Ultrasound diagnostic apparatus and storage medium

Abstract

The invention provides a technology capable of easily aligning a probe. [Solution] An ultrasound diagnostic device (1) executes: after storing corresponding points (B1, B2, B3) corresponding to points (C1, C2, C3) in a transmission / reception area (60), displaying on a display unit (8) an indicator (Id1) indicating the distance (D1) between the point (C1) and the corresponding point (B1) in the transmission / reception area of real-time ultrasound; after the indicator (Id1) has changed to a display mode indicating that the distance (D1) is zero, an indicator (Id2) indicating the distance (D2) between a point (C2) of the real-time ultrasonic transmission / reception region (60) and a corresponding point (B2) is displayed on a display unit (8). And after the indicator (Id2) is changed to a display mode indicating that the distance (D2) is zero, an indicator (Id3) indicating the distance (D3) between a point (C3) of the real-time ultrasonic transmission / reception area (60) and a corresponding point (B3) is displayed on a display unit (8).

Description

Technical Field

[0001] The present invention relates to an ultrasonic diagnostic device displaying an indicator, and a storage medium containing instructions executed by the ultrasonic diagnostic device. Background Art

[0002] Various medical devices such as ultrasonic diagnostic devices, CT, and MRI are used in regular checkups and comprehensive physical examinations because they can examine the subject non-invasively. In regular checkups and comprehensive physical examinations, 3D medical image data of the examination site of the subject is obtained using medical devices, and the doctor performs image diagnosis of the subject based on the medical images. Through this image diagnosis, a site that is considered to be a tumor or lesion is sometimes found in the subject. When such a site is found, the doctor sometimes uses an ultrasonic diagnostic device to insert a puncture needle into the patient to collect tissue, or inserts a puncture needle into the patient to perform treatment.

[0003] When inserting a puncture needle into a patient for treatment or tissue collection, it is necessary to insert the puncture needle into the target (e.g., a tumor) while avoiding bones, large blood vessels, etc. Therefore, before inserting the puncture needle, an area suitable for the insertion path of the puncture needle is determined while observing the ultrasonic image, and a specific insertion path is prepared in advance. After the insertion path is determined in the advance preparation, the puncture operation is performed. During the puncture operation, the area specified in the advance preparation is displayed on the display unit, and the puncture is performed.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2021-171559 Summary of the invention

[0007] Problem that the invention aims to solve

[0008] The puncture operation is sometimes performed on a date and time different from the one prepared in advance. In addition, there are cases where the puncture operation is performed by a person different from the operator prepared in advance. In this case, in the puncture operation, it is necessary to search for the area specified in the preparation in advance and display the same area. However, it is not easy to search for the same area as the area specified in the preparation in advance when the puncture is performed. Therefore, a method for searching for the same area as the area specified in the preparation in advance is disclosed (refer to Patent Document 1).

[0009] In Patent Document 1, the position information of the corners C1', C2', C3' and C4' of the specific area prepared in advance is stored, and when the puncture operation is performed, the specific area prepared in advance is searched based on the position information of the corners C1', C2', C3' and C4'. Specifically, indicators Id1, Id2, Id3 and Id4 indicating the distances D1, D2, D3 and D4 between the corners C1', C2', C3' and C4' of the specific area prepared in advance and the corners C1, C2, C3 and C4 of the transmission and reception area of ​​the real-time ultrasonic image are displayed on the display unit. The indicators Id1, Id2, Id3 and Id4 are represented by quadrilaterals having areas corresponding to the distances D1, D2, D3 and D4. If the distance becomes shorter, the area of ​​the quadrilateral of the indicator becomes smaller, and if the distance becomes zero, the indicator changes to a "+" figure. Therefore, the user can search for the area specified in advance by referring to the size of the area of ​​the quadrilateral indicated by the pointer.

[0010] However, in the method of Patent Document 1, the user needs to simultaneously check the size of the area of ​​the quadrilateral of the four indicators Id1, Id2, Id3, and Id4 while operating the probe to display the specific area prepared in advance. Therefore, the user needs to simultaneously grasp how the area of ​​the quadrilateral of the four indicators Id1, Id2, Id3, and Id4 changes while operating the probe, which leads to a problem that the alignment of the probe is time-consuming and laborious.

[0011] Therefore, a technology that can easily align the probe when searching a previously specified area is desired.

[0012] Technical Solution

[0013] A first aspect of the present invention is an ultrasonic diagnostic apparatus comprising:

[0014] A probe, wherein an ultrasonic wave transmitting and receiving area of ​​the probe includes a first point, a second point different from the first point, and a third point different from the first and second points;

[0015] a display unit; and

[0016] at least one processor;

[0017] in,

[0018] The at least one processor executes:

[0019] storing position information of a first area corresponding to the transceiver area of ​​the subject in a memory, wherein the first area of ​​the subject includes a first corresponding point corresponding to the first point, a second corresponding point corresponding to the second point, and a third corresponding point corresponding to the third point, and storing position information of the first corresponding point, the second corresponding point, and the third corresponding point in the memory;

[0020] After storing the position information of the first corresponding point, the second corresponding point and the third corresponding point, displaying a first indicator indicating a first distance between the first point and the first corresponding point in a real-time ultrasonic wave transmission and reception area on a display unit;

[0021] After the first indicator changes to a display mode indicating that the first distance is zero, a second indicator indicating a second distance between the second point in the ultrasonic wave receiving and transmitting area of ​​the probe and the second corresponding point is displayed on the display unit; and

[0022] After the second indicator changes to a display mode indicating that the second distance is zero, a third indicator indicating a third distance between the third point in the real-time ultrasonic wave transmission and reception area and the third corresponding point is displayed on the display unit.

[0023] A second aspect of the present invention is a storage medium, which is included in an ultrasonic diagnostic device, the ultrasonic diagnostic device comprising:

[0024] A probe, wherein an ultrasonic wave transmitting and receiving area of ​​the probe includes a first point, a second point different from the first point, and a third point different from the first and second points;

[0025] a display unit; and

[0026] at least one processor;

[0027] in,

[0028] The first area corresponding to the transceiver area of ​​the subject includes: a first corresponding point corresponding to the first point, a second corresponding point corresponding to the second point, and a third corresponding point corresponding to the third point.

[0029] The storage medium stores instructions executed by the at least one processor, the instructions causing the at least one processor to execute:

[0030] storing the position information of the first corresponding point, the second corresponding point and the third corresponding point in the storage medium or other storage medium;

[0031] After storing the position information of the first corresponding point, the second corresponding point and the third corresponding point, displaying a first indicator indicating a first distance between the first point and the first corresponding point in a real-time ultrasonic wave transmission and reception area on a display unit;

[0032] After the first indicator changes to a display mode indicating that the first distance is zero, a second indicator indicating a second distance between the second point in the ultrasonic wave receiving and transmitting area of ​​the probe and the second corresponding point is displayed on the display unit; and

[0033] After the second indicator changes to a display mode indicating that the second distance is zero, a third indicator indicating a third distance between the third point in the real-time ultrasonic wave transmission and reception area and the third corresponding point is displayed on the display unit.

