WO2022195776A1 - 超音波診断システム - Google Patents
超音波診断システム Download PDFInfo
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- WO2022195776A1 WO2022195776A1 PCT/JP2021/010902 JP2021010902W WO2022195776A1 WO 2022195776 A1 WO2022195776 A1 WO 2022195776A1 JP 2021010902 W JP2021010902 W JP 2021010902W WO 2022195776 A1 WO2022195776 A1 WO 2022195776A1
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- probe
- diagnostic system
- ultrasonic
- body surface
- moving device
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- 239000000523 sample Substances 0.000 claims abstract description 139
- 238000003825 pressing Methods 0.000 claims abstract description 47
- 238000003745 diagnosis Methods 0.000 claims abstract description 22
- 238000002604 ultrasonography Methods 0.000 claims description 18
- 238000005259 measurement Methods 0.000 claims description 14
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 description 26
- 238000000034 method Methods 0.000 description 20
- 230000036544 posture Effects 0.000 description 17
- 210000004204 blood vessel Anatomy 0.000 description 12
- 238000006073 displacement reaction Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 208000031481 Pathologic Constriction Diseases 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000002040 relaxant effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 208000037804 stenosis Diseases 0.000 description 1
- 230000036262 stenosis Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
- A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4272—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue
- A61B8/429—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue characterised by determining or monitoring the contact between the transducer and the tissue
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4405—Device being mounted on a trolley
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/54—Control of the diagnostic device
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/54—Control of the diagnostic device
- A61B8/543—Control of the diagnostic device involving acquisition triggered by a physiological signal
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- A—HUMAN NECESSITIES
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A61B2034/2059—Mechanical position encoders
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
Definitions
- This specification discloses an ultrasound diagnostic system.
- the probe when the probe is moved by a moving device in a specific pattern different from the normal movement pattern, depending on the specific pattern, if the probe is moved while being pressed against the subject, the body of the subject may be heavily burdened. .
- the main purpose of the present disclosure is to further reduce the burden on the subject's body when moving the probe in a specific pattern in ultrasound diagnosis in which the probe is moved by a moving device.
- the ultrasound diagnostic system of the present disclosure includes: an ultrasonic diagnostic apparatus having a probe; a moving device for moving the probe; When ultrasonic diagnosis is performed on a subject, the moving device is controlled so that the probe is pressed against the body surface of the subject, or the pressing of the probe against the body surface is released or relaxed.
- a control device that performs specific pattern control for The main gist is to provide
- the probe is moved by a moving device during ultrasonic diagnosis. Further, the ultrasonic diagnostic system can reduce the burden on the subject during ultrasonic diagnosis.
- FIG. 1 is an external perspective view of an ultrasonic diagnostic system according to a first embodiment;
- FIG. It is a side view of a robot.
- 2 is a block diagram showing the electrical connection relationship among the robot, control device, and ultrasonic diagnostic device of the first embodiment;
- FIG. 4 is a flowchart showing an example of ultrasonic diagnostic processing; It is a flow chart which shows an example of specific operation processing.
- FIG. 7 is a block diagram showing the electrical connection relationship between the robot, the control device, and the ultrasonic diagnostic device of the second embodiment;
- 9 is a flowchart showing ultrasonic diagnostic processing according to the second embodiment; It is a flow chart which shows specific action processing of a 2nd embodiment. It is a flow chart which shows specific action processing of a 3rd embodiment. It is a flow chart which shows specific operation processing of a 4th embodiment.
- FIG. 1 is an external perspective view of the ultrasonic diagnostic system of the first embodiment.
- FIG. 2 is a side view of the robot.
- FIG. 3 is a block diagram showing an electrical connection relationship between the robot, the control device, and the ultrasonic diagnostic device according to the first embodiment.
- the horizontal direction is the X-axis
- the front-rear direction is the Y-axis
- the vertical direction is the Z-axis.
