Ultrasonic diagnostic apparatus

Abstract

To improve accuracy of position measurement in an ultrasonic diagnostic apparatus for measuring the position where an ultrasonic image is acquired.SOLUTION: An ultrasonic diagnostic apparatus 100 includes an ultrasonic probe 12, a position sensor 36, and an information processing unit. The information processing unit includes a position measuring part 10, an ultrasonic transmitter / receiver 16, an image generation part 18, and a control part 20. The information processing unit generates ultrasonic image data on the basis of an ultrasonic wave received by the ultrasonic probe 12, and measures the position of the ultrasonic probe 12 on the basis of a sensor signal output from the position sensor 36. The ultrasonic diagnostic apparatus 100 further includes a control database 22 for causing a frame rate when generating the ultrasonic image data to correspond to the measurement frequency of the sensor signal, and the information processing unit sets at least one of the frame rate and the measurement frequency on the basis of the control database 22.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an ultrasonic diagnostic device, and more particularly to measuring the position of an ultrasonic probe. [Background technology]

[0002] There is an ultrasonic diagnostic device in which an ultrasonic probe is provided with a position sensor to measure the position of the ultrasonic probe when an ultrasonic image is acquired. Such an ultrasonic diagnostic device is described in the following Patent Document 1. Patent Document 2 describes a position sensor that detects an electromagnetic field. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2014 / 156973 [Patent Document 2] Japanese Patent Application Publication No. 6-347527 Summary of the Invention [Problem to be solved by the invention]

[0004] Generally, in an ultrasound diagnostic device that measures the position of an ultrasound probe, the position sensor and the transducer elements of the ultrasound probe are arranged close to each other. Therefore, when acquiring an ultrasound image, the transmission signal given to the transducer elements may interfere with the sensor signal output from the position sensor, resulting in an error in the measurement position of the ultrasound probe.

[0005] An object of the present invention is to improve the accuracy of position measurement in an ultrasonic diagnostic apparatus that measures the position where an ultrasonic image is acquired. [Means for solving the problem]

[0006] The ultrasonic diagnostic apparatus according to the present invention is an ultrasonic diagnostic apparatus comprising an ultrasonic probe and a position sensor provided on the ultrasonic probe, and further comprising: an information processing unit configured to generate ultrasonic image data based on ultrasonic waves received by the ultrasonic probe and to measure the position of the ultrasonic probe based on a sensor signal output from the position sensor; and a control database that associates a frame rate when the ultrasonic image data is generated with a measurement frequency of the sensor signal, wherein the information processing unit sets at least one of the frame rate and the measurement frequency based on the control database.

[0007] In one embodiment, the control database includes a measurement frequency table that associates the frame rate with an interference avoidance measurement frequency, and the information processing unit sets the measurement frequency to the interference avoidance measurement frequency that is associated with the frame rate by the measurement frequency table.

[0008] In one embodiment, the information processing unit corrects the position measurement value obtained from the sensor signal based on a predetermined offset adjustment value, and when the measurement frequency is changed, updates the offset adjustment value based on the difference between the corrected position measurement value obtained before the measurement frequency is changed and the uncorrected position measurement value obtained after the measurement frequency is changed, and corrects the uncorrected position measurement value obtained after the measurement frequency is changed based on the updated offset adjustment value.

[0009] In one embodiment, the control database includes a frame rate table that associates the measurement frequency with an interference avoidance frame rate, and the information processing unit sets the frame rate to the interference avoidance frame rate that is associated with the measurement frequency by the frame rate table.

[0010] In one embodiment, the information processing unit changes the frame rate by changing the number of ultrasonic pulses transmitted by the ultrasonic probe per transmission cycle.

