JP2014113421A - Ultrasonic diagnostic apparatus and image processing program - Google Patents

Abstract

An ultrasonic diagnostic apparatus capable of specifying the position of an ultrasonic scanning section even when the magnetic field is distorted.
An ultrasonic diagnostic apparatus includes a position information acquisition unit, a determination unit 171, an image correlation processing unit 173, and a change unit 174. The position information acquisition unit acquires the position and contact angle of the contact surface of the ultrasonic probe 1 with respect to the subject as position information. The determination unit 171 is a cut surface that generates 2D medical image data from 3D medical image data collected by another type of medical image diagnostic apparatus, and corresponds to a scanning section of ultrasonic image data displayed on the display unit. A corresponding cross section, which is a cross section, is determined based on the position information. Based on the correlation between the images, the image correlation processing unit 173 searches the three-dimensional medical image data for a similar cross section similar to the ultrasound image data displayed on the display unit. When the position of the similar cross section is different from the position of the corresponding cross section, the changing unit 174 changes the cut surface from the corresponding cross section to the similar cross section.
[Selection] Figure 1

Description

  Embodiments described herein relate generally to an ultrasonic diagnostic apparatus and an image processing program.

  In recent years, an ultrasonic diagnostic apparatus having a function of simultaneously displaying an ultrasonic image and a medical image having substantially the same cross section as the ultrasonic image in real time has been put into practical use. Here, the medical image is, for example, an X-ray CT (Computed Tomography) image or an MRI (Magnetic Resonance Imaging) image. Such an ultrasonic diagnostic apparatus associates a virtual space of X-ray CT volume data or MRI volume data with a real space of a subject to be ultrasonically scanned, and in synchronization with the movement of an ultrasonic probe, A tomographic image having substantially the same cross section as that subjected to the acoustic wave scanning is generated and displayed from X-ray CT volume data and MRI volume data.

  The movement of the ultrasonic probe is specified from the position of the ultrasonic probe acquired by installing a magnetic transmitter in the vicinity of the main body of the ultrasonic diagnostic apparatus and attaching a magnetic sensor as a position sensor to the ultrasonic probe. However, the magnetic field space generated by the magnetic transmitter is distorted by the influence of a metal bed or the like on which the subject lies. The position of the ultrasonic probe acquired in a state where the magnetic field space is distorted may be different from the actual position.

JP 2007-195882 A

  The problem to be solved by the present invention is to provide an ultrasonic diagnostic apparatus and an image processing program capable of specifying the position of an ultrasonic scanning section even when a magnetic field is distorted.

  The ultrasonic diagnostic apparatus according to the embodiment includes a position information acquisition unit, a determination unit, an image correlation processing unit, and a change unit. The position information acquisition unit acquires the position and contact angle of the contact surface of the ultrasonic probe with respect to the subject as position information. The determining unit is a cut surface that generates 2D medical image data from 3D medical image data collected by another type of medical image diagnostic apparatus, and corresponds to a scanning cross section of ultrasonic image data displayed on the display unit. Is determined based on the position information. The image correlation processing unit searches the three-dimensional medical image data for a similar cross section similar to the ultrasound image data displayed on the display unit based on the correlation between images. The changing unit changes the cut surface from the corresponding cross section to the similar cross section when the position of the similar cross section is different from the position of the corresponding cross section.

FIG. 1 is a block diagram illustrating a configuration example of an ultrasonic diagnostic apparatus according to the present embodiment. FIG. 2 is a diagram illustrating an example of position information acquired by the position sensor illustrated in FIG. 1. FIG. 3 is a diagram (1) illustrating an example of processing performed by the determination unit illustrated in FIG. FIG. 4 is a diagram (2) illustrating an example of a process performed by the determination unit illustrated in FIG. FIG. 5 is a diagram for explaining the distortion of the magnetic field space. FIG. 6 is a diagram for explaining the changing unit shown in FIG. 1. FIG. 7 is a diagram illustrating an example of an index acquired by the strain sensor illustrated in FIG. FIG. 8 is a diagram showing an example of processing performed by the area limiting unit shown in FIG. FIG. 9 is a diagram for describing the first addition process performed by the changing unit illustrated in FIG. 1. FIG. 10 is a diagram for describing the second addition process performed by the changing unit illustrated in FIG. 1. FIG. 11 is a flowchart illustrating an example of processing performed by the ultrasonic diagnostic apparatus according to the present embodiment.

  Hereinafter, embodiments of an ultrasonic diagnostic apparatus will be described in detail with reference to the accompanying drawings.

(Embodiment)
First, the configuration of the ultrasonic diagnostic apparatus according to the present embodiment will be described. FIG. 1 is a block diagram illustrating a configuration example of an ultrasonic diagnostic apparatus according to the present embodiment. As illustrated in FIG. 1, the ultrasonic diagnostic apparatus according to the first embodiment includes an ultrasonic probe 1, a monitor 2, an input device 3, a position sensor 4, a transmitter 5, a strain sensor 6, And an apparatus main body 10. The apparatus body 10 is connected to the external apparatus 7 via the network 100.

  The ultrasonic probe 1 has a plurality of transducers, and the plurality of transducers generate ultrasonic waves based on a drive signal supplied from a transmission / reception unit 11 included in the apparatus main body 10 to be described later. The vibrator included in the ultrasonic probe 1 is, for example, a piezoelectric vibrator. The ultrasonic probe 1 receives a reflected wave signal from the subject P and converts it into an electrical signal. The ultrasonic probe 1 includes a matching layer provided in the piezoelectric vibrator, a backing material that prevents propagation of ultrasonic waves from the piezoelectric vibrator to the rear, and the like. The ultrasonic probe 1 is detachably connected to the apparatus main body 10.

  When ultrasonic waves are transmitted from the ultrasonic probe 1 to the subject P, the transmitted ultrasonic waves are reflected one after another at the discontinuous surface of the acoustic impedance in the body tissue of the subject P, and the ultrasonic probe is used as a reflected wave signal. 1 is received by a plurality of piezoelectric vibrators. The amplitude of the received reflected wave signal depends on the difference in acoustic impedance at the discontinuous surface where the ultrasonic wave is reflected. Note that the reflected wave signal when the transmitted ultrasonic pulse is reflected by the moving blood flow or the surface of the heart wall depends on the velocity component of the moving object in the ultrasonic transmission direction due to the Doppler effect. And undergoes a frequency shift.

