Ultrasonic diagnosis support device and ultrasonic diagnosis supporting program

Abstract

To support appropriate visualization of an object tissue in an ultrasonic tomographic image.SOLUTION: A communication interface 30 receives a three-dimensional model 20 of an object tissue formed on the basis of medical volume data about a subject from a medical image analysis server 14. A cross-sectional conversion part 52 converts an ultrasonic wave transmitting / receiving surface in a real space into a model space cross section in a model space of the three-dimensional model 20 on the basis of position posture information of the ultrasonic probe 38 acquired by the position posture sensor 38a. A model cross section image forming part 54 identifies an object tissue area 64 to be an area occupied by the object tissue in a model space cross section 60 by cutting the three-dimensional model 20 out in the model space cross section 60 in accordance with a position and posture of the current ultrasonic probe 38. A display control part 46 displays to a display 48 the object tissue area 64 superimposed on a real-time ultrasound tomographic image 66 and a real-time ultrasound tomographic image 66.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] This specification discloses an improvement to an ultrasonic diagnostic support device and an ultrasonic diagnostic support program. [Background technology]

[0002] BACKGROUND ART There is known an ultrasound diagnostic device that transmits ultrasound waves toward a subject from an ultrasound probe placed in contact with the body surface of the subject, receives reflected waves from the subject at the ultrasound probe, and forms an ultrasound tomographic image of the subject based on a received signal formed from the reflected waves.

[0003] Various techniques for forming appropriate ultrasonic tomographic images have been proposed. For example, Patent Document 1 discloses an ultrasonic diagnostic and treatment system that stores a set of an ultrasonic tomographic image, an organ mask indicating an organ region included in the ultrasonic tomographic image, and an acoustic shadow mask indicating an acoustic shadow region included in the ultrasonic tomographic image in a memory, searches for a reference image in the memory based on the similarity between the organ mask corresponding to the ultrasonic tomographic image to be complemented and the stored organ mask, and the similarity between the acoustic shadow mask corresponding to the ultrasonic tomographic image to be complemented and the stored acoustic shadow mask, and complements the acoustic shadow region of the ultrasonic tomographic image to be complemented using the reference image. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-164416 Summary of the Invention [Problem to be solved by the invention]

[0005] However, it may not be easy to properly depict a target tissue (referred to as "target tissue" in this specification) in a subject in an ultrasound tomographic image. For example, if the target tissue is located deep in the digestive tract as viewed from the body surface, gas in the digestive tract may interfere with the transmission and reception of ultrasound waves, making it difficult to depict the target tissue in the ultrasound tomographic image. Furthermore, for example, if an examiner (such as a doctor or ultrasound technician) is not familiar with using an ultrasound diagnostic device, the examiner may not be able to grasp how to position and pose the ultrasound probe to properly depict the target tissue in the ultrasound tomographic image.

[0006] The purpose of the ultrasonic diagnosis support device disclosed in this specification is to support the appropriate depiction of target tissue in an ultrasonic tomographic image. [Means for solving the problem]

[0007] The ultrasound diagnostic support device disclosed in this specification is characterized by comprising: a three-dimensional model acquisition unit that acquires a three-dimensional model of a target tissue formed based on medical volume data acquired by a medical device; a cross-section conversion unit that converts the ultrasound scanning plane including the target tissue into a model space cross-section, which is a cross-section in model space of the three-dimensional model, based on position and orientation information indicating the current position and orientation of an ultrasound probe that scans ultrasound waves on the ultrasound scanning plane including the target tissue; a target tissue region identification unit that identifies a target tissue region, which is a region occupied by the target tissue on the ultrasound scanning plane, by cutting out the three-dimensional model at the model space cross-section; and a display control unit that displays an ultrasound tomographic image formed based on received signals obtained by transmitting and receiving ultrasound waves to and from the target tissue at the current position and orientation of the ultrasound probe on a display unit, and that displays the target tissue region by superimposing it on the ultrasound tomographic image.

[0008] The display control unit may change the display mode of the target tissue region in response to an instruction from an examiner.

[0009] When there are multiple target tissues and the target tissue region identification unit identifies multiple target tissue regions, the display control unit may display the target tissue regions selected by the examiner and not display the target tissue regions not selected by the examiner.

[0010] When there are a plurality of target tissues and the target tissue region specifying unit specifies a plurality of target tissue regions, the display control unit may display the target tissue regions in different modes.

[0011] The three-dimensional model has attribute information regarding the target tissue, and the display control unit may display the attribute information of the target tissue corresponding to the target tissue region on the display unit in a manner associated with the target tissue region.

[0012] The target tissue region identification unit identifies a target tissue region for alignment, which is a region occupied by the target tissue in the specified cross section, by cutting out the three-dimensional model at the specified cross section, and the display control unit displays, on the display unit, a medical tomographic image formed by cutting out and reconstructing the medical volume data at the specified cross section and the ultrasonic tomographic image, before the transformation process is performed by the cross section transformation unit, and further displays the target tissue region for alignment by superimposing it on the ultrasonic tomographic image.

[0013] The imaging apparatus may further include a color Doppler processing unit that forms a color Doppler image based on the identified target tissue region.

[0014] The color Doppler processing unit may set a region of interest for color Doppler based on the target tissue region.

[0015] The color Doppler processing unit may set a velocity range of color Doppler based on the target tissue corresponding to the target tissue region.

[0016] The imaging apparatus may further include an image quality adjustment unit that adjusts the image quality of the ultrasonic tomographic image based on the target tissue corresponding to the identified target tissue region.

