Ultrasonic treatment device

Abstract

An object of the present invention is to facilitate the operation of aligning the position of a diseased part with the position of the focus of therapeutic ultrasonic waves in an ultrasonic treatment apparatus. 【Solution means】The HIFU control unit 26 executes a B-mode image generation process, a target setting process, a focus positioning process, and a display process. The B-mode image generation process is a process of transmitting and receiving imaging ultrasonic waves to and from the ultrasonic probe 10 and generating B-mode image data based on the received signal output from the ultrasonic probe 10. The target setting process is a process of setting the irradiation target region 50 in the image indicated by the B-mode image data. The focus positioning process is a process of obtaining the position of the focus of the therapeutic ultrasonic waves. The display process is a process of superimposing the focus indicator 52 and the irradiation target region 50 on the B-mode image and displaying them on the guide display 40.

Description

Technical Field

[0001] The present invention relates to an ultrasonic treatment apparatus, and particularly to a technique for aligning the position of a diseased part with the position of the focus of therapeutic ultrasonic waves.

Background Art

[0002] Treatment apparatuses using High Intensity Focused Ultrasound are widely used. This treatment apparatus is referred to as a HIFU irradiation apparatus or a HIFU irradiation system, and irradiates focused ultrasonic waves on a treatment site to necrotize biological tissue.

[0003] Generally, a HIFU irradiation apparatus includes a plurality of ultrasonic vibrators for treatment arranged along a concave surface. The plurality of ultrasonic vibrators are arranged such that ultrasonic waves emitted from each of them are irradiated to a single point to form a focus. During treatment, the position of the focus is aligned with the treatment site and ultrasonic waves are irradiated. For confirmation of the irradiation position, an ultrasonic diagnostic apparatus that represents the focus on an ultrasonic image is used.

[0004] Patent Document 1 below describes an ultrasonic treatment apparatus that observes the position of a focus using an ultrasonic diagnostic apparatus that displays a B-mode image (tomographic image). In this apparatus, weak-level ultrasonic waves that do not affect the tissue are emitted from the ultrasonic vibrators for treatment, and a tomographic image is displayed by transmitting and receiving ultrasonic waves using an ultrasonic imaging probe. Since the acoustic characteristics of the patient's tissue change according to the temperature change of the tissue, the position of the focus is indicated by the intensity of the brightness in the tomographic image. Also, as shown in Non-Patent Document 1, since displacement occurs in the patient's tissue due to irradiation with ultrasonic waves, the position of the focus is indicated by the change in brightness in the tomographic image.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Non-Patent Documents

[0006]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] The affected part in a patient moves with the patient's respiration. However, in the treatment using high-intensity focused ultrasound, after the position of the affected part is aligned with the position of the focus of the therapeutic ultrasound, the patient needs to stop breathing. In the conventional technology, it has sometimes been difficult for the patient to stop breathing so that the position of the affected part is aligned with the position of the focus.

[0008] An object of the present invention is to facilitate the operation of aligning the position of an affected part with the position of the focus of therapeutic ultrasound in an ultrasonic treatment apparatus.

Means for Solving the Problems

[0009] The present invention includes a therapeutic ultrasonic radiation unit that transmits ultrasonic waves so as to form a focus on a biological tissue, an ultrasonic probe, a control unit that controls the therapeutic ultrasonic radiation unit and the ultrasonic probe, and a guidance display. The control unit causes the ultrasonic probe to transmit and receive imaging ultrasonic waves, and based on a reception signal output from the ultrasonic probe, performs a B-mode image generation process for generating B-mode image data, a target setting process for setting an irradiation target region in the image indicated by the B-mode image data, a focus position determination process for obtaining the position of the focus in the image indicated by the B-mode image data, and a display process for superimposing a focus indicator indicating the focus and the irradiation target region on the image indicated by the B-mode image data and displaying them on the guidance display. The B-mode image generation process includes a process of sequentially generating the B-mode image data over time. The target setting process includes a process of tracking the irradiation target region based on the B-mode image data sequentially generated over time. The display process includes a process of superimposing the focus indicator indicating the focus and the tracked irradiation target region on each image indicated by the B-mode image data sequentially generated over time and displaying them on the guidance display in real time. Note that the target setting process includes a process of predicting the position of the irradiation target area after a predetermined prediction time based on the B-mode image data sequentially generated over time, and the display process includes superimposing a focus indicator indicating the focus and a prediction area indicating the irradiation target area after the prediction time on each image indicated by the B-mode image data sequentially generated over time together with the tracked irradiation target area, and sequentially displaying the same on the guide display device. characterized by including

