Ultrasonic diagnostic apparatus

Abstract

To improve convenience relating to remote diagnosis using an ultrasonic diagnostic apparatus.SOLUTION: An ultrasonic diagnostic apparatus includes a fitting part, an ultrasonic probe, a probe unit, a movement mechanism, a movement control unit, and an output part. The fitting part is fitted to a subject. The ultrasonic probe receives a reflection wave from the subject. The probe unit is fitted to the fitting part such that the position can change over a body surface of the subject and supports the ultrasonic probe while the ultrasonic probe is oriented to the body surface of the subject. The movement mechanism is installed to the fitting part and can move the position of the probe unit on the body surface of the subject. The movement control part controls the movement mechanism on the basis of an operation instruction from an external operation terminal to change the position of the ultrasonic probe on the body surface of the subject. The output part outputs a reception result of the ultrasonic probe to the operation terminal.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] An embodiment of the present invention relates to an ultrasound diagnostic apparatus. [Background technology]

[0002] Conventionally, there is known an ultrasonic diagnostic device that transmits ultrasonic waves from an ultrasonic probe to a subject, receives the reflected waves, and displays an ultrasonic image on a monitor. In addition, a technology is also known in which an ultrasonic image acquired using an ultrasonic probe is displayed on an external monitor located at a position away from a user.

[0003] However, for example, when an ultrasound image is captured in a remote location outside a hospital, the operator who actually operates the ultrasound probe may be different from the observer, such as a doctor, who observes the acquired ultrasound image. In such a case, there is a possibility that the operator is not present near the subject when the observer wants to observe the subject. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-86360 A Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to provide an ultrasonic diagnostic apparatus that can improve the convenience of remote diagnosis using the ultrasonic diagnostic apparatus. [Means for solving the problem]

[0006] An ultrasound diagnostic apparatus according to an embodiment includes a mounting unit, an ultrasound probe, a probe unit, a movement mechanism, a movement control unit, and an output unit. The mounting unit is mounted on a subject. The ultrasound probe receives reflected waves from the subject. The probe unit is attached to the mounting unit so that its position on the subject's body surface can be changed, and supports the ultrasound probe in a state facing the subject's body surface. The movement mechanism is provided on the mounting unit and is capable of moving the position of the probe unit on the subject's body surface. The movement control unit changes the position of the ultrasound probe on the subject's body surface by controlling the movement mechanism based on an operation instruction from an external operation terminal. The output unit outputs a reception result of the ultrasound probe to the operation terminal. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a block diagram showing an example of the system configuration of an ultrasound diagnostic system according to the first embodiment. [Diagram 2] FIG. 2 is a block diagram showing an example of the configuration of the ultrasound diagnostic apparatus according to the first embodiment. [Diagram 3] FIG. 3 is a diagram illustrating an example of the configuration of the wearing tool according to the first embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of the internal configuration of the water bag according to the first embodiment. [Diagram 5] FIG. 5 is a diagram illustrating an example of the configuration of the probe unit according to the first embodiment. [Figure 6] FIG. 6 is a diagram illustrating an example of the configuration of the probe unit according to the first embodiment. [Figure 7] FIG. 7 is a diagram illustrating an example of the configuration of the probe unit according to the first embodiment. [Figure 8] FIG. 8 is a diagram illustrating an example of the configuration of the probe unit according to the first embodiment. [Figure 9] FIG. 9 is a diagram illustrating an example of the configuration of the probe unit according to the first embodiment. [Figure 10]FIG. 10 is a flowchart showing an example of processing executed by the ultrasound diagnostic apparatus according to the first embodiment. [Figure 11] FIG. 11 is a block diagram showing an example of the configuration of an ultrasonic diagnostic apparatus according to the second embodiment. [Figure 12] FIG. 12 is a diagram illustrating an example of the configuration of the wearing tool according to the second embodiment. [Figure 13] FIG. 13 is a diagram illustrating an example of the configuration of the wearing tool according to the second embodiment. [Figure 14] FIG. 14 is a diagram illustrating an example of a configuration inside a storage box according to the second embodiment. [Figure 15] FIG. 15 is a diagram illustrating an example of a configuration inside a storage box according to the second embodiment. [Figure 16] FIG. 16 is a diagram illustrating an example of a configuration inside a storage box according to the second embodiment. [Figure 17] FIG. 17 is a diagram illustrating an example of the internal configuration of a storage box according to the second embodiment. [Figure 18] FIG. 18 is a diagram illustrating an example of a configuration inside a storage box according to the second embodiment. [Figure 19] FIG. 19 is a diagram illustrating an example of a configuration for supplying an acoustic propagation material according to the second embodiment. [Figure 20] FIG. 20 is a diagram illustrating an example of a configuration for supplying an acoustic propagation material according to the second embodiment. [Figure 21] FIG. 21 is a diagram illustrating an example of a configuration for supplying an acoustic propagation material according to the second embodiment. [Figure 22] FIG. 22 is a diagram illustrating an example of a configuration for supplying an acoustic propagation material according to the second embodiment. [Diagram 23] FIG. 23 is a diagram illustrating an example of a configuration for supplying an acoustic propagation material according to the second embodiment. [Figure 24] FIG. 24 is a diagram illustrating an example of a configuration for supplying an acoustic propagation material according to the second embodiment. [Diagram 25] FIG. 25 is a diagram illustrating an example of a configuration for supplying an acoustic propagation material according to the second embodiment. [Figure 26] FIG. 26 is a diagram illustrating an example of a configuration for supplying an acoustic propagation material according to the second embodiment. [Figure 27] FIG. 27 is a diagram for explaining an example of point positions of a subject according to the second embodiment. [Figure 28] FIG. 28 is a diagram for explaining an example of point positions of a simulated human body according to the second embodiment. [Figure 29] FIG. 29 is a diagram showing an example of an operation of the dummy probe by an operator according to the second embodiment. [Diagram 30] FIG. 30 is a diagram showing an example of the movement of the ultrasonic probe 11 attached to the subject according to the second embodiment. [Diagram 31] FIG. 31 is a diagram illustrating an example of a configuration of the wearing tool according to the first modification. [Diagram 32] FIG. 32 is a diagram illustrating an example of a VR system according to the second modification. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, an ultrasonic diagnostic apparatus and a program according to an embodiment will be described in detail with reference to the accompanying drawings. In the following description, similar components are given the same reference numerals, and duplicated description will be omitted.

[0009] (First embodiment) Fig. 1 is a block diagram showing an example of the configuration of an ultrasound diagnostic system 1 according to the first embodiment. The ultrasound diagnostic system 1 in Fig. 1 includes an ultrasound diagnostic apparatus 10 and an operation terminal 30. The operation terminal 30 is installed in, for example, a medical facility such as a hospital. The ultrasound diagnostic apparatus 10 is installed in, for example, a small clinic or a private home in a remote location outside the hospital.

[0010] The ultrasound diagnostic device 10 can be remotely connected to a counterpart operation terminal 30 via a network NW. The same applies to the operation terminal 30. As the network NW, for example, wireless communication, Bluetooth (registered trademark), Wi-Fi (registered trademark), cellular communication, laser communication, optical communication, satellite communication, etc. can be appropriately used.

[0011] Specifically, the ultrasound diagnostic apparatus 10 and the operation terminal 30 are remotely connected and authenticated, for example, using a cloud service CS provided on the network NW. Authentication using the cloud service CS uses, for example, a one-time password. In the following description, the remote connection and authentication between the ultrasound diagnostic apparatus 10 and the operation terminal 30 is assumed to be via the cloud service CS, and the description thereof may be omitted.

[0012] In this embodiment, after the remote connection, the operation terminal 30 operates as a server, and the ultrasound diagnostic apparatus 10 operates as a client.

[0013] The ultrasound diagnostic apparatus 10 controls each unit of the ultrasound diagnostic apparatus 10 in accordance with operation instructions input by an operator such as a doctor, and generates ultrasound image data. The configuration of the ultrasound diagnostic apparatus 10 will be described later.

[0014] The operation terminal 30 is an information processing device for operating the ultrasound diagnostic device 10 installed at a location different from the operation terminal 30. In this embodiment, an example will be described in which an operator who is mainly in a medical facility operates the ultrasound diagnostic device 10 installed at a remote location via the operation terminal 30. However, the operator may directly operate the ultrasound diagnostic device 10 at the location where the ultrasound diagnostic device 10 is installed.

[0015] The operation terminal 30 is a general computing device equipped with, for example, a CPU, a ROM, a RAM, etc. The operation terminal 30 is equipped with, for example, an output device (not shown) such as a display, and input devices (not shown) such as a mouse, a keyboard, a foot switch, a panel switch, a slider switch, a trackball, a rotary encoder, an operation panel, and a touch panel.

[0016] The output device displays an image based on the ultrasound image data generated by the ultrasound diagnostic apparatus 10. The input device is used by an operator to input operation instructions for the ultrasound diagnostic apparatus 10. The input device may be a device simulating an ultrasound probe.

[0017] Next, a description will be given of the configuration of the ultrasonic diagnostic apparatus 10. Fig. 2 is a block diagram showing an example of the configuration of the ultrasonic diagnostic apparatus 10 in the first embodiment. The ultrasonic diagnostic apparatus 10 in Fig. 2 has an apparatus main body 100 and a probe unit 101.

[0018] The device main body 100 is connected to an input device 102, an output device 103, an imaging device 104, a position sensor 105, and a transmitter 106. The device main body 100 can also be connected to an operation terminal 30 via a network NW. The device main body 100 may also be connected to an external device (not shown) via the network NW. The external device is, for example, a server equipped with a PACS (Picture Archiving and Communication Systems).

[0019] The probe unit 101 is attached to the body of a living body P (hereinafter also referred to as subject P) that is a subject. In this embodiment, the probe unit 101 is attached to the body of the subject P by the hand of the subject P. The probe unit 101 receives an operation instruction from an operator who is in a different location from the subject P, and performs an ultrasonic scan of the subject P.

[0020] In this embodiment, an acoustic propagation material is applied in advance by the hand of the subject P to the part of the body of the subject P where the ultrasonic scan is to be performed. The acoustic propagation material is a substance variously called, for example, ultrasound gel, echo jelly, propagation material, etc. As the acoustic propagation material, for example, a substance with low attenuation and acoustic impedance close to that of a living body is selected.

[0021] The probe unit 101 includes an ultrasonic probe 11. The ultrasonic probe 11 performs an ultrasonic scan on a scan region in the subject P, for example, under the control of the device main body 100. The ultrasonic probe 11 includes, for example, a plurality of piezoelectric transducers, a matching layer provided between the plurality of piezoelectric transducers and a case, and a backing material that prevents ultrasonic waves from propagating backward in the radiation direction from the plurality of piezoelectric transducers.

[0022] The ultrasonic probe 11 is, for example, a one-dimensional array probe in which a plurality of ultrasonic transducers are arranged along a predetermined direction. Note that the ultrasonic probe 11 may be, for example, a two-dimensional array probe in which a plurality of ultrasonic transducers are arranged along a first element arrangement direction (elevation direction) and a second element arrangement direction (azimuth direction).

