JP2012235850A - Ultrasonic diagnostic apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an ultrasonic diagnostic apparatus for obtaining an ultrasonic image with a high diagnostic capability.SOLUTION: The ultrasonic diagnostic apparatus 20 includes: an ultrasonic probe 20b that outputs a transmission ultrasound to a subject 1 and acquires a reception signal by receiving a reflected ultrasound from the subject 1; an image generating section 204 that generates ultrasonic image data based on the reception signal acquired by the ultrasonic probe 20b; an electric stage 10 that moves the ultrasonic probe 20b in an XY direction; a gonio stage 140 that changes the orientation of the transmission ultrasound output by the ultrasonic probe 20b; and a controller 208 that changes the orientation of the transmission ultrasound to the gonio stage 140 based on the reception signal acquired by the ultrasonic probe 20b.

Description

  The present invention relates to an ultrasonic diagnostic apparatus.

  In recent years, as a result of enlightenment activities represented by Pink Ribbon activities, the awareness of society and individuals regarding breast cancer screening has increased, and in addition to this, the need for ultrasound breast cancer screening as well as mammography using X-rays has increased. Some municipalities have already introduced alternate screenings for mammography and ultrasound.

  However, ultrasound screening is more dependent on the operator's technique than mammography, and it is not possible to secure an operator with sufficient skill, so a stable and accurate image can be obtained regardless of the operator. There has been a demand for an automatic scanning ultrasonic diagnostic apparatus capable of photographing.

  In order to solve such a problem, an ultrasonic probe is provided in a water tank for receiving a breast, and the ultrasonic probe is scanned while being moved in a horizontal direction by a driving mechanism provided in the water tank (for example, And a device that performs scanning while moving an ultrasonic probe in a direction parallel to the flat plate while pressing the flat plate against the breast.

JP 2002-336256 A

However, in the former apparatus, the incident direction of the ultrasound beam (transmitted ultrasound) on the breast may deviate greatly from the perpendicular to the breast surface, which affects the reflection directivity of planar adipose tissue, mammary gland, fascia, etc. In some cases, it is not possible to stably depict a structure that exerts an influence. In addition, since the influence of artifacts is different, there is a problem that halos, acoustic shadows, and the like are also affected by the position of the breast, making interpretation difficult. Furthermore, since the distance between the ultrasonic probe and the breast surface is not constant, the beam diameter in the azimuth direction and elevation direction of the ultrasonic beam is different even at the same depth from the surface at the most protruding part and the peripheral part of the breast. The resolution is different, which is also a factor that makes interpretation difficult.
In the latter apparatus, the ultrasonic beam with respect to the breast surface is not substantially shifted from the perpendicular line, and the relationship between the depth from the breast surface and the ultrasonic beam diameter is constant. However, because the breast is under pressure, the boundary shape of the tumor and the minor axis / major axis ratio (D / W ratio) cannot be accurately depicted due to the deformation of the breast, it is difficult to grasp the disorder of the structure of the mammary gland, etc. There is a problem that it is difficult to obtain information necessary for categorizing the diagnosis results.

  Therefore, an object of the present invention is to provide an ultrasonic diagnostic apparatus that obtains an ultrasonic image with high diagnostic ability.

In order to solve the above problems, the invention according to claim 1 is an ultrasonic diagnostic apparatus,
An ultrasonic probe that outputs a transmission ultrasonic wave to the subject and receives a reflected ultrasonic wave from the subject to obtain a reception signal;
An image generation unit that generates ultrasonic image data based on a reception signal acquired by the ultrasonic probe;
A moving unit for moving the ultrasonic probe in the XY directions;
An ultrasonic output direction changing unit for changing the direction of transmission ultrasonic waves output by the ultrasonic probe;
And a control unit that causes the ultrasonic output direction changing unit to change the direction of the transmission ultrasonic wave based on a reception signal acquired by the ultrasonic probe.

The invention according to claim 2 is the ultrasonic diagnostic apparatus according to claim 1,
The ultrasonic probe is configured to be swingable about a predetermined location as a support shaft,
The control unit changes the direction of the transmission ultrasonic wave by causing the ultrasonic wave output direction changing unit to change the direction of the ultrasonic probe to the XY direction.

The invention according to claim 3 is the ultrasonic diagnostic apparatus according to claim 1 or 2,
The control unit detects each distance from the ultrasonic probe to two different points on the subject surface based on a reception signal acquired by the ultrasonic probe so that the distances are equal. The ultrasonic output direction changing unit changes the direction of transmission ultrasonic waves.

The invention according to claim 4 is the ultrasonic diagnostic apparatus according to any one of claims 1 to 3,
The moving unit is configured to move the ultrasonic probe in the Z direction,
The control unit transmits to the ultrasonic output direction changing unit so that the distance from the ultrasonic probe to the subject surface is constant based on a reception signal acquired by the ultrasonic probe. It is characterized by changing the direction of ultrasonic waves.

