JPH0824260A - Ultrasonic diagnostic apparatus - Google Patents

Abstract

PURPOSE:To recognize a positional relation wherein an ultrasonic image is obtd. at least with the image and to improve ability of image diagnosis even in the case where the scanning path scanned by ultrasonic wave is not straight but curved, e.g. even when a curved pipeline in a body cavity is scanned. CONSTITUTION:When an ultrasonic oscillator 13 is radially scanned by means of a three dimensional image processing apparatus 6 through a flexible shaft 14 and it is moved by using a stepping motor 30 and a ball screw 19 and a three dimensional ultrasonic image are constructed from a plurality of ultrasonic image data each obtd. at the moved position, changes in the value of resistance caused by deformation of SMA 8 a plurality of which are arranged in the outer sheath are detected by a means 8 for detecting changes in the value of resistance and by using the curved shape of the outer sheath acquired by a shape acquiring and processing apparatus 10, an accurate three dimensional image is constructed. Even at a curved position like a pipeline in the body cavity, accuracy of measurement on the vol., the surface area etc., of a diseased part is improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement of an ultrasonic diagnostic apparatus which captures a parallel slice image using an ultrasonic endoscope and obtains an ultrasonic tomographic image in an arbitrary direction.

[0002]

2. Description of the Related Art As a probe for diagnosing a body cavity, a mecha-radial scan type probe using a single plate vibrator is used. In recent years, it has been attempted to obtain a plurality of ultrasonic tomographic images by advancing and retracting the transducer of this probe in the axial direction, and to construct a three-dimensional ultrasonic image using the plurality of ultrasonic tomographic images. For example, Japanese Patent Laid-Open No. 1-148247
Some are described in Japanese Patent Publication.

In this conventional example, a plurality of radial slice images are taken in in the axial direction, and a three-dimensional ultrasonic image is obtained from these slice images.

[0004]

In the conventional example, when such a three-dimensional ultrasonic image is obtained in a body cavity, the three-dimensional ultrasonic image can be accurately obtained without any problem with respect to a straight part of the lumen such as the esophagus. can get. However, when obtaining a three-dimensional ultrasonic image in a curved area such as the pancreatic duct, a three-dimensional ultrasonic image is constructed as a straight lumen, and a three-dimensional ultrasonic image different from the actual state can be obtained. There was a risk of being lost.

Even if a three-dimensional image is not constructed, it is possible for the observer to recognize what positional relationship the tomographic image has, that is, which position of the observation target and in which direction the cross section is. The value of and its significance in diagnosis will increase.

The present invention has been made in view of the above circumstances, and even when the scanning path of ultrasonic scanning changes not in a straight line shape but in a curved line shape, for example, in the case of scanning a curved duct in a body cavity. An object of the present invention is to provide an ultrasonic diagnostic apparatus capable of recognizing at least an ultrasonic image and a positional relationship where the image is obtained, and improving image diagnostic ability.

[0007]

According to the present invention, there is provided an ultrasonic probe for transmitting and receiving ultrasonic waves, a long flexible outer sheath containing the ultrasonic probe, and the ultrasonic probe. In the outer sheath, moving means for moving the outer sheath forward and backward in the longitudinal direction, insertion depth detecting means for detecting an insertion depth of the ultrasonic probe moved by the moving means into the outer sheath, and Shape detecting means for detecting the curved shape of the outer sheath or the ultrasonic probe, based on the curved shape of the outer sheath or the ultrasonic probe detected by the shape detecting means and the insertion depth detected by the insertion depth detecting means And an image constructing unit that constructs an ultrasonic image from the ultrasonic image data obtained at the moving position of the ultrasonic probe moved by the moving means. That.

[0008]

In the above construction, the moving means moves the image constructing section based on the curved shape of the outer sheath or the ultrasonic probe detected by the shape detecting means and the insertion depth detected by the insertion depth detecting means. Since the sound wave image is constructed from the ultrasonic image data obtained at the moving position of the ultrasonic probe, even if the scanning path of the ultrasonic scanning changes in a curved line instead of a straight line, at least the ultrasonic image and the The curved shape and the insertion depth, which are the positional relationship in which the image is obtained, can be associated with each other.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 4 relate to a first embodiment of the present invention, FIG. 1 is an overall configuration diagram of an ultrasonic diagnostic apparatus, FIG. 2 is a sectional view showing a relationship between an ultrasonic probe and an observation object, and FIG. FIG. 4 is an explanatory diagram showing a state of a three-dimensional ultrasonic image, and FIG. 4 is a perspective view showing another configuration of the ultrasonic probe.

In constructing a three-dimensional ultrasonic image, the ultrasonic diagnostic apparatus of the first embodiment grasps the shape of the sheath containing the transducer when obtaining the three-dimensional ultrasonic image,
A more accurate three-dimensional image is obtained by obtaining trajectory information on the axial movement of the oscillator and performing three-dimensional image construction based on the trajectory information.

Therefore, in this embodiment, a large number of shape memory alloys are arranged in the sheath as a means for measuring the bending degree of the sheath.

FIG. 1 shows an overall block diagram of the apparatus of the first embodiment. The ultrasonic probe 1 has an elongated inner sheath 11 containing a vibrator, which will be described later, and the inner sheath 11 is included in the outer sheath 2. This outer sheath 2
Are projectingly provided on the housing of the drive unit 3 which connects the ultrasonic probe 1 so as to rotate and move back and forth. The drive unit 3 is electrically connected to an ultrasonic observation device 4 that receives a signal received by the ultrasonic probe 1 and constructs a two-dimensional image. In this ultrasonic observation device 4, a CRT 5 for displaying a two-dimensional ultrasonic image and a three-dimensional image processing device 6 for constructing a three-dimensional ultrasonic image from the two-dimensional image output from this device 4 are electrically connected. Connected to each other.

A high-resolution CRT 7 for displaying a three-dimensional ultrasonic image is electrically connected to the three-dimensional image processing device 6.

The outer sheath 2 is provided with a plurality of shape memory alloys 8 (hereinafter referred to as SMA) which are connected by a connecting portion 28, and each SMA 8 has a resistance value measuring means 9
The resistance value measuring means 9 is electrically connected to the shape grasping means 10. Further, the shape grasping means 10 is electrically connected to the three-dimensional image processing device 6.

A plurality of SMAs arranged on the outer sheath 2
An inner sheath 11 of the ultrasonic probe 1 is arranged inside 8 and a cylindrical housing 12 is arranged at the tip of the inner sheath 11 and an ultrasonic transducer is provided on the cylindrical side of the housing 12. 13 is fixed. Housing 12
One end of the flexible shaft 14 is fixed to a proximal end of the flexible shaft 14, and the flexible shaft 14 is connected to a slip ring 15 in the drive unit 3 at the other end.

The vicinity of the other end of the flexible shaft 14 to which the slip ring 15 is connected is rotatably connected via, for example, a geared belt 29 that is bridged between a motor 16 as a rotating means of the vibrator 13 and an encoder 17. are doing.

The slip ring 15 electrically connects the rotating ultrasonic transducer 13 and the ultrasonic observation device 4. The ultrasonic observation device 4 sends a drive pulse for transmission to the ultrasonic transducer 13 and
The ultrasonic transducer 13 receives the reflected echo signal received.

