Ultrasonic diagnostic apparatus and control method of ultrasonic diagnostic apparatus

Abstract

To provide an ultrasonic diagnostic apparatus capable of performing comprehensive observation of an organ of an observation object easily and accurately regardless of a user's level of skills, and to provide a control method of the ultrasonic diagnostic apparatus.SOLUTION: An ultrasonic diagnostic apparatus includes: a template memory (26) in which a plurality of organ templates are stored; a three-dimensional ultrasonic image acquisition unit (31) for acquiring a three-dimensional ultrasonic image of the organ by transmitting and receiving an ultrasonic beam using an ultrasonic probe (1); a template selection unit (27) for selecting one organ template from the plurality of organ templates according to the posture of a subject; and a scanning progress state output unit for specifying and outputting a scanning progress state of the ultrasonic probe (1) for the organ by performing positioning between the three-dimensional ultrasonic image acquired by the three-dimensional ultrasonic image acquisition unit (31) and the one organ template selected by the template selection unit (27).SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an ultrasonic diagnostic apparatus used for comprehensively observing an organ of a subject and a control method for the ultrasonic diagnostic apparatus.

Background Art

[0002] Conventionally, observation inside a subject has been performed by taking an ultrasonic image representing a tomogram of the subject using a so-called ultrasonic diagnostic apparatus. In this case, for example, comprehensive observation of a specific organ of the subject is performed by a user such as a doctor.

[0003] At this time, the user usually takes ultrasonic images sequentially while judging the imaged part inside the subject by checking the taken ultrasonic images. However, a user with low proficiency in observation using an ultrasonic diagnostic apparatus may have difficulty judging which part of the subject is imaged even when checking the ultrasonic images. Therefore, as disclosed in, for example, Patent Document 1, by comparing data obtained by transmitting and receiving ultrasonic waves to and from an organ to be observed with data representing a standard shape of the organ to be observed, a technique for identifying and displaying a scanned area or an area not yet scanned in the organ to be observed has been developed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, depending on the posture of the subject, such as the so-called sitting position or dorsal recumbent position, the organs in the subject receive forces from the tissues and gravity in the subject, and their shapes change. In the technology of Patent Document 1, when a force acts on the organ to be observed and its shape changes, the shape of the organ corresponding to the data used as a reference no longer corresponds to the actual shape of the organ. Therefore, it is impossible to identify the scanned area and the area that has not yet been scanned, and it may be difficult to accurately perform a comprehensive observation of the organ depending on the proficiency of the user.

[0006] The present invention has been made to solve such conventional problems, and an object thereof is to provide an ultrasonic diagnostic apparatus and a control method for an ultrasonic diagnostic apparatus that enable a user to easily and accurately perform a comprehensive observation of an organ to be observed regardless of proficiency.

Means for Solving the Problems

[0007] According to the following configuration, the above object can be achieved. 〔1〕 An ultrasonic diagnostic apparatus for observing an organ of a subject by performing scanning with an ultrasonic probe, a template memory storing a plurality of organ templates, a three-dimensional ultrasonic image acquisition unit that acquires a three-dimensional ultrasonic image of an organ by transmitting and receiving ultrasonic beams using the ultrasonic probe, a template selection unit that selects one organ template from a plurality of organ templates according to the posture of the subject, a scanning progress status output unit that identifies and outputs the scanning progress status of the ultrasonic probe with respect to the organ by aligning the three-dimensional ultrasonic image acquired by the three-dimensional ultrasonic image acquisition unit and the one organ template selected by the template selection unit, An ultrasonic diagnostic apparatus comprising: 〔2〕 The ultrasonic diagnostic apparatus according to 〔1〕, wherein the plurality of organ templates include organ templates corresponding to the respective organs when the subject is in a sitting position, a dorsal recumbent position, a ventral recumbent position, and a lateral recumbent position. 〔3〕The plurality of organ templates each consist of three-dimensional data representing the outline of an organ according to the posture of the subject, which is the ultrasonic diagnostic apparatus described in 〔1〕or 〔2〕. 〔4〕The plurality of organ templates each consist of three-dimensional data representing the outline and internal structure of an organ according to the posture of the subject, which is the ultrasonic diagnostic apparatus described in 〔1〕or 〔2〕. 〔5〕An input device for the user to perform an input operation is provided. The template selection unit selects one organ template based on the posture of the subject specified by the user via the input device, which is the ultrasonic diagnostic apparatus described in any one of 〔1〕to 〔4〕. 〔6〕A posture detection unit for detecting the posture of the subject is provided. The template selection unit selects one organ template based on the posture of the subject detected by the posture detection unit, which is the ultrasonic diagnostic apparatus described in any one of 〔1〕to 〔4〕. 〔7〕The template selection unit calculates the similarity of each of the plurality of organ templates with respect to the posture of the subject detected by the posture detection unit, and selects the organ template having the highest similarity as one organ template, which is the ultrasonic diagnostic apparatus described in 〔6〕. 〔8〕The template selection unit selects one organ template using a learned model that has learned the output from the posture detection unit according to the posture of the subject, which is the ultrasonic diagnostic apparatus described in 〔6〕. 〔9〕The posture detection unit includes an optical camera for photographing the subject, and an optical image analysis unit for analyzing the optical image acquired by the optical camera to detect the posture of the subject, which is the ultrasonic diagnostic apparatus described in any one of 〔6〕to 〔8〕. 〔10〕The posture detection unit includes at least one pressure sensor disposed on the examination table on which the subject lies when the subject undergoes an examination, and a signal analysis unit for analyzing the detection signal acquired by the at least one pressure sensor to detect the posture of the subject, which is the ultrasonic diagnostic apparatus described in any one of 〔6〕to 〔8〕. The ultrasonic diagnostic apparatus according to any one of [1] to [4], wherein the template selection unit selects one organ template based on the three-dimensional ultrasonic image acquired by the three-dimensional ultrasonic image acquisition unit. The ultrasonic diagnostic apparatus according to

[11] , wherein the template selection unit calculates the similarity of each of a plurality of organ templates with respect to the three-dimensional ultrasonic image acquired by the three-dimensional ultrasonic image acquisition unit, and selects the organ template having the highest similarity as one organ template. The ultrasonic diagnostic apparatus according to

[11] , wherein the template selection unit selects one organ template using a learned model that has learned three-dimensional ultrasonic images of organs according to the posture of the subject. Comprising a monitor, The ultrasonic diagnostic apparatus according to any one of [1] to

[13] , wherein the scanning progress status output unit displays the scanning progress status of the ultrasonic probe on the monitor. The ultrasonic diagnostic apparatus according to

[14] , wherein the scanning progress status output unit displays the scanned area or the unscanned area by the ultrasonic probe on the monitor as the scanning progress status. The ultrasonic diagnostic apparatus according to any one of [1] to

[14] , wherein the scanning progress status output unit divides an organ into a plurality of sections, numerically values the scanning progress status of the ultrasonic probe in the plurality of sections, and outputs the result. The ultrasonic diagnostic apparatus according to

[16] , wherein the scanning progress status output unit outputs a section that recommends further scanning by the ultrasonic probe among the plurality of sections based on the numerically valued scanning progress status of the ultrasonic probe in the plurality of sections. A control method for an ultrasonic diagnostic apparatus that observes an organ of a subject by performing scanning with an ultrasonic probe, Storing a plurality of organ templates in a template memory, Acquiring a three-dimensional ultrasonic image of an organ by transmitting and receiving an ultrasonic beam using an ultrasonic probe, Selecting one organ template from a plurality of organ templates according to the posture of the subject, By aligning the acquired three-dimensional ultrasonic image with one selected organ template, the scanning progress of the ultrasonic probe with respect to the organ is specified and output. A control method for an ultrasonic diagnostic apparatus.

