Target tissue model display control device and target tissue model display control program

Abstract

To enable an operator to more suitably grasp which cross section of which tissue of a subject a displayed ultrasonic tomographic image represents.SOLUTION: The image forming unit 34 forms an ultrasonic tomographic image 60 representing a cross section of the target tissue based on a reception signal obtained by causing the ultrasonic probe 14 to transmit and receive ultrasonic waves to and from the target tissue of the subject E. The probe detection unit 50 detects the position and orientation of the ultrasonic probe 14. The model forming unit 54 forms a target tissue model 70 representing the shape of the target tissue based on the volume data 46 representing the target tissue formed from the reception signal based on the reflected wave from the target tissue of the subject E. The display control unit 36 displays, on the display 38, a body mark 64 as a subject symbol that schematically expresses the outer shape of the subject E, a probe mark 66 as a probe symbol that expresses the position and orientation of the ultrasonic probe 14, and a target tissue model 70 superimposed on the body mark 64.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] This specification discloses an improvement to a target organization model display control device and a target organization model display control program. [Background technology]

[0002] There is known an ultrasonic diagnostic device that transmits ultrasonic waves from an ultrasonic probe toward a subject, receives reflected waves from the subject at the ultrasonic probe, and performs various processes, such as forming an ultrasonic tomographic image showing a cross section inside the subject, forming a Doppler image showing the velocity of tissue (blood, etc.) inside the subject, or performing various measurements, based on a received signal formed from the reflected waves.

[0003] Conventionally, a subject symbol (e.g., a body mark) that schematically represents the external shape of the subject is displayed together with an ultrasonic tomographic image formed by an ultrasonic diagnostic device. By displaying a probe symbol (e.g., a probe mark) that indicates the position and posture of the ultrasonic probe when the displayed ultrasonic tomographic image was acquired on the subject symbol, an operator such as a doctor can easily understand which cross section of the subject the displayed ultrasonic tomographic image represents.

[0004] Various technologies relating to subject symbols have been proposed in the past. For example, Patent Document 1 discloses an ultrasound diagnostic device that stores a history body mark reflecting the results of past examinations in association with a patient ID that uniquely identifies a patient in a patient history storage unit, and that displays the history body mark associated with a patient ID when the patient ID entered from an operation unit is stored in the patient history storage unit.

[0005] Furthermore, Patent Document 2 discloses an ultrasound diagnostic device that sequentially displays a first-level body mark indicating the type of subject, a second-level body mark indicating the examination area, and a third-level body mark indicating the organ to be examined on a display unit, and allows the examiner to sequentially select a body mark on each level. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-136044 [Patent Document 2] Japanese Patent Application Laid-Open No. 2016-97070 Summary of the Invention [Problem to be solved by the invention]

[0007] Generally, subject symbols such as body marks represent only the external shape of the subject. Therefore, even if an ultrasonic tomographic image, a body mark, and a probe mark are displayed, it may be difficult for the operator to understand which cross section of which tissue the ultrasonic tomographic image specifically represents. In particular, since the shape (including size) of the same organ may differ depending on the subject, it is difficult for the operator to understand which cross section of which tissue the ultrasonic tomographic image represents from only the body mark and probe mark.

[0008] The purpose of the subject tissue model display control device disclosed in this specification is to enable the operator to more easily understand which cross section of which tissue in the subject is represented by the displayed ultrasound tomographic image. [Means for solving the problem]

[0009] The target tissue model display control device disclosed in this specification is characterized by comprising: a probe detection unit that detects the position and posture of an ultrasound probe that transmits and receives ultrasound to and from a target tissue of a subject; a model formation unit that forms a target tissue model that represents the shape of the target tissue based on volume data that represents the target tissue formed from received signals based on reflected waves from the target tissue; and a display control unit that displays, on a display unit, a subject symbol that schematically represents the outer shape of the subject and a probe symbol that represents the position and posture of the ultrasound probe, and displays the target tissue model superimposed on the subject symbol.

[0010] The target tissue model may be a three-dimensional model in which the shape of the target tissue is represented three-dimensionally.

[0011] The apparatus may further include a lesion position detection unit that detects the position of the ultrasound probe as the lesion position when a lesion is found in an ultrasound tomographic image formed by transmitting and receiving ultrasound to the subject, and the display control unit may display a lesion position index indicating the lesion position superimposed on the subject symbol.

[0012] The system may further include a camera that captures images of the subject and the ultrasound probe, and the display control unit may cause the display unit to display images captured by the camera as the subject symbol and the probe symbol.

[0013] The ultrasound system may further include a notification processing unit that notifies a user that the position or orientation of the ultrasound probe cannot be detected while the probe detection unit is unable to detect the position or orientation of the ultrasound probe.

