Ultrasonic diagnostic apparatus

Abstract

The purpose of the present invention is to improve the accuracy of position measurement with respect to an ultrasonic diagnostic device that measures the position at which an ultrasonic image is acquired. An ultrasound diagnostic device (100) is provided with an ultrasound probe (12), a position sensor (36), and an information processing unit. The information processing unit is configured from a position measurement unit (10), an ultrasonic transceiver (16), an image generation unit (18), and a control unit (20). The information processing unit generates ultrasonic image data on the basis of the ultrasonic waves received by the ultrasonic probe (12), and measures the position of the ultrasonic probe (12) on the basis of the sensor signal output from the position sensor (36). The diagnostic ultrasound device (100) is further provided with a control database (22) that associates a frame rate when the ultrasound image data is generated with a measurement frequency of the sensor signal, and the information processing unit sets at least one of the frame rate and the measurement frequency on the basis of the control database (22).

Description

Technical Field

[0001] The present invention relates to an ultrasonic diagnostic device, and in particular to a position measurement of an ultrasonic probe. Background Art

[0002] There is an ultrasonic diagnostic device in which a position sensor is provided in an ultrasonic probe and the position of the ultrasonic probe is measured when an ultrasonic image is acquired. Patent Document 1 below describes such an ultrasonic diagnostic device. Patent Document 2 describes a sensor that detects an electromagnetic field as a position sensor.

[0003] Patent Document 1: International Publication No. 2014 / 156973

[0004] Patent Document 2: Japanese Patent Application Laid-Open No. 6-347527

[0005] Typically, in ultrasonic diagnostic devices that measure the position of an ultrasonic probe, the position sensor and the ultrasonic probe's transducer are positioned close together. Consequently, when acquiring ultrasonic images, the transmission signal applied to the transducer interferes with the sensor signal output from the position sensor, sometimes causing errors in the probe's measured position. Summary of the Invention

[0006] An object of the present invention is to improve the accuracy of position measurement in an ultrasonic diagnostic apparatus that measures the position of an acquired ultrasonic image.

[0007] In the ultrasonic diagnostic device involved in the present invention, it is equipped with an ultrasonic probe and a position sensor arranged in the ultrasonic probe. The ultrasonic diagnostic device is characterized in that it comprises: an information processing unit, configured to generate ultrasonic image data based on ultrasonic waves received by the ultrasonic probe, and to measure the position of the ultrasonic probe based on a sensor signal output from the position sensor; and a control database, which establishes a correspondence between the frame rate when generating the ultrasonic image data and the measurement frequency of the sensor signal, and the information processing unit sets at least one of the frame rate and the measurement frequency based on the control database.

[0008] In one embodiment, the control database includes a measurement frequency table that associates the frame rate with an interference avoidance measurement frequency, and the information processing unit sets the measurement frequency to the interference avoidance measurement frequency associated with the frame rate using the measurement frequency table.

[0009] In one embodiment, the information processing unit performs the following processing: correcting the position measurement value obtained by the sensor signal based on a pre-calculated offset adjustment value; when the measurement frequency is changed, updating the offset adjustment value based on the difference between the corrected position measurement value obtained before the measurement frequency is changed and the pre-corrected position measurement value obtained after the measurement frequency is changed; and correcting the pre-corrected position measurement value obtained after the measurement frequency is changed based on the updated offset adjustment value.

[0010] In one embodiment, the control database includes a frame rate table that associates the measurement frequency with an interference avoidance frame rate, and the information processing unit sets the frame rate to the interference avoidance frame rate associated with the measurement frequency using the frame rate table.

[0011] In one embodiment, the information processing unit changes the frame rate by changing the number of ultrasonic pulses transmitted by the ultrasonic probe in each transmission cycle.

[0012] In one embodiment, the information processing unit causes ultrasonic pulses that are increased compared to before the frame rate was changed, among a plurality of ultrasonic pulses transmitted by the ultrasonic probe in each transmission cycle, to not participate in the generation of the ultrasonic image data.

[0013] Effects of the Invention

[0014] According to the present invention, it is possible to improve the accuracy of position measurement in an ultrasonic diagnostic apparatus that measures the position of an acquired ultrasonic image. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a diagram showing the configuration of an ultrasonic diagnostic apparatus according to an embodiment of the present invention.

