JP2021126429A - Ultrasound diagnostic apparatus - Google Patents

Abstract

To reduce load on an operator engaging in an inferior limb blood vessel inspection.SOLUTION: An ultrasound diagnostic apparatus 100 includes an acquisition function 155d and an arm control function 155e. A code reader 31 reads identification information which is disposed on a body surface of a subject and transmits the read information to the acquisition function 155d. The arm control function 155e controls a robot scanning system to hold an ultrasound probe 12a and an ultrasound probe 12b on the basis of a scanning condition corresponding to the identification information.SELECTED DRAWING: Figure 2

Description

The embodiments disclosed in the present specification and the like relate to an ultrasonic diagnostic apparatus.

Conventionally, there are diseases such as economic syndrome and varicose veins in the lower limb blood vessels (for example, lower limb veins), and the importance of lower limb blood vessel examination is recognized. For example, in the lower limb blood vessel examination using an ultrasonic diagnostic apparatus, the entire lower limb is comprehensively scanned to make a diagnosis.

Special Table 2007-508913

One of the problems to be solved by the embodiment disclosed in the present specification and the like is to reduce the load related to the inspection. However, the problems solved by the embodiments disclosed in the present specification and the like are not limited to the above problems. The problem corresponding to each effect of each configuration shown in the embodiment described later can be positioned as another problem to be solved by the embodiment disclosed in the present specification and the like.

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

FIG. 1 is a diagram schematically showing an example of an ultrasonic diagnostic system according to the first embodiment. FIG. 2 is a block diagram showing an example of the configuration of the ultrasonic diagnostic apparatus according to the first embodiment. FIG. 3 is a block diagram showing an example of the configuration of the robot scan 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 acquiring the position information of the subject and placing the 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 the ultrasonic probe by the two-dimensional code according to the first embodiment. FIG. 8 is a diagram for explaining an example of scanning with a plurality of scanning angles according to the first embodiment. FIG. 9 is a diagram for explaining an example of scanning according to the scanning protocol according to the first embodiment. FIG. 10 is a flowchart for explaining a procedure for processing the ultrasonic diagnostic apparatus according to the first embodiment.

Hereinafter, embodiments of the ultrasonic diagnostic apparatus according to the present application will be described in detail with reference to the accompanying drawings. The ultrasonic diagnostic apparatus according to the present application is not limited to the embodiments shown below. Further, in the following description, common reference numerals will be given to similar components, and duplicate description will be omitted.

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

The ultrasonic diagnostic apparatus 100 has an ultrasonic probe 12a and an ultrasonic probe 12b, and generates an ultrasonic image based on the ultrasonic waves transmitted and received by the ultrasonic probe 12a or the ultrasonic probe 12b. For example, the ultrasonic diagnostic apparatus 100 generates an ultrasonic image of a part of a subject scanned by the ultrasonic probe 12a or the ultrasonic 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 changes the position based on the control by the robot arm control device 21 to control the reading of the two-dimensional code by the code reader 31. The arm 22b holds the acoustic medium 32, changes its position based on the 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 ultrasonic probe 12a and changes its position based on the control by the robot arm control device 21 to execute an ultrasonic scan on the subject. The arm 22d holds the ultrasonic probe 12b and changes its position based on the control by the robot arm control device 21 to execute an ultrasonic scan on the subject.

The robot arm control device 21 adjusts the positions of the code reader 31, the acoustic medium 32, the ultrasonic probe 12a, and the ultrasonic probe 12b with respect to the subject by moving the positions of the arm 22a, the arm 22b, the arm 22c, and the arm 22d. do. Here, the robot arm control device 21 can control the positions of the arm 22a, the arm 22b, the arm 22c, and the arm 22d based on the control signal received from the ultrasonic diagnostic device. That is, the robot arm control device 21 moves the arm 22a, the arm 22b, the arm 22c, and the arm 22d based on the amount of movement of the arm included in the control signal received from the ultrasonic diagnostic device. The positional relationship between the arm 22a, the arm 22b, the arm 22c and the arm 22d and the subject can be grasped based on the position information acquired by the 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 reads the two-dimensional code by the code reader 31. The placement of the acoustic medium 32 on the body surface of the sample is controlled. Further, the ultrasonic 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 the ultrasonic probe is placed at the scan position of the subject. The 12a and the ultrasonic 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 the inspection. As described above, for example, in the lower limb blood vessel examination using an ultrasonic diagnostic apparatus, since the entire lower limb is comprehensively inspected, it takes more time than the inspection for other parts. That is, since there are many parts to be scanned, the time required for scanning becomes long, and the time required for recording information regarding each scan position becomes long, so that the entire inspection takes time. In addition, since scanning is performed on a wide range of the entire lower limbs with an ultrasonic probe, an operator such as an inspection engineer scans in various postures, which imposes a heavy physical burden. Therefore, the ultrasonic diagnostic apparatus 100 according to the present application makes it possible to reduce the load related to the examination by executing the lower limb blood vessel examination having a wide scanning range by the robot scanning system 200.

