector.

Position sensors 104 , 106 detect the three-dimensional magnetic field produced by transmitter 105 . Then, the position sensors 104 and 106 calculate the position (coordinates) and orientation (angle) of the device itself in the space with the transmitter 105 as the origin based on the detected magnetic field information, and the calculated position and orientation are used as position information. , and is transmitted to the processing circuit 170 of the apparatus main body 100, which will be described later.

FIG. 2 is a diagram showing an example of position information (position and orientation) obtained by the position sensors 104 and 106. As shown in FIG. As described above, the position sensors 104, 106 detect the three-dimensional magnetic field produced by the transmitter 105, and based on the detected magnetic field information, position the transmitter 105 as the origin (eg, point O shown in FIG. 2). The position (coordinates) and orientation (angle) of the device itself in the space to be detected are detected as position information. Here, the detected positions (coordinates) are represented by mutually perpendicular coordinates X, Y, and Z, as shown in FIG. Detected orientations (angles) are represented by angles Roll, Pitch, and Yaw that are perpendicular to each other, as shown in FIG. That is, the position sensor 104 can detect information of six degrees of freedom of the position (coordinates X, Y, Z) and orientation (angles Roll, Pitch, Yaw) of the ultrasonic probe 101 .

In the processing circuit 170, the position information (position and orientation) detected by the position sensor 104 and the position information (position and orientation) detected by the position sensor 106 provided on the body surface of the subject P via the mounting table 4 are processed. ) is acquired as the position information of the ultrasonic probe 101 . Here, the relative position information is the position when the position information detected by the position sensor 104 is replaced with the position information from the origin when the position information detected by the position sensor 106 is used as the origin. Information.

The device main body 100 is a device that generates ultrasonic image data based on reflected wave signals received by the ultrasonic probe 101 . The ultrasonic image data generated by the apparatus main body 100 may be two-dimensional ultrasonic image data generated based on a two-dimensional reflected wave signal, or may be generated based on a three-dimensional reflected wave signal. It may be three-dimensional ultrasound image data.

As shown in FIG. 1, the apparatus main body 100 includes, for example, a transmission/reception circuit 110, a B-mode processing circuit 120, a Doppler processing circuit 130, an image generation circuit 140, an image memory 150, a storage circuit 160, and a processing circuit. 170. Transceiver circuit 110, B-mode processing circuit 120, Doppler processing circuit 130, image generation circuit 140, image memory 150, storage circuit 160, and processing circuit 170 are communicably connected to each other. Further, the apparatus main body 100 is connected to the network 2 in the hospital.

The transmission/reception circuit 110 controls transmission of ultrasonic waves by the ultrasonic probe 101 . For example, based on instructions from the processing circuit 170, the transmission/reception circuit 110 applies the drive signal (driving pulse) to the ultrasonic probe 101 at the timing when a predetermined transmission delay time is given to each transducer. Accordingly, the transmission/reception circuit 110 causes the ultrasonic probe 101 to transmit an ultrasonic beam in which ultrasonic waves are focused into a beam shape.

Also, the transmission/reception circuit 110 controls reception of reflected wave signals by the ultrasonic probe 101 . A reflected wave signal is a signal obtained by reflecting an ultrasonic wave transmitted from the ultrasonic probe 101 by internal tissues of the subject P, as described above. For example, based on an instruction from the processing circuit 170, the transmission/reception circuit 110 gives a predetermined delay time to the reflected wave signal received by the ultrasonic probe 101 and performs addition processing. Thereby, the reflection component from the direction corresponding to the reception directivity of the reflected wave signal is emphasized. Then, the transmission/reception circuit 110 converts the reflected wave signal after addition processing into an in-phase signal (I signal, I: In-phase) and a quadrature signal (Q signal, Q: Quadrature-phase) in the baseband band. Then, the transmission/reception circuit 110 sends the I signal and the Q signal (hereinafter referred to as IQ signal) as reflected wave data to the B-mode processing circuit 120 and the Doppler processing circuit 130 . Note that the transmitting/receiving circuit 110 may convert the reflected wave signal after addition processing into an RF (Radio Frequency) signal and then send the RF (Radio Frequency) signal to the B-mode processing circuit 120 and the Doppler processing circuit 130 . The IQ signal and RF signal are signals (reflected wave data) containing phase information.

The B-mode processing circuit 120 performs various signal processing on the reflected wave data generated from the reflected wave signal by the transmission/reception circuit 110 . The B-mode processing circuit 120 performs logarithmic amplification, envelope detection processing, and the like on the reflected wave data received from the transmission/reception circuit 110, so that the signal strength at each sample point (observation point) is represented by brightness. data (B-mode data) is generated. The B-mode processing circuit 120 sends the generated B-mode data to the image generation circuit 140 .

Also, the B-mode processing circuit 120 performs signal processing for performing harmonic imaging that visualizes harmonic components. Contrast Harmonic Imaging (CHI) and Tissue Harmonic Imaging (THI) are known as harmonic imaging. In contrast harmonic imaging and tissue harmonic imaging, as scanning methods, amplitude modulation (AM), phase modulation (PM) called "Pulse Subtraction method" or "Pulse Inversion method", and AM AMPM and the like are known, in which both the effect of AM and the effect of PM can be obtained by combining with PM.

