Biopsy device and program

Abstract

To obtain a biopsy device and a program that can facilitate comparison of a target state of a biopsy needle to an actual state as compared to a conventional technology.SOLUTION: A controller 70 includes a display controller 72A that performs control of displaying an object image indicating an object of tissue sampling by a biopsy needle, a first image indicating a target position of the biopsy needle, and a second image indicating an actual position of the biopsy needle, as an identical display diagram of a common two-dimensional coordination system, in a state where the first and second images are different images.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present disclosure relates to a biopsy device and program. [Background technology]

[0002] Patent Document 1 discloses a mammography apparatus that aims to more reliably collect a specimen including a lesion.

[0003] This breast X-ray imaging device comprises a collection unit that collects three-dimensional image data of a subject's breast, a detection unit that detects diseased areas from the three-dimensional image data, and a derivation unit that analyzes the linearity of the three-dimensional distribution of the diseased areas and, based on the results of the linearity analysis, derives a puncture path for inserting a puncture needle into the breast.

[0004] In this mammography apparatus, a graphic showing the puncture path and puncture depth of the puncture needle is displayed on the operation screen.

[0005] In addition, the puncture needle referred to in this technology is also called a biopsy needle, a biological needle, etc., but in this specification it will be consistently referred to as a "biopsy needle." [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2018-198816 A Summary of the Invention [Problem to be solved by the invention]

[0007] However, the technology disclosed in Patent Document 1 displays a graphic showing the puncture path and puncture depth of the biopsy needle, but it is not possible to grasp the actual positional relationship of the biopsy needle to the graphic. As a result, this technology has a problem in that it is not easy to compare the target state of the biopsy needle with the actual state.

[0008] The present disclosure has been made in consideration of the above circumstances, and aims to provide a biopsy device and program that make it easier to compare the target state of a biopsy needle with the actual state, compared to conventional techniques. [Means for solving the problem]

[0009] In order to achieve the above-mentioned object, a biopsy device of a first aspect of the present disclosure includes at least one processor, which controls the display of a target image showing an object from which tissue is to be collected by a biopsy needle, a first image showing a target position of the biopsy needle, and a second image showing an actual position of the biopsy needle as the same display view in a common two-dimensional coordinate system, with the first image and the second image being displayed in different states.

[0010] A biopsy device of a second aspect of the present disclosure is a biopsy device of the first aspect, in which a processor controls the display of at least one of the first image and the second image in a state different from the previous display state when the first image and the second image overlap due to a biopsy needle movement operation.

[0011] A biopsy device of a third aspect of the present disclosure is a biopsy device of the second aspect, in which the processor further controls the display of an operation reception area that accepts input of operational instructions for the biopsy needle, separate from the display image, and when the first image and the second image overlap due to a biopsy needle movement operation, the display state of the operation reception area is changed to a state different from the previous display state.

[0012] A biopsy device of a fourth aspect of the present disclosure is a biopsy device of the second or third aspect, in which a processor controls the biopsy needle so that it does not move toward the insertion side of the object when the first image and the second image overlap due to a biopsy needle movement operation.

[0013] A biopsy device of a fifth aspect of the present disclosure is a biopsy device of the first aspect, further comprising a processor that controls the display of auxiliary lines arranged at equal intervals in an area including the first image and the target image in the display view.

[0014] A biopsy device according to a sixth aspect of the present disclosure is the biopsy device according to the fifth aspect, wherein the processor performs control to display the auxiliary line at an incline in accordance with the direction in which the biopsy needle advances towards the target object.

[0015] A biopsy device of a seventh aspect of the present disclosure is a biopsy device of the first aspect, further comprising a processor that controls the display of a third image indicating the orientation of the subject's body including the object, separate from the display image.

[0016] A biopsy device of an eighth aspect of the present disclosure is a biopsy device of the first aspect, in which, when the processor receives an instruction to adjust a position relative to a first image, the processor further performs control to display a first mark indicating the position in an initial state and a second mark indicating the position after the adjustment in different states.

[0017] A biopsy device of a ninth aspect of the present disclosure is a biopsy device of the first aspect, further comprising a processor that controls the display diagram to display a boundary line of an area where problems may occur if the biopsy needle is moved.

[0018] A biopsy device of a tenth aspect of the present disclosure is a biopsy device of the ninth aspect, in which the processor inhibits control to display a border line if the area where a potential problem may occur is not the area where the biopsy needle will enter.

[0019] A biopsy device of an eleventh aspect of the present disclosure is a biopsy device of the first aspect, wherein when the biopsy needle punctures a breast as a target in a state where the breast is compressed by a compression plate against the imaging table of a mammography device, the processor further controls the display of an accompanying image showing at least one of the imaging table and the compression plate.

[0020] A biopsy device of a twelfth aspect of the present disclosure is a biopsy device of the first aspect, wherein the first image is an image indicating a target position and orientation of a biopsy needle, and the second image is an image indicating an actual position and orientation of the biopsy needle.

[0021] A biopsy device according to a thirteenth aspect of the present disclosure is the biopsy device according to the first aspect, wherein at least one of the first image and the second image is an image in which a biopsy needle is symbolized.

[0022] In addition, in order to achieve the above object, the program of the fourteenth aspect of the present disclosure causes a computer to execute processing to control the display of a target image showing an object from which tissue is to be collected by a biopsy needle, a first image showing a target position of the biopsy needle, and a second image showing the actual position of the biopsy needle as the same display view in a common two-dimensional coordinate system, with the first image and the second image being displayed in different states. Effect of the Invention

[0023] According to the present disclosure, it is possible to make it easier to compare the target state and the actual state of a biopsy needle compared to conventional techniques. [Brief description of the drawings]

