JP7354009B2 - Ultrasound diagnostic equipment - Google Patents

Description

Embodiments disclosed in this specification and the like relate to an ultrasonic diagnostic apparatus.

BACKGROUND ART Conventionally, there have been diseases such as economic syndrome and varicose veins in lower extremity blood vessels (for example, lower extremity veins), and the importance of lower extremity blood vessel examination has been recognized. For example, in a lower extremity blood vessel test using an ultrasound diagnostic device, the entire lower extremity is comprehensively scanned for diagnosis.

Special Publication No. 2007-508913

One of the problems that the embodiments disclosed in this specification and the like aim to solve is to reduce the load related to inspection. However, the problems solved by the embodiments disclosed in this specification and the like are not limited to the above problems. Problems corresponding to the effects of each configuration shown in the embodiments described later can also be positioned as other problems to be solved by the embodiments disclosed in this specification and the like.

The ultrasonic diagnostic apparatus of the embodiment includes an acquisition section and a control section. The acquisition unit acquires identification information placed on the body surface of the subject. The control unit controls scanning of the subject by a robot arm holding an ultrasound probe based on scan conditions corresponding to the identification information.

FIG. 1 is a diagram schematically showing an example of an ultrasound diagnostic system according to a first embodiment. FIG. 2 is a block diagram showing an example of the configuration of the ultrasound diagnostic apparatus according to the first embodiment. FIG. 3 is a block diagram showing an example of the configuration of the robot scanning system according to the first embodiment. FIG. 4 is a diagram showing an example of an arm according to the first embodiment. FIG. 5 is a diagram for explaining an example of acquisition of position information of a subject and placement of identification information according to the first embodiment. FIG. 6 is a diagram for explaining an example of creating a two-dimensional code according to the first embodiment. FIG. 7 is a diagram for explaining an example of controlling the orientation of an ultrasound probe using a two-dimensional code according to the first embodiment. FIG. 8 is a diagram for explaining an example of scanning using a plurality of scanning angles according to the first embodiment. FIG. 9 is a diagram for explaining an example of scanning according to the scan protocol according to the first embodiment. FIG. 10 is a flowchart for explaining the processing procedure of the ultrasonic diagnostic apparatus according to the first embodiment.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of an ultrasonic diagnostic apparatus according to the present application will be described in detail with reference to the accompanying drawings. Note that the ultrasonic diagnostic apparatus according to the present application is not limited to the embodiments described below. Furthermore, in the following description, similar components are given common reference numerals, and redundant description will be omitted.

(First embodiment)
First, an ultrasonic diagnostic system including an ultrasonic diagnostic apparatus according to the present application will be described. The ultrasound diagnostic system includes an ultrasound diagnostic device and a robot scan system, and adjusts an ultrasound probe held by the robot scan system under control of the ultrasound diagnostic device. FIG. 1 is a diagram schematically showing an example of an ultrasound diagnostic system according to a first embodiment. For example, as shown in the figure, the ultrasound diagnostic system includes an ultrasound diagnostic apparatus 100 and a robot scan system 200, and controls ultrasound scanning of a subject.

The ultrasound diagnostic apparatus 100 includes an ultrasound probe 12a and an ultrasound probe 12b, and generates ultrasound images based on ultrasound transmitted and received by the ultrasound probe 12a or the ultrasound probe 12b. For example, the ultrasound diagnostic apparatus 100 generates an ultrasound image of a region of a subject scanned by the ultrasound probe 12a or the ultrasound probe 12b. Here, the ultrasonic probe 12a and the ultrasonic probe 12b are different types of ultrasonic probes.

The robot scan system 200 includes, for example, a robot arm control device 21, an arm 22a, an arm 22b, an arm 22c, and an arm 22d. The arm 22a holds the code reader 31 and controls reading of the two-dimensional code by the code reader 31 by changing its position based on control by the robot arm control device 21. The arm 22b holds the acoustic medium 32, changes its position based on control by the robot arm control device 21, and places the acoustic medium 32 on the body surface of the subject. The arm 22c holds the ultrasound probe 12a and changes its position under the control of the robot arm control device 21 to perform an ultrasound scan on the subject. The arm 22d holds the ultrasound probe 12b and executes an ultrasound scan on the subject by changing its position under the control of the robot arm control device 21.

The robot arm control device 21 adjusts the positions of the code reader 31, the acoustic medium 32, the ultrasound probe 12a, and the ultrasound probe 12b with respect to the subject by moving the positions of the arms 22a, 22b, 22c, and 22d. do. Here, the robot arm control device 21 can control the positions of the arms 22a, 22b, 22c, and 22d based on control signals received from the ultrasound diagnostic device. That is, the robot arm control device 21 moves the arms 22a, 22b, 22c, and 22d based on the amount of movement of the arms included in the control signal received from the ultrasound diagnostic device. Note that the positional relationships between the arms 22a, 22b, 22c, and 22d and the subject can be determined based on position information acquired by a position sensor attached to the subject.

The ultrasonic diagnostic apparatus 100 adjusts the positions of the arms 22a and 22b of the robot scan system 200 by transmitting a control signal to the robot scan system 200, and allows the code reader 31 to read the two-dimensional code and The placement of the acoustic medium 32 on the body surface of the specimen is controlled. In addition, the ultrasound diagnostic apparatus 100 adjusts the positions of the arms 22c and 22d of the robot scan system 200 by transmitting a control signal to the robot scan system 200, and brings the ultrasound probe to the scan position of the subject. 12a and the ultrasound probe 12b are moved. Further, the ultrasonic diagnostic apparatus 100 controls scanning by the ultrasonic probe 12a and the ultrasonic probe 12b.

Here, the ultrasonic diagnostic apparatus 100 according to the present application can reduce the load related to examination. As described above, for example, in a lower limb blood vessel test using an ultrasound diagnostic device, the entire lower limb is comprehensively tested, so it takes more time than tests on other parts. That is, since there are many parts to be scanned, the time required for scanning is long, and the time required for recording information regarding each scan position is also long, so the entire examination takes time. Furthermore, since the ultrasonic probe scans a wide range of the entire lower limb, operators such as laboratory technicians have to perform the scan in various postures, which places a heavy physical burden on them. Therefore, the ultrasonic diagnostic apparatus 100 according to the present application makes it possible to reduce the load related to the examination by using the robot scan system 200 to perform a lower extremity blood vessel examination with a wide scanning range.

Details of the first embodiment of the present application will be described below. FIG. 2 is a block diagram showing an example of the configuration of the ultrasound diagnostic apparatus 100 according to the first embodiment. As shown in FIG. 2, the ultrasonic diagnostic apparatus 100 according to this embodiment includes an ultrasonic probe 12a, an ultrasonic probe 12b, a display 13, an input interface 14, and an apparatus main body 15. Further, in the ultrasonic diagnostic apparatus 100, an ultrasonic probe 12a, an ultrasonic probe 12b, a display 13, and an input interface 14 are communicably connected to the apparatus main body 15. The ultrasound diagnostic apparatus 100 according to this embodiment is further communicably connected to a robot scan system 200 and a terminal device 300.

