Diagnosis support device, diagnosis support system, and diagnosis support method

Abstract

This diagnostic support device generates three-dimensional data of a biological tissue on the basis of tomographic data of the biological tissue, and causes a display to display the generated three-dimensional data as a three-dimensional image. The diagnostic support device is provided with a control unit for adjusting color tones of pixels of the three-dimensional image in accordance with distances from a reference point, a reference line, or a reference plane in a three-dimensional space to points in the three-dimensional data.

Description

[Technical Field]

[0001] The present disclosure relates to a diagnosis support device, a diagnosis support system, and a diagnosis support method. [Background technology]

[0002] Patent Documents 1 to 3 describe techniques for generating three-dimensional images of cardiac chambers or blood vessels using an US imaging system. "US" is an abbreviation for ultrasound. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] US Patent Application Publication No. 2010 / 0215238 [Patent Document 2] U.S. Patent No. 6,385,332 [Patent Document 3] U.S. Patent No. 6,251,072 Summary of the Invention [Problem to be solved by the invention]

[0004] Treatments using IVUS are widely performed in cardiac chambers, cardiovascular systems, and lower limb arterial regions. "IVUS" is an abbreviation for intravascular ultrasound. IVUS is a device or method that provides two-dimensional images in a plane perpendicular to the long axis of the catheter.

[0005] Currently, surgeons must perform surgery while mentally reconstructing the three-dimensional structure by stacking two-dimensional IVUS images, which poses a particular barrier for young or inexperienced physicians. To remove this barrier, it is conceivable to automatically generate three-dimensional images representing the structure of biological tissues, such as cardiac chambers or blood vessels, from two-dimensional IVUS images and display the generated three-dimensional images to the surgeon. When displaying three-dimensional images, it is conceivable to add shading to the three-dimensional images to represent the unevenness and depth of the three-dimensional space.

[0006] However, if the color tone is uniform, it is difficult for the surgeon to grasp the unevenness and depth.

[0007] An object of the present disclosure is to make it easier to grasp unevenness or depth in three-dimensional space. [Means for solving the problem]

[0008] A diagnostic support device according to one aspect of the present disclosure generates three-dimensional data of biological tissue based on cross-sectional data of the biological tissue, displays the generated three-dimensional data on a display as a three-dimensional image, and includes a control unit that adjusts the color tone of each pixel of the three-dimensional image according to the distance from a reference point, a reference line, or a reference plane in three-dimensional space to each point of the three-dimensional data.

[0009] In one embodiment, the control unit forms an opening in the three-dimensional data that exposes the inner wall surface of the biological tissue to the outside of the biological tissue in the three-dimensional image, and adjusts the position of the reference point, the reference line, or the reference surface depending on the position of the formed opening.

[0010] In one embodiment, the control unit places the reference point on a line passing through the viewpoint when the three-dimensional image is displayed on the display and the midpoint of a line connecting the first edge of the opening and the second edge of the opening in the cross section of the biological tissue.

[0011] In one embodiment, the control unit positions the reference point on a line drawn perpendicularly to a line connecting a first edge of the opening and a second edge of the opening from the midpoint of the line.

[0012] In one embodiment, when the difference in color tone of at least a portion of the point cloud in the range displayed on the display as the three-dimensional image in the three-dimensional data relative to the difference in distance from the reference point, the reference line, or the reference plane does not satisfy a condition, the control unit corrects the color tone of each pixel of the three-dimensional image in accordance with the condition.

[0013] In one embodiment, the diagnostic support device further includes an input unit that accepts user operations, and the control unit accepts, via the input unit, an operation to change the difference in color tone corresponding to the difference in distance from the reference point, the reference line, or the reference plane of at least a portion of the point cloud within the range to be displayed on the display as the three-dimensional image in the three-dimensional data, and changes the color tone of each pixel of the three-dimensional image in response to the accepted operation.

[0014] In one embodiment, the diagnostic assistance device further includes an input unit that accepts user operations, and the control unit accepts an operation to change the position of the reference point, the reference line, or the reference plane via the input unit, and changes the color tone of each pixel of the three-dimensional image in response to the accepted operation.

[0015] A diagnosis support system according to one aspect of the present disclosure includes the diagnosis support device and a sensor that acquires the tomographic data while moving through the biological tissue.

[0016] In one embodiment, the diagnosis support system further includes the display.

[0017] A diagnostic support method according to one aspect of the present disclosure generates three-dimensional data of biological tissue based on cross-sectional data of the biological tissue, and displays the generated three-dimensional data on a display as a three-dimensional image, and adjusts the color tone of each pixel of the three-dimensional image according to the distance from a reference point, reference line, or reference plane in three-dimensional space to each point of the three-dimensional data. [Effects of the Invention]

[0018] According to the present disclosure, it becomes easier for a user to grasp unevenness or depth in a three-dimensional space. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a perspective view of a diagnosis support system according to an embodiment. [Figure 2] FIG. 2 is a perspective view of a probe and a drive unit according to one embodiment. [Figure 3] 1 is a block diagram showing a configuration of a diagnosis support device according to an embodiment. [Figure 4] 1 is a flowchart illustrating an operation of a diagnosis support system according to an embodiment. [Figure 5] 1 is a diagram showing the positional relationship between a cross section of biological tissue, an opening, a viewpoint, and a reference point according to an embodiment; [Figure 6] FIG. 10 is a diagram showing the ratio of the size of a three-dimensional image to the screen of a display according to an embodiment. [Figure 7A] 10 is a graph showing the relationship between the distance from a reference point in three-dimensional data and the R value in a three-dimensional image according to one embodiment. [Figure 7B] 10 is a graph showing the relationship between the distance from a reference point in three-dimensional data and the G value in a three-dimensional image according to one embodiment. [Figure 7C] 10 is a graph showing the relationship between the distance from a reference point in three-dimensional data and the B value in a three-dimensional image according to one embodiment. [Figure 8] FIG. 10 is a diagram showing a gradation according to an embodiment. [Figure 9] FIG. 10 is a diagram showing a gradation according to an embodiment. [Figure 10] FIG. 10 is a diagram showing a gradation according to a modified example. [Figure 11] FIG. 10 is a diagram showing a gradation according to a modified example. [Figure 12] FIG. 10 is a diagram showing a gradation according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0020] An embodiment will be described below with reference to the drawings.