[0014] Furthermore, the target tissue model display control program disclosed in this specification is characterized in that it causes a computer to function as: a probe detection unit that detects the position and posture of an ultrasound probe that transmits and receives ultrasound to and from a target tissue of a subject; a model formation unit that forms a target tissue model that represents the shape of the target tissue based on volume data that represents the target tissue formed from received signals based on reflected waves from the target tissue; and a display control unit that displays, on a display unit, a subject symbol that schematically represents the outer shape of the subject and a probe symbol that represents the position and posture of the ultrasound probe, and displays the target tissue model superimposed on the subject symbol. [Effects of the Invention]

[0015] According to the target tissue model display control device disclosed in this specification, the operator can more easily understand which cross section of which tissue of the subject is represented by the displayed ultrasound tomographic image. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a schematic diagram illustrating the configuration of an ultrasound diagnostic system according to an embodiment of the present invention. [Figure 2] FIG. 10 is a diagram showing an example of an image captured by a camera. [Figure 3] 1 is a schematic diagram illustrating the configuration of an ultrasound diagnostic apparatus according to the present embodiment. [Figure 4] FIG. 2 is a diagram showing a first state in which an ultrasonic probe is brought into contact with a subject in this embodiment. [Figure 5] FIG. 1 is a first diagram showing a display example of an ultrasonic tomographic image, a body mark, and a probe mark. [Figure 6] FIG. 10 is a diagram showing a second state in which the ultrasonic probe is brought into contact with the subject in this embodiment. [Figure 7] FIG. 2 is a second diagram showing an example of displaying an ultrasonic tomographic image, a body mark, and a probe mark. [Figure 8] 10A and 10B are diagrams showing examples of display of an ultrasonic tomographic image and a captured image. [Figure 9]10A and 10B are diagrams illustrating an example of a notification that the posture of the ultrasound probe cannot be detected. [Figure 10] FIG. 2 is a conceptual diagram illustrating the concept of volume data formation processing. [Figure 11] FIG. 2 is a conceptual diagram illustrating the concept of a target tissue model formation process. [Figure 12] 10A and 10B are diagrams showing examples of display of an ultrasonic tomographic image and a target tissue model. [Figure 13] FIG. 10 is a diagram showing an example of a lesion identification screen. [Figure 14] FIG. 10 is a diagram showing a first display example of an ultrasonic tomographic image and a lesion position index. [Figure 15] FIG. 10 is a diagram showing a second display example of an ultrasonic tomographic image and a lesion position index. [Figure 16] 10A and 10B are diagrams showing examples of displaying an ultrasonic tomographic image, a captured image, a target tissue model, and a lesion position index. DETAILED DESCRIPTION OF THE INVENTION

[0017] 1 is a schematic diagram of the configuration of an ultrasound diagnostic system 10 according to this embodiment. The ultrasound diagnostic system 10 includes a camera 12 and an ultrasound diagnostic device 16 serving as a target tissue model display control device including an ultrasound probe 14. The camera 12 and the ultrasound diagnostic device 16 are connected to each other so that they can communicate with each other.

[0018] The ultrasonic probe 14 is provided with a probe detection marker 20. The probe detection marker 20 is a mark having a pattern that indicates the position and posture of the ultrasonic probe 14. One example of the probe detection marker 20 is an AR (Argumented Reality) marker.

[0019] The camera 12 includes a lens, an image sensor, a processor such as a CPU, and a communication interface such as a network adapter. The camera 12 captures images of the subject E and the ultrasound probe 14 (more specifically, the probe detection marker 20). The camera 12 may be an external camera that captures images of the body surface of the subject E, or an internal camera such as an endoscope that is inserted into the subject. A captured image is formed by the image sensor of the camera 12, and the captured image is transmitted to the ultrasound diagnostic device 16 via the communication interface of the camera 12.

[0020] 2 is a diagram showing an example of an image 22 captured by the camera 12. As described above, the captured image 22 includes an image of the probe detection marker 20. The ultrasound diagnostic device 16 analyzes the image of the probe detection marker 20 shown in the captured image 22, thereby detecting the position and orientation of the ultrasound probe 14. Details of the process for detecting the position and orientation of the ultrasound probe 14 will be described later.

[0021] 3 is a schematic diagram of the configuration of the ultrasonic diagnostic device 16. The ultrasonic diagnostic device 16 is a medical device installed in a medical institution such as a hospital.

[0022] The ultrasonic probe 14 is a device that transmits and receives ultrasonic waves to and from the subject E, particularly to the target tissue of the subject E. The ultrasonic probe 14 has a transducer element array consisting of a plurality of transducer elements that transmit and receive ultrasonic waves to and from the target tissue. The transducer element array of the ultrasonic probe 14 is formed from a plurality of transducer elements arranged in one direction (array direction). A transmission signal is supplied to each transducer element from the transceiver unit 30, which will be described later, causing each transducer element to generate ultrasonic waves. Specifically, the ultrasonic probe 14 scans an ultrasonic beam in a plane (scanning plane) parallel to the array direction.

[0023] As described above, the ultrasonic probe 14 is provided with a probe detection marker 20 .