[0034] Beneficial Effects

[0035] In the present invention, the position information of the first area corresponding to the transmitting and receiving area of ​​the subject is stored in a memory, the first area of ​​the subject includes a first corresponding point corresponding to the first point, a second corresponding point corresponding to the second point, and a third corresponding point corresponding to the third point, and the position information of the first corresponding point, the second corresponding point, and the third corresponding point is stored in the memory. Then, after the position information of the first corresponding point, the second corresponding point, and the third corresponding point are stored in the memory, when the user performs an operation to display the first area of ​​the subject on the display unit again, the first indicator is first displayed on the display unit. The first indicator indicates the first distance between the first point and the first corresponding point. The user operates the probe while observing the first indicator so that the first distance becomes zero. The first indicator can be set, for example, so that the display mode of the first indicator changes according to the first distance. Therefore, the user can easily visually recognize whether the first point is far away from or close to the first corresponding point by observing the first indicator of the display unit. When the user operates the probe and the first indicator changes to a display mode indicating "the first distance is zero", the user can visually recognize that the first point is consistent with the first corresponding point. That is, it can be known that the user can align the first point with the first corresponding point. Then, after the first indicator changes to a display mode indicating "the first distance is zero", the processor displays the next indicator, ie, the second indicator, on the display unit.

[0036] The second indicator indicates the second distance between the second point and the second corresponding point. The user pays attention to the first point not deviating from the first corresponding point, and operates the probe with reference to the second indicator so that the second distance becomes zero. The second indicator can be set, for example, so that the display mode of the second indicator changes according to the second distance. Therefore, by observing the second indicator of the display unit, the user can easily visually identify whether the second point is far away or close to the second corresponding point. By operating the probe, when the second indicator changes to a display mode indicating "the second distance is zero", the user can visually identify that the second point is consistent with the second corresponding point. That is, it can be seen that the user can align the second point with the second corresponding point. Then, after the second indicator changes to a display mode indicating "the second distance is zero", the processor displays the next indicator, i.e., the third indicator, on the display unit.

[0037] The third indicator indicates the third distance between the third point and the third corresponding point. The user pays attention to the first point not deviating from the first corresponding point, and further pays attention to the second point not deviating from the second corresponding point, while referring to the third indicator to operate the probe so that the third distance becomes zero. The third indicator can be set, for example, so that the display mode of the third indicator changes according to the third distance. Therefore, the user can easily visually recognize whether the third point is far away or close to the third corresponding point by observing the third indicator of the display unit. By operating the probe, when the third indicator changes to the display mode indicating "the third distance is zero", the user can visually recognize that the third point is consistent with the third corresponding point. That is, it can be seen that the user can align the third point with the third corresponding point.

[0038] Therefore, the first point, the second point and the third point of the transceiver region of the probe can be matched with the first corresponding point, the second corresponding point and the third corresponding point stored in the memory, so that the first region of the subject can be displayed again on the display unit.

[0039] In addition, in the present invention, instead of displaying the first indicator, the second indicator, and the third indicator on the display unit at the same time, the first indicator is displayed first. Therefore, the first indicator is displayed on the display unit, but the second and third indicators are not displayed, so the user can focus only on the alignment of the first point. Since the second indicator is displayed after the alignment of the first point is completed, the user can focus on the alignment of the second point while paying attention to the first point not deviating from the first corresponding point, while referring to the second indicator. Then, after the alignment of the second point is completed, the third indicator is displayed, and the user performs the alignment of the third point. In this way, in the present invention, instead of displaying three indicators at the same time, the first indicator is displayed, and if the alignment of the first point is completed, the second indicator is displayed, and if the alignment of the second point is completed, the third indicator is displayed. Therefore, the user can focus on the alignment of the first point, the alignment of the second point, and the alignment of the third point, and can easily perform the alignment of the first point, the second point, and the third point. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a block diagram of the ultrasonic diagnostic apparatus 1 in the first embodiment.

[0041] Figure 2 This is a flowchart of an operation for determining a puncture path of a puncture needle.

[0042] Figure 3 It is an explanatory diagram of step ST1.

[0043] Figure 4 It is an explanatory diagram of step ST2.

[0044] Figure 5 1 is a diagram showing the display unit 8 after the coordinate system is established.

[0045] Figure 6 It is an explanatory diagram of step ST4.

[0046] Figure 7 This is an explanatory diagram when the position information of the area 61 is stored.

[0047] Figure 8 This is an explanatory diagram when storing the position information of the corresponding points.

[0048] Fig. 9 It is a flow chart of the puncture operation.

[0049] Fig.10 This is an illustration of the search just started.

[0050] Fig.11 This is an explanatory diagram when the probe 2 is brought into contact with the body surface of the subject 110 .

[0051] Fig.12 This is a diagram showing how the probe 2 is operated by a user.

[0052] Fig.13 It is an explanatory diagram of step ST13.

[0053] Fig.14 This is a diagram showing how point C2 and corresponding point B2 coincide with each other.

[0054] Fig.15 It is an explanatory diagram of step ST15.

[0055] Fig.16 This is a diagram for explaining the operation method of the probe 2.

[0056] Fig.17 This is a diagram showing how point C3 and corresponding point B3 coincide with each other.

[0057] Fig.18 The diagram shows an example in which points C1 , C2 , and C3 are set at different positions.

[0058] Fig.19 FIG. 1 is a diagram showing a flowchart for determining a puncture path without using a reference medical image.

[0059] Fig. 20 It is an explanatory diagram of step ST31.

[0060] Fig.21 This is a diagram for explaining the search for the puncture path.

[0061] Fig. 22 1 is a diagram showing an indicator Id1 displayed on the display unit 8 .

[0062] Fig.23 This is a diagram showing how the indicator Id1 changes to a display mode of “+”.

[0063] Fig.24 2 is a diagram showing an indicator Id2 displayed on the display unit 8 .

[0064] Fig.25 This is a diagram showing how the indicator Id2 changes to a display mode of “+”.

[0065] Fig.26 It is a diagram showing the indicator Id3 displayed on the display unit 8.

[0066] Fig. 27 This is a diagram showing how the indicator Id3 changes to a display mode of “+”. DETAILED DESCRIPTION

[0067] Hereinafter, although the form for implementing the invention is described, the present invention is not limited to the following form.

[0068] (1) First Embodiment

[0069] Figure 1 It is a block diagram of the ultrasonic diagnostic apparatus 1 in the first embodiment.

[0070] The ultrasonic diagnostic apparatus 1 includes an ultrasonic probe 2 , a transmission beamformer 3 , a transmitter 4 , a receiver 5 , a reception beamformer 6 , a processor 7 , a display unit 8 , a memory 9 , and a user interface 10 .

[0071] The ultrasonic probe 2 has a plurality of transducer elements 2a arranged in an array. The transmission beam former 3 and the transmitter 4 drive the plurality of transducer elements 2a arranged in the ultrasonic probe 2, and transmit ultrasonic waves from the transducer elements 2a.

[0072] The ultrasonic probe 2 is provided with a magnetic sensor 12. The magnetic sensor 12 may include, for example, a Hall element. The magnetic sensor 12 detects magnetism generated from the magnetism generating unit 11. A detection signal detected by the magnetic sensor 12 is input to the processor 7 through wired communication or wireless communication.

[0073] The ultrasonic wave transmitted from the vibration element 2a of the ultrasonic probe 2 is reflected in the subject, and the reflected echo is received by the vibration element 2a. The vibration element 2a converts the received echo into an electrical signal, and outputs the electrical signal as an echo signal to the receiver 5. The receiver 5 performs a predetermined process on the echo signal, and outputs it to the receive beamformer 6. The receive beamformer 6 performs receive beamforming on the signal received from the receiver 5, and outputs the echo data.

[0074] The receive beamformer 6 may be a hardware beamformer or a software beamformer. When the receive beamformer 6 is a software beamformer, the receive beamformer 6 may include one or more processors including: i) a graphics processing unit (GPU), ii) a microprocessor, iii) a central processing unit (CPU), iv) a digital signal processor (DSP), and v) one or more of other types of processors capable of performing logical operations. The processor constituting the receive beamformer 6 may be a processor different from the processor 7, or may be constituted by the processor 7.