[0023] The multiple piezoelectric transducers generate ultrasonic waves based on a drive signal supplied from an ultrasonic transmission circuit 110 (described later) included in the device main body 100. This causes ultrasonic waves to be transmitted from the ultrasonic probe 11 to the subject P. When ultrasonic waves are transmitted from the ultrasonic probe 11 to the subject P, the transmitted ultrasonic waves are reflected in succession by discontinuous surfaces of acoustic impedance in the body tissue of the subject P, and are received as reflected wave signals by the multiple piezoelectric transducers.

[0024] The amplitude of the reflected wave signal depends on the difference in acoustic impedance at the discontinuous surface where the ultrasonic wave is reflected. In addition, when the transmitted ultrasonic pulse is reflected by the surface of a moving blood flow or a heart wall, the reflected wave signal undergoes a frequency shift due to the Doppler effect depending on the velocity component of the moving object in the ultrasonic transmission direction. The ultrasonic probe 11 receives the reflected wave signal from the subject P and converts it into an electrical signal.

[0025] Although not shown, the probe unit 101 includes a battery. The probe unit 101 is driven by receiving power from the battery. The battery is charged using any known technology, such as wireless charging.

[0026] The configuration of the probe unit 101 will be described below with reference to Figs. 3 to 9. First, the mounting fixture 107 will be described. The mounting fixture 107 is an example of a mounting section. The mounting fixture 107 is a member for mounting the probe unit 101 to the subject P. Fig. 3 is a diagram for explaining an example of the configuration of the mounting fixture according to the first embodiment. In the following description, the width direction of the subject P is defined as the X-axis direction, the body thickness direction of the subject P as the Y-axis direction, and the body axis direction of the subject P as the Z-axis direction.

[0027] 3, the wearing tool 107 includes a water bag 12, a wearing belt 13, a height adjustment belt 14, and a belt adjuster 141. The water bag 12 houses the probe unit 101. The internal configuration of the water bag 12 will be described later.

[0028] The water bag 12 is provided so as to come into contact with the body surface of the subject P wearing the attachment 107. The portion of the water bag 12 that comes into contact with the body surface of the subject P is made of a material that transmits ultrasound, such as silicone rubber, silicone RTV, or modified polyphenylene oxide resin.

[0029] The attachment 107 may not include the water bag 12. In this case, the probe unit 101 is attached to the subject P by wrapping a wire or the like supporting the probe unit 101 around the body surface of the subject P, so that the ultrasonic transmission / reception surface of the ultrasonic probe 11 contacts the body surface of the subject P as widely as possible.

[0030] In addition, in a configuration that does not include the water bag 12, it is preferable to apply an acoustic propagation material to the body surface of the subject P so that no gap is created between the ultrasonic probe 11 of the probe unit 101 and the subject P due to the subject P's hands.

[0031] The wearing belt 13 is a member for wearing the wearing tool 107 on the subject P. The wearing belt 13 is wrapped around the subject P so as to be located near the subject P's waist. The wearing belt 13 has a mechanism for adjusting the wrapping strength. The wearing belt 13 is fixed around the subject P's waist in an arbitrary fastening state, for example, by a hook-and-loop fastener or the like.

[0032] The height adjustment belts 14 are members for moving the water bag 12 in the height direction and adjusting the position of the water bag 12 in the height direction. The height adjustment belts 14 are configured as a pair, one on the left and one on the right. The height adjustment belts 14 are an example of a shoulder belt. One end of the height adjustment belts 14 is joined on the side corresponding to the front side of the subject P so that the angle between the wearing belt 13 and the height adjustment belt 14 is approximately perpendicular. The other end of the height adjustment belt 14 is joined on the side corresponding to the back side of the subject P so that the angle between the wearing belt 13 and the height adjustment belt 14 is approximately perpendicular.

[0033] The height adjustment belt 14 is curved at a position approximately in the middle between a joint portion on a side corresponding to the front side of the subject P and a joint portion on a side corresponding to the back side of the subject P. The height adjustment belt 14 is worn by the subject P so that this curved portion is located near the left and right shoulders of the subject P.

[0034] The mechanism for moving the water bag 12 is not particularly limited, but as an example, at least one rail is provided in the Z-axis direction of the height adjustment belt 14, and the water bag 12 is held by a holder (not shown) that is movable on the rail. This allows the subject P to move the water bag 12 in the Z-axis direction (see the arrow in FIG. 3).

[0035] Also, a hook-and-loop fastener or the like may be used to adjust the height position of the water bag 12. For example, a hook-and-loop fastener extending in the Z-axis direction is provided on the front and back sides of the height adjustment belt 14 facing the subject P. Also, a hook-and-loop fastener that extends in the X-axis direction of the water bag 12 and can be wrapped around the body of the subject P is provided, which fits with the hook-and-loop fastener of the height adjustment belt 14. In this case, the subject P can adjust the height position of the water bag 12 by fixing the hook-and-loop fastener of the height adjustment belt 14 with the hook-and-loop fastener of the water bag 12 at any height.

[0036] The belt adjuster 141 is a member for adjusting the length of the height adjustment belt 14. The belt adjuster 141 is, for example, an adjuster (slider) or the like. The belt adjuster 141 allows the length of the height adjustment belt 14 to be adjusted to suit the physique of the subject P.

[0037] Next, a description will be given of the internal configuration of the water bag 12. Fig. 4 is a diagram illustrating an example of the internal configuration of the water bag 12 according to the first embodiment. As shown in Fig. 4, a wire 15 is stretched inside the water bag 12.

[0038] The wire 15 passes through the probe unit 101 and holds the probe unit 101. The probe unit 101 moves in the X-axis direction on the wire 15 by a motor (not shown) in the probe unit 101 in response to an operation instruction from an operator via the operation terminal 30. More specifically, the probe unit 101 moves along the body surface of the subject P and around the body of the subject P (for example, around the chest or torso). The wire 15 and the motor in the probe unit 101 are an example of a movement mechanism.

[0039] This allows the operator to move the probe unit 101 to any position in the X-axis direction on the body surface of the subject P. Therefore, by having the subject P adjust the position of the water bag 12 in the Z-axis direction, the operator can transmit ultrasonic waves from the ultrasonic probe 11 to the target area of ​​the subject P to be diagnosed.

[0040] 4, the wire 15 is disposed in a direction substantially perpendicular to the body axis of the subject P. The wire 15 is connected to an end of the water bag 12. The connection portion of the wire 15 with the water bag 12 is made of an expandable material. This allows the wire 15 to expand and contract in accordance with the physique of the subject P.

[0041] However, only the portion of the wire 15 that is made of an elastic material corresponds to the back surface of the subject P, and the portion that corresponds to the front surface of the subject P is made of a non-elastic material. In addition, the high friction surface portion of the water bag 12 shown in Fig. 4 is configured to fit with the wire 15 by providing irregularities on the wire 15 or arranging a soft material therein.

[0042] Therefore, it can be said that the water bag 12 has a structure that makes it difficult for the wire 15 to slip on the body surface side of the subject P. This makes it possible to prevent the wire 15 from moving inadvertently when the probe unit 101 slides.

[0043] Next, the configuration of the probe unit 101 will be described. Fig. 5 to Fig. 9 are diagrams for explaining an example of the configuration of the probe unit 101 according to the first embodiment. Fig. 5 is a diagram showing an example of the probe unit 101 as viewed from above. Fig. 6 is a diagram showing an example of the probe unit 101 as viewed from a side. Figs. 7 to 9 are diagrams for explaining a structure for swinging the probe head 11A.

[0044] The probe unit 101 includes a probe head 11A, a base 16, a cam 17, and a pulley 18. The probe head 11A is a member that transmits and receives ultrasonic waves of the ultrasonic probe 11.

[0045] As shown in Fig. 5, the pulley 18 holds the wire 15 arranged in the water bag 12. Also, as shown in Fig. 6, a hole 111 is formed in the side surface of the probe unit 101. The wire 15 passes through the hole 111 to hold the probe unit 101.

[0046] The pulley 18 rotates when driven by a motor (not shown) included in the probe unit 101. The rotation of the motor is controlled by an operation instruction from the operation terminal 30. When the pulley 18 rotates due to the rotation of the motor, the wire 15 sandwiched between the pulley 18 is relatively pushed out. As a result, the probe unit 101 on the wire 15 inside the water bag 12 moves.

[0047] Two wires 15 may be disposed above and below the probe unit 101. In this case, pulleys 18 are also disposed above and below the probe unit 101. In this case, the pulleys 18 are disposed so that both the upper and lower pulleys rotate in the same direction by the power of the motor.

[0048] The base 16 holds the probe head 11A. A cam 17 is attached to the base 16. As shown in Fig. 7, the cam 17 receives power from a motor and rotates, thereby making it possible to oscillate the probe head 11A.

[0049] As shown in Fig. 8, the base 16 is biased by a spring material 19 arranged on the side of the base 16 opposite to the body surface side of the subject P. The spring material 19 is an example of an adjustment unit. As shown in Fig. 9, cams 17 are arranged at three locations on the side of the base 16 opposite to the spring material 19. The center of rotation of the cam 17 is offset from the center of the cam 17.

[0050] By independently controlling the rotation of the cams 17 by a motor, it becomes possible to tilt the base 16 with respect to the body of the subject P. This operation can be performed by an operation instruction from the operation terminal 30. In this manner, the operator can tilt the probe head 11A at any angle with respect to the subject P. In this embodiment, the cam 17 is circular, but the cam 17 may be elliptical.

[0051] Returning to Fig. 2, the explanation will be continued. The device main body 100 is a device that generates an ultrasonic image based on a reflected wave signal received by the ultrasonic probe 11. The device main body 100 has an ultrasonic transmission circuit 110, an ultrasonic reception circuit 120, an internal storage circuit 130, an image memory 140, an input interface 150, an output interface 160, a connection interface 170, a communication interface 180, and a processing circuit 190.

[0052] The ultrasonic transmission circuit 110 is a processor that supplies a drive signal to the ultrasonic probe 11. The ultrasonic transmission circuit 110 is realized by, for example, a trigger generation circuit, a delay circuit, and a pulser circuit. The trigger generation circuit repeatedly generates a rate pulse for forming a transmission ultrasonic wave at a predetermined rate frequency.

[0053] The delay circuit provides each rate pulse generated by the trigger generating circuit with a delay time for each of the multiple piezoelectric transducers required to focus the ultrasonic waves generated from the ultrasonic probe into a beam and determine the transmission directivity.

[0054] The pulser circuit applies a drive signal (drive pulse) to multiple ultrasonic transducers provided in the ultrasonic probe 11 at a timing based on the rate pulse. The delay circuit changes the delay time given to each rate pulse, so that the transmission direction from the surfaces of the multiple piezoelectric transducers can be adjusted arbitrarily.

[0055] Furthermore, the ultrasonic transmission circuit 110 can arbitrarily change the output intensity of the ultrasonic waves by the drive signal. In the ultrasonic diagnostic device, the influence of ultrasonic wave attenuation in the subject P can be reduced by increasing the output intensity. By reducing the influence of ultrasonic wave attenuation, the ultrasonic diagnostic device can acquire a reflected wave signal with a large S / N ratio at the time of reception.