The motor 16 and the encoder 17 are electrically connected to the ultrasonic observation device 4. The ultrasonic observation device 4 receives the rotation angle of the transducer 13 detected by the encoder 17 as a signal, together with the rotation control of the motor 16.

The proximal end of the inner sheath 11 of the ultrasonic probe 1 is fixed to a table 18 provided in the drive unit 3, and a slip ring 15 is built in the table 18. Together with this table 18, the motor 16 and the encoder 17 are fixed inside, and at the same time, the stepping motor 30 and the ball screw 1 as the axial moving means.
It is connected to 9. That is, the table 18 held by the drive unit 3 so as to be able to move forward and backward is screwed into the ball screw 19, and the table 18 moves forward and backward in the drive unit 3 according to the rotation amount of the stepping motor 30 fixed to the drive unit 3. The vibrator 13 is adapted to move back and forth in the axial direction.

At the hand side end of the stepping motor 30,
The encoder 31 is connected, and the rotation angle, that is, the distance that the vibrator 13 moves back and forth is detected and output to the three-dimensional image processing apparatus 6. The advance / retreat distance of the vibrator 13 can also be detected by using a drive pulse signal supplied to the stepping motor 30.

In the above structure, the ultrasonic scanning device 4 drives the motor 16 while transmitting a driving pulse for the transducer from the ultrasonic observation device 4 through the slip ring 15, whereby radial scanning can be performed. By driving the stepping motor 30 while performing radial scanning, the vibrator 13 can be moved in the axial direction while being rotated, and radial / linear simultaneous scanning, so-called three-dimensional scanning can be realized. At this time, a plurality of tomographic images are taken into the three-dimensional image processing apparatus 6 in synchronization with the movement in the axial direction,
3D image construction can be performed.

First, the ultrasonic observation device 4 has a vibrator 13
The rotation angle (scanning angle) is input from the encoder 17, and the reflected echo signal received by the ultrasonic transducer 13 is received via the slip ring 15. Ultrasonic observation device 4
Constructs a two-dimensional tomographic image based on the rotation angle and the reflection echo signal, displays it on the monitor 5, and outputs it to the three-dimensional image processing device 6.

Next, in the three-dimensional image processing device 6, the distance in the linear direction in which the transducer 13 advances and retracts is obtained from the output of the encoder 31, and a plurality of two-dimensional tomographic images output by the ultrasonic observation device 4 are captured. . At this time, the three-dimensional image processing device 6 constructs a three-dimensional image based on the correspondence between the position in the linear direction and the plurality of two-dimensional tomographic images, and the CRT 7
To display. If the duct in the body cavity to be observed has a linear shape, the three-dimensional image can be accurately reproduced without using the data of the shape recognition processing device 10. However, in practice, the conduit is often more or less curved.

Now, let us consider a case where three-dimensional scanning is performed on a curved lumen 19 in a body cavity as shown in FIG.

When a plurality of tomographic images obtained by three-dimensional scanning are three-dimensionally constructed without any particular processing, FIG.
become that way. This will result in a three-dimensional image that differs from the actual appearance. 3 (a) and 3 (b) show a three-dimensional shape as a cross-sectional shape cut in the linear direction.

Therefore, in this embodiment, the curved shape is grasped by utilizing the property that the resistance value of the SMA 8 changes depending on the displacement. The resistance value of the plurality of SMAs 8 installed in the outer sheath 2 is measured by the resistance value measuring device 9, and the data is processed by the shape grasping means 10, whereby the curved shape of the outer sheath 2 can be grasped. The curved shape of the outer sheath 2 is sent to the three-dimensional image processing device 6, and when the three-dimensional image is constructed, the curved change of the shape is added to the position in the linear direction to construct an accurate three-dimensional image. To do. For example, it is possible to construct a three-dimensional image including the lesion portions 20c and 21c as shown in FIG. 3B, with the same shape and arrangement as the actual lesion portions 20a and 21a shown in FIG. If a three-dimensional image is constructed without considering the curved state of the target,
As shown in (a), the lesion portions 20b and 21b are formed, and as can be seen by comparison, the arrangement and volume (or area) thereof are displayed as an image different from the actual one.

When the inside of the body cavity is observed by a three-dimensional image as an object to be observed, the inside of the body cavity is curved and the outer sheath 2 is inserted therein, so that the outer sheath 2 is also in a curved state. In this embodiment, the curved shape of the outer sheath 2 is changed to the outer sheath 2.
Since the three-dimensional image is constructed by grasping the change in the resistance value of the plurality of SMAs 8 arranged inside and taking this curved shape into consideration, the same three-dimensional image as the actual structure can be constructed. Then, in the present embodiment, accuracy can be improved in distance measurement, area measurement, volume measurement, and the position and direction of the lesion. Therefore, the size of the lesion at the bent portion can be accurately diagnosed, and the diagnostic ability can be improved.

FIG. 4 shows another structural example of radial scanning. In this example, instead of the ultrasonic transducer 13,
It has a plurality of vibrators 13 a arranged along the circumferential direction of the cylindrical plane of the housing 12. These oscillators 13a
Unlike the mechanical radial scanning shown in FIG. 1, there is no need to rotate the housing 12, and the ultrasonic observation device 4 provided in place of the ultrasonic observation device 4 sequentially transmits and drives the reflected echoes. To be done. In this way, the plurality of transducers 13a can be sequentially driven in the predetermined direction, and a three-dimensional image can be constructed using the received reflected echo signals. Therefore, the slip ring 1 of the drive unit 3
5, the motor 16 and the encoder 17 are unnecessary. In addition, the table 18 is configured to be integrated with the flexible shaft 14 and can be moved back and forth in the same manner as described above, and other configurations and operational effects are the same as those in FIG.

In the configuration example shown in FIG. 1, the three-dimensional image processing device 6 is used so that an accurate three-dimensional image can be constructed even when scanning the inside of a duct in a bent body cavity. Even if the original image is not constructed, the added value of the obtained tomographic image can be increased and the diagnostic ability can be improved. That is, in such a configuration, instead of the three-dimensional image processing device 6 in the configuration of FIG. 1, a tomographic image from the ultrasonic observation device 4 and a tomographic image in which direction the tomographic image is located at which position of the subject. An image processing device is provided which can be displayed on the CRT 7 in correspondence with the tomographic position information indicating the correspondence relationship between planes. Alternatively, the three-dimensional image processing device 6
Is configured to have the same function as that of the image processing apparatus.

As an example of the display, the insertion opening in which the outer sheath 2 is inserted and the insertion direction can be easily recognized from the outside by an observer. For example, with reference to this insertion opening,
The position in the insertion direction and the inclination of the cross-section with respect to the insertion direction are displayed as a diagram or data, and a tomographic image is also displayed. In addition, as another example, together with the display of the overall shape, a tomographic image is displayed in accordance with the position and direction of the tomographic plane, and the position and direction displayed in accordance with the overall shape are displayed. Can display a tomographic image at another position on the same screen.