[0024] The transmitter / receiver unit 30 transmits a transmission signal to the ultrasound probe 14 (more specifically, to each transducer element of the transducer element array) under the control of the controller 48, which will be described later. The transmitter / receiver unit 30 also receives a reception signal from each transducer element that has received a reflected wave from the target tissue. The transmitter / receiver unit 30 has an adder and a plurality of delay elements corresponding to each transducer element, and performs a phased addition process using the adder and the plurality of delay elements to align and add the phases of the reception signals from each transducer element. This forms a reception beam signal in which information indicating the signal intensity of the reflected wave from the target tissue is aligned in the depth direction of the target tissue.

[0025] The signal processing unit 32 performs various signal processing on the received beam signal from the transmitting / receiving unit 30, including filtering using a band-pass filter and detection processing.

[0026] Based on the received beam signals that have been signal-processed in the signal processing unit 32, the image forming unit 34 forms an ultrasonic tomographic image (B-mode image) that represents a cross section of the target tissue (particularly the scanning plane of the ultrasonic beam).

[0027] The display control unit 36 ​​controls the display of various images, including the ultrasonic tomographic image formed by the image forming unit 34, on the display 38.

[0028] The display 38 serving as a display unit is a display device configured, for example, by a liquid crystal display or an organic EL (Electro Luminescence) display.

[0029] The transmitter / receiver 30, signal processor 32, image generator 34, and display controller 36 of the ultrasound diagnostic device 16 are configured by a processor. The processor includes at least one of a general-purpose processing device (e.g., a CPU) and a dedicated processing device (e.g., a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or a programmable logic device). The processor may not be a single processing device, but may be configured by the cooperation of multiple processing devices located at physically separate locations. Furthermore, each of the above units may be realized by the cooperation of hardware such as a processor and software.

[0030] The communication interface 40 is configured by, for example, a network adapter, etc. The communication interface 40 performs the function of communicating with other devices (particularly the camera 12). In particular, the communication interface 40 receives captured images from the camera 12.

[0031] The input interface 42 is configured by, for example, a button, a trackball, a touch panel, etc. The input interface 42 is used to input commands from the operator who uses the ultrasound diagnostic apparatus 16 to the ultrasound diagnostic apparatus 16.

[0032] The memory 44 includes a hard disk drive (HDD), a solid state drive (SSD), an embedded multi-media card (eMMC), a read-only memory (ROM), a random access memory (RAM), or the like. The memory 44 stores a target tissue model display control program for operating each unit of the ultrasound diagnostic device 16. The target tissue model display control program may also be stored in a computer-readable non-transitory storage medium such as a universal serial bus (USB) memory or a CD-ROM. The ultrasound diagnostic device 16 can read and execute the target tissue model display control program from such a storage medium. The ultrasound diagnostic device 16 performs the functions described below by reading the target tissue model display control program, and therefore, the ultrasound diagnostic device 16 can be considered a computer program product.

[0033] 3, volume data 46 is stored in the memory 44. The volume data 46 is formed by a model forming unit 54 (to be described later) and stored in the memory 44. The volume data 46 will be described in detail later.

[0034] The control unit 48 includes at least one of a general-purpose processor (e.g., a CPU) and a dedicated processor (e.g., a GPU, an ASIC, an FPGA, or a programmable logic device). The control unit 48 may not be a single processing unit, but may be configured by the cooperation of multiple processing units located in physically separate locations. The control unit 48 controls each unit of the ultrasound diagnostic device 16. As shown in FIG. 3, the control unit 48 functions as a probe detection unit 50, a notification processing unit 52, a model formation unit 54, and a lesion position detection unit 56 in accordance with the ultrasound diagnostic program stored in the memory 44.

[0035] The probe detection unit 50 detects at least one of the position and orientation of the ultrasonic probe 14. In this embodiment, the probe detection unit 50 detects the position and orientation of the ultrasonic probe 14 by analyzing the captured image 22 acquired by the camera 12. As described above, the captured image 22 includes an image of the probe detection marker 20 indicating the position and orientation of the ultrasonic probe 14 (see FIG. 2). The probe detection unit 50 detects parameters indicating the position and orientation of the ultrasonic probe 14 by analyzing the image of the probe detection marker 20 in the captured image 22. The parameters indicating the position of the ultrasonic probe 14 may be, for example, three-dimensional coordinates in a camera coordinate system. The parameters indicating the orientation of the ultrasonic probe 14 may be a rotation angle with respect to a predetermined axis in the camera coordinate system. Note that a known method can be used to detect the position and orientation of the ultrasonic probe 14 in the camera coordinate system from the image of the probe detection marker 20 included in the captured image 22, and therefore detailed description thereof will be omitted here.