[0021] In each drawing, the same or corresponding parts are denoted by the same reference numerals. In the description of this embodiment, the description of the same or corresponding parts will be omitted or simplified as appropriate.

[0022] The outline of this embodiment will be described with reference to FIGS. 1, 3, and 5. FIG.

[0023] The diagnostic support device 11 according to this embodiment generates three-dimensional data 52 of the biological tissue 60 based on tomographic data 51 of the biological tissue 60. The diagnostic support device 11 displays the generated three-dimensional data 52 as a three-dimensional image 53 on the display 16. The diagnostic support device 11 adjusts the color tone of each pixel of the three-dimensional image 53 according to the distance from a reference point Ps in three-dimensional space to each point in the three-dimensional data 52.

[0024] According to this embodiment, the user can easily grasp the unevenness or depth in three-dimensional space. For example, if the user is a surgeon, the user can easily grasp the shape of the biological tissue 60, which makes it easier to perform treatment.

[0025] The biological tissue 60 is, for example, a blood vessel or an organ such as the heart.

[0026] The configuration of a diagnosis support system 10 according to this embodiment will be described with reference to FIG.

[0027] The diagnosis support system 10 includes a diagnosis support device 11 , a cable 12 , a drive unit 13 , a keyboard 14 , a mouse 15 , and a display 16 .

[0028] In this embodiment, the diagnosis support device 11 is a dedicated computer specialized for image diagnosis, but it may also be a general-purpose computer such as a PC. "PC" is an abbreviation for personal computer.

[0029] The cable 12 is used to connect the diagnosis support device 11 and the drive unit 13 .

[0030] The drive unit 13 is connected to the probe 20 shown in FIG. 2 and drives the probe 20. The drive unit 13 is also called an MDU. "MDU" is an abbreviation for motor drive unit. The probe 20 is applied to IVUS. The probe 20 is also called an IVUS catheter or an imaging diagnostic catheter.

[0031] The keyboard 14, mouse 15, and display 16 are connected to the diagnostic support device 11 via any cable or wirelessly. The display 16 is, for example, an LCD, an organic EL display, or an HMD. "LCD" is an abbreviation for liquid crystal display. "EL" is an abbreviation for electroluminescence. "HMD" is an abbreviation for head-mounted display.

[0032] The diagnosis support system 10 further includes a connection terminal 17 and a cart unit 18 as options.

[0033] The connection terminal 17 is used to connect the diagnostic support device 11 to an external device. The connection terminal 17 is, for example, a USB terminal. "USB" is an abbreviation for Universal Serial Bus. The external device is, for example, a recording medium such as a magnetic disk drive, a magneto-optical disk drive, or an optical disk drive.

[0034] The cart unit 18 is a cart with casters for mobility. The diagnostic support device 11, the cable 12, and the drive unit 13 are installed in the cart body of the cart unit 18. The keyboard 14, the mouse 15, and the display 16 are installed on the top table of the cart unit 18.

[0035] The configurations of the probe 20 and the drive unit 13 according to this embodiment will be described with reference to FIG.

[0036] The probe 20 includes a drive shaft 21, a hub 22, a sheath 23, an outer tube 24, an ultrasonic transducer 25, and a relay connector 26.

[0037] The drive shaft 21 passes through a sheath 23 inserted into a body cavity of a living body and an outer tube 24 connected to the proximal end of the sheath 23, and extends to the inside of a hub 22 provided at the proximal end of the probe 20. The drive shaft 21 has an ultrasonic vibrator 25 at its tip that transmits and receives signals, and is rotatably provided within the sheath 23 and outer tube 24. A relay connector 26 connects the sheath 23 and outer tube 24.

[0038] The hub 22, drive shaft 21, and ultrasonic transducer 25 are connected to one another so that they can integrally move forward and backward in the axial direction. Therefore, for example, when the hub 22 is pushed toward the distal end, the drive shaft 21 and ultrasonic transducer 25 move toward the distal end inside the sheath 23. For example, when the hub 22 is pulled toward the proximal end, the drive shaft 21 and ultrasonic transducer 25 move toward the proximal end inside the sheath 23, as shown by the arrows.

[0039] The drive unit 13 includes a scanner unit 31 , a slide unit 32 , and a bottom cover 33 .

[0040] The scanner unit 31 is connected to the diagnosis support device 11 via a cable 12. The scanner unit 31 includes a probe connection section 34 that connects to the probe 20, and a scanner motor 35 that is a drive source that rotates the drive shaft 21.

[0041] The probe connection unit 34 is detachably connected to the probe 20 via a socket 36 of a hub 22 provided at the base end of the probe 20. The base end of the drive shaft 21 is rotatably supported inside the hub 22, and the rotational force of the scanner motor 35 is transmitted to the drive shaft 21. Signals are transmitted and received between the drive shaft 21 and the diagnostic support device 11 via a cable 12. The diagnostic support device 11 generates a tomographic image of the biological lumen and performs image processing based on the signal transmitted from the drive shaft 21.

[0042] The slide unit 32 carries the scanner unit 31 so that the scanner unit 31 can move back and forth, and is mechanically and electrically connected to the scanner unit 31. The slide unit 32 includes a probe clamp section 37, a slide motor 38, and a group of switches 39.

[0043] The probe clamp portion 37 is disposed coaxially with the probe connection portion 34 on the distal side thereof, and supports the probe 20 connected to the probe connection portion 34 .

[0044] The slide motor 38 is a drive source that generates a driving force in the axial direction. The scanner unit 31 moves forward and backward when driven by the slide motor 38, and accordingly, the drive shaft 21 moves forward and backward in the axial direction. The slide motor 38 is, for example, a servo motor.

[0045] The group of switches 39 includes, for example, a forward switch and a pull-back switch that are pressed when moving the scanner unit 31 forward or backward, and a scan switch that is pressed when starting and ending image drawing. The group of switches 39 is not limited to the examples given here, and various switches may be included in the group of switches 39 as needed.