With such a configuration, the observer can recognize what positional relationship the ultrasonic tomographic image has, that is, which position of the observation target is in which direction and in which direction the cross section is, and the positional relationship of the whole can be determined. It is more valuable than a tomographic image, which is unknown, and is also meaningful in diagnosis. Therefore, the image diagnostic ability can be improved.

FIG. 5 is a configuration diagram of the tip of an ultrasonic probe according to the second embodiment of the present invention.

This embodiment is different from the first embodiment only in the installation position of the SMA 8, and is otherwise the same in configuration and operation as the first embodiment, and only different points will be described.

In the present embodiment, the plurality of SMAs 8 and the connecting portion 28 are installed in the flexible shaft 14 as shown in FIG.

In this embodiment, the outer diameter of the sheath can be reduced by installing the SAM 8 in the flexible shaft 14. The other configuration and operation and effect are the same as those of the first embodiment, and the description is omitted.

FIGS. 6 and 7 relate to a third embodiment of the present invention, and FIG. 6 is a longitudinal sectional view showing the structure of an ultrasonic probe.
FIG. 1 is an overall configuration diagram of an ultrasonic diagnostic apparatus.

As shown in FIG. 6, the third embodiment has a second
Instead of the SMA 8 of the embodiment, the flexible shaft 14
The difference is that an optical fiber 22 and a light receiving element 23 are installed inside. Therefore, in the present embodiment, instead of the resistance value measuring means 9 shown in FIG. 1, leak light measurement for detecting the leak light amount from the output of the light receiving element 23 that receives and photoelectrically converts the leak light from the optical fiber 22. It has a container 24.

The light receiving element 23 is electrically connected to the leak light measuring instrument 24 via the slip ring 15.
The optical fiber 22 is arranged such that its incident end faces a light emitting element (not shown) provided at the proximal end of the flexible shaft 14, for example. This light emitting element is provided with the leak light measuring device 24 via the slip ring 15.
Is electrically connected to

In the above structure, when the optical fiber 22 is bent, the amount of light leakage differs depending on the amount of bending. By utilizing the fact that the leak amount of light correlates with the bending amount, the curved shape can be grasped by using the optical fiber 22 instead of the SMA 8 in the first embodiment. The shape grasping processing device 10 of the present embodiment is based on the output of the leaked light measuring means 24.
The curved shape of the flexible shaft 14 is grasped, and the three-dimensional image processing device 6 takes this curved shape into consideration to construct a three-dimensional image.

In this embodiment, the outer diameter of the sheath can be reduced by installing the curved detecting means in the shaft.

8 to 10 relate to a fourth embodiment of the present invention, FIG. 8 is an overall configuration diagram of an ultrasonic diagnostic apparatus, and FIG. 9 shows a relationship between a marked outer sheath and an ultrasonic probe. FIG. 10 is an explanatory diagram showing a state of a CCD image.

This embodiment is based on the SMA in each of the above embodiments.
In place of the configuration of the optical fiber or the like, a CCD 25 as a solid-state image sensor is installed at the tip of the housing 12, and the outer sheath 2 is provided with, for example, concentric circular markings 26 having a constant mark width and a constant mark width. They are different. CCD
25 is electrically connected to a shape grasping processing device 35 via a slip ring 15. Shape grasping processing device 3
5 is the outer sheath 2 shown in the output image of the CCD 25
The curved shape of the outer sheath 2 is grasped from the state of the marking 26 and the state of deformation of the sheath. Other configurations and operations similar to those of the first embodiment are designated by the same reference numerals, description thereof will be omitted, and only different points will be described.

When the ultrasonic probe 1 moves axially in the bending portion of the outer sheath 2 as shown in FIG. 9, images of the CCD 25 provided at the tip of the probe are shown in FIGS. 10 (a), 10 (b),
It becomes like (c). For example, by recording an image when the outer sheath 2 is bent in a predetermined state in advance and comparing this reference image with the currently obtained image, how the sheath is currently bent I understand. The shape grasping means 35 performs these processes to grasp the shape of the sheath.

As one of the collating methods, the data indicating the distance between the markings 26, the curvature data of each of the projected markings 26, the deformed state of the outer sheath 2 such as an ellipse, and its minor axis are approximated. And the long-axis distance data are obtained by image analysis, these data groups are compared, and the curved state of the closest reference image can be obtained as the curved shape at that position.

Other than that, the same components and operations as those of the first embodiment are designated by the same reference numerals and the description thereof will be omitted.

11 to 17 relate to a fifth embodiment of the present invention. FIG. 11 is a general configuration diagram of an ultrasonic diagnostic apparatus, FIG. 12 is a sectional view taken along the line FF of FIG. 11, and FIG. 13 is a distance. FIG. 14 is a block diagram of the measuring means, FIG. 14 is a block diagram of the shape grasping processing device, FIG. 15 is a side sectional view showing a relative positional relationship between the outer sheath and the inner sheath, and FIG. 16 is a flowchart showing the operation of the ultrasonic diagnostic device. FIG. 17 is a flowchart of the diameter / distance calculation routine.

In this embodiment, the reflected echo signal of the ultrasonic transducer 13 is used to obtain the positional relationship of the inner sheath 11 with respect to the outer sheath 2 to grasp the curved shape.
There is no need to arrange SMA or CCD. Other, first
About the same composition and operation as an example, the same numerals are attached and explanation is omitted and only different points are explained.

The reflected echo signal of the ultrasonic transducer 13 is supplied to the ultrasonic observation device 4 and the distance measuring means 27 via the slip ring 15. The distance measuring means 27 determines the outer sheath 2 and the inner sheath 1 based on the reflected echo signal and the rotation angle (scanning angle) output from the encoder 17.
The relative distance between the outer sheath 2 and the inner sheath 11 and the diameters of the outer sheath 2 and the inner sheath 11 are calculated and output to the shape grasping processing device 36. The shape grasping processing device 36 grasps the curved shape from the relative distance, each diameter, and the forward / backward position output from the encoder 31.

Next, the block configuration of the distance measuring means 27 and the shape grasping processing device 36 will be described with reference to FIGS. 13 and 14.

The distance measuring means 27 shown in FIG. 13 is an A / D (not shown) for a plurality of reflected echo signals output from the ultrasonic transducer 13 in response to one rotation scanning of the ultrasonic transducer 13.
It has a memory 41 for storing it as received data via the converter and for storing the rotation angle data of the vibrator 13 in order to correlate this received data with the obtained radial direction. Further, the distance measuring means 27 uses the memory 41.
Based on the echo signals detected by the sheath echo detector 42, which detects the echo signals from the outer sheath 2 and the inner sheath 11 from the respective received data stored in, the scanning angle of the rotary scanning (rotation angle data)
And an outer sheath diameter calculation unit 43 that sequentially calculates the diameter of the outer sheath 2. Further, the distance measuring means 2
Reference numeral 7 has an inter-sheath distance calculation unit 44 that calculates the distance between the outer sheath 2 and the inner sheath 11 in accordance with the scanning angle of the rotary scanning based on the echo signal detected by the sheath echo detection unit 42. ing.