[0036] The probe detection unit 50 performs calibration before detecting the position and orientation of the ultrasound probe 14 based on the captured image 22. Specifically, the operator sets the position and orientation of the ultrasound probe 14 to a predetermined position and orientation, and inputs a calibration instruction to the ultrasound diagnostic device 16 in that state. The probe detection unit 50 detects the position and orientation of the ultrasound probe 14 at the time the calibration instruction was input, based on the probe detection markers 20 included in the captured image 22, and stores these in the memory 44 as the reference position and reference orientation. Thereafter, the probe detection unit 50 detects the position of the ultrasound probe 14 relative to the known reference position, and detects the orientation of the ultrasound probe 14 relative to the known reference orientation.

[0037] The probe detection unit 50 may detect at least one of the position and orientation of the ultrasonic probe 14 by a method other than analyzing the captured image 22. For example, the ultrasonic probe 14 may be provided with a position and orientation sensor such as a magnetic sensor or an acceleration sensor, and at least one of the position and orientation of the ultrasonic probe 14 in real space may be detected based on the detection value of the position and orientation sensor.

[0038] As described above, the left-right direction of the ultrasonic tomographic image is determined according to the attitude of the ultrasonic probe 14. Therefore, the display control unit 36 ​​displays the ultrasonic tomographic image formed by the image forming unit 34 on the display 38 in accordance with the attitude of the ultrasonic probe 14 detected by the probe detection unit 50 so that the ultrasonic tomographic image complies with a predetermined display rule.

[0039] The display processing of ultrasonic tomographic images (particularly the left-right reversal processing of ultrasonic tomographic images) will be described in detail with reference to Figs. 4 to 7. Fig. 4 is a diagram showing a first state in which the ultrasonic probe 14 is placed against the subject E in this embodiment. In this example, it is assumed that an operator such as a doctor is attempting to form an ultrasonic tomographic image of the liver of the subject E. It is assumed that calibration is performed with the ultrasonic probe 14 in the position shown in Fig. 4, that is, with one end 14a of the ultrasonic probe 14 facing the feet. The direction in which the one end 14a of the ultrasonic probe 14 faces during calibration is the X axis, and the direction in which the one end 14a of the ultrasonic probe 14 faces at the current time is indicated by an arrow P. X In the state shown in Figure 4, the X axis points towards the foot, and the arrow P X is oriented in the X-axis (i.e., foot-side) direction.

[0040] The ultrasonic probe 14 in this embodiment has an array of transducer elements arranged in one direction (array direction) from one end 14a to the other end of the ultrasonic probe 14, and the scanning direction of the ultrasonic beam is parallel to the array direction. Therefore, the one end 14a side of the ultrasonic probe 14 can be said to be one end side in the scanning direction of the ultrasonic beam (for example, the scanning start end side).

[0041] 5 is a diagram showing a display example of an ultrasonic tomographic image 60 formed when the ultrasonic probe 14 is in the position and orientation shown in FIG. 4. As shown in FIG. 4, when the orientation of the ultrasonic probe 14 is such that one end 14a (i.e., one end side in the scanning direction of the ultrasonic beam) faces the X-axis direction, i.e., the foot side, the image forming unit 34 forms an ultrasonic tomographic image 60 in which the right side corresponds to the foot side in real space, and the display control unit 36 ​​displays the ultrasonic tomographic image 60. In this case, the displayed ultrasonic tomographic image 60 complies with the display rule for ultrasonic tomographic images 60 representing the liver, which states that "the ultrasonic tomographic image is displayed so that the right side of the ultrasonic tomographic image corresponds to the foot side in real space and the left side of the ultrasonic tomographic image corresponds to the head side in real space." Therefore, the display control unit 36 ​​displays the formed ultrasonic tomographic image 60 as is on the display 38. As described above, the horizontal display orientation of the ultrasonic tomographic image 60 is determined by the posture of the ultrasonic probe 14. Therefore, conformance to the display rules of the ultrasonic tomographic image 60 representing the target tissue can also be expressed as conforming to the posture of the ultrasonic probe 14 that transmits and receives ultrasonic waves to the target tissue and conforming to a predetermined posture (a posture according to the display rules of the ultrasonic tomographic image 60).

[0042] The display control unit 36 ​​may cause the display 38 to display an image orientation indicator indicating the side of one end 14a of the ultrasonic probe 14 (i.e., one end side in the scanning direction of the ultrasonic beam) in the ultrasonic tomographic image 60. In the example of Fig. 5, the display control unit 36 ​​causes an orientation mark 62 to be displayed as the image orientation indicator. In the example of Fig. 5, the right side of the ultrasonic tomographic image 60 is the side of one end 14a of the ultrasonic probe 14, so the display control unit 36 ​​causes the orientation mark 62 to be displayed in the upper right part of the ultrasonic tomographic image 60.

[0043] The display control unit 36 ​​may also cause an object symbol, which schematically represents the outer shape of the object E, to be displayed on the display 38 together with the ultrasonic tomographic image 60. In the example of Fig. 5, the display control unit 36 ​​causes a body mark 64 to be displayed as the object symbol. The body mark 64 is prepared in advance and stored in the memory 44. A plurality of body marks 64 corresponding to the size of the object E may be stored in the memory 44, and the display control unit 36 ​​may display the body mark 64 according to an instruction from the operator.