[0017] The ultrasound diagnostic support program disclosed in this specification is characterized by causing a computer to function as: a three-dimensional model acquisition unit that acquires a three-dimensional model of a target tissue formed based on medical volume data acquired by a medical device; a cross-section conversion unit that converts the ultrasound scanning plane including the target tissue into a model space cross-section, which is a cross-section in model space of the three-dimensional model, based on position and orientation information indicating the current position and orientation of an ultrasound probe that scans ultrasound waves on the ultrasound scanning plane including the target tissue; a target tissue region identification unit that identifies a target tissue region, which is a region occupied by the target tissue on the ultrasound scanning plane, by cutting out the three-dimensional model at the model space cross-section; and a display control unit that displays an ultrasound tomographic image formed based on received signals obtained by transmitting and receiving ultrasound waves to and from the target tissue at the current position and orientation of the ultrasound probe on a display unit, and displays the target tissue region by superimposing it on the ultrasound tomographic image. [Effects of the Invention]

[0018] The ultrasonic diagnosis support device disclosed in this specification can support the appropriate depiction of target tissue in an ultrasonic tomographic image. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a schematic diagram illustrating the configuration of an ultrasonic diagnosis support system according to an embodiment of the present invention. [Figure 2] FIG. 1 is a diagram showing an example of a three-dimensional model of a target tissue. [Figure 3] 1 is a schematic diagram illustrating the configuration of an ultrasound diagnostic apparatus according to the present embodiment. [Figure 4] FIG. [Figure 5] FIG. 10 is a diagram illustrating an example of a model cross-sectional image. [Figure 6]FIG. 10 is a diagram showing a first display example of a real-time ultrasonic tomographic image and a target tissue region. [Figure 7] FIG. 10 is a diagram showing a second display example of a real-time ultrasonic tomographic image and a target tissue region. [Figure 8] FIG. 10 is a diagram showing an example of a display organization selection screen. [Figure 9] FIG. 10 is a diagram showing a third display example of a real-time ultrasonic tomographic image and a target tissue region. [Figure 10] FIG. 10 is a diagram showing a display example of attribute information of a target organization. [Figure 11] FIG. 10 is a diagram showing an example of a color Doppler region of interest set based on a target tissue region. [Figure 12] FIG. 10 is a diagram showing a display example of a color Doppler image. [Figure 13] 4 is a flowchart showing the flow of processing performed by the ultrasound diagnostic apparatus according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0020] 1 is a schematic diagram of the configuration of an ultrasonic diagnosis support system 10 according to this embodiment. The ultrasonic diagnosis support system 10 includes one or more medical devices 12, a medical image analysis server 14, and an ultrasonic diagnostic device 16 as an ultrasonic diagnosis support device. The medical devices 12, the medical image analysis server 14, and the ultrasonic diagnostic device 16 are connected to each other so as to be able to communicate with each other via a communication line 18 such as a WAN (Wide Area Network) or a LAN (Local Area Network).

[0021] The medical device 12 is a device that generates medical volume data of a subject, particularly medical volume data including target tissue. Examples of the medical device 12 include a CT (Computed Tomography) device, an MRI (Magnetic Resonance Imaging) device, or an ultrasound diagnostic device. For example, if the medical device 12 is a CT device, the CT device generates CT data as the medical volume data. If the medical device 12 is an MRI device, the MRI device generates MRI data as the medical volume data. If the medical device 12 is an ultrasound diagnostic device, the ultrasound diagnostic device generates ultrasound volume data as the medical volume data.

[0022] The medical volume data is data in which voxels, each having data, are arranged three-dimensionally, and has position information (coordinates) in the data space of the medical volume data that indicates the position of each voxel.

[0023] The medical device 12 transmits the generated medical volume data to the medical image analysis server 14 .

[0024] Note that the medical equipment 12 forms medical volume data for the subject before the ultrasound diagnostic device 16 transmits and receives ultrasound to the subject (in other words, before forming an ultrasound tomographic image), and transmits the medical volume data to the medical image analysis server 14. In other words, the medical volume data represents the subject (specifically, the target tissue) at a time point prior to (past) when the ultrasound diagnostic device 16 forms a (real-time) ultrasound tomographic image.

[0025] The medical image analysis server 14 is configured with, for example, a server computer. The medical image analysis server 14 may be realized by the cooperation of multiple server computers. In this embodiment, the medical image analysis server 14 forms a 3D model of the target tissue based on the medical volume data received from the medical device 12. In this embodiment, the medical image analysis server 14 regards all tissues included in the medical volume data as target tissues and forms a 3D model for each of the multiple target tissues.

[0026] Fig. 2 is a diagram showing an example of a three-dimensional model 20 of a target tissue. In the example of Fig. 2, the three-dimensional model 20 is formed from medical volume data including a liver, inferior vena cava, veins, arteries, bile ducts, and a tumor, and includes a liver model LV, an inferior vena cava model IVC, a vein model VE, an artery model AR, a bile duct model BD, and a tumor model TM. Note that the three-dimensional model 20 representing the area around the liver would normally also include models of the portal vein, vascular region, and other tissues, but these are not shown in the three-dimensional model 20.

[0027] The method for forming the three-dimensional model 20 based on the medical volume data can be a known method, so a detailed explanation will be omitted here, but the medical image analysis server 14 forms the three-dimensional model 20 using techniques such as volume rendering or surface rendering.