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

The terminal device 300 is arranged in a room different from the laboratory in which the examination by the ultrasonic diagnostic device 100 is performed, and is operated by a doctor or the like. For example, the terminal device 300 displays the scan result of the ultrasonic diagnostic device 100 and the like.

Further, the ultrasonic diagnostic apparatus 100 is connected to the position sensor 61a, the position sensor 61b, the position sensor 61c, the position sensor 61d, the position sensor 61e, and the 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 ultrasonic probe 12a. The position sensor 61d is, for example, a magnetic sensor and is attached to the ultrasonic 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 forms a magnetic field outward with its own device as the center, and is arranged at an arbitrary position in the vicinity of 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 include the position information of the code reader 31, the position information of the acoustic medium 32, and the ultrasonic probe 12a and the ultrasonic probe 12b. This is a position detection system for detecting the position information and the position information of the 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 angles) of the own device in the space with the transmitter 61f as the origin based on the detected magnetic field information. The determined position is transmitted to the device main body 15.

Here, the position sensor 61a transmits the three-dimensional coordinates and the angle at which the own device is located to the device main body 15 as the three-dimensional position information of the code reader 31. As a result, 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 the angle at which the own device is located to the device main body 15 as the three-dimensional position information of the acoustic medium 32. The apparatus 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 mounting 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 the angle at which the own device is located to the device main body 15 as the three-dimensional position information of the ultrasonic probe 12a. Thereby, the apparatus main body 15 can calculate the position of the ultrasonic image collected by the ultrasonic probe 12a in the space with the transmitter 61f as the origin.

Further, the position sensor 61d transmits the three-dimensional coordinates and the angle at which the own device is located to the device main body 15 as the three-dimensional position information of the ultrasonic probe 12b. Thereby, the apparatus main body 15 can calculate the position of the ultrasonic image collected by the ultrasonic 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 its own device in the space with the transmitter 61f as the origin based on the detected magnetic field information, and transmits the calculated position to the device main body 15. Here, the position sensor 61e transmits the three-dimensional coordinates and the angle at which the own device is located to the device main body 15 as the three-dimensional position information of the subject. The apparatus main body 15 has three-dimensional position information of the subject received from each of the plurality of position sensors 61e (three-dimensional position information of the position where each position sensor 61e is attached in the subject) and a shape of the subject input in advance. From the information on the size and the size, each position of the subject in the space with the transmitter 61f as the origin can be calculated.

It should be noted that this embodiment can be applied even when the position information of the ultrasonic probe 12 and the subject is acquired by a system other than the above-mentioned position detection system. For example, in this embodiment, the position information of the code reader 31, the acoustic medium 32, the ultrasonic probe 12a, the ultrasonic probe 12b, and the subject may be acquired by using a gyro sensor, an acceleration sensor, or the like.

The ultrasonic probe 12a (and the ultrasonic probe 12b) is connected to the transmission / reception circuit 151 included in the apparatus 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 plurality of piezoelectric vibrators generate ultrasonic waves based on a drive signal supplied from the transmission / reception circuit 151. do. Further, the ultrasonic probe 12a (and the ultrasonic probe 12b) receives the reflected wave from the subject and converts it into an electric signal. Further, the ultrasonic probe 12a (and the ultrasonic probe 12b) has a matching layer provided on the piezoelectric vibrator and a backing material for preventing the propagation of ultrasonic waves from the piezoelectric vibrator to the rear in the probe main body. The ultrasonic probe 12a (and the ultrasonic probe 12b) are detachably connected to the device main body 15. For example, the ultrasonic probe 12a (and the ultrasonic probe 12b) is an ultrasonic probe such as a sector type, a linear type, or a convex type. The ultrasonic probe 12a and the ultrasonic probe 12b are different types of probes (one is a linear type, the other is a convex type, etc.).

When ultrasonic waves are transmitted from the ultrasonic probe 12a (and the ultrasonic probe 12b) to the subject, the transmitted ultrasonic waves are reflected one after another on the discontinuity surface of the acoustic impedance in the body tissue of the subject, and the reflected wave. The signal is received by a plurality of piezoelectric vibrators included in the ultrasonic probe 12a (and the ultrasonic probe 12b). The amplitude of the received reflected wave signal depends on the difference in acoustic impedance on the discontinuity where the ultrasonic waves are reflected. The reflected wave signal when the transmitted ultrasonic pulse is reflected by the moving blood flow or the surface of the heart wall or the like depends on the velocity component of the moving body with respect to the ultrasonic transmission direction due to the Doppler effect. And undergo frequency shift.

The ultrasonic probe 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 a plurality of piezoelectric vibrators of the one-dimensional ultrasonic probe are machined. It may be an ultrasonic probe that swings in a linear manner, or it may be a two-dimensional ultrasonic probe in which a plurality of piezoelectric vibrators are arranged in a grid pattern in two dimensions.

The display 13 displays a GUI (Graphical User Interface) for the operator of the ultrasonic diagnostic apparatus 100 to input various setting requests using the input interface 14, and displays an ultrasonic image or the like generated by the apparatus main body 15. To display. Further, the display 13 displays various messages and display information in order to notify the operator of the processing status and the processing result of the device main body 15. Further, the display 13 has a speaker and can output sound.