[0044] Furthermore, the display control unit 36 ​​may superimpose a probe symbol representing the position and orientation of the ultrasonic probe 14 on the body mark 64 based on the position and orientation of the ultrasonic probe 14 detected by the probe detection unit 50. When the operator performs calibration with the ultrasonic probe 14 placed at a predetermined position on the subject E, the display control unit 36 ​​can identify the position and orientation of the probe symbol on the body mark 64 based on the position and orientation of the ultrasonic probe 14 detected by the probe detection unit 50 and the scale of the body mark 64. In the example of FIG. 5 , the display control unit 36 ​​displays a probe mark 66 as the probe symbol. Like the body mark 64, the probe mark 66 is prepared in advance and stored in the memory 44. As shown in FIG. 5 , the probe mark 66 may include a one-end mark 66a indicating one end 14a of the ultrasonic probe 14. A plurality of probe marks 66 corresponding to different types of ultrasonic probes 14 may be stored in the memory 44, and the display control unit 36 ​​may display a probe mark 66 corresponding to the type of ultrasonic probe 14 connected to the ultrasound diagnostic device 16.

[0045] By displaying the subject symbol and the probe symbol, the operator can easily understand which part of the subject E the displayed ultrasonic tomographic image 60 represents as a cross section.

[0046] 6 is a diagram showing a second state in which the ultrasonic probe 14 is placed against the subject E in this embodiment. When transmitting and receiving ultrasonic waves to and from the liver of the subject E, for some reason as described above, the ultrasonic probe 14 may need to be oriented such that its one end 14a faces the head, as shown in FIG. 6. Note that when calibration is performed with the one end 14a of the ultrasonic probe 14 facing the feet (see FIG. 4), and the direction facing the feet is set to the X-axis, the orientation of the ultrasonic probe 14 with its one end 14a facing the head will be aligned with the X-axis and the arrow P in a plan view. X This can be expressed as an angle of 180° with respect to the direction in which one end 14a of the ultrasonic probe 14 faces.

[0047] 7 is a diagram showing a display example of an ultrasonic tomographic image 60 formed when the ultrasonic probe 14 is in the position and posture shown in FIG. 6. As shown in FIG. 6, when the ultrasonic probe 14 is in a posture in which the one end 14a thereof faces in the opposite direction to the X-axis direction, i.e., toward the head, the image forming unit 34 forms an ultrasonic tomographic image 60 in which the right side thereof faces the head in real space. Here, when the display control unit 36 ​​causes the display 38 to display the ultrasonic tomographic image 60, the right side thereof faces the head, which does not conform to the display rule for ultrasonic tomographic images 60 representing the liver. Therefore, when the ultrasonic probe 14 is in an inverted posture in which the one end 14a thereof faces in the opposite direction to the X-axis direction, i.e., toward the head, in other words, when the ultrasonic probe 14 is in an inverted posture in which the one end 14a thereof faces in the opposite direction to a predetermined direction (to the foot in this example) for the target tissue, the display control unit 36 ​​displays the ultrasonic tomographic image 60 in a horizontally inverted state.

[0048] In this way, the display control unit 36 ​​automatically inverts the left-right direction of the ultrasonic tomographic image 60 and displays it according to the posture of the ultrasonic probe 14, so that the left-right display orientation of the ultrasonic tomographic image 60 can be adapted to the display rules without requiring the operator to do any effort.

[0049] Even when the ultrasonic tomographic image 60 is displayed in a left-right inverted state, the display control unit 36 ​​may display an orientation mark 62 on the display 38 as an image orientation indicator indicating the side of one end 14a of the ultrasonic probe 14 in the ultrasonic tomographic image 60. In this case, since the left side of the ultrasonic tomographic image 60 corresponds to the side of one end 14a of the ultrasonic probe 14, the display control unit 36 ​​displays the orientation mark 62 in the upper left part of the ultrasonic tomographic image 60. In other words, the operator can understand that the ultrasonic tomographic image 60 is displayed in a left-right inverted state by the orientation mark 62 being displayed on the left side of the ultrasonic tomographic image 60.

[0050] In this embodiment, when calibration is performed with one end 14a of the ultrasound probe 14 facing the foot side (see FIG. 4), and the direction facing the foot side is set as the X axis, the display control unit 36 ​​displays the X axis and the arrow P X When the angle formed with the X axis and the arrow P (the direction in which one end 14a of the ultrasonic probe 14 faces) satisfies a predetermined condition, the display control unit 36 ​​determines that the posture of the ultrasonic probe 14 is inverted, and displays the ultrasonic tomographic image 60 in a horizontally inverted state. X If the angle between the X axis and the arrow P is 180° or more, the display control unit 36 ​​determines that the posture of the ultrasonic probe 14 is inverted, and displays the ultrasonic tomographic image 60 in a horizontally inverted state. X If the angle formed by the arrows is equal to or greater than 90° and less than 270°, the posture of the ultrasonic probe 14 may be determined to be an inverted posture, and the ultrasonic tomographic image 60 may be displayed in a horizontally inverted state.