[0011] In one embodiment, the information processing unit does not allow ultrasonic pulses that are increased compared to before the frame rate was changed, among the multiple ultrasonic pulses transmitted by the ultrasonic probe per frame, to contribute to the generation of the ultrasonic image data. [Effects of the Invention]

[0012] According to the present invention, it is possible to improve the accuracy of position measurement in an ultrasonic diagnostic apparatus that measures the position where an ultrasonic image is acquired. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a diagram showing the configuration of an ultrasound diagnostic apparatus according to an embodiment of the present invention. [Figure 2] 3A and 3B are diagrams illustrating time waveforms of a transmission signal and a sensor signal. [Figure 3] FIG. 10 is a diagram showing the variation in position coordinate values ​​with respect to the measurement frequency for two different frame rates. [Figure 4] 10A and 10B are diagrams illustrating a transmission signal before and after changing the frame rate. [Figure 5] 10A and 10B are diagrams illustrating a transmission signal before and after changing the frame rate. [Figure 6] FIG. 10 is a diagram illustrating an example of an offset error relative to a measurement frequency. [Figure 7] 10 is a timing chart of a process for changing an offset adjustment value in response to a change in a measurement frequency. DETAILED DESCRIPTION OF THE INVENTION

[0014] 1 shows the configuration of an ultrasound diagnostic apparatus 100 according to an embodiment of the present invention. The ultrasound diagnostic apparatus 100 includes a position measurement unit 10, a position measurement transmitter 42, an ultrasound probe 12, a position sensor 36, an ultrasound diagnostic apparatus main body 14, and a display 34. The ultrasound diagnostic apparatus main body 14 includes an ultrasound transceiver 16, an image generation unit 18, a control unit 20, a control database 22, and a memory 24. The ultrasound probe 12 is connected to the ultrasound transceiver 16 via a cable 32.

[0015] The position measurement unit 10, the ultrasonic transceiver 16, the image generation unit 18, and the control unit 20 constitute an information processing unit as hardware. The information processing unit may include a processor that configures some or all of the components (the position measurement unit 10, the ultrasonic transceiver 16, the image generation unit 18, and the control unit 20) by executing a program. The information processing unit may also include an electronic circuit as an interface with the ultrasonic probe 12, the memory 24, and the control database 22. The information processing unit is configured to generate ultrasonic image data based on ultrasonic waves received by the ultrasonic probe 12, and to measure the position of the ultrasonic probe 12 based on a sensor signal output from the position sensor 36. The control database 22 may be information stored in a recording medium that is hardware. The control database 22 may be configured within the memory 24.

[0016] The control unit 20 exercises overall control over the ultrasound diagnostic apparatus 100. The ultrasound transceiver 16 outputs a transmission signal to the ultrasound probe 12, causing the ultrasound probe 12 to transmit ultrasound. The ultrasound transmitted from the ultrasound probe 12 forms an ultrasound beam directed in a specific direction, and the ultrasound beam is used to scan the subject. The ultrasound probe 12 receives ultrasound reflected from the subject in each direction toward which the ultrasound beam is directed. The ultrasound probe 12 converts the ultrasound into an electrical signal and outputs the electrical signal to the ultrasound transceiver 16. The ultrasound transceiver 16 performs processing such as detection and amplification on the electrical signal output as a received signal from the ultrasound probe 12. The ultrasound transceiver 16 also performs phased addition on the received signals obtained in each direction toward which the ultrasound beam is directed, and outputs the phased and added received signal (hereinafter referred to as a phased and added received signal) to the image generation unit 18.

[0017] The image generator 18 generates ultrasound image data such as B-mode image data for each direction in which the ultrasound beam is directed based on the phased and added reception signals output from the ultrasound transceiver 16. The image generator 18 converts the ultrasound image data into a video signal and outputs it to the display 34. The display 34 displays an ultrasound image based on the ultrasound image data based on the video signal.

[0018] The position measurement unit 10 is connected to the control unit 20 via a measurement signal line 40. A position sensor 36 is provided in the ultrasonic probe 12. A sensor lead wire 38 extends from the position sensor 36. The sensor lead wire 38 is bundled with the cable 32 of the ultrasonic probe 12 or is included in the cable 32 of the ultrasonic probe 12. The sensor lead wire 38 extends from the position sensor 36 to the ultrasonic diagnostic device main body 14 and is connected to the position measurement unit 10 together with the measurement signal line 40.