[0016] Figure 2 It is a diagram showing the time waveforms of the transmission signal and the sensor signal.

[0017] Figure 3 This is a diagram showing the deviation of position coordinate values ​​with respect to the measurement frequency for two different frame rates.

[0018] Figure 4 It is a diagram showing the transmission signal before and after the frame rate is changed.

[0019] Figure 5 It is a diagram showing the transmission signal before and after the frame rate is changed.

[0020] Figure 6 This is a diagram showing an example of an offset error with respect to a measurement frequency.

[0021] Figure 7This is a timing chart of the process of changing the offset adjustment value along with the change of the measurement frequency.

[0022] Explanation of symbols

[0023] 10-position measurement unit, 12-ultrasonic probe, 14-ultrasonic diagnostic device body, 16-ultrasonic transceiver, 18-image generation unit, 20-control unit, 22-control database, 24-memory, 28-frame rate table, 30-measurement frequency table, 32-cable, 34-display, 36-position sensor, 38-sensor wire, 40-measurement signal line, 42-position measurement transmitter, 50-transmission pulse, 52-position measurement pulse, 100-ultrasonic diagnostic device. DETAILED DESCRIPTION

[0024] exist Figure 1 2 shows the configuration of an ultrasonic diagnostic apparatus 100 according to an embodiment of the present invention. The ultrasonic diagnostic apparatus 100 includes a position measuring unit 10, a position measuring transmitter 42, an ultrasonic probe 12, a position sensor 36, an ultrasonic diagnostic apparatus body 14, and a display 34. The ultrasonic diagnostic apparatus body 14 includes an ultrasonic transceiver 16, an image generating unit 18, a control unit 20, a control database 22, and a memory 24. The ultrasonic probe 12 is connected to the ultrasonic transceiver 16 via a cable 32.

[0025] The position measuring unit 10, the ultrasonic transceiver 16, the image generating unit 18, and the control unit 20 constitute an information processing unit as hardware. The information processing unit may include a processor that configures part or all of the components (the position measuring unit 10, the ultrasonic transceiver 16, the image generating unit 18, and the control unit 20) by executing a program. In addition, the information processing unit may include an electronic circuit that serves as an interface with the ultrasonic probe 12, the memory 24, and the control database 22. The information processing unit is configured as follows: it generates ultrasonic image data based on the ultrasonic waves received by the ultrasonic probe 12, and measures the position of the ultrasonic probe 12 based on the sensor signal output from the position sensor 36. The control database 22 may be information stored in a recording medium as hardware. The control database 22 may be configured in the memory 24.

[0026] The control unit 20 controls the ultrasonic diagnostic apparatus 100 as a whole. The ultrasonic transceiver 16 outputs a transmission signal to the ultrasonic probe 12, causing the ultrasonic probe 12 to transmit ultrasonic waves. The ultrasonic waves transmitted from the ultrasonic probe 12 form an ultrasonic beam directed in a specific direction, and the ultrasonic beam scans the subject. The ultrasonic probe 12 receives ultrasonic waves reflected by the subject in each direction in which the ultrasonic beam is directed. The ultrasonic probe 12 converts the ultrasonic waves into electrical signals and outputs the electrical signals to the ultrasonic transceiver 16. The ultrasonic transceiver 16 performs processing such as detection and amplification on the electrical signals output from the ultrasonic probe 12 as received signals. In addition, the ultrasonic transceiver 16 performs phase-aligned addition on the received signals obtained in each direction in which the ultrasonic beam is directed, and outputs the received signals after phase-aligned addition (hereinafter referred to as phase-aligned and added received signals) to the image generation unit 18.

[0027] The image generator 18 generates ultrasonic image data, such as B-mode image data, for each direction in which the ultrasonic beam is directed, based on the phased-sum received signals output from the ultrasonic transceiver 16. The image generator 18 converts the ultrasonic image data into a video signal and outputs it to the display 34. The display 34 displays an ultrasonic image based on the ultrasonic image data based on the video signal.