The Doppler processing circuit 130 generates, as Doppler data, motion information based on the Doppler effect of the moving body extracted at each sample point within the scanning region from the reflected wave data generated from the reflected wave signal by the transmitting/receiving circuit 110 . Here, the motion information of the moving body is information such as the average velocity, variance value, power value, etc. of the moving body, and the moving body is, for example, blood flow, tissue such as heart wall, and contrast agent. The Doppler processing circuit 130 sends the generated Doppler data to the image generation circuit 140 .

The image generation circuit 140 performs generation processing of image data (ultrasound image data), various image processing for image data, and the like. For example, the image processing circuit 140 generates, from the two-dimensional B-mode data generated by the B-mode processing circuit 120, two-dimensional B-mode image data representing the intensity of the reflected wave by luminance. Further, the image generation circuit 140 generates two-dimensional Doppler image data in which blood flow information is visualized from the two-dimensional Doppler data generated by the Doppler processing circuit 130 . The two-dimensional Doppler image data is velocity image data representing the average velocity of blood flow, variance image data representing the variance of blood flow, power image data representing power of blood flow, or image data combining these. The image generating circuit 140 generates, as Doppler image data, color Doppler image data in which blood flow information such as blood flow average velocity, variance, and power is displayed in color, or one piece of blood flow information is displayed in grayscale. Generate Doppler image data to be displayed.

Here, the image generation circuit 140 generally converts (scan converts) a scanning line signal train of ultrasonic scanning into a scanning line signal train of a video format typified by a television or the like, and converts the ultrasonic wave for display. Generate image data. Specifically, the image generating circuit 140 generates ultrasonic image data for display by performing coordinate transformation according to the scanning mode of ultrasonic waves by the ultrasonic probe 101 . In addition to scan conversion, the image generation circuit 140 performs various types of image processing, such as image processing (smoothing processing) for regenerating a brightness average value image using a plurality of image frames after scan conversion. , and performs image processing (edge enhancement processing) using a differential filter in the image. In addition, the image generation circuit 140 synthesizes character information of various parameters, scales, body marks, etc. with the ultrasonic image data.

That is, the B-mode data and Doppler data are ultrasound image data before scan conversion processing, and the data generated by the image generation circuit 140 are ultrasound image data for display after scan conversion processing. B-mode data and Doppler data are also called raw data. The image generation circuit 140 generates two-dimensional ultrasound image data for display from the two-dimensional ultrasound image data before scan conversion processing.

Further, the image generation circuit 140 performs coordinate transformation on the three-dimensional B-mode data generated by the B-mode processing circuit 120 to generate three-dimensional B-mode image data. The image generation circuit 140 also performs coordinate transformation on the three-dimensional Doppler data generated by the Doppler processing circuit 130 to generate three-dimensional Doppler image data.

Furthermore, the image generation circuit 140 performs rendering processing on the volume image data in order to generate various types of two-dimensional image data for displaying the volume image data on the display 103 . The rendering process performed by the image generation circuit 140 includes, for example, a process of performing multi-planar reconstruction (MPR) to generate MPR image data from volume image data. Rendering processing performed by the image generation circuit 140 includes, for example, volume rendering (VR) processing for generating two-dimensional image data reflecting information of a three-dimensional image. Rendering processing performed by the image generating circuit 140 includes, for example, surface rendering (SR) processing for generating two-dimensional image data by extracting only surface information of a three-dimensional image.

The image generation circuit 140 stores generated image data and image data subjected to various image processing in the image memory 150 . The image generating circuit 140 also generates information indicating the display position of each image data, various information for assisting the operation of the ultrasonic diagnostic apparatus 1, incidental information related to diagnosis such as patient information, together with the image data. It may be stored in memory 150 . Note that the image generation circuit 140 is an example of an image generation unit.

The image memory 150 is a memory that stores image data for display generated by the image generation circuit 140 . The image memory 150 can also store data generated by the B-mode processing circuit 120 and the Doppler processing circuit 130 . The B-mode data and Doppler data stored in the image memory 150 can be called up by the operator after diagnosis, for example, and become ultrasonic image data for display via the image generation circuit 140 .

The storage circuit 160 stores control programs for transmitting and receiving ultrasonic waves, image processing, and display processing, diagnostic information (for example, patient ID, doctor's findings, etc.), various data such as diagnostic protocols and various body marks. . The storage circuit 160 is also used for storing image data stored in the image memory 150 as necessary. Data stored in the storage circuit 160 can be transferred to an external device via an interface (not shown). The external device is, for example, a PC (Personal Computer) used by a doctor who performs image diagnosis, a storage medium such as a CD or DVD, a printer, or the like. Note that the storage circuit 160 is an example of means for realizing a storage unit. Moreover, the storage circuit 160 may not be built in the ultrasonic diagnostic apparatus 1 as long as the ultrasonic diagnostic apparatus 1 can be accessed on the network 2 .