[0051] The operator checking the ultrasonic tomographic image 60 displayed on the display 38 while placing the ultrasonic probe 14 on the subject E is aware of the position of the ultrasonic probe 14 placed on the subject E, and may be confused if the ultrasonic tomographic image 60 is displayed with the left-right direction reversed. To prevent this, the display control unit 36 ​​may display the ultrasonic tomographic image 60 on the display 38 without reversing the left-right direction even if the ultrasonic probe 14 is in the reversed position while transmitting and receiving ultrasonic waves to and from the target tissue (when the ultrasonic tomographic image 60 is being displayed in real time), and after the transmission and reception of ultrasonic waves to and from the target tissue is completed, may display the ultrasonic tomographic image 60 formed based on the received signals acquired while the ultrasonic probe 14 was in the reversed position with the left-right direction reversed on the display 38.

[0052] In this case, the probe detection unit 50 associates reception signals obtained by transmitting and receiving ultrasonic waves to and from the target tissue or ultrasonic tomographic images 60 formed from the reception signals with posture information indicating the posture of the ultrasonic probe 14 when the reception signals were obtained, and stores the association information in the memory 44. Then, when subsequently displaying the ultrasonic tomographic images 60 formed from the reception signals (not in real time), the display control unit 36 ​​displays the ultrasonic tomographic image 60 in a horizontally inverted state if the posture information associated with the ultrasonic tomographic image 60 to be displayed or the reception signals that are the basis of the ultrasonic tomographic image 60 indicates that the posture of the ultrasonic probe 14 is in an inverted posture.

[0053] 8 is a diagram showing a display example of an ultrasonic tomographic image 60 and a photographed image 22. The display control unit 36 ​​may display, on the display 38, a photographed image 22 formed by the camera 12 photographing the subject E and the ultrasonic probe 14, instead of the body mark 64 and the probe mark 66 as the subject symbol and the probe symbol. The photographed image 22 shows the subject E and the ultrasonic probe 14 themselves, so the operator can more accurately grasp which part of the subject E's cross section is represented by the displayed ultrasonic tomographic image 60, compared to the body mark 64 and the probe mark 66.

[0054] When the probe detection unit 50 cannot detect the position or orientation of the ultrasonic probe 14, the notification processing unit 52 notifies the user that the position or orientation of the ultrasonic probe 14 cannot be detected. For example, if an obstacle is between the camera 12 and the probe detection marker 20 and the image of the probe detection marker 20 is not captured in the captured image 22, the probe detection unit 50 cannot detect the position and orientation of the ultrasonic probe 14. In this case, there is no guarantee that the displayed ultrasonic tomographic image 60 complies with the display rules. Therefore, in such a case, the notification processing unit 52 notifies the user that the position or orientation of the ultrasonic probe 14 cannot be detected. For example, as shown in FIG. 9 , the notification processing unit 52 displays a message 68 on the display 38 such as "Probe orientation cannot be detected." Of course, the notification that the position or orientation of the ultrasonic probe 14 cannot be detected is not limited to the message 68. For example, the notification processing unit 52 may display some kind of indicator on the display 38 or output a sound.

[0055] The model forming unit 54 forms a target tissue model that represents the shape of the target tissue of the subject E. The process of forming the target tissue model by the model forming unit 54 will be described with reference to FIGS.

[0056] 10 is a conceptual diagram showing the concept of the process of forming the volume data 46. First, the model forming unit 54 forms the volume data 46 including the target tissue based on the received signals obtained by transmitting and receiving ultrasonic waves from the ultrasonic probe 14 to the target tissue. In this embodiment, as shown in FIG. 10, the model forming unit 54 forms the volume data 46 based on a plurality of ultrasonic tomographic images 46a. As a method of forming the volume data 46 from the plurality of ultrasonic tomographic images 46a can be a known method, a detailed description thereof will be omitted here.

[0057] The probe detection unit 50 detects the position and orientation of the ultrasonic probe 14 when the ultrasonic tomographic image 46a is formed, and associates each ultrasonic tomographic image 46a with probe position and orientation information indicating the position and orientation of the ultrasonic probe 14 detected by the probe detection unit 50. The probe detection unit 50 performs calibration while the ultrasonic probe 14 is in contact with a predetermined position and in a predetermined orientation on the subject E, so that the probe position and orientation information indicates the position and orientation of the subject E relative to the predetermined position and predetermined orientation. Each position (coordinate) on the ultrasonic tomographic image 46a can be identified based on the position and orientation of the ultrasonic probe 14 when the ultrasonic tomographic image 46a was formed. In other words, it can be said that each ultrasonic tomographic image 46a is assigned coordinate information indicating each position of the ultrasonic tomographic image 46a. Therefore, the volume data 46 composed of multiple ultrasonic tomographic images 46a also has coordinate information indicating each position of the volume data 46.

