JP2006263068A - Ultrasonic diagnostic equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique capable of ensuring a sufficient work area of a doctor and enabling cooperation between an ultrasonic image and another medical device without causing deterioration of a diagnosis function and a treatment function that cooperate with each other.
An ultrasonic diagnostic apparatus for displaying an ultrasonic image based on transmission / reception of ultrasonic waves, an ultrasonic probe for transmitting / receiving ultrasonic waves, and probe displacement detection means for detecting displacement of the ultrasonic probe The relative displacement between the ultrasonic probe and the object is calculated based on the object displacement detection means for detecting the displacement of the object and the detected displacement of the ultrasonic probe and the detected displacement of the object. Relative displacement calculation means, and the probe displacement detection means and the object displacement detection means detect displacement by optical positioning or magnetic positioning.
[Selection] Figure 1

Description

  The present invention relates to an ultrasonic diagnostic apparatus that displays an ultrasonic image by transmitting and receiving ultrasonic waves, and more particularly to an ultrasonic diagnostic apparatus that supports diagnosis and treatment in cooperation with various diagnostic apparatuses and therapeutic apparatuses.

  In recent years, the progress of minimally invasive treatment (MIT) in consideration of physical burden on patients has been remarkable. Minimally invasive treatment methods are particularly developed as local treatment methods. With this development, accurate positioning of treatment points and proper treatment planning are very important.

  In order to perform accurate positioning and appropriate treatment planning safely, easily, and in real time, support by ultrasonic diagnosis is excellent, and devices that combine ultrasonic diagnostic devices with other diagnostic devices and treatment devices have been proposed. Yes.

  In the support by this ultrasonic diagnosis, it is important for the accurate positioning of the treatment location that the observation location in the subject and the treatment location match, and the relative position and orientation of the ultrasound probe and the treatment device It is important to understand.

  For example, there is an apparatus in which an ultrasonic probe for positioning is added to a therapeutic sound source for calculus crushing. Ultrasonic probe transmits and receives ultrasonic waves to the subject, displays an ultrasonic image in the subject, and observes the subject with the ultrasonic image while irradiating energy with a therapeutic sound source to treat the affected area. Is what you do. That is, cooperation between ultrasonic diagnosis and energy treatment is performed.

  In this device, the treatment sound source and the ultrasound probe are physically fixed, so that the relative position and posture of the ultrasound probe and the treatment sound source are grasped, and the observation location and the treatment location are matched. (For example, see Patent Document 1)

  In addition, it has an ultrasonic probe attached to the arm that detects the position and posture, and a treatment sound source starting from a predetermined position, and grasps the position and posture of the ultrasonic probe by the operation of the arm to treat There is a device to move the sound source. This technique detects the position and posture of an outer probe by detecting the rotation amount of a motor attached to an arm with an encoder, and grasps the relative position and posture. (For example, see Patent Document 2)

  In order to create an appropriate treatment plan, it is important to make a comprehensive judgment by combining ultrasound diagnosis and other diagnostic methods, and the relative position of the diagnosis location by ultrasound and the diagnosis location by other diagnosis methods It is necessary to match and match the orientation. Therefore, there is an apparatus having both an ultrasonic diagnostic function and an X-ray CT function.

JP-A-2-303277 (FIG. 1) Japanese Patent Laid-Open No. 6-197908 (FIGS. 1 and 2)

  With such a technique, it is possible to grasp the relative positions and postures of observation locations and treatment locations, or observation locations using ultrasonic waves and observation locations using other observation methods. However, in general, since a plurality of functions are incorporated in one apparatus, the apparatus configuration becomes large. If it does so, it may become difficult to ensure a doctor's work area, or each function may interfere. Eventually, the diagnosis and treatment may be hindered, the support effect of the ultrasonic diagnosis may be reduced, and effective cooperation may not be achieved.

  For example, the device disclosed in Japanese Patent Laid-Open No. 2-330377 requires a buffer such as a water bag for coupling with a living body. This buffer is essential for energy irradiation, but degrades the image quality of the ultrasonic image. In addition, the usability of the ultrasonic probe is impaired due to the size of the therapeutic sound source.

