JP2024162387A - ULTRASONIC DIAGNOSTIC APPARATUS, INFORMATION PROCESSING APPARATUS, ULTRASONIC DIAGNOSTIC SYSTEM, AND ULTRASONIC DIAGNOSTIC METHOD - Google Patents

Abstract

To reproduce a scan position in past ultrasonic examinations, and provide a present probe position corresponding to a subject to an examiner.SOLUTION: An ultrasonic diagnostic device includes a feature point position acquisition unit, a probe position acquisition unit, a specification unit, and a display control unit. The feature point position acquisition unit acquires feature point position information indicating the position of a feature part of the subject. The probe position acquisition unit acquires ultrasonic probe position information including the position of an ultrasonic probe. The specification unit specifies support information on the scan of the ultrasonic probe on the basis of the present feature point position information and first relative position information indicating a relative position between past ultrasonic probe position information and past feature point position information. The display control unit executes control to display the support information.SELECTED DRAWING: Figure 1

Description

Embodiments of the present invention relate to an ultrasound diagnostic device, an information processing device, an ultrasound diagnostic system, and an ultrasound diagnostic method.

When performing ultrasound examinations using ultrasound diagnostic equipment, it is difficult to intuitively grasp the positional relationship between the probe position of the ultrasound probe and the ultrasound image captured by the ultrasound diagnostic equipment, and efficient and effective examinations may depend on the skill of the examiner.

Conventionally, a mark is placed on the body surface of the subject who is the subject of ultrasound diagnosis in order to detect the subject's position, and a mark is placed on the ultrasound probe in order to detect the position of the ultrasound probe, and a technology has been proposed to grasp the position on the subject's body surface that corresponds to the region of interest on the ultrasound image.

Here, if the position at which the mark is placed to detect the subject's position shifts (differs) between different examinations, it may be difficult to reproduce the operating position from a previous ultrasound examination.

JP 2013-255658 A

The problem that the embodiment of the present invention aims to solve is to reproduce the scanning position of a previous ultrasound examination and provide the examiner with a probe position that corresponds to the current subject.

The ultrasound diagnostic device of the embodiment includes a feature point position acquisition unit, a probe position acquisition unit, an identification unit, and a display control unit. The feature point position acquisition unit acquires feature point position information indicating the position of a feature point of a subject. The probe position acquisition unit acquires ultrasound probe position information indicating the position of an ultrasound probe. The identification unit identifies support information related to scanning of the ultrasound probe based on the current feature point position information and first relative position information indicating the relative position between past ultrasound probe position information and the past feature point position information. The display control unit performs control to display the support information.

FIG. 1 is a block diagram showing an example of the configuration of an ultrasound diagnostic system according to the first embodiment. FIG. 2 is a schematic diagram showing an example for explaining relative position information calculated by the ultrasound diagnostic apparatus according to the first embodiment. FIG. 3 is a schematic diagram showing an example for explaining support information specified by the ultrasound diagnostic apparatus according to the first embodiment. FIG. 4 is a schematic diagram showing an example of support information output by the ultrasound diagnostic apparatus according to the first embodiment. FIG. 5 is a sequence showing an example for explaining a procedure of processing by the ultrasound diagnostic system according to the first embodiment. FIG. 6 is a sequence showing an example for explaining the procedure of processing by the ultrasound diagnostic system according to the first embodiment. FIG. 7 is a schematic diagram showing an example for explaining relative position information calculated by the ultrasound diagnostic apparatus according to the first modification. FIG. 8 is a schematic diagram showing an example for explaining relative position information calculated by the ultrasound diagnostic apparatus according to the second modification. FIG. 9 is a block diagram showing an example of the configuration of an ultrasound diagnostic system according to the second embodiment. FIG. 10 is a schematic diagram showing an example in which the imaging device according to the second embodiment images an object. FIG. 11 is a schematic diagram showing an example of support information output by an ultrasound diagnostic apparatus according to the sixth modification. FIG. 12 is a schematic diagram showing an example of support information output by an ultrasound diagnostic apparatus according to the seventh modification. FIG. 13 is a schematic diagram showing an example of support information output by an ultrasound diagnostic apparatus according to Modification 8. In FIG.

Below, with reference to the attached drawings, embodiments of the ultrasound diagnostic device, information processing device, ultrasound diagnostic system, and ultrasound diagnostic method according to the present application will be described in detail. Note that the ultrasound diagnostic device, information processing device, ultrasound diagnostic system, and ultrasound diagnostic method according to the present application are not limited to the embodiments shown below. In addition, in the following description, similar components are given common reference numerals, and duplicate descriptions will be omitted.

First Embodiment
First, an ultrasound diagnostic system according to the first embodiment will be described. Fig. 1 is a block diagram showing an example of the configuration of an ultrasound diagnostic system 1 according to the first embodiment. As shown in Fig. 1, the ultrasound diagnostic system 1 according to the first embodiment includes an ultrasound probe 2, a display 3, an input interface 4, an ultrasound diagnostic device 5, a transmitter 7, and a wearable terminal 8. The ultrasound diagnostic device 5 is communicatively connected to the ultrasound probe 2, the display 3, the input interface 4, the transmitter 7, and the wearable terminal 8.

The ultrasonic probe 2 is connected to a transmission/reception circuit 51 included in the ultrasonic diagnostic device 5. The ultrasonic probe 2 has, for example, a plurality of piezoelectric transducers in the probe body, which generate ultrasonic waves based on a drive signal supplied from the transmission/reception circuit 51. The ultrasonic probe 2 also receives reflected waves from the subject S and converts them into electrical signals. The ultrasonic probe 2 also has, in the probe body, a matching layer provided on the piezoelectric transducer, and a backing material that prevents ultrasonic waves from propagating backward from the piezoelectric transducer. The ultrasonic probe 2 is detachably connected to the ultrasonic diagnostic device 5.

