Ultrasound probe attachment, ultrasound image generation system, and ultrasound image generation method

Abstract

This invention provides an attachment for an ultrasonic probe that can generate highly accurate three-dimensional images using a known ultrasonic probe, even when the target surface has uneven surfaces. [Solution] The ultrasonic probe attachment 20 is used by being attached to an ultrasonic probe 10 that transmits and receives ultrasonic waves to a target surface S of a subject. The ultrasonic probe attachment 20 comprises at least one selected from the group consisting of a distance sensor 21 that detects the travel distance D of the ultrasonic probe 10 along the target surface S, and an angle sensor 22 that detects the inclination angle θ between the target surface S and the central axis Ax of the ultrasonic probe 10.

Description

Technical Field

[0001] The present invention relates to an attachment for an ultrasonic probe, an ultrasonic image generation system, and an ultrasonic image generation method.

Background Art

[0002] Ultrasonic diagnostic imaging systems are widely used because they can obtain ultrasonic images in real time through a simple operation that only requires placing an ultrasonic probe against a target surface of a subject to transmit and receive ultrasonic waves. As scanning methods for ultrasonic probes, for example, parallel scanning and sector scanning are known. Parallel scanning is a scanning method in which the tip of the ultrasonic probe is placed against the target surface such that the central axis of the ultrasonic probe is perpendicular to the horizontal plane, and the ultrasonic probe is moved in parallel while maintaining the angle of the central axis perpendicular. Sector scanning is a scanning method in which the tip of the ultrasonic probe is placed against an arbitrary point on the target surface, and the ultrasonic probe is swung around that point as a fulcrum. A technique for generating a three-dimensional image based on a plurality of tomographic images obtained by parallel scanning has also been proposed (for example, Patent Document 1).

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] Parallel scanning assumes that the ultrasound probe is moved in parallel while maintaining the angle of the central axis perpendicular to the horizontal plane. Therefore, with known ultrasound probes, it is possible to obtain positional information associated with each of the multiple tomographic images, but it is not possible to obtain inclination information associated with each of the multiple tomographic images. As a result, while it is possible to generate a 3D image of a flat surface using known ultrasound probes, it is difficult to generate a highly accurate 3D image when the surface has contours such as the breast.

[0005] The present invention has been made in view of the above circumstances, and provides an attachment for an ultrasonic probe that can generate highly accurate three-dimensional images using a known ultrasonic probe, even when the target surface has undulations. [Means for solving the problem]

[0006] Firstly, the present invention provides an attachment for an ultrasonic probe used by being attached to an ultrasonic probe that transmits and receives ultrasonic waves to a target surface of a subject, the attachment comprising at least one selected from the group consisting of a distance sensor for detecting the distance traveled by the ultrasonic probe along the target surface and an angle sensor for detecting the inclination angle of the central axis of the ultrasonic probe with respect to the target surface (Invention 1).

[0007] According to this invention (Invention 1), by attaching the attachment to a known ultrasonic probe and performing a scan, the following effects can be obtained. (i) If the attachment is equipped with a distance sensor, for example, by transmitting and receiving ultrasound while moving the ultrasound probe in parallel along a flat surface, multiple tomographic images and multiple positional data associated with each of the multiple tomographic images can be acquired. Based on the acquired tomographic images and positional data, a highly accurate three-dimensional image can be generated. (ii) If the attachment is equipped with an angle sensor, for example, by transmitting and receiving ultrasound while propelling the ultrasound probe with any point on a flat surface or a surface having undulations as a pivot point, position data and angle data associated with each of the multiple tomographic images can be obtained. (iii) If the attachment is equipped with both a distance sensor and an angle sensor, for example, even if the target surface has an uneven surface such as a breast, multiple tomographic images, multiple positional data associated with each of the multiple tomographic images, and multiple angleal data can be acquired by sending and receiving ultrasound while moving the ultrasound probe along the target surface. Based on the acquired tomographic images, positional data, and angleal data, a highly accurate three-dimensional image can be generated.