The shape grasping processing device 36 shown in FIG.
Is based on the diameter of the outer sheath 2 for each scanning angle output by the outer sheath diameter calculation unit 44 of the distance measuring means 27.
It has a curvature calculation unit 45 that calculates the curvature of and outputs the curvature data to the three-dimensional image processing device 6 in association with the advance / retreat distance output from the encoder 31. Further, the shape grasping processing device 36 determines the bending direction of the outer sheath 2 based on the distance between the outer sheath 2 and the inner sheath 11 which is output by the inter-sheath distance calculation unit 45 of the distance measuring means 27 in correspondence with the scanning angle. It has a bending direction calculation unit 46 that calculates and outputs to the three-dimensional image processing device 6.

In the above configuration, the ultrasonic echo signal is supplied to the ultrasonic observation device 4 via the slip ring 15 to generate a two-dimensional ultrasonic image, and is also supplied to the distance measuring means 27. It is used to measure the distance and diameter between the inner sheath 11 and the outer sheath 2.

Here, a method for measuring the distance and grasping the shape will be described with reference to the flowchart shown in FIG.

As the reflected echo signal, for example, 512 sound ray data in the radial direction are obtained per one rotation of the probe 1, and these data are stored in the memory 41 of the distance measuring means 27 in step S1. Next, the diameters a and b and the distances c and d are obtained by the diameter / distance calculation routine of step S2.

FIG. 12 is an explanatory diagram regarding the positional relationship among the outer sheath 2, the inner sheath, and the ultrasonic transducer 13, and the diameter and distance. A, B, C, and D shown in FIG. 12 are angles with the ultrasonic transducer 13 as a reference, and are from the rotation center of the ultrasonic transducer 13 (hereinafter, referred to as the scanning center) in the emitting direction of the ultrasonic waves. The direction along is A. Then, as shown in FIG. 12, B, C, and D are rotated every 90 ° clockwise from the A direction.
Each direction is defined. Therefore, when the vibrator 13 rotates, the A, B, C, and D directions also rotate and move with respect to the outer sheath 2. The rotation angle of the vibrator 13 can be detected by the output of the encoder 17, but the predetermined reference position in the A direction is set to 0 °. Further, the distances a and b are A-C line and B-D
Is the inner diameter of the outer sheath 2 in each direction of the wire, and the distance c,
d is the distance between the outer sheath 2 and the inner sheath 11 on the line A-C. This distance changes as the inner sheath 11 is curved and deformed or moves back and forth in the outer sheath 2.

Next, the diameter / distance calculation routine is shown in FIG.
This will be described with reference to FIG. In step S11 of FIG.
The sheath echo detection unit 42 displays A = 0 °, B = 90 °, C
= 180 ° and D = 270 ° are read from the memory 41, and in step S12, echoes generated at the positions of the inner sheath 11 and the outer sheath 2 in the respective directions A to D are detected, and the respective echoes are detected. Find the timing of occurrence. That is, since the sound ray data is time-series data, the timing of this occurrence can be converted into a distance.

In step S13 of FIG. 17, the outer sheath diameter calculation unit 43 determines the time between the scanning center of the rotary scanning and the outer sheath 2 based on the echo generation timing in the outer sheath 2 detected by the sheath echo detection unit 42. The distance is calculated, and the added value of the distances in the A-C direction and the added value of the distances in the B-D direction out of these calculated distances are used as the diameter a of the outer sheath 2,
Calculate as b.

In step S14 of FIG. 17, the distance calculating section 44 determines the difference in the timing in the A direction among the respective generation timings of the echo in the outer sheath 2 and the echo in the inner sheath 11 detected by the sheath echo detecting section 42. And the timing difference in the C direction, the outer sheath 2
The distances c and d between the inner sheath 11 and the inner sheath 11 are calculated.

As described above, of the sound ray data, 0
°, 90 °, 180 °, 270 ° (in FIG. 12,
The sound ray data corresponding to (A, B, C, D) are used to obtain the diameters a, b and the distances c, d shown in FIG.

Next, in step S15, it is determined whether or not A is 90 °, and since it is No, in step S16, the directions A to D are shifted by 1 ° each, and from the corresponding sound ray data to step S12. The diameter a,
b, distances c and d are obtained. This process is repeated, and the measurement is repeated while the point A changes from 0 ° to 90 °. The data of the diameters a, b in all directions and the distances c, d thus obtained are sent to the shape grasping processing device 36, and the following processing is performed.

The above-described processing during changing the point A from 0 ° to 90 ° is sequentially performed according to the advance / retreat of the vibrator 13, and the shape grasping processing device 36 causes the azimuth diameters a, b, the distance c, d
Each of the data will be sequentially received according to the moving distance in the linear direction.

In step S4 of FIG. 16, the curvature calculating section 45 of the shape grasping processing device 36 causes the outer sheath diameter calculating section 4 to operate.
Among the plurality of diameters a and b of the outer sheath 2 obtained in No. 3, two diameters along two orthogonal directions passing through the scanning center are paired and a ratio a / b is obtained for each rotation angle. Then, the curvature calculation unit 45
The maximum value or the minimum value is searched from the ratio a / b of the plurality of diameters, and the minor axis direction, which is the direction of the smaller diameter of the paired diameters a and b giving the maximum value or the minimum value, is determined. Ask. Further, in step S5, the curvature calculation unit 45 calculates, based on the maximum value or the minimum value of the ratio,
The curvature of the outer sheath 2 at a certain position in the longitudinal direction, that is, in a linear direction is calculated. Then, the curvature calculation unit 4
Reference numeral 5 sequentially calculates the curvature at that position from the diameters a and b that are sequentially obtained corresponding to the linear position data of the encoder 31.

It should be noted that the curvature can be sequentially calculated by an empirical formula or the like. For example, the relationship between the curvature and the maximum value or the minimum value of the ratio which has been examined in advance is stored in a ROM or the like as a table. Then, it can be obtained by collating with this table.

In step S6, the bending direction calculation unit 46
Of the plurality of distances c and d between the outer sheath 2 and the inner sheath 11 obtained by the inter-sheath distance calculation unit 44, the curvature calculation unit 45
The distances c and d in the direction along the minor axis direction obtained by are selected, the magnitudes thereof are compared, and the bending direction of the outer sheath 2 is calculated. Then, the bending direction calculation unit 46 can obtain the bending at each position, that is, the bending direction from the bending directions sequentially obtained corresponding to the position data in the linear direction.

Regarding the above-described grasp of the curved state, FIG.
A specific state shown in 5 will be described as an example. FIG. 15A shows a state in which the vibrator 13 included in the inner sheath 11 is inserted into the curved outer sheath 2 from the side surface.
FIG. 15B schematically shows the cross section of FIG. 15A.

As shown in FIGS. 15 (a) and 15 (b), a /
For example, in the illustrated example, when b becomes the minimum (or maximum), the A-C direction is the bending direction of the sheath 2 at that portion,
The curvature can be converted from the size of a / b. By the way, when a / b is 1 in any radial direction, it can be recognized as a straight line.

Further, as is clear from FIG. 15 (a), which direction A-C is bent is, in general, when the probe 1 passes through a bent part, the probe 1 is of the outer sheath 2. Since they are close to each other in the bending outer circumferential direction, the bending direction of the outer sheath 2 can be known by comparing the distance d with the minimum (or maximum value) of the ratio a / b calculated by the curvature calculating unit 45. For example, it can be seen that if c> d, it bends in the A direction, and if c <d, it bends in the C direction. In the example of FIG. 15 (a), c <d, and it can be seen that the curve is in the C direction.