When ultrasound waves are transmitted from the ultrasound probe 2 to the subject S, the transmitted ultrasound waves are reflected successively by discontinuous surfaces of acoustic impedance in the tissues of the subject S, and are received as reflected wave signals by the multiple piezoelectric transducers of the ultrasound probe 2. The amplitude of the received reflected wave signal depends on the difference in acoustic impedance at the discontinuous surfaces where the ultrasound waves are reflected. When the transmitted ultrasound pulse is reflected by the surface of a moving blood flow, heart wall, etc., the reflected wave signal undergoes a frequency shift due to the Doppler effect depending on the velocity component of the moving body in the direction of ultrasound transmission.

The ultrasonic probe 2 outputs echo signals or ultrasonic data obtained by performing ultrasonic scanning on the subject, and ultrasonic scanning position information. The ultrasonic probe 2 is an ultrasonic probe that mechanically vibrates multiple piezoelectric transducers of a one-dimensional ultrasonic probe in which multiple piezoelectric transducers are arranged in a row, or a two-dimensional ultrasonic probe in which multiple piezoelectric transducers are arranged two-dimensionally in a lattice pattern, and is capable of scanning the subject S in three dimensions.

The display 3 displays a GUI (Graphical User Interface) that allows the operator of the ultrasound diagnostic system 1 to input various setting requests using the input interface 4, and displays ultrasound images and display information generated by the ultrasound diagnostic device 5. The display 3 also displays various messages and display information to inform the operator of the processing status and processing results of the ultrasound diagnostic device 5. The display 3 also has a speaker and can output sound.

The input interface 4 accepts operations for setting a specific position (e.g., a region of interest), setting the display direction of an image, inputting numerical values, switching modes, etc. For example, the input interface 4 can be realized by a trackball, a switch, a button, a mouse, a keyboard, a touchpad that performs input operations by touching the operation surface, a touch monitor that integrates a display screen and a touchpad, a non-contact input circuit that uses an optical sensor, a voice input circuit, etc.

The input interface 4 is connected to a processing circuit 55, which will be described later, and converts input operations received from an operator into electrical signals and outputs them to the processing circuit 55. Note that in this specification, the input interface 4 is not limited to an interface equipped with physical operating parts such as a mouse and a keyboard. For example, an example of an input interface also includes an electrical signal processing circuit that receives electrical signals corresponding to input operations from an external input device provided separately from the device and outputs these electrical signals to the processing circuit 55.

The first position sensor 6 is a device for acquiring position information indicating the position of the ultrasonic probe 2. The transmitter 7 is a device for acquiring ultrasonic probe position information indicating the position of the ultrasonic probe 2 and terminal position information indicating the position of the wearable terminal 8. The transmitter 7 is a device that forms a magnetic field from its own device center toward the outside. The transmitter 7 is placed at any position near the main body of the ultrasonic diagnostic device 5.

The first position sensor 6 is, for example, a magnetic sensor. The first position sensor 6 is attached to the ultrasound probe 2. The first position sensor 6 detects the strength and inclination of the three-dimensional magnetic field formed by the transmitter 7. Based on the information of the detected magnetic field, the first position sensor 6 calculates the position (coordinates and angle) of the device itself in a space with the transmitter 7 as the origin, and transmits the calculated position to the ultrasound diagnostic device 5. As a result, the first position sensor 6 transmits ultrasound probe position information indicating the position of the ultrasound probe 2 to the ultrasound diagnostic device 5.

The wearable terminal 8 is realized, for example, by a head mounted display (HMD) or goggles for VR, MR or AR. The wearable terminal 8 is an example of an information processing device. The wearable terminal 8 displays ultrasound images and display information generated by the ultrasound diagnostic device 5. The wearable terminal 8 may also display various messages and display information to notify the operator of the processing status and processing results of the ultrasound diagnostic device 5.

The wearable device 8 further includes a second position sensor 9. The second position sensor 9 is, for example, a magnetic sensor. The second position sensor 9 detects the strength and inclination of the three-dimensional magnetic field formed by the transmitter 7. Based on the information of the detected magnetic field, the second position sensor 9 calculates the position (coordinates and angle) of the device itself in a space with the transmitter 7 as the origin, and transmits the calculated position to the ultrasound diagnostic device 5. As a result, the second position sensor 9 transmits device position information indicating the position of the wearable device 8 to the ultrasound diagnostic device 5.

The wearable terminal 8 has a feature point position detection function, a marker position detection function, and a display function. The feature point position detection function is an example of a feature point position detection unit. The marker position detection function is an example of a marker position detection unit. The display function is an example of a display unit. The feature point position detection function detects feature point position information indicating the positions of feature points of the subject. The marker position detection function detects marker position information indicating the positions of markers attached to the subject. The display function displays support information regarding scanning with the ultrasound probe 2. Details will be described later.

The ultrasound diagnostic device 5 has a transmission/reception circuit 51, a B-mode processing circuit 52, a Doppler processing circuit 53, a memory 54, and a processing circuit 55. In the ultrasound diagnostic system 1 shown in FIG. 1, each processing function is stored in the memory 54 in the form of a program executable by a computer. The transmission/reception circuit 51, the B-mode processing circuit 52, the Doppler processing circuit 53, and the processing circuit 55 are processors that realize the function corresponding to each program by reading and executing the program from the memory 54. In other words, each circuit in the state in which each program has been read has the function corresponding to the read program.