[0028] While the medical volume data has position information for each voxel, the three-dimensional model 20 is formed from the medical volume data, and therefore also has position information (coordinates) indicating each position in the three-dimensional model 20. The position information possessed by the three-dimensional model 20 is information indicating a position in a model space (which is the same space as the data space of the medical volume data).

[0029] The three-dimensional model 20 may also include attribute information related to the target tissues. For example, the three-dimensional model 20 may include information such as the name, volume, and diameter of each target tissue, associated with the model of that tissue. This information may be set by automatic calculation when the medical image analysis server 14 forms the three-dimensional model 20, or may be set manually by an operator of the medical image analysis server 14.

[0030] As described above, the medical volume data represents the target tissue at a time prior to the time when the real-time ultrasonic tomographic image is formed by the ultrasonic diagnostic device 16, and therefore the three-dimensional model 20 also represents the target tissue at a time prior to the time when the real-time ultrasonic tomographic image is formed by the ultrasonic diagnostic device 16.

[0031] 3 is a schematic diagram of the configuration of an ultrasonic diagnostic device 16 serving as an ultrasonic diagnosis support device according to this embodiment. The ultrasonic diagnostic device 16 is a medical device installed in a medical institution such as a hospital.

[0032] The transmitter / receiver 40, signal processor 42, ultrasonic tomographic image generator 44, display controller 46, medical tomographic image generator 50, resection converter 52, model cross-sectional image generator 54, and color Doppler processor 56 of the ultrasound diagnostic apparatus 16 are configured by a processor. The processor includes at least one of a general-purpose processor (e.g., a central processing unit (CPU)) and a dedicated processor (e.g., a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or a programmable logic device). The processor may not be a single processor, but may be configured by the cooperation of multiple processors located at physically separate locations. Each of the above components may also be realized by the cooperation of hardware, such as a processor, and software.

[0033] The communication interface 30 is configured, for example, by a network adapter. The communication interface 30 performs the function of communicating with other devices via the communication line 18. In particular, in this embodiment, the communication interface 30 receives medical volume data about the subject and a 3D model 20 of the target tissue formed based on the medical volume data from the medical image analysis server 14. In this way, in this embodiment, the communication interface 30 performs the function of a 3D model acquisition unit.

[0034] The input interface 32 is configured with, for example, buttons, a trackball, a touch panel, etc. The input interface 32 is used to input commands from an examiner (such as a doctor or ultrasound technician) using the ultrasound diagnostic apparatus 16 to the ultrasound diagnostic apparatus 16.

[0035] The memory 34 includes a hard disk drive (HDD), a solid state drive (SSD), an embedded multi media card (eMMC), a read only memory (ROM), or a random access memory (RAM). The memory 34 stores an ultrasonic diagnostic assistance program for operating each unit of the ultrasonic diagnostic device 16. The ultrasonic diagnostic assistance program can also be stored in a computer-readable non-transitory storage medium such as a universal serial bus (USB) memory or a CD-ROM. The ultrasonic diagnostic device 16 can read and execute the ultrasonic diagnostic assistance program from such a storage medium.

[0036] The control unit 36 ​​is configured to include at least one of a general-purpose processor (e.g., a CPU) and a dedicated processor (e.g., a GPU, an ASIC, an FPGA, or a programmable logic device). The control unit 36 ​​may not be configured by a single processing device, but may be configured by the cooperation of multiple processing devices located in physically separate locations. The control unit 36 ​​controls each part of the ultrasound diagnostic device 16 in accordance with an ultrasound diagnosis assistance program stored in the memory 34.

[0037] The ultrasonic probe 38 is a device that transmits and receives ultrasonic waves to and from a subject (the subject associated with the 3D model 20 received by the communication interface 30). The ultrasonic probe 38 has a transducer element array consisting of a plurality of transducer elements that transmit and receive ultrasonic waves to and from the subject. In this embodiment, the transducer element array is formed of a plurality of transducer elements arranged in a single row. The ultrasonic probe 38 scans ultrasonic waves in an ultrasound scanning plane that is parallel to the arrangement direction of the plurality of transducer elements and includes the target tissue.

[0038] In this embodiment, the ultrasonic probe 38 has a position and orientation sensor 38a. The position and orientation sensor 38a is a sensor that detects the current position and orientation of the ultrasonic probe 38 and acquires position and orientation information that indicates the current position and orientation of the ultrasonic probe 38. In other words, the position and orientation sensor 38a functions as a position and orientation information acquisition unit.

[0039] In this embodiment, the position and orientation sensor 38a is configured from a magnetic sensor, but the position and orientation sensor 38a is not limited to this. For example, the position and orientation sensor 38a may be an acceleration sensor. When the position and orientation sensor 38a is a magnetic sensor or an acceleration sensor, the position and orientation information acquired by the position and orientation sensor 38a is information indicating the position and orientation in real space.

[0040] Furthermore, the position and orientation sensor 38a may be a camera provided separately from the ultrasonic probe 38. In this case, for example, an AR marker may be attached to the ultrasonic probe 38, and the camera serving as the position and orientation sensor 38a may capture an image of the AR marker to detect the position and orientation of the ultrasonic probe 38. When the position and orientation sensor 38a is a camera, the position and orientation information acquired by the position and orientation sensor 38a is information indicating the position and orientation in the camera coordinate system.

[0041] The ultrasound scanning plane along which the ultrasound is scanned is determined by the position and orientation of the ultrasound probe 38, as well as the ultrasound transmission conditions (scanning method, transmission output, etc.). The ultrasound transmission conditions are determined by the structure of the ultrasound probe 38, the settings of the examiner, etc., and are known to the ultrasound diagnostic device 16. Therefore, the position and orientation information of the ultrasound probe 38 is information that represents the ultrasound scanning plane.