The terminal device 300 is placed in a room different from the examination room where the examination by the ultrasound diagnostic apparatus 100 is performed, and is operated by a doctor or the like. For example, the terminal device 300 displays the scan results etc. by the ultrasound diagnostic apparatus 100.

Further, the ultrasonic diagnostic apparatus 100 is connected to a position sensor 61a, a position sensor 61b, a position sensor 61c, a position sensor 61d, a position sensor 61e, and a transmitter 61f.

The position sensor 61a is, for example, a magnetic sensor, and is attached to the code reader 31. The position sensor 61b is, for example, a magnetic sensor, and is attached to the arm 22b. The position sensor 61c is, for example, a magnetic sensor, and is attached to the ultrasound probe 12a. The position sensor 61d is, for example, a magnetic sensor, and is attached to the ultrasound probe 12b. The position sensor 61e is, for example, a magnetic sensor, and is attached to the subject. The transmitter 61f is a device that generates a magnetic field outward from the transmitter 61f, and is placed at any position near the device main body 15. The position sensor 61a, the position sensor 61b, the position sensor 61c, the position sensor 61d, the position sensor 61e, and the transmitter 61f receive the position information of the code reader 31, the position information of the acoustic medium 32, and the ultrasonic probes 12a and 12b. This is a position detection system for detecting position information and position information of a subject.

The position sensor 61a, the position sensor 61b, the position sensor 61c, and the position sensor 61d detect the strength and inclination of the three-dimensional magnetic field formed by the transmitter 61f. Then, the position sensor 61a, the position sensor 61b, the position sensor 61c, and the position sensor 61d calculate the position (coordinates and angle) of the own device in the space with the transmitter 61f as the origin based on the detected magnetic field information. The position is sent to the main body 15 of the device.

Here, the position sensor 61a transmits the three-dimensional coordinates and angle at which the own device is located to the device main body 15 as three-dimensional position information of the code reader 31. Thereby, the device main body 15 can calculate the position of the code reader 31 in the space with the transmitter 61f as the origin.

Further, the position sensor 61b transmits the three-dimensional coordinates and angle at which the own device is located to the device main body 15 as three-dimensional position information of the acoustic medium 32. The device main body 15 can calculate the position of the acoustic medium 32 in the space with the transmitter 61f as the origin from the positional relationship between the attachment position of the position sensor 61b on the arm 22b and the acoustic medium 32 gripped by the arm 22b.

Further, the position sensor 61c transmits the three-dimensional coordinates and angle at which the own device is located to the device main body 15 as three-dimensional position information of the ultrasound probe 12a. Thereby, the apparatus main body 15 can calculate the position of the ultrasound image collected by the ultrasound probe 12a in the space with the transmitter 61f as the origin.

Further, the position sensor 61d transmits the three-dimensional coordinates and angle at which the own device is located to the device main body 15 as three-dimensional position information of the ultrasound probe 12b. Thereby, the apparatus main body 15 can calculate the position of the ultrasound image collected by the ultrasound probe 12b in the space with the transmitter 61f as the origin.

Further, a plurality of position sensors 61e are arranged on the subject and detect the strength and inclination of the three-dimensional magnetic field formed by the transmitter 61f. Then, the position sensor 61e calculates the position (coordinates and angle) of the device itself in the space with the transmitter 61f as the origin based on the information of the detected magnetic field, and transmits the calculated position to the device main body 15. Here, the position sensor 61e transmits the three-dimensional coordinates and angle at which the own apparatus is located to the apparatus main body 15 as three-dimensional position information of the subject. The apparatus main body 15 receives the three-dimensional position information of the subject received from the plurality of position sensors 61e (three-dimensional position information of the position on the subject where each position sensor 61e is attached) and the shape of the subject input in advance. and size information, each position of the subject in the space with the transmitter 61f as the origin can be calculated.

Note that this embodiment is applicable even when the position information of the ultrasound probe 12 and the subject is acquired by a system other than the above-described position detection system. For example, in this embodiment, the positional information of the code reader 31, the acoustic medium 32, the ultrasound probe 12a, the ultrasound probe 12b, and the subject may be acquired using a gyro sensor, an acceleration sensor, or the like.

The ultrasonic probe 12a (and the ultrasonic probe 12b) is connected to a transmitting/receiving circuit 151 included in the device main body 15. The ultrasonic probe 12a (and the ultrasonic probe 12b) has, for example, a plurality of piezoelectric vibrators in the probe body, and these piezoelectric vibrators generate ultrasonic waves based on drive signals supplied from the transmitting/receiving circuit 151. do. Further, the ultrasonic probe 12a (and the ultrasonic probe 12b) receives reflected waves from the subject and converts them into electrical signals. Further, the ultrasonic probe 12a (and the ultrasonic probe 12b) includes, in the probe body, a matching layer provided on the piezoelectric vibrator, and a backing material that prevents propagation of ultrasonic waves backward from the piezoelectric vibrator. Note that the ultrasonic probe 12a (and the ultrasonic probe 12b) is detachably connected to the apparatus main body 15. For example, the ultrasound probe 12a (and the ultrasound probe 12b) is a sector-type, linear-type, or convex-type ultrasound probe. Note that the ultrasonic probe 12a and the ultrasonic probe 12b are probes of different types (one is a linear type, the other is a convex type, etc.).

When ultrasonic waves are transmitted from the ultrasound probe 12a (and ultrasound probe 12b) to the subject, the transmitted ultrasound waves are successively reflected by acoustic impedance discontinuities in the body tissues of the subject, and reflected waves are generated. The signals are received by a plurality of piezoelectric vibrators included in the ultrasound probe 12a (and the ultrasound probe 12b). The amplitude of the received reflected wave signal depends on the difference in acoustic impedance at the discontinuity surface from which the ultrasound wave is reflected. Note that when a transmitted ultrasound pulse is reflected from a moving bloodstream or a surface such as a heart wall, the reflected wave signal depends on the velocity component of the moving object in the ultrasound transmission direction due to the Doppler effect. and undergo a frequency shift.

Note that the ultrasonic probe 12a (and the ultrasonic probe 12b) may be a one-dimensional ultrasonic probe in which a plurality of piezoelectric vibrators are arranged in a row, and the plurality of piezoelectric vibrators of the one-dimensional ultrasonic probe are machined. The ultrasonic probe may be an ultrasonic probe that swings vertically, or may be a two-dimensional ultrasonic probe in which a plurality of piezoelectric vibrators are two-dimensionally arranged in a grid pattern.

The display 13 displays a GUI (Graphical User Interface) for the operator of the ultrasound diagnostic apparatus 100 to input various setting requests using the input interface 14, and displays ultrasound images generated in the apparatus body 15. display it. Further, the display 13 displays various messages and display information in order to notify the operator of the processing status and processing results of the apparatus main body 15. The display 13 also has a speaker and can output audio.