  In addition, the apparatus disclosed in Japanese Patent Laid-Open No. 6-197908 requires a large arm for grasping the position and orientation, and links ultrasonic diagnosis and X-ray CT diagnosis using an apparatus having both an ultrasonic function and an X-ray CT function. Even when the device is used, the size of the device itself is increased. For this reason, it becomes difficult to secure a doctor's work area, and the diagnostic and therapeutic effects are reduced.

  Due to the above problems, doctors have made diagnoses and treatments using other devices after diagnosis using ultrasound images, and have reconstructed ultrasound images in the head according to the current situation to correct positioning and treatment plans.

  The present invention has been made in view of the above circumstances, and the purpose of the present invention is to ensure a sufficient work area for a doctor and to obtain an ultrasonic image without causing deterioration in diagnostic functions and therapeutic functions that cooperate with each other. It is to provide a technology that enables cooperation with other medical devices.

  In order to solve the above-mentioned problem, an invention according to claim 1 is an ultrasonic diagnostic apparatus for displaying an ultrasonic image based on ultrasonic transmission / reception waves, the ultrasonic probe transmitting / receiving ultrasonic waves, and the ultrasonic probe Based on the probe displacement detection means for detecting the displacement of the ultrasonic probe, the object displacement detection means for detecting the displacement of the object, the detected displacement of the ultrasonic probe and the detected displacement of the object, A relative displacement calculating means for calculating a relative displacement between the acoustic probe and the object, wherein the probe displacement detecting means and the object displacement detecting means detect the displacement by optical positioning or magnetic positioning. To do.

  The ultrasonic probe displacement detection means includes a probe-side sensor cable having an optical fiber bundle for detecting bending and twisting, one end connected to the ultrasonic probe and the other end connected to a fixed location, The displacement detection means includes an optical fiber bundle for detecting bending and twisting therein, and includes an object side sensor cable having one end connected to the object and the other end connected to a fixed location, and the relative displacement calculation means May calculate the relative displacement based on the bend and twist detected by each optical fiber bundle (corresponding to the invention of claim 2).

  A target that can be displayed on an image captured by the mechanism, installed at any one of a CT mechanism that displays a CT image, an MRI mechanism that displays an MRI image, or a PET mechanism that displays a PET image. Display control means configured to superimpose the ultrasonic image and the image displayed by the mechanism on the display screen based on the calculated relative displacement and the position of the target on the image displayed by the mechanism. You may make it provide further (equivalent to invention of Claim 3).

  A target that can be displayed on an image captured by the mechanism, installed at a prescribed location of any one of a CT scan mechanism that displays a CT image, an MRI mechanism that displays an MRI image, or a PET mechanism that displays a PET image, When a pointer is displayed on one of the ultrasonic image or the image displayed by the mechanism as an object, the other object is based on the calculated relative displacement and the target position on the image captured by the mechanism. You may make it further provide the display control means to reflect this pointer on an image (equivalent to invention of Claim 4).

  One of PEI, RFA and MCT puncture treatment needles is used as the object, and a tip position display means for displaying the tip position of the puncture treatment needle based on the calculated relative displacement is further provided. (Corresponding to the invention of claim 5).

  Any one of the irradiation energy irradiation unit of the stone crushing mechanism, the ultrasonic treatment mechanism, or the radiotherapy mechanism is set as the object, and the focal point of the irradiation energy irradiation unit in the ultrasonic image based on the calculated relative displacement. You may make it further provide the display control means to display a position (equivalent to invention of Claim 6).

  The object may be a predetermined portion of the subject (corresponding to the invention of claim 7).

  The present invention is provided with means for detecting the displacement of the ultrasonic probe and means for detecting the displacement of the object, and makes these means detect the displacement by optical positioning or magnetic positioning. Furthermore, the relative displacement between the ultrasonic probe and the object is calculated from the displacement of the ultrasonic probe and the object.

  Therefore, a sufficient work area for the doctor can be secured, and the cooperation between the ultrasonic diagnostic apparatus and another diagnostic apparatus can be performed without hindering the function, and accurate positioning and an appropriate treatment plan can be supported. .

  Hereinafter, preferred embodiments of an ultrasonic diagnostic apparatus according to the present invention will be specifically described with reference to the drawings.