The invention according to claim 5 is the ultrasonic diagnostic apparatus according to any one of claims 1 to 3,
The moving unit is configured to move the ultrasonic probe in the Z direction,
The control unit causes the ultrasonic output direction changing unit to change the direction of the transmission ultrasonic wave so that the focus point is located at a predetermined distance from the subject surface.

The invention according to claim 6 is the ultrasonic diagnostic apparatus according to any one of claims 1 to 5,
A container containing an ultrasonic transmission medium;
The ultrasonic probe and the moving unit are provided in the container.

The invention according to claim 7 is the ultrasonic diagnostic apparatus according to claim 6,
The subject is a breast, and the ultrasonic probe outputs a transmission ultrasonic wave to the breast inserted into the container and receives a reflected signal from the breast by receiving a reflected ultrasonic wave. It is characterized by acquiring.

  According to the present invention, an ultrasonic diagnostic apparatus for obtaining an ultrasonic image with high diagnostic ability is provided.

It is a block diagram which shows the functional structure of an ultrasonic diagnosing device. It is a perspective view which shows schematic structure of an ultrasonic probe and an electric stage. It is a side view which shows schematic structure of an ultrasonic probe and an electric stage. It is an enlarged back view which shows schematic structure of a part of ultrasonic probe and an electric stage. It is a figure explaining the use condition of an ultrasound diagnosing device. It is a figure which shows an example of an ultrasonic image. It is a flowchart explaining an image storage and a stage movement control process. It is a flowchart explaining an image storage and a stage movement control process.

  EMBODIMENT OF THE INVENTION Below, the form for implementing this invention is demonstrated using drawing. However, although various technically preferable limitations for implementing the present invention are given to the embodiments described below, the scope of the invention is not limited to the following embodiments and illustrated examples.

  The ultrasonic diagnostic apparatus 20 is an apparatus that displays and outputs the state of the internal tissue of a patient (subject) as an ultrasonic image. That is, the ultrasonic diagnostic apparatus 20 transmits ultrasonic waves (transmission ultrasonic waves) to the inside of a subject such as a living body, and also reflects reflected waves (reflected ultrasonic waves: echoes) reflected in the subject. Receive. The ultrasonic diagnostic apparatus 20 converts the received reflected wave into an electrical signal, and generates ultrasonic image data based on this. The ultrasonic diagnostic apparatus 20 displays the internal state in the subject as an ultrasonic image based on the generated ultrasonic image data. Further, the ultrasonic diagnostic apparatus 20 generates auxiliary information regarding the generated ultrasonic image data based on the imaging order information, and generates an image file having a predetermined standard by adding the auxiliary information to the ultrasonic image data. It is possible to do.

  As shown in FIG. 1, the ultrasonic diagnostic apparatus 20 includes an ultrasonic diagnostic apparatus main body 20a and an ultrasonic probe 20b. The ultrasonic probe 20b transmits ultrasonic waves as described above and receives reflected waves. The ultrasonic diagnostic apparatus main body 20a is connected to the ultrasonic probe 20b via the cable 20c, and transmits an electric signal drive signal to the ultrasonic probe 20b, thereby transmitting the ultrasonic signal to the ultrasonic probe 20b. Send sound waves. Further, the ultrasonic diagnostic apparatus main body 20a receives a reception signal that is an electrical signal generated by the ultrasonic probe 20b in response to the reflected ultrasonic wave from within the subject received by the ultrasonic probe 20b. The ultrasonic image data is generated as described above.

  The ultrasonic probe 20b includes transducers (not shown) made of piezoelectric elements, and a plurality of the transducers are arranged in a one-dimensional array in the azimuth direction (scanning direction), for example. In the present embodiment, for example, an ultrasonic probe 20b including 192 transducers is used. The vibrators may be arranged in a two-dimensional array. Further, the number of vibrators can be arbitrarily set. Further, the ultrasonic probe 20b may be any of a linear type, a sector type, or a convex type.

  The ultrasonic probe 20b according to the present invention is attached to the electric stage (moving unit) 10. The configuration of the electric stage 10 will be described below with reference to FIGS.

  The electric stage 10 includes a gonio stage 140 (ultrasonic output direction changing unit) to which the ultrasonic probe 20b is detachably attached, an X-axis drive mechanism 110 that moves the gonio stage 140 in the X-axis direction, and the gonio stage 140. Are provided with a Y-axis drive mechanism 120 that moves in the Y-axis direction and a Z-axis drive mechanism 130 that moves the goniostage 140 in the Z-axis direction. Here, the X-axis direction is a direction in which the ultrasound probe 20b is scanned and is a direction from the head to the foot of the patient (subject), and the Y-axis direction is a direction orthogonal to the X-axis direction. In this case, the left-right direction of the patient is used, and the Z-axis direction is a direction orthogonal to the XY plane and is a contact / separation direction with respect to the patient.

  The X-axis drive mechanism 110 is provided in an X-axis drive mechanism main body 111 extending in the X-axis direction and in a direction parallel to the X-axis drive mechanism main body 111, and is disposed at a predetermined interval from the X-axis drive mechanism main body 111. Guide rail 112 and an X-axis drive motor 113 provided at one end of the X-axis drive mechanism main body 111 in the extending direction.