[0028] The position measurement unit 10 is connected to the control unit 20 via a measurement signal line 40. A position sensor 36 is provided in the ultrasonic probe 12. A sensor lead 38 extends from the position sensor 36. The sensor lead 38 is bundled with or included in the cable 32 of the ultrasonic probe 12. The sensor lead 38 extends from the position sensor 36 to the ultrasonic diagnostic apparatus main body 14 and is connected to the position measurement unit 10 together with the measurement signal line 40.

[0029] A position measuring transmitter 42 is connected to the position measuring unit 10. The position measuring unit 10 outputs a position measuring signal to the position measuring transmitter 42. The position measuring transmitter 42 transmits a magnetic field position measuring signal based on a magnetic field in response to the position measuring signal.

[0030] The position sensor 36 detects the magnetic field position measurement signal and outputs a sensor signal based on the detected magnetic field position measurement signal to the position measurement unit 10 via the sensor lead 38. The position measurement unit 10 calculates the position information of the position sensor 36 based on the sensor signal. The position information may include three-dimensional coordinate values ​​(x, y, z) in the three-dimensional xyz coordinate system defined by the position measurement unit 10. The position measurement unit 10 outputs the position information of the position sensor 36 to the control unit 20 via the measurement signal line 40.

[0031] The control unit 20 causes the image generator 18 to execute a process for associating the ultrasonic image data with the position information of the position sensor 36. For example, when the ultrasonic beam repeatedly scans the subject and the image generator 18 sequentially generates ultrasonic image data over time, the position information can be associated with each frame of ultrasonic image data. For example, when a user manually moves the ultrasonic probe 12 along the surface of the subject to generate volume data, the memory 24 can store the associated position information with each frame of ultrasonic image data.

[0032] Image data of the subject previously acquired by another device may be stored in the memory 24. This external device image data may be CT scan data or MRI image data. The image generator 18 may display an image based on the external device image data stored in the memory 24 and an image based on the ultrasound image data generated by the image generator 18 on the display 34 in a manner that allows comparison. For example, the image generator 18 may display the external device image and the ultrasound image on the display 34 in such a manner that the external device image is visible through the ultrasound image generated by the image generator 18.

[0033] exist Figure 2 (a) shows the temporal waveform of the transmission signal output from the ultrasonic transceiver 16 to the ultrasonic probe 12. The transmission signal has a cycle whose reciprocal of the frame rate fus is set to one. Within one cycle of the transmission signal (one transmission cycle), multiple transmission pulses 50 are included. Multiple ultrasonic pulses are transmitted from the ultrasonic probe 12 within one transmission cycle.

[0034] exist Figure 2 (b) shows the temporal waveform of the sensor signal. One cycle (1 / fsns) of the sensor signal contains multiple position measurement pulses 52 required for each position measurement. In the following description, the inverse of one cycle of the sensor signal is referred to as the measurement frequency. The position measurement signal output by the position measurement unit 10 to the position measurement transmitter 42 has the same cycle as the sensor signal and, like the sensor signal, contains multiple pulses required for each position measurement.

[0035] The sensor lead 38 extending from the position sensor 36 is bundled with or included in the cable 32 of the ultrasonic probe 12. Therefore, when the ultrasonic transceiver 16 outputs a transmission signal, noise voltage or current based on the transmission signal may be generated in the sensor lead 38, interfering with the sensor signal. This may cause errors in the position information obtained by the position measurement unit 10.

[0036] This error can be evaluated based on the deviation of the position coordinate values ​​included in the position information obtained multiple times. The deviation of the position coordinate values ​​includes, for example, the standard deviation of the position coordinate values ​​obtained multiple times. For example, when the position information is represented by xyz three-dimensional coordinates, the deviation can be represented by the standard deviation of any coordinate value among the x-axis coordinate value, the y-axis coordinate value, and the z-axis coordinate value. Furthermore, for example, when the position information is represented by three-dimensional polar coordinates (distance r from the origin, azimuth angle θ when observed from the origin, elevation angle φ when observed from the origin), the deviation can be represented by distance r = (x 2 +y 2 +z 2 ) 1 / 2 Furthermore, the deviation may be a value obtained by averaging the absolute values ​​of the variances of the position coordinate values ​​obtained a plurality of times or the values ​​obtained by subtracting the average value from the respective values.