[0008] The above invention (Invention 1) may also include both the distance sensor and the angle sensor (Invention 2).

[0009] According to this invention (Invention 2), the effect described in (iii) above can be obtained. That is, a highly accurate three-dimensional image can be generated based on the acquired tomographic image, positional data, and angle data.

[0010] In the above invention (Invention 2), the target surface may have an uneven surface (Invention 3).

[0011] Such invention (Invention 3) is particularly useful in that it can generate highly accurate three-dimensional images when the surface to be measured has undulations.

[0012] The above inventions (inventions 1-3) further include a movement assisting unit that includes a roller for assisting the movement of the ultrasonic probe along the target surface, and the distance sensor may detect the movement distance based on the amount of rotation of the roller (invention 4).

[0013] According to this invention (Invention 4), the distance traveled can be accurately detected based on the amount of rotation of the rollers of the movement assisting unit. Furthermore, since the movement of the ultrasonic probe is assisted by the rollers of the movement assisting unit, the ultrasonic probe can be moved smoothly along the target surface even if the target surface has uneven surfaces.

[0014] In the above invention (Invention 4), the roller may include a first roller located on the side of the direction of travel of the ultrasonic probe and a second roller located on the side opposite to the direction of travel (Invention 5).

[0015] According to this invention (Invention 5), the ultrasonic probe can be held stably and moved smoothly along the target surface, thereby improving the accuracy of detecting the distance traveled. Invention 5 is particularly useful when the target surface has undulations.

[0016] In the above invention (Invention 5), the contact area per unit area of ​​the first roller with respect to the horizontal plane may be smaller than the contact area per unit area of ​​the second roller with respect to the horizontal plane (Invention 6).

[0017] According to this invention (Invention 6), slippage of the first roller located in the direction of travel against the target surface is suppressed. Invention 6 is particularly effective in preventing slippage caused by the gel necessary for scanning the ultrasonic probe.

[0018] The above inventions (inventions 1-6) further include a propulsion assisting part that includes a rotating shaft to assist in propulsion of the ultrasonic probe with any point on the target surface as a fulcrum, and the angle sensor may detect the inclination angle based on the amount of rotation of the rotating shaft (invention 7).

[0019] According to this invention (Invention 7), the tilt angle can be accurately detected based on the amount of rotation of the rotation axis of the propulsion assist unit. Furthermore, since the propulsion of the ultrasonic probe is assisted by the rotation axis of the propulsion assist unit, the ultrasonic probe can be smoothly propelled using any point on the target surface as a pivot point.

[0020] The above invention (Inventions 1 to 7) may further comprise an accommodating portion capable of accommodating the ultrasonic probe such that the distal end portion of the ultrasonic probe is positioned on the target surface side (Invention 8).

[0021] According to this invention (Invention 8), the ultrasonic probe can be easily attached to the attachment only by accommodating the ultrasonic probe in the accommodating portion.

[0022] The above invention (Inventions 2 to 8) may comprise: a movement mode for moving the ultrasonic probe along the target surface; a swinging mode for swinging the ultrasonic probe with an arbitrary point on the target surface as a fulcrum; and an uneven portion mode combining the movement mode and the swinging mode (Invention 9).

[0023] According to this invention (Invention 9), scanning as required can be performed by switching modes.

[0024] In the above invention (Invention 9), when the movement mode is executed, the distance sensor acquires a plurality of position data respectively associated with a plurality of tomographic images generated from received ultrasonic signals received by the ultrasonic probe; when the swinging mode is executed, the angle sensor acquires a plurality of angle data respectively associated with a plurality of tomographic images generated from received ultrasonic signals received by the ultrasonic probe; and when the uneven portion mode is executed, the distance sensor and the angle sensor may acquire a plurality of position data and a plurality of angle data respectively associated with a plurality of tomographic images generated from received ultrasonic signals received by the ultrasonic probe (Invention 10).