[0012] Furthermore, the present invention includes a therapeutic ultrasonic radiation unit that transmits ultrasonic waves so as to form a focus on a biological tissue, an ultrasonic probe, a control unit that controls the therapeutic ultrasonic radiation unit and the ultrasonic probe, and a guidance display. The control unit causes the ultrasonic probe to transmit and receive imaging ultrasonic waves, and based on the received signal output from the ultrasonic probe, executes a B-mode image generation process for generating B-mode image data, a target setting process for setting an irradiation target region in the image indicated by the B-mode image data, a focus position determination process for determining the position of the focus, and a display process for overlapping a focus indicator indicating the focus and the irradiation target region on the image indicated by the B-mode image data and displaying them on the guidance display. The B-mode image generation process includes a process of sequentially generating the B-mode image data over time. The target setting process includes a process of predicting the position of the irradiation target region after a predetermined prediction time based on the B-mode image data sequentially generated over time. The display process includes a process of sequentially overlapping the focus indicator indicating the focus and a prediction region indicating the irradiation target region after the prediction time on each image indicated by the B-mode image data sequentially generated over time and sequentially displaying them on the guidance display. characterized in that 。

[0013] In one embodiment, the therapeutic ultrasonic radiation unit includes a plurality of ultrasonic transducers, the control unit determined according to the delay time of the ultrasonic waves emitted by each of the ultrasonic transducers determines the position of the focus based on the control state.

[0014] In addition, the present invention includes a therapeutic ultrasonic radiation unit that transmits ultrasonic waves so as to form a focus on a biological tissue, an ultrasonic probe, a control unit that controls the therapeutic ultrasonic radiation unit and the ultrasonic probe, and a guidance display. The control unit causes the ultrasonic probe to transmit and receive imaging ultrasonic waves, and based on the received signal output from the ultrasonic probe, executes a B-mode image generation process for generating B-mode image data, a target setting process for setting an irradiation target region in the image indicated by the B-mode image data, a focus position determination process for obtaining the position of the focus in the image indicated by the B-mode image data, and a display process for superimposing a focus indicator indicating the focus and the irradiation target region on the image indicated by the B-mode image data and displaying them on the guidance display. The therapeutic ultrasonic radiation unit includes a plurality of ultrasonic transducers, and the control unit obtains the position of the focus based on a control state determined according to the delay time of the ultrasonic waves emitted by each ultrasonic transducer. , the display process includes a process of sequentially displaying, on the guide display device, together with each image indicated by the B-mode image data sequentially generated over time, an irradiation target viewer in which the position of the irradiation target area is projected onto a strip-shaped figure. It is characterized by this. In one embodiment, when executing the focus position determination process, the control unit executes a transmission process of transmitting ultrasonic waves weaker than those during treatment to the therapeutic ultrasonic radiation unit, and obtains the position of the focus based on the B-mode image data.

[0015] In one embodiment, the display process projects the irradiation target viewer projected above the position of the irradiation target region strip-shaped figure sequentially on the guidance display together with each image indicated by the B-mode image data sequentially generated over time.

Advantages of the Invention

[0016] According to the present invention, for an ultrasonic treatment device, it is possible to facilitate the operation of aligning the position of the affected part with the position of the focus of the therapeutic ultrasonic waves.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2A

Figure 2B

Figure 2C

Figure 3

Figure 4A

Figure 4B

Figure 5A

Figure 5B

Figure 6A

Figure 6B

Figure 7

Mode for Carrying Out the Invention

[0018] Embodiments of the present invention will be described with reference to the respective drawings. The same reference numerals are given to the same components shown in a plurality of drawings to simplify the description thereof. FIG. 1 shows the configuration of a HIFU irradiation device 100 (ultrasonic treatment device) according to an embodiment of the present invention. The HIFU irradiation device 100 includes an ultrasonic probe 10, a therapeutic ultrasonic radiation unit 12, a coupling bag 14, a robot arm 18, a controller 22, an operator display 24, and a guide display 40. In FIG. 1, the surface (observation target surface) on which an ultrasonic image such as a B-mode image is to be observed in the patient 30 is a surface parallel to the yz coordinate plane, and the coordinate axis perpendicular to the yz coordinate plane is the x-axis.

[0019] The therapeutic ultrasonic radiation unit 12 includes a vibrator housing 16 having a concave surface 8 with an opening facing downward, and a plurality of ultrasonic transducers 36 arranged along the concave surface 8 in the vibrator housing 16 and fixed to the vibrator housing 16. The therapeutic ultrasonic radiation unit 12 does not necessarily have a physical concave surface 8. In this case, the plurality of ultrasonic transducers 36 may be fixed to the vibrator housing 16 so as to be arranged along a virtual concave surface 8.

[0020] The concave surface 8 of the vibrator housing 16 may have a shape similar to the side surface of a cone. Here, a cone refers to a three-dimensional shape formed by a set of straight lines extending from a point in space to a bottom surface. Further, the concave surface 8 of the vibrator housing 16 may have a shape that bulges upward in a dome shape. Each ultrasonic transducer 36 is fixed to the vibrator housing 16 such that when each ultrasonic transducer 36 emits ultrasonic waves, the intensities of the ultrasonic waves are enhanced with each other at the focal point F in the biological tissue below the vibrator housing 16.