Effect of the Invention

[0008] In the present invention, an ultrasonic diagnostic apparatus includes a template memory storing a plurality of organ templates, a three-dimensional ultrasonic image acquisition unit that acquires a three-dimensional ultrasonic image of an organ by transmitting and receiving ultrasonic beams using an ultrasonic probe, a template selection unit that selects one organ template from the plurality of organ templates according to the posture of a subject, and a scanning progress status output unit that specifies and outputs the scanning progress status of the ultrasonic probe with respect to the organ by aligning the three-dimensional ultrasonic image acquired by the three-dimensional ultrasonic image acquisition unit with the one organ template selected by the template selection unit. Therefore, a user can easily and accurately perform a comprehensive observation of an organ to be observed regardless of proficiency.

Brief Description of the Drawings

[0009]

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Embodiments for Carrying Out the Invention

[0010] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The description of the constituent elements described below is based on typical embodiments of the present invention, but the present invention is not limited to such embodiments. In this specification, a numerical range represented by "~" means a range including the numerical values described before and after "~" as the lower limit value and the upper limit value. In this specification, "identical" and "the same" shall include an error range generally acceptable in the technical field.

[0011] Embodiment 1 FIG. 1 shows the configuration of an ultrasonic diagnostic apparatus according to Embodiment 1 of the present invention. The ultrasonic diagnostic apparatus includes an ultrasonic probe 1 and an apparatus main body 2 connected to the ultrasonic probe 1. The ultrasonic probe 1 and the apparatus main body 2 are connected to each other by so-called wired communication or so-called wireless communication.

[0012] The ultrasonic probe 1 has a transducer array 11. A transmission / reception circuit 12 is connected to the transducer array 11. The ultrasonic probe 1 also has a probe tracking sensor 13. The probe tracking sensor 13 may be built into the ultrasonic probe 1, or may be attached to the housing of the ultrasonic probe 1. Also, when using a sensor device that measures the ultrasonic probe 1 from the outside, such as a so-called optical sensor, as the probe tracking sensor 13, the probe tracking sensor 13 may be arranged at a position separated from the ultrasonic probe 1.

[0013] The apparatus main body 2 has an image generation unit 21 connected to the transmission / reception circuit 12 of the ultrasonic probe 1. A display control unit 22 and a monitor 23 are sequentially connected to the image generation unit 21. An image memory 24 is connected to the image generation unit 21. A three-dimensional ultrasonic image generation unit 25 is connected to the image memory 24. The apparatus main body 2 also includes a template memory 26. A template selection unit 27 is connected to the template memory 26. A scanning progress status output unit 28 is connected to the three-dimensional ultrasonic image generation unit 25 and the template selection unit 27. The scanning progress status output unit 28 is connected to the display control unit 22. Also, a main body control unit 29 is connected to the probe tracking sensor 13, the transmission / reception circuit 12, the image generation unit 21, the display control unit 22, the image memory 24, the three-dimensional ultrasonic image generation unit 25, the template memory 26, the template selection unit 27, and the scanning progress status output unit 28. An input device 30 is connected to the main body control unit 29.

[0014] A three-dimensional ultrasonic image acquisition unit 31 is constituted by the transmission / reception circuit 12, the image generation unit 21, and the three-dimensional ultrasonic image generation unit 25. Also, a processor 32 for the apparatus main body 2 is constituted by the image generation unit 21, the display control unit 22, the three-dimensional ultrasonic image generation unit 25, the template selection unit 27, the scanning progress status output unit 28, and the main body control unit 29.

[0015] The transducer array 11 of the ultrasonic probe 1 has a plurality of ultrasonic transducers arranged in one or two dimensions. These ultrasonic transducers transmit ultrasonic waves according to drive signals supplied from the transmission / reception circuit 12, receive ultrasonic echoes from the subject, and output signals based on the ultrasonic echoes. Each ultrasonic transducer is configured, for example, by forming electrodes at both ends of a piezoelectric body composed of a piezoelectric ceramic typified by PZT (Lead Zirconate Titanate), a polymer piezoelectric element typified by PVDF (Poly Vinylidene Di Fluoride), a piezoelectric single crystal typified by PMN-PT (Lead Magnesium Niobate-Lead Titanate solid solution), and the like.

[0016] The three-dimensional ultrasonic image acquisition unit 31, which is composed of the transmission / reception circuit 12, the image generation unit 21, and the three-dimensional ultrasonic image generation unit 25, acquires a three-dimensional ultrasonic image of the subject's organ by transmitting and receiving ultrasonic beams using the ultrasonic probe 1. The method for acquiring the three-dimensional ultrasonic image will be described later.

[0017] Under the control of the main body control unit 29, the transmission / reception circuit 12 transmits ultrasonic waves from the transducer array 11 and generates a beam signal based on the reception signal acquired by the transducer array 11. As shown in FIG. 2, the transmission / reception circuit 12 has a pulsar 41 connected to the transducer array 11, an amplification unit 42, an AD (Analog to Digital) conversion unit 43, and a beam former 44 that are sequentially connected in series from the transducer array 11.

[0018] The pulsar 41 includes, for example, a plurality of pulse generators, and supplies drive signals to a plurality of ultrasonic transducers of the transducer array 11 while adjusting the delay amounts so that ultrasonic waves transmitted from the plurality of ultrasonic transducers of the transducer array 11 form an ultrasonic beam based on a transmission delay pattern selected according to a control signal from the main body control unit 29. Thus, when a pulsed or continuous-wave voltage is applied to the electrodes of the ultrasonic transducers of the transducer array 11, the piezoelectric body expands and contracts, generating pulsed or continuous-wave ultrasonic waves from each ultrasonic transducer, and an ultrasonic beam is formed from the combined waves of these ultrasonic waves.

[0019] The transmitted ultrasonic beam is reflected, for example, by an object such as a part of a subject and propagates toward the transducer array 11 of the ultrasonic probe 1. The ultrasonic echo propagating toward the transducer array 11 in this way is received by each ultrasonic transducer constituting the transducer array 11. At this time, each ultrasonic transducer constituting the transducer array 11 expands and contracts by receiving the propagating ultrasonic echo, generates a reception signal which is an electrical signal, and outputs these reception signals to the amplification unit 42.

[0020] The amplification unit 42 amplifies the signals input from each ultrasonic transducer constituting the transducer array 11 and transmits the amplified signals to the AD conversion unit 43. The AD conversion unit 43 converts the signals transmitted from the amplification unit 42 into digital reception data. The beamformer 44 performs so-called reception focusing processing by giving respective delays to and adding the respective reception data received from the AD conversion unit 43. By this reception focusing processing, the respective reception data converted by the AD conversion unit 43 are coherently added, and a beam signal with the focus of the ultrasonic echo narrowed down is obtained.

[0021] As shown in FIG. 3, the image generation unit 21 has a configuration in which a signal processing unit 45, a DSC (Digital Scan Converter) 46, and an image processing unit 47 are sequentially connected in series.

[0022] The signal processing unit 45 corrects the attenuation due to distance according to the depth of the reflection position of the ultrasonic wave using the speed of sound value set by the main body control unit 29 for the sound beam signal received from the transmission / reception circuit 12, and then performs envelope detection processing to generate a B-mode image signal, which is tomographic image information regarding the tissue in the subject.

[0023] The DSC 46 converts (raster-converts) the B-mode image signal generated by the signal processing unit 45 into an image signal conforming to the scanning method of a normal television signal. The image processing unit 47 performs various necessary image processes such as gradation processing on the B-mode image signal input from the DSC 46, and then sends the B-mode image signal to the display control unit 22 and the image memory 24. Hereinafter, the B-mode image signal subjected to image processing by the image processing unit 47 is referred to as an ultrasonic image.