[0046] When the forward switch is pressed, the slide motor 38 rotates forward, moving the scanner unit 31 forward. On the other hand, when the pullback switch is pressed, the slide motor 38 rotates backward, moving the scanner unit 31 backward.

[0047] When the scan switch is pressed, image drawing begins, and the scanner motor 35 and slide motor 38 are driven to move the scanner unit 31 backward. A user such as an operator connects the probe 20 to the scanner unit 31 in advance so that when image drawing begins, the drive shaft 21 rotates and moves axially toward the proximal end. When the scan switch is pressed again, the scanner motor 35 and slide motor 38 stop, and image drawing ends.

[0048] The bottom cover 33 covers the bottom surface of the slide unit 32 and the entire periphery of the side surface on the bottom side, and can be moved toward and away from the bottom surface of the slide unit 32.

[0049] The configuration of the diagnosis support device 11 according to this embodiment will be described with reference to FIG.

[0050] The diagnosis support device 11 includes a control unit 41, a storage unit 42, a communication unit 43, an input unit 44, and an output unit 45.

[0051] The control unit 41 includes at least one processor, at least one dedicated circuit, or a combination thereof. The processor is a general-purpose processor such as a CPU or GPU, or a dedicated processor specialized for specific processing. "CPU" is an abbreviation for central processing unit. "GPU" is an abbreviation for graphics processing unit. The dedicated circuit is, for example, an FPGA or ASIC. "FPGA" is an abbreviation for field-programmable gate array. "ASIC" is an abbreviation for application specific integrated circuit. The control unit 41 controls each part of the diagnosis support system 10, including the diagnosis support device 11, and executes processing related to the operation of the diagnosis support device 11.

[0052] The storage unit 42 includes at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or a combination of at least two of these. The semiconductor memory is, for example, RAM or ROM. "RAM" is an abbreviation for random access memory. "ROM" is an abbreviation for read only memory. RAM is, for example, SRAM or DRAM. "SRAM" is an abbreviation for static random access memory. "DRAM" is an abbreviation for dynamic random access memory. ROM is, for example, EEPROM. "EEPROM" is an abbreviation for electrically erasable programmable read only memory. The storage unit 42 functions as, for example, a main storage device, an auxiliary storage device, or a cache memory. The storage unit 42 stores data used in the operation of the diagnosis support device 11, such as tomographic data 51, and data obtained by the operation of the diagnosis support device 11, such as three-dimensional data 52 and three-dimensional images 53.

[0053] The communication unit 43 includes at least one communication interface. The communication interface is a wired LAN interface, a wireless LAN interface, or an image diagnosis interface that receives and A / D converts IVUS signals. "LAN" is an abbreviation for local area network. "A / D" is an abbreviation for analog to digital. The communication unit 43 receives data used in the operation of the diagnosis support device 11 and transmits data obtained by the operation of the diagnosis support device 11. In this embodiment, the drive unit 13 is connected to the image diagnosis interface included in the communication unit 43.

[0054] The input unit 44 includes at least one input interface. The input interface is, for example, a USB interface, an HDMI (registered trademark) interface, or an interface compatible with short-range wireless communication such as Bluetooth (registered trademark). "HDMI (registered trademark)" is an abbreviation for High-Definition Multimedia Interface. The input unit 44 accepts an operation to input data used in the operation of the diagnostic support device 11. In this embodiment, the keyboard 14 and the mouse 15 are connected to a USB interface included in the input unit 44 or an interface compatible with short-range wireless communication. If a touch screen is provided integrally with the display 16, the display 16 may be connected to a USB interface or an HDMI (registered trademark) interface included in the input unit 44.

[0055] The output unit 45 includes at least one output interface. The output interface is, for example, a USB interface, an HDMI (registered trademark) interface, or an interface compatible with short-range wireless communication such as Bluetooth (registered trademark). The output unit 45 outputs data obtained by the operation of the diagnostic support device 11. In this embodiment, the display 16 is connected to the USB interface or the HDMI (registered trademark) interface included in the output unit 45.

[0056] The functions of the diagnostic assistance device 11 are realized by executing a diagnostic assistance program according to this embodiment on a processor included in the control unit 41. That is, the functions of the diagnostic assistance device 11 are realized by software. The diagnostic assistance program is a program that causes a computer to execute processing of steps included in the operation of the diagnostic assistance device 11, thereby causing the computer to realize functions corresponding to the processing of the steps. That is, the diagnostic assistance program is a program that causes a computer to function as the diagnostic assistance device 11.

[0057] The program can be recorded on a computer-readable recording medium. Examples of computer-readable recording media include magnetic recording devices, optical discs, magneto-optical recording media, and semiconductor memories. The program can be distributed by selling, transferring, or lending portable recording media such as DVDs or CD-ROMs on which the program is recorded. "DVD" is an abbreviation for digital versatile disc. "CD-ROM" is an abbreviation for compact disc read only memory. The program can also be distributed by storing it in the storage of a server and transferring it from the server to other computers via a network. The program can also be provided as a program product.

[0058] A computer temporarily stores a program recorded on a portable recording medium or transferred from a server in its main storage device. The computer then reads the program stored in the main storage device using a processor and executes processing in accordance with the read program. The computer may also read the program directly from a portable recording medium and execute processing in accordance with the program. The computer may also execute processing in accordance with the received program each time a program is transferred from a server to the computer. Processing may also be executed through a so-called ASP-type service that achieves its functions simply by issuing execution instructions and obtaining results, without transferring the program from the server to the computer. "ASP" is an abbreviation for application service provider. Programs include information used for processing by a computer that is equivalent to a program. For example, data that does not directly instruct a computer but has properties that define computer processing falls under the category of "equivalent to a program."

[0059] Some or all of the functions of the diagnosis support device 11 may be realized by a dedicated circuit included in the control unit 41. In other words, some or all of the functions of the diagnosis support device 11 may be realized by hardware.

[0060] The operation of the diagnosis support system 10 according to this embodiment will be described with reference to Fig. 4. The operation of the diagnosis support system 10 corresponds to the diagnosis support method according to this embodiment.