[0021] The ultrasonic probe 10 is attached to the vibrator housing 16 such that ultrasonic waves are transmitted and received at a position below the vibrator housing 16 and above the focal point F. In the present embodiment, the ultrasonic probe 10 penetrates the vertex portion of the vibrator housing 16 in the vertical direction, and the probe tip portion 32 for transmitting and receiving ultrasonic waves faces downward. The ultrasonic probe 10 has a directionality, and ultrasonic waves are transmitted and received on an observation surface facing in a direction corresponding to the structure of the ultrasonic probe 10. The ultrasonic probe 10 may be movable in the vertical direction. Further, the ultrasonic probe 10 may be rotatable about the axis in the longitudinal direction.

[0022] Below the therapeutic ultrasonic radiation unit 12, a coupling bag 14 for matching the acoustic impedances between each ultrasonic transducer 36 and the patient 30, and between the ultrasonic probe 10 and the patient 30 is provided. The coupling bag 14 may be a bag filled with a liquid such as water. The coupling bag 14 holds a liquid between the ultrasonic probe 10 and the patient 30. The coupling bag 14 may be formed of a material that transmits light and may be transparent or translucent.

[0023] The ultrasonic probe 10, the therapeutic ultrasonic radiation unit 12, and the coupling bag 14 are attached to the tip of a robot arm 18 as a transport mechanism. The robot arm 18 is composed of a plurality of arms 18a connected by joints 18b, and is attached to the housing of the controller 22 via the joints 18b. By each arm 18a swinging about the joint 18b as a rotation axis, the robot arm 18 transports a movable body 20 including the ultrasonic probe 10, the therapeutic ultrasonic radiation unit 12, and the coupling bag 14 in three directions of the x-axis, y-axis, and z-axis.

[0024] The controller 22 includes an HIFU control unit 26, an operation device 42, and a robot control unit 28. The HIFU control unit 26 includes a computer, an electric circuit for controlling the ultrasonic probe 10, and an electric circuit for controlling the therapeutic ultrasonic radiation unit 12. The computer included in the HIFU control unit 26 may be a business computer, a personal computer, a tablet computer, or the like. The computer executes a program to execute a process of generating each image and a process of displaying each image. An operation device 42 for an operator (user) to operate the HIFU irradiation device 100 is connected to the HIFU control unit 26. The operation device 42 may include a mouse, a touch panel integrated with the operator display 24, a switch, a keyboard, and the like.

[0025] The HIFU control unit 26 executes a process for operating the ultrasonic probe 10 and the therapeutic ultrasonic radiation unit 12. For example, the HIFU control unit 26 causes the ultrasonic probe 10 to transmit and receive imaging ultrasonic waves for image generation. The HIFU control unit 26 generates B-mode image data based on a reception signal based on the imaging ultrasonic waves received by the ultrasonic probe 10, and displays a B-mode image on the operator display 24. In addition, the HIFU control unit 26 causes each ultrasonic vibrator 36 included in the therapeutic ultrasonic radiation unit 12 to transmit therapeutic ultrasonic waves. For the operator display 24 and a guide display 40 described later, a display device such as a liquid crystal panel or an organic EL panel, or a portable information processing device such as a tablet computer having a function as a display device may be used.

[0026] The robot control unit 28 may control the robot arm 18 according to the control of the HIFU control unit 26 and convey the movable body 20 to the robot arm 18. Further, the robot control unit 28 may include a robot arm operating device 44 such as a lever or a button for operating the robot arm 18. In this case, the robot control unit 28 may control the robot arm 18 according to the operation of the robot arm operating device 44 by the operator.

[0027] Before the therapeutic ultrasonic wave is irradiated from the therapeutic ultrasonic wave emitting unit 12 to the patient 30, the following positioning process is executed. The position and orientation of the ultrasonic probe 10 are set to the position and orientation where the observation surface of the ultrasonic probe 10 coincides with the observation target surface of the patient 30. The HIFU control unit 26 repeatedly scans the ultrasonic probe 10 with an ultrasonic beam on the observation target surface of the patient 30, and generates B-mode image data each time the scan is performed a predetermined number of times (for example, each time it is performed once). Thereby, the HIFU control unit 26 sequentially generates B-mode image data over time.

[0028] Based on the B-mode image data sequentially generated over time, the HIFU control unit 26 causes the operator display 24 and the guidance display 40 to display a positioning image. The positioning image is each image that shows, in real time, an image in which the irradiation target region and the focus indicator are superimposed on the B-mode image. The irradiation target region indicates the region occupied by the affected part, and the focus indicator indicates the planned position of the focus of the therapeutic ultrasonic wave.