[0058] 11 is a conceptual diagram showing the concept of the process for forming the target tissue model 70. The probe detection unit 50 forms the target tissue model 70 based on the volume data 46. A known method can be used to form the target tissue model 70 based on the volume data 46, and detailed description thereof will be omitted here. However, the model formation unit 54 forms the target tissue model 70 using a technique such as volume rendering or surface rendering. While the volume data 46 contains coordinate information indicating each position, the target tissue model 70 is formed from the volume data 46, and therefore the target tissue model 70 also contains position information (coordinates) indicating each position.

[0059] In this embodiment, the target tissue model 70 is a three-dimensional model in which the shape of the target tissue is represented in three dimensions. However, the model forming unit 54 may form the target tissue model 70 as a two-dimensional model. For example, the model forming unit 54 may form the two-dimensional target tissue model 70 by projecting the three-dimensional target tissue model 70 in the depth direction of the subject E.

[0060] Even for the same organ (e.g., the liver), the shape (including size) usually differs depending on the subject E. In this embodiment, the model forming unit 54 forms the target tissue model 70 representing the shape of the target tissue of the subject E based on the received signal obtained by transmitting and receiving ultrasound to and from the subject E. Therefore, the target tissue model 70 represents the shape of the target tissue itself of the subject E. In other words, even for target tissue models 70 representing the same organ, the target tissue models 70 formed for each subject E have different shapes.

[0061] 12 is a diagram showing a display example of an ultrasonic tomographic image 60 and a target tissue model 70. As shown in Fig. 5 or 7, the display control unit 36 ​​causes the display 38 to display, together with the ultrasonic tomographic image 60, a body mark 64 as a subject symbol that schematically represents the outer shape of the subject E, and a probe mark 66 as a probe symbol that represents the position and posture of the ultrasonic probe 14.

[0062] 12, the display control unit 36 ​​displays the target tissue model 70 formed by the model forming unit 54 superimposed on the body mark 64. As described above, the target tissue model 70 also has position information (coordinates) indicating each position, so the display control unit 36 ​​can calculate the size and display position of the target tissue model 70 relative to the body mark 64 based on the position information of the target tissue model 70 and the scale of the body mark 64.

[0063] By displaying the target tissue model 70 in addition to the body mark 64 and the probe mark 66, the operator can more preferably understand which cross section of the subject E (particularly the target tissue) the displayed ultrasound tomographic image 60 represents, based on the position of the probe mark 66 relative to the target tissue model 70. In particular, as described above, the target tissue model 70 represents the shape of the target tissue itself of the subject E, and therefore, compared to, for example, a case where a model of a certain organ is prepared and displayed, the target tissue model 70 more accurately represents the shape of the target tissue of the subject E. This also allows the operator to more preferably understand which cross section of the target tissue the ultrasound tomographic image 60 represents.

[0064] The lesion position detection unit 56 detects the position of a lesion within the subject E. In particular, in this embodiment, the lesion position detection unit 56 detects, as the lesion position, the position of the ultrasound probe 14 when a lesion is found in an ultrasound tomographic image 60 formed by transmitting and receiving ultrasound to and from the subject E.

[0065] First, the operator places the ultrasonic probe 14 against the subject E, transmits and receives ultrasonic waves to and from the subject E, and acquires received signals. The image forming unit 34 forms an ultrasonic tomographic image 60 based on the received signals, and the display control unit 36 ​​displays a screen including the ultrasonic tomographic image 60 on the display 38 as a screen for identifying a lesion.

[0066] 13 is a diagram showing an example of the display of the lesion identification screen. The operator checks the ultrasound tomographic image 60 displayed on the lesion identification screen to determine whether or not the ultrasound tomographic image 60 includes a lesion T. If the operator finds a lesion T in the ultrasound tomographic image 60, the operator inputs a probe position identification command to the ultrasound diagnostic device 16 from the input interface 42. The lesion position detection unit 56 detects, as the lesion position, the position of the ultrasound probe 14 detected by the probe detection unit 50 when the probe position identification command was input.

[0067] Furthermore, the operator may specify the position of the lesion T in the ultrasonic tomographic image 60 by using the cursor C, and the lesion position detector 56 may further detect the depth at which the lesion T is located.

[0068] 14 is a diagram showing a display example of an ultrasonic tomographic image 60 and a lesion position indicator 72. The display control unit 36 ​​displays the lesion position indicator 72, which indicates the lesion position detected by the lesion position detection unit 56, superimposed on the body mark 64. This allows the operator to easily grasp the position of the lesion T in the subject E. For example, as shown in FIG. 15, the operator can easily bring the ultrasonic probe 14 over the lesion position based on the lesion position indicator 72, which means that the operator can easily visualize the lesion T in the ultrasonic tomographic image 60.

