Ultrasound diagnostic system

Abstract

This ultrasonic diagnostic system comprises: an ultrasonic diagnostic device having a probe; a moving device for moving the probe; and a control device. The control device is configured to, when performing an ultrasonic diagnosis on a subject, perform a specific pattern control for: controlling the moving device so as to cause the probe to be pressed against the subject's body surface; in the case where a specific pattern is specified as a movement pattern of the probe, controlling the moving device so as to cancel or relax the pressing of the probe against the body surface, and then controlling the moving device so as to cause the probe to move according to said specific pattern; and, upon completion of the movement according to the specific pattern, controlling the moving device so as to cause the probe to be pressed against the body surface.

Description

[Technical field]

[0001] This specification discloses an ultrasound diagnostic system. [Background technology]

[0002] Conventionally, as an ultrasonic diagnostic system of this type, one in which a treatment head including a diagnostic probe is attached to the tip of a robot arm has been proposed (see, for example, Patent Document 1). This system is equipped with a force sensor that detects the magnitude and direction of the force acting on the robot arm via the treatment head, and when pressing the diagnostic probe against a treatment target, the probe driver is controlled so that the force detected by the force sensor is equal to or less than a threshold value. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-165839 A Summary of the Invention [Problem to be solved by the invention]

[0004] When the probe is moved by the moving device in a specific pattern different from a normal movement pattern, depending on the specific pattern, moving the probe while pressed against the subject may impose a large burden on the subject's body.

[0005] The main object of the present disclosure is to reduce the burden on the body of a subject when a probe is moved in a specific pattern by a moving device during ultrasound diagnosis. [Means for solving the problem]

[0006] In order to achieve the above-mentioned main object, the present disclosure has adopted the following means.

[0007] The ultrasound diagnostic system of the present disclosure comprises: an ultrasonic diagnostic device having a probe; A moving device for moving the probe; a control device that performs specific pattern control for controlling the moving device so that the probe is pressed against a body surface of a subject or so that the pressing of the probe against the body surface is released or relaxed when performing an ultrasonic diagnosis on the subject; The main purpose is to provide the following.

[0008] In the ultrasound diagnostic system disclosed herein, the probe is moved by the moving device during ultrasound diagnosis, and the ultrasound diagnostic system can reduce the burden on the subject during ultrasound diagnosis. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is an external perspective view of an ultrasound diagnostic system according to a first embodiment. [Diagram 2] FIG. [Diagram 3] 2 is a block diagram showing the electrical connection relationship between the robot, the control device, and the ultrasound diagnostic device of the first embodiment. FIG. [Figure 4] 13 is a flowchart illustrating an example of an ultrasound diagnostic process. [Diagram 5] 13 is a flowchart showing an example of a specific operation process. [Figure 6] FIG. 11 is a block diagram showing the electrical connection relationship between a robot, a control device, and an ultrasonic diagnostic device according to a second embodiment. [Figure 7] 10 is a flowchart showing ultrasonic diagnostic processing according to a second embodiment. [Figure 8] 10 is a flowchart showing a specific operation process according to a second embodiment. [Figure 9] 13 is a flowchart showing a specific operation process according to a third embodiment. [Figure 10] 13 is a flowchart showing a specific operation process according to the fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Next, an embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 is an external perspective view of an ultrasound diagnostic system according to a first embodiment. Fig. 2 is a side view of a robot. Fig. 3 is a block diagram showing an electrical connection relationship between the robot, a control device, and an ultrasound diagnostic device according to the first embodiment. In Fig. 1, the left-right direction is the X-axis, the front-back direction is the Y-axis, and the up-down direction is the Z-axis.

[0011] In the ultrasound diagnostic system 10 of the first embodiment, an ultrasound probe 101 is held at the tip of a robot 20, and the robot 20 is automatically or remotely driven so that the ultrasound probe 101 is pressed against the body surface of a patient to obtain an ultrasound echo image. The ultrasound diagnostic system 10 is used, for example, in catheter treatment. An operator operating a catheter guidewire can advance the guidewire while recognizing the positional relationship between the tip of the guidewire and a blood vessel from an ultrasound echo image obtained by applying the ultrasound probe 101 to the body surface of the patient, thereby allowing the guidewire to pass accurately through the center of an occluded or narrowed part of the blood vessel.