[0024] [Figure 1] 1 is a schematic diagram showing an example of a mammography apparatus according to an embodiment. [Diagram 2] 2 is a schematic plan view of a compression plate in a mammography apparatus according to an embodiment, viewed from above. FIG. [Diagram 3] 13A and 13B are diagrams showing an example of a state in which a radiation irradiator in a mammography apparatus according to an embodiment is tilted to the left or right from a direction aligned with the arm. [Figure 4] 2 is a diagram showing an example of the relationship between the position of a radiation irradiator and two scout images in a mammography apparatus according to an embodiment. FIG. [Diagram 5] 2 is a block diagram showing an example of the electrical configuration of the mammography apparatus and biopsy unit according to the embodiment. FIG. [Figure 6] FIG. 2 is a front view showing an example of a configuration of a biopsy needle according to an embodiment. [Figure 7] 4 is a functional block diagram showing the functional configuration of a control unit provided in the biopsy unit according to the embodiment. FIG. [Figure 8] FIG. 2 is a schematic diagram showing an example of a configuration of a biopsy needle information database according to the embodiment. [Figure 9] 13 is a flowchart illustrating an example of a biopsy needle moving process according to the embodiment. [Figure 10] FIG. 13 is a front view showing an example of a biopsy needle movement support screen according to the embodiment. [Figure 11] FIG. 13 is a front view showing another example of the biopsy needle movement support screen according to the embodiment. [Figure 12] FIG. 13 is a front view showing another example of the biopsy needle movement support screen according to the embodiment. [Figure 13] FIG. 13 is a front view showing another example of the biopsy needle movement support screen according to the embodiment. [Figure 14] FIG. 13 is a front view showing another example of the biopsy needle movement support screen according to the embodiment. [Figure 15] FIG. 13 is a front view showing another example of the biopsy needle movement support screen according to the embodiment. [Figure 16] FIG. 13 is a front view showing another example of the biopsy needle movement support screen according to the embodiment. [Figure 17] FIG. 13 is a front view showing another example of the biopsy needle movement support screen according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] Hereinafter, examples of embodiments for carrying out the technology of the present disclosure will be described in detail with reference to the drawings. First, a mammography device 2 of this embodiment will be described in detail with reference to Figures 1 to 4. Figure 1 is a schematic diagram showing an example of a mammography device 2 according to this embodiment.

[0026] As an example, as shown in Figure 1, in a mammography device 2 according to this embodiment, a radiation storage section 16 that stores a radiation irradiator 17 therein and an imaging table 14 are connected to an arm 13 so that they face each other. An image recording medium such as a radiation detector 15 is set inside the imaging table 14 while being stored in a recording medium holder such as a cassette. The arm 13 is attached to a base 11 by a C-axis 12. The arm 13 is provided on the base 11 with the C-axis 12, which serves as the center of rotation, attached to the central position of the radiation detector 15 so that the center of rotation of the arm 13 is the center of the radiation detector 15 in the X direction (see Figure 2).

[0027] The base 11 is provided with an operation unit 28 which receives radiation irradiation instructions from the radiation irradiator 17 and enables the operator to adjust the height of the imaging table 14 (i.e., the height of the arm 13) and the inclination of the imaging table 14 (i.e., the inclination of the arm 13), and an arm control unit 31 which moves the arm 13 up and down and rotates it in accordance with input from the operation unit 28.

[0028] The arm control unit 31 adjusts the inclination of the arm 13 by rotating the C-axis 12 attached to the base 11, and adjusts the height of the imaging table 14 by moving the arm 13 up and down.

[0029] At the center of the arm 13, there are provided a compression plate 18 that is disposed above the imaging table 14 and presses down on the breast, a support section 20 that supports the compression plate 18, and a movement mechanism 19 that moves the support section 20 up and down along the arm 13. The position and compression pressure of the compression plate 18 are controlled by a compression plate controller 34.

[0030] Fig. 2 is a top view of the compression plate 18. As shown in Fig. 2, the compression plate 18 has an opening 25 of about 10 x 10 cm square so that a biopsy can be performed with the breast fixed by the imaging table 14 and the compression plate 18.

[0031] 1 as an example, a biopsy unit 26 as a biopsy device of the present disclosure has a biopsy needle 21 that is inserted into a breast and a biopsy needle unit 22, and further includes a moving mechanism 24 that moves the biopsy needle unit 22 in the X, Y, and Z directions. The position of the tip of the biopsy needle 21 of the biopsy needle unit 22 is controlled by a needle position controller 35 included in the moving mechanism 24. Note that the horizontal direction in FIG. 2 is the X direction, the vertical direction is the Y direction, and the direction perpendicular to the XY plane is the Z direction.

[0032] Before puncturing, the mammography device 2 obtains scout images taken from two directions so as to include the target area of ​​the breast to be biopsied. The scout images are images taken from different viewpoints to confirm the position for pathological examination. For example, as shown in Fig. 3, two partial images taken from directions tilted to the left and right from the direction along the arm 13 (tilted by, for example, 15° in the +θ and -θ directions shown in Fig. 3) are used as the scout images.

[0033] 4 is a diagram showing an example of the relationship between the position of the radiation irradiator 17 and two scout images. In the scout image Img1 obtained by photographing with the radiation irradiator 17 placed at position P1, the position of the target T appears to the left, and in the scout image Img2 obtained by photographing with the radiation irradiator 17 placed at position P2, the position of the target T appears to the right. From the deviation of the target T in the two scout images Img1 and Img2, the distance z from the bottom surface (the side pressing the breast) of the compression paddle 18 to the target T and its position on the XY plane can be obtained to obtain the three-dimensional position of the target T.

[0034] The needle position controller 35 of the biopsy unit 26, under the control of a control unit 70 (see also Figure 5) provided in the biopsy unit 26 and described in detail below, moves the position of the tip of the biopsy needle 21 to the position of the target T, and causes the biopsy needle 21 to puncture the breast.

[0035] Next, the electrical configuration of the mammography device 2 and biopsy unit 26 according to this embodiment will be described with reference to Fig. 5. Fig. 5 is a block diagram showing an example of the electrical configuration of the mammography device 2 and biopsy unit 26 according to this embodiment.

[0036] The mammography apparatus 2 according to this embodiment is configured to include an operation panel 29 and a control unit 50 in addition to the radiation detector 15, radiation irradiator 17, and the like described above.

[0037] The control unit 50 has a function of controlling the overall operation of the mammography apparatus 2, and is configured with a CPU (Central Processing Unit) as a processor, memories including a ROM (Read Only Memory) and a RAM (Random Access Memory), and a non-volatile storage unit consisting of an HDD (Hard Disk Drive), flash memory, etc. The control unit 50 is also connected to the radiation irradiator 17, radiation detector 15, biopsy unit 26, and operation panel 29.

[0038] When the control unit 50 receives an irradiation instruction from the operator via the operation panel 29 (exposure switch), it causes the radiation source 30 provided in the radiation irradiator 17 to irradiate radiation onto the upper surface of the imaging table 14 in accordance with the imaging menu set based on the specified exposure conditions.

[0039] The radiation detector 15 is irradiated with radiation carrying image information, records the image information, and outputs the recorded image information, and is configured, for example, as an FPD (Flat Panel Detector) having a radiation sensitive layer arranged thereon and converting the radiation into digital data for output. When irradiated with radiation, the radiation detector 15 outputs image information indicative of a radiation image to the control unit 50. In this embodiment, the radiation detector 15 is irradiated with radiation that has passed through the breast M, and obtains image information indicative of a radiation image.