[0075] The ultrasound probe 2 may include all or part of the circuits for performing transmit beamforming and / or receive beamforming. For example, all or part of the transmit beamformer 3 , the transmitter 4 , the receiver 5 , and the receive beamformer 6 may be provided in the ultrasound probe 2 .

[0076] The processor 7 controls the transmit beamformer 3, the transmitter 4, the receiver 5, and the receive beamformer 6. In addition, the processor 7 communicates electronically with the ultrasonic probe 2. The processor 7 controls which vibration element 2a is in an activated state and the shape of the ultrasonic beam transmitted from the ultrasonic probe 2. The processor 7 also communicates electronically with the display unit 8. The processor 7 can process echo data to generate an ultrasonic image. The term "electronic communication" can be defined as including both wired communication and wireless communication. According to one embodiment, the processor 7 can include a central processing unit (CPU). According to other embodiments, the processor 7 can include other electronic components or one or more processors such as a digital signal processor, a field programmable gate array (FPGA), a graphics processing unit (GPU), or other types of processors that can perform processing functions. According to other embodiments, the processor 7 can include multiple electronic components that can perform processing functions. For example, the processor 7 can include two or more electronic components selected from a list of electronic components including a central processing unit, a digital signal processor, a field programmable gate array, and a graphics processing unit.

[0077] In addition, the processor calculates the position and tilt information of the ultrasonic probe 2 in the coordinate system of the three-dimensional space with the magnetic generating part 11 as the origin based on the magnetic detection signal from the magnetic sensor 12. Further, the processor 7 calculates the position information of the echo signal in the coordinate system of the three-dimensional space based on the information of the position and tilt of the probe. In the first embodiment, the coordinate system of the three-dimensional space with the magnetic generating part 11 as the origin is called the coordinate system of the ultrasonic image.

[0078] The processor 7 can also include a complex demodulator (not shown) for demodulating the RF data. In other embodiments, demodulation can be performed at an early stage in the processing chain.

[0079] In addition, the processor 7 can generate various ultrasonic images (e.g., B-mode images, color Doppler images, M-mode images, color M-mode images, spectral Doppler images, elastic imaging images, TVI images, distortion images, distortion velocity images, etc.) based on the data obtained through the processing performed by the receive beamformer 6. In addition, one or more modules can generate these ultrasonic images.

[0080] The image beams and / or image frames can be stored, and timing information indicating the time at which data is retrieved from the memory can be recorded. The module can, for example, include a scan conversion module that performs a scan conversion operation to convert the image frame from the coordinate beam space to the display space coordinates. An image processor module can also be provided that reads the image frame from the memory during the processing of the subject and displays the image frame in real time. The image processor module can store the image frame in the image memory, and the ultrasound image is read from the image memory and displayed on the display unit 8.

[0081] In this specification, the term "image" can broadly refer to both a visible image and data representing the visible image. In addition, the term "data" can include raw data, which is ultrasound data before scan conversion, and image data, which is data after scan conversion.

[0082] It should be noted that the above processing tasks that the processor 7 is responsible for may also be executed by multiple processors.

[0083] In addition, when the reception beamformer 6 is a software beamformer, the processing performed by the beamformer may be performed by a single processor or may be performed by a plurality of processors.

[0084] The display unit 8 is, for example, an LED (light emitting diode) display unit, an LCD (liquid crystal display) display unit, or an organic EL (electro-luminescence) display unit. Alternatively, the display unit 8 may be a combination of a monitor and a touch panel.

[0085] The memory 9 is an optional known data storage medium. In one example, the ultrasonic diagnostic device includes a non-temporary storage medium and a temporary storage medium as memories. In addition, the ultrasonic diagnostic device can also include multiple memories. Non-temporary storage media are, for example, non-volatile storage media such as HDD (Hard Disk Drive) and ROM (Read Only Memory). Non-temporary storage media can include removable storage media such as CD (Compact Disk) and DVD (Digital Versatile Disk). The program executed by the processor 7 is stored in the non-temporary storage medium. The temporary storage medium is a volatile storage medium such as RAM (Random Access Memory).

[0086] In addition, the memory 9 stores three-dimensional (3D) medical image data (volume data) obtained by performing a preliminary examination of the subject by the medical imaging device 100. The 3D medical image data is an image used when the user performs a preparatory operation for echo-guided puncture, a puncture operation for echo-guided puncture, etc. How to use the 3D medical image data in echo-guided puncture will be described later.

[0087] It should be noted that the processor 7 can also be configured to be connected to an external storage device by wire or wirelessly. In this case, the instructions executed by the processor 7 can also be stored in both the memory 9 and the external storage device in a distributed manner.

[0088] The user interface 10 can receive input from a user (e.g., a physician, a technician, or an operator). For example, the user interface 10 receives input of instructions and information from the user. The user interface 10 includes a keyboard, hard keys, a trackball, a rotary control, and soft keys. The user interface 10 may also include a touch screen that displays soft keys.

[0089] The ultrasonic diagnostic apparatus 1 is configured as described above.

[0090] Hereinafter, an example of puncturing a subject using the ultrasonic diagnostic apparatus 1 will be described. Specifically, the first embodiment will be described by taking an example in which a user performs an operation of determining a puncture path of the subject and then performs an operation of inserting a puncture needle into the subject.

[0091] Figure 2 This is a flowchart of an operation for determining a puncture path of a puncture needle.

[0092] In step ST1, the medical imaging device 100 (reference Figure 1 ) is stored in the memory 9 of the ultrasonic diagnostic apparatus.

[0093] Figure 3 It is an explanatory diagram of step ST1.

[0094] The user (e.g., a physician, ultrasonic diagnostic technician) connects the ultrasonic diagnostic apparatus 1 to the medical imaging apparatus 100 (wired or wirelessly), and stores the 3D medical image data (volume data) VD obtained by the medical imaging apparatus 100 in the memory 9 of the ultrasonic diagnostic apparatus 1. The 3D medical image data VD is an image used when the user performs a preparatory operation for echo-guided puncture, a puncture operation for echo-guided puncture, etc. The medical imaging apparatus 100 is, for example, an MRI apparatus, a CT apparatus, a PET apparatus, an ultrasonic diagnostic apparatus, etc. It should be noted that the 3D medical image data VD may be stored in an external storage device accessible to the ultrasonic diagnostic apparatus 1 instead of in the memory 9.

[0095] After the 3D medical image data VD is stored in the memory 9 of the ultrasonic diagnostic apparatus 1, the process proceeds to step ST2.

[0096] In step ST2 , the ultrasonic image and the reference medical image are displayed on the display unit 8 .

[0097] Figure 4 It is an explanatory diagram of step ST2.

[0098] In step ST2, the user brings the ultrasonic probe 2 into contact with the body surface of the subject to start transmitting and receiving ultrasonic waves. Figure 4 The upper half shows the subject 110 and an enlarged view of a cross section 111 of the subject 110. The symbol 60 represents the area where the subject 110 is scanned by transmitting and receiving ultrasound (hereinafter referred to as the "transmission and reception area"). The processor 7 displays the ultrasonic image UG produced based on the echo signal obtained from the subject 110 on the display unit 8. The ultrasonic image UG is displayed in the image display area 8a. The ultrasonic image UG is, for example, a B-mode image. In addition, the processor 7 displays a reference medical image MG on the display unit 8. The reference medical image MG is based on the 3D medical image data VD (reference Figure 3 ) The reference medical image MG is displayed in the image display area 8b. The ultrasonic image UG and the reference medical image MG are displayed side by side on the display unit 8. After the ultrasonic image UG and the reference medical image MG are displayed on the display unit 8, the process proceeds to step ST3.