[0069] In particular, when a lesion T is detected in the target tissue of the subject E, the display control unit 36 ​​may display the lesion position indicator 72 superimposed on the target tissue model 70 displayed superimposed on the body mark 64. Furthermore, when the lesion position detection unit 56 detects the depth at which the lesion T is located, the display control unit 36 ​​may also display information indicating the depth (for example, text such as "depth XX mm").

[0070] 16 is a diagram showing a display example of an ultrasonic tomographic image 60, a photographed image 22, a target tissue model 70, and a lesion position index 72. As also shown in FIG. 8, the display control unit 36 ​​may cause the display 38 to display, as the subject symbol and probe symbol, the photographed image 22 formed by the camera 12 photographing the subject E and the ultrasonic probe 14, instead of the body mark 64 and the probe mark 66.

[0071] 16, the display control unit 36 ​​may display the target tissue model 70 superimposed on the photographed image 22. This causes the target tissue model 70, which represents the shape of the target tissue itself of the subject E, to be displayed on the photographed image 22 showing the subject E and the ultrasonic probe 14 themselves, allowing the operator to fairly accurately grasp which part of the cross section of the subject E is represented by the displayed ultrasonic tomographic image 60.

[0072] Furthermore, the display control unit 36 ​​may display the lesion position indicator 72 superimposed on the photographed image 22. This allows the lesion position indicator 72 to be displayed on the photographed image 22, which shows the subject E and the ultrasound probe 14 themselves, allowing the operator to accurately grasp the lesion position.

[0073] The above describes the target tissue model display control device according to the present disclosure, but the target tissue model display control device according to the present disclosure is not limited to the above embodiment, and various modifications are possible as long as they do not deviate from the spirit thereof.

[0074] For example, in each of the above embodiments, the target tissue model display control device is the ultrasound diagnostic device 16, and the ultrasound diagnostic device 16 has the functions of the image forming unit 34, the display control unit 36, the probe detection unit 50, the notification processing unit 52, the model forming unit 54, and the lesion position detection unit 56. However, these functions do not necessarily have to be performed by the ultrasound diagnostic device 16. For example, these functions may be performed by a server computer or the like communicably connected to the ultrasound diagnostic device 16. Furthermore, instead of all of the above functions being performed by a single device, each of the above functions may be performed by cooperation between multiple devices. [Explanation of symbols]

[0075] 10 Ultrasound diagnostic system, 12 Camera, 14 Ultrasound probe, 16 Ultrasound diagnostic device, 20 Probe detection marker, 22 Captured image, 30 Transmitter / receiver unit, 32 Signal processing unit, 34 Image formation unit, 36 Display control unit, 38 Display, 40 Communication interface, 42 Input interface, 44 Memory, 46 Volume data, 48 Control unit, 50 Probe detection unit, 52 Notification processing unit, 54 Model formation unit, 56 Lesion position detection unit, 60 Ultrasound tomographic image, 62 Orientation mark, 64 Body mark, 66 Probe mark, 70 Target tissue model, 72 Lesion position indicator.

Claims

1. a probe detection unit that detects the position and orientation of an ultrasound probe that transmits and receives ultrasound to and from a target tissue of a subject; a model forming unit that forms a target tissue model representing the shape of the target tissue based on volume data representing the target tissue formed from received signals based on reflected waves from the target tissue; a display control unit that displays a subject symbol that schematically represents the outer shape of the subject and a probe symbol that represents the position and orientation of the ultrasound probe on a display unit, and that displays the target tissue model superimposed on the subject symbol; A target tissue model display control device comprising:

2. The target tissue model is a three-dimensional model in which the shape of the target tissue is represented in three dimensions.

2. The apparatus for controlling display of a target tissue model according to claim 1.

3. a lesion position detection unit that detects, as a lesion position, a position of the ultrasound probe when a lesion is found in an ultrasound tomographic image formed by transmitting and receiving ultrasound to and from the subject; Furthermore, the display control unit displays a lesion position index indicating the lesion position superimposed on the subject symbol.

2. The apparatus for controlling display of a target tissue model according to claim 1.

4. further comprising a camera for capturing images of the subject and the ultrasound probe; the display control unit causes the display unit to display the captured image captured by the camera as the subject symbol and the probe symbol.

2. The apparatus for controlling display of a target tissue model according to claim 1.

5. a notification processing unit that notifies a user that the position or orientation of the ultrasound probe cannot be detected while the probe detection unit is unable to detect the position or orientation of the ultrasound probe; The target tissue model display control device according to any one of claims 1 to 4, further comprising:

6. Computer, a probe detection unit that detects the position and orientation of an ultrasound probe that transmits and receives ultrasound to and from a target tissue of a subject; a model forming unit that forms a target tissue model representing the shape of the target tissue based on volume data representing the target tissue formed from received signals based on reflected waves from the target tissue; a display control unit that displays a subject symbol that schematically represents the outer shape of the subject and a probe symbol that represents the position and orientation of the ultrasound probe on a display unit, and that displays the target tissue model superimposed on the subject symbol; A target tissue model display control program characterized by causing the program to function as a

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