[0024] The probe tracking sensor 13 is a sensor device that acquires the position and orientation information of the ultrasonic probe 1 under the control of the main body control unit 29. Here, generally, when a user performs an examination of a subject using an ultrasonic diagnostic apparatus, the user changes the orientation, that is, the tilt angle and the rotation angle, of the ultrasonic probe 1 while keeping the ultrasonic probe 1 in contact with the body surface of the subject, and often performs the examination while moving the position of the ultrasonic probe 1. The position and orientation information of the ultrasonic probe 1 acquired by the probe tracking sensor 13 includes information regarding the orientation and position of the ultrasonic probe 1. The probe tracking sensor 13 can include, for example, at least one of a so-called inertial sensor, a magnetic sensor, an optical sensor, or an optical camera. The inertial sensor can include, for example, at least one of a so-called acceleration sensor and a gyro sensor.

[0025] The image memory 24 is a memory that stores the ultrasonic image generated by the image generation unit 21, the position and orientation information of the ultrasonic probe 1 acquired by the probe tracking sensor 13, and the three-dimensional ultrasonic image acquired by the three-dimensional ultrasonic image acquisition unit 31. As the image memory 24, for example, a recording medium such as a flash memory, an HDD (Hard Disk Drive), an SSD (Solid State Drive), an FD (Flexible Disk), an MO disk (Magneto-Optical disk), an MT (Magnetic Tape), a RAM (Random Access Memory), a CD (Compact Disc), a DVD (Digital Versatile Disc), an SD card (Secure Digital card), or a USB memory (Universal Serial Bus memory) can be used.

[0026] Here, the ultrasonic image generated by the image generation unit 21 and the position and orientation information of the ultrasonic probe 1 acquired by the probe tracking sensor 13 when this ultrasonic image is generated are associated with each other and stored in the image memory 24.

[0027] The three-dimensional ultrasonic image generation unit 25 generates a three-dimensional ultrasonic image of the subject's organ based on a plurality of frames of ultrasonic images generated by the image generation unit 21. The three-dimensional ultrasonic image generation unit 25 can generate a three-dimensional ultrasonic image of the organ, for example, by arranging a plurality of frames of ultrasonic images according to the position and orientation information of the corresponding ultrasonic probe 1.

[0028] In addition, the three-dimensional ultrasonic image generation unit 25 can sequentially perform a process of generating a three-dimensional ultrasonic image every time an ultrasonic image is generated by the image generation unit 21. Further, the three-dimensional ultrasonic image generation unit 25 can also perform a process of generating a three-dimensional ultrasonic image collectively for a plurality of frames of ultrasonic images stored in the image memory 24.

[0029] The template memory 26 is a memory that stores a plurality of organ templates for a specific organ of a subject. The plurality of organ templates represent a plurality of three-dimensional shapes of the organ deformed according to the posture of the subject, such as a so-called sitting position, a dorsal recumbent position, a ventral recumbent position, and a lateral recumbent position. That is, the template memory 26 stores a plurality of organ templates corresponding to the posture of the subject, such as an organ template corresponding to the sitting position, an organ template corresponding to the dorsal recumbent position, an organ template corresponding to the ventral recumbent position, and an organ template corresponding to the lateral recumbent position, for a specific organ. Note that, as the organ template corresponding to the lateral recumbent position, organ templates for both the left lateral recumbent position where the subject lies on the left side down and the right lateral recumbent position where the subject lies on the right side down can also be used.

[0030] For example, when the template memory 26 stores an organ template of the liver, in addition to the organ template M1 representing the standard shape of the liver in anatomy as shown in FIG. 4, the template memory 26 stores an organ template M2 representing the shape of the liver deformed from the standard shape by the action of an external force according to a specific posture of the subject as shown in FIG. 5.

[0031] In addition, the plurality of organ templates stored in the template memory 26 may each be composed of three-dimensional data representing the contour of the organ according to the posture of the subject, or may be composed of three-dimensional data representing the contour of the organ and the internal structure of the organ according to the posture of the subject.

[0032] As the template memory 26, for example, recording media such as flash memory, HDD, SSD, FD, MO disk, MT, RAM, CD, DVD, SD card, or USB memory can be used.

[0033] The template selection unit 27 selects one organ template from a plurality of organ templates stored in the template memory 26 according to the posture of the subject. Here, the posture of the subject can be input, for example, by a user of the ultrasonic diagnostic apparatus such as a doctor via the input device 30. For example, when the organ to be observed is the liver and the user inputs the sitting position as the posture of the subject, the template selection unit 27 can select the organ template of the liver corresponding to the sitting position.

[0034] The scanning progress status output unit 28 specifies and outputs the scanning progress status of the ultrasonic probe 1 with respect to the organ to be observed by aligning the three-dimensional ultrasonic image acquired by the three-dimensional ultrasonic image acquisition unit 31 with the one organ template selected by the template selection unit 27.

[0035] The scanning progress status output unit 28 can align the three-dimensional ultrasonic image and the one organ template with each other by, for example, algorithms such as so-called RANSAC (Random Sample Consensus), ICP (Iterative Closest Point), so-called machine learning methods, or combinations thereof. Note that the alignment process can include, for example, a process of deforming the three-dimensional ultrasonic image or the one organ template.

[0036] Here, the scanning progress status of the ultrasonic probe 1 represents the degree to which the scanning of the organ to be observed by the ultrasonic probe 1 has advanced. The scanning progress status output unit 28 can identify the area scanned by the ultrasonic probe 1 in the organ to be observed as the scanning progress status and display it on the monitor 23. For example, when the organ to be observed is the liver, the scanning progress status output unit 28 can display the scanned area R1 on the monitor 23 by superimposing it on the organ template of the liver selected by the template selection unit 27 as shown in FIG. 6. In this example, it is shown that the scanning of a part of the right lobe A1 of the liver has been completed among the right lobe A1 and the left lobe A2 of the liver.

[0037] Also, the scanning progress status output unit 28 can identify the area not yet scanned by the ultrasonic probe 1 in the organ to be observed as the scanning progress status and display it on the monitor 23. For example, when the organ to be observed is the liver, the scanning progress status output unit 28 can display the non-scanned area R2 on the monitor 23 by superimposing it on the organ template of the liver selected by the template selection unit 27 as shown in FIG. 7. In this example, it is shown that the scanning of a part of the right lobe A1 and the whole of the left lobe A2 of the liver has not been completed among the right lobe A1 and the left lobe A2 of the liver.

[0038] The display control unit 22 performs predetermined processing on the ultrasonic image sent from the image generation unit 21, the scanning progress status of the ultrasonic probe 1 output by the scanning progress status output unit 28, etc. under the control of the main body control unit 29 and displays it on the monitor 23.

[0039] The monitor 23 displays the ultrasonic image and the scanning progress status, etc. under the control of the display control unit 22, and has a display device such as an LCD (Liquid Crystal Display) or an organic EL display (Organic Electroluminescence Display), for example.

[0040] Based on a pre-stored control program and the like, the main body control unit 29 controls each part of the apparatus main body 2, the transmission / reception circuit 12 of the ultrasonic probe 1, and the probe tracking sensor 13.

[0041] The input device 30 is for the user to perform input operations, and is composed of, for example, devices such as a keyboard, a mouse, a trackball, a touch pad, and a touch sensor arranged on top of the monitor 23.

[0042] Note that the processor 32 having the image generation unit 21, the display control unit 22, the three-dimensional ultrasonic image generation unit 25, the template selection unit 27, the scanning progress status output unit 28, and the main body control unit 29 is composed of a CPU (Central Processing Unit) and a control program for causing the CPU to perform various processes. However, it may be composed of an FPGA (Field Programmable Gate Array), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), a GPU (Graphics Processing Unit), or other ICs (Integrated Circuits), or may be composed of a combination thereof.