[0019] A position measuring transmitter 42 is connected to the position measuring unit 10. The position measuring unit 10 outputs a position measuring signal to the position measuring transmitter 42. The position measuring transmitter 42 transmits a magnetic field position measuring signal based on the position measuring signal.

[0020] The position sensor 36 detects a magnetic field position measurement signal and outputs a sensor signal to the position measurement unit 10 via a sensor conductor 38 based on the detected magnetic field position measurement signal. The position measurement unit 10 determines position information of the position sensor 36 based on the sensor signal. The position information may include three-dimensional coordinate values ​​(x, y, z) in a three-dimensional xyz coordinate system defined by the position measurement unit 10. The position measurement unit 10 outputs the position information of the position sensor 36 to the control unit 20 via a measurement signal line 40.

[0021] The control unit 20 causes the image generation unit 18 to execute a process of associating the ultrasound image data with the position information of the position sensor 36. For example, when an ultrasound beam is repeatedly scanned on the subject and the image generation unit 18 sequentially generates ultrasound image data over time, the position information may be associated with the ultrasound image data of each frame. For example, when volume data is generated by a user manually moving the ultrasound probe 12 along the body surface of the subject, information associating the ultrasound image data of each frame with the position information may be stored in the memory 24.

[0022] The memory 24 may store image data of the subject acquired in advance by another device. This external device image data may be CT scan data or MRI image data. The image generation unit 18 may display on the display 34 an image based on the external device image data stored in the memory 24 and an image based on the ultrasound image data generated by the image generation unit 18 so that the images can be compared. The image generation unit 18 may display the external device image and the ultrasound image on the display 34 so that the external device image can be seen through the ultrasound image generated by the image generation unit 18, for example.

[0023] 2(a) shows the time waveform of the transmission signal output from the ultrasonic transceiver 16 to the ultrasonic probe 12. The transmission signal is a signal whose period is the reciprocal of the frame rate fus. A plurality of transmission pulses 50 is included in one period (one transmission period) of the transmission signal. A plurality of ultrasonic pulses are transmitted from the ultrasonic probe 12 during one transmission period.

[0024] 2(b) shows the time waveform of the sensor signal. One period (1 / fsns) of the sensor signal contains multiple position measurement pulses 52 required for one position measurement. In the following description, the reciprocal of one period of the sensor signal is referred to as the measurement frequency. The position measurement signal output by the position measurement unit 10 to the position measurement transmitter 42 has the same period as the sensor signal and, like the sensor signal, contains multiple pulses required for one position measurement.

[0025] The sensor conductors 38 extending from the position sensor 36 are bundled with or included in the cable 32 of the ultrasonic probe 12. Therefore, when a transmission signal is output from the ultrasonic transceiver 16, a noise voltage or noise current based on the transmission signal may be generated in the sensor conductors 38, interfering with the sensor signal. This may cause errors in the position information determined by the position measurement unit 10.

[0026] This error may be evaluated based on the variation in position coordinate values ​​included in position information obtained multiple times. The variation in position coordinate values ​​may be, for example, the standard deviation of the position coordinate values ​​obtained multiple times. For example, when the position information is expressed in xyz three-dimensional coordinates, the variation may be expressed as the standard deviation of any one of the x-axis coordinate value, the y-axis coordinate value, and the z-axis coordinate value. Furthermore, when the position information is expressed in three-dimensional polar coordinates (distance r from the origin, azimuth angle θ as viewed from the origin, elevation angle φ as viewed from the origin), the variation may be expressed as the standard deviation of the distance r=(x 2 +y 2 +z 2 ) 1 / 2 The variation may be expressed as a standard deviation of the position coordinate values ​​obtained over a plurality of times, or may be an average of the absolute values ​​of the values ​​obtained by subtracting the average value from each value.

[0027] Figures 3(a) and 3(b) show the variation of position coordinate values ​​with respect to the measurement frequency for two different frame rates, fusA and fusB. As is clear from Figures 3(a) and 3(b), the variation is maximized at a specific measurement frequency. Changing the frame rate of the transmission signal changes the measurement frequency at which the variation is maximized. Furthermore, changing the frame rate of the transmission signal also changes the interference avoidance measurement frequency, which is the frequency at which the variation is below a predetermined threshold. Similarly, changing the measurement frequency also changes the interference avoidance frame rate, which is the frame rate at which the variation is below a predetermined threshold.