[0025] According to this invention (Invention 10), executing the movement mode makes it possible to generate a high-precision three-dimensional image of a flat target surface. Executing the swinging mode makes it possible to generate a plurality of high-precision tomographic images of a flat target surface or a target surface having uneven portions. Executing the uneven portion mode makes it possible to generate a high-precision three-dimensional image of a target surface having uneven portions.

[0026] In the above invention (Inventions 9-10), when the undulation mode is executed, the ultrasonic probe is preferably moved such that the inclination angle of the central axis with respect to the horizontal plane is constant (Invention 11).

[0027] According to this invention (Invention 11), the accuracy of angle data acquired during execution of the undulation mode can be improved.

[0028] Secondly, the present invention provides an ultrasonic image generation system (Invention 12), comprising: an ultrasonic probe; the ultrasonic probe attachment according to the above-mentioned Invention 10, to which the ultrasonic probe is attached; and an image generation device, wherein the image generation device generates the plurality of tomographic images from the received signals received by the ultrasonic probe when the undulation mode is executed, and generates a three-dimensional image of the target surface based on the generated plurality of tomographic images and the plurality of position data and plurality of angle data acquired by the ultrasonic probe attachment.

[0029] According to this invention (Invention 12), a high-precision three-dimensional image of a target surface having undulations can be generated.

[0030] Thirdly, the present invention provides an ultrasonic image generation method (Invention 13), which is an ultrasonic image generation method using an ultrasonic probe and the ultrasonic probe attachment according to the above-mentioned Invention 10 to which the ultrasonic probe is attached, the method comprising: generating the plurality of tomographic images from the received signals received by the ultrasonic probe when the undulation mode is executed; and generating a three-dimensional image of the target surface based on the generated plurality of tomographic images and the plurality of position data and plurality of angle data acquired by the ultrasonic probe attachment.

[0031] According to this invention (Invention 13), a high-precision three-dimensional image of a target surface having undulations can be generated. Effects of the Invention

[0032] According to the present invention, even when the target surface has uneven surfaces, a highly accurate three-dimensional image can be generated using a known ultrasonic probe. [Brief explanation of the drawing]

[0033] [Figure 1] This is a schematic diagram showing an attachment for an ultrasonic probe according to the first embodiment of the present invention attached to an ultrasonic probe, where (a) is a front view, (b) is a rear view, and (b) is a side view. [Figure 2] This is a schematic diagram showing an example of an ultrasound probe used in an attachment for an ultrasound probe, where (a) is a front view and (b) is a side view. [Figure 3] This diagram illustrates an example of how to use an attachment for an ultrasound probe. [Figure 4] This diagram illustrates another example of how to use an attachment for an ultrasound probe. [Figure 5] This diagram illustrates yet another example of how to use an attachment for an ultrasound probe. [Figure 6] This is a block diagram showing the configuration of an ultrasound image generation system according to a second embodiment of the present invention. [Modes for carrying out the invention]

[0034] Embodiments of the present invention will be described below with reference to the drawings. The present invention is not limited to the embodiments described below, and the embodiments described are merely examples to illustrate the technical features of the present invention. The shapes and dimensions shown in each drawing are shown only to facilitate understanding of the content of the present invention and do not accurately reflect the actual shapes and dimensions.

[0035] [Attachment for ultrasound probe] The ultrasonic probe attachment 20 according to the first embodiment of the present invention is used by being attached to an ultrasonic probe 10 that transmits and receives ultrasonic waves to a target surface S of a subject. Figure 1 is a schematic diagram showing the ultrasonic probe attachment 20 attached to the ultrasonic probe 10, where (a) is a front view, (b) is a rear view, and (b) is a side view.