[0042] The transmitting / receiving unit 40 transmits a transmission signal to the ultrasonic probe 38 (specifically, each transducer element of the transducer element array) under the control of the control unit 36. As a result, ultrasonic waves are transmitted from each transducer element toward the subject.

[0043] The transmitter / receiver 40 also receives reception signals from each transducer element that has received a reflected wave from the subject. The transmitter / receiver 40 has an adder and a plurality of delays corresponding to each transducer element, and performs a delay-and-sum process in which the phases of the reception signals from each transducer element are aligned and added using the adder and the plurality of delays. This forms a reception beam signal in which information indicating the signal strength of the reflected wave from the subject is aligned in the depth direction of the subject.

[0044] The signal processing unit 42 performs various signal processing on the received beam signal from the transmitting / receiving unit 40, including filtering using a band-pass filter and detection processing.

[0045] The ultrasonic tomographic image forming unit 44 forms an ultrasonic tomographic image (B-mode image) representing the ultrasonic wave transmitting and receiving surface based on the received beam signals that have been signal processed in the signal processing unit 42.

[0046] The display control unit 46 controls the display of various images, including the ultrasonic tomographic image formed by the ultrasonic tomographic image forming unit 44, on the display 48. Details of the information displayed on the display 48 by the display control unit 46 will be described later.

[0047] The display 48 serving as a display unit is a display device configured from, for example, a liquid crystal display or an organic EL (Electro Luminescence) display.

[0048] The medical tomographic image forming unit 50 forms a tomographic image by cutting out the medical volume data received from the medical image analysis server 14 at a cross section determined as described below and reconstructing it. In this specification, a tomographic image formed based on the medical volume data is called a medical tomographic image.

[0049] The cross-section transformation unit 52 transforms the ultrasonic wave transmission / reception plane in real space into a cross section in the model space (as described above, the model space is the same space as the data space of the medical volume data) of the three-dimensional model 20 based on the position and orientation information of the ultrasonic probe 38 acquired by the position and orientation sensor 38a. In this specification, the transformed cross section is referred to as a model space cross section.

[0050] Although various methods can be used to convert the ultrasonic wave transmitting and receiving surface into a model space cross section, in this embodiment, the method is as follows.

[0051] First, the ultrasonic tomographic image forming unit 44 forms an ultrasonic tomographic image (referred to herein as a real-time ultrasonic tomographic image) based on received signals obtained by transmitting and receiving ultrasonic waves to and from the subject at the current position and posture of the ultrasonic probe 38. Then, the medical tomographic image forming unit 50 forms a medical tomographic image by extracting and reconstructing the medical volume data at a predetermined cross section. The predetermined cross section may be determined, for example, by being specified by the examiner.

[0052] The display control unit 46 displays the real-time ultrasonic tomographic image and the medical tomographic image side by side on the display 48. The examiner adjusts the position and posture of the ultrasonic probe 38 so that the real-time ultrasonic tomographic image and the medical tomographic image are on the same cross section. Then, when the real-time ultrasonic tomographic image and the medical tomographic image are on the same cross section, the examiner inputs a calibration instruction from the input interface 32.

[0053] The multiplanar reconstruction unit 52 associates the predetermined cross section set in the medical volume data with the position and orientation information acquired from the position and orientation sensor 38a when the calibration command was input, and stores the associated data in the memory 34. As described above, the ultrasonic transmission / reception plane is determined by the position and orientation information from the position and orientation sensor 38a, thereby defining the correspondence between the cross section in model space (model space cross section) and the ultrasonic scanning plane in real space (in other words, calibration is performed). Thereafter, even if the position or orientation of the ultrasonic probe 38 is changed, the multiplanar reconstruction unit 52 can identify the model space cross section corresponding to the current ultrasonic scanning plane in model space based on the position and orientation information from the position and orientation sensor 38a. In other words, the ultrasonic scanning plane can be converted into a model space cross section.

[0054] 4 is a diagram showing an example of a model space cross section 60. The model space cross section 60 may have a shape based on the ultrasonic wave transmission conditions. That is, the cross section conversion unit 52 may determine the shape of the model space cross section 60 based on the ultrasonic wave transmission conditions. For example, if the scanning method of the ultrasonic probe 38 is sector scanning, the model space cross section 60 may have the same shape as the ultrasonic scan plane during sector scanning.

[0055] The model cross-sectional image forming unit 54 forms a cross-sectional image by cutting out the three-dimensional model 20 received from the medical image analysis server 14 at the model space cross section 60 obtained by the cross-section conversion unit 52. In this specification, the cross-sectional image formed in this manner is referred to as a model cross-sectional image.

[0056] 5 is a diagram showing an example of a model cross-sectional image 62. As described above, the three-dimensional model 20 represents one or more target tissues (see FIG. 2), and therefore the model cross-sectional image 62 shows a cross section of each target tissue. In this specification, the region occupied by the target tissue in the model space cross section 60 is referred to as a target tissue region 64. In the example of FIG. 5, the target tissue regions 64 shown are a target tissue region 64a corresponding to the pancreas, a target tissue region 64b corresponding to the portal vein, and a target tissue region 64c corresponding to the liver.