[0012] The ultrasound diagnostic system 10 includes a robot 20, a force sensor 28, a control device 70 that controls the robot 20, and an ultrasound diagnostic device 100 including an ultrasound probe 101, as shown in FIGS.

[0013] The ultrasonic diagnostic device 100 includes an ultrasonic probe 101 and an ultrasonic diagnostic device main body 102 connected to the ultrasonic probe 101 via a cable 101a. The ultrasonic diagnostic device main body 102 includes a control unit 103 that controls the entire device, an instruction input unit 104 that inputs instructions such as to start a diagnosis, an image processing unit 105 that processes a signal received from the ultrasonic probe 101 to generate an ultrasonic echo image, and a display unit 106 that displays the generated ultrasonic echo image.

[0014] 2, the robot 20 includes a first arm 21, a second arm 22, a base 25, a base 26, a first arm driving device 35, a second arm driving device 36, a posture holding device 37, a lifting device 40, a three-axis rotating mechanism 50, and a holder 60. Note that the first arm 21, the second arm 22, and the three-axis rotating mechanism 50 may be simply referred to as arms.

[0015] The base end of the first arm 21 is connected to the base 25 via a first joint shaft 31 extending in the up-down direction (Z-axis direction). The first arm driving device 35 includes a motor 35a and an encoder 35b. The rotation shaft of the motor 35a is connected to the first joint shaft 31 via a reduction gear (not shown). The first arm driving device 35 rotates (turns) the first arm 21 around the first joint shaft 31 as a fulcrum along a horizontal plane (XY plane) by driving the first joint shaft 31 to rotate with the motor 35a. The encoder 35b is attached to the rotation shaft of the motor 35a and is configured as a rotary encoder that detects the amount of rotational displacement of the motor 35a.

[0016] The base end of the second arm 22 is connected to the tip end of the first arm 21 via a second joint shaft 32 extending in the vertical direction. The second arm driving device 36 includes a motor 36a and an encoder 36b. The rotating shaft of the motor 36a is connected to the second joint shaft 32 via a reduction gear (not shown). The second arm driving device 36 rotates (pivots) the second arm 22 along a horizontal plane with the second joint shaft 32 as a fulcrum by driving the second joint shaft 32 to rotate with the motor 36a. The encoder 36b is attached to the rotating shaft of the motor 36a and is configured as a rotary encoder that detects the amount of rotational displacement of the motor 36a.

[0017] The base 25 is provided so as to be movable up and down with respect to the base 26 by a lifting device 40 installed on the base 26. As shown in Figs. 1 and 2, the lifting device 40 includes a slider 41 fixed to the base 25, a guide member 42 fixed to the base 26 and extending in the vertical direction to guide the movement of the slider 41, a ball screw shaft 43 (lifting shaft) extending in the vertical direction and screwed into a ball screw nut (not shown) fixed to the slider 41, a motor 44 that rotates the ball screw shaft 43, and an encoder 45 (see Fig. 3). The lifting device 40 moves the base 25 fixed to the slider 41 up and down along the guide member 42 by rotating the ball screw shaft 43 with the motor 44. The encoder 45 is configured as a linear encoder that detects the position (lifted position) of the slider 41 (base 25) in the vertical direction.