[0043] Also, the image generation unit 21, the display control unit 22, the three-dimensional ultrasonic image generation unit 25, the template selection unit 27, the scanning progress status output unit 28, and the main body control unit 29 can be configured by being partially or entirely integrated into one CPU or the like.

[0044] Next, with reference to the flowchart shown in FIG. 8, the operation of the ultrasonic diagnostic apparatus according to Embodiment 1 will be described. Hereinafter, the case where the organ to be observed of the subject is the liver will be described.

[0045] In step ST1, the posture of the subject is input by the user via the input device 30. At this time, the main body control unit 29 receives the posture of the subject input by the user.

[0046] In step ST2, the template selection unit 27 selects one organ template corresponding to the posture of the subject input by the user in step ST1 and received by the main body control unit 29 from among a plurality of organ templates of the liver stored in the template memory 26.

[0047] In step ST3, the image generation unit 21 generates an ultrasonic image of the subject's liver. At this time, under the control of the main body control unit 29, transmission and reception of ultrasonic waves are started from a plurality of vibrators of the vibrator array 11 according to a drive signal from the pulsar 41 of the transmission / reception circuit 12 of the ultrasonic probe 1. The ultrasonic echo from inside the subject is received by a plurality of vibrators of the vibrator array 11, and the received signal, which is an analog signal, is output to the amplifier 42 and amplified. The received data is obtained by AD conversion by the AD conversion unit 43.

[0048] Reception focus processing is performed on this received data by the beamformer 44, and the beam signal generated thereby is sent to the image generation unit 21 of the apparatus main body 2, and the image generation unit 21 generates an ultrasonic image representing the tomographic image information of the subject. At this time, the signal processing unit 45 of the image generation unit 21 performs attenuation correction and envelope detection processing on the beam signal according to the depth of the reflection position of the ultrasonic wave. The DSC 46 converts it into an image signal according to the scanning method of a normal television signal, and the image processing unit 47 performs various necessary image processing such as gradation processing. The ultrasonic image generated in step ST3 is displayed on the monitor 23 via the display control unit 22.

[0049] Also, when the ultrasonic image is generated in step ST3, the position and orientation information of the ultrasonic probe 1 is acquired by the probe tracking sensor 13. The ultrasonic image generated in step ST3 and the acquired position and orientation information of the ultrasonic probe 1 are associated with each other and stored in the image memory 24.

[0050] In step ST4, the main control unit 29 determines whether a sufficient ultrasonic image has been obtained in generating the three-dimensional ultrasonic image. The main control unit 29 can determine whether a sufficient ultrasonic image has been acquired by, for example, determining whether a predetermined time has elapsed since step ST1 was started. More specifically, the main control unit 29 can determine that a sufficient ultrasonic image has been acquired when a predetermined time has elapsed since step ST1 was started, and can determine that a sufficient ultrasonic image has not been acquired when the predetermined time has not yet elapsed.

[0051] In addition, the main control unit 29 can also determine whether a sufficient ultrasonic image has been acquired by, for example, referring to the position and orientation information acquired in step ST3 and determining whether the movement of the ultrasonic probe 1 has stopped after being moved by the user. More specifically, the main control unit 29 can determine that a sufficient ultrasonic image has been acquired when the movement of the ultrasonic probe 1 has stopped after being moved by the user, and can determine that a sufficient ultrasonic image has not been acquired when the ultrasonic probe 1 continues to move.

[0052] If it is determined in step ST4 that the ultrasonic image used for generating the three-dimensional ultrasonic image has not been sufficiently obtained, the process returns to step ST3, a new ultrasonic image is generated, and it is stored in the image memory 24 together with the position and orientation information of the ultrasonic probe 1. In this way, the processes of steps ST3 and ST4 are repeated until it is determined in step ST4 that a sufficient ultrasonic image has been obtained.

[0053] When it is determined in step ST4 that a sufficient ultrasonic image for generating a three-dimensional ultrasonic image has been obtained, the process proceeds to step ST5. In step ST5, the three-dimensional ultrasonic image generation unit 25 generates a three-dimensional ultrasonic image of the liver of the subject based on the plurality of position and orientation information of the ultrasonic probe 1 and the ultrasonic images of a plurality of frames obtained by repeating steps ST3 and ST4. At this time, the three-dimensional ultrasonic image generation unit 25 can generate a three-dimensional ultrasonic image of the liver, for example, by arranging the ultrasonic images of a plurality of frames according to the position and orientation information of the ultrasonic probe 1 associated with each ultrasonic image.

[0054] In step ST6, the scanning progress status output unit 28 identifies the scanning progress status of the ultrasonic probe 1 with respect to the liver by aligning one organ template selected in step ST2 and the three-dimensional ultrasonic image of the liver obtained in step ST5 with each other by an algorithm such as RANSAC or ICP, a machine learning method, or a combination thereof.

[0055] In this way, since an organ template representing the shape of the liver corresponding to the posture of the subject is used for alignment with the three-dimensional ultrasonic image of the liver, even when the liver of the subject is deformed due to the posture of the subject, the three-dimensional ultrasonic image can be accurately aligned with the organ template. As a result, for example, as the scanning progress status of the ultrasonic probe 1, the scanned area R1 or the unscanned area R2 of the liver can be accurately identified.

[0056] In step ST7, the scanning progress status output unit 28 outputs the scanning progress status identified in step ST6. The scanning progress status output unit 28 can display the scanned area R1 or the unscanned area R2 of the liver on the monitor 23 as the scanning progress status of the ultrasonic probe 1, for example, by superimposing on one organ template selected in step ST2 as shown in FIG. 6 or FIG. 7.

[0057] In step ST8, the main control unit 29 determines whether to end the observation of the subject's liver. For example, when the main control unit 29 determines that the user has comprehensively observed the subject's liver by checking the scanning progress status output in step ST7 and an instruction to end the observation is input via the input device 30, it can be determined that the observation of the liver is ended. Also, for example, when the main control unit 29 determines that the user has not yet comprehensively observed the subject's liver by checking the scanning progress status output in step ST7 and no instruction to end the observation is specifically input, it can be determined that the observation of the liver is continued.

[0058] As long as it is determined in step ST8 that the observation of the liver is to be continued, the processes of steps ST3 to ST8 are repeated. In step ST3 in this repetition of steps ST3 to ST8, the three-dimensional ultrasonic image generation unit 25 adds data corresponding to a plurality of newly acquired frames of ultrasonic images to the three-dimensional ultrasonic image of the liver that has already been acquired, and generates a three-dimensional ultrasonic image of the liver. Therefore, by repeating steps ST3 to ST8, the scanning progress status of the ultrasonic probe 1 specified in step ST6 and output in step ST7 is updated at any time. By continuing the scanning while the user checks the scanning progress status of the ultrasonic probe 1 that is updated at any time by repeating steps ST3 to ST8, the user can easily and accurately perform a comprehensive observation of the subject's liver regardless of the user's proficiency.

[0059] When it is determined in step ST8 that the observation of the liver is to be ended, the operation of the ultrasonic diagnostic apparatus according to the flowchart of FIG. 8 is completed.

[0060] From the above, according to the ultrasonic diagnostic apparatus of Embodiment 1, the template memory 26 stores a plurality of organ templates for the organ to be observed, the template selection unit 27 selects one organ template from the plurality of organ templates according to the posture of the subject, and the scanning progress status output unit 28 performs alignment between the acquired three-dimensional ultrasonic image and the selected one organ template, thereby specifying and outputting the scanning progress status of the ultrasonic probe 1 with respect to the organ to be observed. Therefore, regardless of the user's proficiency, the user can easily and accurately perform a comprehensive observation of the organ to be observed.

[0061] Although it has been described that the transmission / reception circuit 12 is provided in the ultrasonic probe 1, the transmission / reception circuit 12 may be provided in the apparatus main body 2. Although it has been described that the image generation unit 21 is provided in the apparatus main body 2, the image generation unit 21 may be provided in the ultrasonic probe 1.