[0029] Examples of positioning images are shown in FIGS. 2A to 2C. The positioning images shown in each of FIGS. 2A to 2C are displayed on the operator display 24 and the guidance display 40 at different times. The area indicated by hatching in each figure is the irradiation target area 50. Also, the figure shown in white is the focus indicator 52 that indicates the focus. The area sandwiched between the broken line extending obliquely upward to the right from the focus indicator 52 and the broken line extending obliquely upward to the left from the focus indicator 52 corresponds to the area through which the therapeutic ultrasonic wave propagates. These broken lines do not necessarily have to be displayed. Details of the process of displaying the irradiation target area 50 and the focus indicator 52 will be described later.

[0030] The irradiation target area 50 sways due to the breathing movement of the patient. FIG. 2A shows the positioning image in the state where the patient inhales, and FIG. 2C shows the positioning image in the state where the patient exhales. FIG. 2B shows the positioning image in the transition state during the transition from the state where the patient inhales to the state where the patient exhales.

[0031] When the irradiation target area 50 and the focus indicator 52 overlap, the HIFU control unit 26 changes the display mode of the focus indicator 52. When the irradiation target area 50 and the focus indicator 52 overlap, either one may be displayed on the front side.

[0032] In the example shown in FIG. 2B, when the irradiation target area 50 and the focus indicator 52 overlap, the HIFU control unit 26 changes the color of the focus indicator 52. The HIFU control unit 26 may change the display mode by increasing the brightness of the focus indicator 52 or the like when the irradiation target area 50 and the focus indicator 52 overlap.

[0033] During treatment, the operator controls the robotic arm 18 using the robotic arm operating device 44, and adjusts the position of the therapeutic ultrasonic radiation unit 12 so that the focus indicator 52 is located on the trajectory of the irradiation target area 50 that moves with the patient's respiration. When the focus indicator 52 is not located on the trajectory of the irradiation target area 50, the operator operates the robotic arm operating device 44 to move the robotic arm 18, and changes the position or orientation of the ultrasonic probe 10 and the therapeutic ultrasonic radiation unit 12. After confirming that the focus indicator 52 is located on the trajectory of the irradiation target area 50, the operator continues the positioning process.

[0034] After positioning the focus indicator 52 on the trajectory of the irradiation target area 50, the operator instructs the patient 30 to refer to the positioning image displayed on the guidance display 40. The operator also instructs the patient 30 to confirm the positions of the irradiation target area 50 and the focus indicator 52 shown in the positioning image. Further, when the irradiation target area 50 that moves with the respiration and the focus indicator 52 overlap, the operator instructs the patient 30 to stop breathing.

[0035] With the patient 30 having stopped breathing so that the irradiation target area 50 and the focus indicator 52 overlap, the operator operates the operating device 42 to cause the therapeutic ultrasonic radiation unit 12 to transmit therapeutic ultrasonic waves. As a result, the affected part at the focus position is irradiated with the therapeutic ultrasonic waves, and the affected part is cauterized.

[0036] As described above, the HIFU irradiation device 100 according to the embodiment of the present invention is an ultrasonic treatment device including an HIFU control unit 26 that executes the following processes as a control unit. That is, the HIFU control unit 26 executes B-mode image generation processing, target setting processing, focus positioning processing, and display processing.

[0037] The B-mode image generation process is a process of transmitting and receiving imaging ultrasound to the ultrasonic probe 10 and generating B-mode image data based on the received signal output from the ultrasonic probe 10. The target setting process is a process of setting the irradiation target area 50 in the image indicated by the B-mode image data. The focal point determination process is a process of obtaining the position of the focal point. The display process is a process of superimposing the focal point indicator 52 indicating the focal point and the irradiation target area 50 on the image indicated by the B-mode image data and displaying them on the guidance display 40.

[0038] By displaying the positioning image with the irradiation target area 50 and the focal point indicator 52 superimposed on the B-mode image on the guidance display 40 and allowing the patient 30 to refer to it, it becomes easy for the patient 30 to stop breathing at an appropriate timing. As a result, the work of the positioning process becomes easy, and the burden on the patient 30 in the treatment is reduced.

[0039] A specific example of the process of drawing the irradiation target area 50 and the focal point indicator 52 will be described. Before the treatment is started, the HIFU irradiation device 100 is set to a state where the B-mode image is displayed on the operator display 24. This B-mode image may be a still image that is not updated with the passage of time, or a real-time image that is updated with the passage of time.

[0040] In this state, the operator operates the operating device 42 connected to the HIFU control unit 26 and sets the irradiation target area 50 on the B-mode image displayed on the operator display 24. The setting of the irradiation target area 50 may be performed by surrounding the irradiation target area 50 that appears in the B-mode image with a curve, applying a pattern to the irradiation target area 50, or the like. The HIFU control unit 26 generates irradiation target data indicating the image of the irradiation target area 50.