[0061] 4 starts, the user primes the probe 20. Thereafter, the probe 20 is fitted into the probe connection portion 34 and the probe clamp portion 37 of the drive unit 13, and is connected and fixed to the drive unit 13. Then, the probe 20 is inserted to a target site in biological tissue 60, such as a blood vessel or the heart.

[0062] In step S1, a scan switch included in the switch group 39 is pressed, and then a pullback switch also included in the switch group 39 is pressed, thereby performing a so-called pullback operation. The probe 20 transmits ultrasound waves from the ultrasound transducer 25, which is moved back in the axial direction by the pullback operation, inside the biological tissue 60. The ultrasound transducer 25 transmits ultrasound waves radially while moving inside the biological tissue 60. The ultrasound transducer 25 receives reflected waves of the transmitted ultrasound waves. The probe 20 inputs signals of the reflected waves received by the ultrasound transducer 25 to the diagnostic support device 11. The control unit 41 of the diagnostic support device 11 processes the input signals to sequentially generate cross-sectional images of the biological tissue 60, thereby acquiring tomographic data 51 including a plurality of cross-sectional images.

[0063] Specifically, the probe 20 transmits ultrasonic waves from the ultrasonic transducer 25 in multiple directions outward from the center of rotation while rotating the ultrasonic transducer 25 circumferentially and moving it axially within the biological tissue 60. The probe 20 receives reflected waves from reflectors present in each of multiple directions within the biological tissue 60 using the ultrasonic transducer 25. The probe 20 transmits signals of the received reflected waves to the diagnostic support device 11 via the drive unit 13 and the cable 12. A communication unit 43 of the diagnostic support device 11 receives the signals transmitted from the probe 20. The communication unit 43 A / D converts the received signals. The communication unit 43 inputs the A / D converted signals to the control unit 41. The control unit 41 processes the input signals to calculate an intensity value distribution of the reflected waves from reflectors present in the transmission direction of the ultrasonic waves from the ultrasonic transducer 25. The control unit 41 sequentially generates two-dimensional images having a brightness value distribution corresponding to the calculated intensity value distribution as cross-sectional images of the biological tissue 60, thereby acquiring tomographic data 51, which is a data set of the cross-sectional images. The control unit 41 stores the acquired tomographic data 51 in the storage unit 42.

[0064] In this embodiment, the reflected wave signal received by the ultrasound transducer 25 corresponds to the raw data of the tomographic data 51, and the cross-sectional image generated by the diagnostic support device 11 by processing the reflected wave signal corresponds to the processed data of the tomographic data 51.

[0065] As a modified example of this embodiment, the control unit 41 of the diagnosis support device 11 may store the signal input from the probe 20 as it is in the storage unit 42 as the tomographic data 51. Alternatively, the control unit 41 may process the signal input from the probe 20 and store data indicating the intensity value distribution of the reflected wave calculated in the storage unit 42 as the tomographic data 51. In other words, the tomographic data 51 is not limited to a data set of cross-sectional images of the biological tissue 60, but may be data that represents in some form the cross section of the biological tissue 60 at each movement position of the ultrasound transducer 25.

[0066] As a modification of this embodiment, instead of the ultrasonic transducer 25 that transmits ultrasonic waves in multiple directions while rotating in the circumferential direction, an ultrasonic transducer that transmits ultrasonic waves in multiple directions without rotating may be used.

[0067] As a modification of this embodiment, the tomographic data 51 may be acquired using OFDI or OCT instead of using IVUS. "OFDI" is an abbreviation for optical frequency domain imaging. "OCT" is an abbreviation for optical coherence tomography. When OFDI or OCT is used, a sensor that acquires the tomographic data 51 by emitting light in the biological tissue 60 is used as a sensor that acquires the tomographic data 51 while moving through the biological tissue 60, instead of the ultrasonic transducer 25 that acquires the tomographic data 51 by transmitting ultrasonic waves in the biological tissue 60.

[0068] As a modified example of this embodiment, instead of the diagnosis support device 11 generating a data set of cross-sectional images of the biological tissue 60, another device may generate a similar data set, and the diagnosis support device 11 may acquire the data set from the other device. That is, instead of the control unit 41 of the diagnosis support device 11 processing an IVUS signal to generate a cross-sectional image of the biological tissue 60, another device may process the IVUS signal to generate a cross-sectional image of the biological tissue 60, and the generated cross-sectional image may be input to the diagnosis support device 11.

[0069] In step S2, the control unit 41 of the diagnosis support device 11 generates three-dimensional data 52 of the biological tissue 60 based on the tomographic data 51 acquired in step S1.

[0070] Specifically, the control unit 41 of the diagnosis support device 11 generates three-dimensional data 52 of the biological tissue 60 by stacking cross-sectional images of the biological tissue 60 included in the tomographic data 51 stored in the storage unit 42 to create a three-dimensional image. The three-dimensionalization method may be any of a variety of processes, such as a rendering method such as surface rendering or volume rendering, and associated texture mapping including environment mapping and bump mapping. The control unit 41 stores the generated three-dimensional data 52 in the storage unit 42.

[0071] In step S3, the control unit 41 of the diagnosis support device 11 displays the three-dimensional data 52 generated in step S2 as a three-dimensional image 53 on the display 16. At this point, the control unit 41 may place the viewpoint when displaying the three-dimensional image 53 on the display 16 and the virtual light source 72 at any position. The "viewpoint" refers to the position of a virtual camera 71, as shown in FIG. 5, placed in three-dimensional space. The number and relative positions of the light sources 72 are not limited to those shown in the figure and can be changed as appropriate.

[0072] Specifically, the control unit 41 of the diagnosis support device 11 generates a three-dimensional image 53 from three-dimensional data 52 stored in the storage unit 42. The control unit 41 displays the generated three-dimensional image 53 on the display 16 via the output unit 45.

[0073] If a user operation is performed in step S4, the processes from step S5 to step S8 are carried out, whereas if a user operation is not performed, the processes from step S5 to step S8 are skipped.

[0074] 5 via the input unit 44. The position of the opening 62 is set at a position in the three-dimensional image 53 displayed in step S3 such that the inner wall surface 61 of the biological tissue 60 is exposed to the outside of the biological tissue 60 through the opening 62.