In step S7, the curved shape of the outer sheath 2 can be grasped by associating the curvature and bending direction data of the outer sheath 2 grasped as described above with the axial advance / retreat distance of the probe 1.

If the outer sheath 2 is made of a flexible and highly recoverable material, a good result can always be obtained without the need for complicated processing such as data correction even if the measurement is repeated.

Further, as described above, when the value of a / b and the curvature of the sheath are experimentally obtained in advance,
Since the processing speed can be increased, it is possible to save time during clinical use.

Further, in the illustrated example, the output of the encoder 31 is supplied to the curvature calculating section 45 of the shape recognition processing device 36, but it may be supplied only to the three-dimensional image processing device 6. In the case of this configuration, the data obtained from the shape recognition processing device 36 is not the data over the entire linear direction but the local curvature data and bending direction data at a certain position.

For example, when the shape grasping processing device 36 has the configuration of FIG. 11, only the data at the position where the outer sheath 2 is curved is sent out, and at other times, that is, the position data which can be regarded as a linear shape is It may not be sent.

Further, in this embodiment, the radial scanning structure may be replaced with the structure shown in FIG. 11 which is similar to that shown in FIG. In this configuration, the vibrators 1 arranged in the plurality are arranged.
Since the scanning angle can be detected using the transmission drive timing signal of 3a, this signal may be supplied from the ultrasonic observation apparatus to the shape recognition processing apparatus 36 and the three-dimensional image processing apparatus 6.

The rest of the configuration and the operational effects are the same as those of the first embodiment (or the configuration of FIG. 4), and the explanation is omitted.

Not only in the first embodiment but also in each of the second to fifth embodiments, the added value of the obtained tomographic image is increased and the diagnostic ability is improved without constructing a three-dimensional image. It is possible to take the configuration described above.

[Appendix] As described in detail above, according to the embodiment of the present invention, the following configuration can be obtained.
That is, [Supplementary Note 1] An ultrasonic diagnostic apparatus includes an ultrasonic probe that transmits and receives ultrasonic waves, a long outer sheath that includes the ultrasonic probe and has flexibility, and the ultrasonic probe that includes the ultrasonic probe. In the sheath, a moving means for moving the outer sheath forward and backward in the longitudinal direction, an insertion depth detecting means for detecting the insertion depth of the ultrasonic probe moved by the moving means into the outer sheath, and the outer depth. Based on the shape detecting means for detecting the curved shape of the sheath or the ultrasonic probe, the curved shape of the outer sheath or the ultrasonic probe detected by the shape detecting means, and the insertion depth detected by the insertion depth detecting means. And an image constructing unit for constructing an ultrasonic image from the ultrasonic image data obtained at the moving position of the ultrasonic probe moved by the moving means. That.

[Supplementary Note 1-1] An ultrasonic diagnostic apparatus includes an ultrasonic probe for transmitting and receiving ultrasonic waves, a long flexible outer sheath containing the ultrasonic probe, and the ultrasonic probe. Inside the outer sheath, moving means for advancing and retracting in the longitudinal direction of the outer sheath, and insertion depth detecting means for detecting the insertion depth of the ultrasonic probe moved by the moving means into the outer sheath. A shape detecting means for detecting a curved shape of the outer sheath or the ultrasonic probe; a curved shape of the outer sheath or the ultrasonic probe detected by the shape detecting means; and an insertion depth detected by the insertion depth detecting means. And a three-dimensional ultrasonic image is constructed from a plurality of ultrasonic image data obtained at the moving position of the ultrasonic probe moved by the moving means. And an image construction unit.

In the structure described in appendix 1-1, based on the curved shape of the outer sheath or the ultrasonic probe detected by the shape detecting means by the image constructing section and the insertion depth detected by the insertion depth detecting means. , A three-dimensional ultrasonic image is constructed from a plurality of ultrasonic image data obtained at the moving position of the ultrasonic probe moved by the moving means, so that the scanning path of the ultrasonic scanning is not linear but curved. Even if it changes to, accurate three-dimensional image construction can be achieved.

As described above, according to the structure described in appendix 1-1, even when the scanning path of the ultrasonic scanning changes not in a straight line shape but in a curved line shape, for example, in the case of scanning the inside of a curved body cavity. However, there is an effect that an accurate three-dimensional image can be constructed and the image diagnostic ability can be improved.

[Supplementary Note 1-2] In the ultrasonic diagnostic apparatus according to Supplementary Note 1, the shape detecting means includes a shape memory alloy.

[Supplementary Note 1-3] The ultrasonic diagnostic apparatus according to Supplementary Note 1, wherein the shape detecting means is arranged along the axial direction of the ultrasonic probe and has an optical fiber through which light passes, A plurality of light receiving elements that are arranged along the axial direction of the ultrasonic probe and detect the amount of leaked light from the optical fiber obtained according to the bending of the optical fiber, and the bending of the outer sheath based on the output of this light receiving element. And a shape grasping processing device for grasping the state.

[Supplementary Note 2-1] The ultrasonic diagnostic apparatus according to Supplementary Note 1, comprising an ultrasonic transducer provided on the ultrasonic probe, and scanning means for rotationally scanning the ultrasonic transducer. The image constructing unit includes an ultrasonic transducer that is moved by the moving unit based on the bending shape of the outer sheath detected by the shape detecting unit and the insertion depth detected by the insertion depth detecting unit. An ultrasonic image is constructed from ultrasonic image data obtained by rotational scanning at the moving position.

[Supplementary Note 2-2] The ultrasonic diagnostic apparatus according to Supplementary Note 1, wherein a plurality of ultrasonic transducers arranged in the circumferential direction of the ultrasonic probe and the plurality of ultrasonic transducers arranged in this order are sequentially arranged. The driving unit and the image constructing unit are moved by the moving unit based on the bending shape of the outer sheath detected by the shape detecting unit and the insertion depth detected by the insertion depth detecting unit. An ultrasonic image is constructed from the ultrasonic image data obtained at the moving positions of the ultrasonic transducers arranged in plural.

[Supplementary Note 2-3] The ultrasonic diagnostic apparatus according to Supplementary Note 1-1, further comprising an ultrasonic transducer provided on the ultrasonic probe and a scanning means for rotating and scanning the ultrasonic transducer. Then, the image constructing unit is configured to move the ultrasonic vibration by the moving unit based on the bending shape of the outer sheath detected by the shape detecting unit and the insertion depth detected by the insertion depth detecting unit. A three-dimensional ultrasonic image is constructed from a plurality of ultrasonic image data obtained by each rotational scan at the moving position of the child.

[Supplementary Note 2-4] The ultrasonic diagnostic apparatus according to Supplementary Note 1-1, wherein a plurality of ultrasonic transducers are arranged in the circumferential direction of the ultrasonic probe, and a plurality of these ultrasonic transducers are arranged. And the image constructing unit is moved by the moving unit based on the bending shape of the outer sheath detected by the shape detecting unit and the insertion depth detected by the insertion depth detecting unit. A three-dimensional ultrasonic image is constructed from a plurality of ultrasonic image data obtained at the moving positions of the plurality of arranged ultrasonic transducers.

