Inspection support robot and ultrasound inspection device

Abstract

To provide an ultrasonic inspection device capable of easily obtaining an image of a heart larger than a general size.SOLUTION: An ultrasonic inspection device 1 includes: a support member 13 having a first support surface 21b facing upward and having an opening 13a vertically penetrating the support member 13 formed therein; a wave projection part 27a arranged below the first support surface 21b and emitting an ultrasonic wave upward through the opening 13a; and a detection part 27b arranged below the first support surface 21b and detecting the ultrasonic wave.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an ultrasonic inspection device. [Background technology]

[0002] Conventionally, cardiac ultrasound examinations (echocardiograms) have been performed to examine the condition of a subject's heart using ultrasound (see, for example, Patent Documents 1 to 4). In cardiac ultrasound examinations, the subject is supported on an examination table in a supine position (face up). Then, the heart is examined by observing cross-sectional images of the heart using an ultrasound probe. On the other hand, in Non-Patent Document 1, an ultrasound cardiac examination is performed on a subject lying prone on an examination table. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4503366 [Patent Document 2] Patent No. 4733789 [Patent Document 3] Patent No. 5428795 [Patent Document 4] Patent No. 5463554 [Non-patent literature]

[0004] [Non-Patent Document 1] Diego Ugalde, Juan Nicolas Medel, Carlos Romero and Rodrigo Cornejo, “Transthoracic cardiac ultrasound in prone position: a technique variation description”, Intensive Care Medicine (2018) 44:p.986-987 Summary of the Invention [Problem to be solved by the invention]

[0005] Generally, the heart of a subject is located behind the sternum. Therefore, when the subject lies supine, gravity acts on the subject, causing the heart to move downwards (toward the back) within the subject's body. In the echocardiography of Patent Documents 1 to 4, an ultrasound probe is pressed against the chest of the subject in the supine position from above. With the heart thus moved toward the back and away from the ultrasound probe, the image of the heart obtained by the ultrasound probe is of a typical size for an image of the heart obtained by echocardiography. On the other hand, in the cardiac ultrasound examination of Non-Patent Document 1, an ultrasound probe is inserted between an examination table and a subject in a prone position, which requires a great deal of effort for the examination.

[0006] The present invention has been made in view of the above problems, and has as its object to provide an ultrasonic examination apparatus that can easily obtain images of the heart that are larger than the general size. [Means for solving the problem]

[0007] (1) An ultrasonic inspection device according to a first aspect includes a support member having a first support surface facing upward and having an opening formed therethrough in the vertical direction, a wave-emitting unit positioned below the first support surface and emitting ultrasonic waves upward through the opening, and a detection unit positioned below the first support surface and detecting the ultrasonic waves.

[0008] (2) In the ultrasonic inspection device, the opening may be a through-hole. (3) The ultrasonic inspection device may include a first support member having a second support surface facing upward, a plurality of actuators extending upward from the first support member and having adjustable vertical lengths, and second support members connected to the upper ends of the plurality of actuators, respectively, and supporting the wave-emitting unit and the detection unit. (4) In the ultrasonic inspection device, the plurality of actuators may include four actuators arranged around an axis that intersects with the second support surface. (5) The ultrasonic examination device may be for use in the heart. [Effects of the Invention]

[0009] The ultrasonic examination apparatus of the present invention can easily obtain a relatively large image of the heart. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a perspective view of an ultrasonic inspection device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a cross-sectional view taken along the line A1-A1 in FIG. [Figure 3] FIG. 2 is a perspective view of an examination support robot in the ultrasonic examination device. [Figure 4] FIG. 2 is a plan view of a main part of the inspection support robot. DETAILED DESCRIPTION OF THE INVENTION

[0011] An embodiment of an ultrasonic inspection device according to the present invention will be described below with reference to FIGS. As shown in Figures 1 and 2, the ultrasound examination device 1 of this embodiment is a device for performing a cardiac ultrasound examination on a subject P1. Note that Figure 2 shows a part of the body of the subject P1 in a see-through manner. The ultrasound examination device 1 is preferably for use in the heart (a cardiac ultrasound examination device). The ultrasonic examination device 1 includes a bed 10, an examination support robot 25, an input unit 45, a display unit 50, and a control unit 55.

[0012] The configuration of the bed 10 is not particularly limited as long as it has a first support surface 21b and a through hole 13a, which will be described later. For example, the bed 10 has a frame 11, a decorative panel 12, and a support member 13. As shown in Fig. 2, the frame 11 is a framework that forms the lower part of the bed 10. The frame 11 has a plurality of first horizontal frames 16, a plurality of vertical frames 17, and a plurality of second horizontal frames 18. For example, the plurality of first horizontal frames 16, the plurality of vertical frames 17, and the plurality of second horizontal frames 18 are made of rod-shaped members made of metal, wood, or the like.