[0040] The operation panel 29 has a function for setting various types of operation information such as exposure conditions and posture information, and various operation instructions.

[0041] The exposure conditions set on the operation panel 29 include information such as tube voltage, tube current, irradiation time, and posture information. The posture information specified on the operation panel 29 includes information indicating the imaging positions (imaging postures, angles) when imaging the breast M from multiple directions.

[0042] The exposure conditions, various operation information such as posture information, and various operation instructions may be set by an operator using the operation panel 29, or may be obtained from another control device (RIS: Radiology Information System, a system that manages information on medical treatment, diagnosis, etc. using radiation), or may be stored in a memory unit in advance.

[0043] When various information is set from the operation panel 29, the control unit 50 performs radiography by irradiating the imaging site (breast M) of the subject with radiation from the radiation irradiator 17 in accordance with an imaging menu set based on the various set information. When performing tomosynthesis imaging in which imaging is performed from multiple directions, the control unit 50 adjusts the attitude of the arm 13 so that the radiation irradiator 17 is positioned above the upper surface of the imaging table 14. Then, in a state substantially similar to that shown in FIG. 3, the control unit 50 rotates the arm 13 to move the radiation irradiator 17 in an arc shape from a predetermined initial angle by angles of predetermined intervals, and causes the radiation source 30 provided in the radiation irradiator 17 to individually irradiate radiation at different angles to the upper surface of the imaging table 14 based on the imaging conditions. In this way, multiple radiation images are obtained.

[0044] On the other hand, the biopsy unit 26 according to this embodiment is configured to include a control unit 70 in addition to the above-mentioned needle position controller 35 and the like.

[0045] The control unit 70 has a function of controlling the operation of the entire biopsy unit 26, and is configured with a CPU 72 as a processor, a memory 74 including ROM and RAM, and a non-volatile storage unit 76 consisting of an HDD, a flash memory, etc. The control unit 70 is also connected to the needle position controller 35 and the operation panel 29.

[0046] The control unit 70 executes a biopsy needle moving process, the details of which will be described later, to control the movement of the biopsy needle 21 provided in the biopsy needle unit 22. In response to an instruction from the control unit 70, the needle position controller 35 provided in the biopsy unit 26 drives the moving mechanism 24 to move the biopsy needle 21 to a predetermined position and hold the biopsy needle 21 in a state inclined at the insertion angle.

[0047] The operation panel 29 according to this embodiment is provided with a display unit configured with a liquid crystal display or the like for displaying various information, and also has a function of displaying a biopsy needle movement support screen (see also FIG. 10), the details of which will be described later, when the biopsy unit 26 punctures the breast M. The display unit of the operation panel 29 according to this embodiment is a so-called touch panel display provided with a touch panel, and various buttons displayed as soft switches on the biopsy needle movement support screen displayed on the display unit can be directly designated.

[0048] A biopsy needle movement processing program 76A is stored in a storage unit 76 serving as a storage medium provided in the control unit 70 according to this embodiment. The CPU 72 reads out the biopsy needle movement processing program 76A from the storage unit 76, loads it in the memory 74, and executes the loaded biopsy needle movement processing program 76A. A biopsy needle information database 76B is also stored in the storage unit 76. The biopsy needle information database 76B will be described in detail later.

[0049] Furthermore, as shown in FIG. 5, in the mammography apparatus 2 and biopsy unit 26 of this embodiment, a dedicated console 60 is connected to the mammography apparatus 2, and the mammography apparatus 2 and biopsy unit 26 can also obtain various information from the console 60.

[0050] The information that the biopsy unit 26 in this embodiment acquires from the console 60 includes biopsy needle identification information (in this embodiment, the biopsy needle ID (Identification) described later), which is information for identifying the biopsy needle 21 to be used in the biopsy unit 26.

[0051] The control unit 70 acquires biopsy needle identifying information from the console 60, and controls the movement of the biopsy needle 21 in cooperation with the needle position controller 35, with the biopsy needle 21 identified by the acquired biopsy needle identifying information as the target.

[0052] Next, the biopsy needle 21 according to this embodiment will be described with reference to Fig. 6. Fig. 6 is a front view showing an example of the configuration of the biopsy needle 21 according to this embodiment.

[0053] As an example, as shown in FIG. 6, a biopsy needle 21 according to this embodiment has a sharp and hollow tip, and an opening 21A communicating with the internal space is provided near the tip.

[0054] The opening 21A is for introducing the tissue to be punctured into the inside of the biopsy needle 21, and the opening 21A according to the present embodiment has a rectangular shape when viewed from the front, but is not limited thereto. For example, an opening having a circular or elliptical shape when viewed from the front may be used as the opening 21A.

[0055] The biopsy unit 26 according to the present embodiment is capable of, but is not limited to, vertical puncture in which the puncture direction of the biopsy needle 21 is perpendicular to the imaging surface of the imaging table 14, as well as horizontal puncture in which the puncture direction of the biopsy needle 21 is parallel to the imaging surface of the imaging table 14. For example, the biopsy unit 26 may be configured to be capable of only vertical puncture.

[0056] Furthermore, the biopsy unit 26 according to the present embodiment selectively applies, as the applicable biopsy needle 21, one suitable for the purpose of puncturing from a plurality of types of biopsy needles each differing in manufacturer, size, position of the opening 21A, etc., but is not limited to this. For example, a configuration may be adopted in which only one type of biopsy needle dedicated to the biopsy unit 26 is applied as the biopsy needle 21.

[0057] Next, the functional configuration of the control unit 70 according to this embodiment will be described with reference to Fig. 7. Fig. 7 is a functional block diagram showing the functional configuration of the control unit 70 provided in the biopsy unit 26 according to this embodiment.

[0058] 7, the control unit 70 according to this embodiment includes a display control unit 72A and a movement control unit 72B. The CPU 72 executes a biopsy needle movement processing program 76A to function as the display control unit 72A and the movement control unit 72B.

[0059] The display control unit 72A according to this embodiment controls the display of a target image showing an object (breast M in this embodiment) from which tissue is to be collected by the biopsy needle 21, a first image showing a target position of the biopsy needle 21, and a second image showing an actual position of the biopsy needle 21, as identical display diagrams in a common two-dimensional coordinate system, with the first image and the second image being displayed in different states. In this embodiment, the display diagrams are displayed by a display unit provided on the operation panel 29, but the present invention is not limited to this, and the display diagrams may be displayed by a display unit of another device, such as a display unit provided on the console 60, for example.