  For example, in the present embodiment, a 1D array probe in which a plurality of piezoelectric vibrators are arranged in a row is connected to the apparatus main body 10 as an ultrasonic probe 1 for two-dimensional scanning of the subject P. For example, the 1D array probe as the ultrasonic probe 1 is a sector probe that performs sector scanning, a convex probe that performs offset sector scanning, a linear probe that performs linear scanning, or the like.

  Alternatively, for example, in this embodiment, a mechanical 4D probe or a 2D array probe may be connected to the apparatus main body 10 as the ultrasonic probe 1 for three-dimensional scanning of the subject P. The mechanical 4D probe is capable of two-dimensional scanning using a plurality of piezoelectric vibrators arranged in a line like a 1D array probe, and swings the plurality of piezoelectric vibrators at a predetermined angle (swing angle). By doing so, three-dimensional scanning is possible. The 2D array probe can be three-dimensionally scanned by a plurality of piezoelectric vibrators arranged in a matrix and can be two-dimensionally scanned by focusing and transmitting ultrasonic waves.

  The position sensor 4 and the transmitter 5 are devices for acquiring position information of the ultrasonic probe 1. The position sensor 4 is a magnetic sensor attached to the ultrasonic probe 1. The transmitter 5 is a device that is arranged at an arbitrary position and forms a magnetic field toward the outside centering on the own device. In the present embodiment, the transmitter 5 is installed in the vicinity of the apparatus main body 10. In the present embodiment, the transmitter 5 may be attached to the apparatus main body 10.

  The position sensor 4 detects a three-dimensional magnetic field formed by the transmitter 5. Then, the position sensor 4 calculates the position (coordinates) of its own device in the space with the transmitter 5 as the origin based on the detected magnetic field information, and acquires the three-dimensional position information of the ultrasonic probe 1 from the calculation result. Then, the data is transmitted to the apparatus main body 10.

  FIG. 2 is a diagram illustrating an example of position information acquired by the position sensor illustrated in FIG. 1. For example, the position sensor 4 uses the offset information indicating the relative positional relationship between the position where the device is attached to the ultrasonic probe 1 and each position of the ultrasonic probe 1 to use the three-dimensional information of the ultrasonic probe 1. Get location information. For example, as shown in FIG. 2A, each of the above positions includes a point located at the center of the transducer array surface (see point a in the figure) and points located at both ends of the transducer array surface ( (Refer to point b and point c in the figure). Moreover, each said position is a point (refer the point d in a figure) located in the upper end of the ultrasonic probe 1, as shown to (A) of FIG. 2, for example.

  The position sensor 4 acquires the coordinates of “point a to point d” in the space having the transmitter 5 as the origin from the position and offset information of the own device. Here, the transducer array surface corresponds to a contact surface on which the ultrasonic probe 1 is in contact with the subject P. The position sensor 4 can acquire the position of the contact surface of the ultrasonic probe 1 with respect to the subject P from the coordinates of “point a to point c” as shown in FIG. Further, the position sensor 4 can acquire the angle at which the ultrasonic probe 1 is inclined from the coordinates of “point a to point c” and the coordinates of “point d”. Here, when the ultrasound probe 1 is in contact with the subject P, the angle at which the ultrasound probe 1 is tilted is determined with respect to the subject P of the ultrasound probe 1 as shown in FIG. The contact angle. In other words, the contact angle is the scanning direction of ultrasonic scanning performed by the ultrasonic probe 1. As described above, the position sensor 4 shown in FIG. 1 detects the magnetic field, and acquires the position and contact angle of the contact surface of the ultrasonic probe 1 with respect to the subject P as position information. That is, the position sensor 4 functions as a “position information acquisition unit”. In the present embodiment, any type of sensor may be used as long as it can function as a “position information acquisition unit”. For example, this embodiment may be a case where a camera capable of tracking a tracking target is used as the “position information acquisition unit”.

  The strain sensor 6 acquires an index indicating the degree of distortion of the magnetic field in the space where the ultrasonic probe 1 is located. That is, the strain sensor 6 functions as an “index acquisition unit”. Then, the strain sensor 6 transmits the acquired index to the apparatus main body 10. The index acquired by the strain sensor 6 will be described in detail later.

  The input device 3 is connected to the device main body 10 via an interface unit 19 described later. The input device 3 includes a mouse, a keyboard, a button, a panel switch, a touch command screen, a foot switch, a trackball, and the like. The input device 3 accepts various setting requests from the operator of the ultrasonic diagnostic apparatus and transfers the accepted various setting requests to the apparatus main body 10.

  The monitor 2 displays a GUI (Graphical User Interface) for an operator of the ultrasonic diagnostic apparatus to input various setting requests using the input device 3, and displays ultrasonic image data generated in the apparatus main body 10. Or display.

  The external device 7 is a device connected to the device main body 10 via an interface unit 19 described later. For example, the external device 7 is a database of a PACS (Picture Archiving and Communication System) that is a system for managing various types of medical image data, a database of an electronic medical record system that manages an electronic medical record attached with medical image data, or the like. is there. Alternatively, the external device 7 is various medical image diagnostic apparatuses other than the ultrasonic diagnostic apparatus according to the present embodiment, such as an X-ray CT (Computed Tomography) apparatus and an MRI (Magnetic Resonance Imaging) apparatus.

  The apparatus main body 10 according to the present embodiment can acquire various medical image data unified in an image format conforming to DICOM (Digital Imaging and Communications in Medicine) from the external apparatus 7 via the interface unit 19. . For example, the apparatus main body 10 acquires reference volume data to be compared with ultrasonic image data generated by the own apparatus from the external apparatus 7 via the interface unit 19 described later. Here, the reference volume data is volume data (three-dimensional medical image data) captured by another type of medical image diagnostic apparatus other than the ultrasonic diagnostic apparatus.

  The apparatus main body 10 is an apparatus that generates ultrasonic image data based on a reflected wave signal received by the ultrasonic probe 1. The apparatus main body 10 shown in FIG. 1 can generate two-dimensional ultrasound image data based on a two-dimensional reflected wave signal, and can generate three-dimensional ultrasound image data based on a three-dimensional reflected wave signal. Device. However, this embodiment is applicable even when the apparatus main body 10 is an apparatus dedicated to two-dimensional data.