  The Y-axis drive mechanism 120 includes a Y-axis drive mechanism main body 121 that extends in the Y-axis direction, and a Y-axis drive motor 123 that is provided at one end of the Y-axis drive mechanism main body 121 in the extension direction. The Y-axis drive mechanism 120 is attached to the X-axis drive mechanism main body 111 and the guide rail 112 of the X-axis drive mechanism 110, and the X-axis drive motor 113 rotates to drive the X-axis drive mechanism 113 while being guided by the guide rail 112. It can move in the axial direction.

  The Z-axis drive mechanism 130 includes a Z-axis drive mechanism main body 131 that extends in the Z-axis direction, and a Z-axis drive motor 133 that is provided at one end of the Z-axis drive mechanism main body 131 in the extension direction. The Z-axis drive mechanism 130 is attached to the Y-axis drive mechanism main body 121 of the Y-axis drive mechanism 120, and the Y-axis drive motor 123 is driven to rotate along the extending direction of the Y-axis drive mechanism main body 121. Thus, it can move in the Y-axis direction.

  The gonio stage 140 supports the ultrasonic probe 20b in a swingable state, and tilts the posture of the ultrasonic probe 20b in a predetermined direction. The output direction of the transmission ultrasonic wave by the acoustic probe 20b can be changed. Here, the direction in which the ultrasound probe 20b faces is the direction perpendicular to the transmission ultrasound output surface of the ultrasound probe 20b and is the output direction of the transmission ultrasound.

Specifically, the gonio stage 140 includes an X-axis stage 141 that directly supports the ultrasonic probe 20 b and a Y-axis stage 142 that supports the X-axis stage 141.
The X-axis stage 141 tilts the attitude of the ultrasonic probe 20b along the X-axis direction, thereby changing the output direction of the transmission ultrasonic wave to a direction along the X-axis direction. That is, the X-axis stage 141 can change the angle θa shown in FIG. Here, the angle θa is an angle formed by the direction in which the ultrasonic probe 20b faces and the Z-axis direction when viewed from the Y-axis direction.
The Y-axis stage 142 tilts the posture of the ultrasonic probe 20b along the Y-axis direction, and thereby changes the output direction of the transmission ultrasonic waves to a direction along the Y-axis direction. That is, the Y-axis stage 142 can change the angle θb shown in FIG. Here, the angle θb is an angle formed by the direction in which the ultrasonic probe 20b faces and the Z-axis direction when viewed from the X-axis direction.

  The gonio stage 140 is attached to the Z-axis drive mechanism 130 via the arm 144. As a result, the gonio stage 140 and the arm 144 can move in the Z-axis direction along the extending direction of the Z-axis drive mechanism main body 131 when the Z-axis drive motor 133 of the Z-axis drive mechanism 130 is rotationally driven. ing.

  As described above, the electric stage 10 tilts the direction in which the ultrasonic probe 20b faces by the gonio stage 140 in the direction along the X-axis direction and the Y-axis direction, and the X-axis drive mechanism 110, the Y-axis drive mechanism 120, and The ultrasonic probe 20b can be moved in the XYZ directions by the Z-axis drive mechanism 130.

  The electric stage 10 configured as described above is installed as shown in FIG. That is, the electric stage 10 to which the ultrasonic probe 20b is attached is installed at the bottom of a test water tank (container) 30 that receives the breast of the subject 1. The inspection water tank 30 accommodates an acoustic transmission medium (for example, water). The subject 1 is placed in a prone state and undergoes ultrasonic diagnosis so that the breast is inserted into the upper opening of the test water tank 30 via the sheet 40. The electric stage 10 moves the position of the ultrasonic probe 20b in the XYZ axial directions while changing the direction in which the ultrasonic probe 20b faces in the inspection water tank 30.

Next, the configuration of the ultrasonic diagnostic apparatus main body 20a will be described below with reference to FIG.
As shown in FIG. 1, the ultrasonic diagnostic apparatus main body 20a includes, for example, an operation input unit 201, a transmission unit 202, a reception unit 203, an image generation unit 204, a display unit 207, a control unit 208, and a storage. Unit 209, received data storage unit 211, and address data generation unit 210.

  The operation input unit 201 includes, for example, various switches, buttons, a trackball, a mouse, a keyboard, and the like for inputting data such as a command to start diagnosis and personal information of a subject, and the like. The data is output to the control unit 208.