[0018] The three-axis rotating mechanism 50 is connected to the tip of the second arm 22 via the attitude maintaining shaft 33 extending in the vertical direction. The three-axis rotating mechanism 50 includes a first rotating shaft 51, a second rotating shaft 52, and a third rotating shaft 53 that are perpendicular to one another, a first rotating device 55 that rotates the first rotating shaft 51, a second rotating device 56 that rotates the second rotating shaft 52, and a third rotating device 57 that rotates the third rotating shaft 53. The first rotating shaft 51 is supported in an orthogonal attitude with respect to the attitude maintaining shaft 33. The second rotating shaft 52 is supported in an orthogonal attitude with respect to the first rotating shaft 51. The third rotating shaft 53 is supported in an orthogonal attitude with respect to the second rotating shaft 52. The first rotating device 55 includes a motor 55a that rotates the first rotating shaft 51, and an encoder 55b that is attached to the rotating shaft of the motor 55a and detects the amount of rotational displacement of the motor 55a. The second rotation device 56 has a motor 56a that rotates the second rotation shaft 52, and an encoder 56b attached to the rotation shaft of the motor 56a and detecting the amount of rotational displacement of the motor 56a. The third rotation device 57 has a motor 57a that rotates the third rotation shaft 53, and an encoder 57b attached to the rotation shaft of the motor 57a and detecting the amount of rotational displacement of the motor 57a. In addition, a holder 60 for holding an ultrasonic probe 101 is attached to the third rotation shaft 53. In this embodiment, the ultrasonic probe 101 is held by the holder 60 so as to be positioned coaxially with the third rotation shaft 53.

[0019] The robot 20 of this embodiment can move the ultrasonic probe 101 to any position in any attitude by combining translational motion in three directions, the X-axis direction, the Y-axis direction, and the Z-axis direction, by the first arm driving device 35, the second arm driving device 36, and the lifting device 40, with rotational motion in three directions, around the X-axis (pitching), around the Y-axis (rolling), and around the Z-axis (yawing), by the three-axis rotation mechanism 50.

[0020] The attitude holding device 37 holds the attitude of the three-axis rotating mechanism 50 (the orientation of the first rotating shaft 51) in a constant orientation regardless of the attitudes of the first arm 21 and the second arm 22. The attitude holding device 37 includes a motor 37a and an encoder 37b. The rotating shaft of the motor 37a is connected to the attitude holding shaft 33 via a reduction gear (not shown). The attitude holding device 37 sets a target rotation angle of the attitude holding shaft 33 based on the rotation angle of the first joint shaft 31 and the rotation angle of the second joint shaft 32 so that the axial direction of the first rotating shaft 51 is always in the left-right direction (X-axis direction), and drives and controls the motor 37a so that the attitude holding shaft 33 is at the target rotation angle. This makes it possible to control the translational motion in three directions and the rotational motion in three directions independently, making the control easier.

[0021] The force sensor 28 is attached to the tip of the arm, and detects force components acting in the axial directions of the X-axis, Y-axis, and Z-axis as well as torque components acting around each axis as external forces acting on the arm.

[0022] As shown in Fig. 3, the control device 70 is configured as a microprocessor with a CPU 71 at its core, and includes a ROM 72, a RAM 73, an input / output port, and a communication port (not shown) in addition to the CPU 71. Detection signals from the force sensor 28 and detection signals from the encoders 35b, 36b, 37b, 45, 55b, 56b, and 57b are input to the control device 70 via the input port. Drive signals to the motors 35a, 36a, 37a, 44, 55a, 56a, and 57a are output from the control device 70 via the output port. The control device 70 also communicates with the control unit 103 of the ultrasound diagnostic device 100 via the communication port, and exchanges data.

[0023] Next, a description will be given of the operation of the ultrasound diagnostic system 10 of this embodiment configured as described above. Fig. 4 is a flow chart showing an example of ultrasound diagnostic processing executed by the CPU 71 of the control device 70. This processing is executed, for example, when a user issues an instruction to start diagnosis via the instruction input unit 104.