[0056] Generally, when an ultrasonic wave propagates through a subject P, the strength of the ultrasonic vibration (also called acoustic power), which corresponds to the output intensity, attenuates. The attenuation of acoustic power occurs due to absorption, scattering, reflection, and the like.

[0057] The degree of attenuation of the acoustic power depends on the frequency of the ultrasonic waves and the distance in the direction of ultrasonic radiation. For example, the degree of attenuation increases as the frequency of the ultrasonic waves increases. Also, the degree of attenuation increases as the distance in the direction of ultrasonic radiation increases.

[0058] The ultrasonic receiving circuit 120 is a processor that performs various processes on the reflected wave signal received by the ultrasonic probe 11 to generate a received signal. The ultrasonic receiving circuit 120 generates a received signal based on the reflected wave signal of the ultrasonic wave acquired by the ultrasonic probe 11.

[0059] Specifically, the ultrasonic receiving circuit 120 is realized by, for example, a preamplifier, an A / D converter, a demodulator, and a beamformer. The preamplifier amplifies the reflected wave signal received by the ultrasonic probe 11 for each channel and performs gain correction processing.

[0060] The A / D converter converts the gain-corrected reflected wave signal into a digital signal, and the demodulator demodulates the digital signal.

[0061] The beamformer, for example, applies a delay time required to determine the reception directivity to the demodulated digital signal and adds up the multiple digital signals with the delay time applied. The addition process of the beamformer generates a reception signal in which the reflection components from the direction corresponding to the reception directivity are emphasized.

[0062] The internal storage circuit 130 includes a processor-readable storage medium, such as a magnetic storage medium, an optical storage medium, or a semiconductor memory, etc. The internal storage circuit 130 stores a program for implementing ultrasonic transmission and reception, various data, etc.

[0063] The various data include, for example, parameters used during execution of a program, a look-up table (LUT), imaging data generated by the imaging device 104, data acquired by the position sensor 105, and the like.

[0064] The programs and various data may be stored in advance in, for example, the internal storage circuit 130. In addition, the programs and various data may be stored in, for example, a non-transitory storage medium and distributed, and may be read from the non-transitory storage medium and installed in the internal storage circuit 130.

[0065] Furthermore, the internal storage circuitry 130 stores B-mode image data, contrast image data, image data relating to blood flow images, and the like, generated by the processing circuitry 190, in accordance with operations input via the input interface 150 or the communication interface 180. These image data are stored in the internal storage circuitry 130 in association with, for example, a patient ID for identifying the subject P, an image ID for identifying the image, information indicating the part depicted in the image, the generation date and time, and the like.

[0066] The internal storage circuit 130 may transfer the stored image data via the communication interface 180 to the operation terminal 30 and an external device.

[0067] The internal storage circuit 130 may be a drive device that reads and writes various information between the internal storage circuit 130 and a portable storage medium such as a CD drive, a DVD drive, or a flash memory. The internal storage circuit 130 can also write stored data to a portable storage medium and store the data in an external device via the portable storage medium.

[0068] The image memory 140 has a processor-readable storage medium, such as a magnetic storage medium, an optical storage medium, or a semiconductor memory. The image memory 140 saves image data corresponding to a plurality of frames immediately before a freeze operation input via the input interface 150 or the communication interface 180. The image data stored in the image memory 140 is, for example, continuously displayed (cine display).

[0069] The above-mentioned internal storage circuit 130 and image memory 140 do not necessarily have to be realized by independent storage devices. The internal storage circuit 130 and image memory 140 may be realized by a single storage device. Also, the internal storage circuit 130 and image memory 140 may each be realized by multiple storage devices.

[0070] The input interface 150 receives various instructions from an operator via the input device 102 serving as an input unit. The input device 102 is, for example, a mouse, a keyboard, a foot switch, a panel switch, a slider switch, a trackball, a rotary encoder, an operation panel, a touch panel, or the like.

[0071] The input interface 150 is connected to the processing circuitry 190 via, for example, a bus, converts an operation instruction input by an operator into an electrical signal, and outputs the electrical signal to the processing circuitry 190. Note that the input interface 150 is not limited to an interface that connects to physical operation components such as a mouse and a keyboard. For example, a circuit that receives an electrical signal corresponding to an operation instruction input from an external input device provided separately from the ultrasound diagnostic apparatus 10 and outputs the electrical signal to the processing circuitry 190 is also included as an example of the input interface.

[0072] The output interface 160 is, for example, an interface for outputting an electric signal from the processing circuit 190 to the output device 103. The output device 103 is any display such as a liquid crystal display, an organic EL display, an LED display, a plasma display, a CRT display, etc. The output device 103 may be a touch panel display that also serves as the input device 102.

[0073] The output device 103 may further include a speaker that outputs sound in addition to a display. The output interface 160 is connected to the processing circuit 190 via a bus, for example, and outputs an electrical signal from the processing circuit 190 to the output device 103.

[0074] The connection interface 170 is connected to the image capturing device 104 and the position sensor 105 , and performs data communication of image capturing data and the like between the image capturing device 104 and the position sensor 105 and the apparatus main body 100 .

[0075] The imaging device 104 generates imaging data including, for example, the operation of the ultrasound probe 11. The imaging data is, for example, an optical image (camera image) or a moving image. The imaging device 104 is, for example, a general camera equipped with an imaging element.

[0076] The position sensor 105 and the transmitter 106 constitute a position detection system for detecting position information of the ultrasonic probe 11. The position sensor 105 is, for example, a magnetic sensor. The position sensor 105 is attached to the ultrasonic probe 11, for example.

[0077] Transmitter 106 is a device that forms a magnetic field from its own center toward the outside. Transmitter 106 is placed at an arbitrary position near device body 100. Position sensor 105 detects the strength and inclination of the three-dimensional magnetic field formed by transmitter 106.

[0078] The position sensor 105 calculates the position (coordinates and angle) of the device itself in a space with the transmitter 106 as the origin based on information of the detected magnetic field, and transmits the calculated position to the device body 100. In other words, the position sensor 105 transmits position information indicating the position of the ultrasonic probe 11 to the device body 100.

[0079] The communication interface 180 is connected to the operation terminal 30 via a network NW, for example, and performs data communication with the operation terminal 30.

[0080] The processing circuitry 190 is, for example, a processor that functions as the core of the ultrasound diagnostic apparatus 10. The processing circuitry 190 executes a program stored in the internal storage circuitry 130 to realize a function corresponding to the program.

[0081] The processing circuitry 190 has, for example, a B-mode processing function 191, a Doppler processing function 192, an image generation function 193, a movement control function 194, a first acquisition function 195, a second acquisition function 196, a judgment function 197, an image processing function 198, a display control function 199, and a system control function 200.

[0082] Here, the image generation function 193 is an example of a first generation unit. The movement control function 194 is an example of a movement control unit. The first acquisition function 195 is an example of a first acquisition unit. The determination function 197 and the image processing function 198 are examples of an image processing unit. The display control function 199 is an example of an output unit.

[0083] The B-mode processing function 191 generates B-mode data based on the reception signal (echo signal) received from the ultrasound reception circuit 120.

[0084] The B-mode processing function 191 performs, for example, envelope detection processing and logarithmic compression processing on the reception signal received from the ultrasonic reception circuit 120, and generates data (B-mode data) in which the signal strength (echo reflection strength) of the reception signal is expressed as a brightness value (luminance value). The generated B-mode data is stored in a RAW data memory (not shown) as B-mode RAW data on a two-dimensional ultrasonic scan line (raster).

[0085] Furthermore, the B-mode processing function 191 can execute harmonic imaging. Harmonic imaging is an imaging method that uses not only fundamental wave components contained in reflected ultrasonic wave signals but also harmonic components (harmonic components).

[0086] Harmonic imaging includes, for example, tissue harmonic imaging (THI) that does not use a contrast agent, and contrast harmonic imaging (CHI) that uses a contrast agent.

[0087] In THI, harmonic components can be extracted using an imaging method called the Amplitude Modulation (AM) method, the Phase Modulation (PM) method, or the AMPM method, which is a combination of the AM and PM methods.

[0088] In the AM, PM and AMPM methods, ultrasonic waves with different amplitudes and phases are transmitted multiple times along the same scanning line, so that the ultrasonic receiving circuit 120 generates multiple pieces of reflected wave data along each scanning line and outputs the generated reflected wave data.

[0089] The B-mode processing function 191 extracts harmonic components by performing addition and subtraction processing on multiple reflected wave data of each scanning line according to a modulation method. Then, the B-mode processing function 191 performs envelope detection processing or the like on the reflected wave data of the harmonic components to generate B-mode data.

[0090] In addition, in the CHI, for example, a frequency filter is used to extract harmonic components. The B-mode processing function 191 can separate reflected wave data (harmonic components) whose reflection source is the contrast agent from reflected wave data (fundamental wave components) whose reflection source is tissue in the subject P. As a result, the B-mode processing function 191 can select the harmonic components from the contrast agent using a filter and generate B-mode data for generating contrast image data.

[0091] The B-mode data for generating the contrast image data is data that represents the echo reflection intensity with the contrast agent as a reflection source as a brightness value. The B-mode processing function 191 can also extract a fundamental wave component from the reflected wave data of the subject P to generate B-mode data for generating tissue image data.

[0092] The Doppler processing function 192 performs frequency analysis on the received signal from the ultrasonic receiving circuit 120 to generate data (Doppler information) that extracts motion information based on the Doppler effect of a moving object within a ROI (Region Of Interest) set in the scan region. The generated Doppler information is stored in a RAW data memory (not shown) as Doppler RAW data (also called Doppler data) on a two-dimensional ultrasonic scanning line.

[0093] Specifically, the Doppler processing function 192 estimates, for example, the average velocity, average variance, average power value, etc., as motion information of a moving object at each of a plurality of sample points, and generates Doppler data indicating the estimated motion information.

[0094] The moving object is, for example, blood flow, tissue such as a heart wall, or a contrast agent. The Doppler processing function 192 according to the present embodiment estimates the average velocity of the blood flow, the variance value of the blood flow velocity, the power value of the blood flow signal, and the like, as motion information of the blood flow (blood flow information), at each of a plurality of sample points, and generates Doppler data indicating the estimated blood flow information.

[0095] The ultrasound diagnostic device 10 may transmit the reception signal received from the ultrasound reception circuit 120 to the operation terminal 30. In this case, the processes executed by the B-mode processing function 191 and the Doppler processing function 192 are executed on the operation terminal 30 side.

[0096] The image generating function 193 generates B-mode image data based on the data generated by the B-mode processing function 191. For example, the image generating function 193 converts (scan converts) a scan line signal sequence of an ultrasonic scan into a scan line signal sequence of a video format represented by a television or the like, and generates image data for display (display image data).

[0097] Specifically, the image generating function 193 performs RAW-pixel conversion on the B-mode RAW data stored in the RAW data memory, for example, coordinate conversion according to the scanning form of the ultrasound by the ultrasound probe 11. In this way, the image generating function 193 generates two-dimensional B-mode image data (hereinafter also referred to as ultrasound image data) composed of pixels. In other words, the image generating function 193 generates a plurality of ultrasound images (medical images) corresponding to a plurality of consecutive frames by transmitting and receiving ultrasound.