[0041] The HIFU control unit 26 may generate irradiation target data based on template matching processing for B-mode image data without being dependent on the operation of the operator. In this case, the HIFU control unit 26 stores template image data in advance. For example, the HIFU control unit 26 performs a correlation operation between each of the B-mode image indicated by the B-mode image data and the template image indicated by the template image data while changing the positional relationship between the B-mode image and the template image and the magnification ratio of the template image. The HIFU control unit 26 recognizes the irradiation target region 50 based on the positional relationship between the B-mode image and the template image and the magnification ratio of the template image when the correlation value obtained by the correlation operation exceeds a predetermined threshold value and becomes maximum. The HIFU control unit 26 may perform correlation operations on a plurality of types of template images having different characteristics of the affected part, so as to be able to generate irradiation target data for affected parts having various characteristics.

[0042] The process in which the HIFU control unit 26 displays a positioning image on the operator display 24 and the guidance display 40 will be described. The HIFU control unit 26 track-displays the irradiation target region 50 in the real-time positioning image based on the irradiation target data. That is, the HIFU control unit 26 tracks a region having a high degree of approximation to the image indicated by the irradiation target data in each B-mode image indicated by the B-mode image data sequentially generated over time. Here, tracking refers to a process of specifying the position of a region having a high degree of approximation to the image indicated by the irradiation target data on each B-mode image. The region having a high degree of approximation may be, for example, a region where the correlation value with the image indicated by the irradiation target data exceeds a predetermined threshold value, or a region that becomes maximum.

[0043] The HIFU control unit 26 causes the operator display 24 and the guidance display 40 to display, as a positioning image, an image in which the focus indicator 52 and the irradiation target region 50 tracked on each B-mode image are superimposed on each B-mode image.

[0044] The display position of the focus indicator 52 is determined by the control state of each ultrasonic vibrator 36 included in the therapeutic ultrasonic radiation unit 12. The control state of each ultrasonic vibrator 36 is determined according to, for example, the delay time of the ultrasonic waves emitted by each ultrasonic vibrator 36. Therefore, the HIFU control unit 26 may obtain the position of the focus based on the control state of the therapeutic ultrasonic radiation unit 12 and obtain the display position of the focus indicator 52.

[0045] The display position of the focus indicator 52 may be obtained as follows. That is, the HIFU control unit 26 may execute a transmission process of transmitting ultrasonic waves weaker than those during treatment to the therapeutic ultrasonic radiation unit 12, and the HIFU control unit 26 may obtain the position where a change in luminance appears on the B-mode image as the display position of the focus indicator 52. In this case, when executing the above-mentioned focus positioning process, the HIFU control unit 26 may execute a transmission process of transmitting ultrasonic waves weaker than those during treatment to the therapeutic ultrasonic radiation unit 12 and execute a process of obtaining the position of the focus appearing in the image indicated by the B-mode image data.

[0046] FIG. 3 shows a flowchart illustrating an example of the processes executed by the HIFU irradiation device 100 from the start of the positioning process to the end of the treatment. The HIFU control unit 26 sets the irradiation target region 50 on the B-mode image displayed on the operator display 24 according to the operation of the operator (S101). The HIFU control unit 26 track-displays the irradiation target region 50 in the positioning image (S102). The following steps S103 to S105 are sequentially executed while the positioning image is being displayed as time elapses.

[0047] The HIFU control unit 26 calculates the determination distance between the position of the irradiation target region 50 and the position of the focus indicator 52 for the positioning images sequentially displayed as time elapses (S103). Here, the position of the irradiation target region 50 may be a representative point predetermined for the irradiation target region 50. This representative point may be, for example, the center of gravity of the irradiation target region 50.

[0048] When the determination distance is equal to or less than a predetermined threshold value, the HIFU control unit 26 displays, on the operator display 24, a message indicating that the therapeutic ultrasonic wave can be irradiated, and changes the display mode of the focus indicator 52 displayed on the operator display 24 and the guidance display 40 (S104).

[0049] The HIFU control unit 26 determines whether a treatment operation for executing the irradiation of the therapeutic ultrasonic wave has been performed by the operator (S105). When the treatment operation is not performed, the HIFU control unit 26 returns to the process of step S102. On the other hand, when the treatment operation has been performed, the HIFU control unit 26 causes the therapeutic ultrasonic wave radiation unit 12 to transmit the therapeutic ultrasonic wave (S106) and executes the treatment.

[0050] The HIFU control unit 26 may cause the guidance display 40 to display, together with the positioning image, an irradiation target viewer obtained by projecting the position of the irradiation target region 50 onto a straight line. FIGS. 4A and 4B show examples of the irradiation target viewer 60. The irradiation target viewer 60 includes a respiratory phase presentation bar 62 and an irradiation target indicator 64. The respiratory phase presentation bar 62 is a strip-shaped figure extending horizontally on the display screen of the guidance display 40. The irradiation target viewer 60 may be displayed superimposed on the positioning image or may be displayed side by side beside the positioning image. The irradiation target indicator 64 moves left and right along the respiratory phase presentation bar 62 as the irradiation target region 50 moves.