[0075] Specifically, the control unit 41 of the diagnosis support device 11 accepts, via the input unit 44, an operation by the user to cut off a portion of the biological tissue 60 in the 3D image 53 displayed on the display 16 using the keyboard 14, the mouse 15, or a touch screen integrated with the display 16. In the example of FIG. 5 , the control unit 41 accepts an operation to cut off a portion of the biological tissue 60 so that the inner wall surface 61 of the biological tissue 60 is opened in a cross section of the biological tissue 60. The "cross section of the biological tissue 60" is, for example, a tomographic cross section having two opposing edges of an opening 62 and the inner wall surface 61 of the biological tissue 60 facing the opening 62. However, the "cross section of the biological tissue 60" is not limited to this tomographic cross section, and may be a transverse cross section of the biological tissue 60, a longitudinal cross section of the biological tissue 60, or another cross section of the biological tissue 60. The "transverse cross section of the biological tissue 60" refers to a cross section of the biological tissue 60 cut perpendicular to the direction in which the ultrasound transducer 25 moves within the biological tissue 60. The "longitudinal cross section of the biological tissue 60" refers to a cross section of the biological tissue 60 cut along the direction in which the ultrasonic transducer 25 moves within the biological tissue 60. The "other cross section of the biological tissue 60" refers to a cross section of the biological tissue 60 cut obliquely to the direction in which the ultrasonic transducer 25 moves within the biological tissue 60. The "open shape" refers to, for example, an approximately C-shape, an approximately U-shape, an approximately 3-shape, or a shape in which any of these is partially missing due to the presence of a hole originally present in the biological tissue 60, such as a branching point of a blood vessel or the ostium of a pulmonary vein. In the example of FIG. 5, the inner wall surface 61 of the biological tissue 60 is approximately C-shaped, and the portion facing the opening 62 is missing.

[0076] In step S6, the control unit 41 of the diagnosis support device 11 determines the position set by the operation received in step S5 as the position of the opening 62.

[0077] Specifically, the control unit 41 of the diagnosis support device 11 specifies, in the three-dimensional data 52 stored in the storage unit 42, the three-dimensional coordinates of the boundary of the portion of the biological tissue 60 that has been cut off by the user's operation as the three-dimensional coordinates of the edge of the opening 62. The control unit 41 stores the specified three-dimensional coordinates in the storage unit 42.

[0078] In step S7, the control unit 41 of the diagnosis support device 11 forms an opening 62 in the three-dimensional data 52 that exposes the inner wall surface 61 of the biological tissue 60 to the outside of the biological tissue 60 in the three-dimensional image 53.

[0079] Specifically, the control unit 41 of the diagnostic support device 11 sets the part of the three-dimensional data 52 stored in the memory unit 42 that is identified by the three-dimensional coordinates stored in the memory unit 42 so that it is not displayed or is transparent when the three-dimensional image 53 is displayed on the display 16.

[0080] In step S8, the control unit 41 of the diagnosis support device 11 adjusts the viewpoint when displaying the three-dimensional image 53 on the display 16, depending on the position of the opening 62 formed in step S7. In this embodiment, the control unit 41 positions the viewpoint on a straight line extending from the inner wall surface 61 of the biological tissue 60 through the opening 62 to the outside of the biological tissue 60. Therefore, the user can virtually observe the inner wall surface 61 of the biological tissue 60 by looking into the inside of the biological tissue 60 through the opening 62.

[0081] Specifically, the control unit 41 of the diagnosis support device 11 places a virtual camera 71 at a position where the inner wall surface 61 of the biological tissue 60 can be seen through a portion of the three-dimensional image 53 displayed on the display 16 that is set to be hidden or transparent. In the example of FIG. 5 , the control unit 41 places the virtual camera 71 in an area AF in the cross section of the biological tissue 60, which is sandwiched between a first straight line L1 that extends from the inner wall surface 61 of the biological tissue 60 through a first edge E1 of the opening 62 to the outside of the biological tissue 60, and a second straight line L2 that extends from the inner wall surface 61 of the biological tissue 60 through a second edge E2 of the opening 62 to the outside of the biological tissue 60. The point where the first straight line L1 intersects with the inner wall surface 61 of the biological tissue 60 is the same point Pt as the point where the second straight line L2 intersects with the inner wall surface 61 of the biological tissue 60. Therefore, the user can observe the point Pt on the inner wall surface 61 of the biological tissue 60 no matter where the virtual camera 71 is placed in the area AF.

[0082] 5, point Pt is the same as the point where a fourth line L4, which is drawn perpendicularly to a third line L3 connecting the first edge E1 of the opening 62 and the second edge E2 of the opening 62 from a midpoint Pc of the third line L3, intersects with the inner wall surface 61 of the biological tissue 60. Therefore, the user can easily observe point Pt on the inner wall surface 61 of the biological tissue 60 through the opening 62. In particular, as shown in FIG. 5, if a virtual camera 71 is placed on an extension of the fourth line L4, the user can easily observe point Pt on the inner wall surface 61 of the biological tissue 60.

[0083] The position of the virtual camera 71 may be any position that allows observation of the inner wall surface 61 of the biological tissue 60 through the opening 62, but in this embodiment, it is within a range facing the opening 62. The position of the virtual camera 71 is preferably set to an intermediate position facing the center of the opening 62.

[0084] In the example of FIG. 6 , a minimum value Smin and a maximum value Smax are set for the ratio S of the distance Un from the center to one edge of the 3D image 53 displayed on the screen 80 of the display 16, where Un is the distance from the center to one edge of the screen 80 so that the centers of the screen 80 and the 3D image 53 overlap, to the distance Um from the center to one edge of the screen 80. For example, Smin = 1 / 3 and Smax = 1 are set. In the example of FIG. 5 , the minimum distance from the point Pt to the position of the camera 71 may be set according to the minimum value Smin, and the maximum distance from the point Pt to the position of the virtual camera 71 may be set according to the maximum value Smax. Alternatively, the minimum distance from the point Pt to the position of the camera 71 may be set regardless of the minimum value Smin so that the camera 71 does not get closer to the point Pt than the opening 62. The maximum distance from the point Pt to the position of the virtual camera 71 may be set regardless of the maximum value Smax so that the camera 71 does not get so far from the point Pt that the user cannot observe the inner wall surface 61 of the biological tissue 60.