  The transmission unit 202 is a circuit that supplies a drive signal, which is an electrical signal, to the ultrasonic probe 20b via the cable 20c and generates transmission ultrasonic waves in the ultrasonic probe 20b under the control of the control unit 208. . The transmission unit 202 includes, for example, a clock generation circuit, a delay circuit, and a pulse generation circuit. The clock generation circuit is a circuit that generates a clock signal that determines the transmission timing and transmission frequency of the drive signal. The delay circuit sets a delay time for each individual path corresponding to each transducer corresponding to the transmission timing of the drive signal, delays the transmission of the drive signal by the set delay time, and transmits the transmission beam constituted by the transmission ultrasonic waves. This is a circuit for focusing. The pulse generation circuit is a circuit for generating a pulse signal as a drive signal at a predetermined cycle. The transmission unit 202 configured as described above drives, for example, a continuous part (for example, 64) of a plurality (for example, 192) of transducers arranged in the ultrasound probe 20b. To generate transmission ultrasonic waves. The transmission unit 202 performs scanning (scanning) by shifting the vibrator to be driven in the azimuth direction every time transmission ultrasonic waves are generated.

  The receiving unit 203 is a circuit that receives a reception signal that is an electrical signal from the ultrasound probe 20b via the cable 20c under the control of the control unit 208. The receiving unit 203 includes, for example, an amplifier, an A / D conversion circuit, and a phasing addition circuit. The amplifier is a circuit for amplifying a received signal with a preset amplification factor for each individual path corresponding to each transducer. The A / D conversion circuit is a circuit for A / D converting the amplified received signal. The phasing addition circuit adjusts the time phase by giving a delay time to each individual path corresponding to each transducer with respect to the A / D converted received signal, and adds these (phasing addition) to generate a sound ray. It is a circuit for generating data.

  The image generation unit 204 performs envelope detection processing, logarithmic amplification, and the like on the sound ray data from the reception unit 203, and adjusts the dynamic range and gain to generate B-mode image data. To do. In other words, the B-mode image data represents the intensity of the received signal by luminance. The image generation unit 204 may be capable of generating A-mode image data, M-mode image data, and image data based on the Doppler method in addition to the B-mode image data. The image generation unit 204 includes a DSC (not shown), converts the image data into an image signal based on a television signal scanning method, and outputs the image signal to the display unit 207.

  The display unit 207 may be a display device such as an LCD (Liquid Crystal Display), a CRT (Cathode-Ray Tube) display, an organic EL (Electronic Luminescence) display, an inorganic EL display, or a plasma display. The display unit 207 displays an image on the display screen in accordance with the image signal output from the image generation unit 204. Note that a printing device such as a printer may be applied instead of the display device so that print output is possible.

The control unit 208 includes, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory), and reads various processing programs such as a system program stored in the ROM to read the RAM. The operation of each part of the ultrasonic diagnostic apparatus 20 is centrally controlled according to the developed program.
The ROM is composed of a nonvolatile memory such as a semiconductor, and is a system program corresponding to the ultrasonic diagnostic apparatus 20 and various processes that can be executed on the system program, such as image storage and stage movement control processing described later. Stores various data such as programs and gamma tables. These programs are stored in the form of computer-readable program code, and the CPU sequentially executes operations according to the program code.
The RAM forms a work area for temporarily storing various programs executed by the CPU and data related to these programs.

  The storage unit 209 is configured by a large-capacity recording medium such as an HDD (Hard Disk Drive), and stores generated image data.

  The address data generation unit 210 calculates each distance between the ultrasound probe 20b and two different points on the subject surface based on the received signal acquired by the ultrasound probe 20b. Then, the address data generation unit 210 calculates the degree of deviation between the direction in which the ultrasound probe 20b faces and the perpendicular direction of the subject surface from the two calculated distances. The address data generation unit 210 generates address data indicating an angle for changing the direction in which the ultrasonic probe 20b is directed, a direction in which the ultrasonic probe 20b is moved, and a distance thereof based on the calculated degree of deviation. . In addition, the address data generation unit 210 outputs the generated address data to the control unit 208.

  The reception data storage unit 211 stores data of each distance between the ultrasound probe 20b and two different points on the subject surface calculated by the address data generation unit 210 for each frame.

  Next, image storage and stage movement control processing executed by the control unit 208 of the ultrasonic diagnostic apparatus 20 configured as described above will be described with reference to FIGS. This image storage and stage movement control process is a process executed in accordance with the execution of one ultrasonic diagnostic examination by the ultrasonic diagnostic apparatus 20. For example, the image storage and the stage movement control process are executed according to a predetermined examination execution operation by an operator (operator) such as a doctor or an engineer.

First, the control unit 208 moves the ultrasonic probe 20b by a predetermined amount in the Z-axis direction by using the electric stage 10 (step S1).
Next, the control unit 208 transmits and receives ultrasonic waves toward the subject using the ultrasonic probe 20b (step S2). The control unit 208 determines the distances between the ultrasonic probe 20b and two different points on the subject surface based on the reception signal received by the ultrasonic probe 20b by the address data generation unit 210. Calculate (step S3).

Next, the control unit 208 determines whether or not at least one of the two calculated distances is within a predetermined distance range (step S4).
When it is determined that at least one of the two distances is within the predetermined distance range (step S4: YES), the control unit 208 is based on the two distances calculated by the address data generation unit 210 based on the two distances. The inclination of the direction in which the ultrasonic probe 20b faces with respect to the surface normal direction is calculated (step S5). On the other hand, when it is determined that none of the calculated two distances is within the predetermined distance range (step S4; NO), the control unit 208 performs the process of step S1 again. The control unit 208 repeats the processes of steps S1 to S4 until it is determined in step S4 that at least one of the two calculated distances is within the predetermined distance range (step S4; YES).