The input interface 14 includes a trackball for setting a predetermined position (for example, an area of interest, etc.), a switch button, a mouse, a keyboard, a touch pad for performing an input operation by touching an operation surface, a display screen, and a touch pad. It is realized by a touch monitor integrated with, a non-contact input circuit using an optical sensor, a voice input circuit, and the like. The input interface 14 is connected to a processing circuit 155, which will be described later, and converts an input operation received from the operator into an electric signal and outputs the input operation to the processing circuit 155. In the present specification, the input interface 14 is not limited to the one provided with physical operating parts such as a mouse and a keyboard. For example, an example of an input interface includes an electric signal processing circuit that receives an electric signal corresponding to an input operation from an external input device provided separately from the device and outputs the electric signal to the processing circuit 155.

The apparatus main body 15 has a transmission / reception 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 program that can be executed by a computer. The transmission / reception circuit 151, the B-mode processing circuit 152, the Doppler processing circuit 153, and the processing circuit 155 are processors that realize functions corresponding to each program by reading a program from the memory 154 and executing the program. In other words, each circuit in the 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 pulsar, and the like, and supplies a drive signal to the ultrasonic probe 12. The pulse generator repeatedly generates rate pulses for forming transmitted ultrasonic waves at a predetermined rate frequency. Further, in the transmission delay circuit, the pulse generator generates the delay time for each piezoelectric vibrator required for focusing the ultrasonic waves generated from the ultrasonic probe 12 in a beam shape and determining the transmission directivity. Give for each rate pulse. Further, the pulsar applies a drive signal (drive pulse) to the ultrasonic 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.

The transmission / reception circuit 151 has a function of instantaneously changing the transmission frequency, transmission drive voltage, and the like in order to execute a predetermined scan sequence based on the instruction of the processing circuit 155 described later. In particular, the change of the transmission drive voltage is realized by a linear amplifier type transmission circuit capable of instantaneously switching the value, or a mechanism for electrically switching a plurality of power supply units.

Further, the transmission / reception circuit 151 includes a preamplifier, an A / D (Analog / Digital) converter, a reception delay circuit, an adder, and the like, and performs various processing on the reflected wave signal received by the ultrasonic probe 12 to reflect it. Generate wave data. The preamplifier amplifies the reflected wave signal for each channel. The A / D converter A / D converts the amplified reflected wave signal. The reception delay circuit provides the delay time required to determine the reception directivity. The adder generates reflected wave data by performing addition processing of the reflected wave signal processed by the reception delay circuit. The addition process of the adder emphasizes the reflected component from the direction corresponding to the reception directivity of the reflected wave signal, and the reception directivity and the transmission directivity form a comprehensive beam for ultrasonic transmission and reception.

The B-mode processing circuit 152 receives reflected wave data from the transmission / reception circuit 151, performs logarithmic amplification, envelope detection processing, and the like to generate data (B-mode data) in which the signal intensity is expressed by the brightness of the brightness. ..

The Doppler processing circuit 153 frequency-analyzes 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 obtains moving body information such as velocity, dispersion, and power. Generate data (Doppler data) extracted for multiple points. For example, a moving body is a fluid such as blood flowing in a blood vessel or lymph fluid flowing in a lymph vessel.

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 the two-dimensional reflected wave data, and generates three-dimensional B-mode data from the three-dimensional reflected wave data. Further, the Doppler processing circuit 153 generates two-dimensional Doppler data from the two-dimensional reflected wave data, and generates three-dimensional Doppler data from the 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 a reflection source located at each of a plurality of points (sample points) set on each scanning line in the three-dimensional scanning range. Further, in the three-dimensional Doppler data, a brightness value corresponding to the value of blood flow information (velocity, dispersion, power) is assigned to each of a plurality of points (sample points) set on each scanning line in the three-dimensional scanning range. It becomes the obtained data.

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. 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. The memory 154 can also store the data generated by the B-mode processing circuit 152 and the Doppler processing circuit 153. In addition, the memory 154 stores various data such as a control program for performing ultrasonic transmission / reception, image processing, and display processing, diagnostic information (for example, patient ID, doctor's findings, etc.), scan protocol, 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. Further, the memory 154 stores the scan conditions associated with the identification information.

The communication interface 156 is connected to the processing circuit 155 and controls the communication performed between the ultrasonic diagnostic apparatus 100 and each apparatus. Specifically, the communication interface 156 receives various 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, a network adapter, a NIC (Network Interface Controller), or the like. For example, the communication interface 156 transmits the control signal received from the processing circuit 155 to the robot scan 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 ultrasonic diagnostic apparatus 100. Specifically, the processing circuit 155 reads a program corresponding to the control function 155a, the image generation function 155b, the detection function 155c, the acquisition function 155d, the arm control function 155e, and the 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 realizes a function corresponding to each program by reading each program from the memory 154 and executing the program. In other words, the processing circuit 155 in the 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 the control unit. The acquisition function 155d is an example of an acquisition unit. The display control function 156f is an example of a notification unit. In this embodiment, it is assumed that each processing function described below is realized by a single processing circuit 155. However, a processing circuit is configured by combining a plurality of independent processors, and each processor is used. May realize the function by executing the program.