The transmission/reception circuit 51 has a pulse generator, a transmission delay circuit, a pulser, etc., and supplies a drive signal to the ultrasonic probe 2. The pulse generator repeatedly generates rate pulses to form a transmission ultrasonic wave at a predetermined rate frequency. The transmission delay circuit focuses the ultrasonic waves generated from the ultrasonic probe 2 into a beam shape, and provides each rate pulse generated by the pulse generator with a delay time for each piezoelectric transducer required to determine the transmission directivity. The pulser applies a drive signal (drive pulse) to the ultrasonic probe 2 at a timing based on the rate pulse. In other words, the transmission delay circuit changes the delay time provided to each rate pulse to arbitrarily adjust the transmission direction of the ultrasonic waves transmitted from the piezoelectric transducer surface.

The transmission/reception circuit 51 has the ability to instantly change the transmission frequency, transmission drive voltage, etc., in order to execute a specified scan sequence based on instructions from the processing circuit 55, which will be described later. In particular, the transmission drive voltage can be changed by a linear amplifier-type transmission circuit that can instantly switch its value, or a mechanism that electrically switches between multiple power supply units.

The transmission/reception circuit 51 also has a preamplifier, an A/D (Analog/Digital) converter, a reception delay circuit, an adder, etc., and performs various processes on the reflected wave signal received by the ultrasonic probe 2 to generate reflected 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 performs addition processing on the reflected wave signal processed by the reception delay circuit to generate reflected wave data. The addition processing by the adder emphasizes the reflected component from the direction corresponding to the reception directivity of the reflected wave signal, and a comprehensive beam for ultrasonic transmission and reception is formed by the reception directivity and transmission directivity.

The B-mode processing circuit 52 receives the reflected wave data from the transmission/reception circuit 51 and performs logarithmic amplification, envelope detection processing, etc. to generate data (B-mode data) in which the signal strength is expressed as luminance brightness.

The Doppler processing circuit 53 performs frequency analysis on the velocity information from the reflected wave data received from the transmission/reception circuit 51, extracts blood flow, tissue, and contrast agent echo components due to the Doppler effect, and generates data (Doppler data) that extracts moving object information such as velocity, dispersion, and power for multiple points. The moving object in the first embodiment is a fluid such as blood flowing in blood vessels or lymph fluid flowing in lymphatic vessels.

The B-mode processing circuit 52 and the Doppler processing circuit 53 are capable of processing both two-dimensional reflected wave data and three-dimensional reflected wave data. That is, the B-mode processing circuit 52 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. The Doppler processing circuit 53 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.

Three-dimensional B-mode data is data in which a brightness value corresponding to the reflection intensity of the reflection source located at each of the multiple points (sample points) set on each scan line of the three-dimensional scanning range is assigned. Also, three-dimensional Doppler data is data in which a brightness value corresponding to the value of blood flow information (velocity, dispersion, power) is assigned to each of the multiple points (sample points) set on each scan line of the three-dimensional scanning range.

The memory 54 stores the ultrasound images for display generated by the processing circuitry 55. The memory 54 also stores data generated by the B-mode processing circuitry 52 and the Doppler processing circuitry 53. The memory 54 also stores control programs for performing ultrasound transmission and reception, image processing, and display processing, as well as various data such as diagnostic information (e.g., patient ID, doctor's findings, etc.), diagnostic protocols, and various body marks.

The processing circuitry 55 controls the overall processing of the ultrasound diagnostic device 5. Specifically, the processing circuitry 55 performs various processes by reading from the memory 54 and executing programs corresponding to the control function 551, image generation function 552, display control function 553, probe position acquisition function 554, feature point position acquisition function 555, marker position acquisition function 556, calculation function 557, and identification function 558 shown in FIG. 1. Here, the control function 551 is an example of a control unit. Also, the image generation function 552 is an example of an image generation unit. Furthermore, the probe position acquisition function 554 is an example of a probe position acquisition unit. The feature point position acquisition function 555 is an example of a feature point position acquisition unit. Also, the marker position acquisition function 556 is an example of a marker position acquisition unit. Furthermore, the calculation function 557 is an example of a calculation unit. The identification function 558 is an example of an identification unit.

The control function 551 controls the processing of the transmission/reception circuit 51, the B-mode processing circuit 52, and the Doppler processing circuit 53 based on various setting requests input by the operator via the input interface 4, and various control programs and data read from the memory 54.

The image generation function 552 generates an ultrasound image from the data generated by the B-mode processing circuit 52 and the Doppler processing circuit 53. That is, the image generation function 552 generates B-mode image data that represents the intensity of the reflected wave as brightness from the two-dimensional B-mode data generated by the B-mode processing circuit 52. The B-mode image data is data that depicts the tissue shape within the ultrasonically scanned area. The image generation function 552 also generates Doppler image data that represents moving object information from the two-dimensional Doppler data generated by the Doppler processing circuit 53. The Doppler image data is velocity image data, dispersion image data, power image data, or image data that is a combination of these. The Doppler image data is data that indicates fluid information regarding the fluid flowing within the ultrasonically scanned area.

Here, the image generation function 552 generally converts (scan converts) the scan line signal sequence of the ultrasound scan into a scan line signal sequence of a video format such as that of a television, and generates an ultrasound image for display. Specifically, the image generation function 552 generates an ultrasound image for display by performing coordinate conversion according to the ultrasound scanning form of the ultrasound probe 2.

In addition to scan conversion, the image generation function 552 also performs various image processing, such as image processing (smoothing processing) that regenerates an average brightness image using multiple image frames after scan conversion, and image processing (edge enhancement processing) that uses a differential filter within the image. The image generation function 552 also combines text information of various parameters, scales, body marks, etc., with the ultrasound image.