[0098] The image generating function 193 also generates Doppler image data in which blood flow information is visualized, for example, by performing RAW-pixel conversion on the Doppler RAW data stored in the RAW data memory. The Doppler image data is average velocity image data, variance image data, power image data, or image data that is a combination of these.

[0099] The image generating function 193 generates, as the Doppler image data, color Doppler image data in which blood flow information is displayed in color, and Doppler image data in which one piece of blood flow information is displayed in a grayscale wave shape.

[0100] The ultrasound diagnostic device 10 may transmit the data generated by the B-mode processing function 191 and the Doppler processing function 192 to the operation terminal 30. In this case, the process of generating the image data (ultrasound image data, Doppler image data) is executed on the operation terminal 30 side.

[0101] The movement control function 194 receives an operation instruction for the ultrasonic probe 11 from the operation terminal 30, and controls the movement of the ultrasonic probe 11 according to the operation instruction. For example, the movement control function 194 receives an operation instruction input by the operator using the input device of the operation terminal 30 via the communication interface 180. In addition, the movement control function 194 controls the position and orientation of the ultrasonic probe 11 in the X-axis direction with respect to the subject P based on the operation instruction.

[0102] The first acquisition function 195 acquires ultrasound images (hereinafter also referred to as past images) captured in the past of a subject to be diagnosed. For example, the first acquisition function 195 searches for ultrasound image data stored in the internal storage circuitry 130 using a patient ID or the like of the subject P, and acquires past images of the subject P. The first acquisition function 195 may acquire past images of the subject P from an external device such as a PACS via the communication interface 180.

[0103] The second acquisition function 196 acquires information on the position of the ultrasonic probe 11 relative to the subject P. For example, the second acquisition function 196 acquires position information indicating the position of the ultrasonic probe 11 transmitted from the position sensor 105. By displaying the position of the ultrasonic probe 11 relative to the subject P on the display or the like of the operation terminal 30, the operator can accurately grasp the position of the ultrasonic probe 11 even when he or she is not near the subject P.

[0104] The determination function 197 determines whether or not the features of the past image acquired by the first acquisition function 195 match the features of an image based on ultrasound image data generated by the image generation function 193 (hereinafter also referred to as a generated image). For example, the determination function 197 determines whether or not the features of the past image and the generated image match by a known method such as a histogram comparison between the two. The histogram is a numerical value indicating the feature amount of an image.

[0105] If the first acquisition function 195 is unable to acquire a past image, the determination function 197 does not execute the above-described determination process.

[0106] When the judgment function 197 determines that the features of the past image and the features of the generated image match, the image processing function 198 adds additional information to the generated image that is similar to the additional information added to the past image (ultrasound image data).

[0107] For example, when the features of a previous image and the features of a generated image match, the image processing function 198 executes a process of adding information equivalent to the text information, scales, annotations, body marks, etc. of various parameters added to the previous image as additional information to the generated image.

[0108] This eliminates the need for the operator to determine whether or not a generated image is an image to be compared with a previous image while scanning the subject, and therefore the operator does not need to manually perform operations such as freezing and perform processes such as measuring distances and angles within the image and adding marks, allowing the subject to be scanned efficiently.

[0109] The display control function 199 displays an image based on various ultrasound image data generated by the image generation function 193 on the display of the operation terminal 30. Specifically, for example, the display control function 199 controls, via the communication interface 180, the display of an image based on B-mode image data, Doppler image data, or image data including both generated by the image generation function 193 on the display of the operation terminal 30.

[0110] More specifically, the display control function 199 converts (scan converts) a scan line signal sequence of an ultrasonic scan into a scan line signal sequence of a video format represented by a television, etc., and generates image data for display. The display control function 199 may also execute various processes, such as dynamic range correction, brightness correction, contrast correction, gamma curve correction, and RGB conversion, on the image data for display.

[0111] In addition, the display control function 199 causes supplementary information such as character information of various parameters, scales, annotations, and body marks added by the image processing function 198 to be displayed on the display of the operation terminal 30 together with the display image.

[0112] Furthermore, the display control function 199 causes an image based on the imaging data including the operation of the ultrasonic probe 11 to be displayed on the display of the operation terminal 30. For example, the display control function 199 causes a moving image showing the operation of the ultrasonic probe 11 captured by the imaging device 104 to be displayed on the display of the operation terminal 30. This allows the operator to operate the ultrasonic probe 11 after understanding how the ultrasonic probe 11 is actually moving.

[0113] Furthermore, the display control function 199 causes an image based on position information indicating the position of the ultrasonic probe 11 to be displayed on the display of the operation terminal 30. For example, the display control function 199 causes an image representing the ultrasonic probe 11 (for example, an icon representing the ultrasonic probe 11) to be displayed on the image representing the subject P, thereby causing information representing the position of the ultrasonic probe 11 relative to the subject P to be displayed on the display of the operation terminal 30.

[0114] The display control function 199 may generate a user interface (GUI: Graphical User Interface) for the operator to input various instructions, and cause the display of the operation terminal 30 to display the GUI.

[0115] Furthermore, when the determination function 197 determines that the features of the past image match those of the generated image, the display control function 199 may perform control to automatically display the past image on the display of the operation terminal 30. This allows the operator to easily understand that the part of the subject P on which the ultrasound scan was performed was also imaged in the past.

[0116] The system control function 200 is a function that centrally controls the operation of the entire ultrasound diagnostic apparatus 10. For example, the system control function 200 controls the ultrasound transmission circuit 110 and the ultrasound reception circuit 120 based on parameters related to the transmission and reception of ultrasound.

[0117] Furthermore, the system control function 200 may, for example, store in the internal storage circuitry 130 parameters that have been set or changed during execution of the program.

[0118] Next, a description will be given of the processing executed by the ultrasound diagnostic device 10. Fig. 10 is a flowchart showing an example of the processing executed by the ultrasound diagnostic device 10.

[0119] First, the first acquisition function 195 searches for a past image of the subject P (step S101). For example, the first acquisition function 195 searches for a past image of the subject P from the ultrasound image data stored in the internal storage circuitry 130 using the patient ID of the subject P or the like.

[0120] Next, the first acquisition function 195 determines whether or not a previous image of the subject P exists (step S102). If a previous image does not exist (step S102: No), the process proceeds to step S104. On the other hand, if a previous image exists (step S102: Yes), the first acquisition function 195 registers the previous image as a comparison image (step S103).

[0121] Next, the movement control function 194 receives an operation instruction for the ultrasonic probe 11 from the operator (step S104). For example, the movement control function 194 receives an operation instruction for the ultrasonic probe 11 input by the operator using the operation terminal 30 via the communication interface 180.

[0122] Next, the system control function 200 executes a scan of the subject P (step S105). For example, the system control function 200 executes a scan of the subject P by controlling the ultrasonic transmission circuit 110 and the ultrasonic reception circuit 120 based on parameters related to transmission and reception of ultrasonic waves.

[0123] Next, the image generating function 193 generates ultrasound image data (step S106). For example, the image generating function 193 converts the scan line signal sequence of the ultrasound scan into a scan line signal sequence in a video format, and generates image data for display.

[0124] Next, the determination function 197 determines whether or not the comparison image is registered (step S107). For example, if the process of step S103 is executed, the determination function 197 determines that the comparison image is registered, and if the process of step S103 is not executed, the determination function 197 determines that the comparison image is not registered. If the comparison image is not registered (step S107: No), the process proceeds to step S110.

[0125] On the other hand, if the comparison image is registered (step S107: Yes), the determination function 197 determines whether the characteristics of the comparison image and the characteristics of the generated image match (step S108). For example, the determination function 197 performs a histogram comparison between the comparison image registered in step S103 and the generated image generated in step S106, and determines whether the characteristics of the two match (step S108).

[0126] If the features of the comparison image and the generated image do not match (step S108: No), the process returns to step S104. On the other hand, if the features of the comparison image and the generated image match (step S108: Yes), the image processing function 198 adds the same additional information as the comparison image to the generated image (step S109). For example, the image processing function 198 adds information equivalent to the annotation, body mark, etc., added to the display image data registered as the comparison image in step S103 to the display image data generated in step S106.

[0127] Next, the image processing function 198 determines whether analysis of the generated image is necessary (step S110). For example, if no additional information such as annotations or body marks is added to the display image data generated in step S106, the image processing function 198 determines that analysis is necessary. On the other hand, if such additional information is added, the image processing function 198 determines that analysis is unnecessary.

[0128] If analysis is not required (step S110: No), the process proceeds to step S112. On the other hand, if analysis is required (step S110: Yes), the image processing function 198 executes analysis processing of the display image data (step S111).

[0129] For example, the image processing function 198 analyzes the display image data generated in step S106, and acquires information such as annotations and body marks based on the analysis results. The image processing function 198 adds the information acquired from the analysis results to the display image data as supplementary information.

[0130] Next, the system control function 200 stores the display image data in the internal storage circuit 130 (step S112). For example, the system control function 200 stores in the internal storage circuit 130 the display image data to which the incidental information has been added in step S109 or the display image data to which the incidental information has been added as a result of the analysis in step S111.

[0131] Next, the system control function 200 determines whether or not an additional scan of the subject P is necessary (step S113). For example, when the system control function 200 receives an instruction to end the scan from the operation terminal 30 via the communication interface 180, it determines that an additional scan of the subject P is unnecessary, and when the system control function 200 does not receive an instruction to end the scan, it determines that an additional scan is necessary.

[0132] If an additional scan is required (step S110: Yes), the process returns to step S104. On the other hand, if an additional scan is not required (step S110: No), the process ends.

[0133] 10, an example in which a series of processes is performed by the ultrasound diagnostic apparatus 10 has been described, but part of the above processes may be executed on the operation terminal 30 side. For example, the processes of steps S101, 102, 103, 110, 112, and 113 may be executed on the operation terminal 30 side.

[0134] In this case, in step S110, the operation terminal 30 may receive the generated image from the ultrasound diagnostic apparatus 10 after step S106 or step S109, and may determine whether or not analysis is required for the received generated image. In addition, in step S112, a process of storing the generated image in a storage device included in the operation terminal 30 or an external image storage device, etc. may be performed.

[0135] As described above, the ultrasound diagnostic apparatus 10 according to the first embodiment includes the wearing fixture 107 to be worn on the subject P, the ultrasound probe 11 to receive reflected waves from the subject P, the probe unit 101 to which the ultrasound probe 11 is attached so that its position on the body surface of the subject P can be changed and which supports the ultrasound probe in a state in which the ultrasound probe is directed toward the body surface of the subject, and a mechanism to move the probe unit 101 on the body surface of the subject P. In addition, the ultrasound diagnostic apparatus 10 according to the present embodiment controls the probe unit 101 to change the position of the ultrasound probe on the body surface of the subject based on an operation instruction from an external operation terminal 30, and outputs the reception result of the ultrasound probe 11 to the operation terminal 30.

[0136] As a result, even if there is no operator to operate the ultrasound diagnostic apparatus 10 near the subject P, for example, the ultrasound diagnostic apparatus 10 can receive operation instructions from an observer who observes ultrasound images, such as a doctor who is in a different location from the ultrasound diagnostic apparatus 10. As a result, the observer can move the ultrasound probe 11 to any position on the subject P. In other words, the ultrasound diagnostic apparatus 10 according to this embodiment can improve the convenience of remote diagnosis using the ultrasound diagnostic apparatus.