The processing circuit 170 controls the entire processing of the ultrasonic diagnostic apparatus 1 . Specifically, the processing circuit 170 controls the transmission/reception circuit 110 and the B-mode processing circuit based on various setting requests input by the operator via the input device 102 and various control programs and various data read from the storage circuit 160 . 120 , Doppler processing circuit 130 , and image generation circuit 140 . The processing circuit 170 also controls the display 103 to display the ultrasonic image data for display stored in the image memory 150 and the storage circuit 160 .

The processing circuit 170 also communicates with the external device 3 via the network 2 . For example, the external device 3 is a database of PACS (Picture Archiving and Communication System), which is a system for managing data of various medical images, or a database of an electronic medical chart system, which manages electronic medical charts attached with medical images. . Alternatively, the external device 3 is, for example, an X-ray CT (Computed Tomography) device, an MRI (Magnetic Resonance Imaging) device, or any other medical image diagnostic device other than the ultrasonic diagnostic device according to the present embodiment.

The processing circuitry 170 also executes an acquisition function 171 , a navigation function 172 , a notification processing function 173 and a storage processing function 174 . Note that the acquisition function 171 is an example of an acquisition unit. The navigation function 172 is an example of a determination unit. The notification processing function 173 is an example of a notification processing unit. The save processing function 174 is an example of a save processing unit. Details of the processing of the acquisition function 171, the navigation function 172, the notification processing function 173, and the storage processing function 174 executed by the processing circuit 170 will be described later.

Here, for example, each processing function executed by the acquisition function 171, the navigation function 172, the notification processing function 173, and the storage processing function 174, which are components of the processing circuit 170 shown in FIG. is recorded in the storage circuit 160 in the form of The processing circuit 170 is a processor that reads each program from the storage circuit 160 and executes it, thereby implementing functions corresponding to each program. In other words, the processing circuit 170 with each program read has each function shown in the processing circuit 170 of FIG.

In this embodiment, a single processing circuit 170 is assumed to implement each processing function described below. may implement the function by executing the program.

The term "processor" used in the above description is, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or an application specific integrated circuit (ASIC)), a programmable logic device (for example , Simple Programmable Logic Device (SPLD), Complex Programmable Logic Device (CPLD), and Field Programmable Gate Array (FPGA)). The processor implements its functions by reading and executing programs stored in the storage circuit 160 . Note that instead of storing the program in the memory circuit 160, the program may be configured to be directly installed in the circuit of the processor. In this case, the processor implements its functions by reading and executing the program embedded in the circuit. Note that each processor of the present embodiment is not limited to being configured as a single circuit for each processor, and may be configured as one processor by combining a plurality of independent circuits to realize its function. good. Furthermore, a plurality of components in FIG. 1 may be integrated into one processor to realize its functions.

The transmitting/receiving circuit 110, the B-mode processing circuit 120, the Doppler processing circuit 130, the image generation circuit 140, and the processing circuit 170 built in the device body 100 are processors (CPU (Central Processing Unit), MPU (Micro-Processing Unit), an integrated circuit, etc.), but may also be configured by a software modularized program.

The overall configuration of the ultrasonic diagnostic apparatus 1 according to this embodiment has been described above. With such a configuration, the ultrasonic diagnostic apparatus 1 according to this embodiment can support the operation of the ultrasonic probe by using the two position sensors 104 and 106 . Therefore, the ultrasonic diagnostic apparatus 1 according to this embodiment executes the following processing functions. In the ultrasonic diagnostic apparatus 1 according to this embodiment, the processing circuit 170 receives the position information (position and orientation) detected by the position sensor 104 attached to the ultrasonic probe 101 and the subject P via the mounting table 4. Position information relative to the position information (position and orientation) detected by the position sensor 106 provided at the installation position on the body surface is acquired as first position information (hereinafter referred to as current position information) do. In addition, the processing circuit 170 acquires the relative position information when the ultrasound scan was performed last time from the storage circuit 160 as second position information (hereinafter referred to as previous position information). Then, the processing circuit 170 determines whether or not the current position information matches the previous position information, and notifies the operator of the determination result.

Next, each function of the acquisition function 171, the navigation function 172, the notification processing function 173, and the save processing function 174 executed by the processing circuit 170 will be described.

FIG. 3 is a flow chart showing the procedure of processing by the ultrasonic diagnostic apparatus 1 according to this embodiment. 4, 6, and 7 are diagrams showing an example of the screen 10 displayed on the display 103. FIG. FIG. 5 is a diagram showing an example of the previous placement information 12 displayed on the screen 10. As shown in FIG.

First, when an operator who operates the ultrasonic probe 101 performs an ultrasonic scan on the subject P in the current examination, the ultrasonic probe when performing an ultrasonic scan on the subject P in the previous examination It is necessary to reproduce the position of 101 (the site to which the ultrasonic probe 101 is applied) and the orientation of the ultrasonic probe 101 (the direction in which the ultrasonic scan is performed).

Step S101 in FIG. 3 is a step executed by the processing circuit 170 calling a program corresponding to the acquisition function 171 from the storage circuit 160 . In step S101, the acquisition function 171 notifies the operator to place the mounting table 4 in the same position as the previous examination in order to perform follow-up observation of the subject P. FIG.