[0060] In this embodiment, images of the biopsy needle 21 symbolized are used as the first image and the second image, but the present invention is not limited to this. For example, an image of the biopsy needle 21 itself may be used as the first image and the second image, or only one of the first image and the second image may be an image of the biopsy needle 21 symbolized, and the other may be an image of the biopsy needle 21 itself.

[0061] In this embodiment, as described above, since the biopsy needle 21 is held in a state inclined to the insertion angle, only the position of the biopsy needle 21 is controlled for movement, but this is not limited to the above. If the insertion angle of the biopsy needle 21 is also variable, a configuration may be adopted in which both the position and the orientation (posture) of the biopsy needle 21 are controlled for movement. In this case, the display control unit 72A controls the display of a target image showing the target object, a first image showing the target position and orientation of the biopsy needle 21, and a second image showing the actual position and orientation of the biopsy needle 21 in different states as the display views.

[0062] Furthermore, when the first image and the second image overlap due to the movement operation of the biopsy needle 21, the display control unit 72A according to this embodiment controls to display at least one of the first image and the second image (only the second image in this embodiment) in a state different from the previous display state. Furthermore, the display control unit 72A according to this embodiment further controls to display an operation reception area that receives input of an operation instruction for the biopsy needle 21, in addition to the above-mentioned display view. Then, when the first image and the second image overlap due to the movement operation of the biopsy needle 21, the display control unit 72A according to this embodiment changes the display state of the operation reception area to a state different from the previous display state.

[0063] On the other hand, the movement control unit 72B according to this embodiment controls the biopsy needle 21 not to move to the insertion side of the object when the first image and the second image overlap due to the movement operation of the biopsy needle 21. This control makes it possible to prevent the biopsy needle 21 from being inserted to an unnecessary depth.

[0064] Moreover, the display controller 72A according to this embodiment further controls the display of auxiliary lines arranged at equal intervals in the region including the first image and the target image in the display diagram. In particular, the display controller 72A according to this embodiment controls the display of the auxiliary lines at an incline in accordance with the traveling direction of the biopsy needle 21 toward the target object. By displaying these auxiliary lines, the amount of deviation between the actual state of the biopsy needle 21 and the target state can be grasped more accurately.

[0065] The display controller 72A according to the present embodiment further controls to display a third image showing the orientation of the subject's body including the object, in addition to the display image. When an instruction to adjust the position of the first image is received, the display controller 72A according to the present embodiment further controls to display a first mark showing the position in the initial state and a second mark showing the position after the adjustment in different states.

[0066] Moreover, the display control unit 72A according to this embodiment further controls the display of a boundary line between the display image and an area where a problem may occur if the biopsy needle 21 is moved. In particular, the display control unit 72A according to this embodiment prohibits control to display the boundary line when the area where the problem may occur is not an area into which the biopsy needle 21 enters.

[0067] Furthermore, the display control unit 72A in this embodiment further controls the display of an accompanying image showing at least one of the imaging table 14 and the compression plate 18 (in this embodiment, both) when the biopsy needle 21 punctures the breast M as the target while the breast M is being compressed by the compression plate 18 against the imaging table 14 of the mammography device 2.

[0068] Next, the biopsy needle information database 76B according to this embodiment will be described with reference to Fig. 8. Fig. 8 is a schematic diagram showing an example of the configuration of the biopsy needle information database 76B according to this embodiment.

[0069] The biopsy needle information database 76B according to this embodiment is a database in which information about the biopsy needle 21 compatible with the biopsy unit 26 according to this embodiment is registered. As shown in Fig. 8, the biopsy needle information database 76B according to this embodiment stores various pieces of information such as the purpose, biopsy needle ID, thickness, length, opening, and image information in association with each other.

[0070] The above-mentioned use is information indicating whether the needle is for vertical puncture or for horizontal puncture, and the above-mentioned biopsy needle ID is information indicating the above-mentioned biopsy needle ID itself.

[0071] Furthermore, the above thickness and length are information indicating the thickness and length of the corresponding biopsy needle 21, and the above opening is information indicating the state of the opening 21A, such as the position, size, etc. of the opening 21A provided in the corresponding biopsy needle 21.

[0072] Furthermore, the image information is information showing the above-mentioned first and second images of the corresponding biopsy needle 21, and in this embodiment, a common image imitating the shape of the corresponding biopsy needle 21 is applied as the first and second images, but this is not limited to this. For example, one of the first and second images may be an image imitating the shape of the corresponding biopsy needle 21, and the other may be an image that simplifies the shape (for example, a simple linear image), etc.

[0073] Next, the operation of the biopsy unit 26 according to this embodiment will be described with reference to Fig. 9 to Fig. 14. Fig. 9 is a flow chart showing an example of a biopsy needle movement process according to this embodiment. Fig. 10 is a front view showing an example of a biopsy needle movement support screen according to this embodiment, and Figs. 11 to 14 are each a front view showing another example of the biopsy needle movement support screen according to this embodiment.

[0074] The biopsy needle moving process shown in FIG. 9 is executed by the CPU 72 in the control unit 70 of the biopsy unit 26 executing the biopsy needle moving process program 76A. The biopsy needle moving process shown in FIG. 9 is executed, for example, when the biopsy unit 26 provided with the biopsy needle 21 is attached to the mammography device 2, the preparation for imaging the target breast M by the mammography device 2 is completed, and various information for puncturing using the biopsy unit 26 (hereinafter referred to as "puncture-related information") is input via the console 60. Here, the puncture-related information includes the above-mentioned biopsy needle identification information (in this embodiment, the biopsy needle ID) for identifying the attached biopsy needle 21, and information indicating the three-dimensional position (hereinafter referred to as the "target position") of the target T (tissue targeted for puncturing) obtained from the above-mentioned scout image (hereinafter referred to as the "target position information"). In order to avoid confusion, a case where the biopsy needle information database 76B has already been constructed will be described here.

[0075] 9, the CPU 72 acquires puncture-related information input via the console 60. In step 102, the CPU 72 reads information corresponding to the biopsy needle ID included in the acquired puncture-related information (hereinafter referred to as "biopsy needle information") from the biopsy needle information database 76B. Then, the CPU 72 uses the read biopsy needle information to control the display unit of the operation panel 29 to display a biopsy needle movement support screen with a predetermined configuration.