The input interface 14 includes a trackball, a switch button, a mouse, a keyboard, a touchpad for performing input operations by touching the operation surface, a display screen, and a touchpad for setting a predetermined position (for example, a region of interest, etc.). This is realized by a touch monitor integrated with the above, a non-contact input circuit using an optical sensor, a voice input circuit, etc. The input interface 14 is connected to a processing circuit 155 to be described later, converts an input operation received from an operator into an electrical signal, and outputs the electrical signal to the processing circuit 155. Note that in this specification, the input interface 14 is not limited to one that includes physical operation parts such as a mouse and a keyboard. For example, an electrical signal processing circuit that receives an electrical signal corresponding to an input operation from an external input device provided separately from the device and outputs this electrical signal to the processing circuit 155 is also included in the input interface example.

The device main body 15 includes a transmitting/receiving circuit 151 , a B-mode processing circuit 152 , a Doppler processing circuit 153 , a memory 154 , a processing circuit 155 , and a communication interface 156 . In the ultrasonic diagnostic apparatus 1 shown in FIG. 2, each processing function is stored in the memory 154 in the form of a computer-executable program. The transmitting/receiving circuit 151, the B-mode processing circuit 152, the Doppler processing circuit 153, and the processing circuit 155 are processors that read programs from the memory 154 and execute them to implement functions corresponding to each program. In other words, each circuit in a state where each program is read has a function corresponding to the read program.

The transmission/reception circuit 151 includes a pulse generator, a transmission delay circuit, a pulser, etc., and supplies a drive signal to the ultrasound probe 12. The pulse generator repeatedly generates rate pulses to form transmitted ultrasound waves at a predetermined rate frequency. In addition, in the transmission delay circuit, a pulse generator generates a delay time for each piezoelectric vibrator necessary for focusing the ultrasound generated from the ultrasound probe 12 into a beam shape and determining the transmission directivity. Give for each rate pulse. Further, the pulser applies a drive signal (drive pulse) to the ultrasound probe 12 at a timing based on the rate pulse. That is, the transmission delay circuit arbitrarily adjusts the transmission direction of the ultrasonic waves transmitted from the piezoelectric vibrator surface by changing the delay time given to each rate pulse.

Note that the transmitter/receiver circuit 151 has a function that can instantaneously change the transmission frequency, transmission drive voltage, etc. in order to execute a predetermined scan sequence based on instructions from a processing circuit 155, which will be described later. In particular, changing the transmission drive voltage is realized by a linear amplifier-type oscillation circuit that can instantly switch its value, or by a mechanism that electrically switches multiple power supply units.

The transmitting/receiving circuit 151 includes a preamplifier, an A/D (Analog/Digital) converter, a receiving delay circuit, an adder, etc., and performs various processing on the reflected wave signal received by the ultrasound probe 12 to reflect the reflected wave signal. Generate wave data. The preamplifier amplifies the reflected wave signal for each channel. The A/D converter performs A/D conversion on the amplified reflected wave signal. The reception delay circuit provides the delay time necessary to determine the reception directivity. The adder performs addition processing of the reflected wave signals processed by the reception delay circuit to generate reflected wave data. By the addition process of the adder, the reflected component from the direction corresponding to the receiving directivity of the reflected wave signal is emphasized, and a comprehensive beam of ultrasonic transmission and reception is formed by the receiving directivity and the transmitting directivity.

The B-mode processing circuit 152 receives reflected wave data from the transmitting/receiving circuit 151, performs logarithmic amplification, envelope detection processing, etc., and generates data (B-mode data) in which signal strength is expressed by brightness of luminance. .

The Doppler processing circuit 153 performs frequency analysis on velocity information from the reflected wave data received from the transmission/reception circuit 151, extracts blood flow, tissue, and contrast agent echo components due to the Doppler effect, and extracts moving body information such as velocity, dispersion, and power. Generate data extracted from multiple points (Doppler data). For example, the moving body is a fluid such as blood flowing in a blood vessel or lymph fluid flowing in a lymphatic vessel.

Note that the B-mode processing circuit 152 and the Doppler processing circuit 153 can process both two-dimensional reflected wave data and three-dimensional reflected wave data. That is, the B-mode processing circuit 152 generates two-dimensional B-mode data from two-dimensional reflected wave data, and generates three-dimensional B-mode data from three-dimensional reflected wave data. Further, the Doppler processing circuit 153 generates two-dimensional Doppler data from two-dimensional reflected wave data, and generates three-dimensional Doppler data from three-dimensional reflected wave data. The three-dimensional B-mode data is data to which a luminance value is assigned according to the reflection intensity of the reflection source located at each of a plurality of points (sample points) set on each scanning line in the three-dimensional scanning range. In addition, in 3D Doppler data, a brightness value is assigned to each of multiple points (sample points) set on each scanning line in the 3D scanning range according to the value of blood flow information (velocity, dispersion, power). The data will be

Further, the B-mode processing circuit 152 and the Doppler processing circuit 153 combine a plurality of two-dimensional reflected wave data to generate three-dimensional reflected wave data, and generate three-dimensional data from the generated reflected wave data. You can also do it. For example, the B-mode processing circuit 152 synthesizes a plurality of two-dimensional reflected wave data to generate three-dimensional reflected wave data, and generates three-dimensional B-mode data from the generated three-dimensional reflected wave data. Further, the Doppler processing circuit 153 synthesizes a plurality of two-dimensional reflected wave data to generate three-dimensional reflected wave data, and generates three-dimensional Doppler data from the generated three-dimensional reflected wave data.

The memory 154 stores image data for display generated by the processing circuit 155. Further, the memory 154 can also store data generated by the B-mode processing circuit 152 and the Doppler processing circuit 153. The memory 154 also stores various data such as control programs for transmitting and receiving ultrasound waves, image processing, and display processing, diagnostic information (e.g., patient ID, doctor's findings, etc.), scan protocols, and various body marks. do. Further, the memory 154 stores various information received from the position sensor 61a, the position sensor 61b, the position sensor 61c, the position sensor 61d, and the position sensor 61e. The memory 154 also stores scan conditions associated with the identification information.

The communication interface 156 is connected to the processing circuit 155 and controls communication between the ultrasound diagnostic apparatus 100 and each device. Specifically, the communication interface 156 receives various types of information from each device and outputs the received information to the processing circuit 155. For example, the communication interface 156 is realized by a network card, network adapter, NIC (Network Interface Controller), or the like. For example, communication interface 156 transmits control signals received from processing circuit 155 to robot scanning system 200. Further, the communication interface 156 transmits the scan result to the terminal device 300.

The processing circuit 155 controls the entire processing of the ultrasound diagnostic apparatus 100. Specifically, the processing circuit 155 reads programs corresponding to the control function 155a, image generation function 155b, detection function 155c, acquisition function 155d, arm control function 155e, and display control function 156f shown in FIG. 2 from the memory 154. By executing it, various processes are performed. For example, the processing circuit 155 is a processor that reads each program from the memory 154 and executes it to realize a function corresponding to each program. In other words, the processing circuit 155 in a state where each program is read has each function shown in the processing circuit 155 of FIG.