[0024] When the ultrasonic diagnostic process is executed, the CPU 71 first drives and controls the corresponding motors of the robot 20 to start moving the ultrasonic probe 101 relative to the patient (step S100). The movement of the ultrasonic probe 101 is performed as follows. That is, the CPU 71 determines a target position and a target posture of the arm holding the ultrasonic probe 101 according to a task program created in advance. Next, the CPU 71 sets a target rotation angle of the first joint axis 31, a target rotation angle of the second joint axis 32, a target rotation angle of the posture holding axis 33, a target elevation position of the base 25, a target rotation angle of the first rotation axis 51, a target rotation angle of the second rotation axis 52, and a target rotation angle of the third rotation axis 53 for moving the arm to the target position in the target posture. Then, the CPU 71 controls the corresponding motors so that the rotation angle or elevation position detected by each of the encoders 35b, 36b, 37b, 45, 55b, 56b, and 57b coincides with the corresponding target rotation angle or elevation position. When applying ultrasonic diagnostic processing to catheter treatment, the CPU 71 controls the robot 20 by setting a movement route and a movement speed so that the ultrasonic probe 101 moves in accordance with the progress of the catheter guide wire while aligning the scanning direction of the ultrasonic probe 101 with the central axis direction (length direction) of the patient's blood vessel.

[0025] When the CPU 71 starts moving the ultrasonic probe 101, it sets a predetermined value δ1 as a target value δtag of the pressing force when pressing the ultrasonic probe 101 against the body surface of the patient (step S110). Next, the CPU 71 acquires the pressing force δ of the ultrasonic probe 101 from the force sensor 28 (step S120), and controls the motors 35a, 36a, 37a, 44, 55a, 56a, and 57a of the robot 20 so that the pressing force δ coincides with the target value δtag (step S130). Here, the predetermined value δ1 can be determined in advance by experiments or the like so that the patient does not feel pain or discomfort, and the distance between the ultrasonic probe 101 and the blood vessel, which is the diagnostic object, falls within the effective depth of the ultrasonic waves. By setting the predetermined value δ1 as the target value δtag and controlling the pressing of the ultrasonic probe 101, the ultrasonic probe 101 can be pressed against the patient with an appropriate force, and a good ultrasonic echo image can be obtained without placing an excessive burden on the patient.

[0026] Next, the CPU 71 judges whether or not the execution condition of the operation (specific operation) according to the specific pattern is satisfied (step S140). The execution condition of the specific operation may be satisfied at a predetermined timing, or may be satisfied when the execution of the specific operation is instructed by the user via the instruction input unit 104. When the CPU 71 judges that the execution condition of the specific operation is not satisfied, it judges whether or not the current diagnosis is completed (step S190). This judgment may be made based on whether the ultrasonic probe 101 has reached a predetermined position, or may be made based on whether or not the user has instructed the end of the diagnosis via the instruction input unit 104. When the CPU 71 judges that the current diagnosis is not completed, it returns to step S120 and continues to move the ultrasonic probe 101 while maintaining the pressing force δ at the target value δtag. On the other hand, when the CPU 71 judges that the current diagnosis is completed, it stops the movement of the ultrasonic probe 101 (step S195) and ends the ultrasonic diagnosis process.

[0027] In step S140, when the CPU 71 determines that the execution condition of the specific operation is satisfied, it temporarily stops the movement of the ultrasonic probe 101 (step S150) and executes the specific operation processing (step S160). Here, the specific operation is an operation that places an excessive burden on the patient when the ultrasonic probe 101 is pressed against the body surface of the patient, and examples of the specific operation include a rotation operation that rotates the ultrasonic probe 101 90 degrees around its axis and a movement operation that moves the ultrasonic probe 101 a predetermined distance or more at once. The rotation operation is performed, for example, in catheter treatment, to change the posture of the ultrasonic probe 101 from a state in which the ultrasonic probe 101 scans the length direction of a blood vessel to a state in which the ultrasonic probe 101 scans the width direction of the blood vessel, and to check whether the guide wire of the catheter is displaced from the center of the blood vessel from the obtained ultrasonic echo image of the cross section in the width direction of the blood vessel. In addition, the movement operation is performed, for example, in order to move to another diagnosis location after the diagnosis of one diagnosis location is completed when diagnosing multiple locations at once. The specific operation processing will be described in more detail below. FIG. 5 is a flowchart showing an example of the specific operation processing executed by the CPU 71.