Specifically, in step S101, the acquisition function 171 acquires from the storage circuit 160 the position information (previous position information) of the ultrasonic probe 101 when ultrasonic scanning was performed on the subject P at the time of the previous examination. . For example, the acquisition function 171 stores the position information detected by the position sensor 104 when the ultrasonic scan was performed and the position information detected by the position sensor 106 when the ultrasonic scan was performed in the storage circuit 160. , the relative position information between the position information detected by the position sensor 104 and the position information detected by the position sensor 106 is obtained as the previous position information. Furthermore, the acquisition function 171 acquires arrangement information representing the arrangement of the position sensor 106 at the time of the previous examination (hereinafter referred to as the previous arrangement information), and the time when the subject P was subjected to ultrasonic scanning at the time of the previous examination. The generated ultrasound image (hereinafter referred to as the previous ultrasound image) is acquired from the storage circuit 160 . Then, the acquisition function 171 causes the display 103 to display the screen 10 shown in FIG.

As shown in FIG. 4, the screen 10 includes a display field 11 for displaying the previous position information and a display field 13 for displaying the previous ultrasonic image. The display field 11 includes a display field 11A for displaying the position (coordinates X, Y, Z) indicated by the previous position information, and a display field 11B for displaying the orientation (angles Roll, Pitch, Yaw) indicated by the previous position information. .

Further, as shown in FIG. 4, the screen 10 includes a display field 12 for displaying previous placement information. That is, the acquisition function 171 displays the previous placement information in the display field 12 of the screen 10, thereby notifying the operator to place the mounting table 4 (that is, the position sensor 106) at the same position as the previous inspection. .

Here, the previous arrangement information displayed in the display field 12 of the screen 10 will be described.

For example, in the present embodiment, as shown in FIG. 5, at the time of the previous examination, the mounting table 4 is provided at the set position on the body surface of the subject P, which is "just above the left nipple XX cm". Assume that an ultrasonic scan is performed on the subject P with the position sensor 106 mounted on the mounting table 4 . In this embodiment, a photograph of the appearance is taken in advance in this state, and the photograph of the appearance is stored in the storage circuit 160 as information representing the state of arrangement of the position sensor 106 at the time of the previous inspection. In this case, in step S101, the acquisition function 171 acquires the appearance photograph from the storage circuit 160, and displays the acquired appearance photograph in the display field 12 of the screen 10 as the previous arrangement information, as shown in FIG. Note that the acquisition function 171 may acquire the appearance photograph from the external device 3 (for example, a database of an electronic medical chart system) via the network 2 .

Alternatively, in the present embodiment, as the state shown in FIG. 5, character information representing "○○ cm directly above the left nipple" is created in advance as the setting position, and the character information is used at the time of the previous examination. It may be stored in the storage circuit 160 as information representing the state of placement of the position sensor 106 . In this case, in step S101, the acquisition function 171 acquires the character information from the storage circuit 160 and displays the acquired character information in the display field 12 of the screen 10 as the previous layout information. Note that the acquisition function 171 may acquire the character information from the external device 3 (for example, a database of an electronic medical record system) via the network 2 .

Alternatively, in the present embodiment, information obtained by adding the character information to the appearance photograph may be stored in the storage circuit 160 as information representing the state of arrangement of the position sensor 106 at the time of the previous inspection. In this case, in step S101, the acquisition function 171 acquires the appearance photograph and the character information from the storage circuit 160, and displays the acquired appearance photograph and character information on the display field 12 of the screen 10 as the previous layout information. Note that the acquisition function 171 may acquire the appearance photograph and the character information from the external device 3 (for example, a database of an electronic medical chart system) via the network 2 .

Note that, in this embodiment, the arrangement of the position sensor 106 at the time of the previous examination may not be displayed if it is a matter of agreement within the hospital.

Step S102 in FIG. 3 is a step executed by the processing circuit 170 calling a program corresponding to the navigation function 172 from the storage circuit 160. FIG. For example, the operator operates the ultrasonic probe 101 to perform an ultrasonic scan on the subject P during the current examination. At this time, in step S102, the navigation function 172 navigates so as to align the position of the ultrasonic probe 101 with the position of the ultrasonic probe 101 when the subject P was ultrasonically scanned in the previous examination. do.

Specifically, in step S102, the navigation function 172 first displays the screen 10 shown in FIG. 6 in order to draw the attention of the operator. As shown in FIG. 6, the screen 10 further includes a display field 21 for displaying current position information while the operator is operating the ultrasonic probe 101 . The display field 21 includes a display field 21A for displaying the position (coordinates X, Y, Z) represented by the current position information, and a display field 21B for displaying the direction (angles Roll, Pitch, Yaw) represented by the current position information. . Then, the navigation function 172 displays the display field 21A of the screen 10 by marking, blinking, or the like, thereby navigating so that the position of the ultrasonic probe 101 is aligned with the position at the time of the previous examination.

In step S102, the navigation function 172 sets the position represented by the previous position information as the position of the ultrasonic probe 101 (point Q shown in FIG. 5) when the subject P was ultrasonically scanned in the previous examination. ) is displayed in the previous placement information in the display field 12 of the screen 10, the position of the ultrasonic probe 101 is navigated to the same position as the previous examination.