[Supplementary Note 3-1] Supplementary Note 1 or Supplementary Note 1-1
The ultrasonic diagnostic apparatus according to claim 1, wherein the shape detecting means is
The outer sheath is provided along the longitudinal direction thereof and has a shape detecting element portion for detecting the shape of the outer sheath.

[Supplementary Note 3-2] Supplementary Note 1 or Supplementary Note 1-1
The ultrasonic diagnostic apparatus according to claim 1, wherein the shape detecting means is
Provided along the longitudinal direction of the ultrasonic probe,
It has a shape detection element section for detecting the shape of the ultrasonic probe.

[Supplementary Note 4] Supplementary Note 3-1 or Supplementary Note 3-2
The ultrasonic diagnostic apparatus according to claim 1, wherein the shape detection element unit includes a plurality of strain resistance elements arranged along the longitudinal direction.

[Supplementary Note 5] The ultrasonic diagnostic apparatus according to Supplementary Note 4, wherein the shape detecting means measures the electric resistance of each of the plurality of strain resistance elements and outputs the resistance value, and the resistance measuring means. A shape grasping processing device which receives the output of the value measuring means and outputs the shape data of the outer sheath or the ultrasonic probe.

[Supplementary Note 6] In the ultrasonic diagnostic apparatus according to Supplementary Note 4, the strain resistance element is a shape memory alloy.

[Supplementary Note 7] In the ultrasonic diagnostic apparatus according to Supplementary Note 1 or Supplementary Note 1-1, the shape detecting means is provided in the ultrasonic probe and is a shape recognizing means for recognizing a bent shape of the outer sheath. Have.

[Supplementary Note 8] In the ultrasonic diagnostic apparatus according to Supplementary Note 7, the shape recognizing means includes a recognized portion provided on the outer sheath so as to be displaced and deformed according to a bending shape of the outer sheath, and An imaging element for imaging the outer sheath provided at the tip of the ultrasonic probe and provided with the recognized part is included.

[Supplementary Note 9] In the ultrasonic diagnostic apparatus according to Supplementary Note 8, the recognized parts are a plurality of markings provided on the inner wall or the outer wall of the outer sheath in a predetermined arrangement.

[Supplementary Note 10] In the ultrasonic diagnostic apparatus according to Supplementary Note 8, the shape recognizing means includes an illuminating means for illuminating a visual field of the image pickup device and an image including the recognized portion from the image pickup device. It has a shape grasping processing device for outputting the shape data of the outer sheath.

[Supplementary Note 11] In the ultrasonic diagnostic apparatus according to Supplementary Note 1 or Supplementary Note 1-1, the shape detecting means calculates shape data of the outer sheath by using a reception signal of the ultrasonic probe. thing.

[Supplementary Note 12] The ultrasonic diagnostic apparatus according to Supplementary Note 11, wherein the ultrasonic probe includes one or more ultrasonic transducers and a long flexible probe that includes the ultrasonic transducers. And a scanning means for radially scanning the ultrasonic transducer.

[Supplementary Note 12-1] The ultrasonic diagnostic apparatus according to Supplementary Note 12, wherein the scanning means performs radial scanning by rotating the ultrasonic transducer.

[Supplementary Note 12-2] Supplementary Note 1 or Supplementary Note 1-
1. The ultrasonic diagnostic apparatus according to 1, wherein the ultrasonic probe has a plurality of ultrasonic transducers arranged in a circumferential direction thereof, and the scanning means transmits ultrasonic waves from the plurality of ultrasonic transducers arranged. Radial scanning by drive control.

[Supplementary Note 13] The ultrasonic diagnostic apparatus according to Supplementary Note 12, wherein the shape detecting means has a plurality of diameters in the circumferential direction of the outer sheath and a plurality of distances in the circumferential direction between the outer sheath and the inner sheath. Distance measuring means for calculating
The shape grasping processing means calculates the shape of the outer sheath based on the plurality of diameters and the plurality of distances calculated by the distance measuring means.

[Supplementary Note 14] In the ultrasonic diagnostic apparatus according to Supplementary Note 13, the distance measuring means and the shape grasping processing means have the following configurations. That is, the distance measuring unit stores a plurality of received signal data output from the ultrasonic probe in response to one rotation scanning of the ultrasonic transducer, and each of the memory units stored in the memory unit. A sheath echo detector that detects echo signals from the outer sheath and the inner sheath from received signal data, and a plurality of outer sheaths corresponding to the scanning angle of the radial scan based on the echo signal detected by the sheath echo detector. An outer sheath diameter calculating section for calculating a diameter, and an inter-sheath distance calculating section for calculating a distance between the outer sheath and the inner sheath in correspondence with a scanning angle of the radial scan based on an echo signal detected by the sheath echo detecting section. And have. Further, the shape grasping processing means is configured to calculate the curvature of the outer sheath based on the diameters of the plurality of outer sheaths output by the outer sheath diameter calculating portion of the distance measuring means, and the sheath of the distance measuring means. And a bending direction calculation unit that calculates a bending direction of the outer sheath based on the distances between the plurality of outer sheaths and the inner sheath output by the distance calculation unit.

[Supplementary Note 14-1] In the ultrasonic diagnostic apparatus according to Supplementary Note 14, the curvature calculating section and the bending direction calculating section respectively obtain a local curvature and a bending direction, and the image constructing section. Is arranged while associating the arrangement relationship of the plurality of ultrasonic image data obtained at the moving position of the ultrasonic probe moved by the moving means with the insertion depth detected by the insertion depth detecting means. Of the plurality of ultrasonic image data according to a local curvature and a bending direction from the curvature calculation unit and the bending direction calculation unit that are associated with the insertion depth detected by the insertion depth detection unit. A three-dimensional ultrasonic image is constructed by correcting the positional relationship.

[Supplementary Note 14-2] In the ultrasonic diagnostic apparatus according to Supplementary Note 14, the memory unit is radially scanned by the scanning unit and is moved along the axial direction of the sheath by the moving unit. Received signals are sequentially stored at that position, and the curvature calculation unit and the bending direction calculation unit
The curvature and the bending direction associated with the moving position of the ultrasonic transducer are sequentially obtained, and the image constructing unit is configured to obtain a plurality of ultrasonic waves obtained at the moving position of the ultrasonic probe moved by the moving unit. The arrangement relationship of the image data is arranged in association with the insertion depth detected by the insertion depth detection means, and is data output from the curvature calculation unit and the bending direction calculation unit, and the insertion depth is The three-dimensional ultrasonic image is constructed by correcting the arrangement relationship of the plurality of ultrasonic image data according to the curvature and the bending direction associated with the insertion depth detected by the depth detecting means.