[0028] Therefore, the control database 22 of the ultrasound diagnostic apparatus 100 includes a frame rate table 28. The frame rate table 28 is a table that associates measurement frequencies with interference avoidance frame rates. The control unit 20 refers to the frame rate table 28 and obtains the interference avoidance frame rate associated in the frame rate table 28 with the measurement frequency at which the position measuring transmitter 42 transmits the magnetic field position measuring signal. The control unit 20 controls the ultrasound transceiver 16 to set the frame rate of the transmission signal that the ultrasound transceiver 16 outputs to the ultrasound probe 12 to the interference avoidance frame rate.

[0029] In the frame rate table 28, an interference avoidance frame rate is associated with each measurement frequency. The control unit 20 sets the frame rate of the transmission signal input to the ultrasonic probe 12 to the interference avoidance frame rate associated with the measurement frequency of the position measurement signal, thereby suppressing interference that the position measurement unit 10 receives from the transmission signal via the sensor conductor 38. This improves the accuracy of the position information acquired using the position sensor 36.

[0030] FIG. 4 shows the transmission signal before and after changing the frame rate. FIG. 4(a) shows the transmission signal before the frame rate is reduced. FIG. 4(b) shows the transmission signal after the frame rate is reduced. The transmission signal shown in FIG. 4(b) has an additional transmission pulse 50 per transmission period compared to the transmission signal shown in FIG. 4(a). That is, the number of transmission pulses 50 per transmission period of the transmission signal shown in FIG. 4(b) is greater than the number of transmission pulses 50 per transmission period of the transmission signal shown in FIG. 4(a). Furthermore, the frame rate fus2 of the transmission signal shown in FIG. 4(b) is smaller than the frame rate fus1 of the transmission signal shown in FIG. 4(a).

[0031] The transmission signal in Fig. 4(a) displays a video with smoother movement, although the information contained in one frame of ultrasound image data is less than that contained in the transmission signal in Fig. 4(b). On the other hand, the transmission signal in Fig. 4(b) displays a video with less smooth movement, but the information contained in one frame of ultrasound image data is more than that contained in the transmission signal in Fig. 4(a).

[0032] Here, the process of increasing the number of transmission pulses 50 per transmission cycle to decrease the frame rate is shown. Instead of this process, the process of decreasing the number of pulses per transmission cycle to increase the frame rate may be performed.

[0033] When a transmit pulse 50 is added to one transmit cycle, the added transmit pulse 50 may be a dummy pulse that does not contribute to the generation of ultrasound image data. Fig. 5(a) shows the transmit signal before the frame rate is reduced. Fig. 5(b) shows the transmit signal after the frame rate is reduced. In Fig. 5(b), a dummy pulse 54 added to increase the number of pulses per transmit cycle is indicated by a dashed line.

[0034] The control unit 20 and the ultrasonic transceiver 16 are configured to be able to recognize the position of the dummy pulse 54 on the time axis. The ultrasonic transceiver 16 outputs to the image generator 18 a phased and added received signal obtained after excluding the dummy pulse 54 included in the received signal. That is, the control unit 20 controls the image generator 18 so that the dummy pulse 54 does not contribute to the generation of ultrasonic image data. According to this processing, the effective frame rate of the image generator 18 (the frame rate of the moving image displayed on the display 34) is maintained while the apparent frame rate is reduced. This makes it easy to change the processing performed by the image generator 18 for one frame of ultrasonic image data.

[0035] The control database 22 in the ultrasound diagnostic apparatus 100 according to this embodiment includes a measurement frequency table 30. The measurement frequency table 30 is a table that associates frame rates with interference avoidance measurement frequencies. The control unit 20 refers to the measurement frequency table 30 and acquires the interference avoidance measurement frequency associated in the measurement frequency table 30 with the frame rate at which the ultrasound transceiver 16 outputs a transmission signal to the ultrasound probe 12. The control unit 20 controls the position measurement unit 10 to set the measurement frequency of the position measurement signal that the position measurement unit 10 outputs to the position measurement transmitter 42 to the interference avoidance measurement frequency.