  As shown in FIG. 1, the apparatus body 10 includes a transmission / reception unit 11, a B-mode processing unit 12, a Doppler processing unit 13, an image generation unit 14, an image memory 15, an internal storage unit 16, and an image processing unit. 17, a control unit 18, and an interface unit 19.

  The transmission / reception unit 11 controls ultrasonic transmission / reception performed by the ultrasonic probe 1 based on an instruction from the control unit 18 described later. The transmission / reception unit 11 includes a pulse generator, a transmission delay unit, a pulser, and the like, and supplies a drive signal to the ultrasonic probe 1. The pulse generator repeatedly generates rate pulses for forming transmission ultrasonic waves at a predetermined rate frequency. The transmission delay unit generates a delay time for each piezoelectric vibrator necessary for focusing the ultrasonic wave generated from the ultrasonic probe 1 into a beam and determining transmission directivity. Give for each rate pulse. The pulser applies a drive signal (drive pulse) to the ultrasonic probe 1 at a timing based on the rate pulse. The transmission delay unit arbitrarily adjusts the transmission direction of the ultrasonic wave transmitted from the piezoelectric vibrator surface by changing the delay time given to each rate pulse.

  The transmission / reception unit 11 has a function capable of instantaneously changing a transmission frequency, a transmission drive voltage, and the like in order to execute a predetermined scan sequence based on an instruction from the control unit 18 described later. In particular, the change of the transmission drive voltage is realized by a linear amplifier type transmission circuit capable of instantaneously switching the value or a mechanism for electrically switching a plurality of power supply units.

  The transmission / reception unit 11 includes a preamplifier, an A / D (Analog / Digital) converter, a reception delay unit, an adder, and the like. The transmission / reception unit 11 performs various processing on the reflected wave signal received by the ultrasonic probe 1 and reflects it. Generate wave data. The preamplifier amplifies the reflected wave signal for each channel. The A / D converter A / D converts the amplified reflected wave signal. The reception delay unit gives a delay time necessary for determining the reception directivity. The adder performs an addition process on the reflected wave signal processed by the reception delay unit to generate reflected wave data. By the addition processing of the adder, the reflection component from the direction corresponding to the reception directivity of the reflected wave signal is emphasized, and a comprehensive beam for ultrasonic transmission / reception is formed by the reception directivity and the transmission directivity.

  The transmitter / receiver 11 transmits a two-dimensional ultrasonic beam from the ultrasonic probe 1 when the subject P is two-dimensionally scanned. Then, the transmission / reception unit 11 generates two-dimensional reflected wave data from the two-dimensional reflected wave signal received by the ultrasonic probe 1. In addition, when the subject P is three-dimensionally scanned, the transmission / reception unit 11 transmits a three-dimensional ultrasonic beam from the ultrasonic probe 1. Then, the transmission / reception unit 11 generates three-dimensional reflected wave data from the three-dimensional reflected wave signal received by the ultrasonic probe 1.

  The form of the output signal from the transmission / reception unit 11 can be selected from various forms such as a signal including phase information called an RF (Radio Frequency) signal or amplitude information after envelope detection processing. Is possible.

  The B-mode processing unit 12 and the Doppler processing unit 13 are signal processing units that perform various types of signal processing on the reflected wave data generated from the reflected wave signal by the transmission / reception unit 11. The B-mode processing unit 12 receives the reflected wave data from the transmission / reception unit 11, performs logarithmic amplification, envelope detection processing, and the like, and generates data (B-mode data) in which the signal intensity is expressed by brightness. . Further, the Doppler processing unit 13 performs frequency analysis on velocity information from the reflected wave data received from the transmission / reception unit 11 and extracts data (Doppler data) obtained by extracting moving body information such as velocity, dispersion, and power due to the Doppler effect at multiple points. Generate. Here, the moving body is, for example, a blood flow, a tissue such as a heart wall, or a contrast agent.

  Note that the B-mode processing unit 12 and the Doppler processing unit 13 illustrated in FIG. 1 can process both two-dimensional reflected wave data and three-dimensional reflected wave data. That is, the B-mode processing unit 12 generates two-dimensional B-mode data from the two-dimensional reflected wave data, and generates three-dimensional B-mode data from the three-dimensional reflected wave data. The Doppler processing unit 13 generates two-dimensional Doppler data from the two-dimensional reflected wave data, and generates three-dimensional Doppler data from the three-dimensional reflected wave data.

  The image generation unit 14 generates ultrasonic image data from the data generated by the B mode processing unit 12 and the Doppler processing unit 13. That is, the image generation unit 14 generates two-dimensional B-mode image data in which the intensity of the reflected wave is expressed by luminance from the two-dimensional B-mode data generated by the B-mode processing unit 12. Further, the image generation unit 14 generates two-dimensional Doppler image data representing moving body information from the two-dimensional Doppler data generated by the Doppler processing unit 13. The two-dimensional Doppler image data is velocity image data, distributed image data, power image data, or image data obtained by combining these.

  Here, the image generation unit 14 generally converts (scan converts) a scanning line signal sequence of ultrasonic scanning into a scanning line signal sequence of a video format represented by a television or the like, and displays ultrasonic waves for display. Generate image data. Specifically, the image generation unit 14 generates ultrasonic image data for display by performing coordinate conversion in accordance with the ultrasonic scanning mode of the ultrasonic probe 1. In addition to the scan conversion, the image generation unit 14 performs various image processing, such as image processing (smoothing processing) for regenerating an average luminance image using a plurality of image frames after scan conversion, Image processing (edge enhancement processing) using a differential filter is performed in the image. Further, the image generation unit 14 synthesizes incidental information (character information of various parameters, scales, body marks, etc.) with the ultrasonic image data.

  That is, the B-mode data and Doppler data are ultrasonic image data before the scan conversion process, and the data generated by the image generation unit 14 is display ultrasonic image data after the scan conversion process. The B-mode data and the Doppler data are also called raw data (Raw Data). The image generation unit 14 generates “two-dimensional B-mode” that is two-dimensional ultrasonic image data for display from “two-dimensional B-mode data or two-dimensional Doppler data” that is two-dimensional ultrasonic image data before scan conversion processing. Image data and 2D Doppler image data "are generated.

  Further, the image generation unit 14 generates three-dimensional B-mode image data by performing coordinate conversion on the three-dimensional B-mode data generated by the B-mode processing unit 12. Further, the image generation unit 14 generates three-dimensional Doppler image data by performing coordinate conversion on the three-dimensional Doppler data generated by the Doppler processing unit 13. The image generation unit 14 generates “3D B-mode image data or 3D Doppler image data” as “3D ultrasound image data”.