[0076] As shown in FIG. 10, the biopsy needle movement support screen according to the present embodiment includes a target confirmation button display area 80, which is an area for displaying a button designated when the target position of the biopsy needle 21 is confirmed and the movement of the biopsy needle 21 is started. The biopsy needle movement support screen according to the present embodiment also includes a deviation amount display area 81, which is an area for displaying the deviation amount between the actual position of the biopsy needle 21 and the target position. The biopsy needle movement support screen according to the present embodiment also includes a difference display area 82, which is an area for displaying the difference between the default target position of the biopsy needle 21 indicated by the target position information included in the puncture-related information and the target position of the biopsy needle 21 after adjustment. Furthermore, the biopsy needle movement support screen according to the present embodiment includes a distance display area 83, which is an area for displaying the distance between the actual position of the biopsy needle 21 and various reference positions. The target confirmation button display area 80 corresponds to the "operation reception area" in the technology of the present disclosure.

[0077] The target confirmation button display area 80 according to this embodiment displays a home position designation button 80A, which is designated when the target position of the biopsy needle 21 is determined to be a predetermined home position and the movement of the biopsy needle 21 is started toward the target position. The target confirmation button display area 80 according to this embodiment also displays an XYZ direction movement designation button 80B, which is designated when the target position of the biopsy needle 21 set at that time is actually determined to be a target position, and the movement of the biopsy needle 21 in three-dimensional directions of the X direction, Y direction, and Z direction is started toward the target position. The target confirmation button display area 80 according to this embodiment also displays an XY direction movement designation button 80C, which is designated when the target position of the biopsy needle 21 set at that time is actually determined to be a target position, and the movement of the biopsy needle 21 in two-dimensional directions of the X direction and the Y direction is started toward the target position without moving in the Z direction.

[0078] In the biopsy unit 26 according to the present embodiment, to actually start moving the biopsy needle 21, one of the buttons displayed in the target confirmation button display area 80 is designated, and then a puncture execution button (not shown) provided as a hardware switch on the operation panel 29 is pressed, but this is not limited to this. For example, the movement of the biopsy needle 21 may be immediately started by designating one of the buttons displayed in the target confirmation button display area 80.

[0079] Moreover, the deviation amount display area 81 according to this embodiment has areas for individually displaying the deviation amount between the actual position of the biopsy needle 21 and the target position for each of the X direction, Y direction, and Z direction. The areas directly below the display areas for "ΔXmm," "ΔYmm," and "ΔZmm" in Fig. 10 correspond to these individual display areas. Similarly, the difference display area 82 according to this embodiment has areas for individually displaying the difference between the default target position of the biopsy needle 21 (the position indicated by the target position information input via the console 60) and the target position of the biopsy needle 21 after adjustment for each of the X direction, Y direction, and Z direction.

[0080] In addition, the distance display area 83 in this embodiment is provided with a display area for the distance between the subject's chest wall and the actual tip of the biopsy needle 21 (in the example shown in FIG. 10, this area is displayed as "25.5 mm"), and a display area for the distance between the imaging surface of the imaging table 14 and the actual tip of the biopsy needle 21 (in the example shown in FIG. 10, this area is displayed as "87 mm").

[0081] In addition, the distance display area 83 in this embodiment is provided with a display area for the distance between the tissue to be punctured and the near end of the opening 21A of the actual biopsy needle 21 (in the example shown in FIG. 10, this area is displayed as "-51.0 mm"), and a display area for the distance between the compression paddle 18 and the upper end of the opening 21A of the actual biopsy needle 21 (in the example shown in FIG. 10, this area is displayed as "-27.5 mm").

[0082] By referring to the distance between the tissue to be punctured and the near end of the opening 21A of the actual biopsy needle 21, it is possible to confirm whether the target tissue can be collected through the opening 21A of the biopsy needle 21. Also, by referring to the distance between the compression paddle 18 and the upper end of the opening 21A of the actual biopsy needle 21, it is possible to confirm whether the entire opening 21A of the biopsy needle 21 is located inside the breast M. The reason for checking whether the entire opening 21A of the biopsy needle 21 is located inside the breast M is to prevent damage to the breast M if tissue is aspirated with even a part of the opening 21A of the biopsy needle 21 located outside the breast M.

[0083] In addition, the biopsy needle movement support screen according to this embodiment displays a menu display button 84 that is designated when displaying various menus, a shortcut button 85 that is designated when performing a shortcut to move the position of the biopsy needle 21 a predetermined distance in one go, and a shortcut confirmation button 86 that is designated to confirm the execution of the shortcut.

[0084] The biopsy needle movement support screen according to this embodiment also includes an adjustment button display area 87 which displays buttons designated for adjusting the target position of the biopsy needle 21, an orientation display area 88 which displays an icon indicating the orientation of the subject's body, and a schematic diagram display area 90 which displays a schematic diagram. In the example shown in Fig. 10, the orientation display area 88 illustrates a case in which the subject's body is oriented in the X direction. The image displayed in this orientation display area 88 corresponds to the "third image" in the technology of the present disclosure.

[0085] In the schematic diagram display area 90 according to the present embodiment, a target image 91 showing an object (breast M in this embodiment) from which tissue is to be sampled by the biopsy needle 21 is displayed, with the object oriented according to the orientation of the subject's body displayed in the orientation display area 88. In addition, in the schematic diagram display area 90 according to the present embodiment, an accompanying image 92 showing the compression plate 18 and an accompanying image 93 showing the imaging table 14 are displayed. Furthermore, in the schematic diagram display area 90 according to the present embodiment, a first image 95 showing the target position of the biopsy needle 21 is displayed.

[0086] In this embodiment, an image simulating the biopsy needle 21 to be actually used, which is indicated by the image information included in the read biopsy needle information, is applied as the first image 95. In the schematic diagram display area 90 according to this embodiment, the first image 95 is displayed so that the center position of the opening image 95A indicating the opening 21A is the target position indicated by the target position information included in the acquired puncture-related information. Furthermore, in this embodiment, the first mark 95B is displayed at the center position of the opening image 95A, that is, at the position of the tissue to be punctured. In this embodiment, a mark indicating + (addition) is applied as the first mark 95B, but this is not limited thereto. For example, a mark indicating × (multiplication), or any other shape of mark that can be distinguished from other display contents, can be applied as the first mark 95B.

[0087] Moreover, in the schematic diagram display area 90 according to this embodiment, auxiliary lines 94 are displayed at equal intervals in an area including the first image 95 and the target image 91. Here, in the schematic diagram display area 90 according to this embodiment, the auxiliary lines 94 are displayed at an incline in accordance with the moving direction of the biopsy needle 21 toward the target. Furthermore, in the schematic diagram display area 90 according to this embodiment, a boundary line 98 with an area where a problem may occur if the biopsy needle 21 is moved is displayed. On the other hand, the CPU 72 performs control to prohibit control to display the boundary line 98 when the area where the problem may occur is not an area into which the biopsy needle 21 enters.