[0013] The multiple first horizontal frames 16 are arranged in a frame-like shape in a plan view. Adjacent first horizontal frames 16 are joined to each other. The multiple first horizontal frames 16 are arranged on an installation surface F. For example, the installation surface F is along a horizontal plane. Hereinafter, directions that are along the installation surface F and perpendicular to each other are referred to as a first direction X and a second direction Y. The up-down direction is also referred to as a third direction Z. The multiple vertical frames 17 extend upward from the portion where adjacent first horizontal frames 16 are joined. The second horizontal frames 18 are arranged in a frame shape in a plan view. Adjacent second horizontal frames 18 are joined to each other. The second horizontal frames 18 are joined to the upper ends of the vertical frames 17. A space S1 for accommodating an inspection support robot 25 is formed within the frame 11, which is configured by the plurality of first horizontal frames 16, the plurality of vertical frames 17, and the plurality of second horizontal frames . The decorative panel 12 is a plate-shaped member that covers the side surface of the frame 11. The decorative panel 12 conceals the space S1 so that it cannot be seen from the outside of the ultrasonic inspection device 1.

[0014] For example, the support member 13 has a support plate 20 and a cushion portion 21. The support plate 20 and the cushion portion 21 are each in the shape of a flat plate. The support plate 20 is made of a plate material. The support plate 20 is arranged along a horizontal plane. A lower through-hole 20a is formed in the support plate 20, passing through the support plate 20 in the up-down direction. The support plate 20 is arranged on a plurality of second horizontal frames 18, and is supported from below by the plurality of second horizontal frames 18. The support plate 20 is fixed to the plurality of second horizontal frames 18. The lower through-hole 20a is located within a space surrounded by the plurality of second horizontal frames 18 in plan view.

[0015] A known mattress or the like is used for the cushion portion 21. The cushion portion 21 is placed on the support plate 20 and fixed to the support plate 20. An upper through-hole 21a is formed in the cushion portion 21, passing through the cushion portion 21 in the vertical direction. The upper through-hole 21a is placed above the lower through-hole 20a of the support plate 20 and communicates with the lower through-hole 20a. The lower through-hole 20a of the support plate 20 and the upper through-hole 21a together form a through-hole (opening) 13a. The through-hole 13a passes through the support member 13 in the vertical direction. For example, the through-hole 13a has a rectangular shape with each side measuring 15 cm in plan view. The upper surface of the cushion portion 21 is a first support surface 21b facing upward. In this example, the first support surface 21b is flat. The support member may have a curved shape.

[0016] As shown in FIGS. 2 to 4, the inspection support robot 25 has a six-axis stage 26, an ultrasonic probe 27, a power supply source (not shown), and an air pump. 2 and 3, the six-axis stage 26 has an X-axis stage 30, a Y-axis stage 31, a rotating section 32, and an actuator unit 33. The X-axis stage 30, the Y-axis stage 31, and the rotating section 32 have known configurations. The X-axis stage 30 has a main body 30a, a movable part 30b, and an X-direction drive motor (not shown). When the X-direction drive motor is driven, the movable part 30b can be translated in the first direction X relative to the main body 30a. The main body 30a is fixed to the frame 11.

[0017] The Y-axis stage 31 has a main body 31a, a movable part 31b, and a Y-direction drive motor (not shown). When the Y-direction drive motor is driven, the movable part 31b can be translated in the second direction Y relative to the main body 31a. The main body 31a is fixed to the movable part 30b of the X-axis stage 30. The rotating unit 32 has a main body 32a, a movable shaft (not shown), and a drive motor for rotating around the Z axis. The main body 32a is formed in a cylindrical shape. The movable shaft is disposed within the main body 32a along the third direction Z. Hereinafter, the central axis of the rotating unit 32 will be referred to as the axis O1. In this embodiment, the axis O1 extends in the vertical direction. When the Z-axis rotation drive motor is driven, the movable shaft can be rotated relative to the main body 32a around an axis parallel to the third direction Z. The main body 32a is fixed to the movable part 30b of the Y-axis stage 31.