[0036] As shown in FIG. 3, for a specific frame rate, there is an interference avoidance measurement frequency at which the variation in position coordinate values ​​is equal to or less than a predetermined threshold. In the measurement frequency table 30, the interference avoidance measurement frequency is associated with each frame rate. The control unit 20 sets the measurement frequency of the position measurement signal to the interference avoidance measurement frequency associated with the frame rate, thereby suppressing interference that the position measurement unit 10 receives from the transmitted signal via the sensor conductor 38. This improves the accuracy of the position information acquired by the position sensor 36.

[0037] The position information measured by the position measurement unit 10 includes an offset error based on the characteristics of the position sensor 36 and the position measurement unit 10. When the position information is expressed as three-dimensional coordinate values ​​(x, y, z), the control unit 20 subtracts the offset adjustment values ​​for each position coordinate value from the x-axis coordinate value, y-axis coordinate value, and z-axis coordinate value indicated by the position information, to obtain position information in which the offset error has been compensated.

[0038] The offset error varies depending on the change in measurement frequency. Figure 6 shows an example of the offset error versus measurement frequency. The horizontal axis represents the measurement frequency, and the vertical axis represents the offset error for one coordinate axis. In the example shown in Figure 6, when the measurement frequency is 80 Hz, the offset error is 0. When the measurement frequency exceeds 80 Hz, the offset error increases (decreases) in the negative direction, and when the measurement frequency is less than 80 Hz, the offset error increases.

[0039] In this way, the offset error varies in accordance with changes in the measurement frequency, so when the measurement frequency is changed, the control unit 20 also changes the offset adjustment value for compensating for the offset error.

[0040] 7(a) to 7(d) show timing charts of the process of changing the offset adjustment value in accordance with a change in the measurement frequency. Fig. 7(a) shows that an operation (S1) to change the measurement frequency is performed by the user at time t=t0. Fig. 7(b) shows that the control unit 20 changes the measurement frequency from 80 Hz to 71 Hz at time t=t1 in response to an operation by the user (S2).

[0041] Figure 7(c) shows the position measurement result after the offset processing. The position coordinate value before the offset processing is d i,j The position coordinate value after offset processing is expressed as d * i,j In FIG. 7(d), the final position coordinate value d * i,jWhen the position information is expressed as an xyz three-dimensional coordinate value, the position coordinate value shown in FIG. 7(c) is any one of the x-axis coordinate value, the y-axis coordinate value, and the z-axis coordinate value. The offset process refers to a process of subtracting an offset adjustment value for each position coordinate value from the x-axis coordinate value, the y-axis coordinate value, and the z-axis coordinate value indicated by the position information, thereby correcting each position coordinate value. The integer i means the value in the ith offset process. The integer j means the jth position coordinate value obtained.

[0042] Before the time t=t1 at which the measurement frequency is changed, the control unit 20 calculates the (m-2)th calculated position coordinate value d n-1,m-2 The n-1th offset adjustment value is n-1 The offset processing is performed using the position coordinate value d * n-1,m-2 =d n-1,m-2 -off n-1 The control unit 20 calculates the position coordinate value d after the offset process (S3). * n-1,m-2 is reflected in the final location information (S10).

[0043] Next, the control unit 20 calculates the (m-1)th calculated position coordinate value d n-1,m-1 The n-1th offset adjustment value is n-1 The offset processing is performed using the position coordinate value d * n-1,m-1 =d n-1,m-1 -off n-1 (S4). The control unit 20 calculates the position coordinate value d after the offset process. * n-1,m-1 is reflected in the final location information (S11).

[0044] The control unit 20 calculates the m-th calculated position coordinate value d n-1,m The n-1th offset adjustment value is n-1 The offset processing is performed using the position coordinate value d * n-1,m =d n-1,m -off n-1While this process is being performed, the measurement frequency is changed at time t=t1, and the control unit 20 calculates a new n-th offset adjustment value off n The control unit 20 starts the process of obtaining the n-th offset adjustment value off at time t=t2 (S6). n The position coordinate value d after the n-1th offset processing is * n-1,m The state in which the above is reflected in the final position information is maintained (S12).