[0037] exist Figure 3 (a) and Figure 3 In (b), the deviation of the position coordinate value with respect to the measurement frequency is shown for two different frame rates fusA and fusB. Figure 3 (a) and Figure 3 (b) It is clear that the deviation becomes extremely large for a specific measurement frequency. Then, if the frame rate of the transmitted signal is changed, the measurement frequency at which the deviation becomes extremely large changes. Furthermore, when the frame rate of the transmitted signal is changed, the interference avoidance measurement frequency, which is the frequency at which the deviation falls below a predetermined threshold, also changes. Similarly, when the measurement frequency is changed, the interference avoidance frame rate, which is the frame rate at which the deviation falls below a predetermined threshold, also changes.

[0038] Therefore, the control database 22 of the ultrasonic diagnostic apparatus 100 includes a frame rate table 28. This table associates measurement frequencies with interference avoidance frame rates. The control unit 20 refers to the table 28 and retrieves the interference avoidance frame rate associated with the measurement frequency when the position measurement transmitter 42 transmits the magnetic field position measurement signal. The control unit 20 controls the ultrasonic transceiver 16 to set the frame rate of the transmission signal output by the ultrasonic transceiver 16 to the interference avoidance frame rate.

[0039] In the frame rate table 28, interference avoidance frame rates are associated with each measurement frequency. The control unit 20 sets the frame rate of the transmission signal input to the ultrasonic probe 12 to the interference avoidance frame rate associated with the measurement frequency of the position measurement signal, thereby suppressing interference that the position measurement unit 10 receives from the transmission signal via the sensor lead 38. This improves the accuracy of the position information acquired by the position sensor 36.

[0040] exist Figure 4The transmission signal before and after the frame rate change is shown in FIG. Figure 4 (a) shows the transmitted signal before the frame rate is reduced. Figure 4 (b) shows the transmitted signal after the frame rate is reduced. Figure 4 The transmission signal shown in (a) is Figure 4 The transmission signal shown in (b) has a transmission pulse 50 added to it within one transmission cycle. Figure 4 The number of transmission pulses 50 per transmission cycle of the transmission signal shown in (b) is greater than Figure 4 The number of transmission pulses 50 per transmission cycle of the transmission signal shown in (a). Figure 4 The frame rate fus2 of the transmitted signal shown in (b) is less than Figure 4 (a) shows the frame rate fus1 of the transmission signal.

[0041] according to Figure 4 (a) The sending signal, and Figure 4 Compared with the transmission signal of (b), the information contained in one frame of ultrasonic image data becomes less, but the dynamic image with smooth movement is displayed. Figure 4 (b) the sending signal, and Figure 4 Compared with the transmission signal of (a), the displayed moving image does not move smoothly, but more information is included in one frame of ultrasonic image data.

[0042] Here, the process of increasing the number of transmission pulses 50 per transmission cycle to reduce the frame rate is shown. Instead of this process, a process of reducing the number of pulses per transmission cycle to increase the frame rate may be performed.

[0043] In addition, when a transmission pulse 50 is added within one transmission cycle, the added transmission pulse 50 may be a dummy pulse that does not participate in the generation of ultrasonic image data. Figure 5 (a) shows the transmitted signal before the frame rate is reduced. Figure 5 (b) shows the transmitted signal after the frame rate is reduced. Figure 5 In (b), a dummy pulse 54 added to increase the number of pulses per transmission cycle is shown by a dotted line.

[0044] The control unit 20 and ultrasonic transceiver 16 are configured to identify the position of the virtual pulse 54 on the time axis. The ultrasonic transceiver 16 outputs the phased-sum received signal, obtained by removing the virtual pulse 54 from the received signal, to the image generator 18. Specifically, the control unit 20 controls the image generator 18 so that the virtual pulse 54 does not participate in the generation of ultrasonic image data. This processing reduces the apparent frame rate while maintaining the effective frame rate (the frame rate of the moving image displayed on the display 34) in the image generator 18. This makes it easier to change the processing performed by the image generator 18 on a single frame of ultrasonic image data.