[0057] In other words, the model cross-sectional image 62 shows the target tissue region 64 in the model space cross section 60. That is, the model cross-sectional image forming unit 54 identifies the target tissue region 64 in the model space cross section 60. Furthermore, as described above, since the model space cross section 60 is a cross section corresponding to the current ultrasound scan plane, it can be said that the model cross-sectional image forming unit 54 identifies the target tissue region 64 in the ultrasound scan plane. In this way, the model cross-sectional image forming unit 54 functions as a target tissue region identifying unit.

[0058] In this embodiment, since the three-dimensional model 20 has attribute information regarding each target tissue, the model cross-sectional image forming unit 54 can also identify the attribute information (name, volume, diameter, etc.) of the target tissue corresponding to the identified target tissue region 64.

[0059] The display control unit 46 displays the real-time ultrasonic tomographic image on the display 48 and also displays the target tissue region 64 superimposed on the real-time ultrasonic tomographic image. FIG. 6 is a diagram showing a first display example of the real-time ultrasonic tomographic image 66 and the target tissue region 64. In this embodiment, the display control unit 46 aligns the real-time ultrasonic tomographic image 66 with the model cross-sectional image 62, and then displays the model cross-sectional image 62 superimposed on the real-time ultrasonic tomographic image 66, thereby displaying the target tissue region 64 superimposed on the real-time ultrasonic tomographic image 66. In the example of FIG. 6, the model cross-sectional image 62 indicating the target tissue region 64a is superimposed on the real-time ultrasonic tomographic image 66. In the example of FIG. 6, the display control unit 46 displays the outline of the target tissue region 64a with a dashed line.

[0060] By displaying the target tissue region 64 superimposed on the real-time ultrasonic tomographic image 66, the examiner can easily grasp the position of the target tissue to be visualized in the real-time ultrasonic tomographic image 66. This supports the visualization of the target tissue in the real-time ultrasonic tomographic image 66, enabling the examiner to quickly and appropriately visualize the target tissue in the real-time ultrasonic tomographic image 66.

[0061] Furthermore, as described above, the three-dimensional model 20 represents the target tissue at a time prior to the present (past), and therefore the target tissue region 64 also represents the target tissue at a past time. Therefore, by comparing the target tissue depicted in the real-time ultrasonic tomographic image 66 with the target tissue region 64, it is possible to monitor the progress of the subject (target tissue). For example, if the target tissue is a tumor, by comparing the target tissue region 64 representing the tumor before treatment with the target tissue depicted in the real-time ultrasonic tomographic image 66 representing the current tumor, it is possible to assess the effectiveness of tumor treatment, etc.

[0062] In the example of FIG. 6 , the display control unit 46 displays a medical tomographic image 68 alongside a real-time ultrasonic tomographic image 66. However, the medical tomographic image 68 does not necessarily have to be displayed. This medical tomographic image 68 is formed by the medical tomographic image forming unit 50 extracting and reconstructing medical volume data at a model space cross section 60 (as described above, the model space is the same space as the data space of the medical volume data). In other words, when the examiner changes the position or posture of the ultrasonic probe 38, the ultrasonic scanning plane changes, so naturally the real-time ultrasonic tomographic image 66 changes. However, since the model space cross section 60 also changes with the change in the ultrasonic scanning plane, the medical tomographic image 68 also changes. The real-time ultrasonic tomographic image 66 and the medical tomographic image 68 change in synchronization so as to always represent the same cross section. This allows the examiner to perform ultrasound diagnosis while comparing the real-time ultrasonic tomographic image 66 and the medical tomographic image 68. As described above, the medical volume data represents the subject (specifically, the target tissue) at a time point earlier (in the past) than the present time point, and therefore the medical tomographic image 68 represents the subject in the past.

[0063] In the present embodiment, the display controller 46 also displays the target tissue region 64 superimposed on the medical tomographic image 68. In the present embodiment, the display controller 46 aligns the medical tomographic image 68 and the model cross-sectional image 62, and then displays the model cross-sectional image 62 superimposed on the medical tomographic image 68, thereby displaying the target tissue region 64 superimposed on the medical tomographic image 68. In the example of Fig. 6, the model cross-sectional image 62 indicating the target tissue regions 64a, 64b, and 64c is superimposed on the medical tomographic image 68.

[0064] The display control unit 46 may change the display mode of the target tissue region 64 superimposed on the real-time ultrasonic tomographic image 66 in response to an instruction from the examiner. For example, in the example of Fig. 6, the outline of the target tissue region 64a is displayed with a dashed line, but in response to an instruction from the examiner, the display control unit 46 may display the target tissue region 64a with a solid outline, as shown in Fig. 7. When the target tissue region 64 is displayed with a solid outline, the display control unit 46 may display the target tissue region 64 semi-transparently so that the target tissue region 64 does not obscure the real-time ultrasonic tomographic image 66.

[0065] Furthermore, when there are multiple target tissues and the model cross-sectional image forming unit 54 identifies multiple target tissue regions 64 as shown in FIG. 5 (in other words, when the model cross-sectional image 62 includes multiple target tissue regions 64), the display control unit 46 may display the target tissue regions 64 selected by the examiner and not display the target tissue regions 64 not selected by the examiner.

[0066] For example, the display control unit 46 displays a display tissue selection screen as shown in Fig. 8 on the display 48. The display tissue selection screen displays a list of names of target tissues corresponding to the target tissue regions 64 identified by the model cross-sectional image forming unit 54. The examiner can select a target tissue on the display tissue selection screen. The display control unit 46 superimposes the target tissue regions 64 corresponding to the target tissues selected on the display tissue selection screen on the real-time ultrasonic tomographic image 66, and does not display the target tissue regions 64 corresponding to the target tissues not selected on the display tissue selection screen.