The control function 155a is based on various setting requests input from the operator via the input interface 14, various control programs read from the memory 154, and various data, and the transmission / reception circuit 151, the B mode processing circuit 152, and the Doppler processing circuit. Controls the processing of 153. Further, the control function 155a controls the processing of the transmission / reception 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 ultrasonic 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 represented by brightness from the two-dimensional B-mode data generated by the B-mode processing circuit 152. The B-mode image data is data in which the tissue shape in the ultrasonically scanned region is depicted. Further, the image generation function 155b generates Doppler image data representing mobile information from the two-dimensional Doppler data generated by the Doppler processing circuit 153. The Doppler image data is speed image data, distributed image data, power image data, or image data in which these are combined. The Doppler image data is data showing fluid information about a fluid flowing in an ultrasonically scanned region.

Here, the image generation function 155b generally converts (scan-converts) a scanning line signal string of ultrasonic scanning into a scanning line signal string of a video format typified by a television or the like, and ultrasonic waves for display. Generate image data. Specifically, the image generation function 155b generates ultrasonic image data for display by performing coordinate conversion according to the scanning form of ultrasonic waves by the ultrasonic probe 12. Further, the image generation function 155b is used as various image processing other than scan conversion, for example, image processing (smoothing processing) for regenerating an average value image of brightness by using a plurality of image frames after scan conversion. Image processing (edge enhancement processing) using a differential filter in the image is performed. In addition, the image generation function 155b synthesizes character information, scales, body marks, and the like of various parameters with the ultrasonic image data.

That is, the B mode data and the Doppler data are ultrasonic image data before the scan conversion process, and the data generated by the image generation function 155b is the ultrasonic image data for display after the scan conversion process. The B-mode data and Doppler data are also referred to as raw data (Raw Data).

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

Further, 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 the three-dimensional position information of the code reader 31 acquired by the position sensor 61a. Further, the detection function 155c acquires the three-dimensional position information of the acoustic medium 32 acquired by the position sensor 61b. Further, the detection function 155c acquires the three-dimensional position information of the ultrasonic probe 12a acquired by the position sensor 61c. Further, the detection function 155c acquires the three-dimensional position information of the ultrasonic probe 12b acquired by the position sensor 61d. In addition, the acquisition function 155d acquires the three-dimensional position information of the subject acquired by the plurality of position sensors 61e, respectively.

The arm control function 155e controls the robot scanning system 200 that holds the ultrasonic probe 12a and the ultrasonic probe 12b based on the scanning conditions corresponding to the identification information. Specifically, the arm control function 155e first transmits a control signal to the robot scan system 200 so as to acquire identification information arranged on the subject based on the position information of the subject. Then, the arm control function 155e transmits a control signal to the robot scan system 200 so as to execute a scan based on the scan conditions corresponding to the acquired identification information.

The display control function 155f controls the display 13 to display the 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 so that the processing result is displayed on the display 13. Further, the display control function 155f controls the display of various information on the touch monitor of the input interface 14. Further, the display control function 155f controls to display the scan result on the display of the terminal device 300 by transmitting the scan result such as an ultrasonic image to the terminal device 300.

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

Note that FIG. 3 shows a robot scan system 200 having four arms, an arm 22a, an arm 22b, an arm 22c, and an arm 22d, but the embodiment is not limited to this, and the number of arms is not limited to this. Is optional. For example, it may have three or more arms for holding the ultrasonic probe.

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 for holding the cord reader 31 and a driving mechanism for driving the arm. The arm 22a moves the code reader 31 held on the tip side to a desired position by moving a plurality of movable parts having a drive mechanism such as a motor or an actuator according to the control received from the robot arm control device 21. Let me. Here, the arm 22a is configured so that the code reader 31 can be arranged at an arbitrary position in three dimensions with respect 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 for holding the acoustic medium 32 and a driving mechanism for driving the arm. The arm 22b moves the acoustic medium 32 held on the tip side to a desired position by moving a plurality of movable parts having a drive mechanism such as a motor or an actuator according to the control received from the robot arm control device 21. Then, the acoustic medium 32 is placed on the body surface of the subject. Here, the arm 22b is configured so that the acoustic medium 32 can be placed at an arbitrary position in three dimensions with respect to the subject.

The arm 22c holds the ultrasonic probe 12a and moves the ultrasonic probe 12a under the control of the robot arm control device 21. Specifically, the arm 22c has a holding portion for holding the ultrasonic probe 12a and a driving mechanism for driving the arm. The arm 22c has a plurality of movable parts having a drive mechanism such as a motor and an actuator that move in response to the control received from the robot arm control device 21, so that the ultrasonic probe 12a held on the tip side is placed at a desired position. Move. Here, the arm 22c is configured so that the ultrasonic probe 12a can be arranged at an arbitrary position in three dimensions with respect to the subject.