Here, the control function 155a and the arm control function 155e are examples of a control section. The acquisition function 155d is an example of an acquisition unit. Further, the display control function 156f is an example of a notification section. In this embodiment, each processing function described below will be realized by a single processing circuit 155. However, a processing circuit is configured by combining a plurality of independent processors, and each processor The function may be implemented by executing a program.

The control function 155a controls the transmission/reception circuit 151, the B-mode processing circuit 152, and the Doppler processing circuit based on various setting requests input by the operator via the input interface 14 and various control programs and various data read from the memory 154. 153 processing is controlled. Furthermore, the control function 155a controls the processing of the transmitting/receiving circuit 151, the B-mode processing circuit 152, and the Doppler processing circuit 153 based on the scan conditions corresponding to the identification information acquired by the acquisition function 155d.

The image generation function 155b generates ultrasound image data from the data generated by the B-mode processing circuit 152 and the Doppler processing circuit 153. That is, the image generation function 155b generates B-mode image data in which the intensity of the reflected wave is expressed by luminance from the two-dimensional B-mode data generated by the B-mode processing circuit 152. The B-mode image data is data depicting the tissue shape within the area scanned by the ultrasound. Further, the image generation function 155b generates Doppler image data representing moving object information from the two-dimensional Doppler data generated by the Doppler processing circuit 153. The Doppler image data is velocity image data, dispersion image data, power image data, or image data that is a combination of these. The Doppler image data is data indicating fluid information regarding the fluid flowing within the region scanned by the ultrasound.

Here, the image generation function 155b generally converts (scan convert) a scanning line signal sequence of ultrasonic scanning into a scanning line signal sequence of a video format typified by television etc. Generate image data. Specifically, the image generation function 155b generates ultrasound image data for display by performing coordinate transformation according to the scanning form of ultrasound by the ultrasound probe 12. In addition to scan conversion, the image generation function 155b performs various image processing such as image processing (smoothing processing) that regenerates an average luminance image using a plurality of image frames after scan conversion; Performs image processing (edge enhancement processing), etc. using a differential filter within the image. Furthermore, the image generation function 155b synthesizes text information of various parameters, scales, body marks, etc. to the ultrasound 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 function 155b is ultrasound image data for display after scan conversion processing. Note that B-mode data and Doppler data are also called raw data.

Furthermore, the image generation function 155b generates three-dimensional B-mode image data by performing coordinate transformation on the three-dimensional B-mode data generated by the B-mode processing circuit 152. Further, the image generation function 155b generates three-dimensional Doppler image data by performing coordinate transformation on the three-dimensional Doppler data generated by the Doppler processing circuit 153. That is, the three-dimensional B-mode data and three-dimensional Doppler data are volume data before scan conversion processing, and the three-dimensional B-mode image data and three-dimensional Doppler image data are volume data after scan conversion. .

Furthermore, the image generation function 155b can perform rendering processing on the volume data in order to generate various two-dimensional image data for displaying the volume data on the display 13.

The detection function 155c acquires three-dimensional position information of the code reader 31 acquired by the position sensor 61a. Furthermore, the detection function 155c acquires three-dimensional position information of the acoustic medium 32 acquired by the position sensor 61b. Furthermore, the detection function 155c acquires three-dimensional position information of the ultrasound probe 12a acquired by the position sensor 61c. Furthermore, the detection function 155c acquires three-dimensional position information of the ultrasound probe 12b acquired by the position sensor 61d. The acquisition function 155d also acquires three-dimensional position information of the subject acquired by the plurality of position sensors 61e.

The arm control function 155e controls the robot scanning system 200 holding the ultrasound probe 12a and the ultrasound probe 12b based on scan conditions corresponding to the identification information. Specifically, the arm control function 155e first transmits a control signal to the robot scanning system 200 to acquire identification information placed on the subject based on the position information of the subject. The arm control function 155e then transmits a control signal to the robot scanning system 200 to cause the robot scanning system 200 to perform a scan based on the scanning conditions corresponding to the acquired identification information.

The display control function 155f controls the display 13 to display ultrasonic image data for display (hereinafter also referred to as an ultrasonic image) stored in the memory 154. Further, the display control function 155f controls the display 13 to display the processing results. Furthermore, the display control function 155f controls the display of various information on the touch monitor of the input interface 14. Furthermore, the display control function 155f controls the display of the terminal device 300 to display the scan result by transmitting the scan result, such as an ultrasound image, to the terminal device 300.

FIG. 3 is a block diagram showing an example of the configuration of the robot scanning system 200 according to the first embodiment. As shown in FIG. 3, the robot scanning system 200 according to this embodiment includes a robot arm control device 21, an arm 22a, an arm 22b, an arm 22c, and an arm 22d. Furthermore, the robot scan system 200 includes a position sensor 61b on the arm 22b. The robot scan system 200 according to the present embodiment is further communicably connected to the ultrasound diagnostic apparatus 100.

Although FIG. 3 shows the robot scanning system 200 having four arms: arm 22a, arm 22b, arm 22c, and arm 22d, the embodiment is not limited to this, and the number of arms may vary. is optional. For example, it may be possible to have three or more arms that hold ultrasound probes.

The arm 22a holds the code reader 31 and moves the code reader 31 under the control of the robot arm control device 21. Specifically, the arm 22a has a holding portion that holds the code reader 31 and a drive mechanism that drives the arm. The arm 22a moves the code reader 31 held on the distal end side to a desired position by moving multiple movable parts equipped with drive mechanisms such as motors and actuators in accordance with control received from the robot arm control device 21. let Here, the arm 22a is configured so that the code reader 31 can be placed at any three-dimensional position relative to the subject.

The arm 22b holds the acoustic medium 32 and moves the acoustic medium 32 under the control of the robot arm control device 21. Specifically, the arm 22b has a holding portion that holds the acoustic medium 32 and a drive mechanism that drives the arm. The arm 22b moves the acoustic medium 32 held on the distal end side to a desired position by having a plurality of movable parts equipped with drive mechanisms such as motors and actuators move in accordance with control received from the robot arm control device 21. and place the acoustic medium 32 on the body surface of the subject. Here, the arm 22b is configured so that the acoustic medium 32 can be placed at any three-dimensional position relative to the subject.

The arm 22c holds the ultrasound probe 12a, and moves the ultrasound probe 12a under the control of the robot arm control device 21. Specifically, the arm 22c has a holding portion that holds the ultrasound probe 12a and a drive mechanism for driving the arm. The arm 22c moves the ultrasound probe 12a held on the distal end side to a desired position by having a plurality of movable parts equipped with drive mechanisms such as motors and actuators move in accordance with control received from the robot arm control device 21. move it. Here, the arm 22c is configured so that the ultrasound probe 12a can be placed at any three-dimensional position relative to the subject.

The arm 22d holds the ultrasound probe 12b, and moves the ultrasound probe 12b under the control of the robot arm control device 21. Specifically, the arm 22d has a holding portion that holds the ultrasound probe 12b and a drive mechanism that drives the arm. The arm 22d has a plurality of movable parts equipped with drive mechanisms such as motors and actuators that move in accordance with control received from the robot arm control device 21, so that the ultrasonic probe 12b held at the distal end of the arm 22d is moved to a desired position. move it. Here, the arm 22d is configured so that the ultrasound probe 12b can be placed at any three-dimensional position relative to the subject.