- the ultrasonic diagnostic system 10 of the first embodiment holds an ultrasonic probe 101 at the tip of a robot 20, and automatically or remotely operates the robot 20 so that the ultrasonic probe 101 is pressed against the patient's body surface.
- An ultrasonic echo image is acquired by driving.
- the ultrasonic diagnostic system 10 is used for catheter treatment, for example.
- the operator who operates the guide wire of the catheter advances the guide wire while recognizing the positional relationship between the tip of the guide wire and the blood vessel from the ultrasonic echo image obtained by applying the ultrasonic probe 101 to the body surface of the patient. , the guidewire can be accurately passed through the center of the occlusion or stenosis of the blood vessel.
- the ultrasonic diagnostic system 10 includes a robot 20, a force sensor 28, a controller 70 for controlling the robot 20, an ultrasonic diagnostic apparatus 100 including an ultrasonic probe 101, Prepare.
- the ultrasonic diagnostic apparatus 100 includes an ultrasonic probe 101 and an ultrasonic diagnostic apparatus body 102 connected to the ultrasonic probe 101 via a cable 101a.
- the ultrasonic diagnostic apparatus main body 102 includes a control unit 103 for controlling the entire apparatus, an instruction input unit 104 for inputting an instruction such as the start of diagnosis, and a signal received from the ultrasonic probe 101 to process an ultrasonic echo image.
- An image processing unit 105 for generating and a display unit 106 for displaying the generated ultrasonic echo image are included.
- the robot 20 includes a first arm 21, a second arm 22, a base 25, a pedestal 26, a first arm driving device 35, a second arm driving device 36, and an attitude holding device.
- a device 37 , a lifting device 40 , a rotating three-axis mechanism 50 and a holder 60 are provided. Note that the first arm 21, the second arm 22, and the rotating three-axis mechanism 50 may be simply referred to as arms.
- the base end of the first arm 21 is connected to the base 25 via a first joint shaft 31 extending in the vertical direction (Z-axis direction).
- the first arm driving device 35 includes a motor 35a and an encoder 35b.
- a rotating shaft of the motor 35a is connected to the first joint shaft 31 via a speed reducer (not shown).
- the first arm driving device 35 rotates (revolves) the first arm 21 about the first joint shaft 31 along a horizontal plane (XY plane) by rotationally driving the first joint shaft 31 with a motor 35a.
- the encoder 35b is attached to the rotating shaft of the motor 35a and configured as a rotary encoder for detecting the amount of rotational displacement of the motor 35a.
- the proximal end of the second arm 22 is connected to the distal end of the first arm 21 via a vertically extending second joint shaft 32 .
- the second arm driving device 36 includes a motor 36a and an encoder 36b.
- the rotating shaft of the motor 36a is connected to the second joint shaft 32 via a speed reducer (not shown).
- the second arm driving device 36 rotates (revolves) the second arm 22 along the horizontal plane with the second joint shaft 32 as a fulcrum by rotationally driving the second joint shaft 32 with a motor 36a.
- the encoder 36b is attached to the rotary shaft of the motor 36a and configured as a rotary encoder that detects the amount of rotational displacement of the motor 36a.
- the base 25 is provided so as to be able to move up and down with respect to the base 26 by an elevating device 40 installed on the base 26 .
- the lifting device 40 includes a slider 41 fixed to the base 25 and a guide member 42 fixed to the base 26 and extending vertically to guide the movement of the slider 41 .
- a ball screw shaft 43 (elevating shaft) that extends vertically and is screwed into a ball screw nut (not shown) fixed to the slider 41; a motor 44 that rotationally drives the ball screw shaft 43; 45 (see FIG. 3).
- the lifting device 40 moves the base 25 fixed to the slider 41 up and down along the guide member 42 by rotationally driving the ball screw shaft 43 by the motor 44 .
- the encoder 45 is configured as a linear encoder that detects the vertical position (lifting position) of the slider 41 (base 25).