  Further, the image generation unit 14 performs a rendering process on the volume data in order to generate various two-dimensional image data for displaying the volume data on the monitor 2. The rendering process performed by the image generation unit 14 includes, for example, a process of generating MPR image data from volume data by performing a multi-planar reconstruction (MPR). The rendering processing performed by the image generation unit 14 includes, for example, volume rendering (VR) processing that generates two-dimensional image data reflecting three-dimensional information.

  Furthermore, the image generation unit 14 can perform the above-described rendering processing on the three-dimensional medical image data captured by another medical image diagnostic apparatus. Such three-dimensional medical image data is three-dimensional X-ray CT image data captured by an X-ray CT apparatus or three-dimensional MRI image data captured by an MRI apparatus.

  The image memory 15 is a memory for storing image data for display generated by the image generation unit 14. The image memory 15 can also store data generated by the B-mode processing unit 12 and the Doppler processing unit 13. The B-mode data and Doppler data stored in the image memory 15 can be called by an operator after diagnosis, for example, and become ultrasonic image data for display via the image generation unit 14.

  The internal storage unit 16 stores a control program for performing ultrasonic transmission / reception, image processing and display processing, diagnostic information (for example, patient ID, doctor's findings, etc.), various data such as a diagnostic protocol and various body marks. To do. The internal storage unit 16 is also used for storing image data stored in the image memory 15 as necessary. Data stored in the internal storage unit 16 can be transferred to the external device 7 via an interface unit 19 described later.

  The image processing unit 17 is a processing unit on which an ultrasonic diagnostic apparatus is mounted in order to realize the “synchronous display function”. Here, the “synchronous display function” means that another type of medical image diagnostic apparatus collects two-dimensional medical image data having substantially the same cross section as a scanning cross section performed to generate two-dimensional ultrasonic image data. This is a function for causing the image generation unit 14 to generate the three-dimensional medical image data and display it on the monitor 2. The “synchronous display function” generates and displays ultrasonic image data and two-dimensional medical image data of substantially the same cross section in substantially real time as the scanning cross section is changed. In order to perform such processing, the graphic image processing unit 17 includes a determining unit 171, a region limiting unit 172, an image correlation processing unit 173, and a changing unit 174, as shown in FIG. 1. The processing executed by the image processing unit 17 will be described in detail later.

  The control unit 18 controls the entire processing of the ultrasonic diagnostic apparatus. Specifically, the control unit 18 is based on various setting requests input from the operator via the input device 3 and various control programs and various data read from the internal storage unit 16. Controls the processing of the processing unit 12, Doppler processing unit 13, image generation unit 14, and image processing unit 17. Further, the control unit 18 controls the monitor 2 to display the display image data stored in the image memory 15 or the internal storage unit 16. In addition, the control unit 18 controls so that medical image data received from the operator via the input device 3 is transferred from the external device 7 to the internal storage unit 16 via the network 100 and the interface unit 19.

  The interface unit 19 is an interface for the input device 3, the network 100, and the external device 7. Various setting information and various instructions from the operator received by the input device 3 are transferred to the control unit 18 by the interface unit 19. For example, a transfer request for image data received by the input device 3 from the operator is notified to the external device 7 via the network 100 by the interface unit 19. The image data transferred by the external device 7 is stored in the image memory 15 or the internal storage unit 16 by the interface unit 19.

  The overall configuration of the ultrasonic diagnostic apparatus according to this embodiment has been described above. In such a configuration, the ultrasonic diagnostic apparatus according to the first embodiment executes the “synchronous display function”. That is, the ultrasonic diagnostic apparatus according to the present embodiment three-dimensionally stores medical image data having substantially the same cross section as the cross section of the two-dimensional ultrasonic scan performed for generating two-dimensional ultrasonic image data in the image generation unit 14. It is generated from medical image data and displayed on the monitor 2. Specifically, the ultrasonic diagnostic apparatus according to the present embodiment causes the image generation unit 14 to generate medical image data of a cross section corresponding to the changed scan cross section in synchronization with the change of the scan cross section, and causes the monitor 2 to Display.

  Here, the conventional “synchronous display function” is realized by the determination unit 171 shown in FIG. 1. On the other hand, a “synchronous display function” according to the present embodiment, which will be described later, is mainly realized by the combined use of the determination unit 171 and the image correlation processing unit 173 shown in FIG. First, a conventional “synchronous display function” will be described with reference to FIGS. 3 and 4 are diagrams illustrating an example of processing performed by the determination unit illustrated in FIG.

  The determination unit 171 is a cut surface that generates 2D medical image data from 3D medical image data collected by another type of medical image diagnostic apparatus, and corresponds to a scanning section of ultrasonic image data displayed on the monitor 2. The corresponding cross section, which is a cross section, is determined based on the position information acquired by the position sensor 4. Specifically, the determination unit 171 determines the first coordinate system in the real space where the ultrasonic scanning is performed and the three-dimensional medical image data based on the initial setting received from the operator and the position information at the time of the initial setting. Corresponds to the second coordinate system of the virtual space. And the determination part 171 determines a corresponding | compatible cross section based on the change of a positional information, after matching a 1st coordinate system and a 2nd coordinate system.

  First, before performing an ultrasonic examination of the subject P using the ultrasonic probe 1, the operator requests transfer of 3D X-ray CT image data photographed including the examination site of the subject P. For example, the operator makes a transfer request for 3D X-ray CT image data obtained by imaging the entire subject P or 3D X-ray CT image data obtained by imaging the entire abdomen of the subject P. Then, the operator performs axis alignment between the first coordinate system and the second coordinate system as the first initial setting. Here, generally, the information on the posture of the subject P at the time of imaging is attached to the three-dimensional medical image data transferred in accordance with the DICOM standard as supplementary information of the three-dimensional medical image data. For example, such information is used to specify the “axial surface, coronal surface, and sagittal surface” of the subject P in the three-dimensional medical image data, that is, the “body axis direction, left-right direction, and dorsoventral direction” of the subject P. It can be used.