[0018] As shown in FIGS. 2 to 4, the actuator unit 33 includes a first support member 36, a plurality of actuators 37A, 37B, 37C, and 37D (hereinafter simply referred to as actuators 37A to 37D, etc.), and a second support member 38. In this example, the first support member 36 and the second support member 38 are formed into a disk shape from metal, synthetic resin, or the like. The first support member 36 and the second support member 38 are arranged so that their respective thickness directions are aligned in the vertical direction. The first support member 36 has a second support surface 36a, which is its upper surface and faces upward. The first support member 36 is fixed to the upper end of the movable shaft of the rotating unit 32 coaxially with the axis O1. The axis O1 is perpendicular to the second support surface 36a. Note that the axis O1 may intersect with the second support surface 36a.

[0019] In this embodiment, four actuators 37A to 37D are provided as the plurality of actuators 37A to 37D. The actuators 37A to 37D have the same structure. The following description will be given taking the actuator 37A as an example. As shown in FIG. 3, the actuator 37A has a side surface portion 37aA, a bottom surface portion 37bA, and a top surface portion 37cA. The side surface portion 37aA is formed in a cylindrical shape and extends in the vertical direction. For example, the side surface portion 37aA has a so-called bellows structure in which mountain folds and valley folds are repeated in the vertical direction. The side surface portion 37aA can expand and contract in the vertical direction. The bottom surface portion 37bA airtightly seals the lower end of the side surface portion 37aA, and the top surface portion 37cA airtightly seals the upper end of the side surface portion 37aA. A bottom surface portion 37bA of the actuator 37A is fixed to the second support surface 36a of the first support member 36. The actuator 37A extends upward from the first support member 36.

[0020] 3 and 4, the actuators 37A to 37D are arranged in the following order around the axis O1. In this example, the actuators 37A to 37D are arranged at equal angular intervals around the axis O1. The actuators 37A and 37C are arranged so as to sandwich the axis O1 in the first direction X. The actuators 37B and 37D are arranged so as to sandwich the axis O1 in the second direction Y. It is preferable that the actuators 37A to 37D are arranged close to each other near the axis O1. With this configuration, the outer diameter of the actuators 37A to 37D as a whole becomes smaller. The actuators 37A to 37D do not have to be arranged at equal angular intervals around the axis O1.

[0021] The lower surface of a second support member 38 is fixed to the top surface 37cA of the actuator 37A. That is, the second support member 38 is connected to the upper ends of the actuators 37A to 37D, respectively. The second support member 38 is disposed coaxially with the axis O1. The ultrasonic probe 27 has a known configuration. For example, a sector-type probe manufactured by Nihon Dempa Kogyo Co., Ltd. can be preferably used as the ultrasonic probe 27. The ultrasonic probe 27 is fixed to the upper surface of the second support member 38. For example, a wave projection unit 27a and a detection unit 27b are built into the upper end of the ultrasonic probe 27. The ultrasonic probe 27 also has an image conversion unit (not shown). As shown in FIG. 2, the wave projection unit 27a emits ultrasonic waves upward through the through-hole 13a in the support member 13 of the bed 10. The detection unit 27b detects the reflected waves of the ultrasonic waves emitted by the wave projection unit 27a. The image conversion unit creates a cross-sectional image of the body of the subject P1, including the heart, based on the detection result of the detection unit 27b. The image conversion unit sends the created image to the control unit 55. The second support member 38 supports the ultrasonic probe 27 (the wave projection unit 27a and the detection unit 27b) from below the ultrasonic probe 27.

[0022] 2, the upper end portion (wave projection portion 27a and detection portion 27b) of the ultrasonic probe 27 is disposed within the through-hole 13a of the support member 13. In other words, the wave projection portion 27a and the detection portion 27b are disposed below the first support surface 21b. The power supply supplies power to the X-direction drive motor, the Y-direction drive motor, and the Z-axis rotation drive motor. The air pumps can supply air to the actuators 37A to 37D independently of one another, and can discharge air from the actuators 37A to 37D independently of one another. For example, when the air pump supplies air into actuator 37A, the vertical length of actuator 37A increases. On the other hand, when the air pump exhausts air from inside actuator 37A, the vertical length of actuator 37A decreases. The same applies to actuators 37B to 37D as to actuator 37A. In this way, the air pump is capable of adjusting the vertical lengths of the actuators 37A to 37D independently of one another.

[0023] For example, when the actuators 37A to 37D have equal vertical lengths (hereinafter referred to as the reference state of the actuators 37A to 37D), if air is supplied into one of the actuators 37B, 37D and air is exhausted from the other, the second support member 38 rotates around an axis parallel to the first direction X. When air is supplied into one of the actuators 37A, 37C and air is discharged from the other actuator from the reference state of the actuators 37A to 37D, the second support member 38 rotates around an axis parallel to the second direction Y. The axis parallel to the first direction X and the axis parallel to the second direction Y are axes that intersect with the axis O1. When air is supplied into or exhausted from the actuators 37A to 37D from the reference state of the actuators 37A to 37D, the second support member 38 moves parallel to the third direction Z.