[0067] This allows the examiner to display the target tissue area 64 according to the purpose, for example, by displaying multiple target tissue areas 64 when wanting to understand the positional relationship of multiple tissues, or by displaying only the target tissue area 64 corresponding to the tumor and blood vessels when treating a tumor.

[0068] Furthermore, when there are multiple target tissues and the model cross-sectional image forming unit 54 identifies multiple target tissue regions 64, the display control unit 46 may display each target tissue region 64 in a different manner. For example, in the example of Fig. 9, the target tissue region 64a and the target tissue region 64b are displayed in different manners. This allows the examiner to easily distinguish between the multiple target tissue regions 64.

[0069] Furthermore, the display control unit 46 may cause the display 48 to display attribute information of the target tissue corresponding to the target tissue region 64 in a manner associated with the target tissue region 64. FIG. 10 is a diagram showing an example of display of attribute information of the target tissue. As described above, the model cross-sectional image forming unit 54 can identify the attributes of the target tissue corresponding to the identified target tissue region 64 based on the three-dimensional model 20. Therefore, the display control unit 46 causes the display 48 to display the attribute information identified by the model cross-sectional image forming unit 54. In the example of FIG. 10, the name of the target tissue (Pancreas) is displayed near the target tissue region 64a corresponding to the pancreas as attribute information 70 of the target tissue corresponding to the target tissue region 64a. Of course, the displayed attribute information 70 is not limited to the name of the target tissue, and may be the volume and diameter of the target tissue, or other information. In addition, the method of associating the target tissue area 64 with the attribute information 70 may be, in addition to displaying the attribute information 70 near the target tissue area 64, for example, by displaying the target tissue area 64 and the attribute information 70 in the same color.

[0070] Displaying the name of the target tissue as the attribute information 70 can be used by the examiner for studying anatomy. Also, when there are multiple target tissue regions 64 corresponding to tumors, cysts, etc., the examiner can easily understand which target tissue region 64 corresponds to which tumor or cyst. Furthermore, since the attribute information 70 represents past information on the target tissue, by displaying, for example, the volume and diameter of a tumor as the attribute information 70, the examiner can compare the tumor depicted in the real-time ultrasound tomographic image 66 to perform follow-up observation, treatment diagnosis, or treatment effect evaluation.

[0071] The target tissue region 64 identified by the model cross-sectional image forming unit 54 can also be used during calibration by the resection transformation unit 52. Specifically, first, before the transformation process is performed by the resection transformation unit 52, the model cross-sectional image forming unit 54 forms a model cross-sectional image 62 by cutting out the 3D model 20 at a predetermined cross-section, thereby identifying the target tissue region 64 in the predetermined cross-section. In this specification, this target tissue region 64 is referred to as a target tissue region for alignment.

[0072] Then, before the transformation process (calibration) is performed by the cross-sectional reconstruction unit 52, the display control unit 46 displays the real-time ultrasonic tomographic image 66 and the medical tomographic image 68 side by side on the display 48, and displays the alignment target tissue region superimposed on the real-time ultrasonic tomographic image 66. In this embodiment, the display control unit 46 aligns the real-time ultrasonic tomographic image 66 with the model cross-sectional image 62 including the alignment target tissue region, and then displays the model cross-sectional image 62 superimposed on the real-time ultrasonic tomographic image 66.

[0073] This allows the examiner to adjust the position and posture of the ultrasonic probe 38 so that the real-time ultrasonic tomographic image 66 and the medical tomographic image 68 have exactly the same cross section by aligning the target tissue region for alignment with the target tissue depicted on the real-time ultrasonic tomographic image 66. In other words, this can assist the examiner during calibration, and can provide effects such as improving the accuracy of the calibration.

[0074] Returning to Figure 3, the color Doppler processing unit 56 obtains a Doppler signal by performing quadrature detection processing, autocorrelation calculations, etc. on the reception beam signal formed by the transmission / reception unit 40. The Doppler signal is a signal containing information indicating the difference between the transmission frequency and reception frequency of the ultrasound. Based on the Doppler effect, the motion velocity of the subject's tissue can be obtained from the difference between the transmission frequency and the reception frequency, so the Doppler signal can be said to be a signal indicating the motion velocity of the subject's tissue.

[0075] In particular, the color Doppler processor 56 performs calculations to obtain Doppler signals within a predetermined region of interest. The region of interest is specified, for example, by the examiner designating the region on the ultrasonic tomographic image displayed on the display 48.

[0076] Furthermore, the color Doppler processor 56 processes the Doppler signal to form a color Doppler image in which the motion velocity of the subject's tissue (e.g., blood flow) within the region of interest is represented by color. For example, the color Doppler processor 56 forms a color Doppler image in which parts moving toward the ultrasound probe 38 are displayed in red, parts moving away from the ultrasound probe 38 are displayed in blue, and the motion velocity is displayed by brightness. The velocity range, which is the range of motion velocities that can be represented by brightness in the color Doppler image, may be determined by the examiner or the like. The color Doppler image is displayed superimposed on the real-time ultrasound tomographic image 66.

[0077] In this embodiment, the color Doppler processing unit 56 may form a color Doppler image based on the target tissue region 64 identified by the model cross-sectional image forming unit 54.