[0099] In step ST3, the user performs a process of establishing a correspondence between the coordinate system of the ultrasonic image UG and the coordinate system of the reference medical image MG. Specifically, the user compares the ultrasonic image UG and the reference medical image MG displayed on the display unit 8, and adjusts the cross-sectional position of one or both images to display the ultrasonic image UG and the reference medical image MG of the same cross section. The movement of the cross section of the ultrasonic image UG is performed by the user operating the ultrasonic probe 2. In addition, the movement of the cross section of the reference medical image MG is performed by the user operating the user interface 10 to input an instruction to change the cross section of the reference medical image.

[0100] Whether the cross section of the ultrasonic image UG is the same as the cross section of the reference medical image MG is determined by the user, for example, using a characteristic part as a reference. If the user determines that the ultrasonic image UG and the reference medical image MG are displayed in the same cross section on the display unit 8, the user operates the user interface 10 to specify a point at an arbitrary position of the ultrasonic image UG. In addition, the operator specifies a position from the reference medical image MG that is considered to be the same position as the point specified in the ultrasonic image UG, and also specifies a point at a specific position of the reference medical image MG. The user specifies points in this way at multiple positions of the ultrasonic image and the reference medical image.

[0101] As described above, by specifying a point, the coordinate system of the ultrasonic image UG can be associated with the coordinate system of the reference medical image MG. Therefore, coordinate conversion between the coordinate system of the ultrasonic image UG and the coordinate system of the reference medical image MG can be performed. Figure 5 The display unit 8 after the establishment of the coordinate system is completed is shown. The processor 7 controls the display unit 8 to display the real-time ultrasonic image UG in the image display area 8a. In addition, the processor 7 specifies the image of the cross section corresponding to the real-time ultrasonic image UG from the 3D medical image data VD, and controls the display unit 8 to display the image of the specified cross section as the reference medical image MG in the image display area 8b. The processor 7 can specify the cross section corresponding to the real-time ultrasonic image UG from the 3D medical image data VD by converting the position information coordinates of the coordinate system of the real-time ultrasonic image into the position information of the coordinate system of the reference medical image MG. In addition, the processor 7 also displays the contour line OL in a manner that overlaps with the reference medical image MG. The area surrounded by the contour line OL is the area corresponding to the ultrasonic image UG. If the establishment of the coordinate system is completed, the process proceeds to step ST4.

[0102] In step ST4 , the user searches for a puncture path (eg, position and insertion angle of the puncture needle) for entering a target (eg, a tumor) while scanning the inside of the subject 110 with the ultrasonic probe 2 .

[0103] Figure 6 It is an explanatory diagram of step ST4.

[0104] In step ST4, the user observes the real-time ultrasonic image UG and the reference medical image MG of the same cross section of the subject 110, and searches for the puncture path while adjusting the position of the ultrasonic probe 2 and changing the angle of the probe 2 relative to the body surface. Figure 6 2 shows an example in which the user can find the optimal puncture path in region 61 (part highlighted in gray) of the subject 110 corresponding to the ultrasonic wave transmission and reception region 60. If the user can search for region 61 where the optimal puncture path can be obtained, the process proceeds to step ST5.

[0105] In step ST5 , the user operates the user interface 10 to input an instruction for storing the position information of the area 61 where the optimal puncture path can be obtained.

[0106] Figure 7 This is an explanatory diagram when the position information of the area 61 where the best puncture path can be obtained is stored.

[0107] exist Figure 7 In the figure, for the convenience of explanation, the transceiver area 60 and the area 61 where the best puncture path can be obtained are shown respectively.

[0108] In the first embodiment, three points C1, C2, and C3 located on the contour of the transceiver region 60 serve as reference points for storing position information of the region 61 where the best puncture path can be obtained. Point C1 is a point corresponding to the central portion 2c of the probe surface 2b of the probe 2. Point C2 is a point corresponding to the end portion 2d in the longitudinal direction of the probe surface 2b. Point C3 is a point at the deepest portion of the transceiver region 60.

[0109] The area 61 where the optimal puncture path can be obtained has a corresponding point B1 corresponding to the point C1 , a corresponding point B2 corresponding to the point C2 , and a corresponding point B3 corresponding to the point C3 .

[0110] The processor 7 stores the position information of the corresponding points B1, B2 and B3 of the area 61 where the best puncture path can be obtained (refer to Figure 8 ).

[0111] Figure 8 This is an explanatory diagram when storing the position information of the corresponding points.

[0112] The processor stores the position information of the corresponding points B1, B2 and B3 in the memory as the position information of the coordinate system of the 3D medical image data VD. Specifically, if the user operates the user interface 10 to input an instruction to store the position information of the corresponding points B1, B2 and B3, the processor 7 stores the position information of the corresponding points B1, B2 and B3 in the memory 9 as the position information of the points b1, b2 and b3 in the coordinate system of the 3D medical image VD.

[0113] The position information of the corresponding points B1, B2, and B3 is used so that the user can find the area 61 where the best puncture path can be obtained again during the puncture preparation described later. The step of the user finding the area 61 where the best puncture path can be obtained again will be described later. Once the position information of the corresponding points B1, B2, and B3 is stored, the operation of determining the puncture path of the puncture needle is completed.

[0114] When the operation of determining the puncture path of the puncture needle is completed, the user performs the puncture operation.

[0115] Fig. 9 It is a flow chart of the puncture operation.

[0116] In step ST20, the user manipulates the subject 110 with the probe 2 to find the region 61 (refer to FIG. Figure 8 ) operation.

[0117] It should be noted that step ST20 includes steps ST11 to ST16 , and therefore steps ST11 to ST16 will be described in order.

[0118] In step ST11 , the user starts an operation of finding the area 61 where the best puncture path can be obtained.

[0119] Fig.10 This is an illustration of the search just started.

[0120] exist Fig.10 The upper left of FIG. 1 shows a view of the subject 110 viewed from the z direction. Fig.10 The upper right corner of the figure shows a view of the subject from the x direction. Fig.10 The lower half of the figure shows the display unit 8 .

[0121] It should be noted that in Fig.10 In order to facilitate understanding of the positional relationship between points C1, C2, and C3 of the real-time transmission and reception area 60 and corresponding points B1, B2, and B3 of the area 61 where the best puncture path can be obtained, the inside of the subject 110 is indicated by a dotted line. Figure 8 Region 61 (and corresponding points B1, B2 and B3) is shown.

[0122] The image display area 8a of the display unit 8 is an area for displaying ultrasonic images, and the image display area 8b is an area for displaying reference medical images corresponding to the ultrasonic images. Fig.10 2 shows a state where the probe 2 is placed in the air while being away from the subject 110. Therefore, the image of the subject is not displayed in the image display areas 8a and 8b.

[0123] The user operates the user interface 10 and inputs an instruction for displaying the indicator Id1 associated with the point C1 of the transceiver area 60 on the display unit 8. If the instruction is input, the processor displays the indicator Id1 in the image display area 8b of the display unit 8. The indicator Id1 shows the distance D1 between the point C1 of the transceiver area 60 of the real-time ultrasound and the corresponding point B1. In the first embodiment, the indicator Id1 is represented by the area of ​​□ (quadrilateral) corresponding to the distance D1. The longer the distance D1, the larger the area of ​​the indicator Id1, and the shorter the distance D1, the smaller the area of ​​the indicator Id1. In addition, when the distance D1 is zero, the indicator Id1 is represented by a "+" graphic. Therefore, the user can easily visually recognize the positional relationship between the point C1 and the corresponding point B1 by observing the indicator Id1 displayed on the display unit 8. Fig.10 In FIG. 1 , since the probe 2 is away from the body surface of the subject 110 , the ultrasonic image of the subject and the reference medical image are not displayed on the display unit 8 , and the indicator Id1 is represented by a large-area quadrilateral.