FIG. 4 is a diagram showing an example of an arm according to the first embodiment. Here, FIG. 4 shows an arm 22c that holds the ultrasound probe 12a. For example, as shown in FIG. 5, the arm 22c holds the ultrasonic probe 12a on the distal end side. The arm 22c moves the ultrasonic probe 12a in the X-axis direction, Y-axis direction, and Z-axis direction by driving the arm drive mechanism under the control of the robot arm control device 21. Furthermore, under the control of the robot arm control device 21, the arm 22c rotates the ultrasound probe 12a in the directions of arrows 41 to 43 by driving the drive mechanism of the holding part, thereby changing the direction of the ultrasound probe 12. change.

Here, the holding portion of the arm 22c can further automatically release the held ultrasonic probe 12a. For example, the holding part of the arm 22c has a pressure sensor, and automatically releases the held ultrasonic probe 12a when a pressure equal to or higher than a threshold value is applied to the holding part. With this, for example, when the ultrasound scan is in poor condition, the operator can easily remove the ultrasound probe 12a by grasping the ultrasound probe 12a and applying force in either direction.

Furthermore, the holding portion of the arm 22c can also be configured to automatically hold the ultrasound probe 12a. Specifically, when the operator brings the ultrasonic probe 12a close to the holding part, the holding part of the arm 22c grips and holds the ultrasonic probe 12a. In such a case, for example, the holding part of the arm 22c is equipped with a non-contact type sensor, and the control function 213a moves the holding part of the arm 22c in response to a signal from the non-contact type sensor. Note that the arms 22a, 22b, and 22d can also have the same configuration as the arm 22c described above.

Returning to FIG. 3, the code reader 31 reads identification information placed on the body surface of the subject. For example, the code reader 31 reads a two-dimensional code placed on the body surface of the subject. Here, scan conditions set for each position of the subject are embedded in the two-dimensional code. The code reader 31 reads the two-dimensional code on the subject under control of the acquisition function 155d of the ultrasound diagnostic apparatus 100, and transmits the read information to the acquisition function 155d.

The acoustic medium 32 is, for example, a jelly or a pad having the same effect as a jelly, and is held by the arm 22b and placed at the scan position of the subject.

Robot arm control device 21 includes a communication interface 211, an input interface 212, and a processing circuit 213.

The communication interface 211 is connected to the processing circuit 213 and controls communication between the robot arm control device 21 and each device. Specifically, the communication interface 211 receives various types of information from each device and outputs the received information to the processing circuit 213. For example, the communication interface 211 is realized by a network card, network adapter, NIC (Network Interface Controller), or the like. For example, the communication interface 211 receives a control signal from the ultrasound diagnostic apparatus 100 and outputs the received control signal to the processing circuit 213.

The input interface 212 includes a trackball, a switch button, a mouse, a keyboard for performing various settings, a touchpad for performing input operations by touching the operation surface, a touch monitor in which a display screen and a touchpad are integrated, and an optical device. This is realized by a non-contact input circuit using a sensor, a voice input circuit, etc. The input interface 212 is connected to the processing circuit 213 , converts input operations received from the operator into electrical signals, and outputs the electrical signals to the processing circuit 213 . Note that in this specification, the input interface 212 is not limited to one that includes physical operation parts such as a mouse and a keyboard. For example, an electrical signal processing circuit that receives an electrical signal corresponding to an input operation from an external input device provided separately from the device and outputs this electrical signal to the processing circuit 213 is also included in the input interface example.

The processing circuit 213 controls the entire processing of the robot arm control device 21. Specifically, the processing circuit 213 performs various processes by reading programs corresponding to the control function 213a and the calculation function 213b shown in FIG. 3 from a memory (not shown) and executing them. For example, the processing circuit 213 is a processor that reads each program from a memory (not shown) and executes it to realize functions corresponding to each program. In other words, the processing circuit 213 in a state where each program is read has each function shown in the processing circuit 213 of FIG. 3.

In this embodiment, each processing function described below will be realized in a single processing circuit 213. However, a processing circuit is configured by combining a plurality of independent processors, and each processor The function may be implemented by executing a program.

The control function 213a controls the driving of the arm 22a, the arm 22b, the arm 22c, and the arm 22d by transmitting a control signal to the driving mechanism of the arm 22a, the arm 22b, the arm 22c, and the arm 22d. Specifically, the control function 213a moves each arm by transmitting a control signal to the drive mechanism based on arm movement information (movement direction and movement amount) received from the calculation function 213b. The control function 213a also moves each arm by transmitting a control signal based on the arm movement information received from the ultrasound diagnostic apparatus 100 via the communication interface 211 to the drive mechanism.

The calculation function 213b calculates arm movement information from the current positions (three-dimensional coordinates) of the arms 22a, arm 22b, arm 22c, and arm 22d and the movement destination position (three-dimensional coordinates), and calculates the calculated arm movement information. The movement information is sent to the control function 213a. For example, the calculation function 213b calculates the movement direction and movement amount from the current position of each arm and the movement destination position input via the input interface 212, and sends the calculated movement direction and movement amount to the control function 213a. Further, for example, the calculation function 213b calculates the movement direction and movement amount from the current position of each arm and the movement destination position received from the ultrasound diagnostic apparatus 100 via the communication interface 211, and the control function 213a calculates the movement direction and movement amount. You can also send it to

The overall configuration of the ultrasound diagnostic system according to the first embodiment has been described above. Next, details of the ultrasound diagnostic apparatus 100 according to the first embodiment will be described. The ultrasound diagnostic apparatus 100 according to this embodiment performs a scan based on identification information placed on the body surface of a subject. Specifically, the ultrasound diagnostic apparatus 100 first controls the arm 22a in the robot scanning system 200 to read identification information (for example, a two-dimensional code) placed on the body surface of the subject. Then, the ultrasonic diagnostic apparatus 100 controls the arm 22b to place the acoustic medium 32 at the position where the identification information has been read. The ultrasound diagnostic apparatus 100 then sets the arm 22c and the ultrasound probe 12a (or the arm 22d and the ultrasound probe 12b).

Here, in executing the above-described control, first, positional information of the subject in the ultrasonic scanning space is acquired, and identification information is placed on the body surface of the subject. FIG. 5 is a diagram for explaining an example of acquisition of position information of a subject and placement of identification information according to the first embodiment. Note that FIG. 5 shows an example in which a lower extremity blood vessel test is performed.

For example, when a subject lies down on a bed in an examination room, a plurality of position sensors 61e are placed on the lower limbs, as shown in the upper diagram of FIG. Here, the position sensor 61e is placed at a characteristic position having morphological characteristics in the lower limb. Thereby, the position information acquired by the position sensor 61e becomes the coordinates of the characteristic position of the lower limb in the three-dimensional space (ultrasonic scanning space) formed by the transmitter 61f.