The arm 22d holds the ultrasonic probe 12b and moves the ultrasonic probe 12b under the control of the robot arm control device 21. Specifically, the arm 22d has a holding portion for holding the ultrasonic probe 12b and a driving mechanism for driving the arm. The arm 22d has a plurality of movable parts having a drive mechanism such as a motor and an actuator that move in response to the control received from the robot arm control device 21 to bring the ultrasonic probe 12b held on the tip side to a desired position. Move. Here, the arm 22d is configured so that the ultrasonic probe 12b can be arranged at an arbitrary position in three dimensions with respect to the subject.

FIG. 4 is a diagram showing an example of an arm according to the first embodiment. Here, in FIG. 4, the arm 22c holding the ultrasonic probe 12a is shown. For example, as shown in FIG. 5, the arm 22c holds the ultrasonic probe 12a on the distal end side. Then, the arm 22c moves the ultrasonic probe 12a in the X-axis direction, the Y-axis direction, and the Z-axis direction by driving the drive mechanism of the arm under the control of the robot arm control device 21. Further, the arm 22c is driven by the drive mechanism of the holding portion under the control of the robot arm control device 21, so that the ultrasonic probe 12a is rotated in the directions of arrows 41 to 43, and the direction of the ultrasonic probe 12 is changed. Change.

Here, the holding portion of the arm 22c can further automatically open the holding ultrasonic probe 12a. For example, the holding portion of the arm 22c has a pressure sensor, and when a pressure equal to or higher than a threshold value is applied to the holding portion, the holding ultrasonic probe 12a is automatically opened. Thereby, for example, when the ultrasonic scanning condition is poor, the surgeon can easily remove the ultrasonic probe 12a by grasping the ultrasonic probe 12a and applying a force in either direction.

Further, the holding portion of the arm 22c can be further configured to automatically hold the ultrasonic probe 12a. Specifically, when the operator brings the ultrasonic probe 12a closer to the holding portion, the holding portion of the arm 22c grabs and holds the ultrasonic probe 12a. In such a case, for example, the holding portion of the arm 22c is provided with a non-contact type sensor or the like, and the control function 213a moves the holding portion of the arm 22c in response to a signal from the non-contact type sensor. The arm 22a, the arm 22b, and the arm 22d can also have the same configuration as the arm 22c described above.

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

The acoustic medium 32 is, for example, a jelly, a pad having an effect equivalent to that of the jelly, or the like, which is gripped by the arm 22b and placed on the scan position of the subject.

The robot arm control device 21 has 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 the communication performed between the robot arm control device 21 and each device. Specifically, the communication interface 211 receives various 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, a network adapter, a NIC (Network Interface Controller), or the like. For example, the communication interface 211 receives a control signal from the ultrasonic diagnostic apparatus 100 and outputs the received control signal to the processing circuit 213.

The input interface 212 includes a trackball for making various settings, a switch button, a mouse, a keyboard, a touch pad for performing input operations by touching the operation surface, a touch monitor in which a display screen and a touch pad are integrated, and optics. It is realized by a non-contact input circuit using a sensor, a voice input circuit, and the like. The input interface 212 is connected to the processing circuit 213, converts the input operation received from the operator into an electric signal, and outputs the input operation to the processing circuit 213. In the present specification, the input interface 212 is not limited to the one provided with physical operating parts such as a mouse and a keyboard. For example, an example of an input interface includes an electric signal processing circuit that receives an electric signal corresponding to an input operation from an external input device provided separately from the device and outputs the electric signal to the processing circuit 213.

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 a program corresponding to the control function 213a and the arithmetic function 213b shown in FIG. 3 from a memory (not shown) and executing the program. For example, the processing circuit 213 is a processor that realizes a function corresponding to each program by reading each program from a memory (not shown) and executing the program. In other words, the processing circuit 213 in the state where each program is read has each function shown in the processing circuit 213 of FIG.

In the present embodiment, it is assumed that each processing function described below is realized by a single processing circuit 213. However, a processing circuit is configured by combining a plurality of independent processors, and each processor is used. May realize the function by executing the program.

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

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

The overall configuration of the ultrasonic diagnostic system according to the first embodiment has been described above. Next, the details of the ultrasonic diagnostic apparatus 100 according to the first embodiment will be described. The ultrasonic diagnostic apparatus 100 according to the present embodiment executes a scan based on the identification information arranged on the body surface of the subject. Specifically, the ultrasonic diagnostic apparatus 100 first controls the arm 22a in the robot scanning system 200 to read the identification information (for example, a two-dimensional code) arranged 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 is read. Then, the ultrasonic diagnostic apparatus 100 uses the position where the identification information is read as the scan start position, and the arm 22c and the ultrasonic probe 12a (or the arm) so as to execute the scan according to the scan conditions corresponding to the identification information. 22d and ultrasonic probe 12b) are controlled.

Here, in executing the above-mentioned control, first, the position information of the subject in the scanning space of the ultrasonic wave is acquired, and the identification information is placed on the body surface of the subject. FIG. 5 is a diagram for explaining an example of acquiring the position information of the subject and placing the identification information according to the first embodiment. Note that FIG. 5 shows an example of performing a lower limb blood vessel examination.