Next, the control unit 208 causes the address data generation unit 210 to generate address data based on the slope calculated in step S5 (step S6). Here, the address data generated in step S6 includes an angle at which the ultrasonic probe 20b is inclined along the Y-axis direction, and a distance at which the ultrasonic probe 20b is moved in the Y-axis direction and the Z-axis direction. It is the data shown.
Specifically, for example, when the ultrasonic image data P as shown in FIG. 6 is generated by the image generation unit 204 based on the received signal acquired by the ultrasonic probe 20b, the address data generation unit 210 Then, the distance L1 between the ultrasonic probe 20b and the position 1b on the object surface 1a and the distance L2 between the ultrasonic probe 20b and the position 1c on the object surface 1a are respectively calculated. Based on the calculated distances L1 and L2, the address data generation unit 210 calculates an angle θc formed by a straight line connecting the position 1b and the position 1c of the subject surface 1a and a straight line in the horizontal direction of the ultrasound image data P. . Furthermore, the address data generation unit 210 generates address data based on the calculated angle θc.

Next, the control unit 208 causes the electric stage 10 to correct the posture and position of the ultrasonic probe 20b based on the generated address data (step S7).
Specifically, when the address data is generated based on the angle θc (see FIG. 6) as described above in step S6, the control unit 208 uses the Y-axis stage 142 of the electric stage 10 to perform the ultrasonic probe. The direction in which the child 20b faces is inclined by an angle θb ₀ minutes equal to the angle θc along the Y-axis direction. At the same time, the control unit 208 changes the posture of the ultrasound probe 20b by the Y-axis drive mechanism 120 and the Z-axis drive mechanism 130 of the electric stage 10 so that the ultrasound probe 20b strongly strengthens the subject surface. The ultrasonic probe 20b is moved in the Y-axis direction and the Z-axis direction so as not to be pressed or separated from the subject surface too much. At this time, the control unit 208 corrects the posture and position of the ultrasonic probe 20b so that the focus point is located at a predetermined distance from the subject surface.
Thereby, the distance L1 between the ultrasound probe 20b and the position 1b on the subject surface 1a is equal to the distance L2 between the ultrasound probe 20b and the position 1c on the subject surface 1a. Thus, the direction in which the ultrasound probe 20b faces coincides with the normal direction of the subject surface.

  Next, the control unit 208 transmits / receives an ultrasonic wave toward the subject by the ultrasonic probe 20b (step S8). Based on the reception signal received by the ultrasound probe 20b by the address data generation unit 210, the control unit 208 differs from the ultrasound probe 20b on two different points on the subject surface (for example, the position shown in FIG. 6). 1b, 1c) is calculated (step S9).

Next, the control unit 208 determines whether or not both of the calculated two distances are within a predetermined distance range (step S10).
When it is determined that both of the two distances are within the predetermined distance range (step S10; YES), the control unit 208 uses the data of the calculated two distances (for example, the distances L1 and L2 shown in FIG. 6). The received data storage unit 211 stores the received data (step S12). On the other hand, when it is determined that both of the calculated two distances are not within the predetermined distance range (step S10; NO), the control unit 208 causes the electric stage 10 to cause both of the two distances to be within the predetermined distance range. Then, the ultrasonic probe 20b is moved by a predetermined amount in the Z-axis direction (step S11). The control unit 208 repeats the processes of steps S8 to S11 until it is determined in step S10 that both of the calculated two distances are within the predetermined distance range (step S10; YES).

  Next, the control unit 208 transmits and receives ultrasonic waves by the transmission unit 202 and the reception unit 203, generates ultrasonic image data by the image generation unit 204 based on the received signal, and generates ultrasonic image data for one frame. Obtain (step S13).

Next, the control unit 208 determines whether or not the ultrasound probe 20b has reached the end point position of the scan line (step S14). Here, the scan line is a movement path for moving the ultrasonic probe 20b while scanning with the ultrasonic probe 20b, and is a direction parallel to the X-axis direction. While performing scanning with the ultrasonic probe 20b, the ultrasonic probe 20b is moved along each scan line arranged in the Y-axis direction, thereby performing one ultrasonic wave on the examination site of the subject. Diagnostic tests can be performed.
When it is determined that the end position of the scan line has not been reached (step S14; NO), the control unit 208 moves the ultrasonic probe 20b by a predetermined amount in the X-axis direction using the electric stage 10 (step S15). ).

  Next, the control unit 208 transmits and receives ultrasonic waves toward the subject using the ultrasonic probe 20b (step S16). The control unit 208 uses the address data generation unit 210 to calculate each distance between the ultrasound probe 20b and two different points on the subject surface based on the received signal received by the ultrasound probe 20b. (Step S17).