  The operator requests display of the X-ray CT image data group on the axial surface of the three-dimensional X-ray CT image data. The control unit 18 acquires the cross-sectional direction of the axial surface in the 3D X-ray CT image data from the incidental information, and causes the image generation unit 14 to generate MPR image data of a plurality of axial surfaces from the 3D X-ray CT image data. The X-ray CT image data group on the axial surface is displayed on the monitor 2. Alternatively, when the three-dimensional X-ray CT image data is composed of a plurality of axial planes, the control unit 18 causes the monitor 2 to display an X-ray CT image data group on the axial plane. Then, for example, the operator specifies the X-ray CT image data of the axial surface on which the xiphoid process of the subject P is depicted. Further, the operator sets a point on the body surface positioned above the xiphoid process in the X-ray CT image data of the axial surface on which the xiphoid process of the subject P is depicted.

  Then, for example, as shown in FIG. 3A, the operator abuts the ultrasonic probe 1 on the body surface where the sword-shaped projection of the subject P is located, and the ultrasonic probe 1 further touches the subject. It abuts in the scanning direction of the P axial surface. That is, the operator abuts the ultrasonic probe 1 on the subject P in a direction orthogonal to the body axis of the subject P. Here, the operator, for example, “point b” shown in FIG. 2A is on the right hand side of the subject P, and “point c” shown in FIG. 2A is on the left hand side of the subject P. Thus, the ultrasonic probe 1 is brought into contact with the subject P. In addition, the operator places the ultrasonic probe 1 on the subject P so that the direction from “point a” to “point d” shown in FIG. Touch.

  At this time, for example, the operator presses the “axis alignment button” of the input device 3 to notify the control unit 18 that the axis alignment as the first initial setting is completed. The determination unit 171 that has received the notification of the completion of the alignment from the control unit 18, the position information of the ultrasonic probe 1 when the alignment button is pressed, and the three-dimensional X-ray CT of the X-ray CT image data displayed on the monitor 2. From the position in the image data, the three-axis direction of the first coordinate system and the three-axis direction of the second coordinate system are determined. Here, the determination unit 171 sets the position of the point a of the ultrasonic probe 1 when the axis alignment button is pressed as the origin of the first coordinate system. Further, the determination unit 171 sets the position of the point set in the X-ray CT image data on the axial plane as the origin of the second coordinate system. The origin position set in the first coordinate system and the second coordinate system is not limited to the above case. In the present embodiment, each of the origin positions set in the first coordinate system and the second coordinate system may be an arbitrary position.

  Subsequently, as a second initial setting, the operator performs “mark alignment” that associates corresponding points in the two coordinate systems that are aligned with each other. For example, the operator adjusts the position of the cutting surface for MPR processing via the input device 3 so that X-ray CT image data depicting the examination site of the subject P is displayed on the monitor 2.

  Then, under the control of the control unit 18, the image generation unit 14 generates X-ray CT image data obtained by cutting the three-dimensional X-ray CT image data with the cut surface adjusted by the operator, and the monitor 2 displays the image generation unit 14. The X-ray CT image data generated by is displayed. The operator operates the ultrasonic probe 1 so that ultrasonic scanning of the same cross section as the X-ray CT image data displayed on the monitor 2 is performed. Thereby, the monitor 2 displays X-ray CT image data (see the left diagram in FIG. 3B) and ultrasonic image data (see the right diagram in FIG. 3B) having substantially the same cross section. To do. Then, the operator sets corresponding points in the X-ray CT image data and the ultrasonic image data displayed on the monitor 2 in both image data. For example, the operator sets “point e” in the ultrasound image data and sets “point f corresponding to point e” in the X-ray CT image data. “Point e” and “point f” are used for adjusting the correspondence between the first coordinate system and the second coordinate system.

  At this point, the operator notifies the control unit 18 that the mark alignment as the second initial setting has been completed, for example, by pressing the “mark mark button” of the input device 3. The determination unit 171 that has received the notification of completion of mark alignment from the control unit 18 presses the mark alignment button based on the difference (movement distance and movement direction) between the position information when the axis alignment button is pressed and the position information when the mark alignment button is pressed. The position of the scanning section at the time in the first coordinate system is calculated. Further, the determination unit 171 calculates the position of the “point e” in the first coordinate system. Further, the determination unit 171 acquires the position of the “point f” in the second coordinate system.

  As a result, the determination unit 171 associates the first coordinate system with the second coordinate system. For example, the determination unit 171 determines a transformation matrix for calculating the coordinates of the “point f” in the second coordinate system from the coordinates of the “point e” in the first coordinate system. In other words, the determining unit 171 determines the coordinates (x, Y) of the “point A ′ corresponding to the point A” in the second coordinate system from the coordinates (X, Y, Z) of the arbitrary “point A” in the first coordinate system. A transformation matrix for calculating y, z) is determined. Such a transformation matrix is a matrix having elements indicating rotational movement and parallel movement.

  In the initial setting, three or more points that the operator thinks correspond to the ultrasound image data and the X-ray CT image data (MPR image data) having substantially the same cross section as the ultrasound image data. It may be performed by setting.

  FIG. 4 is a diagram for explaining a conventional synchronous display function. After completing the initial setting, the determination unit 171 sequentially acquires the three-dimensional position information of the ultrasonic probe 1 from the position detection system including the position sensor 4 and the transmitter 5. For example, the determination unit 171 acquires the three-dimensional position information of the ultrasonic probe 1 from the position sensor 4 when the ultrasonic image data 200 illustrated in FIG. 4 is generated. And the determination part 171 determines a corresponding | compatible cross section based on the change from the time of the initial setting of the acquired three-dimensional position information. And the determination part 171 determines a corresponding | compatible cross section as a cut surface for MPR. Then, the image generation unit 14 generates the X-ray CT image data 102 from the three-dimensional X-ray CT image data 101 illustrated in FIG. 4 by using the cut surface determined by the determination unit 171. Under the control of the control unit 18, the monitor 2 displays the X-ray CT image data 102 and the ultrasonic image data 200 in parallel as shown in FIG.

  With such a conventional synchronous display function, for example, the operator can simultaneously observe ultrasonic image data and X-ray CT image data having substantially the same cross section as the ultrasonic image data.

  However, the magnetic field space generated by the transmitter 5 is distorted due to various factors. FIG. 5 is a diagram for explaining the distortion of the magnetic field space. For example, the magnetic field space is distorted by the metal when the subject P is lying on a metal surgical bed, as shown in FIG. Alternatively, the magnetic field space is distorted if there is a device that generates a magnetic field in the vicinity of the transmitter 5. However, the position of the ultrasonic probe 1 specified in a state where the magnetic field space is distorted may be different from the actual position. That is, the position information at the time of initial setting and the position information after the change may be different from the position information of the true ultrasonic probe 1.