Step S103 in FIG. 3 is a step executed by the processing circuit 170 calling a program corresponding to the navigation function 172 from the storage circuit 160. FIG. In step S103, the navigation function 172 determines whether the position (coordinates X, Y, Z) indicated by the current position information is the same as the position (coordinates X, Y, Z) indicated by the previous position information. do.

Specifically, in step S103, the navigation function 172 determines that the difference between the position (coordinates X, Y, Z) indicated by the current position information and the position (coordinates X, Y, Z) indicated by the previous position information is an allowable error. Determine whether it is within the range. For example, if the difference is within the allowable error range, the navigation function 172 determines that the position indicated by the current position information is the same as the position indicated by the previous position information. That is, it is determined that the position of the ultrasonic probe 101 is the same as the previous position. On the other hand, if the difference is not within the allowable error range, the navigation function 172 determines that the position indicated by the current position information is not the same as the position indicated by the previous position information. That is, it is determined that the position of the ultrasonic probe 101 is not the same as the previous position.

Step S104 in FIG. 3 is a step executed by the processing circuit 170 calling a program corresponding to the notification processing function 173 from the storage circuit 160 . In step S104, the notification processing function 173 detects that the difference between the position (coordinates X, Y, Z) indicated by the current position information and the position (coordinates X, Y, Z) indicated by the previous position information is not within the allowable error range. That is, if the position of the ultrasonic probe 101 is not the same as the previous position (step S103; No), the operator is notified of this fact. Thereafter, step S103 described above is performed.

Specifically, in step S104, first, the notification processing function 173 causes the display field 21A of the screen 10 to display the position (coordinates X, Y, Z) represented by the current position information. At this time, the notification processing function 173 causes the display field 21A of the screen 10 to display in the first display form that the position of the ultrasonic probe 101 is not the same as the previous position. For example, the notification processing function 173 displays in the display field 21A of the screen 10 in red characters as the first display mode that the position of the ultrasonic probe 101 is not the same as the previous position. Alternatively, the notification processing function 173 causes the display field 21A of the screen 10 to display that the position of the ultrasonic probe 101 is not the same as the previous position as the first display mode by marking, blinking, or the like. In addition, the notification processing function 173 determines the position of the ultrasonic probe 101 based on the difference between the position represented by the current position information (coordinates X, Y, Z) and the position represented by the previous position information (coordinates X, Y, Z). may be displayed in the display field 21A of the screen 10 as text information indicating how much adjustment is required to achieve the same position as the previous time.

In step S104, the notification processing function 173 notifies the operator by display that the position of the ultrasonic probe 101 is not the same as the previous position, but the operator may be notified by sound alone. may be notified to the operator by display and sound.

Step S105 in FIG. 3 is a step executed by the processing circuit 170 calling a program corresponding to the notification processing function 173 from the storage circuit 160 . In step S105, the notification processing function 173 determines if the difference between the position represented by the current position information (coordinates X, Y, Z) and the position represented by the previous position information (coordinates X, Y, Z) is within the allowable error range. That is, when the position of the ultrasonic probe 101 is the same as the previous position (step S103; Yes), the operator is notified of this by display and sound.

Specifically, in step S105, first, the notification processing function 173 causes the display column 21A of the screen 10 to display the position (coordinates X, Y, Z) represented by the current position information. At this time, the notification processing function 173 causes the display field 21A of the screen 10 to display that the position of the ultrasonic probe 101 is the same as the previous position in a second display form different from the first display form. For example, the notification processing function 173 displays in the display field 21A of the screen 10 in blue characters as the second display mode that the position of the ultrasonic probe 101 is the same as the previous position. In addition, the notification processing function 173 outputs a sound from a speaker (not shown) indicating that the position of the ultrasonic probe 101 is the same as the previous position.

In step S105, the notification processing function 173 notifies the operator by display and sound that the position of the ultrasonic probe 101 is the same as the previous position. Alternatively, the operator may be notified only by sound.

Step S106 in FIG. 3 is a step executed by the processing circuit 170 calling a program corresponding to the navigation function 172 from the storage circuit 160. FIG. In step S106, the navigation function 172 navigates so that the orientation of the ultrasonic probe 101 is aligned with the orientation of the ultrasonic probe 101 when the subject P was ultrasonically scanned in the previous examination.

For example, in step S106, the navigation function 172 displays the display field 21B of the screen 10 by marking, blinking, or the like in order to draw the attention of the operator, thereby changing the orientation of the ultrasonic probe 101 from the previous one. Navigate to match the same orientation as during inspection.

Step S107 in FIG. 3 is a step executed by the processing circuit 170 calling a program corresponding to the navigation function 172 from the storage circuit 160. FIG. In step S107, the navigation function 172 determines whether or not the orientation (angles Roll, Pitch, Yaw) indicated by the current position information is the same as the orientation (angles Roll, Pitch, Yaw) indicated by the previous position information. do.

Specifically, in step S107, the navigation function 172 determines that the difference between the orientation (angles Roll, Pitch, Yaw) indicated by the current position information and the orientation (angles Roll, Pitch, Yaw) indicated by the previous position information is an allowable error. Determine whether it is within the range. For example, if the difference is within the allowable error range, the navigation function 172 determines that the orientation represented by the current position information is the same as the orientation represented by the previous position information. That is, it is determined that the orientation of the ultrasonic probe 101 is the same as the previous orientation. On the other hand, if the difference is not within the allowable error range, the navigation function 172 determines that the orientation indicated by the current position information is not the same as the orientation indicated by the previous position information. That is, it is determined that the orientation of the ultrasonic probe 101 is not the same as the previous orientation.