  The ultrasonic diagnostic apparatus 1 shown in FIG. 1 transmits / receives ultrasonic waves to / from a subject using an ultrasonic probe 10 in accordance with an ultrasonic transmission / reception method requested by an apparatus operator using the operation panel 1d, and receives it by the apparatus main body. An apparatus that generates an ultrasound image from a signal. The ultrasonic image generated and stored by the ultrasonic image generation unit 1a of the ultrasonic diagnostic apparatus 1 is displayed on the monitor 1c. The ultrasonic diagnostic apparatus 1 includes a control unit 1b that controls the ultrasonic image generation unit 1a and the monitor 1c. The ultrasonic diagnosis device 1 includes a CPU, a ROM, a RAM, and an HDD, and various types of information necessary for control are temporarily stored. It is remembered.

  The ultrasonic diagnostic apparatus 1 calculates the relative displacement between the ultrasonic probe 10 and the object 100. Further, the relative displacement is calculated, thereby realizing cooperation between the ultrasonic diagnostic apparatus 10 and the object 100.

  The ultrasonic diagnostic apparatus 1 further includes a relative displacement calculation unit 2 and a display control unit 7 constituted by a CPU, a ROM, and a RAM, and an ultrasonic probe displacement detection unit 4 and an object displacement detection unit 3 outside the apparatus main body. It is arranged. The CPU, ROM, and RAM may constitute the control unit 1b included in the ultrasound diagnostic apparatus 1, or may be provided separately. The relative mutation calculation unit 2 and the display control unit 7 can read and write information stored in the ultrasonic image generation unit 1a included in the ultrasonic diagnostic apparatus 1 and information stored in the control unit 1b, and control the monitor 1c. Can do.

  When detecting the displacement of the ultrasonic probe 10 and the displacement of the object 100, the ultrasonic probe displacement detection unit 4 and the object displacement detection unit 3 send detection signals to the relative displacement calculation unit 2. The relative displacement calculation unit 2 calculates the relative displacement between the ultrasonic probe 10 and the object 100 from the detection signal. The calculation result is sent to the display control unit 7. The displacement refers to the position and the posture, and the relative displacement refers to the relative position and the relative posture.

  The ultrasonic probe displacement detector 4 and the object displacement detector 3 detect displacement by optical positioning. These displacement detection units 3 and 4 are configured by optical transmission / reception circuits 5 and 6 and sensor cables 3b and 4b including a plurality of optical fibers 3a and 4a, respectively. According to these displacement detection units 3 and 4, the flexibility of the sensor cables 3b and 4b does not limit the free movement and compactness of the ultrasonic probe 10. If the free movement and compactness of the ultrasonic probe 10 are not limited, even if the ultrasonic diagnostic apparatus 1 is brought close to the object 100, the working area of the doctor or other apparatus is not limited.

  The optical transmission / reception circuits 5 and 6 are respectively installed on the ultrasonic diagnostic apparatus 1 side, and the sensor cables 3b and 4b are led out of the apparatus main body. In particular, the optical transmission / reception circuit 6 is built in the ultrasonic probe connector 9. The sensor cable 4b of the ultrasonic probe displacement detection unit 4 is connected to a predetermined location of the ultrasonic probe 10, and is arranged along the cable of the ultrasonic probe 10 for convenience of handling. The sensor cable 3 b of the object displacement detection unit 3 is connected to a predetermined location of the object 100.

  The plurality of optical fibers 3a and 4a have a ring shape, one end is connected to the transmission unit of the optical transmission / reception circuits 5 and 6, and the other end is connected to the reception unit. The plurality of optical fibers 3a and 4a have different lengths and different turn points. When the encapsulated optical fibers 3a and 4a are arranged in the length order, the turning point extends from the length located in the vicinity of the optical transmission / reception circuits 5 and 6 by a predetermined length so that the turning point reaches the ultrasonic probe 10. Line up to be. Each of the optical fibers 3a and 4a has a one-side-wall clad in the vicinity of the turn-back point that has been cut over a predetermined length so that a part of the light is transmitted.

  In the ultrasonic probe displacement detection unit 4 and the object detection unit 3, when the sensor cables 3b and 4b are bent at a certain location, at least one or more optical fibers 3a having a wall whose cladding is cut in the vicinity of the bent location. , 4a detect the bending.

  As shown in FIG. 2A, a light beam L is transmitted from the optical transmission / reception circuits 5 and 6 into one optical fiber 3a and 4a.