[0051] The position of the right end of the respiratory phase indication bar 62 corresponds to the position on the positioning image when the irradiation target region 50 is at the exhalation phase position (the position when the patient is exhaling). The position of the left end of the respiratory phase indication bar 62 corresponds to the position on the positioning image when the irradiation target region 50 is at the inhalation phase position (the position when the patient is inhaling). The horizontal axis coordinate position on the respiratory phase indication bar 62 is normalized so that the length between the exhalation phase position and the inhalation phase position corresponds to the length of the respiratory phase indication bar 62. Note that the position of the right end of the respiratory phase indication bar 62 may correspond to the average value of the H-axis coordinate values when the irradiation target region 50 reaches the exhalation phase position for a predetermined number of times retrospectively including the time when the irradiation target region 50 last reached the exhalation phase position since the irradiation target region 50 last reached the exhalation phase position. Here, the H-axis is a coordinate axis defined in the positioning image with the right direction as positive. Similarly, the inhalation phase position may correspond to the average value of the H-axis coordinate values when the irradiation target region 50 reaches the inhalation phase position for a predetermined number of times retrospectively including the time when the irradiation target region 50 last reached the inhalation phase position since the irradiation target region 50 last reached the inhalation phase position. A focus mark 66 corresponding to the position of the focus is shown on the respiratory phase indication bar 62.

[0052] FIG. 4B shows an example of the irradiation target viewer 60 when the irradiation target region 50 and the focus indicator 52 overlap in the positioning image. When the irradiation target region 50 and the focus indicator 52 overlap, the irradiation target indicator 64 is displayed in an emphasized manner compared to when they do not overlap. In the example shown in FIG. 4B, when the irradiation target region 50 and the focus indicator 52 overlap, the irradiation target indicator 64 is shown larger compared to when they do not overlap. Note that the emphasized display of the irradiation target indicator 64 may be performed by changing the color or luminance.

[0053] In the above, an embodiment has been shown in which a positioning image that shows the irradiation target region 50 and the focus indicator 52 in real time is displayed. In addition to such a positioning image, a predicted region 70 predicted as the irradiation target region 50 after a predetermined prediction time T, the irradiation target region 50, and a predicted positioning image that sequentially shows the focus indicator 52 over time may be displayed.

[0054] Examples of the predicted positioning image are shown in FIGS. 5A and 5B. FIG. 5A shows a predicted positioning image in a state where the patient has exhaled, and FIG. 5B shows a predicted positioning image in a transition state from the state where the patient has exhaled to the state where the patient is inhaling. The region surrounded by the broken line in FIGS. 5A and 5B is the predicted region 70 for the irradiation target region 50.

[0055] The HIFU control unit 26 sequentially generates B-mode image data over time, and based on the past B-mode image data sequentially generated over time, determines the position and range of the predicted region 70 after the prediction time T from when the latest B-mode image data was generated. The predicted region 70 may be obtained by applying an estimation algorithm such as a Kalman filter to the past B-mode image data. The prediction time T is, for example, from 0.3 seconds to 2 seconds, preferably from 0.5 seconds to 1.5 seconds.

[0056] The HIFU control unit 26 sequentially generates prediction image data showing the predicted positioning image over time. The predicted positioning image is an image in which the irradiation target region 50, the predicted region 70, and the focus indicator 52 are superimposed on the B-mode image. The HIFU control unit 26 causes the predicted positioning image to be sequentially displayed on the operator display 24 and the guidance display 40 over time based on the prediction image data sequentially generated over time.

[0057] On the operator display 24 and the guidance display 40, the irradiation target area 50 and the prediction area 70 shown sequentially on the B-mode image move with the patient's respiration. When at least one of the irradiation target area 50 and the prediction area 70 overlaps with the focus indicator 52, the HIFU control unit 26 may change the display mode such as the color, brightness, size, etc. of the focus indicator 52.

[0058] Depending on the position of the affected part in the patient, it may be difficult to stop breathing with the current irradiation target area 50 overlapping the focus indicator 52. For example, when the patient visually recognizes that the current irradiation target area 50 and the focus indicator 52 overlap and starts to stop breathing, the breathing may be stopped with the irradiation target area 50 passing through the position of the focus indicator 52. In this case, the operator instructs the patient to stop breathing when the prediction area 70 and the focus indicator 52 overlap. This increases the likelihood that breathing will be stopped when the irradiation target area 50 and the focus indicator 52 overlap.

[0059] The HIFU control unit 26 may represent the past trajectory and the future trajectory of the irradiation target area 50 on the prediction positioning image sequentially displayed over time. FIGS. 6A and 6B show examples of prediction positioning images representing the past trajectory and the future trajectory of the irradiation target area 50. FIG. 6A shows a prediction positioning image in a state where the patient has exhaled, and FIG. 6B shows a prediction positioning image in a transition state from a state where the patient has exhaled to a state where the patient has inhaled. The past trajectory of the irradiation target area 50 is displayed based on the B-mode image data generated in the past. Also, the past trajectory of the irradiation target area 50 is displayed by applying an estimation algorithm such as a Kalman filter to the B-mode image data generated in the past.