  Next, the control unit 208 acquires distance data in the ultrasonic image data of the previous frame stored in the reception data storage unit 211 in step S12. Based on the distance data acquired by the address data generation unit 210 and the distance data calculated in step S17, the control unit 208 determines the degree of inclination in the direction in which the ultrasound probe 20b faces the direction perpendicular to the subject surface. Calculate (step S18).

  Next, the control unit 208 causes the address data generation unit 210 to generate address data based on the slope calculated in step S18 (step S19). Here, the address data generated in step S19 includes the angle at which the ultrasound probe 20b is tilted along the X-axis direction, and the distance by which the ultrasound probe 20b is moved in the X-axis direction and the Z-axis direction. It is the data shown.

Next, the control unit 208 causes the electric stage 10 to correct the posture and position of the ultrasonic probe 20b based on the generated address data (step S20).
Specifically, the control unit 208 causes the X-axis stage 141 of the electric stage 10 to tilt the direction in which the ultrasonic probe 20b faces by a predetermined angle along the X-axis direction. At the same time, the control unit 208 changes the posture of the ultrasound probe 20b by the X-axis drive mechanism 110 and the Z-axis drive mechanism 130 of the electric stage 10 so that the ultrasound probe 20b strongly strengthens the subject surface. The ultrasonic probe 20b is moved in the X-axis direction and the Z-axis direction so as not to be pressed or separated from the subject surface too much. At this time, the control unit 208 matches the distance data value in the ultrasound image data of the previous frame stored in the reception data storage unit 211 in step S12 with the distance between the ultrasound probe 20b and the subject surface. As described above, the posture and position of the ultrasonic probe 20b are corrected. Further, the control unit 208 corrects the posture and position of the ultrasonic probe 20b so that the focus point is at a predetermined distance from the subject surface.
As a result, the direction in which the ultrasonic probe 20b faces coincides with the normal direction of the subject surface. When the control unit 208 finishes the process of step S20, the process of step S8 is performed again. The control unit 208 repeats the processes in steps S8 to S20 until it is determined in step S14 that the ultrasonic probe 20b has reached the end position of the scan line (step S14; YES).

  If it is determined in step S14 that the ultrasound probe 20b has reached the end point position of the scan line (step S14; YES), the control unit 208 determines whether or not the scan line is the final scan line. (Step S21). Specifically, the control unit 208 determines whether or not all the examination sites of the subject have been scanned.

  If it is determined that it is not the last scan line (step S21; NO), the control unit 208 moves the ultrasonic probe 20b to the origin position of the next scan line by the electric stage 10. Specifically, the control unit 208 moves the ultrasonic probe 20b in the Y-axis direction by the Y-axis drive mechanism 120 of the electric stage 10, and brings the ultrasonic probe 20b to the origin position of the next scan line. Arrange.

If it is determined that the scan line is the final scan line (step S21; YES), the control unit 208 causes the electric stage 10 to move the ultrasonic probe 20b back to the inspection start origin (step S22). That is, the control unit 208 moves the ultrasonic probe 20b to the inspection start origin using the X-axis drive mechanism 110, the Y-axis drive mechanism 120, and the Z-axis drive mechanism 130, and uses the X-axis stage 141 and the Y-axis stage 142 to move the ultrasonic probe 20b. The direction in which the ultrasonic probe 20b faces is tilted so as to be parallel to the Z-axis direction.
This completes the image storage and stage movement control process.

As described above, according to the present embodiment, the ultrasound probe 20b is moved in the XYZ axis directions, and output from the ultrasound probe 20b based on the received signal acquired by the ultrasound probe 20b. Since the direction of the transmitted ultrasonic wave is changed, it is possible to output the transmitted ultrasonic wave along the perpendicular direction of the subject surface without applying any stress to the subject. Thereby, it is possible to stably obtain an ultrasonic image suitable for image interpretation without deteriorating image quality. Therefore, it is possible to obtain an ultrasonic image with high diagnostic ability in the ultrasonic diagnostic examination, and it is possible to improve accuracy such as CAD (Computer Aided Diagnosis) by feature amount extraction.
Moreover, since the direction of the transmission ultrasonic wave output from the ultrasonic probe 20b is changed based on the reception signal acquired by the ultrasonic probe 20b, the ultrasonic probe 20b and the surface of the subject are changed. A distance sensor or the like for detecting the distance between them is unnecessary, and the apparatus configuration can be simplified.

  Further, each distance from the ultrasonic probe 20b to two different points on the subject surface is detected, and the direction of the transmission ultrasonic wave output from the ultrasonic probe 20b is changed so that each distance becomes equal. Therefore, during the ultrasonic diagnostic examination, the direction of the transmitted ultrasonic wave can always coincide with the vertical direction of the subject surface. Thereby, an ultrasonic image with high diagnostic ability can be acquired continuously.

  Further, since the direction of the transmission ultrasonic wave output from the ultrasonic probe 20b is changed so that the distance from the ultrasonic probe 20b to the subject surface is constant, the ultrasonic diagnostic examination is performed. Meanwhile, the position of the ultrasonic probe 20b with respect to the subject surface can be kept constant. Thereby, the continuity of the focused depth position is maintained among the plurality of acquired ultrasonic image data, and the diagnostic ability can be further enhanced.