In other words, the B-mode data and Doppler data are ultrasound image data before the scan conversion process, and the data generated by the image generation function 552 is an ultrasound image for display after the scan conversion process. Note that the B-mode data and Doppler data are also called raw data.

Furthermore, the image generation function 552 generates three-dimensional B-mode image data by performing coordinate transformation on the three-dimensional B-mode data generated by the B-mode processing circuit 52. The image generation function 552 also generates three-dimensional Doppler image data by performing coordinate transformation on the three-dimensional Doppler data generated by the Doppler processing circuit 53. The three-dimensional B-mode data and three-dimensional Doppler data become volume data before the scan conversion process. In other words, the image generation function 552 generates "three-dimensional B-mode image data or three-dimensional Doppler image data" as "volume data that is three-dimensional ultrasound image data."

Furthermore, the image generation function 552 can perform rendering processing on the volume data to generate various types of two-dimensional image data (ultrasound images) for displaying the volume data on the display 3.

The display control function 553 controls the display of the ultrasound image for display stored in the memory 54 on the display 3. The display control function 553 also controls the display of the processing results of each function on the display 3. For example, the display control function 553 controls the display information to be displayed on the display 3.

The probe position acquisition function 554 acquires the ultrasound probe position information transmitted by the ultrasound probe 2. For example, the probe position acquisition function 554 acquires the ultrasound probe position information transmitted by the ultrasound probe 2 when the operator places the ultrasound probe on a feature point of the subject S. Also, for example, the probe position acquisition function 554 acquires the ultrasound probe position information transmitted by the ultrasound probe 2 when the operator places the ultrasound probe on the body surface of the subject S to scan. In this case, since scanning is being performed by the operator, the probe position acquisition function 554 acquires the ultrasound probe position information as scanning position information.

The feature point position acquisition function 555 acquires the ultrasound probe position information transmitted by the ultrasound probe 2. For example, when the operator places the ultrasound probe on a feature point of the subject S, the feature point position acquisition function 555 acquires the ultrasound probe position information transmitted by the ultrasound probe 2 as feature point position information indicating the feature point position of the subject S.

The marker position acquisition function 556 acquires marker position information indicating the position of the marker detected by the wearable terminal 8. For example, when the wearable terminal 8 detects a marker attached to the subject S, the marker position acquisition function 556 acquires marker position information indicating the position of the marker detected by the wearable terminal 8.

The calculation function 557 calculates first relative position information indicating the relative position between the position of the ultrasound probe 2 and the position of the feature point. For example, the calculation function 557 calculates the first relative position information indicating the relative position between the position of the ultrasound probe and the position of the feature point based on the ultrasound probe position information acquired by the probe position acquisition function 554 and the feature point position information acquired by the feature point position acquisition function 555. The calculation function 557 also calculates second relative position information indicating the relative position between the position of the feature point and the position of the marker. For example, the calculation function 557 calculates the second relative position information indicating the relative position between the position of the feature point and the position of the marker based on the feature point position information acquired by the feature point position acquisition function 555 and the marker position information acquired by the marker position acquisition function 556.

Furthermore, the calculation function 557 calculates third relative position information indicating the relative position between the marker position and the ultrasonic probe position 2. For example, the calculation function 557 calculates third relative position information indicating the relative position between the marker position and the ultrasonic probe position based on the marker position information acquired by the marker position acquisition function 556 and the ultrasonic probe position information acquired by the probe position acquisition function 554. Note that the first relative position information, the second relative position information, and the third relative position information are collectively referred to as relative position information hereinafter.

Here, the relative position information calculated by the calculation function 557 will be explained using FIG. 2. FIG. 2 is a schematic diagram showing an example for explaining the relative position information calculated by the ultrasound diagnostic device 5 according to the first embodiment. FIG. 2 shows an operator D wearing a wearable terminal 8 and operating the ultrasound probe 2, and a subject S with a marker on the body surface. The marker is a mark that serves as a reference point for display on the wearable terminal 8.

The position of the marker may be changed for each examination, and the position of the marker may be, for example, set so as to avoid locations that may hinder scanning. Furthermore, a feature point is set on the subject S for alignment with the ultrasound probe 2. The feature point is preferably set at a location that is easy for the operator D to recognize and whose position does not change, for example, on the navel or nipple of the subject S. Furthermore, since the feature point is set at a location that is easy for the operator D to recognize and whose position does not change, it is also called a feature part. In FIG. 2, the feature point is described as the navel of the subject S.

H, F ₁ , M ₁ , P ₁ and T shown in FIG. 2 correspond to the position information of the wearable device 8, the position information of the feature points, the position information of the markers, the position information of the ultrasonic probe and the position information of the transmitter 7, respectively.

The calculation function 557 calculates first relative position information indicating the relative position between the position of the ultrasound probe 2 and the feature point position, based on the ultrasound probe position information _P1 acquired by the probe position acquisition function 554 and the feature point position information _F1 acquired by the feature point position acquisition function 555. Here, when the first relative position information is represented by, for example, _a vector _F1P1 , it can be expressed by the following formula (1).

The vectors F ₁ M ₁ and M ₁ P ₁ will be described in detail later.

Furthermore, the calculation function 557 calculates second relative position information indicating the relative positions between the feature point position and the marker position, based on the feature point position information acquired by the feature point position acquisition function 555 and the marker position information acquired by the marker position acquisition function 556. Here, when the second relative position information is represented by a vector F ₁ M ₁ , for example, it can be expressed by the following formula (2).