[0060] In FIGS. 6A and 6B, the three horizontally extending curves arranged vertically on the left side of the irradiation target region 50 represent the past trajectory of the irradiation target region 50. Also, the three horizontally extending curves arranged vertically on the right side of the irradiation target region 50 represent the future trajectory of the irradiation target region 50. And the three horizontally extending curves arranged vertically overlapping the irradiation target region 50 represent the most recent past and most recent future trajectories of the irradiation target region 50. Note that the most recent past or most recent future trajectory of the irradiation target region 50 may not be displayed.

[0061] In this way, by showing the trajectory of the irradiation target region 50, the operation of the patient stopping breathing and overlapping the irradiation target region 50 and the focus indicator 52 becomes easier for the patient and the operator.

[0062] FIG. 7 shows a flowchart indicating the flow of processing executed by the HIFU irradiation device 100. The HIFU control unit 26 sets the irradiation target region 50 on the B-mode image displayed on the operator display 24 according to the operation of the operator (S201). The HIFU control unit 26 track-displays the irradiation target region 50 in the predicted positioning image (S202). Also, the HIFU control unit 26 estimates the predicted region 70 in the positioning image, and further displays the predicted region 70 in the predicted positioning image for track-displaying the irradiation target region 50 (S203). The following steps S204 to S206 are sequentially executed while the predicted positioning image is being displayed as time elapses.

[0063] The HIFU control unit 26 calculates the determination distance between the position of the predicted region 70 and the position of the focus indicator 52 for the predicted positioning images sequentially displayed as time elapses (S204). Here, the position of the predicted region 70 may be a predetermined representative point in the predicted region 70. This representative point may be, for example, the centroid of the predicted region 70.

[0064] When the determination distance is less than or equal to a predetermined threshold value, the HIFU control unit 26 displays, on the operator display 24, a message indicating that therapeutic ultrasound can be irradiated, and changes the display mode of the focus indicator 52 displayed on the operator display 24 and the guidance display 40 (S205).

[0065] The HIFU control unit 26 determines whether a treatment operation for executing irradiation of therapeutic ultrasound has been performed by the operator (S206). When the treatment operation is not performed, the HIFU control unit 26 returns to the process of step S202. On the other hand, when the treatment operation has been performed, the HIFU control unit 26 causes the therapeutic ultrasound radiation unit 12 to transmit therapeutic ultrasound (S207) and executes the treatment.

Explanation of Signs

[0066] 8 Concave surface, 10 Ultrasonic probe, 12 Therapeutic ultrasound radiation unit, 14 Coupling bag, 16 Transducer housing, 18 Robot arm, 18a Arm, 18b Joint, 20 Movable body, 22 Controller, 24 Operator display, 26 HIFU control unit, 28 Robot control unit, 30 Patient, 32 Probe tip, 36 Ultrasonic transducer, 40 Guidance display, 42 Operating device, 44 Robot arm operating device, 50 Irradiation target area, 52 Focus indicator, 60 Irradiation target viewer, 62 Respiratory phase presentation bar, 64 Irradiation target indicator, 66 Focus mark, 70 Prediction area, 100 HIFU irradiation device.

Claims

1. A therapeutic ultrasonic radiation unit that transmits ultrasonic waves so as to form a focus on a biological tissue, an ultrasonic probe, a control unit that controls the therapeutic ultrasonic radiation unit and the ultrasonic probe, and a guidance display, wherein the control unit causes the ultrasonic probe to transmit and receive imaging ultrasonic waves, and based on a reception signal output from the ultrasonic probe, performs a B-mode image generation process for generating B-mode image data; a target setting process for setting an irradiation target region in the image indicated by the B-mode image data; a focus positioning process for obtaining the position of the focus in the image indicated by the B-mode image data; and a display process for superimposing a focus indicator indicating the focus and the irradiation target region on the image indicated by the B-mode image data and displaying the same on the guidance display; executes, wherein the B-mode image generation process includes a process of sequentially generating the B-mode image data over time, wherein the target setting process includes a process of tracking the irradiation target region based on the B-mode image data sequentially generated over time, wherein the display process includes a process of superimposing a focus indicator indicating the focus and the tracked irradiation target region on each image indicated by the B-mode image data sequentially generated over time and displaying the same on the guidance display in real time, wherein the target setting process includes a process of predicting the position of the irradiation target region after a predetermined prediction time based on the B-mode image data sequentially generated over time, wherein the display process includes a process of superimposing a focus indicator indicating the focus and a prediction region indicating the irradiation target region after the prediction time on each image indicated by the B-mode image data sequentially generated over time together with the tracked irradiation target region and sequentially displaying the same on the guidance display. An ultrasonic therapy device characterized by this.