[0028] In the specific operation process, the CPU 71 first sets a predetermined value δ2 smaller than the above-mentioned predetermined value δ1 to the target value δtag of the pressing force (step S200). Next, the CPU 71 acquires the pressing force δ of the ultrasonic probe 101 from the force sensor 28 (step S210) and controls the corresponding motor of the robot 20 so that the pressing force δ coincides with the target value δtag (step S220). This process is to release or ease the pressing of the ultrasonic probe 101 by setting a predetermined value δ2 smaller than normal to the target value δtag of the pressing force and controlling the pressing of the ultrasonic probe 101. In this embodiment, the predetermined value δ2 is set to, for example, near a value 0 so that the pressing of the ultrasonic probe 101 is released. Then, the CPU 71 determines whether the pressing force δ coincides with the target value δtag (step S230). When the CPU 71 determines that the pressing force δ does not match the target value δtag, it returns to step S210 and repeats the control of releasing or relaxing the pressing force, and when it determines that the pressing force δ matches the target value δtag, it starts the specific operation (step S240) and ends the specific operation processing. As described above, when the specific operation is performed with the ultrasonic probe 101 pressed against the body surface of the patient, the burden on the patient is excessive. Therefore, the burden on the patient can be reduced by releasing or relaxing the pressing of the ultrasonic probe 101 prior to the execution of the specific operation. As described above, in catheter treatment, when a rotation operation is performed as a specific operation and the width direction of a blood vessel into which a guidewire is inserted is scanned and the amount of deviation of the guidewire from the center of the blood vessel is inspected from the obtained ultrasonic echo image, the ultrasonic diagnostic device 100 may output a warning on the display unit 106 when the amount of deviation exceeds a predetermined amount.

[0029] Returning to the ultrasonic diagnosis process, when the CPU 71 starts the specific operation, it waits until the specific operation ends (step S170), resumes the movement of the ultrasonic probe 101 (step S180), and returns to step S110. That is, the CPU 71 returns the target value δtag of the pressing force from the predetermined value δ2 to the predetermined value δ1, and resumes the movement of the ultrasonic probe 101 while pressing the ultrasonic probe 101 against the body surface of the patient at the target value δtag of the predetermined value δ1.

[0030] Here, the correspondence between the main elements of the embodiment and the main elements of the present disclosure described in the claims will be described. That is, the ultrasonic probe 101 of the embodiment corresponds to the probe of the present disclosure, the ultrasonic diagnostic device 100 corresponds to the ultrasonic diagnostic device, the robot 20 corresponds to the moving device, and the control device 70 corresponds to the control device. Also, the force sensor 28 corresponds to the force sensor.

[0031] It goes without saying that the present disclosure is in no way limited to the above-described embodiment, and can be embodied in various forms as long as it falls within the technical scope of the present disclosure.

[0032] For example, in the above-described embodiment, when the CPU 71 executes a specific operation, the CPU 71 releases or relaxes the pressing of the ultrasonic probe 101 against the body surface of the patient by controlling the pressing force based on a signal from the force sensor 28 before the execution of the specific operation. In contrast, the ultrasonic diagnostic system of the second embodiment releases or relaxes the pressing of the ultrasonic probe 101 against the body surface of the patient by controlling the position of the ultrasonic probe 101. FIG. 6 is a block diagram showing the electrical connection relationship between the robot, the control device, and the ultrasonic diagnostic device of the second embodiment. As shown in the figure, in the second embodiment, the robot 120 includes a position measurement sensor 128 instead of the force sensor 28 as a sensor used to control the position of the ultrasonic probe 101 when pressing the ultrasonic probe 101 against the body surface of the patient. Examples of the position measurement sensor 128 include a camera sensor, an eddy current displacement sensor, a reflective laser displacement sensor, a capacitance displacement sensor, and a magnetic induction displacement sensor.