[0124] Therefore, the user can visually easily recognize that the point C1 of the transmission and reception area 60 is away from the corresponding point B1 by observing the indicator Id1 on the display unit 8. After the indicator Id1 is displayed, the process proceeds to step ST12.

[0125] In step ST12, the user searches for the area 61 (refer to Figure 6 ) so that the probe 2 is in contact with the body surface of the subject 110.

[0126] Fig.11 This is an explanatory diagram when the probe 2 is brought into contact with the body surface of the subject 110 .

[0127] When the user brings the probe 2 into contact with the body surface of the subject 110, the ultrasonic image 70 obtained by scanning in the transmission and reception area 60 is displayed in the image display area 8a of the display unit 8. In addition, in the image display area 8b of the display unit 8, an image of a cross section corresponding to the ultrasonic image 70 in the 3D medical image data VD is displayed as a reference medical image 71. Furthermore, a contour line OL corresponding to the contour of the ultrasonic image 70 is also displayed in the reference medical image 71. The area surrounded by the contour line OL is the area corresponding to the ultrasonic image 70.

[0128] In addition, the indicator Id1 is displayed in the image display area 8b. If the user brings the probe 2 into contact with the body surface of the subject 110, the distance D1 becomes shorter, so the processor 7 controls the display mode of the indicator Id1 so that the area of ​​the indicator Id1 is reduced by the amount of shortening of the distance D1. Therefore, by observing the indicator Id1 in the image display area 8b, the user can recognize that the point C1 of the transceiver area 60 is close to the corresponding point B1.

[0129] The user operates the probe 2 while checking the images in the image display areas 8a and 8b so that the point C1 of the transmission and reception area 60 coincides with the corresponding point B1 (see Fig.12 ).

[0130] Fig.12 This is a diagram showing how the probe 2 is operated by a user.

[0131] The user operates the probe 2, and if the point C1 of the transmitting and receiving area 60 coincides with the corresponding point B1 of the area 61 where the best puncture path can be obtained, the distance D1 becomes D1=0. If D1=0, the processor 7 changes the indicator Id1 to a display mode indicating that "the distance D1 is zero". Specifically, the processor changes the indicator Id1 from "□ (quadrilateral)" to a display mode of "+". The user can recognize that the point C1 coincides with the corresponding point B1 by confirming that the indicator Id1 displayed in the image display area 8b changes from "□" to "+". It should be noted that in the first embodiment, when the value of the distance D1 is less than the specified threshold value TH (or less than the threshold value TH), the processor 7 determines that the distance D1 is zero (D1=0) and changes the display mode of the indicator Id1 from "□" to "+". Therefore, “the distance D1 is zero” does not necessarily mean strictly that D1 = 0, and should be interpreted as including the case where the point C1 exists at a position close enough to the corresponding point B1, with the result that the distance D1 is substantially regarded as zero.

[0132] If the user can confirm that the indicator Id1 changes to "+", the process proceeds to step STI3.

[0133] In step STI3, a next indicator is displayed.

[0134] Fig.13 This is an explanatory diagram of step STI3.

[0135] In step STI3, the user operates the user interface 10 and inputs an instruction to display the next indicator Id2. If the user interface 10 accepts the user input for displaying the next indicator Id2, the processor 7 causes the display unit 8 to display the next indicator Id2.

[0136] The indicator Id2 shows the distance D2 between the point C2 of the real-time ultrasonic wave transmitting and receiving area 60 and the corresponding point B2 of the point C2. In the first embodiment, the indicator Id2 is represented by the area of ​​the quadrilateral corresponding to the distance D2. The longer the distance D2 is, the larger the area of ​​the indicator Id2 is, and the shorter the distance D2 is, the smaller the area of ​​the indicator Id2 is. In addition, when the distance D2 is zero, the indicator Id2 is represented by a "+" graphic. Therefore, the user can easily visually recognize the positional relationship between the point C2 and the corresponding point B2 by observing the indicator Id2 displayed on the display unit 8. Fig.13 In FIG. 8 , since point C2 is far away from corresponding point B2, indicator Id2 is represented by a quadrilateral in the display unit 8 .

[0137] Therefore, the user can visually recognize that point C2 is far from corresponding point B2. After the indicator Id2 is displayed, the process proceeds to step STI4.

[0138] In step STI4, the user operates the probe 2 while checking the indicator Id2 of the image display area 8b so that the point C2 of the transmitting and receiving area 60 coincides with the corresponding point B2. Specifically, the user rotates the probe 2 clockwise (or counterclockwise) around the central axis 2e while pressing the probe 2 against the body surface of the subject 110 so that the point C1 does not deviate from the corresponding point B1.

[0139] When the probe 2 is pressed against the body surface of the subject 110 so that point C1 does not deviate from the corresponding point B1, if the user rotates the probe 2 around the central axis 2e, point C2 of the transceiver area 60 approaches the corresponding point B2. If point C2 approaches the corresponding point B2, the distance D2 becomes shorter, so the area of ​​the quadrilateral of the indicator Id2 becomes smaller. Therefore, by rotating the probe 2, the user can visually recognize that point C2 is approaching the corresponding point B2. While confirming the size of the quadrilateral of the indicator Id2, the user adjusts the rotation angle of the probe 2 so that point C2 coincides with the corresponding point B2 (refer to Fig.14 ).

[0140] Fig.14 This is a diagram showing how point C2 and corresponding point B2 coincide with each other.

[0141] The user adjusts the rotation angle 6 of the probe 2. If the point C2 of the transmitting and receiving area 60 coincides with the corresponding point B2 of the area 61 where the best puncture path can be obtained, the distance D2 becomes D2=0. If D2=0, the processor 7 changes the indicator Id2 to a display mode indicating that "the distance D2 is zero". Specifically, the processor changes the indicator Id2 from "□ (quadrilateral)" to a display mode of "+". The user can recognize that the point C2 coincides with the corresponding point B2 by confirming that the indicator Id2 displayed in the image display area 8b changes from "□" to "+". It should be noted that in the first embodiment, the processor 7 determines that the distance D2 is zero (D2=0) when the value of the distance D2 is less than the specified threshold value TH (or less than the threshold value TH), and changes the display mode of the indicator Id2 from "□" to "+". Therefore, “the distance D2 is zero” does not necessarily strictly satisfy D2=0, and should be interpreted as also including the following case: the point C2 exists at a position close enough to the corresponding point B2, as a result of which the distance D2 is substantially regarded as zero.

[0142] If the user can confirm that the indicator Id2 changes to "+", the process proceeds to step ST15.

[0143] In step ST15, a next indicator is displayed.

[0144] Fig.15 It is an explanatory diagram of step ST15.

[0145] In step ST15 , the user operates the user interface 10 to input an instruction to display the next indicator Id3 . If the user interface 10 accepts the user input for displaying the next indicator Id3 , the processor 7 causes the display unit 8 to display the next indicator Id3 .

[0146] The indicator Id3 shows the distance D3 between the point C3 of the real-time ultrasonic wave transmitting and receiving area 60 and the corresponding point B3 of the point C3. In the first embodiment, the indicator Id3 is represented by the area of ​​the quadrilateral corresponding to the distance D3. The longer the distance D3 is, the larger the area of ​​the indicator Id3 is, and the shorter the distance D3 is, the smaller the area of ​​the indicator Id3 is. In addition, when the distance D3 is zero, the indicator Id3 is represented by a "+" graphic. Therefore, the user can easily visually recognize the positional relationship between the point C3 and the corresponding point B3 by observing the indicator Id3 displayed on the display unit 8. Fig.15 In FIG. 8 , since point C3 is far away from corresponding point B3, indicator Id3 is represented by a quadrilateral in the display unit 8 .