  That is, when distortion occurs in the magnetic field space, the conventional synchronous display function causes a shift in the position of the specified ultrasonic scanning cross section, and an X-ray of a cross section different from the ultrasonic image data displayed on the monitor 2. CT image data may be displayed. Therefore, in the “synchronous display function” according to the present embodiment, the following processing is performed in order to specify the position of the ultrasonic scanning section even when the magnetic field is distorted. Hereinafter, a case where the “synchronous display function” according to the present embodiment is performed on three-dimensional X-ray CT image data will be described. However, the “synchronous display function” according to the present embodiment is applicable even when it is performed on three-dimensional MRI image data.

  First, also in the present embodiment, the determination unit 171 illustrated in FIG. 1 displays a corresponding cross-section corresponding to the scanning cross-section of the ultrasonic image data displayed on the monitor 2 based on the position information of the ultrasonic probe 1. Determined in line CT image data.

  Further, the image correlation processing unit 173 shown in FIG. 1 searches for a similar section similar to the ultrasound image data displayed on the monitor 2 from the three-dimensional medical image data based on the correlation between images. In the present embodiment, the image correlation processing unit 173 displays a cross-section (similar cross-section) in which X-ray image data similar to the ultrasound image data displayed on the monitor 2 is rendered, such as cross-correlation, autocorrelation, mutual information, A search is performed from the three-dimensional X-ray image data 101 using a known technique such as a standardized mutual information amount or a correlation ratio.

  And the change part 174 shown in FIG. 1 changes a cut surface from a corresponding cross section to a similar cross section, when the position of a similar cross section differs from the position of a corresponding cross section. FIG. 6 is a diagram for explaining the changing unit shown in FIG. 1. For example, as illustrated in FIG. 6, the changing unit 174 determines the position of the corresponding cross-section S determined from the position information of the ultrasonic probe 1 in the three-dimensional X-ray CT image data 101 (second coordinate system). Get from. Further, for example, as shown in FIG. 6, the changing unit 174 converts the position in the three-dimensional X-ray CT image data 101 (second coordinate system) of the similar section S ′ searched by image correlation to the image correlation processing unit 173. Get from. Then, for example, as shown in FIG. 6, the changing unit 174 determines that the similar cross section S ′ is the cut surface of the three-dimensional X-ray CT image data 101 when the position of the corresponding cross section S is different from the position of the similar cross section S ′. To do. Although not shown, the changing unit 174 sets the corresponding cross section S as the cut surface of the three-dimensional X-ray CT image data 101 when the position of the corresponding cross section S and the position of the similar cross section S ′ substantially coincide.

  Thereby, in this embodiment, even when the magnetic field is distorted, the position of the ultrasonic scanning section can be specified. In the above case, the direction of the cross section for searching for a similar cross section can be limited to some extent from the azimuth direction and the depth direction in the corresponding cross section S. However, even in such a case, the image correlation processing unit 173 needs to search the similar cross section similar to the ultrasound image data displayed on the monitor 2 from the entire three-dimensional medical image data. In this case, the real-time property of the “synchronous display function” may deteriorate. Therefore, the image processing unit 17 according to the present embodiment performs processing based on the index acquired by the strain sensor 6 by the region limiting unit 172 illustrated in FIG.

  As described above, the strain sensor 6 shown in FIG. 1 acquires an index indicating the degree of distortion of the magnetic field in the space where the ultrasonic probe 1 is located. Here, the space in which the ultrasound probe 1 is located is, for example, a three-dimensional space centered on the “point a” shown in FIG. FIG. 7 is a diagram illustrating an example of an index acquired by the strain sensor illustrated in FIG. For example, as shown in FIG. 7, the strain sensor 6 that has detected the degree of distortion acquires an index that increases as the detected degree of distortion decreases and decreases as the detected degree of distortion increases. To do. In the example shown in FIG. 7, the strain sensor 6 divides the degree of distortion into 10 levels of “1 to 10”, sets the state where there is almost no distortion as “10”, and sets the value as the degree of distortion increases. An index to be sequentially reduced to “9-1” is acquired. In the present embodiment, the position sensor 4 may have the function of the strain sensor 6.

  Then, the area limiting unit 172 illustrated in FIG. 1 limits the search area in which the image correlation processing unit 173 searches for a similar cross section from the three-dimensional medical image data based on the index. FIG. 8 is a diagram showing an example of processing performed by the area limiting unit shown in FIG. For example, as shown in FIG. 8, the region limiting unit 172 narrows the search region because the degree of distortion is small as the index is large, and widens the search region because the degree of distortion is large as the index is small. .

  In the example illustrated in FIG. 8, when the index is “1”, the search area is the entire three-dimensional X-ray CT image data 101. In the example illustrated in FIG. 8, when the index is a value greater than “1”, the search area is limited to a partial area of the three-dimensional X-ray CT image data 101 centered on the corresponding cross-section S. In the example illustrated in FIG. 8, the search area is limited to be narrowed as the index increases. Note that the search area can be arbitrarily set by the operator. For example, in FIG. 8, the search area is set as a rectangular parallelepiped based on the three axes of the second coordinate system, but in this embodiment, the search area is set based on a plane parallel to the corresponding section S. It may be.

  The image correlation processing unit 173 searches for a similar cross section in the search region limited by the region limiting unit 172. Then, as described above, when the position of the similar cross section and the position of the corresponding cross section are different, the changing unit 174 changes the cut surface from the corresponding cross section to the similar cross section.

  Here, in this embodiment, in order to further improve the real-time property of the “synchronous display function”, the changing unit 174 further performs the following first addition process and second addition process. As the first additional processing, the changing unit 174 does not perform the processing of the image correlation processing unit 173 when both the index at the initial setting and the index at the time when the position information changes are within a predetermined allowable range. In addition, the corresponding cross section is a cut surface.

  FIG. 9 is a diagram for describing the first addition process performed by the changing unit illustrated in FIG. 1. For example, the predetermined allowable range is set as a range where the index is “9 to 10”. In the example illustrated in FIG. 9, when the index at the initial setting time is in the range of “9 to 10” and the index at the time of position information change is in the range of “9 to 10”, the changing unit 174 has the cut surface. Is the corresponding section determined by the determining unit 171. That is, in the first addition process, when it is determined that there is almost no distortion in the magnetic field space between the initial setting time point and the position information change time point, the changing unit 174 omits the similar cross-section search process, and the determining unit 171 The determined corresponding cross section is taken as the cut surface.