Here, _P0 is ultrasonic probe position information transmitted from the first position sensor 6 when the operator places the ultrasonic probe on a feature point of the subject S. Also, vector _P0T is position information of the ultrasonic probe 2. Furthermore, vector TH is position information of the wearable device 8 with respect to the transmitter 7. Vector _HM1 is position information of the marker with respect to the wearable device 8.

Furthermore, the calculation function 557 calculates third relative position information indicating the relative position between the marker position and the ultrasonic probe position, based on the marker position information acquired by the marker position acquisition function 556 and the ultrasonic probe position information acquired by the probe position acquisition function 554. Here, when the third relative position information is represented by, for example, a vector M ₁ P ₁ , it can be expressed by the following formula (3).

Here, vector _M1H is position information of the wearable device 8 based on the marker position. Vector HT is the position of the transmitter 7 based on the position of the wearable device 8. Vector _TP1 is the position of the ultrasound probe 2 based on the position of the transmitter 7.

Returning to FIG. 1, the identification function 558 identifies support information related to scanning of the ultrasound probe 2 based on the current feature point position information and first relative position information indicating the relative position between past ultrasound probe position information and the past feature point position information. Specifically, the identification function 558 identifies support information based on the current feature point position information acquired by the feature point position acquisition function 555 and first relative position information calculated by the calculation function 557 indicating the relative position between past ultrasound probe position information and the past feature point position information. The support information is information including, for example, past ultrasound probe position information and an ultrasound image signal obtained by imaging the subject S.

Here, the support information specified by the specifying function 558 will be described with reference to Fig. 3. Fig. 3 is a schematic diagram showing an example for explaining the support information specified by the ultrasound diagnostic device 5 according to the first embodiment. In Fig. 3, the same contents as those in Fig. 2 will not be described. In addition to Fig. 2, Fig. 3 shows a current marker position _M2 , current ultrasound probe position information _P2, and current feature point position information _F2 . In Fig. 3, the marker position information _M1 and the ultrasound probe position information _P1 are position information at the time of a past examination (scan). In addition, the feature point of the subject S is the navel, and there is no significant change in position, so it is assumed that there is no change in the feature point positions between the past and the present.

3, the identification function 558 identifies support information related to scanning with the ultrasonic probe based on the current feature point position information _F2 and first relative position information indicating the relative position between the past ultrasonic probe position information _P1 and the past feature point position information _F1 , both acquired by the probe position acquisition function 554. In this case, the support information can be expressed by the following formula (4).

The identification function 558 can identify the support information by combining the current feature point position information _F2 , the past ultrasound probe position information _P1 , and the past feature point position information _F1 .

Furthermore, the identification function 558 may identify the first relative position information based on second relative position information indicating a relative position between the past marker position information _M1 and the past feature point position information _F1 , and third relative position information indicating a relative position between the past marker position information _M1 and the past ultrasound probe position information _P1 . In this case, the support information can be expressed by the following formula (5) by substituting formula (1) for formula (4).

Returning to FIG. 1, the display control function 553 controls the wearable device 8 equipped with a position sensor to display the support information identified by the identification function 558. Here, with reference to FIG. 4, a form in which the display control function 553 controls the wearable device 8 equipped with a second position sensor 9 to display the support information identified by the identification function 558 will be described. FIG. 4 is a schematic diagram showing an example of support information output by the ultrasound diagnostic device 5 according to the first embodiment.

Figure 4 shows a state in which an operator D places the ultrasound probe 2 against the body surface of a subject S and operates the ultrasound probe 2. For example, the display control function 553 performs control so that support information including the scanning trajectory of a past examination and the posture of the ultrasound probe 2 is displayed on the body surface. The support information may also include the area where the ultrasound image is captured. Furthermore, the support information displayed by the display control function 553 may include various guide information for the current examination, superimposed on the past examination.

Next, the processing procedure by the ultrasound diagnostic system 1 according to the first embodiment will be described with reference to Figures 5 and 6. Figures 5 and 6 are sequences showing an example for explaining the processing procedure by the ultrasound diagnostic system 1 according to the first embodiment.

The operator D places the ultrasound probe 2 on the feature point F of the subject S (step S101). Next, the ultrasound probe 2 transmits ultrasound probe position information to the ultrasound diagnostic device 5 (step S102). Next, the probe position acquisition function 554 of the processing circuitry 55 acquires the ultrasound probe position information transmitted by the ultrasound probe 2 (step S103). Next, the feature point position acquisition function 555 of the processing circuitry 55 acquires the ultrasound probe position information transmitted by the ultrasound probe 2 (step S104).

Next, the wearable terminal 8 detects the position of the marker attached to the subject S (step S105). Next, the wearable terminal 8 transmits the detected marker position information to the ultrasound diagnostic device 5 (step S106). Next, the marker position acquisition function 556 of the processing circuitry 5 acquires marker position information indicating the position of the marker detected by the wearable terminal 8 (step S107).

Next, the wearable device 8 transmits the device position information of the wearable device 8 to the ultrasound diagnostic device 5 (step S108). Next, the ultrasound probe 2 transmits the ultrasound probe position information to the ultrasound diagnostic device 5 (step S109). Next, the probe position acquisition function 554 of the processing circuit 55 acquires the ultrasound probe position information (scanning position information) transmitted by the ultrasound probe 2 (step S110).

Then, the calculation function 557 of the processing circuit 55 calculates first relative position information indicating the relative position between the position of the ultrasound probe and the position of the feature point based on the ultrasound probe position information (scanning position information) acquired by the probe position acquisition function 554 in step S110 and the feature point position information acquired by the feature point position acquisition function 555 in step S104 (step S111).