[0078] For example, the color Doppler processing unit 56 may set a color Doppler region of interest 72 based on the target tissue region 64. FIG. 11 is a diagram showing an example of a color Doppler region of interest 72 set based on the target tissue region 64. For example, as shown in FIG. 11, the color Doppler processing unit 56 sets the region of interest 72 to be the same region as the target tissue region 64 or a region slightly larger than the target tissue region 64 and including the entire target tissue region 64. This allows even an examiner who is unfamiliar with setting a color Doppler region of interest 72 to set an appropriate region of interest 72 that includes the target tissue, and as shown in FIG. 12, a color Doppler image 74 of the target region can be appropriately depicted.

[0079] Furthermore, the color Doppler processing unit 56 may set the velocity range of the color Doppler based on the target tissue corresponding to the target tissue region 64 (which is identified by the model cross-sectional image forming unit 54 based on the attribute information of the three-dimensional model 20, as described above). For example, if the target tissue corresponding to the target tissue region 64 is a tumor, the blood flow through the tumor is slow, so the color Doppler processing unit 56 sets a lower velocity range for the color Doppler image for the target tissue. On the other hand, if the target tissue corresponding to the target tissue region 64 is an organ, the blood flow through the organ is at least faster than that of a tumor, so the color Doppler processing unit 56 sets a higher velocity range for the color Doppler image for the target tissue (at least higher than that for a tumor).

[0080] The color Doppler processing unit 56 may set a color Doppler region of interest 72 based on the target tissue region 64 and may also set a color Doppler velocity range based on the target tissue region 64 .

[0081] Furthermore, the ultrasonic tomographic image forming unit 44 may adjust the image quality of the ultrasonic tomographic image based on the target tissue region 64 identified by the model cross-sectional image forming unit 54. For example, when the target tissue corresponding to the target tissue region 64 is the pancreas, the ultrasonic tomographic image forming unit 44 may adjust the ultrasonic tomographic image to a brightness suitable for depicting an ultrasonic tomographic image of the pancreas. In this case, the ultrasonic tomographic image forming unit 44 functions as an image quality adjusting unit. Furthermore, the adjustment of the image quality of the ultrasonic tomographic image based on the target tissue region 64 may be performed by the signal processing unit 42 correcting data (e.g., received beam data) before image formation. In this case, the signal processing unit 42 functions as an image quality adjusting unit.

[0082] The outline of the configuration of the ultrasonic diagnostic device 16 according to this embodiment has been described above. The flow of processing by the ultrasonic diagnostic device 16 will now be described with reference to the flowchart shown in FIG.

[0083] In step S10, the communication interface 30 receives, from the medical image analysis server 14, medical volume data about the subject and a three-dimensional model 20 of the target tissue formed based on the medical volume data.

[0084] In step S12, the ultrasonic tomographic image forming unit 44 starts forming a real-time ultrasonic tomographic image 66 based on the reception signals obtained by transmitting and receiving ultrasonic waves to and from the subject at the current position and posture of the ultrasonic probe 38.

[0085] In step S14, the display control unit 46 causes the display 48 to display the real-time ultrasonic tomographic image 66 formed by the ultrasonic tomographic image forming unit 44 and the medical tomographic image 68 formed by the medical tomographic image forming unit 50 by cutting out and reconstructing the medical volume data at a specified cross section.

[0086] In step S16, the examiner adjusts the position and orientation of the ultrasonic probe 38 so that the real-time ultrasonic tomographic image 66 and the medical tomographic image 68 are exactly the same cross section, and when the real-time ultrasonic tomographic image 66 and the medical tomographic image 68 are exactly the same cross section, the examiner inputs a calibration instruction from the input interface 32. The ultrasonic tomographic image forming unit 44 repeats forming the real-time ultrasonic tomographic image 66 for the ultrasonic scanning plane based on the position and orientation of the ultrasonic probe 38 until the calibration instruction is input. When the calibration instruction is input, the multiplanar reconstruction unit 52 proceeds to step S18.

[0087] In step S18, the resection transformation unit 52 associates the predetermined cross section set in the medical volume data with the position and orientation information acquired from the position and orientation sensor 38a when the calibration command was input, and stores the information in the memory 34. In this way, calibration is performed.

[0088] In step S20, the medical tomographic image forming unit 50 forms a medical tomographic image 68 by cutting out the medical volume data acquired in step S10 at the model space cross section 60 specified based on the position and orientation information from the position and orientation sensor 38a and reconstructing the data. In addition, the model cross-sectional image forming unit 54 forms a model cross-sectional image 62 by cutting out the three-dimensional model 20 acquired in step S10 at the model space cross section 60.

[0089] In step S22, the display control unit 46 aligns the real-time ultrasonic tomographic image 66 with the model cross-sectional image 62 formed in step S20, and then displays the model cross-sectional image 62 superimposed on the real-time ultrasonic tomographic image 66. This causes the target tissue region 64 to be displayed superimposed on the real-time ultrasonic tomographic image 66. Furthermore, the display control unit 46 aligns the medical tomographic image 68 formed in step S20 with the model cross-sectional image 62 formed in step S20, and then displays the model cross-sectional image 62 superimposed on the medical tomographic image 68.

[0090] The ultrasonic diagnostic support device according to the present disclosure has been described above, but the ultrasonic diagnostic support device according to the present disclosure is not limited to the above embodiment, and various modifications are possible without departing from the spirit thereof.