  For example, as shown in FIG. 2 (b), consider a case where the sensor cables 3a and 4a are bent to the opposite side of the wall where the cladding has been cut. In the plurality of optical fibers 3a and 4a having wall surfaces with the clad cut in the vicinity of the bent portion, the amount of the light wave La transmitted from the wall surface with the clad cut increases, and the light wave Lb returning to the optical transmitting and receiving circuits 5 and 6 The amount of.

  Further, as shown in FIG. 2 (c), consider a case where the sensor cables 3a and 4a are bent toward the wall surface side where the cladding is cut off. In the plurality of optical fibers 3a and 4a having wall surfaces with the clad cut in the vicinity of the bent portions, the amount of the light wave La transmitted from the wall surfaces with the clad cut is reduced, and the light wave Lb returning to the optical transmission / reception circuits 5 and 6 is obtained. The amount of increases.

  The light beam L returning from the optical fibers 3a and 4a returns to the optical transmission / reception circuits 5 and 6 by increasing or decreasing the amount of the light wave Lb according to the bending or twisting of the sensor cables 3a and 4a. The optical transmission / reception circuits 5 and 6 convert the amount of the light wave Lb into a detection signal and send it to the relative displacement calculation unit 2. This detection signal is a signal for specifying the bending position and bending state of the sensor cables 3b and 4b, the twisted position and the twisting state.

  The relative displacement calculation unit 2 stores in advance information on the positional relationship between the optical transmission / reception circuits 5 and 6, that is, the sensor-side connection points of the sensor cables 3b and 4b.

  The relative displacement calculation unit 2 analyzes the detection signal and integrates the bending position and the bending state, the twisted position and the twisting state for each of the displacement detection units 3 and 4, thereby calculating the displacement of the ultrasonic probe 10 and the object 100. Identify each one. Further, the relative displacement between the ultrasonic probe 10 and the object 100 is calculated from each of the identified displacements and information on the positional relationship between the connection points of the sensor cables on the apparatus side.

  In the present embodiment, as an example of optical positioning, the displacement detectors 3 and 4 including the sensor cable and the optical transmission / reception circuits 5 and 6 are taken as an example. In addition, other detection methods can be used as long as they do not limit the free movement and compactness of the ultrasonic probe 10. For example, the detection target 21 may be provided on the ultrasonic probe 10 or the target object 100, and optical triangulation using an optical tracking system may be used. Instead of this optical triangulation, magnetic triangulation may be used. Also good.

  When the relative displacement calculation unit 2 calculates the relative displacement, the calculation result is sent to the display control unit 7. Hereinafter, the display control unit 7 will be described according to the embodiment.

(First embodiment: When linking ultrasonic diagnosis and other diagnosis)
First, when linking the ultrasonic diagnostic apparatus 1 with another diagnostic apparatus, it can be displayed on an image captured by an X-ray CT apparatus, an MRI (Magnetic Resonance Imaging) apparatus, a PET (Positron Emission Tomography) apparatus, or the like. Target becomes the object 100. The MRI apparatus is an apparatus that visualizes the state of water present in the subject using magnetism, and the PET apparatus detects a compound labeled with a positron emitting nuclide injected into the subject. It is a device for imaging.

  In this embodiment, an X-ray CT apparatus will be described as an example. As shown in FIG. 3, the ultrasound diagnostic apparatus 1 and the X-ray CT apparatus 20 are connected by a network such as a LAN (not shown), and the relative mutation calculation unit 2 and the display control unit 7 are stored in the X-ray CT apparatus 20. It is possible to read and write CT images and various types of information and control a monitor (not shown).

  The X-ray CT apparatus 20 detects the X-ray dose transmitted by irradiating the subject with X-rays. Further, signal processing is performed based on the detected X-ray dose, and a CT image is generated. The generated CT image is stored in the apparatus main body and displayed on a monitor (not shown).

  The object displacement detection unit 3 is connected to the target 21 as the object 100. The target 21 is radiopaque and is installed at a prescribed location of the X-ray CT apparatus 20, for example, a location that can be captured by X-ray irradiation on the examination table.

  This target 21 is installed at a prescribed location that can be captured as an image in order to know where the CT image captured by the X-ray CT apparatus 20 is to be displayed. By analyzing the position and orientation of the target 21 displayed on the CT image, it is possible to know where and in what direction the CT image is displayed.