  Further, as the second addition process, when the cutting surface is changed from the corresponding cross section to the similar cross section, the changing unit 174 changes the second coordinate system so that the position of the similar cross section becomes the position of the corresponding cross section. Then, the changing unit 174 stores the changed second coordinate system in the internal storage unit 16 in association with the position of the contact surface and the index at the position included in the position information used for determining the corresponding cross section. .

  FIG. 10 is a diagram for describing the second addition process performed by the changing unit illustrated in FIG. 1. The left diagram in FIG. 10 shows the second coordinate system determined by the initial setting. Further, in the right diagram of FIG. 10, the contact surface center coordinates (the coordinates of the point a shown in FIG. 2A) are (x1, y1, z1), and the index at (x1, y1, z1) is “ The second coordinate system after the change when the position of the corresponding cross section and the position of the similar cross section are different at the time of “3” is shown. The example shown in FIG. 10 indicates that the second coordinate system at the time of initial setting is rotated so that the position of the similar cross section becomes the position of the corresponding cross section. In such a case, the changing unit 174 stores the changed second coordinate system shown in the right diagram of FIG. 10 in the internal storage unit 16 in association with “(x1, y1, z1), index: 3”. In other words, in the second coordinate system shown in the right diagram of FIG. 10, the ultrasonic wave acquired by the position sensor 4 when the contact surface center coordinates are (x1, y1, z1) and the index is “3”. The second coordinate system is changed from the second coordinate system at the time of initial setting so that the position information of the probe 1 can be handled as true position information.

  When the position information changes, the changing unit 174 has a second coordinate system associated with the position of the contact surface (contact surface center coordinates) and the index at the position included in the changed position information. It is determined whether or not it is stored in the internal storage unit 16. When stored in the second coordinate system associated with the position of the contact surface and the index at the position included in the position information after the change, the changing unit 174 uses the second coordinate system to determine the determining unit. The corresponding cross section is determined by 171 and the corresponding cross section is set as a cut surface.

  For example, the changing unit 174 determines that the contact surface center coordinates included in the position information after the change are (x1, y1, z1) and the index at (x1, y1, z1) is “3”. The determination unit 171 is notified of the second coordinate system shown in the right figure of FIG. In this case, the determination unit 171 determines the corresponding cross section based on the second coordinate system shown in the right diagram of FIG. 10 and the position information of the ultrasonic probe 1 acquired by the position sensor 4. In other words, the determination unit 171 obtains the position information of the ultrasonic probe 1 acquired by the position sensor 4 when the contact surface center coordinates are (x1, y1, z1) and the index is “3”. The coordinates of the scanning section in the first coordinate system are converted to the coordinates of the corresponding section in the second coordinate system shown in the right diagram of FIG. 10 using the conversion matrix obtained by the initial setting. By diverting the second coordinate system after the change by the second addition process, the search process for a similar cross section can be omitted, and the corresponding cross section determined by the determination unit 171 can be used as a cut surface.

  Even if the contact angles are different, if the contact surface center position is the same and the index is the same, the position measurement error due to the distortion of the magnetic field space can be regarded as the same level. For this reason, the changing unit 174 uses the contact surface center position and the index value as determination targets for determining whether or not to execute the second addition process. Further, the present embodiment may be a case where the first coordinate system is changed.

  Next, an example of processing performed by the ultrasonic diagnostic apparatus according to the present embodiment will be described with reference to FIG. FIG. 11 is a flowchart illustrating an example of processing performed by the ultrasonic diagnostic apparatus according to the present embodiment. In the example illustrated in FIG. 11, the processing after the association between the first coordinate system and the second coordinate system is completed by the initial setting described with reference to FIG. 3 and the synchronous display start request is input is described. To do. In the example illustrated in FIG. 11, a process after the position information acquisition process by the position sensor 4 and the index acquisition process by the distortion sensor 6 are started by the input of the synchronous display start request will be described.

  As illustrated in FIG. 11, the determination unit 171 of the ultrasonic diagnostic apparatus according to the present embodiment determines whether the position information of the ultrasonic probe 1 has changed (Step S <b> 101). If the position information has not changed (No at Step S101), the determination unit 171 waits until the position information changes.

  On the other hand, when the position information has changed (Yes in step S101), the change unit 174 determines whether the indicators at the initial setting time and the change time of the position information are within a predetermined allowable range based on the notification from the determination unit 171 ( Step S102). Here, when the indices at the initial setting time point and the change time point of the position information are within the predetermined allowable range (Yes at Step S102), the determination unit 171 instructs the change unit 174 based on the change in the position information according to the instruction of the change unit 174. Is determined (step S110). Then, the changing unit 174 sets the corresponding cross section determined in step S110 as a cut surface (step S112).

  On the other hand, if the indices at the initial setting time and the change time of the position information are not within the predetermined allowable range (No at Step S102), the changing unit 174 uses the second coordinates corresponding to the contact surface center position and the index at the change time of the position information. It is determined whether or not the system has been stored (step S103). Here, when it has been stored (Yes at Step S103), the determining unit 171 determines the corresponding cross section based on the position information after the change in the corresponding second coordinate system according to the instruction of the changing unit 174 (Step S103). S111). Then, the changing unit 174 sets the corresponding cross section determined in step S111 as a cut surface (step S112).

  On the other hand, if it has not been stored (No at Step S103), according to an instruction from the changing unit 174, the determining unit 171 determines the corresponding cross section based on the changed position information in the second coordinate system at the time of initial setting (Step S103). S104). Then, the region limiting unit 172 limits the search region based on the index acquired by the strain sensor 6 when the position information changes (step S105). Then, the image correlation processing unit 173 searches for a similar cross section in the search region limited by the region limiting unit 172 (step S106).

  Then, the changing unit 174 determines whether or not the position of the corresponding cross section and the position of the similar cross section are the same (step S107). Here, when the position of both cross sections is the same (Yes in Step S107), the changing unit 174 sets the corresponding cross section determined in Step S104 as a cut surface (Step S112).

  On the other hand, when the positions of the two cross sections are different (No at Step S107), the changing unit 174 changes the cut surface to a similar cross section (Step S108). Then, the changing unit 174 changes the second coordinate system based on the position of the similar cross section, and associates the changed second coordinate system with the contact surface center position and the index at the time of change of the position information as the internal storage unit. 16 (step S109).