[0024] That is, the X-axis stage 30 allows the ultrasonic probe 27 to move in parallel in the first direction X relative to the bed 10 (support member 13). The Y-axis stage 31 allows the ultrasonic probe 27 to move in parallel in the second direction Y relative to the bed 10. The rotating unit 32 allows the ultrasonic probe 27 to rotate about an axis parallel to the third direction Z relative to the bed 10. The actuator unit 33 allows the ultrasonic probe 27 to translate in the third direction Z relative to the bed 10, rotate about an axis parallel to the first direction X, and rotate about an axis parallel to the second direction Y. As described above, the six-axis stage 26 allows the ultrasonic probe 27 to move with six degrees of freedom relative to the bed 10. As shown in FIG. 1, the inspection support robot 25 is disposed in a space S1 of the frame 11.

[0025] The input unit 45 has a button 46, a joystick 47, etc. When the button 46 or the joystick 47 is operated, a signal is sent to the control unit 55. The display unit 50 includes a display and the like. For example, the control unit 55 is built into the input unit 45. The control unit 55 has a CPU (Central Processing Unit) and a storage unit (not shown). The storage unit stores a control program for controlling the CPU, and the CPU operates based on the control program. The control unit 55 is connected to the X-direction drive motor, the Y-direction drive motor, the Z-axis rotation drive motor, the air pump, the ultrasonic probe 27, the input unit 45, and the display unit 50 via an input / output interface (IO·I / F) (not shown) or the like. The control unit 55 controls the X-direction drive motor, the Y-direction drive motor, the Z-axis rotation drive motor, and the air pump.

[0026] Next, a description will be given of the operation of the ultrasonic examination device 1 configured as above. In the following description, it is assumed that the person operating the ultrasonic examination device 1 is a doctor P6. First, the doctor P6 exposes the chest of the subject P1 and applies ultrasound jelly to the chest. The doctor P6 then instructs the subject P1 to lie prone on the first support surface 21b of the bed 10. That is, the doctor P6 supports the subject P1, who is in the prone position, from below using the first support surface 21b. 2, the position of the subject P1 relative to the through-hole 13a is adjusted so that the heart P2 (chest) of the subject P1 is located above the through-hole 13a. Gravity acting on the subject P1 causes the heart P2 to move downwards toward the sternum P3 of the subject P1 within the body of the subject P1. As a result, the heart P2 of the subject P1 approaches the wave-projecting unit 27a and the detecting unit 27b, which are disposed below the first support surface 21b. At this time, the ultrasonic probe 27 (the wave projection unit 27a and the detection unit 27b) is pressed against the chest of the subject P1 from below the subject P1.

[0027] Ultrasonic waves emitted upward from the wave projection unit 27a are reflected downward by various parts of the subject P1, including the heart P2, and detected by the detection unit 27b. The image conversion unit creates a cross-sectional image of the body of the subject P1 based on the detection result of the detection unit 27b. The image created by the image conversion unit is sent to the display unit 50 via the control unit 55 and is displayed on the display unit 50. The doctor P6 operates the joystick 47 of the input unit 45 while viewing the image of the heart P2 displayed on the display unit 50. The control unit 55 receives a signal from the input unit 45 and drives the six-axis stage 26 to translate and rotate the ultrasound probe 27. The doctor P6 operates the joystick 47 to adjust the position and posture of the ultrasound probe 27 so that the heart P2 is displayed in the image displayed on the display unit 50. Because the heart P2 of the subject P1 approaches the wave-projecting unit 27a and the detecting unit 27b, the heart P2 occupies a wide range within the viewing angle of the detecting unit 27b, and a relatively large image of the heart P2 is obtained.

[0028] Furthermore, the doctor P6 operates the joystick 47 to adjust the position and posture of the ultrasound probe 27 so as to obtain an image that makes it easy to observe the heart P2. In order to obtain an image that makes it easy to observe the heart P2, it is preferable to rotate the ultrasound probe 27 around an axis parallel to the first direction X or around an axis parallel to the second direction Y, rather than around an axis parallel to the third direction Z.

[0029] As described above, in the ultrasound examination device 1 of this embodiment, the subject P1 is supported by the first support surface 21b while the wave projecting unit 27a emits ultrasound to the subject P1, so that the weight of the subject P1 is less likely to act excessively on the wave projecting unit 27a and the detection unit 27b, making it easy to obtain an image of the heart P2. Furthermore, in the subject P1, the heart P2 moves downward due to the influence of gravity and approaches the wave projecting unit 27a and the detection unit 27b, making it easy to obtain an image of the heart P2 that is larger than usual. The examination support robot 25 acquires an image of the heart P2, so that a stable image of the heart P2 can be acquired regardless of the skill of the doctor P6.