  In addition, since the direction of the transmission ultrasonic wave output from the ultrasonic probe 20b is changed so that the focus point is located at a predetermined distance from the subject surface, high resolution can be obtained for a desired diagnostic site. Ultrasonic images with high diagnostic ability can be acquired.

  In this embodiment, an ultrasonic image based on the ultrasonic image data stored in the ultrasonic diagnostic apparatus is output to the display unit. However, a display device or a printing apparatus externally connected to the ultrasonic diagnostic apparatus is used. Alternatively, the ultrasonic image data may be output to an external device connected to a network or the like.

  In this embodiment, the ultrasonic diagnostic examination is performed on the breast of the subject. However, the present invention is not limited to this, and the examination may be performed on any examination site of the subject.

  In the present embodiment, the posture and position of the ultrasonic probe are corrected based on the received signal acquired by the ultrasonic probe while performing the ultrasonic diagnostic examination. Before the ultrasonic diagnostic examination, information indicating the surface shape of the examination site of the subject is acquired in advance, and during the ultrasonic diagnostic examination, the ultrasonic probe is acquired based on the acquired surface shape information. The posture and position may be corrected.

  In this embodiment, every time ultrasonic image data for one frame is acquired, the posture and position of the ultrasonic probe are corrected. However, the present invention is not limited to this. Each time the ultrasonic image data is acquired, the posture and position of the ultrasonic probe may be corrected.

  Moreover, in this Embodiment, although the electric stage as shown to FIGS. 2-5 was used as a moving part which moves an ultrasonic probe to XYZ direction, it is not restricted to this, Ultrasonic wave Any structure that can move the position of the probe in the XYZ directions may be used.

  In the present embodiment, the ultrasonic diagnostic inspection is performed with the electric stage installed in the inspection water tank. However, the present invention is not limited to this, and the ultrasonic probe is connected to the acoustic transmission medium. Any configuration that can output transmission ultrasonic waves to the subject is acceptable.

  In this embodiment, the direction of the transmitted ultrasonic wave is changed by tilting the attitude of the ultrasonic probe with the gonio stage. However, the present invention is not limited to this. The configuration may be such that only the direction of the transmitted ultrasonic wave is changed without changing the posture. For example, a configuration may be adopted in which the direction of the transmission ultrasonic wave output from the ultrasonic probe is changed by shifting the emission timing of the ultrasonic wave for each transducer in the ultrasonic probe.

  In the present embodiment, an example in which a hard disk, a semiconductor nonvolatile memory, or the like is used as a computer-readable medium for the program according to the present invention is disclosed, but the present invention is not limited to this example. As another computer-readable medium, a portable recording medium such as a CD-ROM can be applied. A carrier wave is also used as a medium for providing program data according to the present invention via a communication line.

  Hereinafter, evaluation performed on the ultrasonic diagnostic apparatus 20 according to the present embodiment will be described.

Table 1 shows a result of comparing an ultrasonic image acquired by the ultrasonic diagnostic apparatus 20 according to the present embodiment with an ultrasonic image acquired by a conventional ultrasonic diagnostic apparatus.
“Example 1” in Table 1 shows an evaluation on an ultrasonic image acquired using the ultrasonic diagnostic apparatus 20 according to the present embodiment. Further, “Comparative Example 1” in Table 1 shows an evaluation on an ultrasonic image acquired by a technique of a surgeon skilled in ultrasonic diagnosis using a conventional ultrasonic diagnostic apparatus. In “Comparative Example 2” in Table 1, an ultrasonic probe is provided in a water tank that receives the breast of a subject, and scanning is performed while the ultrasonic probe is moved in the horizontal direction by a driving mechanism. The evaluation with respect to the ultrasonic image acquired using the ultrasonic diagnostic apparatus (for example, the ultrasonic diagnostic apparatus of patent document 1) is shown. “Comparative example 3” in Table 1 is obtained using a conventional ultrasonic diagnostic apparatus that performs scanning while moving the ultrasonic probe in a direction parallel to the flat plate while pressing the flat plate against the breast. The evaluation with respect to the obtained ultrasonic image is shown.
Note that all the ultrasonic images are acquired using the same ultrasonic probe, and the same part of the same subject is scanned.