[0088] On the other hand, the adjustment button display area 87 according to this embodiment displays a group of buttons (hereinafter referred to as a "target position adjustment button group") for adjusting the position of the first image 95 displayed in the schematic diagram display area 90, i.e., the target position of puncture. As shown in Fig. 10, the target position adjustment button group according to this embodiment has two types of button groups: a button group for moving the first image 95 in the left-right direction in Fig. 10, and a button group for moving the first image 95 in the up-down direction in Fig. 10. By operating these button groups, the position of the first image 95, and therefore the target position of puncture, can be adjusted.

[0089] Therefore, in step 104, the CPU 72 determines whether or not an operator of the mammography apparatus 2 (hereinafter referred to as the "operator") has operated any of the target position adjustment buttons displayed in the adjustment button display area 87. If this determination is negative, the process proceeds to step 108, whereas if the determination is positive, the process proceeds to step 106, assuming that an instruction to adjust the target position has been given.

[0090] In step 106, the CPU 72 moves the first image 95 in a direction according to the operation by the operator by a distance according to the operated button. In step 108, the CPU 72 determines whether or not the above-mentioned puncture execution button is pressed after the operator designates any button displayed in the target confirmation button display area 80. If the determination is negative, the process returns to step 104, whereas if the determination is positive, the process proceeds to step 110 assuming that adjustment of the target position has been completed.

[0091] In the biopsy needle movement process according to this embodiment, when steps 104 to 108 are repeated, the CPU 72 keeps the display position of the first mark 95B fixed at the initial (default) position, and displays the second mark 95BX corresponding to the first mark 95B in the first image 95 moved by the operator's operation in a state different from that of the first mark 95B, as shown in FIG. 11 as an example. In the example shown in FIG. 11, the second mark 95BX is displayed in reverse (black and white inversion) of the first mark 95B, but the present invention is not limited to this. For example, either one of the first mark 95B and the second mark 95BX may be displayed in a blinking manner, or at least one of the shape, color, size, and shade of the first mark 95B and the second mark 95BX may be different from each other.

[0092] In step 110, the CPU 72 regards the position indicated by the second mark 95BX in the first image 95 at this point in time as the target position after the adjustment is completed, and updates the target position information to information indicating this target position.

[0093] In step 112, the CPU 72 starts moving the biopsy needle 21 to the target position indicated by the target position information. In step 114, the CPU 72 updates the biopsy needle movement support screen so as to update various information that changes in accordance with the movement of the biopsy needle 21. In step 116, the CPU 72 determines whether the position of the biopsy needle 21 matches the target position indicated by the target position information, and if the determination is negative, the process returns to step 114, whereas if the determination is positive, the process proceeds to step 118.

[0094] While the processes of steps 114 to 116 are repeatedly performed, the actual biopsy needle 21 gradually approaches the target position indicated by the first image 95. Therefore, the values ​​displayed in the deviation amount display area 81 and the distance display area 83 on the biopsy needle movement support screen are successively changed. Then, when the biopsy needle 21 enters the area corresponding to the schematic diagram display area 90, the CPU 72 displays a second image 97 indicating the actual biopsy needle 21 in a state different from the first image 95 in the schematic diagram display area 90, as shown in FIG. 12 as an example.

[0095] Then, when the position of the biopsy needle 21 coincides with the target position, the CPU 72 changes the display state of the second image 97 to a different state from the previous state, as shown in Fig. 13 as an example. Note that, in the example shown in Fig. 13, the second image 97 is changed to a solid black image, but the present invention is not limited to this. For example, the fill color, shade, pattern, etc. of the second image 97 may be changed to a different state from the previous state, or the color, thickness, display form, etc. of the outline of the second image 97 may be changed to a different state from the previous state.

[0096] Furthermore, when the position of the biopsy needle 21 coincides with the target position, the CPU 72 changes the display state of the above-mentioned operation reception area (in this embodiment, the target confirmation button display area 80) to a state different from the previous display state, as shown in Fig. 13 as an example. Note that the example shown in Fig. 13 illustrates a case in which the button that has been shaded by the operator in the target confirmation button display area 80 is changed so as to cancel the shaded state, but it goes without saying that the present invention is not limited to this.

[0097] Furthermore, when the position of the biopsy needle 21 coincides with the target position, the CPU 72 controls the biopsy needle 21 so as not to move to the insertion side of the target object. As described above, this control makes it possible to prevent the biopsy needle 21 from being inserted to an unnecessary depth.

[0098] In step 118, the CPU 72 stops the movement of the biopsy needle 21 and controls the biopsy needle 21 to aspirate the tissue, thereby sampling the tissue, and in step 120, the CPU 72 begins to retract the biopsy needle 21 from the target position.

[0099] In step 122, the CPU 72 updates the biopsy needle movement support screen so as to update various information that changes in accordance with the movement of the biopsy needle 21. In step 124, the CPU 72 determines whether the position of the biopsy needle 21 has reached a predetermined standby position, and if the determination is negative, the process returns to step 122, whereas if the determination is positive, the biopsy needle movement process is terminated.

[0100] When the processes of steps 122 to 124 are repeatedly executed, the actual biopsy needle 21 gradually moves away from the target position indicated by the first image 95. For this reason, the values ​​displayed in the deviation amount display area 81 and the distance display area 83 on the biopsy needle movement assistance screen are successively changed in the opposite direction to the case where the biopsy needle 21 approaches the target position.

[0101] As described above, when the operator wishes to move the biopsy needle 21 in one go, the operator designates the shortcut button 85. In response to this designation, the biopsy needle movement support screen displays a plurality of buttons, each of which individually displays a combination of a plurality of types of movement distances and movement directions (in the example shown in FIG. 14, two directions, an advancement direction and a retreat direction) for the biopsy needle 21. Thus, by designating a button displaying a desired combination, the operator can cause the biopsy needle 21 to perform the movement corresponding to that combination.

[0102] In the biopsy unit 26 according to this embodiment, the biopsy needle 21 is not moved immediately when any of a plurality of buttons displayed by specifying the shortcut button 85 is specified, but the actual movement is performed by specifying the shortcut button and then specifying the shortcut confirmation button 86. However, this is not limited to this, and the biopsy needle 21 may be moved immediately when any of the plurality of buttons is specified, without waiting for the shortcut confirmation button 86 to be specified.