[0137] Second embodiment In the first embodiment, a configuration has been described in which the subject P himself adjusts the position of the water bag 12 (probe unit 101) in the body axis direction of the subject P. In the second embodiment, a configuration will be described in which the position of the water bag 12 in the body axis direction of the subject P is adjusted according to an operation instruction from the operation terminal 30.

[0138] In the following, differences from the above-described embodiment will be mainly described, and detailed description of commonalities with the contents already described will be omitted. Also, each embodiment described below may be implemented individually or in appropriate combination.

[0139] Fig. 11 is a block diagram showing an example of the configuration of an ultrasonic diagnostic device 10A in the second embodiment. The ultrasonic diagnostic device 10A in Fig. 11 has an apparatus main body 100A and a probe unit 101. The probe unit 101 is similar to that in the first embodiment, and therefore a description thereof will be omitted.

[0140] The device main body 100A is connected to an input device 102, an output device 103, an image capturing device 104, and a position sensor 105A. The device main body 100 can also be connected to an operation terminal 30A via a network NW. The input device 102, the output device 103, and the image capturing device 104 are the same as those in the first embodiment, and therefore a description thereof will be omitted. The position sensor 105A and the operation terminal 30A will be described later.

[0141] The device main body 100A has an ultrasonic transmission circuit 110, an ultrasonic reception circuit 120, an internal storage circuit 130, an image memory 140, an input interface 150, an output interface 160, a connection interface 170, a communication interface 180, and a processing circuit 190A.

[0142] The ultrasonic transmission circuit 110, ultrasonic reception circuit 120, internal storage circuit 130, image memory 140, input interface 150, output interface 160, connection interface 170, and communication interface 180 are similar to those in the first embodiment, and therefore description thereof will be omitted.

[0143] The processing circuit 190A has, for example, a B-mode processing function 191, a Doppler processing function 192, an image generation function 193, a movement control function 194A, a first acquisition function 195, a second acquisition function 196A, a judgment function 197, an image processing function 198, a display control function 199, a system control function 200, a supply function 201, a third acquisition function 202, and an attitude control function 203.

[0144] The B-mode processing function 191, Doppler processing function 192, image generation function 193, first acquisition function 195, judgment function 197, image processing function 198, display control function 199, and system control function 200 are similar to those in the first embodiment, so their explanations will be omitted.

[0145] The movement control function 194A controls the position and orientation of the ultrasonic probe 11 in the X-axis direction and the Z-axis direction with respect to the subject P based on an operation instruction from the operation terminal 30A. Hereinafter, a configuration for moving the probe unit 101 (ultrasonic probe 11) in the Z-axis direction will be described.

[0146] First, the mounting fixture 107A for mounting the probe unit 101 on the subject P will be described. The mounting fixture 107A is an example of a mounting section. FIGS. 12 and 13 are diagrams for explaining an example of the configuration of the mounting fixture 107A according to the second embodiment. FIG. 12 is a diagram showing an example of the subject P wearing the mounting fixture 107A as viewed from the front side of the subject P. Also, FIG. 13 is a diagram showing an example of the subject P wearing the mounting fixture 107A as viewed from the rear side of the subject P.

[0147] The height adjustment belt 14A of the wearing device 107A according to the second embodiment has storage boxes 142A on the left and right sides on the side corresponding to the front of the subject P. The height adjustment belt 14A is an example of a shoulder belt. The height adjustment belt 14A also has storage boxes 142B on the left and right sides on the side corresponding to the back of the subject P. The storage boxes 142A and 142B are fixed to the height adjustment belt 14A. The water bag 12 is also attached so as to be movable in the height direction via the storage boxes 142A and 142B.

[0148] A moving mechanism for moving the water bag 12 in the Z-axis direction is housed in the storage boxes 142A and 142B. Fig. 14 to Fig. 18 are diagrams for explaining an example of the internal configuration of the storage box 142A (142B) according to the second embodiment. The storage box 142A will be explained below. Note that the storage box 142B has a substantially similar configuration to the storage box 142A, and therefore its explanation will be omitted.

[0149] Here, Fig. 14 is a diagram showing an example of the storage box 142A as viewed from the top of the subject P. Fig. 15 is a diagram showing the positional relationship between the gear 143 and the rail 144 as viewed from the front side of the subject P. As shown in Fig. 14, the gear 143, the rail 144, the motor 146, and the groove 147 are arranged inside the storage box 142A. Also, a disk 145 is provided inside the water bag 12.

[0150] Gear 143 is provided so that its rotation axis is approximately perpendicular to the Z axis in the Y axis direction. The inside of the shaft of gear 143 is hollow. Disk 145, like gear 143, is provided so that its rotation axis is approximately perpendicular to the Z axis in the Y axis direction. The surface portion of disk 145 is fitted into the back side of water bag 12. The rotation axis of disk 145 is housed in the hollow of the shaft of gear 143.

[0151] 15, rail 144 is provided along the Z-axis direction. Rail 144 has teeth on the X-axis side that engage with the teeth of gear 143. As shown in Fig. 14, storage box 142A is provided with a U-shaped groove 147 extending in the Z-axis direction. Rail 144 is provided along the Z-axis direction at the bottom of groove 147 in the X-axis direction.

[0152] The motor 146 rotates the gear 143. The motor 146 is provided so as to be able to transmit a rotational force generated by driving the motor 146 to a rotation shaft of the gear 143. For example, the motor 146 is provided so that the rotation shaft of the motor 146 and the rotation shaft of the gear 143 are joined together and the rotation shaft of the gear 143 rotates in conjunction with the rotation drive of the motor 146.

[0153] Here, Fig. 16 is a diagram showing the movement of gear 143 in storage box 142A provided on right-side height adjustment belt 14A, and Fig. 17 is a diagram showing the movement of gear 143 in storage box 142A provided on left-side height adjustment belt 14A.

[0154] When the motor 146 is rotated, the gear 143 also rotates about the rotation axis, as shown in Figures 16 and 17. As the gear 143 rotates, the teeth of the gear 143 and the teeth of the rail 144 engage with each other, and the gear 143 moves in the Z-axis direction. At this time, the rotation axis of the gear 143 moves along a groove 147 provided in the storage box 142A. This makes it easier for the teeth of the gear 143 to engage with the teeth of the rail 144, thereby achieving stable rotation of the gear 143.

[0155] Moreover, Fig. 15 is an image diagram for explaining the vertical movement of the water bag 12. As shown in Fig. 15, when the motor 146 rotates, the rotation shaft of the disk 145 in the hollow of the gear 143 rotates, and an upward or downward force is applied to the rotation shaft of the disk 145 that is inserted into the shaft of the hollow.

[0156] By applying an upward or downward force to the rotation axis of the disk 145 that is inserted into the hollow shaft, the water bag 12 can be raised and lowered through the surface of the disk 145. Also, by installing two storage boxes 142A in front of the subject P and two storage boxes 142B on the back, it is possible to achieve uniform vertical movement of the water bag 12.

[0157] Here, the movement control function 194A of the processing circuit 190A controls the operation of the motor 146 according to an operation instruction from the operation terminal 30. That is, the movement control function 194A controls the operation of the motor 146 according to an operation instruction from the operator, thereby making it possible to move the water bag 12 attached to the subject P to an arbitrary height.

[0158] Returning to Fig. 11, the description will be continued. The supply function 201 controls automatic application of the acoustic propagation material to the subject P. A configuration for automatically applying the acoustic propagation material to the subject P will be described below. Figs. 19 to 26 are diagrams for explaining an example of a configuration for supplying the acoustic propagation material according to the second embodiment.

[0159] Fig. 19 is a diagram showing an example of the water bag 12 and the configuration for supplying the acoustic propagation material when viewed from the rear side of the subject P. As shown in Fig. 19, the ultrasound diagnostic device 10 according to the second embodiment includes a storage unit 20, a syringe 21, a supply mechanism 22, a disk 23, and a motor 24 as a configuration for supplying the acoustic propagation material.

[0160] A holding bag 121A capable of storing an acoustic propagation material G is provided at an upper end of the surface of the water bag 12 that contacts the body surface of the subject P. Similarly, a holding bag 121B capable of storing an acoustic propagation material G is provided at a lower end of the surface of the water bag 12 that contacts the body surface of the subject P. A plurality of small holes are provided in the holding bags 121A and 121B.

[0161] Here, the syringe 21, the supply mechanism 22, the disk 23, and the motor 24 are an example of a mechanism for increasing the pressure inside the holding bag.

[0162] The storage unit 20 stores the acoustic propagation material G. The acoustic propagation material G stored in the storage unit 20 is supplied to the holding bag 121 of the water bag 12 and applied to the body surface of the subject P. Note that the acoustic propagation material G is manually filled into the storage unit 20 by the subject P or the like.

[0163] Syringe 21 temporarily stores acoustic propagation material G to be supplied to holding bags 121A and 121B. Supply mechanism 22 supplies acoustic propagation material G to holding bags 121A and 121B. As shown in FIG.

[0164] Here, Fig. 20 is a diagram showing an example of the supply mechanism 22 as viewed from the side of the subject P (the side where the groove 222 is formed). Fig. 21 is a diagram showing an example of the supply mechanism 22 as viewed from the back side of the subject P. Fig. 22 is a diagram showing an example of the supply mechanism 22 as viewed from the foot side of the subject P. As shown in Figs. 19 to 22, the piston 221 is a mechanism for pushing out the acoustic propagation material G filled in the syringe 21. The groove 222 is a structure for pushing out the piston 221 by the rotation of the motor 24.

[0165] The disk 23 rotates due to the rotation of the motor 24, and pushes out the piston 221. The motor 24 rotates the disk 23, thereby rotating the disk 23. As shown in FIG.

[0166] Here, Fig. 23 is a diagram showing an example of the disk 23 as viewed from the side of the subject P (the side on which the protrusion 231 is provided). Fig. 24 is a diagram showing an example of the disk 23 as viewed from the back side of the subject P. As shown in Figs. 19, 23 and 24, the protrusion 231 is a member whose center of rotation is offset from the center of the disk 23. The protrusion 231 fits into the groove 222 of the supply mechanism 22 and moves the piston 221 up and down.

[0167] 19, storage section 20, syringe 21, and holding bag 121A are connected via a three-way valve V. Three-way valve V has valves V1 to V3.

[0168] Storage unit 20 and valve V1 are connected by tube T1. Syringe 21 and valve V2 are connected by tube T2. Holding bag 121A and valve V3 are connected by tube T3. Holding bag 121A and holding bag 121B are connected by tube T4.

[0169] 25, for example, when valves V1 and V2 are open and valve V3 is closed, and piston 221 is moved from a pushed-out state to a pulled-up state by rotation of motor 24, acoustic propagation material G stored in storage section 20 passes through tubes T1 and T2 and flows into syringe 21, as shown in FIG. 25. This allows acoustic propagation material G stored in storage section 20 to be filled into syringe 21.