[0045] The control unit 20 calculates the (m+1)th calculated position coordinate value d n-1,m+1 From the position coordinate value d after the offset processing obtained earlier * n-1,m By subtracting the value, the new nth offset adjustment value off n =d n-1,m+1 -d * n-1,m (S6).

[0046] At time t=t3, the nth offset adjustment value is off n Upon completion of the process of obtaining the position coordinate value d, the control unit 20 resets the value of m to 0 and obtains the 0th obtained position coordinate value d. n,0 The nth offset adjustment value is n The offset processing is performed using the position coordinate value d * n,0 =d n,0 -off n (S7). The control unit 20 calculates the position coordinate value d after the offset process. * n,0 is reflected in the final location information (S13).

[0047] Next, the control unit 20 calculates the first calculated position coordinate value d n,1 The nth offset adjustment value is n The offset processing is performed using the position coordinate value d * n,1 =d n,1 -off n(S8). The control unit 20 calculates the position coordinate value d after the offset process. * n,1 The control unit 20 then reflects the second calculated position coordinate value d n,2 The nth offset adjustment value is n The offset processing is performed using the position coordinate value d * n,2 =d n,2 -off n (S9). The control unit 20 calculates the position coordinate value d after the offset process. * n,2 is reflected in the final location information (S15).

[0048] In this way, the control unit 20 corrects the position coordinate values ​​(position measurement values) obtained from the sensor signals based on the offset adjustment values ​​obtained in advance (S3, S10, S4, S11). When the measurement frequency is changed (S1, S2), the corrected position measurement values ​​(d * n-1,m ) and the uncorrected position measurement value (d n-1,m+1 ) based on the difference between the offset adjustment value off n The control unit 20 updates the uncorrected position measurement value (d n,0 ) is corrected based on the updated offset adjustment value (d * n,0 =d n,0 -off n ) (S7). The control unit 20 calculates the position coordinate value d after the offset process. * n,0 is reflected in the final location information (S13).

[0049] According to this processing, fluctuations in offset errors that occur in the position information due to changes in the measurement frequency are compensated for, and accurate position information of the position sensor 36 is acquired in the control unit 20.

[0050] In the above, the first process of setting the frame rate based on the measurement frequency and frame rate table 28 and the second process of setting the measurement frequency based on the frame rate and measurement frequency table 30 have been described. Only one of the first process and the second process may be performed, or both may be performed. That is, the process of setting at least one of the frame rate and the measurement frequency may be performed based on the control database 22.

[0051] In the above embodiment, a sensor that detects a magnetic field is used as the position sensor 36. In addition to a sensor that detects a magnetic field, a position sensor that detects an electromagnetic field (radio wave), light, ultrasonic waves, etc. may be used. In this case, a transmitter that transmits an electromagnetic field, light, ultrasonic waves, etc. is used instead of the position measurement transmitter 42.