- the rotating 3-axis mechanism 50 is connected to the distal end of the second arm 22 via a posture holding shaft 33 extending in the vertical direction.
- the rotating three-axis mechanism 50 includes a first rotating shaft 51, a second rotating shaft 52, and a third rotating shaft 53 that are orthogonal to each other, a first rotating device 55 that rotates the first rotating shaft 51, and a second rotating shaft 52.
- a second rotating device 56 for rotating and a third rotating device 57 for rotating the third rotating shaft 53 are provided.
- the first rotating shaft 51 is supported in a posture orthogonal to the posture holding shaft 33 .
- the second rotating shaft 52 is supported in an orthogonal posture with respect to the first rotating shaft 51 .
- the third rotating shaft 53 is supported in a posture perpendicular to the second rotating shaft 52 .
- the first rotating device 55 has a motor 55a that rotationally drives the first rotating shaft 51, and an encoder 55b that is attached to the rotating shaft of the motor 55a and detects the amount of rotational displacement of the motor 55a.
- the second rotating device 56 has a motor 56a that rotationally drives the second rotating shaft 52, and an encoder 56b that is attached to the rotating shaft of the motor 56a and detects the amount of rotational displacement of the motor 56a.
- the third rotating device 57 has a motor 57a that rotationally drives the third rotating shaft 53, and an encoder 57b that is attached to the rotating shaft of the motor 57a and detects the amount of rotational displacement of the motor 57a.
- a holder 60 for holding the ultrasonic probe 101 is attached to the third rotating shaft 53 . In this embodiment, the ultrasonic probe 101 is held by the holder 60 so as to be coaxial with the third rotating shaft 53 .
- the robot 20 of this embodiment performs translational motion in three directions, namely, the X-axis direction, the Y-axis direction, and the Z-axis direction, by means of the first arm drive device 35, the second arm drive device 36, and the lifting device 40, and a rotary three-axis mechanism.
- the ultrasonic probe 101 can be moved to any position in any posture. can.
- the posture holding device 37 holds the posture of the rotating three-axis mechanism 50 (orientation of the first rotating shaft 51) in a constant direction regardless of the postures of the first arm 21 and the second arm 22.
- the posture holding device 37 includes a motor 37a and an encoder 37b.
- the rotating shaft of the motor 37a is connected to the attitude holding shaft 33 via a speed reducer (not shown).
- the posture holding device 37 maintains the posture based on the rotation angle of the first joint shaft 31 and the rotation angle of the second joint shaft 32 so that the axial direction of the first rotating shaft 51 is always in the left-right direction (X-axis direction).
- a target rotation angle of the holding shaft 33 is set, and the motor 37a is driven and controlled so that the attitude holding shaft 33 reaches the target rotation angle.
- the force sensor 28 is attached to the tip of the arm, and detects force components acting in the directions of the X, Y, and Z axes and torque components acting around each axis as external forces acting on the arm.
- the control device 70 is configured as a microprocessor centered around a CPU 71, and in addition to the CPU 71, it also has a ROM 72, a RAM 73, an input/output port and a communication port (not shown).
- a detection signal from the force sensor 28 and a detection signal from each of the encoders 35b, 36b, 37b, 45, 55b, 56b, 57b, etc. are input to the control device 70 via an input port.
- Drive signals to the motors 35a, 36a, 37a, 44, 55a, 56a, and 57a are output from the control device 70 via output ports.
- the control device 70 communicates with the control unit 103 of the ultrasonic diagnostic apparatus 100 via a communication port to exchange data.
- FIG. 4 is a flowchart showing an example of ultrasonic diagnostic processing executed by the CPU 71 of the control device 70. As shown in FIG. This process is executed, for example, when the instruction input unit 104 gives an instruction to start diagnosis from the user.