[0170] Also, for example, when valve V1 is closed and valves V2 and V3 are open, and piston 221 is pushed out from a pulled-up state by the rotation of motor 24, acoustic propagation material G filled in syringe 21 passes through tubes T2 and T3 and flows into holding bag 121A, as shown in Fig. 26. At this time, the pressure of acoustic propagation material G pushed out by piston 221 causes acoustic propagation material G to seep out from small holes in holding bag 121A.

[0171] Moreover, the acoustic propagation material G passes from holding bag 121A through tube T4 and flows into holding bag 121B due to the pressure of the acoustic propagation material G being pushed out by piston 221. Furthermore, similar to holding bag 121A, acoustic propagation material G also seeps out from holding bag 121B.

[0172] Moreover, by moving the water bag 12 up and down under the control of the movement control function 194A, the acoustic propagation material G exuded from the holding bags 121A and 121B can be spread over the body surface of the subject P. Therefore, the supply function 201 can apply the acoustic propagation material G to any position on the body surface of the subject P by cooperating with the movement control function 194A.

[0173] Further, the supply function 201 of the processing circuit 190A controls the rotation of the motor 24 according to an operation instruction from the operation terminal 30A. That is, the supply function 201 controls the rotation of the motor 24 according to an operation instruction from the operator, thereby making it possible to apply the acoustic propagation material G to the body surface of the subject P at any timing, such as before or during an ultrasonic scan.

[0174] Returning to Fig. 11, the description will continue. The third acquisition function 202 acquires information indicating the positions of characteristic positions set at a plurality of points on a simulated human body placed near the operation terminal 30A.

[0175] The simulated human body is, for example, a doll that imitates a human body. The simulated human body is used for remote control of the ultrasonic probe 11 by an operator. The simulated human body has a plurality of joints, and has a driving source (not shown) such as a motor or actuator for driving the joints. The simulated human body drives the driving source by receiving a control command from the operation terminal 30A. As a result, the joints of the simulated human body are driven in the same way as a human body, and the simulated human body can take any posture.

[0176] The posture control function 203 controls the posture of the simulated human body in accordance with the posture of the subject P. For example, the posture control function 203 transmits an instruction to control the posture of the simulated human body to the operation terminal 30A according to the detection result of the position sensor 105A. The posture control process of the simulated human body will be described below.

[0177] The ultrasound diagnostic apparatus 10A according to this embodiment includes a plurality of position sensors 105A. The position sensors 105A are provided at point positions of the subject P. The point positions of the subject P are an example of first characteristic positions. The point positions of the subject P are positions of the body of the subject P used to express the posture of the subject P.

[0178] Fig. 27 is a diagram for explaining an example of point positions of the subject P according to the second embodiment. In the example of Fig. 27, the point positions of the subject P are the right shoulder, left shoulder, right hip bone, left hip bone, and navel. Position sensors 105A are attached to the right shoulder, left shoulder, right hip bone, left hip bone, and navel of the subject P. Note that the above are only examples of point positions, and other parts of the subject P may be used as point positions.

[0179] Each position sensor 105A attached to the subject P detects the strength and gradient of a three-dimensional magnetic field formed by a transmitter 106A installed at an arbitrary position near the apparatus main body 100A.

[0180] Furthermore, each position sensor 105A calculates the coordinates and angle of each point position of the subject P in a space with the transmitter 106A as the origin based on the detected magnetic field information. Each position sensor 105A transmits the calculated position to the device body 100. In other words, each position sensor 105A transmits position information indicating the position of each point position of the subject P to the device body 100.

[0181] The second acquisition function 196A of the processing circuit 190A acquires position information indicating the position of each point position of the subject P transmitted from each position sensor 105A. The second acquisition function 196A is an example of a second acquisition unit. In addition, the second acquisition function 196A acquires (calculates) information indicating the distance between each point position of the subject P based on the position information indicating the position of each point position of the subject P.

[0182] Moreover, the operation terminal 30 according to this embodiment includes a plurality of position sensors 105B similar to the position sensor 105A, and a transmitter 106B similar to the transmitter 106A. The position sensor 105B is provided at a point position of the simulated human body. The transmitter 106B is installed at an arbitrary position near the operation terminal 30A. The point position of the simulated human body SB is an example of a second characteristic position. The point position of the simulated human body SB is a body position of the simulated human body SB used to express the posture of the simulated human body SB.

[0183] Fig. 28 is a diagram for explaining an example of point positions of a simulated human body according to the second embodiment. In the example of Fig. 28, the point positions of the simulated human body SB are the right shoulder, the left shoulder, the right hip bone, the left hip bone, and the navel, similar to the point positions of the subject P in Fig. 27. Position sensors 105B are attached to the right shoulder, the left shoulder, the right hip bone, the left hip bone, and the navel of the simulated human body SB.

[0184] Each position sensor 105B attached to the simulated human body SB detects the strength and gradient of the three-dimensional magnetic field formed by the transmitter 106B.

[0185] Furthermore, the position sensor 105B calculates the coordinates and angles of each point position of the simulated human body SB in a space with the transmitter 106B as the origin based on the information of the detected magnetic field. The position sensor 105B transmits the calculated positions to the operation terminal 30A. In other words, the position sensor 105B transmits position information indicating the positions of each point position of the simulated human body SB to the operation terminal 30A. The operation terminal 30A transmits the position information to the ultrasound diagnostic device 10A.

[0186] The third acquisition function 202 of the processing circuit 190A acquires position information indicating the position of each point position of the subject P transmitted from the operation terminal 30A. The third acquisition function 202 is an example of a third acquisition unit. In addition, the third acquisition function 202 acquires (calculates) information indicating the distance between each point of the simulated human body SB based on the position information indicating the position of each point position of the simulated human body SB.

[0187] Moreover, the posture control function 203 generates a control command for a drive source of the simulated human body SB so as to match the ratio of the distances between the points of the subject P acquired by the second acquisition function 196A with the ratio of the distances between the points of the simulated human body SB acquired by the third acquisition function 202. The posture control function 203 is an example of a posture control unit. The posture control function 203 transmits the generated control command to the operation terminal 30A.

[0188] The operation terminal 30A receives a control command transmitted from the ultrasound diagnostic device 10A. The operation terminal 30A transmits the control command to the simulated human body SB. The simulated human body SB drives the drive source and drives the joints in accordance with the control command. This allows the simulated human body SB to take the same posture as the subject P.

[0189] Moreover, in this embodiment, each position sensor 105A acquires position information indicating the position of each point position of the subject P in real time. That is, the simulated human body SB moves in accordance with the movement of the subject P. Therefore, the operator can grasp the current posture of the subject P by grasping the posture of the simulated human body SB.

[0190] Here, when the subject P and the simulated human body SB have different body sizes, there is a possibility that the posture of the subject P and the posture of the simulated human body SB do not match simply by matching the distances between the points of the subject P and the distances between the points of the simulated human body SB. For this reason, the posture control function 203 according to this embodiment generates a control command for matching the ratio of the distances between the points of the subject P and the ratio of the distances between the points of the simulated human body SB.

[0191] The operation terminal 30A of this embodiment also includes a simulated probe 31. A position sensor (not shown) is attached to the simulated probe 31. The position sensor of the simulated probe 31 detects the strength and gradient of the three-dimensional magnetic field generated by transmitter 106B.

[0192] The position sensor of the simulated probe 31 calculates the position (coordinates and angle) of the device itself in a space with the transmitter 106 as the origin based on the information of the detected magnetic field, and transmits the calculated position to the operation terminal 30A. In other words, the position sensor of the simulated probe 31 transmits position information indicating the position of the simulated probe 31 to the operation terminal 30A. The operation terminal 30A transmits the position information indicating the position of the simulated probe 31 to the ultrasound diagnostic device 10A.

[0193] The movement control function 194A of the processing circuit 190A of the ultrasonic diagnostic apparatus 10A performs control to make the position and inclination of the simulated probe 31 relative to the simulated human body SB and the position and inclination of the ultrasonic probe 11 relative to the subject P coincident with each other.

[0194] Fig. 29 is a diagram showing an example of the operation of the simulated probe 31 by an operator O near an operation terminal 30A according to the second embodiment. Fig. 30 is a diagram showing an example of the movement of the ultrasonic probe 11 attached to a subject P near an ultrasonic diagnostic apparatus 10A according to the second embodiment. For example, as shown in Fig. 29, it is assumed that the operator O places the simulated probe 31 at a position P1 on the body of the simulated human body SB, moves the simulated probe 31 in the direction indicated by the arrow, and stops it at a position P2.

[0195] In this case, the position sensor of the simulated probe 31 detects the position (P1) and inclination of the simulated probe 31 relative to the body of the simulated human body SB at the time the simulated probe 31 is placed on the body of the simulated human body SB based on the strength and inclination of the three-dimensional magnetic field formed by the transmitter 106B.

[0196] Information indicating the detected position (P1) and inclination of the simulated probe 31 with respect to the simulated human body SB is transmitted to the operation terminal 30A. The operation terminal 30A transmits the information to the ultrasound diagnostic device 10A.

[0197] The third acquisition function 202 of the processing circuit 190A of the ultrasound diagnostic apparatus 10A acquires information transmitted from the operation terminal 30A indicating the position (P1) and inclination of the simulated probe 31 at the time when the simulated probe 31 was placed on the body of the simulated human body SB.

[0198] In addition, the second acquisition function 196A acquires information indicating the position and inclination of the ultrasonic probe 11 transmitted from the position sensor 105 attached to the ultrasonic probe 11.

[0199] The movement control function 194A moves the probe unit 101 so that the relative positions of the simulated probe 31 to each point position of the simulated human body SB at the time when the simulated probe 31 is applied to the body of the simulated human body SB coincide with the relative positions of the ultrasonic probe 11 to each point position of the subject P. When it is necessary to move the probe unit 101 in the Z-axis direction, the movement control function 194A controls the operation of the motor 146 to move the water bag 12 up and down.

[0200] In the example of Figure 30, the movement control function 194A controls the movement of the probe unit 101 so that the ultrasonic probe 11 is positioned at a position (P3) of the subject P that corresponds to the position (P1) of the simulated probe 31 relative to the simulated human body SB at the time the simulated probe 31 is placed on the body of the simulated human body SB.

[0201] Moreover, the movement control function 194A performs control to adjust the angle of the probe unit 101 so that the inclination of the simulated probe 31 with respect to the simulated human body SB and the inclination of the ultrasonic probe 11 with respect to the subject P coincide with each other.

[0202] Also, in the example of Figure 29, the position sensor of the dummy probe 31 detects the position (P2) and inclination of the dummy probe 31 relative to the dummy human body SB at the time when the operator O stops moving the dummy probe 31, as described above.

[0203] Information indicating the detected position (P2) and inclination of the simulated probe 31 with respect to the simulated human body SB is transmitted to the operation terminal 30A. The operation terminal 30A transmits the information to the ultrasound diagnostic device 10A.

[0204] The third acquisition function 202 of the processing circuit 190A of the ultrasound diagnostic apparatus 10A acquires information indicating the position (P2) and inclination of the simulated probe 31 at the time when the movement of the simulated probe 31 was stopped, transmitted from the operation terminal 30A.

[0205] In addition, the second acquisition function 196A acquires information indicating the current position (P3) and inclination of the ultrasonic probe 11 transmitted from the position sensor 105 attached to the ultrasonic probe 11.