[0036] Figure 2 is a schematic diagram showing an example of an ultrasonic probe 10, where (a) is a front view and (b) is a side view. The ultrasonic probe 10 shown in Figure 1 comprises a probe body 11. The probe body 11 has a front 10a positioned on the side of the direction of travel of the ultrasonic probe 10 during scanning, a back 10b positioned on the opposite side of the direction of travel, and a pair of side surfaces 10c. As shown in Figure 2, the probe body 11 may have an elongated shape in the direction in which the central axis Ax of the ultrasonic probe 10 extends.

[0037] The probe body 11 includes a convex acoustic lens 14 and a transducer 15 for transmitting and receiving ultrasonic waves, extending from the tip 12 to the base 13 along the central axis Ax. As shown in Figure 2, the acoustic lens 14 is located at the tip 12 of the probe body 11. The acoustic lens 14 is the part that should be in contact with the target surface S of the subject. The probe body 11 may also include an acoustic matching layer between the acoustic lens 14 and the transducer 15 to suppress the acoustic impedance difference between the transducer 15 and the subject and to efficiently transmit and receive ultrasonic waves. The probe body 11 may also include a backing on the base 13 side of the transducer 15 to suppress the propagation of ultrasonic waves toward the base 13 side.

[0038] In the following, the direction in which the central axis Ax of the ultrasound probe 10 extends will be referred to as the Z direction, the direction perpendicular to the central axis Ax of the ultrasound probe 10 and perpendicular to the front surface 10a of the ultrasound probe 10 will be referred to as the X direction, and the direction perpendicular to the Z and X directions and perpendicular to the side surface 10c of the ultrasound probe 10 will be referred to as the Y direction.

[0039] The ultrasonic probe attachment 20 according to this embodiment (hereinafter sometimes simply referred to as attachment 20) comprises at least one selected from the group consisting of a distance sensor 21 for detecting the travel distance D of the ultrasonic probe 10 along the target surface S, and an angle sensor 22 for detecting the inclination angle θ of the central axis Ax of the ultrasonic probe 10 with respect to the target surface S.

[0040] The distance sensor 21 acquires position data of the ultrasonic probe 10. The travel distance D of the ultrasonic probe 10 is determined from the acquired position data.

[0041] The angle sensor 22 acquires angle data from the ultrasonic probe 10. The tilt angle θ of the ultrasonic probe 10 is determined from the acquired angle data.

[0042] Figures 3 to 5 illustrate how to use the attachment 20. The attachment 20 enables scanning of a wide area S with the ultrasonic probe 10. By attaching the attachment 20 to the ultrasonic probe 10 and performing scanning, the following effects can be obtained.

[0043] (i) If the attachment 20 is equipped with a distance sensor 21, for example, as shown in Figure 3, multiple tomographic images and multiple positional data associated with each of the multiple tomographic images can be acquired by transmitting and receiving ultrasound while moving the ultrasonic probe 10 in parallel in the X direction along a flat target surface S. Based on the acquired tomographic images and positional data, a highly accurate 3D image can be generated. (ii) If the attachment 20 is equipped with an angle sensor 22, for example, as shown in Figures 4(a) and (b), by transmitting and receiving ultrasound while propelling the ultrasonic probe 10 in the ±X direction with any point P on a flat surface S and a surface S having an uneven portion as a pivot point, position data and angle data associated with each of the multiple tomographic images can be obtained. (iii) If the attachment is equipped with both a distance sensor 21 and an angle sensor 22, for example, as shown in Figure 5, even if the target surface S has an uneven surface such as a breast, multiple tomographic images, multiple position data associated with each of the multiple tomographic images, and multiple angle data can be acquired by sending and receiving ultrasound while moving the ultrasound probe 10 along the target surface S. Based on the acquired tomographic images, position data, and angle data, a highly accurate three-dimensional image can be generated.