[0045] The control database 22 in the ultrasonic diagnostic apparatus 100 according to this embodiment includes a measurement frequency table 30. This table associates frame rates with interference avoidance measurement frequencies. The control unit 20 refers to the table 30 and retrieves the interference avoidance measurement frequency associated with the frame rate of the transmission signal output by the ultrasonic transceiver 16 to the ultrasonic probe 12. The control unit 20 controls the position measurement unit 10 to set the measurement frequency of the position measurement signal output by the position measurement unit 10 to the position measurement transmitter 42 to the interference avoidance measurement frequency.

[0046] As reference Figure 3 As shown, for a specific frame rate, there is an interference avoidance measurement frequency at which the deviation in the position coordinate value falls below a predetermined threshold. In the measurement frequency table 30, interference avoidance measurement frequencies are associated with each frame rate. The control unit 20 sets the measurement frequency of the position measurement signal to the interference avoidance measurement frequency associated with the frame rate, thereby suppressing interference received by the position measurement unit 10 from the transmitted signal via the sensor lead 38. This improves the accuracy of the position information acquired by the position sensor 36.

[0047] The position information measured by the position measurement unit 10 includes an offset error based on the characteristics of the position sensor 36 and the position measurement unit 10. When the position information is represented by three-dimensional coordinate values ​​(x, y, z), the control unit 20 subtracts the offset adjustment value of each position coordinate value from the x-axis coordinate value, y-axis coordinate value, and z-axis coordinate value indicated by the position information to obtain position information in which the offset error has been compensated.

[0048] The offset error varies with the measurement frequency. Figure 6 An example of the offset error with respect to the measurement frequency is shown in FIG. The horizontal axis represents the measurement frequency, and the vertical axis represents the offset error with respect to one coordinate axis. Figure 6 In the example shown, when the measurement frequency is 80 Hz, the offset error is 0. If the measurement frequency exceeds 80 Hz, the offset error increases (decreases) in a negative direction, and if the measurement frequency is less than 80 Hz, the offset error increases.

[0049] As described above, the offset error fluctuates in accordance with the change in the measurement frequency. Therefore, when the measurement frequency is changed, the control unit 20 also changes the offset adjustment value for compensating for the offset error.

[0050] exist Figure 7 (a)~ Figure 7 (d) shows a timing chart of the process of changing the offset adjustment value along with the change of the measurement frequency. Figure 7 (a) shows a case where the user performs an operation (S1) to change the measurement frequency at time t=t0. Figure 7 (b) shows a case where the control unit 20 changes the measurement frequency from 80 Hz to 71 Hz at time t= t1 by a user operation ( S2 ).

[0051] exist Figure 7 (c) shows the position measurement result after the offset process. The position coordinate value before the offset process is represented by d i，j , the position coordinate value after offset processing is expressed as d * i，j .exist Figure 7 (d) shows the final position coordinate value d * i，j As the final position information. In the case where the position information is represented by xyz three-dimensional coordinate values, Figure 7 The position coordinate value shown in (c) is any one of the x-axis coordinate value, the y-axis coordinate value, and the z-axis coordinate value. Furthermore, the offset processing is the process of subtracting the offset adjustment value of each position coordinate value from the x-axis coordinate value, the y-axis coordinate value, and the z-axis coordinate value shown in the position information to correct each position coordinate value. The integer i represents the value obtained in the i-th offset processing. The integer j represents the j-th position coordinate value obtained.

[0052] Before the time t=t1 at which the measurement frequency is changed, the control unit 20 calculates the position coordinate value d n-1，m-2 The implementation uses the n-1th offset adjustment value off n-1 The offset processing is performed and the position coordinate value d after the offset processing is obtained * n-1，m-2 =d n-1，m-2 -off n-1 (S3) The control unit 20 sets the position coordinate value d after the offset processing * n-1，m-2 This is reflected in the final position information (S10).

[0053] Next, the control unit 20 calculates the position coordinate value d obtained at the m-1th position. n-1，m-1 The implementation uses the n-1th offset adjustment value off n-1The offset processing is performed and the position coordinate value d after the offset processing is obtained * n-1,m-1 =d n-1,m-1 -off n-1 (S4) The control unit 20 sets the position coordinate value d after the offset processing * n-1，m-1 This is reflected in the final position information (S11).