- the CPU 71 first drives and controls the corresponding motors of the robot 20 to start moving the ultrasonic probe 101 with respect to the patient (step S100). Movement of the ultrasonic probe 101 is performed as follows. That is, the CPU 71 determines the target position and target orientation of the arm that holds the ultrasonic probe 101 according to a pre-created task program. Subsequently, the CPU 71 determines the target rotation angle of the first joint shaft 31, the target rotation angle of the second joint shaft 32, the target rotation angle of the posture holding shaft 33, and the base 25 for moving the arm to the target position in the target posture.
- the target rotation angle of the first rotation shaft 51, the target rotation angle of the second rotation shaft 52, and the target rotation angle of the third rotation shaft 53 are set. Then, the CPU 71 controls the corresponding motors so that the rotation angles or elevation positions detected by the encoders 35b, 36b, 37b, 45, 55b, 56b, and 57b match the corresponding target rotation angles or target elevation positions. .
- the CPU 71 aligns the scanning direction of the ultrasonic probe 101 with the central axis direction (longitudinal direction) of the patient's blood vessel, and adjusts the scanning direction according to the advancement of the guide wire of the catheter.
- the robot 20 is controlled by setting a moving route and moving speed so that the ultrasonic probe 101 moves.
- the CPU 71 sets a predetermined value ⁇ 1 as the target value ⁇ tag of the pressing force when pushing the ultrasonic probe 101 against the patient's body surface (step S110).
- the CPU 71 acquires the pressing force .delta. 37a, 44, 55a, 56a and 57a are controlled (step S130).
- the predetermined value ⁇ 1 is determined in advance by experiments, etc., within a range in which the patient does not feel pain or discomfort, and the distance between the ultrasonic probe 101 and the blood vessel, which is an object to be diagnosed, is within the effective depth of ultrasonic waves.
- the ultrasonic probe 101 can be determined by By setting a predetermined value ⁇ 1 as the target value ⁇ tag and controlling the pressing of the ultrasonic probe 101, the ultrasonic probe 101 can be pressed against the patient with an appropriate force, without imposing an excessive burden on the patient. , a good ultrasound echo image can be obtained.
- the CPU 71 determines whether or not the conditions for executing the action (specific action) according to the specific pattern are satisfied (step S140).
- the condition for executing the specific action may be established at a predetermined timing, or may be established when the instruction input unit 104 instructs the execution of the specific action from the user.
- the CPU 71 determines whether or not the current diagnosis is completed (step S190). This determination may be made based on whether or not the ultrasonic probe 101 has reached a predetermined position, or may be made based on whether or not the instruction input unit 104 has been instructed by the user to end the diagnosis.
- step S195 the ultrasonic diagnostic processing.
- the CPU 71 determines in step S140 that the conditions for executing the specific action are satisfied, it temporarily stops the movement of the ultrasonic probe 101 (step S150) and executes specific action processing (step S160).
- the specific operation is an operation that excessively burdens the patient when performed while the ultrasonic probe 101 is pressed against the body surface of the patient. Examples include a rotating operation for rotating, a moving operation for moving the ultrasonic probe 101 by a predetermined distance or more at once, and the like.
- the posture of the ultrasonic probe 101 is changed from scanning in the longitudinal direction of the blood vessel to scanning in the width direction of the blood vessel.
- FIG. 5 is a flow chart showing an example of the specific action process executed by the CPU 71. As shown in FIG.
- the CPU 71 first sets the target value ⁇ tag of the pressing force to a predetermined value ⁇ 2 that is smaller than the predetermined value ⁇ 1 described above (step S200). Subsequently, the CPU 71 acquires the pressing force ⁇ of the ultrasonic probe 101 from the force sensor 28 (step S210), and controls the corresponding motor of the robot 20 so that the pressing force ⁇ matches the target value ⁇ tag. (Step S220). In this process, the target value ⁇ tag of the pressing force is set to a predetermined value ⁇ 2 that is smaller than usual, and the pressing of the ultrasonic probe 101 is controlled to release or reduce the pressing of the ultrasonic probe 101 . be.