  The ultrasonic diagnostic apparatus 1 is installed close to the X-ray CT apparatus 20 due to its mobility, and calculates the relative displacement without hindering both diagnoses by the sensor cables 3b and 4b of the both displacement detectors 3 and 4. Yes.

  The display control unit 7 is a display control unit that superimposes and displays an ultrasound image and a CT image in the present embodiment. The processing by the display control unit 7 starts when the apparatus operator requests superimposition of an image using the operation panel 1d provided in the ultrasonic diagnostic apparatus 10.

  Data referred to by the display control unit 7 is information on the relative displacement between the ultrasonic probe 10 and the target 21 calculated by the relative displacement calculation unit 2 and a CT image stored by the X-ray CT apparatus 20. In the CT image, the position and orientation of the target 21 on the image are displayed as an image due to the radiopacity of the target 21.

  The display control unit 7 acquires the relative displacement between the ultrasonic image and the target 21 from the relative displacement between the ultrasonic probe 10 and the target 21. The direction and direction of the ultrasonic waves transmitted / received from the ultrasonic probe 10 depend on the ultrasonic probe 10. Accordingly, the display control unit 7 acquires the relative displacement between the ultrasonic probe 10 and the target 21 and adds a connection relationship such as a connection angle or a connection distance between the ultrasonic probe 10 and the sensor cables 3b and 4b stored in advance. Thus, the relative displacement between the ultrasonic image and the target 21 is acquired.

  Further, the relative displacement between the target 21 and the CT image is calculated from the position and orientation of the target 21 displayed on the CT image. In order to clearly grasp the position and orientation of the target 21, it is desirable that two or more object displacement detection units 3 are provided and connected to the targets 21 installed at different positions.

  When the display control unit 7 acquires the relative displacement between the ultrasonic image and the target 21 and the relative displacement between the CT image and the target 21, the display control unit 7 acquires the relative displacement between the ultrasonic image and the CT image from these pieces of information. When the relative displacement between the ultrasonic image and the CT image is acquired, an image in which the ultrasonic image and the CT image are superimposed so as to match the relative displacement is generated.

  The superimposed image is stored in the ultrasound image generation unit 1a of the ultrasound diagnostic apparatus 1 or the X-ray CT apparatus 20, and the image is stored in the monitor 1c of the ultrasound diagnostic apparatus 1 or the monitor of the X-ray CT apparatus 20. Display.

  FIG. 4 shows a superimposed image to be displayed. As shown in FIG. 4A, the display control unit 7 generates a superimposed image in which the ultrasonic probe 10, the target 21, and the ultrasonic image are arranged on the three-dimensional CT image so as to match the calculated relative displacement. Then, it is displayed on the monitor 1c of the ultrasonic diagnostic apparatus 1 or the monitor of the X-ray CT apparatus 20. Alternatively, as illustrated in FIG. 4B, the display control unit 7 superimposes the ultrasonic image on the CT tomographic image and displays it on the monitor 1 c of the ultrasonic diagnostic apparatus 1 or the monitor of the X-ray CT apparatus 20.

  Further, when the pointer is displayed on either the ultrasonic image or the CT image that is displayed individually, the display control unit 7 reflects the pointer on the other image. For example, when a pointer indicating a region of interest on the ultrasound image is displayed, the pointer is displayed at a location corresponding to the region of interest on the CT image. The display control unit 7 operates by causing the apparatus operator to display a pointer on one of the images using the operation panel 1 d provided in the ultrasonic diagnostic apparatus 1.

  The data referred to by the display control unit 7 is information on the relative displacement between the ultrasonic probe 10 and the target 21 calculated by the relative displacement calculation unit 2, and pointer position information on the ultrasonic image or CT image. The display control unit 7 acquires pointer position information held for displaying the pointer from the device on which the pointer is displayed, that is, the ultrasonic diagnostic apparatus 1 or the X-ray CT apparatus 20.

  The display control unit 7 acquires the positional relationship between the pointer and the ultrasonic image or CT image from the pointer position information. By adding this positional relationship to the relative displacement between the ultrasound image and the CT image, the image that reflects the pointer and the relative displacement of the pointer are acquired, and the pointer is reflected. That is, if a pointer is displayed on the ultrasound image, the CT image and the relative displacement of the pointer are acquired, and the pointer is reflected in the CT image. Thereafter, the moving amount and moving speed of the pointer are calculated and reflected in real time.