[0062] Further, the apparatus main body 2 may be a so-called stationary type, a portable type that is easy to carry, or a so-called handheld type configured by, for example, a smartphone or a tablet-type computer. Thus, the type of device constituting the apparatus main body 2 is not particularly limited.

[0063] Further, the scanning progress status output unit 28 can also output the scanning progress status for each area, such as dividing the organ to be observed into a plurality of areas, digitizing and outputting the scanning progress status of the ultrasonic probe 1 in the plurality of areas respectively. For example, the scanning progress status output unit 28 divides the liver of the subject into two areas, the right lobe A1 and the left lobe A2, and can output the ratio of the scanned area R1 or the ratio of the unscanned area R2 in each area as a percentage, such as "right lobe: ○○%, left lobe: ○○%".

[0064] Further, the scanning progress status output unit 28 can also divide, for example, the liver into four regions: a posterior region T1, an anterior region T2, an inner region T3, and an outer region T4 as shown in FIG. 9, or can divide it into eight sub-regions S1 to S8 (sub-region S1 is not shown as it is inside the liver) as shown in FIG. 10.

[0065] The scanning progress status output unit 28 can display the scanning progress status specified for each of the plurality of regions in this way on the monitor 23 as, for example, numerical values. Also, the scanning progress status output unit 28 can display the scanning progress status specified for each of the plurality of regions on the monitor 23 by illustration, such as by displaying a so-called progress bar on the monitor 23. Further, when the ultrasonic diagnostic apparatus has a speaker (not shown), the scanning progress status output unit 28 can also output the scanning progress status specified for each of the plurality of regions as voice via the speaker, for example.

[0066] Also, the scanning progress status output unit 28 can output a region where further scanning of the ultrasonic probe 1 is recommended among the plurality of regions based on the scanning progress status of the ultrasonic probe 1 in the plurality of digitized regions. For example, the scanning progress status output unit 28 can output, as a region where further scanning is recommended, a region where the ratio of the scanned region R1 is the smallest (the region where the ratio of the non-scanned region R2 is the largest) among the plurality of regions of the organ to be observed. By checking the output of the region where further scanning is recommended, the user can grasp the region where the scanning has not been sufficiently performed. The user can easily and surely perform comprehensive observation by performing the scanning of the ultrasonic probe 1 so as to cover the output regions while preferentially scanning the regions where the scanning has not been sufficiently performed.

[0067] Also, generally, when an ultrasonic probe 1 scans a location where an object through which ultrasonic waves hardly penetrate, such as bone, is located, it is known that a so-called acoustic shadow is generated by the bone or the like in the captured ultrasonic image. The three-dimensional ultrasonic image generation unit 25 can detect, for example, a region representing an acoustic shadow in the generated three-dimensional ultrasonic image, and the scanning progress status output unit 28 can exclude the region representing the acoustic shadow from the scanned region R1, or output the region representing the acoustic shadow as the non-scanned region R2. Here, the three-dimensional ultrasonic image generation unit 25 can detect a region representing an acoustic shadow in the three-dimensional ultrasonic image, for example, by using a learned model in machine learning that has learned a large number of ultrasonic images including acoustic shadows.

[0068] In this way, by excluding the region representing the acoustic shadow from the scanned region R1 or outputting the region representing the acoustic shadow as the non-scanned region R2, the scanning progress status of the ultrasonic probe 1 can be output more accurately, so that the user can more reliably perform a comprehensive observation of the organ to be observed.

[0069] Also, generally, in a so-called air emission state, that is, a state in which the ultrasonic probe 1 is separated from the body surface of the subject and ultrasonic waves are emitted from the ultrasonic probe 1 into the air, it is known that an air emission image, which is an ultrasonic image entirely filled with a specific color such as black, can be obtained. The main body control unit 29 can determine whether an air emission image has been generated, for example, by determining whether the entire ultrasonic image generated by the image generation unit 21 is filled with a specific color such as black. When it is determined that an air emission image has been generated, it can be determined that the observation of the organ to be observed has stopped. In this case, the main body control unit 29 can, for example, stop the processing of the three-dimensional ultrasonic image generation unit 25.

[0070] This prevents the air emission image from being taken into account when generating the three-dimensional ultrasonic image, and enables the scanning progress status output unit 28 to output the scanning progress status of the ultrasonic probe 1 more accurately, so that the user can more reliably perform a comprehensive observation of the organ to be observed.

[0071] In addition, there may be landmarks in the organs of the subject, which are parts with significant shape features. For example, the bifurcation points of the portal vein or the inferior vena cava can be cited as landmarks of the liver. If a three-dimensional ultrasonic image of the landmark in such an organ to be observed can be accurately obtained, a three-dimensional ultrasonic image of the organ to be observed deformed by the posture of the subject can be obtained more accurately.

[0072] Therefore, for example, before the user performs a full scan of the organ to be observed, that is, a comprehensive observation of the entire organ to be observed, the main control unit 29 can instruct the user by, for example, displaying on the monitor 23 that a pre-scan for depicting a landmark, which is a part of the organ that is likely to be greatly deformed by the posture of the subject, is to be performed. In this case, the three-dimensional ultrasonic image generation unit 25 can generate a three-dimensional ultrasonic image of the landmark of the organ to be observed. The main control unit 29 determines whether the structure of the generated three-dimensional ultrasonic image of the landmark is broken, for example, whether the shape of the three-dimensional ultrasonic image of the portal vein, which is the landmark, is smoothly continuous. When it is determined that the structure of the three-dimensional ultrasonic image of the landmark is not broken, the pre-scan can be terminated and the full scan can be started.

[0073] In addition, although it has been described that the three-dimensional ultrasonic image generation unit 25 generates a three-dimensional ultrasonic image based on the position and orientation information of the ultrasonic probe 1 acquired by the probe tracking sensor 13 and a plurality of frames of ultrasonic images generated by the image generation unit 21, the method for generating the three-dimensional ultrasonic image is not particularly limited to this.

[0074] For example, when a plurality of frames of ultrasonic images are generated while the ultrasonic probe 1 is translated in a certain direction or while the ultrasonic probe 1 is tilted within a certain angular range while being arranged at a fixed position, the three-dimensional ultrasonic image generation unit 25 can arrange the plurality of frames of ultrasonic images generated by the image generation unit 21 in chronological order without using the position and orientation information of the ultrasonic probe 1 acquired by the probe tracking sensor 13, thereby generating a three-dimensional ultrasonic image.

[0075] Also, when the oscillator array 11 has a plurality of ultrasonic transducers arranged two-dimensionally, the transmission / reception circuit 12 can acquire ultrasonic images of a plurality of frames by performing so-called electronic scanning. In this case, the three-dimensional ultrasonic image generation unit 25 can generate a three-dimensional ultrasonic image from the acquired ultrasonic images of the plurality of frames based on the positional relationship of the plurality of tomographic planes scanned by the electronic scanning.

[0076] Embodiment 2 In Embodiment 1, it has been described that the user inputs the posture of the subject via the input device 30, but the ultrasonic diagnostic apparatus can also automatically detect the posture of the subject.

[0077] FIG. 11 shows the configuration of the ultrasonic diagnostic apparatus according to Embodiment 2. The ultrasonic diagnostic apparatus according to Embodiment 2 includes an apparatus main body 2A instead of the apparatus main body 2 in the ultrasonic diagnostic apparatus according to Embodiment 1 shown in FIG. 1, and further includes an optical camera 51. Although the optical camera 51 is shown to be provided outside the ultrasonic probe 1 and the apparatus main body 2A, for example, it may be attached to the apparatus main body 2A or built therein.