- the predetermined value ⁇ 2 is set, for example, near 0 so that the pressing of the ultrasonic probe 101 is released. Then, the CPU 71 determines whether or not the pressing force ⁇ matches the target value ⁇ tag (step S230). When the CPU 71 determines that the pressing force ⁇ does not match the target value ⁇ tag, the CPU 71 returns to step S210, repeats control to release or reduce the pressing force, and determines that the pressing force ⁇ matches the target value ⁇ tag. Then, the specific action is started (step S240), and the specific action process ends. As described above, if the specific action is performed while the ultrasonic probe 101 is pressed against the patient's body surface, the patient will be overburdened.
- the ultrasonic diagnostic apparatus 100 may output a warning to the display unit 106 when the amount of deviation exceeds a predetermined amount.
- the CPU 71 waits for the specific action to end (step S170), resumes movement of the ultrasonic probe 101 (step S180), and returns to step S110. That is, the CPU 71 restores the target value ⁇ tag of the pressing force from the predetermined value ⁇ 2 to the predetermined value ⁇ 1, and presses the ultrasonic probe 101 against the body surface of the patient at the target value ⁇ tag of the predetermined value ⁇ 1. to resume movement.
- the ultrasonic probe 101 of this embodiment corresponds to the probe of the present disclosure
- the ultrasonic diagnostic apparatus 100 corresponds to the ultrasonic diagnostic apparatus
- the robot 20 corresponds to the moving apparatus
- the control apparatus 70 corresponds to the control apparatus.
- the force sensor 28 corresponds to a force sensor.
- FIG. 6 is a block diagram showing the electrical connection relationship between the robot, the control device, and the ultrasonic diagnostic device according to the second embodiment.
- the robot 120 replaces the force sensor 28 as a sensor used to control the position of the ultrasonic probe 101 when the ultrasonic probe 101 is pressed against the body surface of the patient.
- a position measurement sensor 128 is provided at the end. Examples of the position measurement sensor 128 include a camera sensor, an eddy current displacement sensor, a reflection laser displacement sensor, a capacitive displacement sensor, a magnetic induction displacement sensor, and the like.
- FIG. 7 is a flowchart showing ultrasonic diagnostic processing according to the second embodiment. Also, FIG. 8 is a flow chart showing the specific operation process of the second embodiment. Among the ultrasonic diagnostic processing in FIG. 7, the same steps as the ultrasonic diagnostic processing in FIG. 4 are given the same step numbers, and redundant description is omitted.
- the CPU 71 sets the position P1 as the target value Ptag of the position (probe position) of the ultrasonic probe 101 (step S110B).
- the CPU 71 captures an image of the patient's body surface in advance with the camera sensor before diagnosis, and measures the position of the body surface from the obtained captured image as a reference position. back.
- the target value Ptag is determined as the position (position P1) of the ultrasonic probe 101 when the ultrasonic probe 101 is pushed by a predetermined amount with respect to the reference position.
- the CPU 71 acquires the probe position P from the position measurement sensor 128 (step S120B), and rotates the motors 35a, 36a, 37a, 44, 55a, 56a, 56a, 56a, 56a, 56a, 56a, 56a so that the acquired probe position P matches the target value Ptag. 57a (step S130B).
- the CPU 71 determines in step S140 that the conditions for executing the specific operation are not satisfied and determines in step S190 that the diagnosis has not been completed, the CPU 71 returns to step S120B and holds the probe position P at the target value Ptag. while continuing to move the ultrasonic probe 101 .
- step S140 when the CPU 71 determines in step S140 that the conditions for executing the specific operation are satisfied, the CPU 71 temporarily stops the movement of the ultrasonic probe 101 and then executes specific operation processing. 101 is resumed (steps S150 to S180), and the process returns to step S110B.