  Such an ultrasonic diagnostic apparatus 1 can be approached without being obstructed even in a large apparatus such as the X-ray CT apparatus 20, and the actual relative displacement can be accurately calculated. Can be accurately superimposed, and cooperation between the two diagnoses can be achieved. The diagnosis can also be linked by displaying a pointer at a common position of interest on both images.

  Note that a target that can be captured by the MRI apparatus or PET apparatus as the object 100 may be a contrast medium or a minute magnetic material, and the display control unit 7 functions in the same manner as in the case of cooperating with the X-ray CT apparatus 20. .

(Second embodiment: in the case of cooperation between ultrasonic diagnosis and puncture treatment)
Next, when linking ultrasound images and puncture treatment, for puncture treatment such as PEI (percutaneous ethanol injection) device, RFA (radiowave ablation therapy) device, MCT (microwave coagulation therapy) device, etc. The needle becomes the object 100.

  In the present embodiment, as shown in FIG. 5, the RFA apparatus 30 will be described as an example. The RFA device 30 is a puncture coagulation treatment device in which an RFA needle 31 is inserted into a treatment area and the treatment area is treated with a radio wave from the tip 32.

  As shown in FIG. 5, the ultrasonic diagnostic apparatus 1 has an object displacement detector 3 connected to a predetermined position of the RFA needle 31. The ultrasonic diagnostic apparatus 10 and the RFA apparatus 30 are connected by a network such as a LAN, and the relative mutation calculation unit 2 and the display control unit 7 can control the RFA apparatus 30.

  Further, the ultrasonic probe 10 and the RFA needle 31 have separate structures and can be freely moved independently.

  In the present embodiment, the relative displacement calculation unit 2 calculates the relative displacement between the ultrasonic probe 10 and the RFA needle 31.

  The display control unit 7 serves as display control means for displaying the tip 32 of the RFA needle 31 on the ultrasonic image. The display control unit 7 operates when the apparatus operator requests the display of the tip 32 of the RFA needle 31 on the image using the operation panel provided in the ultrasonic diagnostic apparatus 10.

  The data referred to by the display control unit 7 includes information on the relative displacement between the ultrasonic probe 10 and the RFA needle 31 calculated by the relative displacement calculation unit 2, and the distance from the position where the sensor cable 3b of the RFA needle 31 is connected to the tip. Information. The distance information is stored in advance in the display control unit 7 by connecting the sensor cable 3 b to a predetermined position of the RFA needle 31.

  The display control unit 7 acquires the relative displacement between the ultrasonic image and the tip 32 of the RFA needle 31 by adding distance information to the relative displacement between the ultrasonic probe 10 and the RFA needle 31. When the relative displacement between the ultrasound image and the tip 32 of the RFA needle 31 is acquired, the tip 32 of the RFA needle 31 is displayed on the ultrasound image so as to match the relative displacement as shown in FIG. 31 Trace 32a is displayed in accordance with the movement of the tip position.

  As described above, the ultrasound diagnostic apparatus 1 can grasp the tip 32 of the RFA needle 31 on the ultrasound image by grasping the relative displacement even when the ultrasound probe 10 and the RFA needle 31 are independent. . Therefore, it is possible to perform puncturing without adding a puncture guide to the ultrasonic probe 10, and it is possible to perform puncture from any direction while capturing a region of interest from an ultrasonic image. In the present embodiment, puncture treatment is particularly simple and accurate when a three-dimensional ultrasonic image is used.

(In the case of cooperation between ultrasonic diagnosis and energy irradiation treatment)
Next, when linking the ultrasonic diagnosis and the energy irradiation treatment, as shown in FIG. 7, the treatment applicator 41 of the therapeutic energy irradiation device 40 such as a stone crushing device, an ultrasonic treatment device, a radiotherapy device or the like. Is the object 100.

  The therapeutic energy irradiation device 40 is a device that focuses and irradiates energy so as to form a focal point 42, and the energy is irradiated from the energy source 41 a of the treatment applicator 41. The focal position 42 is controlled by the therapeutic energy irradiation device 40. In the present embodiment, the treatment applicator 41 is provided with an inner probe that transmits and receives ultrasonic waves separately from the ultrasonic probe 10.