[0033] Fig. 7 is a flowchart showing ultrasonic diagnostic processing of the second embodiment. Also, Fig. 8 is a flowchart showing specific operation processing of the second embodiment. The same steps in the ultrasonic diagnostic processing of Fig. 7 as those in Fig. 4 are given the same step numbers, and their explanations are omitted to avoid duplication.

[0034] In the ultrasonic diagnostic process of the second embodiment, when the CPU 71 starts moving the ultrasonic probe 101 in step S100, it sets a position P1 as a target value Ptag of the position (probe position) of the ultrasonic probe 101 (step S110B). Here, when a camera sensor is used as the position measurement sensor 128, the CPU 71 captures an image of the patient's body surface with the camera sensor before diagnosis, and measures the position of the body surface from the captured image as a reference position. The target value Ptag is determined as the position (position P1) of the ultrasonic probe 101 when the ultrasonic probe 101 is pressed a predetermined amount against the reference position. Next, the CPU 71 acquires the probe position P from the position measurement sensor 128 (step S120B), and controls each of the motors 35a, 36a, 37a, 44, 55a, 56a, and 57a so that the acquired probe position P coincides with the target value Ptag (step S130B). If the CPU 71 determines in step S140 that the execution conditions for the specific operation are not met and determines in step S190 that the diagnosis is not completed, the process returns to step S120B, and continues to move the ultrasonic probe 101 while maintaining the probe position P at the target value Ptag. On the other hand, if the CPU 71 determines in step S140 that the execution conditions for the specific operation are met, the process stops the movement of the ultrasonic probe 101 once, and then executes a specific operation process. When the specific operation is completed, the process resumes the movement of the ultrasonic probe 101 (steps S150 to S180), and returns to step S110B.

[0035] In the specific operation process of the second embodiment, the CPU 71 sets a position P2 as a target value Ptag of the probe position (step S300). The position P2 is determined as a position that is a predetermined distance or more away from the patient's body surface than when the ultrasonic probe 101 is pushed in with the position P1 set as the target value Ptag in the ultrasonic diagnosis process of FIG. 7. Next, the CPU 71 acquires the probe position P (step S310). Then, the CPU 71 controls each of the motors 35a, 36a, 37a, 44, 55a, 56a, and 57a so that the acquired probe position P coincides with the target value Ptag (step S320). Then, the CPU 71 determines whether the probe position P coincides with the target value Ptag (step S330). If the CPU 71 determines that the probe position P does not coincide with the target value Ptag, it returns to step S310 and repeats the process. If the CPU 71 determines that the probe position P coincides with the target value Ptag, it starts the specific operation (step S340) and ends the specific operation process.

[0036] In the second embodiment, the CPU 71 acquires the probe position P from the position measurement sensor 128, and controls the pressing of the ultrasonic probe 101 based on the acquired probe position P and the reference position. However, the CPU 71 may calculate the arm position P by forward kinematics based on the rotation angle or elevation position detected by the encoders 35b, 36b, 37b, 45, 55b, 56b, 57b of each joint axis and each rotation axis, and control the pressing of the ultrasonic probe 101 based on the calculated probe position P and the reference position.

[0037] The ultrasound diagnostic system of the third embodiment releases or relaxes the pressure of the ultrasound probe 101 against the body surface of the patient by controlling the pressure torque of the ultrasound probe 101. Fig. 9 is a flowchart showing a specific operation process of the third embodiment.

[0038] In the specific operation process of the third embodiment, the CPU 71 sets a predetermined torque T2 as a target value Ttag of the torque of the motor that outputs a pressing torque for pressing the ultrasonic probe 101 against the body surface of the patient (step S400). The predetermined torque T2 is set to a torque that is smaller than a predetermined amount of torque T1 in the pressing direction required when the ultrasonic probe 101 is pressed against the body surface of the patient in the ultrasonic diagnosis process. Next, the CPU 71 acquires a torque command value T of the motor that outputs the torque in the pressing direction of the ultrasonic probe 101 (step S410). Next, the CPU 71 reduces the torque command value T so that the acquired torque command value T matches the target value Ttag, and controls the corresponding motor (step S420). Then, the CPU 71 determines whether the torque command value T matches the target value Ptag (step S430). If the CPU 71 determines that the torque command value T does not match the target value Ttag, it returns to step S410 and repeats the process. If it determines that the torque command value T matches the target value Ttag, it executes the specific operation (step S440) and ends the specific operation process.