[0147] Therefore, the user can visually recognize that the point C3 is far from the corresponding point B3. After the indicator Id3 is displayed, the process proceeds to step ST16.

[0148] In step ST16, the user operates the probe 2 while checking the image in the image display area 8b so that the point C3 of the transmission and reception area 60 coincides with the corresponding point B3 (see FIG. Fig.16 ).

[0149] Fig.16 This is a diagram for explaining the operation method of the probe 2.

[0150] The user tilts the probe 2 within a plane 62 including the central axis 2 e and perpendicular to the transmission and reception area 60 while pressing the probe 2 against the body surface of the subject 110 so that the points C1 and C2 do not deviate from the corresponding points B1 and B2 , respectively.

[0151] If the probe 2 is tilted in the direction of arrow A in the vertical plane 62, the tilt angle θ of the probe 2 in the vertical plane 62 can be adjusted, so that the point C3 of the transmitting and receiving area 60 can be brought close to the corresponding point B3. If the point C3 is close to the corresponding point B3, the distance D3 becomes shorter, so the indicator Id3 (refer to Fig.15 ) becomes smaller. Therefore, the user adjusts the inclination angle 6 of the probe 2 while confirming the size of the quadrilateral of the indicator Id3 so that the point C3 coincides with the corresponding point B3 (refer to Fig.17 ).

[0152] Fig.17 This is a diagram showing how point C3 and corresponding point B3 coincide with each other.

[0153] The user adjusts the inclination angle 6 of the probe 2. If the point C3 of the transmitting and receiving area 60 coincides with the corresponding point B3 of the area 61 where the best puncture path can be obtained, the distance D3 becomes D3=0. If D3=0, the processor 7 changes the indicator Id3 to a display indicating that "the distance D3 is zero". Specifically, the processor changes the indicator Id3 from "□ (quadrilateral)" to a "+" graphic. The user can recognize that the point C3 coincides with the corresponding point B3 by confirming that the indicator Id3 displayed in the image display area 8b changes from "□" to "+". It should be noted that in the first embodiment, the processor 7 determines that the distance D3 is zero (D3=0) when the value of the distance D3 is less than the specified threshold value TH (or less than the threshold value TH), and changes the display mode of the indicator Id3 from "□" to "+". Therefore, “the distance D3 is zero” does not necessarily strictly satisfy D3=0, and should be interpreted as also including the following case: the point C3 exists at a position close enough to the corresponding point B3, as a result, the distance D3 is substantially regarded as zero.

[0154] In this way, the three points C1, C2, and C3 can be aligned with the corresponding points B1, B2, and B3. Therefore, the user can display the area 61 of the subject 110 where the best puncture path can be obtained again on the display unit 8. After the display unit 8 displays the area 61 where the best puncture path can be obtained, the process proceeds to step ST21, and the user actually punctures the subject 110 while confirming the ultrasonic image 70 and the reference medical image 71 displayed on the display unit 8, and the process ends.

[0155] In the first embodiment, the user first Figure 2 According to the process shown, the operation of determining the puncture path is performed. When determining the puncture path, the user specifies the area 61 in the body of the subject 110 where the best puncture path can be obtained. The area 61 where the best puncture path can be obtained includes corresponding points B1, B2, and B3 corresponding to points C1, C2, and C3 of the transmitting and receiving area 60. The position information of these corresponding points B1, B2, and B3 is stored in the memory 9. Then, after the position information of the corresponding points B1, B2, and B3 is stored in the memory 9, the user performs the puncture operation. When performing the puncture operation, the user performs an operation for finding the area 61 where the best puncture path can be obtained again in step ST20. In step ST20, the user first displays the indicator Id1 on the display unit 8. The indicator Id1 indicates the distance D1 between the point C1 and the corresponding point B1. While observing the indicator Id1, the user operates the probe 2 so that the distance D1 becomes zero. The indicator Id1 indicates the distance D1 (i.e., the distance between the point C1 and the corresponding point B1). The display mode of the indicator Id1 changes according to the distance D1. In the first embodiment, the distance D1 is represented by the area of ​​□ (quadrilateral), and if the point C1 coincides with the corresponding point B1, it changes to "+". Therefore, the user can easily visually recognize whether the point C1 is far away from or close to the corresponding point B1 by observing the indicator Id1 of the display unit 8. The user can visually recognize that the point C1 coincides with the corresponding point B1 when the indicator Id1 changes to the display mode of "+" (i.e., D1=0) by operating the probe 2. That is, it can be known that the user can align the point C1 with the corresponding point B1. Then, after the indicator Id1 changes to the display mode indicating that "the distance D1 is zero", the user causes the display unit 8 to display the next indicator, i.e., the indicator Id2.

[0156] Indicator Id2 indicates the distance D2 between point C2 and corresponding point B2 (reference Fig.13). The user pays attention to the fact that point C1 does not deviate from the corresponding point B1, and refers to the indicator Id2 to operate the probe 2 so that the distance D2 becomes zero. In the first embodiment, the display mode of the indicator Id2 changes according to the distance D2, and the distance D2 is represented by the area of ​​□ (quadrilateral). If the point C2 coincides with the corresponding point B2, it changes to "+". Therefore, by observing the indicator Id2 on the display unit 8, the user can easily visually recognize whether the point C2 is far away from or close to the corresponding point B2. When the user operates the probe 2, when the indicator Id2 changes to the display mode of "+" (that is, D2=0) (refer to Fig.14 ), the user can visually recognize that point C2 is consistent with the corresponding point B2. That is, it can be known that the user can align point C2 with the corresponding point B2. Then, after the indicator Id2 changes to the display mode of "+" (that is, D2 = 0), the user displays the next indicator, that is, indicator Id3, on the display unit 8.

[0157] Indicator Id3 indicates the distance D3 between point C3 and corresponding point B3 (reference Fig.15 ). The user pays attention to point C1 not deviating from the corresponding point B1, and further pays attention to point C2 not deviating from the corresponding point B2, while referring to the indicator Id3 and operating the probe 2 so that the distance D3 becomes zero. In the first embodiment, the display mode of the indicator Id3 changes according to the distance D3, and the distance D3 is represented by the area of ​​□ (quadrilateral). If the point C3 coincides with the corresponding point B3, it changes to "+". Therefore, the user can easily visually recognize whether the point C3 is far away from or close to the corresponding point B3 by observing the indicator Id3 of the display unit 8. By operating the probe 2, when the indicator Id3 changes to the display mode of "+", the user can visually recognize that the point C3 coincides with the corresponding point B3. That is, it can be seen that the user can align the point C3 with the corresponding point B3.

[0158] Therefore, points C1, C2, and C3 of the transmission and reception area 60 of the probe 2 can be made consistent with the corresponding points B1, B2, and B3 stored in the memory 9, so that the user can find the area 61 where the best puncture path can be obtained again.

[0159] In the first embodiment, the indicator Id1, the indicator Id2, and the indicator Id3 are not displayed simultaneously on the display unit 8, but the indicator Id1 is displayed first. Therefore, while the user is aligning the point C1, the indicator Id1, the indicator Id2, and the indicator Id3 are displayed on the display unit 8. Fig.11 As shown, the indicator Id1 is displayed, but the indicators Id2 and Id3 are not displayed, so the user can focus only on the alignment of the point C1. Then, after the alignment of the point C1 is completed, the indicator Id2 is displayed (refer to Fig.13), so the user can focus on the alignment of point C2 while paying attention to point C1 not deviating from the corresponding point B1, while referring to indicator Id2. After the alignment of point C2 is completed (refer to Fig.14 ), display indicator Id3 (reference Fig.15 ), the user performs the alignment of point C3. Thus, in the first embodiment, instead of displaying the three indicators Id1, Id2, and Id3 at the same time, the indicator Id1 is displayed, and if the alignment of point C1 is completed, the indicator Id2 is displayed, and if the alignment of point C2 is completed, the indicator Id3 is displayed. Therefore, since the user can focus on the alignment of point C1, the alignment of point C2, and the alignment of point C3, the alignment of the probe can be easily performed.