2. A therapeutic ultrasonic radiation unit that transmits ultrasonic waves so as to form a focus on a biological tissue, an ultrasonic probe, a control unit that controls the therapeutic ultrasonic radiation unit and the ultrasonic probe, and a guidance display, wherein the control unit causes the ultrasonic probe to transmit and receive imaging ultrasonic waves, and based on a reception signal output from the ultrasonic probe, performs a B-mode image generation process for generating B-mode image data; a target setting process for setting an irradiation target region in the image indicated by the B-mode image data; A focus position determination process for obtaining the position of the focus in the image indicated by the B-mode image data, A display process for superimposing a focus indicator indicating the focus and the irradiation target area on the image indicated by the B-mode image data and displaying them on the guidance display, are executed, The B-mode image generation process includes a process of sequentially generating the B-mode image data over time, The target setting process includes a process of tracking the irradiation target area based on the B-mode image data sequentially generated over time, The display process includes a process of superimposing a focus indicator indicating the focus and the tracked irradiation target area on each image indicated by the B-mode image data sequentially generated over time and displaying them on the guidance display in real time, The display process is characterized in that it includes a process of sequentially displaying an irradiation target viewer in which the position of the irradiation target area is projected onto a strip-shaped figure on the guidance display together with each image indicated by the B-mode image data sequentially generated over time. An ultrasonic treatment apparatus.

3. A therapeutic ultrasonic radiation unit that transmits ultrasonic waves so that a focus is formed in a living tissue, An ultrasonic probe, A control unit that controls the therapeutic ultrasonic radiation unit and the ultrasonic probe, A guidance display, and is provided with, The control unit causes the ultrasonic probe to transmit and receive imaging ultrasonic waves, and based on the received signal output from the ultrasonic probe, a B-mode image generation process for generating B-mode image data, A target setting process for setting an irradiation target area in the image indicated by the B-mode image data, A focus position determination process for obtaining the position of the focus, A display process for superimposing a focus indicator indicating the focus and the irradiation target area on the image indicated by the B-mode image data and displaying them on the guidance display, are executed, The B-mode image generation process includes a process of sequentially generating the B-mode image data over time, The target setting process includes a process of predicting the position of the irradiation target area after a predetermined prediction time based on the B-mode image data sequentially generated over time, The display process is characterized in that it includes a process of sequentially superimposing a focus indicator indicating the focus and a prediction area indicating the irradiation target area after the prediction time on each image indicated by the B-mode image data sequentially generated over time and displaying them on the guidance display. An ultrasonic treatment apparatus.

4. An ultrasonic treatment device according to any one of claims 1 to 3, wherein the ultrasonic radiation unit for treatment comprises a plurality of ultrasonic vibrators, the control unit obtains the position of the focal point based on a control state determined according to the delay time of the ultrasonic waves emitted by each of the ultrasonic vibrators. An ultrasonic treatment device characterized by this.

5. A treatment ultrasonic radiation unit that transmits ultrasonic waves so that a focal point is formed in a living tissue, an ultrasonic probe, a control unit that controls the treatment ultrasonic radiation unit and the ultrasonic probe, and a guidance display, and the control unit performs a B-mode image generation process that transmits and receives imaging ultrasonic waves to and from the ultrasonic probe and generates B-mode image data based on the received signal output from the ultrasonic probe, a target setting process that sets an irradiation target region in the image indicated by the B-mode image data, a focal point position determination process that obtains the position of the focal point in the image indicated by the B-mode image data, and a display process that superimposes a focal point indicator indicating the focal point and the irradiation target region on the image indicated by the B-mode image data and displays them on the guidance display, and executes the ultrasonic radiation unit for treatment comprises a plurality of ultrasonic vibrators, the control unit obtains the position of the focal point based on a control state determined according to the delay time of the ultrasonic waves emitted by each of the ultrasonic vibrators, the display process includes a process of sequentially displaying, on the guidance display, together with each image indicated by the B-mode image data sequentially generated over time, an irradiation target viewer in which the position of the irradiation target region is projected onto a strip-shaped figure. An ultrasonic treatment device characterized by this.

6. An ultrasonic treatment device according to any one of claims 1 to 3, wherein the control unit when executing the focal point position determination process, executes a transmission process of transmitting ultrasonic waves weaker than during treatment to the ultrasonic radiation unit for treatment, and obtains the position of the focal point based on the B-mode image data. An ultrasonic treatment device characterized by this.

7. An ultrasonic treatment device according to claim 1 or claim 3, wherein the display process includes a process of sequentially displaying, on the guidance display, together with each image indicated by the B-mode image data sequentially generated over time, an irradiation target viewer in which the position of the irradiation target region is projected onto a strip-shaped figure. An ultrasonic treatment device characterized by this.

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