Here, the position information acquired by each position sensor 61e is associated with information on the characteristic position of the placed lower limb. Specifically, the detection function 155c associates information on the characteristic position of the lower limb where each position sensor 61e is placed with the position information acquired by each position sensor 61e, and transmits it to the arm control function 155e. . The arm control function 155e shows position information acquired by each position sensor 61e arranged at a plurality of characteristic positions on the lower limb, information on the characteristic position associated with the position information, and the general shape of the entire lower limb. Based on the shape information, the coordinates of the entire lower limb surface in the ultrasound scanning space are estimated.

Note that the bed on which the subject lies may be provided with unevenness so that the lower limbs can always be placed in substantially the same position. For example, the bed may be provided with unevenness so that the ultrasound probe 12a (and the ultrasound probe 12b) can easily access the scanning position, and the movement of the lower limb placed thereon can be fixed.

As described above, when the coordinates of the entire lower limb surface in the ultrasonic scanning space are estimated, a two-dimensional code is placed at the scan position on the lower limb, for example, as shown in the lower diagram of FIG. Here, the two-dimensional code is created based on the examination order and subject information. Specifically, scan conditions are embedded in each two-dimensional code.

FIG. 6 is a diagram for explaining an example of creating a two-dimensional code according to the first embodiment. FIG. 6 shows an example of creating a two-dimensional code in a lower extremity blood vessel test. For example, a two-dimensional code creator such as a laboratory technician confirms the test contents based on the test order and subject information with the doctor in charge, and then scans the areas (1) to (14) shown in Figure 6. Create a two-dimensional code. That is, the two-dimensional code creator creates two-dimensional codes for each part (1) to (14).

Here, each scan condition is embedded in the two-dimensional code for each part (1) to (14). For example, the scan conditions for scanning the inferior vena cava (1) are embedded in the two-dimensional code placed in (1). The scan conditions include, for example, depth, scan range, scan mode, orientation of the ultrasound probe, and presence or absence of compression.

The two-dimensional code creator creates the two-dimensional codes placed in (1) to (14) by embedding the above-described scanning conditions in each of the two-dimensional codes. Then, the laboratory technician places the created two-dimensional code at each position on the subject's lower limb. For example, a two-dimensional code is created as a sticker and pasted on the subject. Note that in order to prevent the two-dimensional code from being placed in an incorrect position, information indicating the placement position may be written on each two-dimensional code.

As described above, each two-dimensional code has scanning conditions embedded therein and is placed on the subject. Here, the two-dimensional code may be such that the direction of the code is associated with the direction of the ultrasound probe. FIG. 7 is a diagram for explaining an example of controlling the orientation of an ultrasound probe using a two-dimensional code according to the first embodiment.

For example, the XYZ coordinates of the ultrasound probe and the XYZ coordinates of the two-dimensional code are associated as shown in FIG. Thereby, the orientation of the ultrasound probe can be controlled in accordance with the orientation in which the two-dimensional code is arranged. For example, the arm control function 155e controls the position of the arm so that the X, Y, and Z axes of the ultrasound probe are aligned with the X, Y, and Z axes of the two-dimensional code, respectively.

When the two-dimensional code is placed as described above, the arm control function 155e first controls the arm 22a to move the code reader 31 and read the two-dimensional code on the body surface. For example, the arm control function 155e controls the arm 22a to move the code reader 31 along the lower limb based on the coordinates of the entire lower limb surface in the ultrasound scanning space. That is, the arm control function 155e controls the arm 22a to comprehensively move the code reader 31 over the entire surface of the lower limb, thereby reading all the two-dimensional codes on the body surface.

The acquisition function 155d acquires identification information placed on the body surface of the subject. Specifically, the acquisition function 155d acquires the identification information read by the code reader 31 moved under the control of the arm control function 155e. Here, the acquisition function 155d stores the identification information read by the code reader 31 in the memory 154 in association with the reading position (coordinates in the ultrasonic scanning space). The acquisition function 155d associates the identification information read by the code reader 31 with the reading position for all two-dimensional codes on the body surface and stores them in the memory 154.

Note that the reading of the two-dimensional code is not limited to the above-mentioned exhaustive method, and may be performed, for example, by a laboratory technician manually moving the code reader 31 to a position where the two-dimensional code is placed. . In this case, similarly to the above, the acquisition function 155d associates the identification information read by the code reader 31 with the reading position and stores them in the memory 154.

When the acquisition function 155d acquires the two-dimensional code information, the control function 155a and arm control function 155e cause the robot arm holding the ultrasound probe to scan the subject based on the scan conditions corresponding to the identification information. Control. Specifically, the control function 155a and the arm control function 155e control the ultrasonic probe by the robot arm so that the scan is performed based on the scan conditions with the position of the body surface of the subject where the identification information is placed as the scan start position. and control the transmission and reception of ultrasound by the ultrasound probe.

For example, first, the arm control function 155e controls the arm 22b to place the acoustic medium 32, and also controls the arm 22c (or arm 22d) to place the ultrasound probe 12a (or the ultrasound probe 12b). ) to the scanning position. Then, the control function 155a executes a scan in accordance with the scan conditions at the scan position.

For example, the arm control function 155e controls the arm 22b to place the acoustic medium 32 at the reading position based on the correspondence information between the identification information and the reading position stored in the memory 154. For example, the arm control function 155e controls the arm 22b to place the pad of the acoustic medium at the reading position.

Then, the arm control function 155e specifies the ultrasonic probe to be used based on the scanning conditions in the identification information associated with the reading position, and specifies the arm that holds the specified ultrasonic probe. For example, when the ultrasound probe corresponding to the scan condition is the ultrasound probe 12a, the arm control function 155e controls the arm 22c to move the ultrasound probe 12a to the two-dimensional code reading position. That is, the arm control function 155e moves the ultrasound probe 12a to a two-dimensional code reading position based on the position information acquired by the position sensor 61c included in the ultrasound probe 12a. Here, if the orientation of the two-dimensional code and the orientation of the ultrasound probe 12a are associated, the arm control function 155e can control the X-axis, Y-axis, and Z-axis of the ultrasound probe 12a to The position of the arm 22c is controlled so that it aligns with the X-axis, Y-axis, and Z-axis, respectively.

When the ultrasonic probe 12a is moved under the control of the arm control function 155e, the control function 155a executes a scan in accordance with the scan conditions read from the two-dimensional code. For example, the control function 155a controls the ultrasound probe 12a to perform a scan based on the conditions read from the two-dimensional code regarding the depth, scan range, scan mode (for example, color Doppler, etc.), and the presence or absence of compression. Controls sending and receiving, etc.

The control function 155a and the arm control function 155e control a plurality of pieces of identification information disposed on the subject to perform a series of scans on the subject while switching to scan conditions corresponding to each piece of identification information. For example, each time the two-dimensional code on the body surface is read, the control function 155a and the arm control function 155e control the scanning to be performed while switching to the scan conditions corresponding to the two-dimensional code.

Here, the control function 155a and the arm control function 155e perform control to perform a series of scans on the subject while switching between different types of ultrasound probes. For example, in the case of lower extremity blood vessel examination, different ultrasound probes may be used depending on the position (for example, the positions (1) to (14) in FIG. 6). This information is included in the scan conditions. The control function 155a and the arm control function 155e execute a scan while switching the ultrasonic probe according to the read scan conditions.