[0091] For example, in the above embodiment, the ultrasonic diagnosis support device is the ultrasonic diagnostic device 16, but the ultrasonic diagnosis support device is not limited to the ultrasonic diagnostic device 16. For example, the ultrasonic diagnosis support device may be a personal computer (PC (Personal Computer)) or a server having a processor, memory, a communication interface, an input interface, and a display. In this case, the processor of the PC or server serving as the ultrasonic diagnosis support device functions as the cross-sectional reformatting unit 52 and the model cross-sectional image forming unit 54, acquires the 3D model 20 from the medical image analysis server 14, acquires position and orientation information from the position and orientation sensor 38a of the ultrasonic probe 38, forms a model cross-sectional image 62 based on the acquired 3D model 20 and position and orientation information, and transmits the formed model cross-sectional image 62 to the ultrasonic diagnostic device, thereby displaying a real-time ultrasonic tomographic image 66 on which the model cross-sectional image 62 is superimposed, on the ultrasonic diagnostic device. [Explanation of symbols]

[0092] 10 Ultrasound diagnosis support system, 12 Medical equipment, 14 Medical image analysis server, 20 3D model, 30 Communication interface, 32 Input interface, 34 Memory, 36 Control unit, 38 Ultrasound probe, 38a Position and orientation sensor, 40 Transmitter / receiver unit, 42 Signal processing unit, 44 Ultrasound tomographic image formation unit, 46 Display control unit, 48 Display, 50 Medical tomographic image formation unit, 52 Plane transformation unit, 54 Model cross-sectional image formation unit, 56 Color Doppler processing unit, 60 Model space cross-section, 62 Model cross-sectional image, 64 Target tissue region, 66 Real-time ultrasound tomographic image, 68 Medical tomographic image, 70 Attribute information, 72 Region of interest, 74 Color Doppler image.

Claims

1. a three-dimensional model acquisition unit that acquires a three-dimensional model of a target tissue formed based on medical volume data acquired by a medical device; a cross-section transformation unit that transforms the ultrasound scan plane into a model space cross section, which is a cross section in a model space of the three-dimensional model, based on position and orientation information indicating a current position and orientation of an ultrasound probe that scans ultrasound on the ultrasound scan plane including the target tissue; a target tissue region specifying unit that specifies a target tissue region, which is a region occupied by the target tissue on the ultrasound scan plane, by cutting out the three-dimensional model at the model space cross section; a display control unit that displays, on a display unit, an ultrasonic tomographic image formed based on a reception signal obtained by transmitting and receiving ultrasonic waves to and from the target tissue at the current position and posture of the ultrasonic probe, and that displays the target tissue region by superimposing it on the ultrasonic tomographic image; An ultrasonic diagnostic support device comprising:

2. the display control unit changes the display mode of the target tissue region in response to an instruction from an examiner.

2. The ultrasonic diagnostic support device according to claim 1.

3. When there are a plurality of target tissues and the target tissue region specifying unit specifies a plurality of target tissue regions, the display control unit displays the target tissue region selected by the examiner and does not display the target tissue region not selected by the examiner.

2. The ultrasonic diagnostic support device according to claim 1.

4. When there are a plurality of target tissues and the target tissue region specifying unit specifies a plurality of the target tissue regions, the display control unit displays the target tissue regions in different modes.

2. The ultrasonic diagnostic support device according to claim 1.

5. the three-dimensional model has attribute information related to the target tissue; the display control unit causes the display unit to display the attribute information of the target tissue corresponding to the target tissue region in a manner associated with the target tissue region.

5. The ultrasonic diagnostic support device according to claim 1, wherein the ultrasonic diagnostic support device is a computer.

6. the target tissue region specifying unit specifies a target tissue region for alignment, which is a region occupied by the target tissue in the predetermined cross section, by cutting out the three-dimensional model at a predetermined cross section; the display control unit causes the display unit to display, before the multiplanar reconstruction unit performs the reconstruction process, a medical tomographic image formed by cutting out and reconstructing the medical volume data at the predetermined cross section and the ultrasonic tomographic image, and further causes the display unit to display the target tissue region for registration by superimposing the target tissue region on the ultrasonic tomographic image.

2. The ultrasonic diagnostic support device according to claim 1.

7. a color Doppler processing unit that forms a color Doppler image based on the identified target tissue region; The ultrasonic diagnostic support device according to claim 1, further comprising:

8. the color Doppler processing unit sets a region of interest for color Doppler based on the target tissue region; 8. The ultrasonic diagnostic support device according to claim 7.

9. the color Doppler processing unit sets a velocity range of color Doppler based on the target tissue corresponding to the target tissue region.

9. The ultrasonic diagnostic support device according to claim 7 or 8.

10. an image quality adjustment unit that adjusts the image quality of the ultrasonic tomographic image based on the target tissue corresponding to the identified target tissue region; The ultrasonic diagnostic support device according to claim 5, further comprising:

11. Computer, a three-dimensional model acquisition unit that acquires a three-dimensional model of a target tissue formed based on medical volume data acquired by a medical device; a cross-section transformation unit that transforms the ultrasound scan plane into a model space cross section, which is a cross section in a model space of the three-dimensional model, based on position and orientation information indicating a current position and orientation of an ultrasound probe that scans ultrasound on the ultrasound scan plane including the target tissue; a target tissue region specifying unit that specifies a target tissue region, which is a region occupied by the target tissue on the ultrasound scan plane, by cutting out the three-dimensional model at the model space cross section; a display control unit that displays, on a display unit, an ultrasonic tomographic image formed based on a reception signal obtained by transmitting and receiving ultrasonic waves to and from the target tissue at the current position and posture of the ultrasonic probe, and that displays the target tissue region by superimposing it on the ultrasonic tomographic image; and a diagnostic support program for ultrasound, the diagnostic support program being characterized by:

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