[0030] The opening that penetrates in the vertical direction is through-hole 13a. Therefore, the subject P1 can be reliably supported by the entire periphery of through-hole 13a on first support surface 21b. The ultrasonic inspection device 1 has an actuator unit 33 (a first support member 36, actuators 37A to 37D, and a second support member 38). Therefore, the wave projection unit 27a and the detection unit 27b can be translated in the vertical direction relative to the support member 13 of the bed 10, and can also be rotated around two axes along the installation surface F. The outer diameter of the actuators 37A to 37D as a whole can be reduced.

[0031] The ultrasonic inspection device 1 has four actuators 37A to 37D arranged around the axis O1. Therefore, the actuators 37A to 37D can rotate the wave projection unit 27a and the detection unit 27b around two axes intersecting the axis O1. Because the actuators 37A to 37D are operated by air, the force applied when the ultrasonic probe 27 is pressed against the subject P1 is gentle. The ultrasound examination device 1 allows the doctor P6 to perform an ultrasound examination of the heart while minimizing contact with the subject P1, making it an effective measure against infectious diseases such as COVID-19.

[0032] Although one embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and configuration changes, combinations, deletions, etc. are also included within the scope that does not deviate from the gist of the present invention. For example, in the above embodiment, the number of actuators included in the actuator unit 33 may be two, three, five or more. The opening is described as being a through-hole 13a, but the opening may be a notch that passes through the support member 13 in the vertical direction and opens to the side of the support member 13.

[0033] The ultrasound examination device 1 may include a determination unit that determines whether the image of the heart P2 is good or bad. The control unit 55 may then perform an acquisition step of acquiring an image of the heart P2 while driving the six-axis stage 26 to move the ultrasound probe 27, and a determination step of determining the acquired image by the determination unit. Furthermore, the acquisition step and the determination step may be repeated as a pair until the determination unit determines that the image of the heart P2 is good in the determination step. The bed 10 may not have a frame 11 and a decorative panel 12. The ultrasonic inspection device 1 may not include the X-axis stage 30, the Y-axis stage 31, and the rotation unit 32. The ultrasonic inspection device 1 may not include the 6-axis stage 26, the power supply source, the air pump, the input unit 45, the display unit 50, and the control unit 55.

[0034] The determination unit determines whether a clinically significant image has been obtained, specifically, whether the image of the heart P2 is good or bad based on the clarity of the image, the size of the clinically necessary part, etc. This determination may be made using AI (Artificial Intelligence). In addition, if the judgment unit judges the image to be "bad," it is possible to repeatedly image the heart P2 at the same position of the ultrasound probe 27, or to fine-tune (including move) the position of the ultrasound probe 27 and image the heart P2 again. [Explanation of symbols]

[0035] 1. Ultrasound inspection equipment 13 Support member 13a Through hole (opening) 21b 1st support surface 27a Wave projection section 27b Detector 36 First support member 37A, 37B, 37C, 37D Actuators 38 Second support member O1 axis

Claims

1. An inspection support robot used in an ultrasonic inspection device that performs ultrasonic inspection by transmitting and detecting ultrasonic waves through a support member having a first support surface facing upward and supporting a person under inspection, and having an opening formed that penetrates the support member in the vertical direction, A first support member having a second support surface facing upward, Multiple actuators extending upward from the first support member and having adjustable vertical lengths, A second support member connected to the upper end of each of the aforementioned plurality of actuators, Equipped with, The second support member is capable of supporting a projection unit that transmits ultrasonic waves and a detection unit that detects ultrasonic waves, in an inspection support robot.

2. The inspection support robot according to claim 1, wherein the plurality of actuators comprises four actuators arranged around an axis intersecting the second support surface.

3. The inspection support robot according to claim 1, wherein the first support member is configured to be movable in a first direction and a second direction which are perpendicular to each other and along the installation surface on which the ultrasonic inspection device is placed.

4. The inspection support robot according to claim 1, wherein the first support member is configured to be rotatable about an axis parallel to the vertical direction.

5. The ultrasound examination device is for cardiac use, according to any one of claims 1 to 4, an examination support robot.

6. The support member and, The wave projection unit, The detection unit and, Equipped with, An ultrasonic inspection device wherein the wave projection unit and the detection unit are fixed to the second support member of the inspection support robot according to claim 1.

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