Here, in scanning using the robot scanning system 200, even if scanning is performed in accordance with the scanning conditions, there is a possibility that a desired ultrasound image cannot be collected due to body movement of the subject. Therefore, the control function 155a and the arm control function 155e perform control to perform further scans at different scan angles in addition to the scan angles included in the scan conditions. That is, the control function 155a and the arm control function 155e control so that a desired ultrasound image is collected by collecting ultrasound images at a plurality of scanning angles at one scan position.

FIG. 8 is a diagram for explaining an example of scanning using a plurality of scanning angles according to the first embodiment. For example, as shown in FIG. 8, the control function 155a and the arm control function 155e collect three types of ultrasonic images with different scanning angles relative to the blood vessels (blood flow) in the scan target area. Thereby, the control function 155a and the arm control function 155e can avoid a situation where, for example, an ultrasound image showing accurate blood flow information is not collected.

Further, the ultrasound diagnostic apparatus 100 has a scan protocol for each examination. The control function 155a and the arm control function 155e can also control scans linked to the scan protocol. In such a case, first, scan conditions for multiple scans included in the scan protocol are associated with multiple pieces of identification information. The control function 155a and the arm control function 155e control to execute a scan linked to a scan protocol by executing a scan based on identification information.

FIG. 9 is a diagram for explaining an example of scanning according to the scan protocol according to the first embodiment. As shown in FIG. 9, when the scan protocol includes eight steps and scan conditions are set for each step, a two-dimensional code corresponding to each step is created. Then, the created two-dimensional code is placed on the subject, and the control function 155a and arm control function 155e execute a scan based on the two-dimensional code, thereby executing a scan linked to the scan protocol.

The display control function 155f displays each step of the scan protocol on the display 13, as shown in FIG. Here, the display control function 155f can display a step that has been scanned to indicate that it has been executed, so that the laboratory technician can grasp the progress of the scan.

Furthermore, the display control function 155f can provide audio assistance to the subject. For example, the display control function 155f notifies the subject of information regarding the next region to be scanned or warns the subject not to move the body, based on information about each step in the scan protocol.

Further, the display control function 155f can notify the result of scanning the subject by the robot scanning system 200. Specifically, the display control function 155f causes the scan result to be displayed on the display of the terminal device 300. For example, each time the display control function 155f executes a scan corresponding to a two-dimensional code, the display control function 155f transmits the scan result to the terminal device 300 and controls the terminal device 300 to display the scan result. This allows, for example, a doctor or a laboratory technician to constantly check the status of the scan performed by the robot scan system 200.

The arm control function 155e can detect the positional deviation of the subject and correct the detected positional deviation. As described above, the position sensor 61e is placed on the body surface of the subject. Therefore, the arm control function 155e detects the positional deviation of the subject based on the position information of the position sensor 61e detected by the detection function 155c. For example, the arm control function 155e determines that the position of the subject has shifted when the position information of the position sensor 61e detected by the detection function 155c changes by exceeding a predetermined threshold value.

Then, the arm control function 155e performs an ultra-low-limb operation based on the position information acquired by each position sensor 61e, information on characteristic positions associated with the position information, and shape information indicating the general shape of the entire lower limb. The positional shift is corrected by re-estimating the coordinates of the entire lower limb surface in the acoustic wave scanning space.

Next, the processing of the ultrasound diagnostic apparatus 100 according to the first embodiment will be described using FIG. 10. FIG. 10 is a flowchart for explaining the processing procedure of the ultrasound diagnostic apparatus 100 according to the first embodiment. Here, steps S101 to S104 shown in FIG. 10 indicate procedures performed by a laboratory technician or the like before processing by the ultrasound diagnostic apparatus 100.

Steps S105, S108, and S109 are steps in which the processing circuit 155 reads and executes programs corresponding to the detection function 155c and the arm control function 155e from the memory 154. Step S106 is a step in which the processing circuit 155 reads and executes programs corresponding to the acquisition function 155d and the arm control function 155e from the memory 154. Steps S107 and S110 are steps in which the processing circuit 155 reads and executes programs corresponding to the control function 155a and the arm control function 155e from the memory 154.

As shown in FIG. 10, in the ultrasound diagnostic apparatus 100 according to the first embodiment, a laboratory technician receives an examination order and grasps the examination date and time and patient information (step S101). Then, the laboratory technician creates a two-dimensional code based on patient information such as the patient's age, weight, height, and symptoms, and the examination information (step S102). Thereafter, the laboratory technician guides the subject to the bed (step S103) and affixes the two-dimensional code to the subject (step S104).

Furthermore, when the position sensor 61e is attached to the subject, the processing circuit 155 executes position alignment based on the position information of the position sensor 61e (step S105). Then, the processing circuit 155 detects the two-dimensional code on the subject (step S106), and executes a scan under scan conditions corresponding to the two-dimensional code (step S107).

Furthermore, the processing circuit 155 determines whether there is a positional shift (step S108). Here, if there is a positional deviation (step S108, affirmative), the processing circuit 155 corrects the positional deviation (step S109).

In the determination of step S108, if there is no positional deviation (step S108, negative) and if the positional deviation has been corrected in step S109, the processing circuit 155 determines whether the inspection has been completed (step S110).

Here, if the inspection has not been completed (step S110, negative), the processing circuit 155 returns to step S106 and detects the two-dimensional code. On the other hand, if the test has ended (step S110, affirmative), the processing circuit 155 ends the process.

As described above, according to the first embodiment, the acquisition function 155d acquires identification information placed on the body surface of the subject. The control function 155a and the arm control function 155e control scanning of the subject by the robot arm holding the ultrasound probe based on scan conditions corresponding to the identification information. Therefore, the ultrasonic diagnostic apparatus 100 according to the first embodiment can perform a scan using the robot arm using identification information on the body surface, and can reduce the load related to the examination. For example, the ultrasound diagnostic apparatus 100 makes it possible to reduce the physical burden on a medical examiner. Furthermore, the ultrasound diagnostic apparatus 100 can perform scanning using the robot scan system 200, making it possible to reduce inspection costs. Furthermore, the ultrasound diagnostic apparatus 100 can automatically register scan results, making it possible to shorten examination time. As a result, the ultrasound diagnostic apparatus 100 makes it possible to reduce the burden on the subject.

Further, according to the first embodiment, the control function 155a and the arm control function 155e execute the scan based on the scan conditions with the position of the body surface of the subject where the identification information is placed as the scan start position. The robot arm controls the position of the ultrasound probe and the transmission and reception of ultrasound by the ultrasound probe. Therefore, the ultrasonic diagnostic apparatus 100 according to the first embodiment allows the robot arm to scan the body surface for each position.

Further, according to the first embodiment, the control function 155a and the arm control function 155e perform a series of scans on the subject while switching to a corresponding scan condition for each identification information regarding a plurality of pieces of identification information arranged on the subject. Control which scans are performed. Therefore, the ultrasonic diagnostic apparatus 100 according to the first embodiment makes it possible to respond appropriately even when the examination contents differ depending on the location.