[0085] Furthermore, in step S8, the control unit 41 of the diagnosis support device 11 adjusts the color tone of each pixel of the three-dimensional image 53 in accordance with the distance from the reference point Ps in the three-dimensional space to each point of the three-dimensional data 52. The control unit 41 may place the reference point Ps at any position, but in this embodiment, the control unit 41 adjusts the position of the reference point Ps in accordance with the position of the opening 62 formed in step S7.

[0086] Specifically, the control unit 41 of the diagnosis support device 11 calculates the distance from the reference point Ps in the three-dimensional space to each point of the three-dimensional data 52. The control unit 41 stores the calculated distance for each point of the three-dimensional data 52 in the storage unit 42. The control unit 41 converts the distance stored in the storage unit 42 for each point of the three-dimensional data 52 into a color tone using a preset conversion formula or conversion table. The control unit 41 stores the color tone calculated using the conversion formula or conversion table for each point of the three-dimensional data 52 in the storage unit 42. For each point of the three-dimensional data 52, the control unit 41 sets the color tone of the corresponding pixel in the three-dimensional image 53 to the color tone stored in the storage unit 42. In the example of FIG. 5 , the control unit 41 places a reference point Ps on a line passing through the position of the virtual camera 71, which is the viewpoint when the 3D image 53 is displayed on the display 16, and the midpoint Pc of a third line L3 connecting the first edge E1 of the opening 62 and the second edge E2 of the opening 62. Therefore, since the positions of the viewpoint, reference point Ps, and midpoint Pc in the left-right direction are aligned, when a user observes the inner wall surface 61 of the biological tissue 60 through the opening 62, the user can easily grasp the unevenness and depth based on the difference in color tone of the 3D image 53. In particular, as shown in FIG. 5 , placing the reference point Ps on the fourth line L4 makes it easier for the user to grasp the point Pt on the inner wall surface 61 of the biological tissue 60 and the unevenness and depth around point Pt. In the example of FIG. 5 , the reference point Ps is located at the same position as the midpoint Pc.

[0087] In step S9, if the tomographic data 51 is updated, the processes from step S1 onward are performed again. If the tomographic data 51 is not updated, in step S4, it is again confirmed whether or not the user has performed an operation.

[0088] In steps S5 to S8 from the second time onwards, when changing the position of opening 62 from the first position to the second position, control unit 41 of diagnosis support device 11 moves the viewpoint from a third position corresponding to the first position to a fourth position corresponding to the second position. Control unit 41 moves virtual light source 72 when displaying three-dimensional image 53 on display 16 in accordance with the movement of the viewpoint from the third position to the fourth position.

[0089] When changing the circumferential position of the opening 62 in the cross section of the biological tissue 60, the control unit 41 moves the virtual light source 72 using the rotation matrix used to move the virtual camera 71.

[0090] When changing the position of opening 62 from the first position to the second position, control unit 41 may instantaneously switch the viewpoint from the third position to the fourth position, but in this embodiment, a moving image in which the viewpoint gradually moves from the third position to the fourth position is displayed on display 16 as 3D image 53. This makes it easy for the user to understand that the viewpoint has moved.

[0091] As a variant of this embodiment, in step S5, the control unit 41 of the diagnostic support device 11 may accept, via the input unit 44, an operation to set the position of the target point that the user wants to see, along with an operation to set the position of the opening 62.

[0092] Specifically, the control unit 41 of the diagnosis support device 11 may accept, via the input unit 44, an operation by the user to specify the position of a target point on the three-dimensional image 53 displayed on the display 16 using the keyboard 14, the mouse 15, or a touch screen integrally provided with the display 16. In the example of Fig. 5, the control unit 41 may accept, via the input unit 44, an operation to set the position of a point Pt as the position of a point where the first line L1 and the second line L2 intersect with the inner wall surface 61 of the biological tissue 60.

[0093] As a modification of this embodiment, in step S5, the control unit 41 of the diagnosis support device 11 may accept an operation to set the position of a target point that the user wants to see via the input unit 44, instead of an operation to set the position of the opening 62. Then, in step S6, the control unit 41 may determine the position of the opening 62 according to the position set by the operation accepted in step S5.

[0094] Specifically, the control unit 41 of the diagnosis support device 11 may accept, via the input unit 44, an operation by the user to specify the position of a target point on the 3D image 53 displayed on the display 16 using the keyboard 14, the mouse 15, or a touch screen integrated with the display 16. The control unit 41 may then determine the position of the opening 62 according to the position of the target point. In the example of FIG. 5 , the control unit 41 may accept, via the input unit 44, an operation to set the position of point Pt as the position of the point where the first line L1 and the second line L2 intersect with the inner wall surface 61 of the biological tissue 60. The control unit 41 may determine, as the area AF on the cross section of the biological tissue 60, a sector-shaped area having the point Pt as its center and a central angle that is set in advance or that is specified by the user. The control unit 41 may determine, as the position of the opening 62, a position of the biological tissue 60 that overlaps with area AF. The control unit 41 may determine a normal line perpendicular to a tangent line passing through the point Pt on the inner wall surface 61 of the biological tissue 60 as the fourth straight line L4.

[0095] The area AF may be set to be narrower than the width of the opening 62. In other words, the area AF may be set so as not to include at least either the first edge E1 of the opening 62 or the second edge E2 of the opening 62.

[0096] As a modified example of this embodiment, the point where the first straight line L1 intersects with the inner wall surface 61 of the biological tissue 60 does not have to be the same as the point where the second straight line L2 intersects with the inner wall surface 61 of the biological tissue 60. For example, point P1, which is the point where the first straight line L1 intersects with the inner wall surface 61 of the biological tissue 60, and point P2, which is the point where the second straight line L2 intersects with the inner wall surface 61 of the biological tissue 60, may be on a circumference of a circle centered at point Pt. In other words, point P1 and point P2 may be approximately equidistant from point Pt.