[0103] As described above, according to the biopsy device of this embodiment (in this embodiment, biopsy unit 26), a target image showing an object from which tissue is to be collected by biopsy needle 21, a first image showing a target position of biopsy needle 21, and a second image showing an actual position of biopsy needle 21 are displayed as identical views in a common two-dimensional coordinate system, and control is performed to display the first image and the second image in different states. Therefore, it is easier to compare the target state and actual state of biopsy needle 21 compared to the conventional technology.

[0104] Furthermore, according to the biopsy device of this embodiment, when the first image and the second image overlap due to the movement operation of the biopsy needle 21, at least one of the first image and the second image is controlled to be displayed in a state different from the previous display state. Therefore, it is easier to know that the biopsy needle 21 has reached the target state.

[0105] Furthermore, according to the biopsy device of this embodiment, when the first image and the second image overlap due to the movement operation of the biopsy needle 21, the display state of the operation reception area (in this embodiment, the target confirmation button display area 80) is changed from the previous display state. Therefore, it is possible to more easily grasp that the biopsy needle 21 has reached the target state.

[0106] Furthermore, according to the biopsy device of this embodiment, when the first image and the second image overlap due to the movement operation of the biopsy needle 21, the biopsy needle 21 is controlled not to move to the insertion side of the object. Therefore, it is possible to prevent the biopsy needle 21 from being inserted to an unnecessary depth.

[0107] Moreover, the biopsy device according to this embodiment further performs control to display auxiliary lines 94 arranged at equal intervals in the area including the first image and the target image, so that the amount of deviation between the actual state of the biopsy needle 21 and the target state can be grasped more accurately.

[0108] Furthermore, the biopsy device according to this embodiment controls the display of the auxiliary line 94 to be inclined in accordance with the direction in which the biopsy needle 21 advances toward the target object. This makes it possible to more accurately grasp the amount of deviation between the actual state of the biopsy needle 21 and the target state.

[0109] Moreover, the biopsy device according to this embodiment further controls the display of a third image showing the orientation of the subject's body including the target object, so that the state of the biopsy needle 21 puncturing the subject can be more easily grasped.

[0110] Furthermore, according to the biopsy device of this embodiment, when an instruction to adjust the position relative to the first image is received, the device further performs control to display a first mark indicating the position in the initial state and a second mark indicating the position after the adjustment in different states. Therefore, it is easier to know that the target state of the biopsy needle 21 has been adjusted.

[0111] Moreover, the biopsy device according to this embodiment further performs control to display a boundary line 98 with respect to an area where a problem may occur if the biopsy needle 21 is moved. Therefore, problems caused by moving the biopsy needle 21 can be prevented in advance.

[0112] Furthermore, according to the biopsy device of this embodiment, if the area where the above problem may occur is not an area into which the biopsy needle 21 enters, control to display the boundary line 98 is prohibited. Therefore, it is possible to avoid displaying unnecessary boundary lines 98.

[0113] Moreover, the biopsy device according to this embodiment further performs control to display an auxiliary image 92 and an auxiliary image 93 showing the imaging table 14 and the compression plate 18. Therefore, the relative positional relationship between the imaging table 14 and the compression plate 18 and the biopsy needle 21 can be grasped.

[0114] Furthermore, according to the biopsy device of this embodiment, both the first image and the second image are symbolized images of the biopsy needle 21. Therefore, the first image and the second image can be displayed more easily compared to a case where these images are images of the actual biopsy needle 21.

[0115] In the above embodiment, the CPU 72 provided in the control unit 70 of the biopsy unit 26 is used as the processor of the technology of the present disclosure, but the present disclosure is not limited to this. For example, the CPU provided in the control unit 50 of the mammography device 2 may be used as the processor of the technology of the present disclosure.

[0116] In the above embodiment, the biopsy needle movement support screen when the subject faces the X direction is illustrated in Figs. 10 to 14, but the present invention is not limited to this.

[0117] Fig. 15 shows an example of the biopsy needle movement support screen when the subject faces in the Z direction, and Fig. 16 and Fig. 17 each show an example of the biopsy needle movement support screen when the subject faces in the Y direction. Note that Fig. 16 illustrates an example in which a biopsy needle 21 for lateral puncture is used, and Fig. 17 illustrates an example in which a biopsy needle 21 for vertical puncture is used.

[0118] In these configurations as well, the same effects as those described in the above embodiment can be obtained.

[0119] In the above embodiment, for example, the hardware structure of the processing unit that executes various processes, such as the display control unit 72A and the movement control unit 72B, may be the various processors shown below. As described above, the various processors include a CPU, which is a general-purpose processor that executes software (programs) and functions as various processing units, as well as a programmable logic device (PLD), which is a processor whose circuit configuration can be changed after manufacture, such as an FPGA (Field Programmable Gate Array), a dedicated electric circuit, which is a processor having a circuit configuration designed specifically for executing specific processes, such as an ASIC (Application Specific Integrated Circuit), etc.

[0120] A single processing unit may be configured with one of these various processors, or may be configured with a combination of two or more processors of the same or different types (for example, a combination of multiple FPGAs, or a combination of a CPU and an FPGA). Also, multiple processing units may be configured with a single processor.

[0121] As an example of configuring multiple processing units with one processor, first, there is a form in which one processor is configured with a combination of one or more CPUs and software, and this processor functions as multiple processing units, as represented by computers such as client and server. Second, there is a form in which a processor is used to realize the functions of the entire system including multiple processing units with one IC (Integrated Circuit) chip, as represented by a system on chip (SoC). In this way, the various processing units are configured using one or more of the above various processors as a hardware structure.

[0122] Furthermore, more specifically, the hardware structure of these various processors can be an electric circuit that combines circuit elements such as semiconductor elements.

[0123] In the above embodiment, the biopsy needle movement processing program 76A is pre-stored (installed) in the storage unit 76 of the biopsy unit 26, but the present invention is not limited to this. The biopsy needle movement processing program 76A may be provided in a form recorded on a recording medium such as a CD-ROM (Compact Disc Read Only Memory), a DVD-ROM (Digital Versatile Disc Read Only Memory), or a USB (Universal Serial Bus) memory. The biopsy needle movement processing program 76A may be downloaded from an external device via a network.

[0124] From the above description, the invention described in the following appendix can be understood.