[0044] As shown in Figure 3, the attachment 20 may be equipped with only a distance sensor 21 (the horizontal arrow in the figure indicates the direction of probe movement). As shown in Figure 4, the attachment 20 may be equipped with only an angle sensor 22 (the arch in the figure indicates the direction of change in the probe's tilt). When using only the angle sensor 22, a stereoscopic image can be generated by changing the tilt without moving the ultrasonic probe. As shown in Figure 5, the attachment 20 may be equipped with both a distance sensor 21 and an angle sensor 22.

[0045] If the attachment 20 is equipped with both a distance sensor 21 and an angle sensor 22, the effect of (iii) above can be obtained. That is, based on the acquired tomographic image, position data, and angle data, a highly accurate three-dimensional image of the target surface S having undulations can be generated.

[0046] As shown in Figures 4(b) and 5, the target surface S may have undulations. The attachment 20, which is equipped with both a distance sensor 21 and an angle sensor 22, is particularly useful in that it can generate highly accurate ultrasonic stereoscopic images when the target surface S has undulations.

[0047] As shown in Figures 3 to 5, the inclination angle θ is the angle that the central axis Ax makes with respect to the tangent plane Pt between the tip 14 of the ultrasonic probe 10 and the target surface S. As shown in Figures 3 and 4(a), when the target surface S is flat, the tangent plane Pt and the horizontal plane Ph are the same. As shown in Figures 4(b) and 5, when the target surface S has undulations, the tangent plane Pt and the horizontal plane Ph may be the same (for example, Figure 4(b)) or they may not be the same (for example, Figure 5).

[0048] In this embodiment, a "flat surface" means that the surface S has no slope or step of 1 cm or less. As shown in Figure 3, a flat surface S can be approximately parallel to the horizontal plane Rh. A "surface with undulations" means that the surface S has a slope or step of more than 1 cm. The inclination angle θ can be, for example, in the range of 30° to 90°.

[0049] As shown in Figure 1, the attachment 20 may further include a movement assist unit 24 which includes a roller 23 that assists in the movement of the ultrasonic probe 10 along the target surface S. The roller 23 has a rotation axis 231 that extends in the Y direction. The distance sensor 21 may detect the travel distance D based on the amount of rotation of the roller 23. With such a configuration, the travel distance D can be accurately detected based on the amount of rotation of the roller 23 of the movement assist unit 24. In addition, since the movement of the ultrasonic probe 10 is assisted by the roller 23 of the movement assist unit 14, the ultrasonic probe 10 can be moved smoothly along the target surface S even if the target surface S has undulations.

[0050] As shown in FIG. 1, the roller 23 may include a first roller 23a positioned on the traveling direction (+X direction) side of the ultrasonic probe 10, and a second roller 23b positioned on the opposite direction (-X direction) side to the traveling direction. The first roller 23a has a first rotation shaft 231a extending in the Y direction, and the second roller 23b has a second rotation shaft 231b extending in the Y direction. According to this configuration, while the ultrasonic probe 10 is stably held, the ultrasonic probe 10 can be easily and smoothly moved along the target surface S, so that the detection accuracy of the movement distance can be improved. Such a configuration is particularly useful when the target surface S has undulations.

[0051] As shown in FIG. 1(c), the first rotation shaft 231a and the second rotation shaft 231b may be connected by a connecting shaft 25 extending in the X direction. According to this configuration, the rotation of the second roller 23b is easily interlocked with the rotation of the first roller 23a, so that the ultrasonic probe 10 can be moved more smoothly along the target surface S.

[0052] For example, the contact area A1 per unit area of the first roller 23a with respect to a horizontal plane may be smaller than the contact area A2 per unit area of the second roller 23b with respect to a horizontal plane. According to this configuration, slipping of the first roller 23a positioned on the traveling direction (+X direction) side relative to the target surface S is suppressed. The roller 23 in which the first roller 23a and the second roller 23b satisfy A1<A2 is particularly effective against slipping caused by gel necessary for scanning with an ultrasonic probe.