[0078] The apparatus main body 2A includes a main body control unit 29A instead of the main body control unit 29 in the apparatus main body 2 in Embodiment 1, and further includes an optical image analysis unit 52. Here, the optical image analysis unit 52 is connected to the optical camera 51. The optical image analysis unit 52 is connected to the template selection unit 27 and the main body control unit 29A. Also, the optical camera 51 and the optical image analysis unit 52 constitute a posture detection unit 53. Also, in the apparatus main body 2A, an image generation unit 21, a display control unit 22, a three-dimensional ultrasonic image generation unit 25, a template selection unit 27, a scanning progress status output unit 28, the main body control unit 29A, and the optical image analysis unit 52 constitute a processor 32A for the apparatus main body 2A.

[0079] The optical camera 51 includes an image sensor such as a so-called CCD (Charge Coupled Device) image sensor or a so-called CMOS (Complementary Metal-Oxide-Semiconductor) image sensor, and acquires an optical image of the subject. The optical camera 51 sends the acquired optical image to the optical image analysis unit 52.

[0080] The optical image analysis unit 52 analyzes the optical image acquired by the optical camera 51 to detect the posture of the subject. The optical image analysis unit 52 can detect the posture of the subject from the optical image, for example, by using a method such as a trained model in machine learning that has learned the relationship between the optical image in which the subject is captured and the posture of the subject.

[0081] The template selection unit 27 selects one organ template corresponding to the posture of the subject detected by the optical image analysis unit 52 from among the plurality of organ templates stored in the template memory 26 for the organ to be observed.

[0082] The template selection unit 27 can calculate, for example, the similarity of each of the plurality of organ templates stored in the template memory 26 with respect to the posture of the subject detected by the posture detection unit 53, and select one organ template having the highest similarity. At this time, the template selection unit 27 can calculate the similarity by using, for example, an algorithm such as a so-called SVM (Support-Vector Machine), decision tree, deep learning, or collaborative filtering, or a combination of these algorithms.

[0083] Further, the template selection unit 27 can also select one organ template by using, for example, a trained model in machine learning that has learned the relationship between the detection result, which is the output from the posture detection unit 53 corresponding to the posture of the subject, and the organ template.

[0084] The scanning progress status output unit 28 identifies and outputs the scanning progress status of the ultrasonic probe 1 by aligning the three-dimensional ultrasonic image generated by the three-dimensional ultrasonic image generation unit 25 with one organ template selected by the template selection unit 27.

[0085] As described above, according to the ultrasonic diagnostic apparatus of the second embodiment, since the posture detection unit 53 configured by the optical camera 51 and the optical image analysis unit 52 automatically detects the posture of the subject from the optical image of the subject, there is no need for the user to input the posture of the subject via the input device 30, and it is possible to more easily perform comprehensive observation of the organs of the subject.

[0086] Note that the optical image of the subject captured by the optical camera 51 may be an image capturing the entire body of the subject, or may be an image capturing the subject partially, such as only the upper body of the subject. The optical image analysis unit 52 can detect the posture of the subject based on an optical image capturing the entire body of the subject or an optical image capturing the subject partially, for example, by using a learned model in machine learning that has learned the relationship between the optical image of the subject and the posture of the subject.

[0087] In addition, for example, when the template selection unit 27 uses the similarity of the posture of the subject in the selection of the organ template, and when the calculated plurality of similarities are very close and the difference therebetween is within a certain value, the template selection unit 27 can also display a plurality of organ templates that may be used by the scanning progress status output unit 28 on the monitor 23. At this time, the template selection unit 27 can select one organ template designated by the user via the input device 30 from among the plurality of organ templates displayed on the monitor 23. Further, for example, when the template selection unit 27 uses a learned model in machine learning in the selection of the organ template and the learned model outputs a plurality of organ templates, the template selection unit 27 can similarly select one organ template designated by the user.

[0088] Further, instead of the optical image of the subject acquired by the optical camera 51, for example, signals regarding the position of the body of the subject are acquired by a sensor device such as an optical sensor (not shown), an infrared camera, an infrared sensor, a magnetic sensor, or LiDAR (Light Detection And Ranging), and the posture of the subject can also be detected by analyzing this signal. In this case, a signal analysis unit (not shown) that analyzes the signal regarding the position of the body of the subject can detect the posture of the subject from the signal regarding the position of the body of the subject, for example, by a method of comparing the acquired signal with a template of signals representing a plurality of postures of the subject, or by a method using a learned model in machine learning in which the relationship between the signal and the posture of the subject is learned.

[0089] Embodiment 3 The ultrasonic diagnostic apparatus can also detect the posture of the subject based on a signal from a pressure sensor disposed on the examination table on which the subject lies when the subject undergoes an examination. Here, the examination table in the present invention includes a chair, a bed, etc. on which the subject lies during the examination.

[0090] FIG. 12 shows the configuration of the ultrasonic diagnostic apparatus according to Embodiment 3. The ultrasonic diagnostic apparatus according to Embodiment 3 includes an apparatus main body 2B instead of the apparatus main body 2A and a plurality of pressure sensors 54 disposed on the examination table B instead of the optical camera 51 in the ultrasonic diagnostic apparatus according to Embodiment 2 shown in FIG. 11. The apparatus main body 2B includes a main body control unit 29B instead of the main body control unit 29A and a signal analysis unit 55 instead of the optical image analysis unit 52 in the apparatus main body 2A according to Embodiment 2.

[0091] A signal analysis unit 55 is connected to a plurality of pressure sensors 54 arranged on the examination table B. The signal analysis unit 55 is connected to a template selection unit 27 and a main body control unit 29B. Further, a posture detection unit 56 is constituted by the plurality of pressure sensors 54 and the signal analysis unit 55. Also, in the apparatus main body 2B, a processor 32B for the apparatus main body 2B is constituted by an image generation unit 21, a display control unit 22, a three-dimensional ultrasonic image generation unit 25, a template selection unit 27, a scanning progress status output unit 28, the main body control unit 29B, and the signal analysis unit 55.

[0092] The plurality of pressure sensors 54 are arranged on the examination table B on which the subject lies when undergoing an examination, and detect a detection signal representing the distribution of pressure from the subject corresponding to the posture of the subject. Since the shape and area of the region where the subject touches the bed differ depending on the posture of the subject on the bed, the plurality of pressure sensors 54 detect a detection signal representing the distribution of pressure corresponding to each posture of the subject.

[0093] The signal analysis unit 55 analyzes the detection signals acquired by the plurality of pressure sensors 54 to detect the posture of the subject. The signal analysis unit 55, for example, stores in advance templates of a plurality of detection signals corresponding to a plurality of postures of the subject, and can detect the posture of the subject by comparing the detection signals acquired by the plurality of pressure sensors 54 with the templates. Also, the signal analysis unit 55 can also detect the posture of the subject by using a learned model in machine learning that has learned the relationship between the posture of the subject and the detection signal.

[0094] The template selection unit 27 selects one organ template corresponding to the posture of the subject detected by the signal analysis unit 55 from among the plurality of organ templates stored in the template memory 26 for the organ to be observed.

[0095] The template selection unit 27 can calculate, for each of a plurality of organ templates stored in the template memory 26, the degree of similarity to the posture of the subject detected by the posture detection unit 56, and select one organ template having the highest degree of similarity. At this time, the template selection unit 27 can calculate the degree of similarity by, for example, an algorithm such as a so-called SVM, decision tree, deep learning, or collaborative filtering, or a combination of these algorithms.

[0096] Alternatively, the template selection unit 27 can also select one organ template using, for example, a learned model in machine learning that has learned the relationship between the detection result, which is the output from the posture detection unit 56 corresponding to the posture of the subject, and the organ template.