[0054] The control unit 20 calculates the mth position coordinate value d n-1，m The implementation uses the n-1th offset adjustment value off n-1 The offset processing is performed and the position coordinate value d after the offset processing is obtained * n-1，m =d n-1，m -off n-1 (S5) During the execution of this process, the measurement frequency is changed at time t=t1, and the control unit 20 starts to obtain the n-th offset adjustment value off at time t=t2. n The control unit 20 obtains the nth offset adjustment value off n The position coordinate value d after the n-1th offset process is maintained from time t=t3. * n-1，m The status is reflected in the final position information (S12).

[0055] The control unit 20 calculates the position coordinate value d from the m+1th n-1，m+1 Subtract the previously calculated offset position coordinate value d * n-1，m To find the nth offset adjustment value off n =d n-1，m+1 -d * n-1，m (S6).

[0056] At time t=t3, find the nth offset adjustment value off n When the processing is completed, the control unit 20 resets the value of m to 0 and calculates the position coordinate value d n,0 The implementation uses the nth offset adjustment value off n The offset processing is performed and the position coordinate value d after the offset processing is obtained * n,0 =d n,0 -off n (S7) The control unit 20 sets the position coordinate value d after the offset processing * n，0 This is reflected in the final position information (S13).

[0057] Next, the control unit 20 calculates the first position coordinate value d n，1 The implementation uses the nth offset adjustment value off n The offset processing is performed and the position coordinate value d after the offset processing is obtained * n，1 =d n,1 -off n (S8) The control unit 20 sets the position coordinate value d after the offset processing * n，1 The control unit 20 also reflects the final position information (S14). n，2 The implementation uses the nth offset adjustment value off n The offset processing is performed and the position coordinate value d after the offset processing is obtained * n，2 =d n,2 -off n (S9) The control unit 20 sets the position coordinate value d after the offset processing * n，2 This is reflected in the final position information (S15).

[0058] In this way, the control unit 20 corrects the position coordinate value (position measurement value) obtained by the sensor signal based on the offset adjustment value obtained in advance (S3, S10, S4, S11). When the measurement frequency is changed (S1, S2), the position coordinate value (d * n-1，m ) and the position measurement value before correction (d n-1，m+1 ) to update the offset adjustment value off n (S6) The control unit 20 corrects the position measurement value (d n,0 )(d * n，0 =d n，0 -off n )(S7). The control unit 20 makes the position coordinate value d after the offset processing * n，0 This is reflected in the final position information (S13).

[0059] According to this process, the fluctuation of the offset error generated in the position information is compensated by changing the measurement frequency, and accurate position information of the position sensor 36 is acquired in the control unit 20 .

[0060] The above description shows a first process of setting the frame rate based on the measurement frequency and frame rate table 28 and a second process of setting the measurement frequency based on the frame rate and measurement frequency table 30. Either the first process or the second process may be performed. In other words, at least one of the frame rate and measurement frequency setting processes may be executed based on the control database 22.

[0061] In the above embodiment, a sensor that detects a magnetic field is used as position sensor 36. In addition to sensors that detect magnetic fields, position sensors that detect electromagnetic fields (radio waves), light, ultrasonic waves, etc. can also be used. In this case, a transmitter that transmits electromagnetic fields, light, ultrasonic waves, etc. is used instead of position measurement transmitter 42.

[0062] [Structure of the present invention]

[0063] Structure 1:

[0064] An ultrasonic diagnostic device includes an ultrasonic probe and a position sensor provided in the ultrasonic probe, wherein the ultrasonic diagnostic device is characterized by comprising:

[0065] an information processing unit configured to generate ultrasonic image data based on ultrasonic waves received by the ultrasonic probe and to measure a position of the ultrasonic probe based on a sensor signal output from the position sensor; and

[0066] The control database establishes a correspondence between the frame rate when generating the ultrasonic image data and the measurement frequency of the sensor signal,

[0067] The information processing unit sets at least one of the frame rate and the measurement frequency based on the control database.