[0125] [Appendix 1] At least one processor; The processor, a target image showing an object for tissue sampling by a biopsy needle, a first image showing a target position of the biopsy needle, and a second image showing an actual position of the biopsy needle are displayed as identical views in a common two-dimensional coordinate system, and the first image and the second image are displayed in different states. Biopsy device. [Appendix 2] The processor, When the first image and the second image overlap each other due to the movement operation of the biopsy needle, control is performed to display at least one of the first image and the second image in a state different from a previous display state. 2. A biopsy device as described in appendix 1. [Appendix 3] The processor, and further performing control to display an operation reception area for receiving input of an operation instruction for the biopsy needle separately from the display image. when the first image and the second image overlap due to a moving operation of the biopsy needle, a display state of the operation reception area is changed from a previous display state. 3. A biopsy device as described in appended claim 2. [Appendix 4] The processor, When the first image and the second image overlap due to a movement operation of the biopsy needle, the biopsy needle is controlled not to move to an insertion side of the object. 4. A biopsy device according to claim 2 or 3. [Appendix 5] The processor, and further performing control to display auxiliary lines arranged at equal intervals in an area including the first image and the target image in the display view. A biopsy device according to any one of claims 1 to 4. [Appendix 6] The processor, performing control to incline and display the auxiliary line in accordance with the direction in which the biopsy needle advances toward the object; 6. A biopsy device as described in appended claim 5. [Appendix 7] The processor, and further controlling to display a third image showing the orientation of the subject's body including the object, separately from the display image. A biopsy device according to any one of claims 1 to 6. [Appendix 8] The processor, When an instruction to adjust the position of the first image is received, a control is further performed to display a first mark indicating the position in an initial state and a second mark indicating the position after the adjustment in different states. 8. A biopsy device according to any one of claims 1 to 7. [Appendix 9] The processor, and further controlling the display to display a boundary line between the display and an area where a problem may occur if the biopsy needle is moved. 9. A biopsy device according to any one of claims 1 to 8. [Appendix 10] The processor, prohibiting control to display the boundary line if the problematic area is not an area into which the biopsy needle will enter; 10. The biopsy device of claim 9. [Appendix 11] The processor, When the biopsy needle punctures the breast as the target object in a state where the breast is compressed by a compression plate against the imaging table of the mammography device, the control further includes controlling to display an associated image showing at least one of the imaging table and the compression plate. 11. A biopsy device according to any one of claims 1 to 10. [Appendix 12] the first image is an image showing a target position and orientation of the biopsy needle; The second image is an image showing the actual position and orientation of the biopsy needle. A biopsy device according to any one of claims 1 to 11. [Appendix 13] At least one of the first image and the second image is an image in which the biopsy needle is symbolized. 13. A biopsy device according to any one of claims 1 to 12. [Appendix 14] a target image showing an object for tissue sampling by a biopsy needle, a first image showing a target position of the biopsy needle, and a second image showing an actual position of the biopsy needle are displayed as identical views in a common two-dimensional coordinate system, and the first image and the second image are displayed in different states. A program that causes a computer to carry out processing. [Explanation of symbols]

[0126] 2. Mammography equipment 11 Foundation 12 C-axis 13 Arm 14. Shooting stand 15 Radiation detector 16 Radiation storage section 17 Radiation Irradiator 18 Compression plate 19 Moving mechanism 20 Support part 21 Biopsy Needle 21A opening 22 Biopsy Needle Unit 24 Moving mechanism 25 Opening 26 Biopsy unit (biopsy device) 28 Control section 29 Operation Panel 30 Radiation source 31 Arm control section 34 Compression plate controller 35 Needle Position Controller 50 Control section 70 Control section 72 CPU 72A Display control unit 72B Movement control unit 74 Memory 76 Memory section 76A Biopsy needle transfer processing program 76B Biopsy needle information database 80 Target Confirmation Button Display Area 80A Home position button 80B XYZ direction movement specification button 80C XY direction movement specification button 81 Deviation amount display area 82 Difference display area 83 Distance display area 84 Menu display button 85 Shortcut buttons 86 Shortcut confirmation button 87 Adjustment button display area 88 Orientation Display Area 90 Schematic display area 91 Target Images 92 Attached Images 93 Attached Images 94 auxiliary lines 95 1st image 95A Aperture Image 95B 1st mark 95BX 2nd mark 97 2nd image 98 Border M Breast P1, P2 position T Target Img1, Img2 Scout images z distance

Claims

1. At least one processor; The processor, a target image showing an object of tissue sampling by a biopsy needle, a first image showing a target position of the biopsy needle, and a second image showing an actual position of the biopsy needle are displayed as identical views in a common two-dimensional coordinate system, and the first image and the second image are displayed in different states. Biopsy device.

2. The processor, When the first image and the second image overlap each other due to the movement operation of the biopsy needle, control is performed to display at least one of the first image and the second image in a state different from a display state until then. The biopsy device of claim 1 .

3. The processor, and further performing control to display an operation reception area for receiving input of an operation instruction for the biopsy needle separately from the display image. when the first image and the second image overlap each other due to a moving operation of the biopsy needle, a display state of the operation reception area is changed to a state different from a previous display state. The biopsy device of claim 2.

4. The processor, When the first image and the second image overlap due to a movement operation of the biopsy needle, the biopsy needle is controlled not to move toward an insertion side of the object. A biopsy device according to claim 2 or 3.

5. The processor, and further performing control to display auxiliary lines arranged at equal intervals in an area including the first image and the target image in the display view. The biopsy device of claim 1 .

6. The processor, performing control to incline and display the auxiliary line in accordance with the direction in which the biopsy needle advances toward the object; The biopsy device of claim 5.

7. The processor, and further controlling to display a third image showing a body orientation of the subject including the object separately from the display image. The biopsy device of claim 1 .

8. The processor, When an instruction to adjust the position of the first image is received, a control is further performed to display a first mark indicating the position in an initial state and a second mark indicating the position after the adjustment in different states. The biopsy device of claim 1 .

9. The processor, and further controlling the display diagram to display a boundary line between the display diagram and an area where a problem may occur if the biopsy needle is moved. The biopsy device of claim 1 .

10. The processor, prohibiting control to display the boundary line if the problematic area is not an area into which the biopsy needle will enter; The biopsy device of claim 9.

11. The processor, When the biopsy needle punctures the breast as the target object in a state where the breast is compressed by a compression plate against the imaging table of the mammography device, the control further includes controlling to display an associated image showing at least one of the imaging table and the compression plate. The biopsy device of claim 1 .

12. the first image is an image showing a target position and orientation of the biopsy needle; the second image being an image showing the actual position and orientation of the biopsy needle; The biopsy device of claim 1 .

13. At least one of the first image and the second image is an image in which the biopsy needle is symbolized. The biopsy device of claim 1 .

14. a target image showing an object of tissue sampling by a biopsy needle, a first image showing a target position of the biopsy needle, and a second image showing an actual position of the biopsy needle are displayed as identical views in a common two-dimensional coordinate system, and the first image and the second image are displayed in different states. A program that causes a computer to carry out processing.

Images