- the CPU 71 sets the position P2 as the target value Ptag of the probe position (step S300).
- the position P2 is determined as a position spaced apart from the body surface of the patient by a predetermined distance or more than when the ultrasonic probe 101 is pushed in with the position P1 as the target value Ptag in the ultrasonic diagnostic processing of FIG.
- the CPU 71 acquires the probe position P (step S310).
- the CPU 71 controls the motors 35a, 36a, 37a, 44, 55a, 56a, 57a so that the obtained probe position P matches the target value Ptag (step S320).
- the CPU 71 determines whether or not the probe position P matches the target value Ptag (step S330). If the CPU 71 determines that the probe position P does not match the target value Ptag, it returns to step S310 and repeats the process. S340), the specific action process is terminated.
- the CPU 71 acquires the probe position P from the position measurement sensor 128 and controls the pressing of the ultrasonic probe 101 based on the acquired probe position P and the reference position.
- the CPU 71 calculates the arm position P by forward kinematics based on the rotation angle or elevation position detected by the encoders 35b, 36b, 37b, 45, 55b, 56b, 57b of each joint axis and each rotation axis, The pressing of the ultrasonic probe 101 may be controlled based on the calculated probe position P and the reference position.
- the ultrasonic diagnostic system of the third embodiment controls the pressing torque of the ultrasonic probe 101 to release or relax the pressing of the ultrasonic probe 101 against the patient's body surface.
- FIG. 9 is a flowchart showing specific operation processing according to the third embodiment.
- the CPU 71 sets a predetermined torque T2 as the torque target value Ttag of the motor that outputs the pressing torque for pressing the ultrasonic probe 101 against the patient's body surface (step S400).
- the predetermined torque T2 is set to a torque that is smaller by a predetermined amount than the torque T1 in the pressing direction required when the ultrasonic probe 101 is pressed against the patient's body surface in the ultrasonic diagnostic processing.
- the CPU 71 acquires the torque command value T of the motor that outputs the torque in the pressing direction of the ultrasonic probe 101 (step S410). Subsequently, the CPU 71 reduces the acquired torque command value T so that it matches the target value Ttag and controls the corresponding motor (step S420).
- the CPU 71 determines whether or not the torque command value T matches the target value Ptag (step S430). If the CPU 71 determines that the torque command value T does not match the target value Ttag, the CPU 71 returns to step S410 and repeats the process. End the specific action process.
- FIG. 10 is a flowchart showing specific operation processing according to the fourth embodiment.
- the CPU 71 acquires an ultrasonic echo image (step S500). Subsequently, the CPU 71 performs image processing for recognizing the diagnostic object (blood vessel) from the acquired ultrasonic echo image (step S510), and determines whether or not the recognition is successful (step S520). Image processing can be performed, for example, by applying pattern matching to the acquired ultrasound echo images.
- the CPU 71 determines that the recognition is successful, the CPU 71 controls the corresponding motor so that the ultrasonic probe 101 is separated from the body surface of the patient by a predetermined amount (step S530), returns to step S500, and performs the processing of steps S500 to S520. repeat.
- step S540 the CPU 71 determines in step S520 that recognition of the object to be diagnosed has failed in the process of repeating the process.
- the CPU 71 executes the specific action (step S540) and terminates the specific action process.
- the ultrasonic probe 101 is separated from the patient's body surface by a predetermined amount, the definition of the obtained ultrasonic echo image gradually decreases. Therefore, when the diagnostic object (blood vessel) cannot be recognized from the ultrasonic echo image, the CPU 71 determines that the ultrasonic probe 101 is sufficiently separated from the body surface and the pressing of the ultrasonic probe 101 is released or relaxed. can judge.
- the robot 20 is configured as a seven-axis articulated robot capable of translational motion in three directions and rotational motion in three directions.
- the number of axes can be any number.
- the robot 20 may be configured by a so-called vertical multi-joint robot, a horizontal multi-joint robot, or the like.