[0053] The shape of the first roller 23a and the shape of the second roller 23b may be the same or different. As shown in FIG. 1, the first roller 23a may be a spiral roller having a helical roller surface. By using a spiral roller as the first roller 23a, the contact area A1 can be reduced. As shown in FIG. 1, the second roller 23b may be a rubber roller having a roller surface obtained by polishing an elastic member such as rubber. By using a rubber roller as the second roller 23b, A1<A2 is easily satisfied.

[0054] As shown in Figure 1(c), the attachment 20 may further include a propulsion assist unit 26 which includes a rotating shaft 261 that assists in propulsion of the ultrasonic probe 10 with any point on the target surface S as the pivot point P. The angle sensor 22 may detect the inclination angle θ based on the amount of rotation of the rotating shaft 261. With this configuration, the inclination angle θ can be accurately detected based on the amount of rotation of the rotating shaft 261 of the propulsion assist unit 26. Furthermore, since the propulsion of the ultrasonic probe 10 is assisted by the rotating shaft 261 of the propulsion assist unit 26, the ultrasonic probe 10 can be smoothly propelled with any point on the target surface S as the pivot point P.

[0055] As shown in Figure 1(c), the rotating shaft 261 may be located on a connecting shaft 25 that connects the first rotating shaft 231a and the second rotating shaft 231b. With such a configuration, the travel distance D and the tilt angle θ can be detected with a simple structure.

[0056] As shown in Figure 1, the attachment 20 may further include a housing portion 27 capable of accommodating the ultrasonic probe 10 such that the tip portion 12 of the ultrasonic probe 10 is positioned on the target surface S side. With this configuration, the ultrasonic probe 10 can be easily attached to the attachment 20 simply by housing the ultrasonic probe 10 in the housing portion 27.

[0057] The shape of the housing portion 27 is not particularly limited, as long as it can accommodate the ultrasonic probe 10 so that its tip portion 12 is positioned on the target surface S side. The housing portion 27 may have a positioning portion (not shown) for determining the position of the ultrasonic probe 10.

[0058] The attachment 20 may have a movement mode for moving the ultrasonic probe 10 along the target surface S, a propulsion mode for propelling the ultrasonic probe 10 using any point P on the target surface S as a pivot point, and a relief mode that combines the movement mode and the propulsion mode. When each mode is executed, the ultrasonic probe 10 transmits and receives ultrasonic waves. With such a configuration, scanning can be performed using the ultrasonic probe 10 as needed by switching between modes.

[0059] Figure 3 shows an example of the movement mode in operation. Figure 4 shows an example of the agitation mode in operation. Figure 5 shows an example of the elevation mode in operation.

[0060] When the movement mode is executed, the distance sensor 21 may acquire multiple position data associated with each of the multiple tomographic images generated from the received ultrasonic signal received by the ultrasonic probe 10. When the agitation mode is executed, the angle sensor 22 may acquire multiple angle data associated with each of the multiple tomographic images generated from the received ultrasonic signal received by the ultrasonic probe 10. When the relief mode is executed, the distance sensor 21 and the angle sensor 22 may acquire multiple position data and multiple angle data associated with each of the multiple tomographic images generated from the received ultrasonic signal received by the ultrasonic probe 10. With this configuration, a highly accurate three-dimensional image of a flat target surface S can be generated by executing the movement mode. Multiple highly accurate tomographic images of a flat target surface S or a target surface S with relief can be generated by executing the agitation mode. A highly accurate three-dimensional image of a target surface S with relief can be generated by executing the relief mode.

[0061] The moving mode is executed, for example, when the inclination angle θ is less than 30°. The uneven terrain mode is executed, for example, when the inclination angle θ is 30° or greater. However, the uneven terrain mode may be executed even when the inclination angle θ is less than 30°.