[0206] Then, as shown in FIG. 30, the movement control function 194A controls the movement of the ultrasonic probe 11 from the current position (P3) of the ultrasonic probe 11 to the position (P4) of the subject P corresponding to the position (P2) of the simulated probe 31 relative to the simulated human body SB at the time the movement of the simulated probe 31 is stopped, in the same manner as described above.

[0207] In this manner, in this embodiment, the ultrasonic probe 11 attached to the subject P moves in accordance with the movement of the simulated probe 31 on the simulated human body SB by the operator O. This allows the operator O to perform ultrasonic diagnosis of the subject P with the same sensation as when performing an ultrasonic scan by directly placing the ultrasonic probe on the subject P, even when the subject P is not nearby.

[0208] Note that the ultrasonic probe 11 may be operated by voice input by the operator O instead of the operation of the simulated probe 31. In this case, the movement control function 194A of the processing circuit 190A of the ultrasonic diagnostic device 10A moves the ultrasonic probe 11 in accordance with the voice of the operator O input via the operation terminal 30A.

[0209] Specifically, the operator O uses the operation terminal 30A to perform voice input combining words indicating directions such as up, down, right, left, diagonally upward to the right, diagonally downward to the left, etc. with words indicating distances such as 1 cm, 2 cm, etc. (for example, "diagonally upward to the right, 2 cm, etc.") The movement control function 194A controls the movement of the probe unit 101 in the direction input by voice, by the distance input by voice.

[0210] In addition, when the operator O has confirmed the position to which the ultrasonic probe 11 is to be moved, the image processing function 198 may automatically add a body mark, a probe mark indicating the position of the ultrasonic probe 11, or the like to the ultrasonic image data generated by the image generation function 193.

[0211] As described above, the ultrasonic diagnostic apparatus 10A according to the second embodiment includes the gear 143, the rail 144, and the motor 146 for moving the water bag 12 housing the ultrasonic probe 11 in the direction of the subject P's body axis.

[0212] This allows the operator of the ultrasound diagnostic device 10A to move the ultrasound probe 11 to any position in the body axis direction of the subject P by inputting an operation instruction from the operation terminal 30A. Therefore, the operator can move the ultrasound probe 11 to a desired position without the subject P having to manually adjust the height of the ultrasound probe 11. In other words, the operator can efficiently perform ultrasound diagnosis on the subject P who is not nearby.

[0213] Moreover, the water bag 12 of the ultrasonic diagnostic device 10A according to this embodiment includes holding bags 121A and B that hold the acoustic propagation material G. Furthermore, the water bag 12 includes a syringe 21 filled with the acoustic propagation material G, and a piston 221 that pushes out the acoustic propagation material G filled in the syringe 21 into the holding bags 121A and B by using the rotation of the motor 24. Small holes are formed in the holding bags 121A and B on the side that contacts the body surface of the subject P, and the acoustic propagation material G seeps out from the small holes due to the pressure of the acoustic propagation material G being pushed out. Therefore, the ultrasonic diagnostic device 10A according to this embodiment can apply the acoustic propagation material G to the body surface of the subject P by moving the water bag 12 up and down in a state in which the acoustic propagation material G has seeped out.

[0214] The ultrasonic diagnostic device 10A according to this embodiment includes a plurality of position sensors 105A attached to a plurality of points on the subject P, and a transmitter 106A that forms a magnetic field from the device itself toward the outside. The operation terminal 30A according to this embodiment includes a simulated human body SB whose joints are driven by a motor or the like in the same manner as a human body, a plurality of position sensors 105B attached to a plurality of points on the simulated human body SB corresponding to the plurality of points on the subject P, and a transmitter 106B similar to the transmitter 106A.

[0215] The ultrasound diagnostic apparatus 10A according to this embodiment generates a control command for driving the joints of the simulated human body SB so that the ratio of the distances between the position sensors 105A matches the ratio of the distances between the position sensors 105B based on the position (coordinates and angle) of the apparatus itself in a space with the transmitter 106A as the origin detected by each position sensor 105A, and transmits the control command to the operation terminal 30A.

[0216] As a result, the ultrasound diagnostic apparatus 10A according to this embodiment can make the simulated human body SB assume the same posture as that of the subject P. Therefore, the operator of the ultrasound diagnostic apparatus 10A can grasp the posture of the subject P during ultrasound diagnosis even if the subject P is not nearby.

[0217] The ultrasonic diagnostic device 10A according to the present embodiment includes a position sensor 105 attached to the ultrasonic probe 11, and acquires information indicating the position and inclination of the ultrasonic probe 11 in a space with the transmitter 106A detected by the position sensor 105 as the origin. The operation terminal 30A according to the present embodiment includes a simulated probe 31 attached with a position sensor similar to the position sensor 105, and the ultrasonic diagnostic device 10A according to the present embodiment acquires information indicating the position and inclination of the simulated probe 31 in a space with the transmitter 106B detected by the position sensor of the simulated probe 31 as the origin. The ultrasonic diagnostic device 10A according to the present embodiment moves the ultrasonic probe 11 so that the relative position of the simulated probe 31 with respect to each point position of the simulated human body SB coincides with the relative position of the ultrasonic probe 11 with respect to each point position of the subject P, and adjusts the inclination of the ultrasonic probe 11 so that the angle of the simulated probe 31 with respect to each point position of the simulated human body SB coincides with the angle of the ultrasonic probe 11 with respect to each point position of the subject P.

[0218] As a result, the ultrasonic probe 11 attached to the subject P moves on the body surface of the subject P, following the movement of the simulated probe 31 on the body surface of the simulated human body SB. Therefore, even if the subject P is not nearby, the operator can perform ultrasonic diagnosis on the subject P with the same feeling as when performing ultrasonic diagnosis on the subject P who is nearby.

[0219] The above-described embodiment can be modified as appropriate by partially changing the configuration or function of each device of the ultrasound diagnostic system 1. Therefore, some modified examples of the above-described embodiment will be described below as other embodiments. The following mainly describes the differences from the above-described embodiment, and a detailed description of the commonalities with the contents already described will be omitted. The modified examples described below may be implemented individually or in appropriate combination.

[0220] (Variation 1) In the above-described first embodiment, a configuration has been described in which the subject P manually moves the water bag 12 to adjust the position of the ultrasonic probe 11 in the Z-axis direction. In the second embodiment, a configuration has been described in which the position of the ultrasonic probe 11 in the Z-axis direction is adjusted by moving the water bag 12 using the gear 143, the rail 144, and the motor 146. In this modification, a configuration in which the position of the ultrasonic probe 11 is adjusted by another method will be described.

[0221] 31 is a diagram illustrating an example of the configuration of the wearing tool 107B according to Modification 1. The wearing tool 107B includes a probe unit 101A, a water bag 12A, a wire 15A, a shoulder belt 25, a frame 26, and a wire controller 27.

[0222] The shoulder belts 25 are configured as a pair, one on the left and one on the right. The subject P wears the wearing device 107B by putting the left and right shoulder belts 25 on his or her left and right shoulders. The shoulder belts 25 may have a structure that allows the belt length to be adjusted, similar to the first embodiment.

[0223] The water bag 12A has a larger contact surface than the water bag 12 according to the first embodiment. The contact surface is the portion of the water bag 12A that comes into contact with the body surface of the subject P. Therefore, the water bag 12A can widely cover the body surface of the subject P.

[0224] The probe unit 101A is housed in the water bag 12A, as in the first embodiment. Wires 15A are connected to the probe unit 101A from the four corners. A frame 26 is provided around the water bag 12A. A wire controller 27 is fixed to the four corners of the frame 26.

[0225] Wire controller 27 has a structure capable of accommodating a part of wire 15A therein. Wire controller 27 can adjust the distance from wire controller 27 to the connection between probe unit 101 and wire 15A by moving a part of wire 15A in and out of the wire controller 27. Wire controller 27 is operated by a drive source (not shown) such as a motor.

[0226] The movement control function 194 of the processing circuit 190 of the ultrasound diagnostic apparatus 10 in this modified example controls the drive source of the wire controller 27 in accordance with the movement destination of the ultrasound probe 11 input via the operation terminal 30, and moves the probe unit 101 so that the ultrasound probe 11 is positioned at the position desired by the operator.

[0227] In this modification, the acoustic propagation material G is applied in advance to the part to be ultrasonically scanned by the hand of the subject P, but the acoustic propagation material G may be automatically applied to the body surface of the subject P by a configuration similar to that of the second embodiment. In this case, the wearing tool 107B may have a configuration in which the water bag 12A moves up and down.

[0228] According to this modification, the ultrasonic probe 11 can be moved in both the X-axis direction and the Z-axis direction in a manner different from that of the first and second embodiments.

[0229] (Variation 2) In the above-mentioned second embodiment, a description has been given of a form in which the posture of the subject P is grasped and the ultrasonic probe 11 is operated using the above-mentioned simulated human body SB. In this modification, a description will be given of a form in which the posture of the subject P is grasped by using a virtual space of Virtual Reality (VR) instead of the simulated human body SB.

[0230] 32 is a diagram illustrating an example of a VR system according to Modification 2. In this modification, the operation terminal 30A includes a head-up display 32 and a motion sensor 33. The head-up display 32 is a display device capable of displaying a VR image. The motion sensor 33 detects the movement of the hand of the operator O. The motion sensor 33 is, for example, an acceleration sensor.

[0231] An operator O of the ultrasound diagnostic device 10 wears a head-up display 32 and operates the ultrasound probe depicted in a virtual space, thereby operating the ultrasound probe 11. A VR image VI is displayed on the head-up display 32.

[0232] In the example of FIG. 32, a virtual subject VP, a virtual operator VO, a virtual ultrasound probe VR, and an ultrasound image UI are depicted as a VR image VI.

[0233] The virtual subject VP is a VR image that imitates the subject P. The virtual operator VO is a VR image that imitates the hand of an operator. The ultrasound probe VR is a VR image that imitates an ultrasound probe. In FIG. 32, the ultrasound probe VR is depicted in a state in which it is being held by the virtual operator VO (hand). The ultrasound image UI is an ultrasound image obtained by an ultrasound scan of the subject P.

[0234] The second acquisition function 196A of the processing circuitry 190A of the ultrasound diagnostic apparatus 10A in this modified example acquires information representing the distance between each point on the subject P based on position information indicating the position of each point on the subject P, similar to the second embodiment.

[0235] Moreover, the image generating function 193 according to this modification generates a VR image showing the posture of the subject P based on the position information. The generated VR image is transmitted to the operation terminal 30A. The VR image is drawn as a virtual subject VP at a predetermined position on the VR image VI.

[0236] Here, the generated VR image represents the posture of the subject P at the time when each position sensor 105A acquires the position information of each point position. Therefore, by acquiring the position information in real time, a VR image (virtual subject VP) representing the current posture of the subject P can be drawn on the VR image VI. This allows the operator O to grasp the current posture of the subject P by grasping the posture of the virtual subject VP.

[0237] Moreover, the image generating function 193 generates ultrasound image data in the same manner as in the first embodiment. The generated ultrasound image data is transmitted to the operation terminal 30A. An image based on this ultrasound image data is drawn as an ultrasound image UI at a predetermined position on the VR image VI. This allows the operator O to confirm the ultrasound image obtained by ultrasonically scanning the subject P after grasping the current posture of the subject P.