Step S108 in FIG. 3 is a step executed by the processing circuit 170 calling a program corresponding to the notification processing function 173 from the storage circuit 160. FIG. In step S108, the notification processing function 173 determines if the difference between the orientation (angles Roll, Pitch, Yaw) indicated by the current position information and the orientation (angles Roll, Pitch, Yaw) indicated by the previous position information is not within the allowable error range. That is, if the orientation of the ultrasonic probe 101 is not the same as the previous orientation (step S107; No), the operator is notified of this fact. Thereafter, step S107 described above is performed.

Specifically, in step S108, first, the notification processing function 173 causes the display field 21B of the screen 10 to display the direction (angles Roll, Pitch, Yaw) represented by the current position information. At this time, the notification processing function 173 causes the display field 21B of the screen 10 to display in the first display form that the orientation of the ultrasonic probe 101 is not the same as the previous orientation. For example, the notification processing function 173 displays in the display field 21B of the screen 10 in red characters as the first display mode that the orientation of the ultrasonic probe 101 is not the same as the previous orientation. Alternatively, the notification processing function 173 causes the display field 21B of the screen 10 to display that the orientation of the ultrasonic probe 101 is not the same as the previous orientation, as a first display mode, by marking, blinking, or the like. In addition, the notification processing function 173 determines the orientation of the ultrasonic probe 101 based on the difference between the orientation (angles Roll, Pitch, Yaw) indicated by the current position information and the orientation (angles Roll, Pitch, Yaw) indicated by the previous position information. Character information may be displayed in the display field 21B of the screen 10 to indicate how much adjustment is required to obtain the same orientation as the previous time.

In step S108, the notification processing function 173 notifies the operator by display that the orientation of the ultrasonic probe 101 is not the same as the previous orientation, but the operator may be notified by sound alone. may be notified to the operator by display and sound.

Step S109 in FIG. 3 is a step executed by the processing circuit 170 calling a program corresponding to the notification processing function 173 from the storage circuit 160. FIG. In step S109, the notification processing function 173 determines if the difference between the orientation (angles Roll, Pitch, Yaw) indicated by the current position information and the orientation (angles Roll, Pitch, Yaw) indicated by the previous position information is within the allowable error range. That is, when the orientation of the ultrasonic probe 101 is the same as the previous orientation (step S107; Yes), the operator is notified of this by display and sound.

Specifically, in step S109, first, the notification processing function 173 causes the display field 21B of the screen 10 to display the direction (angles Roll, Pitch, Yaw) represented by the current position information. At this time, the notification processing function 173 causes the display field 21B of the screen 10 to display that the orientation of the ultrasonic probe 101 is the same as the previous orientation in a second display form different from the first display form. For example, the notification processing function 173 displays in the display field 21B of the screen 10 in blue characters as the second display mode that the orientation of the ultrasonic probe 101 is the same as the previous orientation. In addition, the notification processing function 173 outputs a sound from a speaker (not shown) indicating that the orientation of the ultrasonic probe 101 is the same as the previous orientation.

In step S109, the notification processing function 173 notifies the operator by display and sound that the orientation of the ultrasonic probe 101 is the same as that of the previous time. Alternatively, the operator may be notified only by sound.

Further, in this embodiment, the ultrasonic scan is started when the operator operates the ultrasonic probe 101 in step S102 of FIG. may start when it determines that the current location information matches the previous location information. In this case, in step S110, which will be described later, the ultrasonic probe 101 performs an ultrasonic scan on the subject P during the current examination, and the image generation circuit 140 generates an ultrasonic image based on the results of the ultrasonic scan. do.

Step S110 in FIG. 3 is a step executed by the processing circuit 170 calling a program corresponding to the save processing function 174 from the storage circuit 160. FIG. In step S<b>110 , the storage processing function 174 stores the ultrasonic image generated by the image generation circuit 140 in the storage circuit 160 .

Specifically, in step S110, first, the save processing function 174 uses the image generated by the image generation circuit 140 when the subject P was scanned with ultrasound during the current examination, in order to allow the operator to confirm the An ultrasonic image (hereinafter referred to as an ultrasonic image this time) is displayed on the screen 10 . As shown in FIG. 7, the screen 10 further includes a display field 23 for displaying the current ultrasound image. Then, when the operator operates a save button (not shown) using the input device 102, or when a set time has passed since the current ultrasonic image was displayed in the display field 23 of the screen 10, the save processing function 174 causes the storage circuit 160 to store the current ultrasound image displayed in the display field 23 of the screen 10 .

3, the storage processing function 174 causes the storage circuit 160 to store the current position information displayed in the display field 21 of the screen 10. FIG. For example, the storage processing function 174 saves the position information detected by the position sensor 104 when the ultrasonic scan was performed and the position information detected by the position sensor 106 when the ultrasonic scan was performed. It is stored in the storage circuit 160 as position information. The current position information stored in the storage circuit 160 is read as the previous position information when step S101 in FIG. 3 is executed again.