[0062] When performing the contour mode, it is preferable to move the ultrasonic probe 10 so that the inclination angle of the central axis Ax with respect to the horizontal plane Ph remains constant. With this configuration, the accuracy of the angle data acquired when performing the contour mode can be improved. As a result, a more accurate stereoscopic image can be generated. In the example in Figure 5, when performing the contour mode, the ultrasonic probe 10 is moved so that the inclination angle of the central axis Ax with respect to the horizontal plane Ph is 90°. However, the inclination angle of the central axis Ax with respect to the horizontal plane Ph is not limited to 90°. For example, when performing the contour mode, the ultrasonic probe 10 may be moved so that the inclination angle of the central axis Ax with respect to the horizontal plane Ph is 60°.

[0063] [Ultrasound image generation system] The ultrasound image generation system 100 according to the second embodiment of the present invention comprises an ultrasound probe 10, an ultrasound probe attachment 20 to which the ultrasound probe 10 is attached, and an image generation device 30. Figure 6 is a block diagram showing the configuration of the ultrasound image generation system 100.

[0064] For example, the image generation device 30 generates multiple tomographic images from the received signals received by the ultrasonic probe 10 when the movement mode is being executed, and generates a three-dimensional image of the target surface S based on the generated multiple tomographic images and multiple position data acquired by the attachment 20.

[0065] For example, the image generation device 30 generates multiple tomographic images from the received signals received by the ultrasonic probe 10 when the agitation mode is being executed. Each of the multiple tomographic images includes angle data acquired by the attachment 20.

[0066] For example, the image generation device 30 generates multiple tomographic images from the received signals received by the ultrasonic probe 10 when the relief mode is executed, and generates a three-dimensional image of the target surface S based on the generated multiple tomographic images and multiple positional data and multiple angle data acquired by the attachment 20.

[0067] The ultrasound image generation system 100 can generate highly accurate three-dimensional images of a target surface S having undulations.

[0068] [Ultrasound image generation method] Next, a method for generating ultrasound images according to a third embodiment of the present invention will be described. The method for generating ultrasound images can be performed, for example, by an ultrasound image generation system 100.

[0069] The method for generating the ultrasound image includes, for example, generating multiple tomographic images from the received signals received by the ultrasound probe 10 during the execution of the moving mode, and generating a three-dimensional image of the target plane S based on the generated multiple tomographic images and multiple positional data acquired by the attachment 20. These steps are performed, for example, by the image generation device 30.

[0070] The method for generating the ultrasound image includes, for example, generating multiple tomographic images from the received signals received by the ultrasound probe 10 during the execution of the incitation mode. This step is performed, for example, by the image generation device 30. Each of the multiple tomographic images includes angle data acquired by the attachment 20.

[0071] The method for generating the ultrasound image includes generating multiple tomographic images from the received signals received by the ultrasound probe 10 during the execution of the relief mode, and generating a three-dimensional image of the target surface S based on the generated multiple tomographic images and multiple positional data and multiple angle data acquired by the attachment 20. These steps are performed, for example, by an image generation device 30.

[0072] According to this ultrasound image generation method, a highly accurate three-dimensional image of a target surface S having undulations can be generated.

[0073] The ultrasonic probe attachment, ultrasonic image generation system, and ultrasonic image generation method according to the present invention have been described above with reference to the drawings. However, the present invention is not limited to the above embodiments, and various modifications are possible. [Explanation of Symbols]

[0074] 10 Ultrasound probes 10a front 10b back 10c side 11. Probe body 12 Tip 13 Proximal end 14 Acoustic Lenses 15. Oscillator 20 Attachments for ultrasound probes 21 Distance Sensor 22 Angle Sensor 23 Rollers 231 Rotation axis 23a First Roller 231a First rotation axis 23b Second Roller 231b Second rotation axis 24 Mobility support unit 25 Connecting shaft 26. Agitation Support Unit 261 Rotation axis 27. Storage Unit θ Tilt angle D Travel distance S Target surface Pt tangent plane Ph horizontal plane P fulcrum Ax: Central axis of the ultrasound probe 30 Image generation device 100 Ultrasound Image Generation System

Claims

1. An attachment for an ultrasonic probe, which is used by being attached to an ultrasonic probe that transmits and receives ultrasonic waves to a target surface of a subject, An attachment for an ultrasonic probe, comprising at least one selected from the group consisting of a distance sensor for detecting the distance traveled by the ultrasonic probe along the target surface, and an angle sensor for detecting the inclination angle of the central axis of the ultrasonic probe with respect to the target surface.