For example, when the subject lies on the bed in the examination room, a plurality of position sensors 61e are arranged on the lower limbs as shown in the upper part of FIG. Here, the position where the position sensor 61e is arranged is arranged at a characteristic position having a morphological feature in the lower limbs. As a result, the position information acquired by the position sensor 61e becomes the coordinates of the characteristic positions of the lower limbs 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 the information on the feature position of the arranged lower limbs. Specifically, the detection function 155c associates the position information acquired by each position sensor 61e with the information on the feature position of the lower limb in which each position sensor 61e is arranged, and transmits the information to the arm control function 155e. .. The arm control function 155e indicates the position information acquired by each position sensor 61e arranged at a plurality of feature positions in the lower limbs, the feature position information associated with the position information, and the general shape of the entire lower limbs. Based on the shape information, the coordinates of the entire lower limb surface in the ultrasonic scanning space are estimated.

The bed on which the subject lies may be provided with irregularities so that the lower limbs can always be placed at substantially the same position. For example, the bed may be provided with irregularities so that the ultrasonic probe 12a (and the ultrasonic probe 12b) can easily access the scan position and the movement of the placed lower limbs is fixed.

As described above, when the coordinates of the entire surface of the lower limbs in the ultrasonic scanning space are estimated, for example, as shown in the lower figure of FIG. 5, the two-dimensional code is arranged at the scanning position in the lower limbs. Here, the two-dimensional code is created based on the test order and the 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 limb blood vessel examination. For example, a two-dimensional code creator such as a test engineer confirms the test contents based on the test order and subject information with the doctor in charge, and then scans the sites (1) to (14) shown in FIG. Create a two-dimensional code for. That is, the two-dimensional code creator creates the two-dimensional code 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 scanning conditions for scanning the inferior vena cava of (1) are embedded in the two-dimensional code arranged in (1). Scan conditions include, for example, depth, scan range, scan mode, ultrasonic probe orientation, and the presence or absence of compression.

The two-dimensional code creator creates the two-dimensional codes arranged in (1) to (14) by embedding the above-mentioned scan conditions. Then, the inspection engineer places the created two-dimensional code at each position of the lower limb of the subject. For example, the two-dimensional code is created with a sticker and attached to the subject. In order to prevent the two-dimensional code from being placed at an erroneous position, information indicating the placement position may be described in each two-dimensional code.

As described above, the two-dimensional code is placed on the subject with the scan conditions embedded in each. Here, the two-dimensional code may be a case where the direction of the code is associated with the direction of the ultrasonic probe. FIG. 7 is a diagram for explaining an example of controlling the orientation of the ultrasonic probe by the two-dimensional code according to the first embodiment.

For example, the XYZ coordinates of the ultrasonic probe and the XYZ coordinates of the two-dimensional code are associated with each other as shown in FIG. Thereby, the orientation of the ultrasonic probe can be controlled by 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-axis, Y-axis, and Z-axis of the ultrasonic probe match the X-axis, Y-axis, and Z-axis of the two-dimensional code, respectively.

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

The acquisition function 155d acquires the identification information arranged on the body surface of the subject. Specifically, the acquisition function 155d acquires the identification information read by the code reader 31 moved by 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 stores the identification information read by the code reader 31 and the reading position in association with each other in the memory 154 for all the two-dimensional codes on the body surface.

The reading of the two-dimensional code is not limited to the above-mentioned comprehensive method, and may be executed, for example, by the inspection engineer manually moving the code reader 31 to the position where the two-dimensional code is arranged. .. Also in this case, similarly to the above, the acquisition function 155d stores the identification information read by the code reader 31 and the reading position in the memory 154 in association with each other.

When the two-dimensional code information is acquired by the acquisition function 155d, the control function 155a and the arm control function 155e scan the subject by the robot arm holding the ultrasonic probe based on the scanning conditions corresponding to the identification information. Control. Specifically, the ultrasonic probe by the robot arm is such that 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 on which the identification information is arranged as the scan start position. The position of the ultrasonic wave is controlled and the transmission / reception of ultrasonic waves is controlled by the ultrasonic probe.

For example, first, the arm control function 155e controls the arm 22b to mount the acoustic medium 32 and controls the arm 22c (or the arm 22d) to control the ultrasonic probe 12a (or the ultrasonic probe 12b). ) To the scan position. Then, the control function 155a executes a scan according to the scan conditions at the scan position.

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

Then, the arm control function 155e identifies the ultrasonic probe to be used based on the scanning conditions in the identification information associated with the reading position, and identifies the arm holding the specified ultrasonic probe. For example, when the ultrasonic probe corresponding to the scanning condition is the ultrasonic probe 12a, the arm control function 155e controls the arm 22c to move the ultrasonic probe 12a to the reading position of the two-dimensional code. That is, the arm control function 155e moves the ultrasonic probe 12a to the reading position of the two-dimensional code based on the position information acquired by the position sensor 61c provided on the ultrasonic probe 12a. Here, when the orientation of the two-dimensional code and the orientation of the ultrasonic probe 12a are associated with each other, in the arm control function 155e, the X-axis, Y-axis, and Z-axis of the ultrasonic probe 12a are two-dimensional codes. The position of the arm 22c is controlled so as to match the X-axis, Y-axis, and Z-axis of the above.