  And the control part 18 notified from the change part 174 of the position of the cut surface set by step S112 or step S108 performs the synchronous display using a cut surface (step S113). Then, the control unit 18 determines whether or not a synchronous display end request has been received (step S114). Here, when the synchronous display end request is not accepted (No at Step S114), the control unit 18 controls the determination unit 171 to return to Step S101 and determine whether or not the position information of the ultrasound probe 1 has changed. judge.

  On the other hand, when the end request for synchronous display is received (Yes at Step S114), the control unit 18 ends the synchronous display function according to the present embodiment.

  As described above, in the present embodiment, when the corresponding cross-section determination process based on the position information and the similar cross-section search process based on the image correlation are used together, the corresponding cross-section position is different from the similar cross-section position. The surface has a similar cross section. Thereby, in this embodiment, the position of the ultrasonic scanning section can be specified even when the magnetic field is distorted.

  Moreover, in this embodiment, the search area | region of a similar cross section is limited based on a parameter | index. Thereby, in this embodiment, the real time property of the synchronous display function using the search process of a similar cross section can be ensured. Further, in this embodiment, when it is determined that the initial setting index and the position index at the time of position information change are both substantially free of distortion, the similar cross-section search process based on the image correlation is omitted. Then, a first additional process is performed in which the corresponding cross-section determined based on the position information is used as a cut surface. Thereby, in this embodiment, the real time property of a synchronous display function can be ensured more.

  In the present embodiment, the second coordinate system is changed from the position of the corresponding cross section and the position of the similar cross section, and the changed second coordinate system is stored in association with the contact surface center position and the index. In this embodiment, when the ultrasonic scanning is performed at the same position without changing the degree of distortion, the cut surface is determined by using the corresponding second coordinate system after change. That is, in the present embodiment, the second additional process that omits the search process of the similar cross section based on the image correlation is performed by diverting the changed second coordinate system. Thereby, in this embodiment, the real time property of an exact synchronous display function can be improved.

  In the present embodiment, when the processing capability of the image correlation processing unit 173 is high, the search area limiting process, the similar cross-section search omitting process based on the allowable range, the first additional process, and the second additional process are not performed. There may be. Further, in the present embodiment, the processing to be performed in addition to the processing for determining the corresponding cross section based on the position information and the search processing for the similar cross section based on the image correlation is omitted. The processing, the first addition process, and a part of the second addition process may be included.

  Further, each component of each illustrated apparatus is functionally conceptual, and does not necessarily need to be physically configured as illustrated. In other words, the specific form of distribution / integration of each device is not limited to the one shown in the figure, and all or a part of the distribution / integration is functionally or physically distributed in arbitrary units according to various loads and usage conditions. Can be integrated and configured. Further, all or a part of each processing function performed in each device may be realized by a CPU and a program analyzed and executed by the CPU, or may be realized as hardware by wired logic.

  Note that the image processing method described in the present embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This image processing program can be distributed via a network such as the Internet. The image processing program is recorded on a computer-readable non-transitory recording medium such as a hard disk, a flexible disk (FD), a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer. You can also.

  As described above, according to the present embodiment, the position of the ultrasonic scanning section can be specified even when the magnetic field is distorted.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

171 Determining unit 172 Region limiting unit 173 Image correlation processing unit 174 Changing unit

Claims (6)

A position information acquisition unit that acquires the position and contact angle of the contact surface of the ultrasonic probe with respect to the subject as position information;
Corresponding cross section that is a cut surface that generates 2D medical image data from 3D medical image data collected by another type of medical image diagnostic apparatus and that corresponds to the scanning cross section of the ultrasonic image data displayed on the display unit And a determination unit that determines based on the position information;
An image correlation processing unit for searching a similar section similar to the ultrasound image data displayed on the display unit from the three-dimensional medical image data based on the correlation between images;
When the position of the similar cross section is different from the position of the corresponding cross section, the changing unit that changes the cut surface from the corresponding cross section to the similar cross section,
An ultrasonic diagnostic apparatus comprising:   The ultrasonic diagnostic apparatus according to claim 1, wherein the position information acquisition unit acquires the position information by detecting a magnetic field. An index acquisition unit for acquiring an index indicating the degree of distortion of the magnetic field in the space where the ultrasonic probe is located;
Based on the index, a region limiting unit that limits a search region in which the image correlation processing unit searches the similar cross section from the three-dimensional medical image data;
The ultrasonic diagnostic apparatus according to claim 1, further comprising: Based on the initial setting received from the operator and the position information at the time of the initial setting, the determination unit determines the first coordinate system of the real space in which ultrasonic scanning is performed and the virtual space of the three-dimensional medical image data. After associating with the second coordinate system, determining the corresponding cross section based on the change in the position information,
If the index at the time of the initial setting and the index at the time when the position information changes are both within a predetermined allowable range, the changing unit does not perform the processing of the image correlation processing unit and performs the corresponding The ultrasonic diagnostic apparatus according to claim 1, wherein a cross section is the cut surface. The changing unit is
When the cut surface is changed from the corresponding cross section to the similar cross section in the previous period, the second coordinate system is changed so that the position of the similar cross section becomes the position of the corresponding cross section, and the changed second coordinate system is the corresponding Stored in a predetermined storage unit in association with the position of the contact surface and the index at the position included in the position information used to determine the cross section,
When the position information has changed, when the second coordinate system associated with the position of the contact surface included in the changed position information and the index at the position is stored in the predetermined storage unit, The ultrasonic diagnostic apparatus according to claim 4, wherein the determination unit is configured to determine a corresponding section using a second coordinate system, and the corresponding section is used as a cut surface. Position information acquisition procedure for acquiring the position and contact angle of the contact surface of the ultrasonic probe with respect to the subject as position information;
Corresponding cross section that is a cut surface that generates 2D medical image data from 3D medical image data collected by another type of medical image diagnostic apparatus and that corresponds to the scanning cross section of the ultrasonic image data displayed on the display unit Determining procedure based on the position information;
Based on the correlation between images, an image correlation processing procedure for searching a similar section similar to the ultrasound image data displayed on the display unit from the three-dimensional medical image data;
When the position of the similar cross section is different from the position of the corresponding cross section, the changing procedure for changing the cut surface from the corresponding cross section to the similar cross section;
An image processing program for causing a computer to execute.

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