Then, the calculation function 557 of the processing circuit 55 calculates second relative position information indicating the relative position between the feature point position and the marker position based on the feature point position information acquired by the feature point position acquisition function 555 in step S104 and the marker position information acquired by the marker position acquisition function 556 in step S107 (step S112).

Then, the calculation function 557 of the processing circuit 55 calculates third relative position information indicating the relative position between the marker position and the ultrasound probe position based on the marker position information acquired by the marker position acquisition function 556 in step S107 and the ultrasound probe position information acquired by the probe position acquisition function 554 in step S110 (step S113). When this process ends, the inspection of the ultrasound probe 2 by the operator D ends.

Figure 6 explains the case where the subject S examined in Figure 5 is examined again. In other words, the processing of the ultrasound diagnostic system 1 in Figure 6 is based on the assumption that there is information regarding past ultrasound probe scanning.

The operator D places the ultrasound probe 2 on the feature point F of the subject S (step S121). Next, the ultrasound probe 2 transmits ultrasound probe position information to the ultrasound diagnostic device 5 (step S122). Next, the probe position acquisition function 554 of the processing circuitry 55 acquires the ultrasound probe position information transmitted by the ultrasound probe 2 (step S123). Next, the feature point position acquisition function 555 of the processing circuitry 55 acquires the ultrasound probe position information transmitted by the ultrasound probe 2 (step S124).

Then, the identification function 558 of the processing circuit 55 identifies support information based on the current feature point position information acquired by the feature point position acquisition function 555 in step S124 and the first relative position information calculated by the calculation function 557 in step S111, which indicates the relative position between the past ultrasound probe position information and the past feature point position information (step S125). Next, the display control function 553 of the processing circuit 55 controls the wearable terminal 8 to display the support information identified by the identification function 558 (step S126). When the processing of step S126 ends, the operator D starts the examination using the ultrasound probe 2 while checking the support information.

As described above, the ultrasound diagnostic device 5 according to the first embodiment identifies support information related to scanning with the ultrasound probe 2 based on the current feature point position information and the first relative position information indicating the relative position between the past ultrasound probe position information and the past feature point position information, and controls the display of the support information.

According to at least one of the embodiments described above, for example, when an operator D uses an ultrasound probe 2 to perform an examination again on a subject S who has previously been examined using the ultrasound probe 2, the ultrasound diagnostic device 5 controls the wearable device 8 worn by the operator D to display support information related to the previous scan using the ultrasound probe 2.

This allows the ultrasound diagnostic device 5 to reproduce the scanning position from a previous examination using the ultrasound probe 2 and guide the operator D to the position of the ultrasound probe 2.

(Variation 1)
In the above-described first embodiment, the marker attached to the subject S is described as being located by the wearable device 8, but the present invention is not limited thereto. For example, the marker attached to the subject S may be provided with a position sensor. Fig. 7 is a schematic diagram showing an example of a form in which the marker shown in Fig. 2 is provided with a position sensor. Note that _M3 shown in Fig. 7 corresponds to the position information of the marker provided with a position sensor.

In the case of the first modification, the marker position acquisition function 556 acquires marker position information transmitted by a marker equipped with a position sensor. In addition, when the second relative position information calculated by the calculation function 557 is represented by, for example, a vector F ₁ M ₃ , it can be expressed by the following formula (6).

Here, the vector TM ₃ is the position information of the marker with respect to the transmitter 7 .

Furthermore, in the case of the first modified example, when the third relative position information calculated by the calculation function 557 is represented by, for example, a vector M ₃ P ₁ , it can be expressed by the following formula (7).

Here, the vector M ₃ T is the position of the transmitter 7 based on the marker position. This allows the ultrasound diagnostic device 5 to calculate the second relative position information and the third relative position information even in the case of a marker equipped with a position sensor.

(Variation 2)
The ultrasonic probe 2 described above may further include, for example, a marker. Fig. 8 is a schematic diagram showing an example of an embodiment in which a marker is provided for the ultrasonic probe 2 shown in Fig. 2. Note that _M4 shown in Fig. 8 corresponds to the position information of the ultrasonic probe 2 that includes a position sensor. In this case, _P1 and _M4 indicating the position information of the ultrasonic probe 22 are approximately the same position.

In the case of the second modification, when the first relative position information calculated by the calculation function 557 is represented by, for example, a vector F ₁ P ₁ , it can be expressed by the following formula (8).

Here, the vector M ₁ M ₄ is position information of the ultrasonic probe 2 equipped with a marker, based on the marker attached to the subject S, and is third relative position information.

Furthermore, in the case of the modified example 2, for example, the vector M ₁ M ₄ which is the third relative position information calculated by the calculation function 557 can be expressed by the following formula (9).

Furthermore, when the support information identified by the identification function 558 is represented by, for example, a vector _HM4 , the support information can be expressed by the following formula (10).

As a result, even if the ultrasound probe 2 is equipped with a position sensor, the ultrasound diagnostic device 5 can calculate the first relative position information and identify the support information.

Second Embodiment
An ultrasound diagnostic system according to the second embodiment will be described with an imaging device in addition to the components of the first embodiment. Fig. 9 is a block diagram showing an example of the configuration of an ultrasound diagnostic system 11 according to the second embodiment.

As shown in FIG. 9, an ultrasound diagnostic system 11 according to the second embodiment includes an ultrasound probe 2, a display 3, an input interface 4, an ultrasound diagnostic device 5, a transmitter 7, a wearable terminal 8, and an imaging device 10. The ultrasound diagnostic device 5 is communicatively connected to the ultrasound probe 2, the display 3, the input interface 4, the transmitter 7, the wearable terminal 8, and the imaging device 10. Note that in FIG. 9, a description of the same configuration as that shown in FIG. 1 will be omitted.