[Supplementary Note 15] The method for detecting the bending shape of the sheath in the ultrasonic diagnostic apparatus is as follows: a received signal for irradiating an ultrasonic beam to a long flexible outer sheath and inner sheath and receiving reflected ultrasonic waves. Based on the acquisition procedure, the sheath echo detection procedure for detecting echo signals from the outer sheath and the inner sheath in the reception signal data obtained in this reception signal storage procedure, and the echo signal detected in this sheath echo detection procedure An outer sheath diameter calculation procedure for calculating a diameter of the outer sheath; a distance calculation procedure for calculating a distance between the outer sheath and the inner sheath based on an echo signal detected in the sheath echo detection procedure; A curvature calculation procedure for calculating the curvature of the outer sheath based on the diameter of the outer sheath obtained in the diameter calculation procedure, and the outer sheath obtained in the distance calculation procedure. And a bending direction calculation procedure for calculating the bending direction of the outer sheath based on the distance between the inner sheath and the inner sheath.

[Supplementary Note 16] The method for detecting the bending shape of the sheath in the ultrasonic diagnostic apparatus is as follows: An ultrasonic beam is directed toward the flexible long outer sheath and inner sheath along the radial direction of the inner sheath and reflected. A reception signal acquisition procedure of performing radial scanning to receive ultrasonic waves and sequentially obtaining reception signals, and a reception signal storage procedure of storing the reception signal output from the reception signal acquisition procedure in association with the scanning angle of the radial scanning. ,
A sheath echo detection procedure for detecting echo signals from the outer sheath and the inner sheath from each reception signal data stored in the reception signal storage procedure, and the radial signal based on the echo signal detected in the sheath echo detection procedure. An outer sheath diameter calculation procedure for calculating a diameter of the outer sheath corresponding to a scanning angle of scanning, and an outer sheath corresponding to a scanning angle of the radial scanning based on an echo signal detected in the sheath echo detection procedure. A distance calculation procedure for calculating a distance between the inner sheaths, an outer sheath curvature calculation procedure for calculating a curvature of the outer sheath based on a plurality of outer sheath diameters obtained in the outer sheath diameter calculation procedure, and the distance Outer sheath bending for calculating the bending direction of the outer sheath based on a plurality of distances between the outer sheath and the inner sheath obtained in the calculation procedure Has a direction calculation procedure, the.

[Supplementary Note 16-1] A method for detecting a bending shape of a sheath in the ultrasonic diagnostic apparatus according to Supplementary Note 16, comprising:
The outer sheath curvature calculation procedure and the outer sheath curvature direction calculation procedure respectively obtain a local curvature and a curvature direction.

[Appendix 16-2] A method for detecting a bending shape of a sheath in the ultrasonic diagnostic apparatus according to Appendix 16, comprising:
In the reception signal acquisition procedure, an ultrasonic beam is radially scanned in a flexible long outer sheath and an inner sheath in a plane substantially perpendicular to the axis of the inner sheath, and in the axial direction of the inner sheath. It is a procedure for sequentially obtaining the reception signal by moving the emitting position of the ultrasonic beam along, and the outer sheath curvature calculating procedure and the outer sheath bending direction calculating procedure correspond to the moving position of the emitting position of the ultrasonic beam. A method for sequentially finding the associated curvature and bending direction.

[Supplementary Note 17] A method for detecting a bending shape of a sheath in the ultrasonic diagnostic apparatus according to Supplementary Note 16, wherein the sheath echo detecting procedure is performed every predetermined scan angle of the radial scan stored in the received signal storing procedure. , The corresponding received signal is read to determine the timing at which the echo signals from the outer sheath and the inner sheath are generated, and the outer sheath diameter calculation procedure is performed by the outer sheath echo on the received signal detected in the sheath echo detection procedure. The distance between the scanning center of the radial scan and the outer sheath is calculated from the timing of occurrence of, and the distance corresponding to the scanning center or the scanning angle of the radial scan, which is rotated by 180 °, is added to the calculated distance. Then, the procedure for calculating the outer sheath diameter is included.

[Supplementary Note 18] A method for detecting a bending shape of a sheath in the ultrasonic diagnostic apparatus according to Supplementary Note 16, wherein the received signal corresponding to each predetermined scanning angle of the radial scan stored in the reception signal storing procedure is added. To obtain the timing at which the echo signals from the outer sheath and the inner sheath are generated, and the distance calculation procedure is performed from the respective generation timings of the outer sheath echo and the inner sheath echo on the received signal detected in the sheath echo detection procedure. , Including a procedure for calculating the distance between the outer sheath and the inner sheath.

[Supplementary Note 19] A method for detecting a bending shape of a sheath in the ultrasonic diagnostic apparatus according to Supplementary Note 16, wherein the outer sheath curvature calculation step includes a plurality of outer sheath diameters obtained in the outer sheath diameter calculation step. Orthogonal diameter ratio calculation procedure of taking two diameters along a two orthogonal directions passing through the scanning center of the radial scanning and taking the ratio for each predetermined scanning angle of the radial scanning, and the orthogonal diameter ratio. Based on the outer sheath main axis search procedure for searching for the maximum value or the minimum value of the plurality of ratio values obtained in the calculation procedure, and the maximum value or the minimum value of the ratio obtained in this outer sheath main axis search procedure, A curvature calculation procedure for calculating the curvature of the outer sheath.

[Supplementary Note 19-1] A method for detecting a bending shape of a sheath in the ultrasonic diagnostic apparatus according to Supplementary Note 19, comprising:
In the reception signal acquisition procedure, an ultrasonic beam is radially scanned in a flexible long outer sheath and an inner sheath in a plane substantially perpendicular to the axis of the inner sheath, and in the axial direction of the inner sheath. It is a procedure of sequentially obtaining the reception signal by moving the emission position of the ultrasonic beam along, the orthogonal diameter ratio calculation procedure, each takes the ratio according to the movement of the emission position, the curvature calculation procedure, A plurality of the curvatures corresponding to the movement position of the emission position are sequentially obtained.

[Supplementary Note 20] In the method for detecting the bending shape of a sheath in the ultrasonic diagnostic apparatus according to Supplementary Note 16, the outer sheath curvature calculation procedure and the outer sheath bending direction calculation means have the following procedures. There is. That is, in the outer sheath curvature calculation procedure, two diameters along two orthogonal directions passing through the scanning center of the radial scan are paired from a plurality of outer sheath diameters obtained in the outer sheath diameter calculation procedure. For each predetermined scanning angle of the radial scan, the orthogonal diameter ratio calculation procedure for obtaining the ratio and the maximum or minimum value of the plurality of ratio values obtained in the orthogonal diameter ratio calculation procedure are searched for, and the maximum The outer sheath spindle search procedure for outputting the short axis direction, which is the direction of the smaller diameter of the two diameters of the pair that gives a value or a minimum value, and the maximum of the ratio obtained by this outer sheath spindle search procedure. And a curvature calculation procedure for calculating the curvature of the outer sheath based on the value or the minimum value. In the outer sheath bending direction calculation procedure, two distances along the minor axis direction are selected from the plurality of distances between the outer sheath and the inner sheath obtained in the distance calculation procedure and their magnitudes are selected. By comparison, there is a procedure for calculating the bending direction of the outer sheath.