When the ultrasonic probe 12a is moved under the control of the arm control function 155e, the control function 155a executes a scan according to the scan conditions read from the two-dimensional code. For example, the control function 155a uses the ultrasonic probe 12a to scan the depth, scan range, scan mode (eg, color Doppler, etc.), and the presence or absence of compression under the conditions read from the two-dimensional code. Control transmission and reception.

The control function 155a and the arm control function 155e control the plurality of identification information arranged on the subject so as to execute a series of scans on the subject while switching to the corresponding scan conditions for each identification information. For example, the control function 155a and the arm control function 155e control to execute the scan while switching the scan conditions corresponding to the two-dimensional code each time the two-dimensional code on the body surface is read.

Here, the control function 155a and the arm control function 155e control to execute the scan while switching the ultrasonic probes of different types in a series of scans on the subject. For example, in the case of lower limb blood vessel examination, different ultrasonic probes may be used depending on the position (for example, each position of (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 scanning while switching the ultrasonic probe according to the read scanning conditions.

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

FIG. 8 is a diagram for explaining an example of scanning with a plurality of scanning angles according to the first embodiment. For example, the control function 155a and the arm control function 155e collect three types of ultrasonic images in which the scanning angle with respect to the blood vessel (blood flow) of the target site of scanning is changed, as shown in FIG. Thereby, the control function 155a and the arm control function 155e can avoid, for example, a situation in which an ultrasonic image showing accurate blood flow information is not collected.

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

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

As shown in FIG. 9, the display control function 155f causes each step of the scan protocol to be displayed on the display 13. Here, the display control function 155f can display that the scan has been executed for the step that has been executed, so that the inspection engineer can grasp the progress of the scan.

Further, the display control function 155f can assist the subject by voice. For example, the display control function 155f notifies the subject of information about the site to be scanned next or alerts the subject not to move based on the information of each step in the scanning protocol.

In addition, the display control function 155f can notify the scan result of the subject by the robot scan system 200. Specifically, the display control function 155f displays the scan result on the display of the terminal device 300. For example, the display control function 155f controls to display the scan result by transmitting the scan result to the terminal device 300 each time the scan corresponding to the two-dimensional code is executed. Thereby, for example, a doctor or an inspection engineer can always check the scanning status by the robot scanning system 200.

The arm control function 155e can detect the misalignment of the subject and correct the detected misalignment. As described above, the position sensor 61e is arranged on the body surface of the subject. Therefore, the arm control function 155e detects the displacement 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 is displaced when the position information of the position sensor 61e detected by the detection function 155c changes beyond a predetermined threshold value.

Then, the arm control function 155e superimposes based on the position information acquired by each position sensor 61e, the feature position information associated with the position information, and the shape information indicating the general shape of the entire lower limb. The misalignment is corrected by re-estimating the coordinates of the entire lower limb surface in the ultrasonic scanning space.

Next, the process of the ultrasonic diagnostic apparatus 100 according to the first embodiment will be described with reference to FIG. FIG. 10 is a flowchart for explaining a procedure for processing the ultrasonic diagnostic apparatus 100 according to the first embodiment. Here, steps S101 to S104 shown in FIG. 10 show a procedure performed by an inspection engineer or the like before the processing of the ultrasonic diagnostic apparatus 100.

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

As shown in FIG. 10, in the ultrasonic diagnostic apparatus 100 according to the first embodiment, the examination engineer receives the examination order and grasps the examination date and time and the patient information (step S101). Then, the examination engineer creates a two-dimensional code based on the patient information such as the patient's age, weight, height, and symptoms, and the examination information (step S102). After that, the inspection engineer guides the subject to the sleeper (step S103) and attaches the two-dimensional code to the subject (step S104).

Further, when the position sensor 61e is attached to the subject, the processing circuit 155 executes the 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 the scan under the scan conditions corresponding to the two-dimensional code (step S107).

Further, the processing circuit 155 determines whether or not there is a misalignment (step S108). Here, if there is a misalignment (step S108, affirmative), the processing circuit 155 corrects the misalignment (step S109).

In the determination of step S108, if there is no misalignment (step S108, negation) and if the misalignment is corrected in step S109, the processing circuit 155 determines whether or not the inspection is completed (step S110).

Here, if the inspection is not completed (step S110, negation), the processing circuit 155 returns to step S106 to detect the two-dimensional code. On the other hand, when the inspection is completed (step S110, affirmative), the processing circuit 155 ends the processing.