[0160] In the first embodiment, the indicator Id1 among the three indicators Id1, Id2 and Id3 is first displayed on the display unit 8, and the point C1 is first located. Figure 7 As shown in FIG. 1 , point C1 corresponds to the central portion 2c of the probe surface 2b of the probe 2. Therefore, if point C1 is positioned first, the position of the central portion 2c of the probe surface 2b relative to the body surface of the subject can be determined, and the remaining points C2 and C3 can be aligned by simply operating the probe 2. For example, in the first embodiment, by first positioning point C1, point C2 can be aligned only by rotating the probe 2 (see FIG. 1 ). Fig.14 ), point C3 can be aligned by simply tilting the probe 2 (reference Fig.17 ). Therefore, by simply operating the probe 2, it is possible to easily find the area 61 where the best puncture path can be obtained. It should be noted that in the first embodiment, the point C1 is set to a point corresponding to the central portion 2c of the probe surface 2b of the probe 2. However, the point C1 does not necessarily have to be set to a point corresponding to the central portion 2c of the probe surface 2b, and can be set to a point corresponding to other parts of the probe surface 2b. For example, the point C1 can be set to a point corresponding to the end portion 2f of the probe surface 2b (refer to Figure 7 When point C1 is set as a point corresponding to end 2f, the position of end 2f of probe surface 2b relative to the body surface of the subject can be determined by positioning point C1, so the remaining points C2 and C3 can be aligned by simple operation of probe 2.

[0161] In the first embodiment, the indicators Id1, Id2, and Id3 are displayed on the display unit 8 in the order of the indicators Id1, Id2, and Id3. However, the order of displaying the indicators Id1, Id2, and Id3 is not limited to the order of the indicators Id1, Id2, and Id3, and the indicators Id1, Id2, and Id3 may be displayed in other orders. For example, the indicators may be displayed in the order of the indicators Id1, Id3, and Id2. In this case, after locating the point C1, the user aligns the point C3 with the corresponding point B3 by tilting the probe 2. Therefore, before aligning the point C2, the alignment of the point C3 is performed. After aligning the point C3, the user aligns the point C2 with the corresponding point B2 by rotating the probe 2 in a manner that does not cause positional displacement between the point C1 and the point C3. Therefore, even when positioning is performed in the order of point C1 , point C3 , and point C2 , the region 61 where the best puncture path can be obtained can be easily found by simply operating the probe 2 .

[0162] In the first embodiment, point C1 is located first among point C1, point C2, and point C3. However, point C2 or point C3 may be located first instead of point C1.

[0163] In the first embodiment, point C1 of the transmission and reception area 60 corresponds to the center of the probe surface, point C2 corresponds to the end of the probe surface, and point C3 corresponds to the deep part of the transmission and reception area 60. However, points C1, C2, and C3 may be set at different positions. Fig.18 The diagram shows an example in which points C1 , C2 , and C3 are set at different positions. Fig.18 (a) shows an example where points C1, C2, and C3 are located at corners of the transceiver area 60. Fig.18 (b) shows an example where the point C1 is arranged inside the transmission and reception area 60. In this way, the positions of the points C1, C2, and C3 can be set not only on the outline of the transmission and reception area 60 but also inside the transmission and reception area 60.

[0164] In the first embodiment, three indicators are used to find the region 61 where the best puncture path can be obtained, but four or more indicators may be used.

[0165] In the first embodiment, an example in which a sector-shaped ultrasonic image is displayed on the display unit 8 is described. However, the present invention is not limited to sector-shaped ultrasonic images, and can be applied to ultrasonic images of any shape (for example, square ultrasonic images).

[0166] (Second Embodiment)

[0167] Hereinafter, the second embodiment will be described, but descriptions of matters that are the same as those of the first embodiment will be omitted.

[0168] In the second embodiment, reference Fig.19 The flowchart of illustrates an example in which a puncture path is determined without using a reference medical image.

[0169] In step ST31 , the user performs an operation of searching for an optimal puncture path while scanning the inside of the subject 110 with the ultrasonic probe 2 .

[0170] Fig. 20 It is an explanatory diagram of step ST31.

[0171] In step S31, the user brings the ultrasonic probe 2 into contact with the body surface of the subject 110 to start transmitting and receiving ultrasound. Then, the processor 7 displays the ultrasonic image UG generated based on the echo signal on the display unit 8. The ultrasonic image UG is displayed in the image display area 8c. The ultrasonic image UG is, for example, a B-mode image.

[0172] Next, the user searches for a puncture path (eg, the position and insertion angle of the puncture needle) for entering a target (eg, a tumor) while scanning the inside of the subject 110 with the ultrasonic probe 2 .

[0173] Fig.21 This is a diagram for explaining the search for the puncture path.

[0174] The user operates the probe 2 to search for the puncture path. Fig.21 2 shows an example in which the user can find the optimal puncture path in region 61 (portion highlighted in gray) of the subject 110 corresponding to the ultrasonic wave transmission and reception region 60. If the user can search for region 61 where the optimal puncture path can be obtained, the process proceeds to step ST32.

[0175] In step ST32, the user operates the user interface 10 to input an instruction for storing the position information of the corresponding points B1, B2, and B3 of the region 61 where the best puncture path can be obtained. If the instruction is input, the processor 7 stores the position information of the corresponding points B1, B2, and B3 as the position information of the coordinate system of the ultrasonic image UG.

[0176] That is, in the second embodiment, the processor 7 stores the position information of the points C1 , C2 , and C3 as the position information in the coordinate system of the ultrasonic image UG, rather than as the volume data VD of the reference medical image.

[0177] After storing the position information of the corresponding points B1, B2, and B3 of the area 61 where the best puncture path can be obtained, the user performs the puncture operation. Fig. 9It should be noted that in the second embodiment, from the determination of the position and the insertion angle of the puncture needle in step S32 to the start of the puncture operation, the subject 110 does not move but stays at the same position.

[0178] In step ST20, the user manipulates the subject 110 with the probe 2 to find the region 61 (refer to FIG. Fig.21 ) operation.

[0179] It should be noted that step ST20 in the second embodiment is substantially the same as that in the first embodiment, and therefore step ST20 will be briefly described below.

[0180] In step ST11 , the processor 7 causes the display unit 8 to display the indicator Id1 . Fig. 22 1 is a diagram showing an indicator Id1 displayed on the display unit 8. The indicator Id1 indicates the distance between the point C1 and the point E1. In the first embodiment, the indicator Id1 is displayed in a manner superimposed on the reference medical image 71 (reference Fig.11 ), but in the second embodiment, the indicator Id1 is displayed in a manner superimposed on the ultrasonic image 70. If the indicator Id1 is displayed, the process proceeds to step ST12.

[0181] In step ST12, the user aligns the point C1 while observing the indicator Id1. Fig.23 As shown, if the indicator Id1 changes to a display mode of "+", the process proceeds to step ST13.

[0182] In step ST13, the next indicator Id2 is displayed. Fig.24 2 is a diagram showing the indicator Id2 displayed on the display unit 8. The indicator Id2 indicates the distance between the point C2 and the point E2. When the indicator Id2 is displayed, the process proceeds to step ST14.