[0039] The ultrasound system of the fourth embodiment releases or relaxes the pressure of the ultrasound probe 101 against the body surface of the patient by moving the ultrasound probe 101 away from the patient until the patient's blood vessels cannot be recognized in the ultrasound echo image. Fig. 10 is a flowchart showing the specific operation process of the fourth embodiment.

[0040] In the specific operation process of the fourth embodiment, the CPU 71 acquires an ultrasonic echo image (step S500). Then, the CPU 71 performs image processing to recognize a diagnostic object (blood vessel) from the acquired ultrasonic echo image (step S510), and determines whether the recognition is successful or not (step S520). The image processing can be performed, for example, by applying pattern matching to the acquired ultrasonic echo image. If the CPU 71 determines that the recognition is successful, it controls a corresponding motor so that the ultrasonic probe 101 moves away from the patient's body surface by a predetermined amount (step S530), returns to step S500, and repeats the processes of steps S500 to S520. Then, if the CPU 71 determines that the recognition of the diagnostic object has failed in step S520 during the process of repeating the process, it executes a specific operation (step S540), and ends the specific operation process. If the ultrasonic probe 101 is moved away from the patient's body surface by a predetermined amount, the clarity of the obtained ultrasonic echo image gradually decreases. Therefore, when the diagnostic object (blood vessel) can no longer be recognized from the ultrasonic echo image, the CPU 71 can determine that the ultrasonic probe 101 has been sufficiently separated from the body surface and the pressure of the ultrasonic probe 101 has been released or relaxed.

[0041] In the above-described embodiment, the robot 20 is configured as a seven-axis articulated robot capable of translational motion in three directions and rotational motion in three directions. However, the number of axes may be any number. The robot 20 may also be configured as a so-called vertical articulated robot or horizontal articulated robot.

[0042] In the above-described embodiment, the ultrasound diagnostic system 10 includes the robot 20 that automatically operates according to a task program. However, the ultrasound diagnostic system may include a master device that is installed in a remote location and can be operated by an operator, and a remote-controlled robot that is connected to the master device via a communication line, holds an ultrasound probe in its arm, and operates the arm in response to the operation of the master device.

[0043] As described above, in the ultrasound diagnostic system of the present disclosure, when a specific pattern is specified as the movement pattern of the probe, the control device releases or relaxes the pressure of the probe against the body surface of the subject, and then moves the probe according to the specific pattern. Then, when the movement according to the specific pattern ends, the control device presses the probe against the body surface. By determining a movement pattern that is likely to impose a burden on the subject as the specific pattern, the burden on the subject during ultrasound diagnosis can be reduced.

[0044] The ultrasound diagnostic system of the present disclosure may also employ the following configuration: That is, in the ultrasound diagnostic system of the present disclosure, the specific pattern may be a pattern in which the probe is rotated around an axis or a pattern in which the probe is moved a predetermined distance or more.

[0045] Furthermore, in the ultrasound diagnostic system of the present disclosure, a force sensor may be provided for detecting a reaction force acting on the probe, and the control device may control the moving device as the specific pattern control so that the pressure of the probe against the body surface is released or relaxed based on the reaction force detected by the force sensor. In this way, the pressure of the probe can be appropriately released or relaxed.

[0046] In addition, the ultrasound diagnostic system of the present disclosure may include a position measurement sensor that measures the position of the probe, and the control device may control the moving device to release or ease the pressure against the body surface based on the position measured by the position measurement sensor as the specific pattern control. In this way, the pressure of the probe can be appropriately released or eased.