[0097] The scanning progress status output unit 28 identifies and outputs the scanning progress status of the ultrasonic probe 1 by aligning the three-dimensional ultrasonic image generated by the three-dimensional ultrasonic image generation unit 25 with one organ template selected by the template selection unit 27.

[0098] From the above, according to the ultrasonic diagnostic apparatus of Embodiment 3, since the posture detection unit 56 composed of the plurality of pressure sensors 54 and the signal analysis unit 55 automatically detects the posture of the subject from the pressure detection signal, similar to the ultrasonic diagnostic apparatus of Embodiment 2, there is no need for the user to input the posture of the subject via the input device 30, and it is possible to more easily perform a comprehensive observation of the organs of the subject.

[0099] Although it has been described that the plurality of pressure sensors 54 are arranged on the examination table B, for example, when the examination table B is a chair, one pressure sensor 54 can also be arranged on the chair. Since the posture of the subject sitting on the chair is usually a sitting position, the signal analysis unit 55 can detect the posture of the subject as a sitting position when receiving the pressure detection signal from the pressure sensor 54. In this way, the ultrasonic diagnostic apparatus can be provided with at least one pressure sensor 54 arranged on the chair or the examination table B.

[0100] Also, for example, when there are a plurality of examination tables B in an examination room for examining a subject, a pressure sensor 54 can be arranged on each of them.

[0101] Embodiment 4 In Embodiments 1 to 3, the template selection unit 27 selects one organ template for the organ to be observed based on the information representing the posture of the subject. However, for example, one organ template can also be selected based on the three-dimensional ultrasonic image of the organ to be observed.

[0102] FIG. 13 shows the configuration of the ultrasonic diagnostic apparatus according to Embodiment 4. The ultrasonic diagnostic apparatus according to Embodiment 4 is the ultrasonic diagnostic apparatus according to Embodiment 1 shown in FIG. 1, and includes an apparatus main body 2C instead of the apparatus main body 2. The apparatus main body 2C includes a template selection unit 27C instead of the template selection unit 27 and a main body control unit 29C instead of the main body control unit 29 in the apparatus main body 2 in Embodiment 1.

[0103] In the apparatus main body 2C, the template selection unit 27C is connected to the three-dimensional ultrasonic image generation unit 25 and the template memory 26. The template selection unit 27C is connected to the scanning progress status output unit 28 and the main body control unit 29C. Further, a processor 32C for the apparatus main body 2C is constituted by the image generation unit 21, the display control unit 22, the three-dimensional ultrasonic image generation unit 25, the template selection unit 27C, the scanning progress status output unit 28, and the main body control unit 29C.

[0104] The template selection unit 27C selects one organ template based on the three-dimensional ultrasonic image of the organ to be observed acquired by the three-dimensional ultrasonic image acquisition unit 31. For example, the template selection unit 27C calculates the similarity of each of the plurality of organ templates stored in the template memory 26 with respect to the organ to be observed, for the three-dimensional ultrasonic image acquired by the three-dimensional ultrasonic image acquisition unit 31, and can select one organ template having the highest similarity. At this time, the template selection unit 27C can calculate the similarity by, for example, an algorithm such as SVM, decision tree, deep learning, or collaborative filtering, or a combination of these algorithms.

[0105] Further, the template selection unit 27C can also select one organ template using, for example, a learned model in machine learning that has learned the three-dimensional ultrasonic image of the organ to be observed according to the posture of the subject.

[0106] The scanning progress status output unit 28 identifies and outputs the scanning progress status of the ultrasonic probe 1 by aligning the one organ template selected by the template selection unit 27C and the three-dimensional ultrasonic image generated by the three-dimensional ultrasonic image generation unit 25 with each other.

[0107] Next, an example of the operation of the ultrasonic diagnostic apparatus according to the fourth embodiment will be described using the flowchart of FIG. 14. Since steps ST3 to ST8 in the flowchart of FIG. 14 are the same as ST3 to ST8 in FIG. 8, detailed descriptions of these steps are omitted. Also, an example in which the organ to be observed is the liver will be described.

[0108] First, in step ST3, the image generation unit 21 generates an ultrasonic image of the liver of the subject. At this time, the acquisition of the position and orientation information of the ultrasonic probe 1 by the probe tracking sensor 13 is also performed, and the ultrasonic image corresponding to each other and the position and orientation information of the ultrasonic probe 1 are associated and stored in the image memory 24.

[0109] In step ST4, the main control unit 29C determines whether a sufficient ultrasonic image for generating a three-dimensional ultrasonic image has been obtained. Here, the processes of steps ST3 and ST4 are repeated unless it is determined that a sufficient ultrasonic image has been obtained. When it is determined in step ST4 that a sufficient ultrasonic image for generating a three-dimensional ultrasonic image has been obtained, the process proceeds to step ST4.

[0110] In step ST5, the three-dimensional ultrasonic image generation unit 25 generates a three-dimensional ultrasonic image of the liver based on a plurality of frames of ultrasonic images obtained by repeating steps ST3 and ST4 and stored in the image memory 24.

[0111] In step ST9 following step ST5, the main control unit 29C determines whether one organ template for the liver as the observation target has already been selected. Since no organ template has been selected yet at this time, the main control unit 29C determines that no organ template has been selected. In this case, the process proceeds to step ST10.

[0112] In step ST10, the template selection unit 27C calculates the similarity of each of a plurality of organ templates for the liver stored in the image memory 24 with respect to the three-dimensional ultrasonic image of the liver acquired in step ST5, and selects one organ template having the highest similarity. At this time, the template selection unit 27C can calculate the similarity by, for example, an algorithm such as SVM, decision tree, deep learning, or collaborative filtering, or a combination of these algorithms.

[0113] Further, the template selection unit 27C can also select one organ template using, for example, a learned model in machine learning that has learned a three-dimensional ultrasonic image of the organ to be observed according to the posture of the subject.

[0114] In step ST6 following step ST10, the scanning progress status output unit 28 identifies the scanning progress status of the ultrasonic probe 1 with respect to the liver by aligning the three-dimensional ultrasonic image of the liver acquired in step ST4 and one organ template selected in step ST9 with each other using an algorithm such as RANSAC or ICP, a machine learning method, or a combination thereof, etc.

[0115] In step ST7, the scanning progress status output unit 28 outputs the scanning progress status identified in step ST6.

[0116] In step ST8, the main body control unit 29C determines whether to end the observation of the subject's liver. If it is determined in step ST8 to continue the observation of the liver, the process returns to step ST3. In step ST3, an ultrasonic image of the subject's liver is generated, and it is determined whether sufficient ultrasonic images for generating a three-dimensional ultrasonic image are obtained in step ST4. If it is determined here that sufficient ultrasonic images are obtained, the process proceeds to step ST5.

[0117] In step ST5, the three-dimensional ultrasonic image generation unit 25 adds data corresponding to a plurality of frames of ultrasonic images obtained by repeating steps ST3 and ST4 newly performed on the three-dimensional ultrasonic image obtained in the previous step ST5 to generate a three-dimensional ultrasonic image of the liver. When step ST5 is completed, the process proceeds to step ST9.

[0118] In step ST9, the main body control unit 29C determines whether one organ template for the liver to be observed has already been selected. Since one organ template for the liver has already been selected in the previous step ST10, the main body control unit 29C determines that one organ template has already been selected. In this case, step ST10 is skipped and the process proceeds to step ST6.

[0119] In step ST6, the scanning progress status output unit 28 newly specifies the scanning progress status of the ultrasonic probe 1 with respect to the liver by aligning the three-dimensional ultrasonic image of the liver newly acquired in step ST5 with one organ template that has already been selected in the previous step ST10. The scanning progress status specified in this way is output by the scanning progress status output unit 28 in step ST7.