- the ultrasonic diagnostic system 10 is provided with the robot 20 that automatically operates according to the task program.
- the ultrasonic diagnostic system is connected to a master device installed at a remote location that can be operated by an operator, and is connected to the master device via a communication line.
- a teleoperated robot that operates an arm may also be provided.
- the controller cancels or relaxes the pressing of the probe against the body surface of the subject.
- the probe is moved according to a specific pattern.
- the control device presses the probe against the body surface when the movement according to the specific pattern is completed.
- the ultrasonic diagnostic system of the present disclosure can also employ the following configuration. That is, in the ultrasonic diagnostic system of the present disclosure, the specific pattern may be a pattern that rotates the probe about an axis or a pattern that moves the probe over a predetermined distance.
- the ultrasonic diagnostic system of the present disclosure includes a force sensor that detects a reaction force acting on the probe, and the control device performs the specific pattern control based on the reaction force detected by the force sensor.
- the moving device may be controlled so that the pressing against the body surface is released or relieved. In this way, the pressing of the probe can be properly released or relaxed.
- a position measurement sensor that measures the position of the probe is provided, and the control device controls the body surface based on the position measured by the position measurement sensor as the specific pattern control.
- the moving device may be controlled so that the pressing against the is released or relaxed. In this way, the pressing of the probe can be properly released or relaxed.
- the moving device moves the probe by driving a motor based on a torque command value, and the control device controls the torque command value as the specific pattern control.
- the moving device may be controlled such that the pressure on the body surface is released or relaxed by reducing the pressure. In this way, the pressing of the probe can be properly released or relieved without using a sensor.
- the control device cancels or relaxes the pressing on the body surface based on a change in the ultrasonic image acquired from the ultrasonic diagnostic device.
- the mobile device may be controlled such that In this way, the pressing of the probe can be properly released or relieved without using a sensor.
- the moving device may be an arm robot having an articulated arm, and the probe may be attached to the distal end of the articulated arm.
- a second ultrasonic diagnostic system of the present disclosure includes an ultrasonic diagnostic apparatus having a probe, a moving device for moving the probe, a force sensor for detecting a reaction force acting on the probe, and an ultrasonic diagnostic system for a subject.
- the probe When performing acoustic diagnosis, the probe is pressed against the body surface of the subject based on the reaction force detected by the force sensor, or the pressing of the probe against the body surface is released or relaxed. and a control device for controlling the moving device such that
- a third ultrasonic diagnostic system of the present disclosure includes an ultrasonic diagnostic apparatus having a probe, a moving device that moves the probe, and a position measurement sensor that measures the position of the probe, and performs ultrasonic diagnosis on a subject.
- an ultrasonic diagnostic apparatus having a probe, a moving device that moves the probe, and a position measurement sensor that measures the position of the probe, and performs ultrasonic diagnosis on a subject.
- the probe When performing, based on the position measured by the position measurement sensor, the probe is pressed against the body surface of the subject, or the pressing of the probe against the body surface is released or relaxed. and a control device for controlling the moving device.
- the present disclosure can be used in the manufacturing industry of ultrasonic diagnostic systems.