[0097] As a variant of this embodiment, in step S8, if the difference in color tone relative to the difference in distance from the reference point Ps of at least a portion of the point group in the three-dimensional data 52 within the range displayed on the display 16 as the three-dimensional image 53 does not satisfy the conditions, the control unit 41 of the diagnostic support device 11 may correct the color tone of each pixel of the three-dimensional image 53 in accordance with the conditions.

[0098] Specifically, the control unit 41 of the diagnosis support device 11 analyzes the relationship between the distance from the reference point Ps stored in the storage unit 42 and the color tone calculated using a conversion formula or conversion table stored in the storage unit 42 for the point clouds in the three-dimensional data 52 that are observable through the aperture 62. As a result of the analysis, the control unit 41 identifies the relationship between the distance and the RGB value, as shown in FIGS. 7A, 7B, and 7C. For example, suppose that the ratio of the difference in color tone between the distance D1 from the reference point Ps to the point Pn and the distance D2 from the reference point Ps to the point Pt, as shown in FIGS. 5 and 7A to 7C, is below the ratio Rt set as a condition. Alternatively, suppose that the ratio of the difference in color tone between the distance D2 from the reference point Ps to the point Pt and the distance D3 from the reference point Ps to the point Pf, as shown in FIGS. 5 and 7A to 7C, is below the ratio Rt set as a condition. In this case, the control unit 41 corrects the color tone of the point cloud of the three-dimensional data 52 within the range observable through the opening 62, so as to increase the slope of the graphs shown in FIGS. 7A to 7C. In the example of FIG. 5, point Pt is located at the center of the inner side of a recess in the inner wall surface 61 of the biological tissue 60 that faces the opening 62. Point Pn is located outside the recess in the inner wall surface 61 of the biological tissue 60. Point Pf is located on the inner wall surface of the expansion portion 63 of the biological tissue 60, on the opposite side of the recess from the opening 62. The expansion portion 63 is formed by expanding a portion of the biological tissue 60 in the longitudinal direction, excluding point Pt. Therefore, even from the position of the virtual camera 71, point Pt on the inner wall surface 61 of the biological tissue 60 and the inner wall surface of the expansion portion 63 can be observed obliquely through the opening 62 so as to avoid the vicinity of point Pt. It is preferable that the ratio Rt be set so that the difference in color tone corresponding to the difference between the distances D1 and D2 is a difference in color tone that can be recognized by humans. It is even more preferable that the ratio Rt be set so that the difference in color tone corresponding to the difference between the distances D2 and D3 is a difference in color tone that can be recognized by humans. Note that, instead of identifying the relationship between the distance and the RGB value as the analysis result, the control unit 41 may identify the relationship between the distance and other values ​​related to color tone, such as the relationship between the distance and lightness or the relationship between the distance and saturation.

[0099] As a modified example of this embodiment, in step S5, the control unit 41 of the diagnosis support device 11 may accept, via the input unit 44, an operation to change the difference in color tone corresponding to the difference in distance from the reference point Ps for at least a part of the point cloud in the three-dimensional data 52 within the range to be displayed on the display 16 as the three-dimensional image 53. Then, in step S8, the control unit 41 may change the color tone of each pixel of the three-dimensional image 53 in response to the operation accepted in step S5.

[0100] Specifically, the control unit 41 of the diagnosis support device 11 may receive, via the input unit 44, an operation by the user to change the difference in color tone relative to the difference in distance from the reference point Ps, using the keyboard 14, the mouse 15, or a touch screen integrated with the display 16. In the example of FIGS. 7A to 7C, the control unit 41 may display the graphs of FIGS. 7A to 7C on the display 16 and receive, via the input unit 44, an operation to change the slope of the graph. Then, for each point in the three-dimensional data 52, the control unit 41 changes the color tone of the corresponding pixel in the three-dimensional image 53 so that the slope of the graphs such as those in FIGS. 7A to 7C corresponds to the magnitude of the received operation.

[0101] As a modification of this embodiment, in step S5, the control unit 41 of the diagnosis support device 11 may accept an operation to change the position of the reference point Ps via the input unit 44. Then, in step S8, the control unit 41 may change the color tone of each pixel of the three-dimensional image 53 in response to the operation accepted in step S5.

[0102] Specifically, the control unit 41 of the diagnosis support device 11 may accept, via the input unit 44, an operation by the user to change the position of the reference point Ps in the 3D image 53 displayed on the display 16 using the keyboard 14, the mouse 15, or a touch screen integrated with the display 16. In this case, the control unit 41 calculates the distance from the changed reference point Ps to each point of the 3D data 52. The control unit 41 stores the calculated distance for each point of the 3D data 52 in the storage unit 42. The control unit 41 converts the distance stored in the storage unit 42 into a color tone for each point of the 3D data 52 using a preset conversion formula or conversion table. The control unit 41 stores the color tone calculated using the conversion formula or conversion table for each point of the 3D data 52 in the storage unit 42. The control unit 41 changes the color tone of the corresponding pixel in the 3D image 53 for each point of the 3D data 52 to the color tone stored in the storage unit 42.

[0103] In this embodiment, the control unit 41 of the diagnostic support device 11 adjusts the color tone of each pixel of the three-dimensional image 53 according to the distance from the reference point Ps in three-dimensional space to each point of the three-dimensional data 52, thereby forming a gradation in the three-dimensional image 53 that changes radially in three dimensions from the reference point Ps, as shown in Figures 8 and 9.

[0104] In the examples of Figures 8 and 9, G C is the gradient center point, G D is G C distance from the gradient edge, G NEAR is G C Color in G FAR is G C From G D The "gradation edge" is the outer edge of the area where the gradation is applied. P is any visible voxel information in the three-dimensional data 52. "Visible voxel information" refers to voxel information in the three-dimensional data 52 where the biological tissue 60 exists. Dist is V P and G C Distance between Color P is V P It is the color of GNEAR , G FAR , and Color P are RGB values. In this example, NEAR and G FAR The maximum values ​​of red, green, and blue in the RGB values ​​are each set to 1, and are specifically shown below. G NEAR =(1.00,0.95,0.48) G FAR =(0.20,0.47,1.00)

[0105] The control unit 41 sets the color tone of each pixel of the three-dimensional image 53 by the following calculation. Distance = distance(V P ,G C ) Clr F =clamp(Dist / G D ,0,1) Color P =G NEAR ×(1-Clr F )+G FAR ×Clr F Here, distance() is a function that calculates the distance, and clamp() is a clamp function.