[0047] In the ultrasound diagnostic system of the present disclosure, the moving device may move the probe by driving a motor based on a torque command value, and the control device may control the moving device to release or ease the pressure against the body surface by reducing the torque command value as the specific pattern control. In this way, the pressure of the probe can be appropriately released or eased without using a sensor.

[0048] In the ultrasound diagnostic system of the present disclosure, the control device may control the moving device to release or ease the pressure on the body surface based on a change in the ultrasound image acquired from the ultrasound diagnostic device, thereby making it possible to appropriately release or ease the pressure of the probe against the body surface without using a sensor.

[0049] In the ultrasound diagnostic system of the present disclosure, the moving device may be an arm robot having a multi-joint arm, and the probe may be attached to a tip of the multi-joint arm.

[0050] A second ultrasound diagnostic system of the present disclosure comprises an ultrasound diagnostic device having a probe, a moving device for moving the probe, a force sensor for detecting a reaction force acting on the probe, and a control device for controlling the moving device so that the probe is pressed against a body surface of a subject, or so that the pressing of the probe against the body surface is released or relaxed, based on the reaction force detected by the force sensor, when performing an ultrasound diagnosis on the subject.

[0051] A third ultrasound diagnostic system of the present disclosure comprises an ultrasound diagnostic device having a probe, a moving device for moving the probe, and a position measurement sensor for measuring the position of the probe, and a control device for controlling the moving device so that the probe is pressed against a body surface of the subject, or so that the pressure of the probe against the body surface is released or relaxed, based on the position measured by the position measurement sensor, when performing an ultrasound diagnosis on the subject. [Industrial Applicability]

[0052] The present disclosure is applicable to the ultrasonic diagnostic system manufacturing industry and the like. [Explanation of symbols]

[0053] 10 Ultrasound diagnostic system, 20,120 Robot, 21 First arm, 22 Second arm, 25 Base, 26 Base, 28 Force sensor, 31 First joint axis, 32 Second joint axis, 33 Posture holding axis, 35 First arm drive device, 35a Motor, 35b Encoder, 36 Second arm drive device, 36a Motor, 36b Encoder, 37 Posture holding device, 37a Motor, 37b Encoder, 40 Lifting device, 41 Slider, 42 Guide member, 43 Ball screw axis, 44 Motor, 45 Encoder, 50 Rotating three-axis mechanism, 51 First rotating axis, 52 Second rotating axis, 53 Third rotating axis, 55 First rotating device, 55a Motor, 55b Encoder, 56 Second rotating device, 56a Motor, 56b Encoder, 57 Third rotating device, 57a Motor, 57b encoder, 60 holder, 70 control device, 71 CPU, 72 ROM, 73 RAM, 100 ultrasound diagnostic device, 101 ultrasound probe, 101a cable, 102 ultrasound diagnostic device main body, 103 control unit, 104 instruction input unit, 105 image processing unit, 106 display unit, 128 position measurement sensor.

Claims

1. an ultrasonic diagnostic device having a probe; A moving device that moves the probe; a control device for performing specific pattern control, which controls the moving device so that the probe is pressed against a body surface of the subject when performing an ultrasonic diagnosis on the subject, and when a specific pattern is designated as a movement pattern of the probe, controls the moving device so that the pressure of the probe against the body surface is released or relaxed, and then controls the moving device so that the probe moves according to the specific pattern, and when the movement according to the specific pattern is completed, controls the moving device so that the probe is pressed against the body surface; Equipped with the moving device moves the probe by driving a motor based on a torque command value; the control device controls the moving device so that the pressing against the body surface is released or alleviated by reducing the torque command value as the specific pattern control. Ultrasound diagnostic system.

2. 2. The ultrasound diagnostic system of claim 1, The specific pattern is a pattern in which the probe is rotated around an axis or a pattern in which the probe is moved by a predetermined distance or more. Ultrasound diagnostic system.

3. 3. The ultrasound diagnostic system according to claim 1, the moving device is an arm robot having a multi-joint arm, The probe is attached to a tip of the articulated arm. Ultrasound diagnostic system.

Images