Further, according to the first embodiment, the control function 155a and the arm control function 155e perform control to perform a series of scans on a subject while switching between different types of ultrasound probes. Therefore, the ultrasound diagnostic apparatus 100 according to the first embodiment can also handle tests using different ultrasound probes.

Further, according to the first embodiment, scan conditions for a plurality of scans included in a scan protocol are associated with a plurality of pieces of identification information. The control function 155a and the arm control function 155e control to execute a scan linked to a scan protocol by executing a scan based on identification information. Therefore, the ultrasonic diagnostic apparatus 1 according to the first embodiment enables the robot arm to perform scanning in accordance with the scan protocol.

Further, according to the first embodiment, the scan conditions include depth, scan range, scan mode, orientation of the ultrasound probe, and presence or absence of compression. Therefore, the ultrasonic diagnostic apparatus 100 according to the first embodiment can handle various types of scans.

Further, according to the first embodiment, the control function 155a and the arm control function 155e perform control to further perform scanning at different scanning angles in addition to the scanning angles included in the scanning conditions. Therefore, the ultrasound diagnostic apparatus 100 according to the first embodiment makes it possible to avoid a situation where a desired ultrasound image is not collected.

Further, according to the first embodiment, the control function 155a and the arm control function 155e detect the positional deviation of the subject and correct the detected positional deviation. Therefore, the ultrasonic diagnostic apparatus 100 according to the first embodiment makes it possible to deal with various situations during an examination.

Further, according to the first embodiment, the display control function 155f notifies the scan result of the subject by the robot arm. Therefore, the ultrasound diagnostic apparatus 100 according to the first embodiment makes it possible to easily check the scan status.

(Other embodiments)
Now, although the first embodiment has been described so far, it may be implemented in various different forms other than the first embodiment described above.

In the embodiments described above, a case has been described in which a two-dimensional code is used as the identification information. However, the embodiment is not limited to this, and any information that can be identified may be used. For example, a number may be assigned to each scanning position, and a sticker indicating the number may be affixed to the subject. In such a case, each number is associated with a scan condition and stored in the memory 154.

The acquisition function 155d reads the number on the subject and transmits the read number to the control function 155a and the arm control function 155e. The control function 155a and the arm control function 155e read the scan condition corresponding to the received number from the memory 154, and execute control corresponding to the read scan condition.

Furthermore, in the embodiment described above, a case has been described in which the code reader 31 is used as a device for reading a two-dimensional code. However, the embodiment is not limited to this, and for example, a camera may be used.

Note that the term "processor" used in the above description refers to, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an Application Specific Integrated Circuit (ASIC), a programmable logic device ( For example, it refers to circuits such as a simple programmable logic device (SPLD), a complex programmable logic device (CPLD), and a field programmable gate array (FPGA). A processor implements functions by reading and executing programs stored in memory. Note that instead of storing the program in the memory, the program may be directly incorporated into the circuit of the processor. In this case, the processor realizes its functions by reading and executing a program built into the circuit. Note that each processor of this embodiment is not limited to being configured as a single circuit for each processor, but may also be configured as a single processor by combining multiple independent circuits to realize its functions. good.

Note that each component of each device illustrated in the description of the above embodiments is functionally conceptual, and does not necessarily need to be physically configured as illustrated. In other words, the specific form of distributing and integrating each device is not limited to what is shown in the diagram, and all or part of the devices can be functionally or physically distributed or integrated in arbitrary units depending on various loads, usage conditions, etc. Can be integrated and configured. Furthermore, all or any part of each processing function performed by each device can be realized by a CPU and a program that is analyzed and executed by the CPU, or can be realized as hardware using wired logic.

Further, the control method described in the above-described embodiments can be realized by executing a control program prepared in advance on a computer such as a personal computer or a workstation. This control program can be distributed via a network such as the Internet. Further, this control program is recorded on a computer-readable non-temporary recording medium such as a hard disk, a flexible disk (FD), a CD-ROM, an MO, a DVD, a flash memory such as a USB memory, and an SD card memory. It can also be executed by being read from a non-transitory storage medium by a computer.

As described above, according to the embodiment, it is possible to reduce the load related to inspection.

Although several embodiments have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, changes, and combinations of embodiments can be made without departing from the gist of the invention. These embodiments and their modifications are included within the scope and gist of the invention as well as within the scope of the invention described in the claims and its equivalents.

100 Ultrasonic diagnostic device 155 Processing circuit 155a Control function 155d Acquisition function 155e Arm control function 155f Display control function

Claims (10)

an acquisition unit that includes information regarding the position of an ultrasound probe whose position is controlled by a robot arm and scan conditions regarding transmission and reception of ultrasound by the ultrasound probe, and acquires identification information placed on the body surface of the subject; and,
a control unit that controls the position of the ultrasound probe and the transmission and reception of ultrasound by the ultrasound probe based on the identification information;
An ultrasonic diagnostic device equipped with: The control unit controls the position of the ultrasound probe by the robot arm so as to execute a scan based on the scan conditions with the position of the body surface of the subject where the identification information is placed as the scan start position; The ultrasonic diagnostic apparatus according to claim 1, wherein the ultrasonic diagnostic apparatus controls transmission and reception of ultrasonic waves by the ultrasonic probe. 3. The control unit controls a plurality of pieces of identification information arranged on the subject to perform a series of scans on the subject while switching to scan conditions corresponding to each piece of identification information. The ultrasonic diagnostic device described in . The ultrasonic diagnostic apparatus according to claim 3, wherein the control unit performs control to execute a scan while switching between different types of ultrasonic probes in a series of scans for the subject. Scan conditions for a plurality of scans included in a scan protocol are associated with a plurality of pieces of identification information,
The ultrasonic diagnostic apparatus according to any one of claims 1 to 4, wherein the control unit controls to execute a scan linked to the scan protocol by executing a scan based on the identification information. The ultrasound diagnostic apparatus according to any one of claims 1 to 5, wherein the scan conditions include depth, scan range, scan mode, orientation of the ultrasound probe, and presence or absence of compression. The ultrasonic diagnostic apparatus according to any one of claims 1 to 6, wherein the control unit controls to further execute a scan at a different scan angle in addition to the scan angle included in the scan condition. The ultrasonic diagnostic apparatus according to any one of claims 1 to 7, wherein the control unit detects a positional deviation of the subject and corrects the detected positional deviation. The ultrasonic diagnostic apparatus according to any one of claims 1 to 8, further comprising a notification unit that notifies the scan result of the subject by the robot arm. an acquisition unit that acquires identification information placed on the body surface of the subject;
a control unit that controls scanning of the subject by a robot arm holding an ultrasound probe based on scan conditions corresponding to the identification information;
Equipped with
The control unit executes a series of scans on the subject while switching to scan conditions corresponding to each identification information and switching different types of ultrasound probes for the plurality of pieces of identification information placed on the subject. An ultrasonic diagnostic device that is controlled to