Figure 10 is a schematic diagram showing an example in which the imaging device 10 images the subject S. Specifically, the imaging device 10 images the subject S. The imaging device 10 may be, for example, a camera fixed in an examination room, or a camera equipped with a moving mechanism that allows it to move within the examination room. The imaging device 10 also detects feature points F (feature point position information) of the subject S from the captured image using image processing.

The image processing is performed, for example, using an algorithm for detecting and tracking identical objects. Examples of the algorithm include SIFT (Scale Invariant Feature Transform), SURF (Speed-Up Robust Features), and SORT (Simple Online and Realtime Tracking).

Then, the imaging device 10 transmits the detected feature point position information to the processing circuit 55. For example, in FIG. 10, the position of the imaging device 10 is determined by a position sensor (not shown) provided in the imaging device 10 calculating the position (coordinates and angle) of the imaging device 10 in a space with the transmitter 7 as the origin based on the detected magnetic field information, and transmitting the calculated position to the ultrasound diagnostic device 5. Note that the position of the imaging device 10 may be determined by measuring a predetermined position and using the measured measurement position (fixed value). This allows the ultrasound diagnostic system 11 to acquire the feature point F of the subject S from the imaging device 10.

(Variation 3)
In the above-described second embodiment, the feature points F of the subject S are detected based on the captured image captured by the imaging device 10, but the present invention is not limited to this. For example, the wearable terminal 8 may detect the feature points F of the subject S from the captured image using image processing. This allows the ultrasound diagnostic system 11 to acquire the feature points F of the subject S from the wearable terminal 8.

(Variation 4)
For example, when there is a large difference between the same position identified by different methods, the ultrasound diagnostic device 5 may warn the user or request the operator D to take action to correct the position. In the above-described first embodiment, since only one marker is used on the body surface of the subject S, it is assumed that the distance between the feature point F and the marker M is constant (the subject is a rigid body). However, in reality, it is assumed that the body surface of the subject S may be deformed when the subject S bends his/her body during the examination.

Therefore, for example, the ultrasound diagnostic device 5 can combine the position of the ultrasound probe 2 with a distance image to obtain the relative distance and detect deformation of the body surface.

Specifically, the ultrasound diagnostic device 5 compares the body surface position estimated from the position of the ultrasound probe 2 with the body surface position estimated from the distance image, and if the difference exceeds an allowable level, it determines that the distance between the feature point F and the marker M has changed, and requests the operator D to realign (align (place) the ultrasound probe 2 on the feature point F), thereby acquiring the realigned relative distance.

That is, when the distance between the feature point F and the marker M changes, the display control function 553 of the processing circuit 55 controls to display request information requesting the operator D to align the ultrasound probe 2 with the feature point F again. In addition, the feature point position acquisition function 555 of the processing circuit 55 acquires the current ultrasound probe position information as the current feature point position information when the distance between the feature point F and the marker M changes and the operator D aligns the ultrasound probe 2 with the feature point of the subject S. In addition, the calculation function 557 of the processing circuit 55 acquires the relative distance when the ultrasound probe 2 is aligned with the feature point F, and calculates second relative position information indicating the relative position between the current feature point position and the current marker position.

(Variation 5)
For example, the identification function 558 of the processing circuit 55 identifies any one of the first relative position information, the second relative position information, and the third relative position information by integrating a plurality of sensors mounted on the wearable terminal 8. The plurality of sensors includes any one of sensors relating to position, acceleration, angular velocity, distance image, and image.

For example, when using a sensor fusion technique using a Kalman filter or the like, the ultrasound diagnostic device 5 requests the user to bring a specific marker into view in order to correct the estimation error from the acceleration and angular velocity. In that case, the ultrasound diagnostic device 5 may display a warning to the operator D that the position estimation accuracy is deteriorating.

(Variation 6)
For example, the ultrasound diagnostic device 5 may display support information including ultrasound images and external camera images on the wearable device 8 in correspondence with the body surface position of the subject S. Fig. 11 is a schematic diagram showing an example of support information output by the ultrasound diagnostic device 5 according to Modification Example 6. The support information 62 shown in Fig. 11 is in a form in which the operator D places the ultrasound probe 2 operated by the operator D on the body surface of the subject S, and outputs an ultrasound image corresponding to the part on which the ultrasound probe 2 is placed on the wearable device 8.

(Variation 7)
For example, the ultrasound diagnostic device 5 may display support information including the scanning trajectory of the ultrasound probe 2 in a past examination, the image capturing location, and the posture of the ultrasound probe 2 on the wearable device 8 in association with the positions of organs inside the human body. Fig. 12 is a schematic diagram showing an example of support information output by the ultrasound diagnostic device 5 according to the seventh modification. The support information 63 shown in Fig. 12 is in a form in which the operator D places the ultrasound probe 2 operated by the operator D against the body surface of the subject S, and the part where the probe is placed is output to the wearable device 8.

(Variation 8)
13 is a schematic diagram showing an example of support information output by the ultrasound diagnostic device 5 according to Modification 8. Support information 64 shown in Fig. 13 shows a schematic diagram C of a human body, a position P of the ultrasound probe 2, and a heart 111. The support information 64 is in a form in which a state in which the ultrasound probe 2 is being operated on the heart 111 is output with respect to the schematic diagram C.

Although an example in which each of the above-mentioned processing functions is realized by a single processing circuit 55 has been described in FIG. 1 and FIG. 9, the embodiment is not limited to this. For example, the processing circuit 55 may be configured by combining multiple independent processors, and each processor may realize each processing function by executing each program. Furthermore, each processing function possessed by the processing circuit 55 may be realized by being appropriately distributed or integrated into a single or multiple processing circuits.