[0120] In the subsequent step ST8, the main body control unit 29C determines whether to end the observation of the subject's liver. As long as it is determined in step ST8 to continue observing the liver, the processes of steps ST3 to ST5, ST9, ST10, and ST6 to ST8 are repeated. When it is determined in step ST8 to end the observation of the liver, the operation of the ultrasonic diagnostic apparatus according to the flowchart of FIG. 14 is completed.

[0121] From the above, even when one organ template is selected based on the three-dimensional ultrasonic image of the organ to be observed and a plurality of organ templates stored in the template memory 26 for the organ to be observed, similar to the case where one organ template is selected based on the information representing the posture of the subject as in Embodiments 1 to 3, the user can easily and accurately perform a comprehensive observation of the organ to be observed regardless of their proficiency.

[0122] In the flowchart of FIG. 14, one organ template selected in step ST10 is continuously used in the subsequent processes. However, each time a new three-dimensional ultrasonic image is acquired, the process of step ST10 can be performed to reselect one organ template. By periodically updating one organ template used for alignment in this way, even if an optimal organ template is not selected due to insufficient scanning of the ultrasonic probe 1 with respect to the organ to be observed, etc., an optimal organ template can be selected by updating one organ template in the next and subsequent times, and an accurate scanning progress status can be output.

[0123] Further, for example, when the template selection unit 27 uses the similarity between the organ template and the three-dimensional ultrasonic image to select the organ template, and when the calculated similarities of a plurality of templates are very close and the difference therebetween is within a certain value, the template selection unit 27 can also display on the monitor 23 a plurality of organ templates that may be used by the scanning progress status output unit 28. At this time, for example, the template selection unit 27 can select one organ template specified by the user via the input device 30 from among the plurality of organ templates displayed on the monitor 23. Further, for example, when the template selection unit 27 uses a learned model in machine learning to select the organ template and the learned model outputs a plurality of organ templates, the template selection unit 27 can similarly select one organ template specified by the user.

Explanation of Reference Numerals

[0124] 1 Ultrasonic probe, 2, 2A, 2B, 2C Apparatus main body, 11 Transducer array, 12 Transmission / reception circuit, 13 Probe tracking sensor, 21 Image generation unit, 22 Display control unit, 23 Monitor, 24 Image memory, 25 Three-dimensional ultrasonic image generation unit, 26 Template memory, 27, 27C Template selection unit, 28 Scanning progress status output unit, 29, 29A, 29B, 29C Main body control unit, 30 Input device, 31 Three-dimensional ultrasonic image acquisition unit, 32, 32A, 32B, 32C Processor, 41 Pulser, 42 Amplifier, 43 AD converter, 44 Beamformer, 45 Signal processing unit, 46 DSC, 47 Image processing unit, 51 Optical camera, 52 Optical image analysis unit, 53, 56 Posture detection unit, 54 Pressure sensor, 55 Signal analysis unit, A1 Right lobe, A2 Left lobe, B Examination table, M1, M2 Organ template, R1 Scanned area, R2 Unscanned area, S2 to S8 Sub-areas, T1 Rear area, T2 Front area, T3 Inner area, T4 Outer area.

Claims

1. An ultrasonic diagnostic apparatus for observing an organ of a subject by performing scanning with an ultrasonic probe, comprising: a template memory storing a plurality of organ templates; a three-dimensional ultrasonic image acquisition unit that acquires a three-dimensional ultrasonic image of the organ by transmitting and receiving an ultrasonic beam using the ultrasonic probe; a template selection unit that selects one organ template from the plurality of organ templates according to the posture of the subject; a scanning progress status output unit that specifies and outputs the scanning progress status of the ultrasonic probe with respect to the organ by aligning the three-dimensional ultrasonic image acquired by the three-dimensional ultrasonic image acquisition unit and the one organ template selected by the template selection unit; An ultrasonic diagnostic apparatus comprising the above.

2. The ultrasonic diagnostic apparatus according to claim 1, wherein the plurality of organ templates include organ templates corresponding to the respective organs when the subject is in a sitting position, a dorsal recumbent position, a ventral recumbent position, and a lateral recumbent position.

3. The ultrasonic diagnostic apparatus according to claim 2, wherein each of the plurality of organ templates is composed of three-dimensional data representing the contour of the organ according to the posture of the subject.

4. The ultrasonic diagnostic apparatus according to claim 2, wherein each of the plurality of organ templates is composed of three-dimensional data representing the contour of the organ and the internal structure of the organ according to the posture of the subject.

5. Comprising an input device for a user to perform an input operation, The ultrasonic diagnostic apparatus according to claim 1, wherein the template selection unit selects the one organ template based on the posture of the subject specified by the user via the input device.

6. Comprising a posture detection unit for detecting the posture of the subject, The ultrasonic diagnostic apparatus according to claim 1, wherein the template selection unit selects the one organ template based on the posture of the subject detected by the posture detection unit.

7. The ultrasonic diagnostic apparatus according to claim 6, wherein the template selection unit calculates, for each of the plurality of organ templates, the degree of similarity to the posture of the subject detected by the posture detection unit, and selects the organ template having the highest degree of similarity as the one organ template.

8. The ultrasonic diagnostic apparatus according to claim 6, wherein the template selection unit selects the one organ template using a learned model obtained by learning the output from the posture detection unit according to the posture of the subject.

9. The posture detection unit includes an optical camera that photographs the subject, and an optical image analysis unit that analyzes an optical image acquired by the optical camera to detect the posture of the subject. The ultrasonic diagnostic apparatus according to claim 6.

10. The posture detection unit includes at least one pressure sensor disposed on an examination table on which the subject lies when the subject undergoes an examination, and a signal analysis unit that analyzes a detection signal acquired by the at least one pressure sensor to detect the posture of the subject. The ultrasonic diagnostic apparatus according to claim 6.

11. The ultrasonic diagnostic apparatus according to claim 1, wherein the template selection unit selects the one organ template based on the three-dimensional ultrasonic image acquired by the three-dimensional ultrasonic image acquisition unit.

12. The ultrasonic diagnostic apparatus according to claim 11, wherein the template selection unit calculates a similarity of each of the plurality of organ templates with respect to the three-dimensional ultrasonic image acquired by the three-dimensional ultrasonic image acquisition unit, and selects the organ template having the highest similarity as the one organ template.

13. The ultrasonic diagnostic apparatus according to claim 11, wherein the template selection unit selects the one organ template using a learned model obtained by learning the three-dimensional ultrasonic image of the organ according to the posture of the subject.

14. is provided with a monitor, and the scanning progress status output unit displays the scanning progress status of the ultrasonic probe on the monitor. The ultrasonic diagnostic apparatus according to claim 1.

15. The ultrasonic diagnostic apparatus according to claim 14, wherein the scanning progress status output unit displays, on the monitor, a scanned area or an unscanned area by the ultrasonic probe as the scanning progress status.

16. The ultrasonic diagnostic apparatus according to claim 1, wherein the scanning progress status output unit divides the organ into a plurality of regions, numerically values and outputs the scanning progress status of the ultrasonic probe in each of the plurality of regions.

17. The ultrasonic diagnostic apparatus according to claim 16, wherein the scanning progress status output unit outputs an area where further scanning of the ultrasonic probe is recommended among the plurality of areas based on the scanning progress status of the ultrasonic probe in the plurality of digitized areas.

18. A control method for an ultrasonic diagnostic apparatus that observes an organ of a subject by performing scanning with an ultrasonic probe, storing a plurality of organ templates in a template memory, acquiring a three-dimensional ultrasonic image of the organ by transmitting and receiving an ultrasonic beam using the ultrasonic probe, selecting one organ template from the plurality of organ templates according to the posture of the subject, identifying and outputting the scanning progress status of the ultrasonic probe with respect to the organ by performing alignment between the acquired three-dimensional ultrasonic image and the selected one organ template. A control method for an ultrasonic diagnostic apparatus.

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