  The ultrasonic diagnostic apparatus 1 and the therapeutic energy irradiation apparatus 40 are connected by a network such as a LAN, and the therapeutic energy irradiation apparatus 40 can be controlled by the relative mutation calculation unit 2 and the display control unit 7. Further, as shown in FIG. 7, the ultrasonic diagnostic apparatus 1 is provided with a drive control unit 8 that controls the drive of the treatment applicator 41. The drive control unit 8 is also composed of a CPU, a ROM, and a RAM.

  In the present embodiment, the relative displacement calculation unit 2 calculates the relative displacement between the ultrasonic probe 10 and the treatment applicator 41.

  The display control unit 7 serves as display control means for displaying the focal position 42 on the ultrasonic image. The display control unit 7 operates when the apparatus operator requests display of the focal position 42 on the image using the operation panel 1 d provided in the ultrasonic diagnostic apparatus 1. In this display control unit 7, distance information from the position where the treatment applicator 41 and the sensor cable are connected to the energy irradiation source 41a is stored in advance.

  The data referred to by the display control unit 7 includes information on the relative displacement between the ultrasonic probe 10 and the treatment applicator 41 calculated by the relative displacement calculation unit 2, distance information, and information on the focal position 42 acquired from the therapeutic energy irradiation device 40. It is.

  In the display control unit 7, the relative displacement between the ultrasonic image and the focal position 42 is acquired by adding the distance information and the focal position information 42 to the relative displacement between the ultrasonic probe 10 and the treatment applicator 41. When the relative displacement is acquired, as shown in FIG. 8, the focal position 42 is displayed on the ultrasonic image so as to match the acquired relative displacement.

  When the treatment applicator 41 is supported by the treatment energy irradiation device 40 via the arm 43 having a plurality of actuators, the drive control unit 8 can automatically move the focal position 42 to a desired location. .

  When the pointer is displayed on the ultrasonic image by the apparatus operator using the operation panel, the drive control unit 8 acquires the pointer position information and calculates the relative displacement between the pointer and the focal position 42. Then, the actuator is driven by the relative displacement so that the pointer and the focal position 42 coincide with each other, and the treatment applicator 41 is moved.

  With this ultrasonic diagnostic apparatus 1, the ultrasonic diagnostic apparatus 1 and the therapeutic energy irradiation apparatus 40 can be arranged in a free layout, making it easy to secure a work area and grasping the focal position 42 on an ultrasonic image. And the treatment applicator 41 can be moved.

(Third embodiment: When the object is a predetermined part of the subject)
Examples of the object 100 include a predetermined portion 50 of the subject. As shown in FIG. 9, the object displacement detection unit 3 is attached to a predetermined location 50 of the subject with an adsorption board or the like. The relative displacement calculation unit 2 calculates the relative displacement between the ultrasonic probe 10 and the predetermined portion 50 of the subject.

  The display control unit 7 displays the relative displacement between the ultrasonic probe 10 and the predetermined portion 50 of the subject on the ultrasonic image. Furthermore, an ultrasonic image with the relative displacement information added is stored in the ultrasonic image generation unit 1a. The ultrasonic image to which the relative displacement is added is displayed again by the display control unit 7 in response to a request using the operation panel of the apparatus operator. The re-display may be performed during the ultrasonic diagnosis. In this case, the ultrasonic image currently being diagnosed and the image to be re-displayed are displayed in two screens.

  According to this ultrasonic diagnostic apparatus 1, by defining the position on the subject to which the object displacement detection unit 3 is attached, even if the ultrasonic diagnosis is performed again at a time different from the previous ultrasonic diagnosis, it is displayed again. With reference to the relative displacement added to the ultrasonic image, the ultrasonic probe 10 can be applied to the same location.

  As described above, according to the ultrasonic diagnostic apparatus 1 of the present invention, the ultrasonic probe displacement detection means 4 and the object displacement detection means 3 having flexibility do not limit the doctor's work area and perform ultrasonic diagnosis. Without interfering with other diagnoses and treatments, the ultrasonic diagnostic apparatus can cooperate with other diagnoses and treatments, and can support accurate positioning and an appropriate treatment plan.