2. The ultrasonic probe attachment according to claim 1, comprising both the distance sensor and the angle sensor.

3. The ultrasonic probe attachment according to claim 2, wherein the target surface has an uneven surface.

4. The device further includes a movement assist unit that includes a roller to assist the movement of the ultrasonic probe along the target surface, The ultrasonic probe attachment according to claim 1, wherein the distance sensor detects the travel distance based on the amount of rotation of the roller.

5. The ultrasonic probe attachment according to claim 4, wherein the roller includes a first roller located on the side of the direction of travel of the ultrasonic probe and a second roller located on the side opposite to the direction of travel.

6. The ultrasonic probe attachment according to claim 5, wherein the contact area per unit area of ​​the first roller with respect to a horizontal plane is smaller than the contact area per unit area of ​​the second roller with respect to a horizontal plane.

7. The system further comprises a propulsion assist unit including a rotating shaft that assists in propulsion of the ultrasonic probe with any point on the target surface as the pivot point, The attachment for an ultrasonic probe according to claim 1, wherein the angle sensor detects the tilt angle based on the amount of rotation of the rotation axis.

8. The ultrasonic probe attachment according to claim 1, further comprising a housing portion capable of housing the ultrasonic probe such that the tip of the ultrasonic probe is positioned on the target surface side.

9. A movement mode in which the ultrasonic probe is moved along the target surface, A propulsion mode in which the ultrasonic probe is propelled using any point on the target surface as a fulcrum, The ultrasonic probe attachment according to claim 2, comprising a relief mode that combines the movement mode and the agitation mode.

10. During the execution of the aforementioned movement mode, the distance sensor acquires a plurality of position data associated with each of the plurality of tomographic images generated from the received ultrasonic signals received by the ultrasonic probe, During the execution of the aforementioned agitation mode, the angle sensor acquires a plurality of angle data associated with each of the plurality of tomographic images generated from the received ultrasonic signals received by the ultrasonic probe. The ultrasonic probe attachment according to claim 9, wherein, when the relief mode is executed, the distance sensor and the angle sensor acquire a plurality of position data and a plurality of angle data associated with each of a plurality of tomographic images generated from the received ultrasonic signal received by the ultrasonic probe.

11. The ultrasonic probe attachment according to claim 9, wherein, when the undulating mode is executed, the ultrasonic probe is moved such that the inclination angle of the central axis with respect to the horizontal plane remains constant.

12. Ultrasound probe and The ultrasonic probe attachment according to claim 10, to which the ultrasonic probe is attached, Image generation device, Equipped with, The image generation device generates a plurality of tomographic images from the received signals received by the ultrasonic probe when the relief mode is executed, and generates a three-dimensional image of the target surface based on the generated plurality of tomographic images and the plurality of position data and plurality of angle data acquired by the ultrasonic probe attachment, an ultrasonic image generation system.

13. Ultrasound probe and The ultrasonic probe attachment according to claim 10, to which the ultrasonic probe is attached, A method for generating ultrasound images using, The process involves generating the plurality of tomographic images from the received signals received by the ultrasonic probe during the execution of the aforementioned relief mode, A method for generating an ultrasound image, comprising generating a three-dimensional image of the target surface based on the plurality of generated tomographic images and the plurality of positional data and angle data acquired by the ultrasound probe attachment.

Images