In Table 1, when comparing “internal echo” of “mass rendering”, in Comparative Example 2, the output speed of the ultrasonic beam is inclined with respect to the normal to the surface of the subject. Ultrasonic images in which the ultrasonic beam is refracted and diffused due to the difference in the intensity and mixed and the ultrasonic waves reflected outside the tumor are mixed, so that the brightness of the entire inside of the subject is different from those of Comparative Examples 1 and 3 and Example 1. Is obtained.
Further, when comparing the “shape”, in Comparative Example 3, since the surface of the subject is pressed by the flat plate, an ultrasonic image having an inaccurate tumor shape is obtained.
Further, when comparing the “boundary”, in Comparative Example 2, since the beam diameter of the ultrasonic beam is changed, an ultrasonic image in which the boundary of the tumor is blurred is obtained. In Comparative Examples 1 and 3 and Example 1, since the output direction of the ultrasonic beam coincides with the vertical direction of the subject surface, an ultrasonic image with a clear tumor boundary is obtained.
Further, comparing “rear echo”, in Comparative Example 2, the output direction of the ultrasonic beam is inclined with respect to the normal of the subject surface as described above, and therefore the incident direction of the ultrasonic beam on the tumor is different. In comparison with Comparative Example 1 and Example 1, ultrasonic images having different brightness behind the tumor are obtained. Further, in Comparative Example 3, since the shape of the tumor changes due to the pressure on the surface of the subject, the echo behind the tumor is not attenuated, and the ultrasonic waves with different brightness behind the tumor are different from Comparative Example 1 and Example 1. An image is obtained.
Further, when the “D / W ratio” is compared, in Comparative Example 3, since the shape of the tumor changes due to the pressure on the surface of the subject, an ultrasound image with an incorrect D / W ratio is obtained.

  Comparing the “construction judgment” of “mammary gland structure”, in Comparative Example 2, since the output direction of the ultrasonic beam is inclined with respect to the normal of the subject surface, an ultrasonic image with an unclear mammary gland structure is obtained. Has been obtained. Further, in Comparative Example 3, since the subject surface is pressed, an ultrasonic image in which the mammary gland structure is deformed is obtained.

  Comparing “operator dependency”, in Comparative Example 1, it depends on the operator's procedure, but in Comparative Examples 2, 3 and Example 1, an ultrasound image having a certain diagnostic ability is obtained regardless of the operator's procedure. You can see that

  As described above, according to the ultrasonic diagnostic apparatus 20 according to the present embodiment, the diagnostic ability is equivalent to the ultrasonic image acquired by the skill of the skilled operator without depending on the skill level of the operator. It was shown that it is possible to acquire excellent ultrasound images.

10 Electric stage (moving part)
20 Ultrasonic diagnostic apparatus 20a Ultrasonic diagnostic apparatus main body 20b Ultrasonic probe 20c Cable 30 Water tank for inspection (container)
110 X-axis drive mechanism 120 Y-axis drive mechanism 130 Z-axis drive mechanism 140 Goniometer stage (ultrasonic output direction changing unit)
141 X-axis stage 142 Y-axis stage 201 Operation input unit 202 Transmission unit 203 Reception unit 204 Image generation unit 207 Display unit 208 Control unit 209 Storage unit 210 Address data generation unit 211 Reception data storage unit

Claims (7)

An ultrasonic probe that outputs a transmission ultrasonic wave to the subject and receives a reflected ultrasonic wave from the subject to obtain a reception signal;
An image generation unit that generates ultrasonic image data based on a reception signal acquired by the ultrasonic probe;
A moving unit for moving the ultrasonic probe in the XY directions;
An ultrasonic output direction changing unit for changing the direction of transmission ultrasonic waves output by the ultrasonic probe;
An ultrasonic diagnostic apparatus comprising: a control unit that causes the ultrasonic output direction changing unit to change the direction of transmission ultrasonic waves based on a reception signal acquired by the ultrasonic probe. The ultrasonic probe is configured to be swingable about a predetermined location as a support shaft,
The ultrasonic wave according to claim 1, wherein the control unit causes the ultrasonic wave output direction changing unit to change the direction of the ultrasonic probe by changing the direction of the ultrasonic probe to an XY direction. Diagnostic device.   The control unit detects each distance from the ultrasonic probe to two different points on the subject surface based on a reception signal acquired by the ultrasonic probe so that the distances are equal. The ultrasonic diagnostic apparatus according to claim 1, wherein the ultrasonic output direction changing unit changes a direction of transmission ultrasonic waves. The moving unit is configured to move the ultrasonic probe in the Z direction,
The control unit transmits to the ultrasonic output direction changing unit so that the distance from the ultrasonic probe to the subject surface is constant based on a reception signal acquired by the ultrasonic probe. The ultrasonic diagnostic apparatus according to any one of claims 1 to 3, wherein the direction of the ultrasonic wave is changed. The moving unit is configured to move the ultrasonic probe in the Z direction,
The control unit causes the ultrasonic output direction changing unit to change the direction of transmission ultrasonic waves so that the focus point is located at a predetermined distance from the subject surface. The ultrasonic diagnostic apparatus according to one item. A container containing an ultrasonic transmission medium;
The ultrasonic diagnostic apparatus according to claim 1, wherein the ultrasonic probe and the moving unit are provided in the container.   The subject is a breast, and the ultrasonic probe outputs a transmission ultrasonic wave to the breast inserted into the container and receives a reflected signal from the breast by receiving a reflected ultrasonic wave. The ultrasonic diagnostic apparatus according to claim 6, wherein the ultrasonic diagnostic apparatus is acquired.

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