In addition, in step S110 of FIG. 3, the storage processing function 174 causes the storage circuit 160 to store the scan conditions when the ultrasonic scan was performed. The scanning conditions include the scanning range (Scan Range) and focal length (Focus) of the ultrasonic probe 101, the angle of view and display depth (Depth) of the ultrasonic image, the switching of the image mode, the timing of switching the image mode, and the like. mentioned. For example, image modes are B (Brightness) mode and M (Motion) mode, and switching of image modes includes switching from B mode to M mode. For example, in steps S102 to S109 in FIG. 3, when the navigation function 172 determines that the current position information and the previous position information match, the acquisition function 171 acquires the scan conditions from the storage circuit 160, and performs step S109 in FIG. In S110, the ultrasonic probe 101 performs ultrasonic scanning based on the acquired scanning conditions. Thereby, in this embodiment, the same ultrasonic scan as the previous time can be performed.

Note that, in the present embodiment, the ultrasonic scan on the subject P may be performed in a predetermined scan order. In this case, the acquisition function 171 may acquire from the storage circuit 160 information representing the scan order in which the subject P was scanned by ultrasound in the previous examination, and display the information on the display 103 .

Specifically, in step S101 of FIG. 3, the acquisition function 171 acquires the previous placement information as shown in FIG. The previous placement information shown in FIG. 8 includes information representing the placement state of the position sensor 106 at the time of the previous inspection, as in the case of FIG. Further, the previous placement information shown in FIG. 8 includes information (points Q1 to Q5) representing the scanning order. For example, as a scanning order, first, at points Q1 and Q2 shown in FIG. 8, steps S102 to S110 in FIG. 3 are executed to save an ultrasonic image. Next, at point Q3 shown in FIG. 8, steps S102 to S110 in FIG. 3 are executed to save the ultrasonic image. Next, at point Q4 shown in FIG. 8, steps S102 to S110 in FIG. 3 are executed to save the ultrasonic image. Finally, at point Q5 shown in FIG. 8, steps S102 to S110 in FIG. 3 are executed to save the ultrasound image.

Here, points Q1 and Q2 shown in FIG. 8 have the same position information (same position and orientation), and in the present embodiment, the image mode is switched from B mode to M mode at points Q1 and Q2, Automatically save ultrasound images.

For example, in steps S102 to S109 in FIG. 3, when the navigation function 172 determines that the current position information matches the previous position information, the acquisition function 171 acquires the scan conditions at points Q1 and Q2 from the storage circuit 160. . For example, the scan condition at Q1 includes information indicating that the image mode is B mode, and the scan condition at point Q2 includes information indicating that the image mode is switched from B mode to M mode, and information indicating that the image mode is switched from B mode to M mode. including timing.

Then, in step S110 in FIG. 3, the ultrasonic probe 101 performs an ultrasonic scan based on the acquired scan conditions in Q1, and the image generation circuit 140 performs an ultrasonic scan based on the result of the ultrasonic scan by the ultrasonic probe 101. to generate a B-mode ultrasound image. When the operator operates a save button (not shown) using the input device 102, or when a set time has passed since the current ultrasonic image was displayed in the display field 23 of the screen 10, the save processing function 174 , the generated B-mode ultrasound image is stored in the storage circuit 160 .

After that, the ultrasonic probe 101 performs an ultrasonic scan based on the acquired scan conditions in Q2, and the image generation circuit 140 generates an M-mode ultrasonic image based on the result of the ultrasonic scan by the ultrasonic probe 101. to generate When the operator operates a save button (not shown) using the input device 102, or when a set time has passed since the current ultrasonic image was displayed in the display field 23 of the screen 10, the save processing function 174 , the generated M-mode ultrasound image is stored in the storage circuit 160 .

As described above, in the ultrasonic diagnostic apparatus 1 according to the present embodiment, when the operator performs an ultrasonic scan on the subject P during the current examination, the operator is positioned at the set position on the body surface of the subject P. With the sensor 106 attached, the processing circuit 170 generates relative position information (current position information) obtained from the two position sensors 104 and 106 and relative position information (previous position information) at the time of the previous examination. Compare with As a result, the ultrasonic diagnostic apparatus 1 according to this embodiment can reproduce the position and orientation of the ultrasonic probe 101 at the time of the previous examination. As described above, the ultrasonic diagnostic apparatus 1 according to the present embodiment can perform an ultrasonic scan in the same cross section as in the previous examination during the current examination without depending on the skill of the operator. . That is, the ultrasonic diagnostic apparatus 1 according to this embodiment can assist the operation of the ultrasonic probe 101 .

Further, in the ultrasonic diagnostic apparatus 1 according to the present embodiment, instead of comparing the ultrasonic image at the time of the previous examination (previous ultrasonic image) and the ultrasonic image at the time of the current examination (current ultrasonic image), , by comparing the relative position information obtained from the two position sensors 104 and 106 (current position information) with the relative position information (previous position information) at the time of the previous inspection. Search for position and orientation. For this reason, in the ultrasonic diagnostic apparatus 1 according to the present embodiment, for example, while comparing the ultrasonic image of the previous examination with the ultrasonic image of the current examination, the position of the ultrasonic probe can be detected using only one position sensor. The position and orientation of the ultrasonic probe 101 can be reproduced more accurately than the method of searching for the position and orientation.