[0183] In step ST14, the user rotates the probe 2 while observing the indicator Id2 to align the point C2. Fig.25 As shown, if the indicator Id2 changes to the display mode of "+", the process proceeds to step ST15.

[0184] In step ST15, the next indicator Id3 is displayed. Fig.26 2 is a diagram showing the indicator Id3 displayed on the display unit 8. The indicator Id3 indicates the distance between the point C3 and the point E3. When the indicator Id3 is displayed, the process proceeds to step ST16.

[0185] In step ST16, the user adjusts the tilt angle of the probe 2 while observing the indicator Id3 to align the point C3. Fig. 27 As shown in FIG. 1 , if the indicator Id3 changes to a display mode of “+”, the process proceeds to step ST21 , and the user actually punctures the subject 110 while referring to the ultrasonic image displayed on the display unit 8 , and the process ends.

[0186] According to the ultrasonic diagnostic apparatus 1 of the second embodiment, the same effects as those of the first embodiment can be obtained. In addition, in the second embodiment, since the volume data VD of the reference medical image is not stored but the position information in the coordinate system of the ultrasonic image UG is stored, there is no need to establish a correspondence between the coordinate system of the reference medical image and the coordinate system of the ultrasonic image, which can reduce the user's operational burden.

[0187] Description of Reference Numerals

[0188] 1: Ultrasonic diagnostic equipment

[0189] 2: Ultrasonic probe

[0190] 2a: Vibrating element

[0191] 2b: Probe surface

[0192] 2c: Central

[0193] 2d, 2f: End

[0194] 2e: Central axis

[0195] 3: Transmit beamformer

[0196] 4: Transmitter

[0197] 5: Receiver

[0198] 6: Receive beamformer

[0199] 7: Processor

[0200] 8: Display unit

[0201] 8a, 8b, 8c: Image display area

[0202] 9: Memory

[0203] 10: User Interface

[0204] 11: Magnetic generating part

[0205] 12: Magnetic sensor

[0206] 60: Transceiver area

[0207] 61: Area

[0208] 62: Vertical plane

[0209] 70: Ultrasound image

[0210] 71: Reference Medical Images

[0211] 100: Medical imaging device

[0212] 110: Subject

[0213] 111: Section

Claims

1. An ultrasonic diagnostic device, comprising: A probe, wherein an ultrasonic wave transmitting and receiving area of ​​the probe includes a first point, a second point different from the first point, and a third point different from the first and second points; Display unit; as well as at least one processor; in, The at least one processor executes: storing position information of a first area corresponding to the transceiver area of ​​the subject in a memory, wherein the first area of ​​the subject includes a first corresponding point corresponding to the first point, a second corresponding point corresponding to the second point, and a third corresponding point corresponding to the third point, and storing position information of the first corresponding point, the second corresponding point, and the third corresponding point in the memory; After storing the position information of the first corresponding point, the second corresponding point and the third corresponding point, displaying a first indicator indicating a first distance between the first point and the first corresponding point in a real-time ultrasonic wave transmission and reception area on a display unit; After the first indicator changes to a display mode indicating that the first distance is zero, a second indicator indicating a second distance between the second point in the ultrasonic wave receiving and transmitting area of ​​the probe and the second corresponding point is displayed on the display unit; and After the second indicator changes to a display mode indicating that the second distance is zero, a third indicator indicating a third distance between the third point in the real-time ultrasonic wave transmission and reception area and the third corresponding point is displayed on the display unit.

2. The ultrasonic diagnostic apparatus according to claim 1, wherein: The position information of the first corresponding point, the second corresponding point, and the third corresponding point is stored as position information in the coordinate system of the 3D medical image.

3. The ultrasonic diagnostic apparatus according to claim 2, wherein: | The 3D medical image is an image obtained by a medical device different from the ultrasonic diagnostic device.

4. The ultrasonic diagnostic apparatus according to claim 1, wherein: The position information of the first corresponding point, the second corresponding point, and the third corresponding point is stored as position information in a coordinate system of an ultrasonic image obtained by the ultrasonic imaging device.

5. The ultrasonic diagnostic apparatus according to claim 1, wherein: The at least one processor causes the medical image to be displayed on a display.

6. The ultrasonic diagnostic apparatus according to claim 1, wherein: The first point is a point corresponding to a first portion of the probe face.

7. The ultrasonic diagnostic apparatus according to claim 6, wherein: The second point is a point corresponding to a second portion of the probe surface, The third point is a point corresponding to a deep portion of the transceiver region of the probe.

8. The ultrasonic diagnostic apparatus according to claim 7, wherein: After the first indicator is displayed on the display unit, by operating the probe so that the first distance becomes zero, the first indicator changes to a display mode indicating that the first distance is zero.

9. The ultrasonic diagnostic apparatus according to claim 8, wherein: After the second indicator is displayed on the display unit, the second indicator is changed to a display mode indicating that the second distance is zero by operating the probe in a rotational manner about the central axis of the probe.

10. The ultrasonic diagnostic apparatus according to claim 9, wherein: After the third indicator is displayed on the display unit, the third indicator changes to a display indicating that the third distance is zero by operating the probe in a manner of adjusting the inclination angle of the probe within a plane including the central axis of the probe and perpendicular to the transmitting and receiving area.

11. The ultrasonic diagnostic apparatus according to claim 6, wherein: The second point is a point corresponding to a deep portion of the transceiver region of the probe, The third point is a point corresponding to the second portion of the probe face.

12. The ultrasonic diagnostic apparatus according to claim 11, wherein: After the first indicator is displayed on the display unit, by operating the probe so that the first distance becomes zero, the first indicator changes to a display mode indicating that the first distance is zero.

13. The ultrasonic diagnostic apparatus according to claim 12, wherein: After the second indicator is displayed on the display unit, the second indicator changes to a display indicating that the second distance is zero by operating the probe to adjust the tilt angle of the probe within a plane including the central axis of the probe and perpendicular to the transmitting and receiving area.

14. The ultrasonic diagnostic apparatus according to claim 13, wherein: After the third indicator is displayed on the display unit, by operating the probe in a rotational manner about the central axis of the probe, the third indicator changes to a display mode indicating that the third distance is zero.

15. The ultrasonic diagnostic apparatus according to any one of claims 7 to 14, wherein: The first portion of the probe is a central portion of the probe surface, and the second portion of the probe is an end portion of the probe surface.

16. A storage medium, contained in an ultrasonic diagnostic device, the ultrasonic diagnostic device comprising: A probe, wherein an ultrasonic wave transmitting and receiving area of ​​the probe includes a first point, a second point different from the first point, and a third point different from the first and second points; Display unit; as well as at least one processor; in, The first area corresponding to the transceiver area of ​​the subject includes: a first corresponding point corresponding to the first point, a second corresponding point corresponding to the second point, and a third corresponding point corresponding to the third point. The storage medium stores instructions executed by the at least one processor, the instructions causing the at least one processor to execute: storing the position information of the first corresponding point, the second corresponding point and the third corresponding point in the storage medium or other storage medium; After storing the position information of the first corresponding point, the second corresponding point and the third corresponding point, displaying a first indicator indicating a first distance between the first point and the first corresponding point in a real-time ultrasonic wave transmission and reception area on a display unit; After the first indicator changes to a display mode indicating that the first distance is zero, a second indicator indicating a second distance between the second point in the ultrasonic wave receiving and transmitting area of ​​the probe and the second corresponding point is displayed on the display unit; and After the second indicator changes to a display mode indicating that the second distance is zero, a third indicator indicating a third distance between the third point in the real-time ultrasonic wave transmission and reception area and the third corresponding point is displayed on the display unit.

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