As described above, according to the first embodiment, the acquisition function 155d acquires the identification information arranged 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 ultrasonic probe based on the scanning conditions corresponding to the identification information. Therefore, the ultrasonic diagnostic apparatus 100 according to the first embodiment can perform scanning by the robot arm using the identification information on the body surface, and makes it possible to reduce the load related to the inspection. For example, the ultrasonic diagnostic apparatus 100 makes it possible to reduce the physical burden on the inspection engineer. Further, the ultrasonic diagnostic apparatus 100 can perform scanning by the robot scanning system 200, which makes it possible to reduce the inspection cost. In addition, the ultrasonic diagnostic apparatus 100 can automatically register the scan result, which makes it possible to shorten the examination time. As a result, the ultrasonic 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 on which the identification information is arranged as the scan start position. The robot arm controls the position of the ultrasonic probe and the ultrasonic probe controls the transmission and reception of ultrasonic waves. Therefore, the ultrasonic diagnostic apparatus 100 according to the first embodiment makes it possible for the robot arm to perform scanning for each position on the body surface.

Further, according to the first embodiment, the control function 155a and the arm control function 155e perform a series of identification information for the subject while switching to the corresponding scan conditions for each identification information with respect to the plurality of identification information arranged in the subject. Control to perform a scan. Therefore, the ultrasonic diagnostic apparatus 100 according to the first embodiment makes it possible to appropriately deal with even if the inspection content differs depending on the position.

Further, according to the first embodiment, the control function 155a and the arm control function 155e control to execute the scan while switching the ultrasonic probes of different types in a series of scans on the subject. Therefore, the ultrasonic diagnostic apparatus 100 according to the first embodiment makes it possible to support inspections using different ultrasonic probes.

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

Further, according to the first embodiment, the scanning conditions include the depth, the scanning range, the scanning mode, the orientation of the ultrasonic probe, and the presence or absence of compression. Therefore, the ultrasonic diagnostic apparatus 100 according to the first embodiment makes it possible to support various scans.

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

Further, according to the first embodiment, the control function 155a and the arm control function 155e detect the misalignment of the subject and correct the detected misalignment. Therefore, the ultrasonic diagnostic apparatus 100 according to the first embodiment makes it possible to deal with various situations during the 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 ultrasonic diagnostic apparatus 100 according to the first embodiment makes it possible to easily confirm the scanning status.

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

In the above-described embodiment, the case where the two-dimensional code is used as the identification information has been described. However, the embodiment is not limited to this, and any information may be used as long as it is identifiable information. For example, a number may be assigned to each scan position, and a sticker indicating the number may be attached to the subject. In such a case, the scan conditions are associated with each number 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 conditions corresponding to the received numbers from the memory 154 and execute the control corresponding to the read scan conditions.

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

The word "processor" used in the above description is, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an integrated circuit for a specific application (Application Specific Integrated Circuit: ASIC), or a programmable logic device (ASIC). For example, it means a circuit such as a simple programmable logic device (SPLD), a complex programmable logic device (CPLD), and a field programmable gate array (FPGA). The processor realizes the function by reading and executing the program stored in the memory. Instead of storing the program in the memory, the program may be directly embedded in the circuit of the processor. In this case, the processor realizes the function by reading and executing the program embedded in the circuit. It should be noted that each processor of the present embodiment is not limited to the case where each processor is configured as a single circuit, and a plurality of independent circuits may be combined to form one processor to realize its function. good.

It should be noted that each component of each device shown in the description of the above-described embodiment is a functional concept, and does not necessarily have to be physically configured as shown in the figure. That is, the specific form of distribution / integration of each device is not limited to the one shown in the figure, and all or part of the device is functionally or physically dispersed / physically distributed in arbitrary units according to various loads and usage conditions. Can be integrated and configured. Further, each processing function performed by each device may be realized by a CPU and a program analyzed and executed by the CPU, or may be realized as hardware by wired logic.

Further, the control method described in the above-described embodiment 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 USB memory, and a flash memory such as an SD card memory. It can also be performed by being read from a non-temporary recording medium by a computer.

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

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

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

Claims (9)

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 ultrasonic probe based on scan conditions corresponding to the identification information.
An ultrasonic diagnostic device. The control unit controls the position of the ultrasonic probe by the robot arm and executes a scan based on the scan conditions with the position of the body surface of the subject on which the identification information is arranged as the scan start position. The ultrasonic diagnostic apparatus according to claim 1, wherein the ultrasonic probe controls the transmission and reception of ultrasonic waves. The control unit controls the plurality of identification information arranged on the subject so as to execute a series of scans on the subject while switching to the corresponding scan conditions for each identification information. The ultrasonic diagnostic apparatus described in. The ultrasonic diagnostic apparatus according to claim 3, wherein the control unit controls to execute a scan while switching different types of ultrasonic probes in a series of scans on the subject. The scan conditions of a plurality of scans included in the scan protocol are associated with the plurality of identification information, and the scan conditions are associated with the plurality 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 ultrasonic diagnostic apparatus according to any one of claims 1 to 5, wherein the scanning conditions include a depth, a scanning range, a scanning mode, an orientation of the ultrasonic probe, and the 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 perform scanning at different scanning angles in addition to the scanning angles included in the scanning conditions. The ultrasonic diagnostic apparatus according to any one of claims 1 to 7, wherein the control unit detects a misalignment of the subject and corrects the detected misalignment. The ultrasonic diagnostic apparatus according to any one of claims 1 to 8, further comprising a notification unit for notifying the scan result of the subject by the robot arm.

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