[0052] [Configuration of the present invention] Configuration 1: an ultrasound probe; a position sensor provided on the ultrasonic probe, generating ultrasound image data based on the ultrasound received by the ultrasound probe; an information processing unit configured to measure the position of the ultrasonic probe based on a sensor signal output from the position sensor; a control database that associates a frame rate when generating the ultrasound image data with a measurement frequency of the sensor signal; The information processing unit An ultrasonic diagnostic apparatus, characterized in that at least one of the frame rate and the measurement frequency is set based on the control database. Configuration 2: The ultrasound diagnostic apparatus according to configuration 1, The control database includes: a measurement frequency table that associates the frame rate with an interference avoidance measurement frequency, The information processing unit an ultrasonic diagnostic apparatus, wherein the measurement frequency is set to the interference avoidance measurement frequency associated with the frame rate in the measurement frequency table; Configuration 3: The ultrasound diagnostic apparatus according to the first or second aspect of the present invention, The information processing unit correcting a position measurement value obtained from the sensor signal based on a predetermined offset adjustment value; when the measurement frequency is changed, updating the offset adjustment value based on a difference between the corrected position measurement value obtained before the measurement frequency is changed and the uncorrected position measurement value obtained after the measurement frequency is changed; an ultrasonic diagnostic apparatus for correcting the position measurement value before correction, which is obtained after changing the measurement frequency, based on the updated offset adjustment value; Configuration 4: The ultrasound diagnostic apparatus according to any one of configurations 1 to 3, The control database includes: a frame rate table that associates the measurement frequency with an interference avoidance frame rate; The information processing unit an ultrasonic diagnostic apparatus, wherein the frame rate is set to the interference avoidance frame rate associated with the measurement frequency in the frame rate table; Configuration 5: The ultrasound diagnostic apparatus according to any one of configurations 1 to 4, The information processing unit An ultrasonic diagnostic apparatus characterized in that the number of ultrasonic pulses transmitted by the ultrasonic probe per transmission cycle is changed to change the frame rate. Configuration 6: 6. The ultrasound diagnostic apparatus according to claim 5, The information processing unit An ultrasound diagnostic device characterized in that, of the multiple ultrasound pulses transmitted by the ultrasound probe per frame, ultrasound pulses that have been increased in number compared to before the frame rate was changed are not allowed to contribute to the generation of the ultrasound image data. [Explanation of symbols]

[0053] 10 position measurement unit, 12 ultrasound probe, 14 ultrasound diagnostic device main body, 16 ultrasound transmitter / receiver, 18 image generation unit, 20 control unit, 22 control database, 24 memory, 28 frame rate table, 30 measurement frequency table, 32 cable, 34 display, 36 position sensor, 38 sensor lead wire, 40 measurement signal line, 42 position measurement transmitter, 50 transmission pulse, 52 position measurement pulse, 100 ultrasound diagnostic device.

Claims

1. an ultrasound probe; a position sensor provided on the ultrasonic probe, generating ultrasound image data based on the ultrasound received by the ultrasound probe; an information processing unit configured to measure the position of the ultrasonic probe based on a sensor signal output from the position sensor; a control database that associates a frame rate when generating the ultrasound image data with a measurement frequency of the sensor signal; The information processing unit An ultrasonic diagnostic apparatus, characterized in that at least one of the frame rate and the measurement frequency is set based on the control database.

2. The ultrasound diagnostic apparatus according to claim 1, The control database includes: a measurement frequency table that associates the frame rate with an interference avoidance measurement frequency, The information processing unit an ultrasonic diagnostic apparatus, wherein the measurement frequency is set to the interference avoidance measurement frequency associated with the frame rate in the measurement frequency table;

3. 3. The ultrasound diagnostic apparatus according to claim 1, The information processing unit correcting a position measurement value obtained from the sensor signal based on a predetermined offset adjustment value; when the measurement frequency is changed, updating the offset adjustment value based on a difference between the corrected position measurement value obtained before the measurement frequency is changed and the uncorrected position measurement value obtained after the measurement frequency is changed; an ultrasonic diagnostic apparatus for correcting the position measurement value before correction, which is obtained after changing the measurement frequency, based on the updated offset adjustment value;

4. The ultrasound diagnostic apparatus according to claim 1, The control database includes: a frame rate table that associates the measurement frequency with an interference avoidance frame rate; The information processing unit an ultrasonic diagnostic apparatus, wherein the frame rate is set to the interference avoidance frame rate associated with the measurement frequency in the frame rate table;

5. 10. The ultrasound diagnostic apparatus according to claim 1, wherein: The information processing unit An ultrasonic diagnostic apparatus, characterized in that the number of ultrasonic pulses transmitted by the ultrasonic probe per transmission period is changed to change the frame rate.

6. 6. The ultrasonic diagnostic apparatus according to claim 5, The information processing unit An ultrasonic diagnostic device characterized in that, of the multiple ultrasonic pulses transmitted by the ultrasonic probe per frame, ultrasonic pulses that have been increased in number compared to before the frame rate was changed are not allowed to contribute to the generation of the ultrasonic image data.

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