[0068] Structure 2:

[0069] The ultrasonic diagnostic apparatus according to configuration 1 is characterized in that

[0070] The control database includes a measurement frequency table that establishes a correspondence between the frame rate and the interference avoidance measurement frequency.

[0071] The information processing unit sets the measurement frequency to the interference avoidance measurement frequency associated with the frame rate using the measurement frequency table.

[0072] Structure 3:

[0073] The ultrasonic diagnostic apparatus according to Structure 1 or Structure 2 is characterized in that:

[0074] The information processing unit performs the following processing:

[0075] Correcting a position measurement value obtained from the sensor signal according to a pre-derived offset adjustment value;

[0076] When the measurement frequency is changed, updating the offset adjustment value based on a difference between the corrected position measurement value obtained before the measurement frequency is changed and the pre-corrected position measurement value obtained after the measurement frequency is changed; and

[0077] The position measurement value before correction obtained after the measurement frequency is changed is corrected based on the updated offset adjustment value.

[0078] Structure 4:

[0079] The ultrasonic diagnostic apparatus according to any one of Structures 1 to 3 is characterized in that

[0080] The control database includes a frame rate table that establishes a correspondence between the measurement frequency and the interference avoidance frame rate.

[0081] The information processing unit sets the frame rate to the interference avoidance frame rate associated with the measurement frequency using the frame rate table.

[0082] Structure 5:

[0083] The ultrasonic diagnostic apparatus according to any one of Structures 1 to 4 is characterized in that

[0084] The information processing unit changes the frame rate by changing the number of ultrasonic pulses transmitted by the ultrasonic probe in each transmission cycle.

[0085] Structure 6:

[0086] The ultrasonic diagnostic apparatus according to configuration 5 is characterized in that

[0087] The information processing unit causes ultrasonic pulses that are increased compared to before the frame rate was changed, among a plurality of ultrasonic pulses transmitted by the ultrasonic probe in each transmission cycle, to not be involved in generating the ultrasonic image data.

Claims

1. An ultrasonic diagnostic apparatus comprising an ultrasonic probe and a position sensor provided in the ultrasonic probe, wherein the ultrasonic diagnostic apparatus comprises: an information processing unit configured to generate ultrasonic image data based on ultrasonic waves received by the ultrasonic probe and to measure a position of the ultrasonic probe based on a sensor signal output from the position sensor; and The control database establishes a correspondence between the frame rate when generating the ultrasonic image data and the measurement frequency of the sensor signal, The information processing unit sets at least one of the frame rate and the measurement frequency based on the control database.

2. The ultrasonic diagnostic apparatus according to claim 1, wherein The control database includes a measurement frequency table that establishes a correspondence between the frame rate and the interference avoidance measurement frequency. The information processing unit sets the measurement frequency to the interference avoidance measurement frequency associated with the frame rate using the measurement frequency table.

3. The ultrasonic diagnostic apparatus according to claim 1 or 2, wherein: The information processing unit performs the following processing: Correcting a position measurement value obtained from the sensor signal according to a pre-derived offset adjustment value; When the measurement frequency is changed, the offset adjustment value is updated based on a difference between the position measurement value after correction obtained before the measurement frequency is changed and the position measurement value before correction obtained after the measurement frequency is changed; and The position measurement value before correction obtained after the measurement frequency is changed is corrected based on the updated offset adjustment value.

4. The ultrasonic diagnostic apparatus according to claim 1, wherein The control database includes a frame rate table that establishes a correspondence between the measurement frequency and the interference avoidance frame rate. The information processing unit sets the frame rate to the interference avoidance frame rate associated with the measurement frequency using the frame rate table.

5. The ultrasonic diagnostic apparatus according to claim 1 or 4, wherein: The information processing unit changes the frame rate by changing the number of ultrasonic pulses transmitted by the ultrasonic probe in each transmission cycle.

6. The ultrasonic diagnostic apparatus according to claim 5, wherein The information processing unit causes ultrasonic pulses that are increased compared to before the frame rate was changed, among a plurality of ultrasonic pulses transmitted by the ultrasonic probe in each transmission cycle, to not be involved in generating the ultrasonic image data.

Images