[0238] In addition, the image generation function 193 generates a VR image representing the ultrasonic probe and a VR image representing the hand of the operator holding the ultrasonic probe. The generated VR image is transmitted to the operation terminal 30A. The VR image is rendered as a virtual operator VO and a virtual ultrasonic probe VR.

[0239] Moreover, the virtual operator VO and the virtual ultrasonic probe VR move on the VR image VI in accordance with the movement of the hand of the operator O detected by the motion sensor 33. This allows the operator O to adjust the position and inclination of the virtual ultrasonic probe VR on the VR image VI.

[0240] Information indicating the relative position and inclination of the virtual ultrasound probe VR with respect to the virtual subject VP on the VR image VI is transmitted in real time from the operation terminal 30A to the ultrasound diagnostic apparatus 10A.

[0241] The movement control function 194A of the processing circuit 190A of the ultrasound diagnostic apparatus 10A according to this modification moves the probe unit 101 attached to the subject P so that the relative position of the virtual ultrasound probe VR with respect to the virtual subject VP on the VR image VI coincides with the relative position of the ultrasound probe 11 with respect to the subject P.

[0242] As a result, the ultrasound probe 11 moves on the body surface of the subject P, following the movement of the virtual ultrasound probe VR on the VR image VI. Therefore, according to this modification, the operator O can perform ultrasound diagnosis of the subject P with the same sensation as if the subject P were nearby, even when the subject P is not nearby, by operating the virtual ultrasound probe VR on the VR image VI.

[0243] The ultrasonic probe 11 may be operated by a simulated probe, a joystick, or the like similar to the second embodiment. In this case, the virtual ultrasonic probe VR on the VR image VI moves in response to the operation of the simulated probe, the joystick, or the like.

[0244] (Variation 3) In the above-described first and second embodiments, a configuration has been described in which the processing circuit 190 (190A) of the ultrasound diagnostic apparatus 10 (10A) has a B-mode processing function 191, a Doppler processing function 192, an image generation function 193, a movement control function 194 (194A), a first acquisition function 195, a second acquisition function 196 (196A), a judgment function 197, an image processing function 198, a display control function 199, a system control function 200, a supply function 201, a third acquisition function 202, and a posture control function 203.

[0245] However, some or all of these functions may be included in the operation terminal 30 (30A).

[0246] The term "processor" used in the description of the above-mentioned embodiments means a circuit such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an Application Specific Integrated Circuit (ASIC), a programmable logic device (e.g., a Simple Programmable Logic Device (SPLD), a Complex Programmable Logic Device (CPLD), and a Field Programmable Gate Array (FPGA)). The processor realizes functions by reading and executing a program stored in a memory.

[0247] In the above-described embodiment, a single memory is described as storing a program corresponding to each processing function. However, a configuration may be adopted in which a plurality of memories are distributed and the processing circuit reads out the corresponding program from each memory. Also, instead of storing the program in the memory, the program may be directly built into the circuit of the processor. In this case, the processor realizes the function by reading and executing the program built into the circuit.

[0248] Each component of each device according to the above-mentioned embodiment is a functional concept, and does not necessarily have to be physically configured as shown in the figure. In other words, the specific form of distribution and integration of each device is not limited to that shown in the figure, and all or a part of them can be functionally or physically distributed and integrated in any unit according to various loads, usage conditions, etc. Furthermore, each processing function performed by each device can be realized in whole or in any part by a CPU and a program analyzed and executed by the CPU, or can be realized as hardware using wired logic.

[0249] The image processing method described in the above embodiment can be realized by executing a prepared image processing program on a computer such as a personal computer or a workstation. This medical image processing program can be distributed via a network such as the Internet. This control program can also be recorded on a non-transitory computer-readable recording medium such as a hard disk, a flexible disk (FD), a CD-ROM, an MO, or a DVD, and executed by being read from the recording medium by a computer.

[0250] According to at least one of the embodiments described above, it is possible to improve the convenience of remote diagnosis using an ultrasound diagnostic apparatus.

[0251] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents described in the claims, as well as in the scope and spirit of the invention. [Explanation of symbols]

[0252] 1. Ultrasound diagnostic system 10. Ultrasound diagnostic equipment 100 Device body 101 Probe unit 11 Ultrasound probe 102 Input Device 103 Output Device 104 Imaging Device 110 Ultrasonic transmission circuit 120 Ultrasonic receiving circuit 130 Internal memory circuit 140 Image Memory 150 Input Interface 160 Output Interface 170 Connection Interface 180 Communication Interface 190 Processing Circuit 191 B-mode processing function 192 Doppler processing function 193 Image generation function 194 Movement Control Function 195 First Acquisition Function 196 Second Acquisition Function 197 Judgment Function 198 Image Processing Functions 199 Display Control Function 200 System Control Functions

Claims

1. a mounting part to be mounted by a subject; an ultrasonic probe for receiving a reflected wave from the subject; a probe unit that is attached to the mounting part so that its position on the body surface of the subject can be changed, and that supports the ultrasonic probe in a state in which the ultrasonic probe is directed toward the body surface; a moving mechanism that is provided in the mounting portion and is capable of moving a position of the probe unit on the body surface; a movement control unit that changes a position of the ultrasonic probe on the body surface by controlling the movement mechanism based on an operation instruction from an external operation terminal; an output unit that outputs a reception result of the ultrasonic probe to the operation terminal; An ultrasound diagnostic device comprising:

2. An adjustment unit that adjusts the inclination of the ultrasonic probe is further provided, the movement control unit controls the adjustment unit in accordance with the operation instruction to perform control for adjusting an inclination of the ultrasonic probe with respect to a body surface of the subject; The ultrasonic diagnostic apparatus according to claim 1 .

3. the moving mechanism is capable of moving the probe unit around the body of the subject; the movement control unit controls the movement mechanism based on the operation instruction to move the probe unit around the body of the subject and change the position of the ultrasonic probe in the body width direction of the subject. The ultrasonic diagnostic apparatus according to claim 1 .

4. The mounting portion is a water bag that houses the probe unit; a wire disposed inside the water bag; the water bag is attached to the body surface of the subject by wrapping the wire, which extends in a body width direction of the subject, together with the water bag around the body surface of the subject; the wire supports the probe unit so that the ultrasonic probe faces the body surface; The moving mechanism moves the probe unit around the body of the subject by transmitting the wire. The ultrasonic diagnostic apparatus according to claim 3 .

5. the moving mechanism is capable of moving the probe unit in a body axis direction of the subject, the movement control unit controls the movement mechanism based on the operation instruction to move the probe unit in a body axis direction of the subject, thereby changing a position of the ultrasound probe in the body axis direction of the subject. The ultrasonic diagnostic apparatus according to claim 1 .

6. the attachment unit includes a pair of left and right shoulder belts to be attached to the subject's shoulders, The moving mechanism is provided on the shoulder belt, the moving mechanism includes a rail extending in a body axis direction of the subject, a gear that is engaged with the rail and moves in the body axis direction of the subject by rotation, and a drive source that rotates the gear; The water bag has a disk therein, the disk includes a rotation axis, the rotation axis is connected to the gear, and the disk moves together with the gear in the body axis direction of the subject by rotation of the gear driven by the drive source, thereby moving the water bag in the body axis direction of the subject; the movement control unit controls the driving of the drive source in accordance with the operation instruction, thereby controlling the movement of the ultrasound probe housed in the water bag in the body axis direction of the subject. The ultrasonic diagnostic apparatus according to claim 4.

7. The water bag is a holding bag provided on a side that comes into contact with a body surface of the subject and holds an ultrasonic propagation material therein; A mechanism for increasing the pressure in the holding bag, The holding bag has a plurality of small holes, and when the pressure inside the holding bag is increased by the mechanism, the ultrasonic propagation material inside seeps out, The movement control unit controls the mechanism in accordance with the operation instruction, and controls the water bag to move in the body axis direction of the subject, thereby applying the exuded ultrasonic propagation material to the body surface of the subject. The ultrasonic diagnostic apparatus according to claim 4.

8. A first generation unit that generates an ultrasound image based on the received reflected wave, The output unit outputs the generated ultrasound image. The ultrasonic diagnostic apparatus according to claim 1 .

9. a first acquisition unit that acquires a past image of a target subject that is a subject of ultrasound diagnosis taken at a time prior to a current time; and an image processing unit that, when it is determined during the ultrasonic diagnosis of the target subject that the generated ultrasonic image is an ultrasonic image of the same cross section as the cross section captured in the previous image based on one or more feature points in the ultrasonic image and one or more feature points in the previous image, adds to the ultrasonic image additional information similar to the additional information added to the previous image. The ultrasonic diagnostic apparatus according to claim 8.

10. a second acquisition unit that acquires a detection result of a first position sensor that detects positions and angles of first characteristic positions set at a plurality of points on the body of the subject with respect to a first origin that is set near the ultrasonic diagnostic device; a third acquisition unit that acquires a detection result of a second position sensor that detects positions and angles of second feature positions set at a plurality of positions on a simulated human body relative to a second origin that is set at a position different from the vicinity of the ultrasound diagnostic device; a posture control unit that drives a plurality of joints of the simulated human body so that a relative positional relationship of the first feature position with respect to the first origin and a relative positional relationship of the second feature position with respect to the second origin coincide with each other.

10. The ultrasonic diagnostic apparatus according to claim 8.

11. The second acquisition unit acquires a position and an angle of the ultrasonic probe with respect to the first origin detected by the first position sensor, the third acquisition unit acquires a position and an angle of a simulated probe disposed near the simulated human body detected by the second position sensor with respect to the second origin; the movement control unit moves the ultrasonic probe on the body surface of the subject in accordance with the operation instruction input by the movement of the simulated probe so that a relative positional relationship between the first feature position and the ultrasonic probe coincides with a relative positional relationship between the second feature position and the simulated probe, and adjusts an inclination of the ultrasonic probe so that an angle between the first feature position and the ultrasonic probe coincides with an angle between the second feature position and the simulated probe. The ultrasonic diagnostic apparatus according to claim 10.

12. a second generation unit that draws the simulated human body and the simulated probe movably in a virtual space, the third acquisition unit acquires information indicating positions and angles of third feature positions set at a plurality of points on the simulated human body depicted in the virtual space with respect to a third origin set in the virtual space, and a position and angle of the simulated probe depicted in the virtual space with respect to the third origin; the posture control unit causes the second generation unit to draw the imitation human body in the virtual space such that a relative positional relationship of the first feature position with respect to the first origin and a relative positional relationship of the third feature position with respect to the third origin coincide with each other; the movement control unit moves the ultrasonic probe on the body surface of the subject in accordance with the operation instruction input by moving the simulated probe in the virtual space so that a relative positional relationship between the first feature position and the ultrasonic probe coincides with a relative positional relationship between the third feature position and the simulated probe, and adjusts an inclination of the ultrasonic probe so that an angle between the first feature position and the ultrasonic probe coincides with an angle between the third feature position and the simulated probe. The ultrasonic diagnostic apparatus according to claim 11.

Images