The term "processor" used in the above description refers to circuits such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or an application specific integrated circuit (ASIC), a programmable logic device (e.g., a Simple Programmable Logic Device (SPLD), a Complex Programmable Logic Device (CPLD), and a Field Programmable Gate Array (FPGA)). The processor performs functions by reading and executing programs stored in memory.

In addition, instead of storing the program in memory, the program may be directly built into the circuit of the processor. In this case, the processor realizes the function by reading and executing the program built into the circuit. In addition, each processor of this embodiment is not limited to being configured as a single circuit, but may be configured as a single processor by combining multiple independent circuits to realize its function.

Note that the components of each device illustrated in the above description of the embodiment are conceptual and functional, and are not necessarily required to be physically configured as illustrated. In other words, the specific form of distribution and integration of each device is not limited to the form illustrated, and all or part of the devices can be functionally or physically distributed and integrated in any unit depending on various loads, usage conditions, etc. Furthermore, all or any part of the processing functions performed by each device can be realized by a CPU and a program analyzed and executed by the CPU, or can be realized as hardware using wired logic.

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

Although several embodiments of the present invention 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 forms, and various omissions, substitutions, and modifications can be made without departing from the gist of the invention. These embodiments and their modifications are within the scope of the invention and its equivalents as set forth in the claims, as well as the scope and gist of the invention.

REFERENCE SIGNS LIST 1 Ultrasound diagnostic system 2 Ultrasound probe 3 Display 4 Input interface 5 Ultrasound diagnostic device 6 First position sensor 7 Transmitter 8 Wearable terminal 9 Second position sensor 10 Imaging device 55 Processing circuit 551 Control function 552 Image generation function 553 Display control function 554 Probe position acquisition function 555 Feature point position acquisition function 556 Marker position acquisition function 557 Calculation function 558 Identification function

Claims (13)

a feature point position acquiring unit for acquiring feature point position information indicating the position of a feature part of a subject;
a probe position acquisition unit that acquires ultrasonic probe position information indicating a position of the ultrasonic probe;
an identification unit that identifies support information related to scanning of the ultrasonic probe based on current feature point position information, and first relative position information indicating a relative position between past ultrasonic probe position information and the past feature point position information;
A display control unit that controls to display the support information;
An ultrasound diagnostic device comprising: the feature point position acquisition unit acquires current ultrasound probe position information as the current feature point position information when the ultrasound probe is placed on a feature point of the subject by an operator;
The ultrasonic diagnostic apparatus according to claim 1 . a marker position acquisition unit that acquires marker position information indicating a position of a marker attached to the subject,
the identification unit identifies the first relative position information based on second relative position information indicating a relative position between past marker position information and the past feature point position information, and third relative position information indicating a relative position between the past marker position information and the past ultrasound probe position information.
3. The ultrasonic diagnostic apparatus according to claim 1. The marker position acquisition unit acquires the past marker position information from at least one of a wearable device or the marker, the wearable device including a position sensor.
The ultrasonic diagnostic apparatus according to claim 3 . The display control unit controls a wearable device including a position sensor to display the support information.
The ultrasonic diagnostic apparatus according to claim 1 . The feature point position acquisition unit acquires the feature point position information detected by the wearable device through image processing.
The ultrasonic diagnostic apparatus according to claim 1 . the display control unit performs control so as to display, when a relative distance between a position of the characteristic portion and a position of the marker has changed, request information for requesting an operator to again align the ultrasonic probe with the characteristic portion;
the feature point position acquisition unit acquires current ultrasound probe position information as current feature point position information when the operator places the ultrasound probe on the feature point;
The ultrasonic diagnostic apparatus according to claim 1 . the determination unit determines any one of the first relative position information, the second relative position information, and the third relative position information by integrating a plurality of sensors mounted on the wearable terminal;
The ultrasonic diagnostic apparatus according to claim 3 . The plurality of sensors include any one of sensors related to position, acceleration, angular velocity, distance image, and image,
The ultrasonic diagnostic apparatus according to claim 8. The support information includes past ultrasound probe position information and an ultrasound image signal obtained by imaging the subject.
The ultrasonic diagnostic apparatus according to claim 5. a feature point position detection unit that detects feature point position information indicating the position of a feature of the subject;
a display unit that displays support information regarding scanning of the ultrasonic probe based on current feature point position information, and first relative position information indicating a relative position between past ultrasonic probe position information and the past feature point position information;
An information processing device comprising: an ultrasonic probe that outputs an echo signal or ultrasonic data obtained by performing an ultrasonic scan on a subject and position information of the ultrasonic scan;
a feature point position detection unit that detects feature point position information indicating the position of a feature of the subject;
a probe position acquisition unit that acquires ultrasonic probe position information indicating a position of the ultrasonic probe;
an identification unit that identifies support information related to scanning of the ultrasonic probe based on current feature point position information, and first relative position information indicating a relative position between past ultrasonic probe position information and the past feature point position information;
A display control unit that controls to display the support information;
An ultrasound diagnostic system comprising: An ultrasound diagnostic method using an ultrasound diagnostic device, comprising:
a feature point position acquiring step of acquiring feature point position information indicating the position of a feature part of the subject;
a probe position acquisition step of acquiring ultrasonic probe position information indicating a position of the ultrasonic probe;
a step of identifying support information related to scanning of the ultrasonic probe based on current feature point position information, and first relative position information indicating a relative position between past ultrasonic probe position information and the past feature point position information;
a display control step of performing control so as to display the support information;
2. An ultrasound diagnostic method comprising:

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