It is a block diagram of an ultrasonic diagnostic apparatus. It is explanatory drawing of a displacement detection part. It is a block diagram explaining the general-view structure of an ultrasonic diagnostic apparatus and an X-ray CT apparatus. It is a figure which shows the superimposition of the image by a display control part. It is a figure explaining cooperation with an ultrasonic diagnostic apparatus and a puncture treatment apparatus. It is a figure which shows the display to the ultrasonic image of the front-end | tip of a puncture needle. It is a figure explaining cooperation with an ultrasonic diagnosing device and a treatment energy irradiation device. It is a figure which shows the display to the ultrasonic image of a focus position. It is explanatory drawing at the time of making a target object into the predetermined location of a subject.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Ultrasonic diagnostic apparatus 1a Ultrasonic image generation part 1b Control part 1c Monitor 1d Operation panel 2 Relative displacement calculation part 3 Object displacement detection part 4 Ultrasonic probe displacement detection part 3a, 4a Optical fiber 3b, 4b Sensor cable 5, 6 Light Transmission / reception circuit 7 Display control unit 8 Drive control unit 9 Ultrasonic probe connector 10 Ultrasonic probe 20 X-ray CT apparatus 21 Target 30 RFA apparatus 31 RFA needle 32 RFA needle tip 32a Trace 40 Therapeutic energy irradiation apparatus 41 Therapeutic applicator 41a Energy source 42 Focus position 43 Arm 50 Predetermined part of subject 100 Object

Claims (7)

An ultrasound diagnostic apparatus for displaying an ultrasound image based on ultrasound transmission / reception waves,
An ultrasonic probe for transmitting and receiving ultrasonic waves;
Probe displacement detection means for detecting displacement of the ultrasonic probe;
Object displacement detection means for detecting displacement of the object;
Relative displacement calculating means for calculating a relative displacement between the ultrasonic probe and the object based on the detected displacement of the ultrasonic probe and the detected object displacement;
With
The probe displacement detector and the object displacement detector are
Detecting displacement by optical or magnetic positioning;
An ultrasonic diagnostic apparatus characterized by the above. The ultrasonic probe displacement detection means includes
It has an optical fiber bundle that detects bending and twisting, and includes a probe-side sensor cable having one end connected to the ultrasonic probe and the other end connected to a fixed location,
The object displacement detection means includes
It has an optical fiber bundle that detects bending and twist inside, and includes an object side sensor cable having one end connected to the object and the other end connected to a fixed location,
The relative displacement calculating means includes
Calculating the relative displacement based on the bend and twist detected by each optical fiber bundle;
The ultrasonic diagnostic apparatus according to claim 1. A target that can be displayed on an image captured by the mechanism, installed at any one of a CT mechanism that displays a CT image, an MRI mechanism that displays an MRI image, or a PET mechanism that displays a PET image. Stuff
Display control means for superimposing the ultrasonic image and the image displayed by the mechanism on the display screen based on the calculated relative displacement and the position of the target on the image displayed by the mechanism. ,
The ultrasonic diagnostic apparatus according to claim 1. A target that can be displayed on an image captured by the mechanism, installed at a prescribed location of any one of a CT scan mechanism that displays a CT image, an MRI mechanism that displays an MRI image, or a PET mechanism that displays a PET image, The object,
When a pointer is displayed on one of the ultrasonic image or the image displayed by the mechanism, the pointer is displayed on the other image based on the calculated relative displacement and the target position on the image captured by the mechanism. Further comprising display control means for reflecting the pointer;
The ultrasonic diagnostic apparatus according to claim 1. One of the needles for puncture treatment of PEI or RFA or MCT is the object,
A tip position display means for displaying a tip position of the puncture treatment needle based on the calculated relative displacement;
The ultrasonic diagnostic apparatus according to claim 1. Any one of the irradiation energy irradiation part of the calculus breaking mechanism or the ultrasonic treatment mechanism or the radiation treatment mechanism is the object,
Further comprising display control means for displaying a focal position of the irradiation energy irradiation unit in the ultrasonic image based on the calculated relative displacement;
The ultrasonic diagnostic apparatus according to claim 1. The object is
Being a predetermined location of the subject,
The ultrasonic diagnostic apparatus according to claim 1.