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Abstract
Description
プローブを有する超音波診断装置と、
前記プローブを移動させる移動装置と、
被験者に対して超音波診断を行なうに際して、被験者の体表面に前記プローブが押し当てられるように、または、前記体表面への前記プローブの押し当てが解除または緩和されるように前記移動装置を制御する特定パターン制御を行なう制御装置と、
を備えることを主な要旨とする。
Claims (9)
- プローブを有する超音波診断装置と、
前記プローブを移動させる移動装置と、
被験者に対して超音波診断を行なうに際して、被験者の体表面に前記プローブが押し当てられるように前記移動装置を制御し、前記プローブの移動パターンとして特定パターンが指定された場合、前記体表面への前記プローブの押し当てが解除または緩和されるように前記移動装置を制御した後、前記プローブが前記特定パターンにより移動するように前記移動装置を制御し、前記特定パターンでの移動が終了すると、前記体表面に前記プローブが押し当てられるように前記移動装置を制御する特定パターン制御を行なう制御装置と、
を備える超音波診断システム。 - 請求項1に記載の超音波診断システムであって、
前記特定パターンは、前記プローブを軸周りに回転させるパターンまたは前記プローブを所定距離以上移動させるパターンである、
超音波診断システム。 - 請求項1または2に記載の超音波診断システムであって、
前記プローブに作用する反力を検出する力覚センサを備え、
前記制御装置は、前記特定パターン制御として、前記力覚センサにより検出される反力に基づいて前記体表面への押し当てが解除または緩和されるように前記移動装置を制御する、
超音波診断システム。 - 請求項1または2に記載の超音波診断システムであって、
前記プローブの位置を計測する位置計測センサを備え、
前記制御装置は、前記特定パターン制御として、前記位置計測センサにより計測される位置に基づいて前記体表面への押し当てが解除または緩和されるように前記移動装置を制御する、
超音波診断システム。 - 請求項1または2に記載の超音波診断システムであって、
前記移動装置は、トルク指令値に基づいてモータを駆動することにより前記プローブを移動させ、
前記制御装置は、前記特定パターン制御として、前記トルク指令値を低減させることで前記体表面への押し当てが解除または緩和されるように前記移動装置を制御する、
超音波診断システム。 - 請求項1または2に記載の超音波診断システムであって、
前記制御装置は、前記特定パターン制御として、前記超音波診断装置から取得される超音波画像の変化に基づいて前記体表面への押し当てが解除または緩和されるように前記移動装置を制御する、
超音波診断システム。 - 請求項1ないし6いずれか1項に記載の超音波診断システムであって、
前記移動装置は、多関節アームを有するアームロボットであり、
前記プローブは、前記多関節アームの先端部に取り付けられる、
超音波診断システム。 - プローブを有する超音波診断装置と、
前記プローブを移動させる移動装置と、
前記プローブに作用する反力を検出する力覚センサと、
被験者に対して超音波診断を行なうに際して、前記力覚センサにより検出される反力に基づいて、被験者の体表面に前記プローブが押し当てられるように、または、前記体表面への前記プローブの押し当てが解除または緩和されるように前記移動装置を制御する制御装置と、
を備える超音波診断システム。 - プローブを有する超音波診断装置と、
前記プローブを移動させる移動装置と、
前記プローブの位置を計測する位置計測センサを備え、
被験者に対して超音波診断を行なうに際して、前記位置計測センサにより計測される位置に基づいて、被験者の体表面に前記プローブが押し当てられるように、または、前記体表面への前記プローブの押し当てが解除または緩和されるように前記移動装置を制御する制御装置と、
を備える超音波診断システム。
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JP2011104194A (ja) * | 2009-11-19 | 2011-06-02 | Waseda Univ | 超音波診断装置、超音波診断装置用のプローブ状態検出装置及びプログラム |
JP2015029619A (ja) * | 2013-07-31 | 2015-02-16 | 富士フイルム株式会社 | 検査支援装置 |
JP2018198856A (ja) * | 2017-05-29 | 2018-12-20 | キヤノンメディカルシステムズ株式会社 | 超音波診断装置及び超音波診断支援装置 |
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JP2011104194A (ja) * | 2009-11-19 | 2011-06-02 | Waseda Univ | 超音波診断装置、超音波診断装置用のプローブ状態検出装置及びプログラム |
JP2015029619A (ja) * | 2013-07-31 | 2015-02-16 | 富士フイルム株式会社 | 検査支援装置 |
JP2018198856A (ja) * | 2017-05-29 | 2018-12-20 | キヤノンメディカルシステムズ株式会社 | 超音波診断装置及び超音波診断支援装置 |
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