Further, in the ultrasonic diagnostic apparatus 1 according to the present embodiment, instead of comparing the ultrasonic image at the time of the previous examination (previous ultrasonic image) and the ultrasonic image at the time of the current examination (current ultrasonic image), , to compare the relative position information obtained from the two position sensors 104 and 106 (current position information) with the relative position information (previous position information) at the time of the previous examination. is reduced.

In addition, in the present embodiment, the position sensor 106 is provided at a set position on the body surface of the subject P via the mounting table 4, but is not limited to this. For example, in the first modified example, the position sensor 106 may be provided at the set position of the patient's P bed. For example, as the setting position of the bed of the subject P, the mounting table 4 is provided at “○○ cm directly above the left wheel on the head side of the bed”, and the position sensor 106 is mounted on the mounting table 4 .

Also, each component of each device illustrated in the embodiment is functionally conceptual, and does not necessarily need to be physically configured as illustrated. In other words, the specific form of distribution and integration of each device is not limited to the one shown in the figure, and all or part of them can be functionally or physically distributed and integrated in arbitrary units according to various loads and usage conditions. Can be integrated and configured. Furthermore, all or any part of each processing function performed by each device can be implemented by a CPU and a program analyzed and executed by the CPU, or implemented as hardware based on wired logic.

Further, the method described in this embodiment can be implemented by executing a prepared program on a computer such as a personal computer or a workstation. This program can be distributed via a network such as the Internet. In addition, this program is recorded on a computer-readable non-temporary recording medium such as a hard disk, flexible disk (FD), CD-ROM, MO, DVD, etc., and is executed by being read from the recording medium by a computer. can also

As described above, according to this embodiment, the operation of the ultrasonic probe can be assisted.

While embodiments of the invention have been described, the embodiments are provided by way of example and are not intended to limit the scope of the invention. This embodiment can be implemented in various other forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. This embodiment and its modifications are included in the scope and spirit of the invention, as well as the scope of the invention described in the claims and its equivalents.

1 Ultrasonic Diagnostic Device 4 Mounting Table 10 Screen 101 Ultrasonic Probe 103 Display 104 Position Sensor 106 Position Sensor 171 Acquisition Function 172 Navigation Function 173 Notification Processing Function 174 Storage Processing Function

Claims (9)

an ultrasonic probe for performing an ultrasonic scan on the subject;
The position information detected by the first detection unit attached to the ultrasonic probe is converted into relative position information with the position information detected by the second detection unit provided at the set position as the origin. Acquisition of first position information, position information detected by the first detection unit attached to the ultrasonic probe when the ultrasonic scan was performed last time, the position information provided at the set position Acquiring from the storage unit the second position information obtained by converting the position information detected by the detection unit 2 into relative position information with the position information detected by the detection unit 2 as the origin, and information representing the scan order when the ultrasonic scan was performed last time. from the storage unit and displayed on the display unit ;
a determination unit that determines whether the first location information matches the second location information;
with
The determination unit causes the display unit to display the second position information when the ultrasonic scan was performed last time, and displays the first position information acquired during the ultrasonic scan on the display unit. and navigating to match the position of the ultrasonic probe with the ultrasonic probe when the ultrasonic scan was performed last time in the scanning order displayed on the display unit;
Ultrasound diagnostic equipment. A notification processing unit that notifies an operator of the determination result determined by the determination unit;
further comprising
The notification processing unit operates that the first location information matches the second location information when a difference between the first location information and the second location information is within an allowable error range. to notify the person
The ultrasonic diagnostic apparatus according to claim 1. The notification processing unit causes the display unit to display in a first display form that the first location information does not match the second location information when the difference is not within the allowable error range. and displaying in a second display form different from the first display form that the first position information matches the second position information when the difference is within the allowable error range. display in the
The ultrasonic diagnostic apparatus according to claim 2. an image generation unit that generates an ultrasound image based on the result of the ultrasound scan;
a storage processing unit that stores the second position information in the storage unit together with the generated ultrasound image;
The ultrasonic diagnostic apparatus according to any one of claims 1 to 3, further comprising: The storage processing unit further causes the storage unit to store scan conditions when the ultrasonic scan is performed,
when the determination unit determines that the first position information and the second position information match, the acquisition unit acquires the scan conditions from the storage unit;
The ultrasonic probe performs the ultrasonic scan based on the acquired scan conditions,
The ultrasonic diagnostic apparatus according to claim 4. The scanning conditions include switching between image modes and timing for switching the image modes.
The ultrasonic diagnostic apparatus according to claim 5. The acquisition unit acquires information representing the arrangement state of the second detection unit when the ultrasonic scan was performed last time from the storage unit, and causes the display unit to display the information.
The ultrasonic diagnostic apparatus according to any one of claims 1-6. The second detection unit is provided at the set position on the body surface of the subject via a mounting table,
The ultrasonic diagnostic apparatus according to any one of claims 1-7 . The second detection unit is provided at the set position of the subject's bed,
The ultrasonic diagnostic apparatus according to any one of claims 1-7 .

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