[Supplementary Note 20-1] A method for detecting a bending shape of a sheath in the ultrasonic diagnostic apparatus according to Supplementary note 20, comprising:
In the reception signal acquisition procedure, an ultrasonic beam is radially scanned in a flexible long outer sheath and an inner sheath in a plane substantially perpendicular to the axis of the inner sheath, and in the axial direction of the inner sheath. It is a procedure for sequentially obtaining the reception signal by moving the emission position of the ultrasonic beam along, the orthogonal diameter ratio calculation procedure, the ratio is taken according to the movement of the emission position, the curvature calculation procedure, The plurality of curvatures that are associated with the moving position of the emitting position are sequentially obtained, and the outer sheath bending direction calculation procedure further compares the magnitude according to the moving of the emitting position, and the moving position of the emitting position. The plural bending directions associated with the above are sequentially obtained.

[Supplementary Note 21] An ultrasonic diagnostic apparatus includes an ultrasonic transducer for transmitting and receiving ultrasonic waves, and an ultrasonic wave including a long flexible shaft having flexibility for rotating and scanning the ultrasonic transducer. A probe, a long flexible outer sheath that contains the ultrasonic probe, a moving unit that moves the ultrasonic probe forward and backward in the outer sheath in the outer sheath, and a moving unit that moves the ultrasonic probe. Insertion depth detection means for detecting the insertion depth of the moved ultrasonic probe in the outer sheath, shape detection means for detecting the bending shape of the flexible shaft of the ultrasonic probe, and detection by this shape detection means Based on the bent shape of the outer sheath and the insertion depth detected by the insertion depth detecting means, the outer sheath is moved by the moving means. And an image constructing unit for constructing a three-dimensional ultrasonic image from the ultrasonic image data obtained at the position of the ultrasonic probe.

[Supplementary Note 22] The ultrasonic diagnostic apparatus according to Supplementary Note 21, which has the shape detecting means having a shape detecting element portion provided along the longitudinal direction of the flexible shaft.

[Supplementary Note 23] In the ultrasonic diagnostic apparatus according to Supplementary Note 22, a plurality of the shape detecting element portions are strain resistance elements provided along the longitudinal direction of the flexible shaft.

[Supplementary Note 24] The ultrasonic diagnostic apparatus according to Supplementary Note 23, wherein the shape detecting means measures the electric resistance of each of the plurality of strain resistance elements and outputs the resistance value, and the resistance value measuring means. The shape detecting means including a shape grasping processing means for receiving the output of the value measuring means and outputting the shape data of the flexible shaft.

[Supplementary Note 25] In the ultrasonic diagnostic apparatus according to Supplementary Note 23, the strain resistance element is a shape memory alloy.

The above-described modes are conceivable, but the invention is not limited to this.

[0119]

As described above, according to the present invention, even when the scanning path of the ultrasonic scanning changes not in a straight line shape but in a curved shape, for example, in the case of scanning the inside of a curved body cavity. At least, it is possible to recognize the positional relationship where the image is obtained together with the ultrasonic image, and it is possible to improve the image diagnostic ability.

[Brief description of drawings]

1 to 4 relate to a first embodiment, and FIG. 1 is an overall configuration diagram of an ultrasonic diagnostic apparatus.

FIG. 2 is a cross-sectional view showing a relationship between an ultrasonic probe and an observation target.

FIG. 3 is an explanatory diagram showing a state of a three-dimensional ultrasonic image.

FIG. 4 is a perspective view showing another configuration of the ultrasonic probe.

FIG. 5 is a configuration diagram of the tip of an ultrasonic probe according to a second embodiment.

6 and 7 relate to the third embodiment, and FIG. 6 is a vertical cross-sectional view showing the configuration of the ultrasonic probe.

FIG. 7 is an overall configuration diagram of an ultrasonic diagnostic apparatus.

8 to 10 relate to a fourth embodiment, and FIG. 8 is an overall configuration diagram of an ultrasonic diagnostic apparatus.

FIG. 9 is a perspective view showing the relationship between the marked outer sheath and the ultrasonic probe.

FIG. 10 is an explanatory diagram showing a state of a CCD image.

11 to 17 relate to a fifth embodiment, and FIG. 11 is an overall configuration diagram of an ultrasonic diagnostic apparatus.

12 is a sectional view taken along line FF of FIG.

FIG. 13 is a block diagram of distance measuring means.

FIG. 14 is a block diagram of a shape recognition processing device.

FIG. 15 is a side sectional view showing a relative positional relationship between an outer sheath and an inner sheath.

FIG. 16 is a flowchart showing the operation of the ultrasonic diagnostic apparatus.

FIG. 17 is a flowchart of a diameter / distance calculation routine.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Ultrasonic probe 2 ... Outer sheath 3 ... Drive part 4 ... Ultrasonic observation device 6 ... Three-dimensional image processing device 8 ... SMA 9 ... Resistance value measuring device 10 ... Shape grasping processing device 13 ... Ultrasonic transducer 15 ... Slip Ring 16 ... Motor 17 ... Encoder 18 ... Table 30 ... Stepping motor 31 ... Encoder

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[Procedure amendment]

[Submission date] September 2, 1994

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0008

[Correction method] Change

[Correction content]

[0008]

In the above structure, the moving means moves the image constructing portion based on the curved shape of the outer sheath or the ultrasonic probe detected by the shape detecting means and the insertion depth detected by the insertion depth detecting means. Since the ultrasonic image is constructed from the ultrasonic image data obtained at the moving position of the ultrasonic probe, even if the scanning path of the ultrasonic scanning changes in a curved line instead of a straight line, at least with the ultrasonic image. The curved shape and the insertion depth, which are the positional relationship in which the image is obtained, can be associated with each other.

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0051

[Correction method] Change

[Correction content]

The shape grasping processing device 36 shown in FIG.
Is based on the diameter of the outer sheath 2 for each scanning angle output by the outer sheath diameter calculation unit 43 of the distance measuring means 27.
It has a curvature calculation unit 45 that calculates the curvature of and outputs the curvature data to the three-dimensional image processing device 6 in association with the advance / retreat distance output from the encoder 31. Further, the shape grasping processing device 36 determines the bending direction of the outer sheath 2 based on the distance between the outer sheath 2 and the inner sheath 11 which is output by the inter-sheath distance calculation unit 45 of the distance measuring means 27 in correspondence with the scanning angle. It has a bending direction calculation unit 46 that calculates and outputs to the three-dimensional image processing device 6.

Front page continuation (72) Inventor Tadashi Abe 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Kazuya Saiga 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Inside Optical Industry Co., Ltd. (72) Inventor Toshiro Ishimura 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Industry Co., Ltd.

Claims (1)

[Claims] 1. An ultrasonic probe for transmitting and receiving ultrasonic waves, a long outer sheath that contains the ultrasonic probe and is flexible, and the ultrasonic probe in the outer sheath. A moving means for advancing and retracting in the longitudinal direction, an insertion depth detecting means for detecting an insertion depth of the ultrasonic probe moved by the moving means into the outer sheath, and a bending of the outer sheath or the ultrasonic probe. A shape detecting means for detecting a shape, a curved shape of the outer sheath or the ultrasonic probe detected by the shape detecting means, and an insertion depth detected by the insertion depth detecting means are moved by the moving means. And an image constructing unit for constructing an ultrasonic image from ultrasonic image data obtained at the moving position of the ultrasonic probe. Wave diagnostic equipment.