[0106] In the examples of FIGS. 5, 7A to 7C, and 8, the reference point Ps is G C , points Pn, Pt, and Pf are V P , distance D1, distance D2, and distance D3 correspond to Dist.

[0107] As a specific example, G C , V P , and G D Let's assume that is set as follows: G C =(0.5,0.5,0.5) V P =(0.4,0.4,0.25) G D =0.3

[0108] In this case, Dist, Clr F, and Color P can be found as follows: Distance = distance(V P ,G C )=√((0.5-0.4) 2 +(0.5-0.4) 2 +(0.5-0.25) 2 )=0.29 Clr F =clamp(Dist / G D ,0,1)=0.29 / 0.3=0.96 Color P =G NEAR ×(1-Clr F )+G FAR ×Clr F =(1.00,0.95,0.48)×0.04+(0.20,0.47,1.00)×0.96=(0.23,0.49,0.98)

[0109] As a variation of this embodiment, the control unit 41 of the diagnostic support device 11 may adjust the color tone of each pixel of the three-dimensional image 53 according to the distance from a reference plane in three-dimensional space to each point of the three-dimensional data 52, thereby forming a gradation in the three-dimensional image 53 that changes in layers from the reference plane, as shown in Figures 10 and 11.

[0110] In the examples of Figures 10 and 11, G N is the gradient direction, G P is the gradient plane position, G D is G P distance from the gradient edge, G NEAR is G P Color in G FAR is G P From G N G D The color at a distance of G N is G P The direction is perpendicular to V. P is any visible voxel information in the three-dimensional data 52. P and G P Distance between Color P is VP It is the color of G NEAR , G FAR , and Color P are RGB values. In this example, NEAR and G FAR This is the same as the example in FIGS.

[0111] The control unit 41 sets the color tone of each pixel of the three-dimensional image 53 by the following calculation. vDist=vdistance(V P ,G P ) Clr F =clamp(vDist / G D ,0,1) Color P =G NEAR ×(1-Clr F )+G FAR ×Clr F where vdistance() is V P From G P This function calculates the distance by the length of the perpendicular line drawn to the point G. N is the Y-axis direction, G P is a plane parallel to the XZ plane, and vDist is V P and G P The absolute value of the difference between the y components of

[0112] As a specific example, the reference plane is a plane parallel to the Y axis, and G P , V P , and G D Let's assume that is set as follows: G P =(0.5) V P =(0.35,0.7,0.0) G D =0.3

[0113] In this case, vDist, Clr F , and Color P can be found as follows: vDist=vdistance(VP ,G P )=|0.5-0.7|=0.2 Clr F =clamp(vDist / G D ,0,1)=0.2 / 0.3=0.67 Color P =G NEAR ×(1-Clr F )+G FAR ×Clr F =(1.00,0.95,0.48)×0.33+(0.20,0.47,1.00)×0.67=(0.46,0.63,0.83)

[0114] In step S8, the control unit 41 of the diagnosis support device 11 may adjust the position of the reference plane in accordance with the position of the opening 62 formed in step S7.

[0115] In step S8, if the difference in color tone relative to the difference in distance from the reference plane of at least a portion of the point group in the three-dimensional data 52 within the range displayed on the display 16 as the three-dimensional image 53 does not satisfy the conditions, the control unit 41 of the diagnostic support device 11 may correct the color tone of each pixel of the three-dimensional image 53 in accordance with the conditions.

[0116] In step S5, the control unit 41 of the diagnosis support device 11 may accept, via the input unit 44, an operation to change the difference in color tone relative to the difference in distance from the reference plane for at least a part of the point cloud in the range to be displayed on the display 16 as the three-dimensional image 53 in the three-dimensional data 52. Then, in step S8, the control unit 41 may change the color tone of each pixel of the three-dimensional image 53 in response to the operation accepted in step S5.

[0117] In step S5, the control unit 41 of the diagnosis support device 11 may accept an operation to change the position of the reference plane via the input unit 44. Then, in step S8, the control unit 41 may change the color tone of each pixel of the three-dimensional image 53 in response to the operation accepted in step S5.

[0118] As a variation of this embodiment, the control unit 41 of the diagnostic support device 11 may adjust the color tone of each pixel of the three-dimensional image 53 according to the distance from a reference line in three-dimensional space to each point of the three-dimensional data 52, thereby forming a gradation in the three-dimensional image 53 that changes two-dimensionally radially from the reference line, as shown in FIG. 12.

[0119] In the example of Figure 12, G CL is the gradient center line, G D is G CL distance from the gradient edge, G NEAR is G CL Color in G FAR is G CL G in the direction perpendicular to D The color at a distance of V P is any visible voxel information in the three-dimensional data 52. P and G CL Distance between Color p is V p It is the color of G NEAR , G FAR , and Color p are RGB values. In this example, NEAR and G FAR This is the same as the examples in FIGS. 8 and 9 and the examples in FIGS.

[0120] The control unit 41 sets the color tone of each pixel of the three-dimensional image 53 by the following calculation. vDist=vdistance(V p ,G CL ) Clr F =clamp(vDist / G D ,0,1) Color P =G NEAR ×(1-Clr F )+G FAR ×Clr F where vdistance() is V p From G CL This function calculates the distance by the length of the perpendicular line drawn to G.CL can be set as any line. For example, G CL may be a straight line parallel to the Z axis in three-dimensional space, a line connecting the centers of gravity of the tubular biological tissue 60 along the extension direction of the biological tissue 60, or the axis of the probe 20.

[0121] As a specific example, the reference line is a straight line parallel to the Z axis, and G CL , V P , and G D Let's assume that is set as follows: G P =(0.5,0.5) V P =(0.5,0.55,0.5) G D =0.3

[0122] In this case, vDist, Clr F , and Color P can be found as follows: vDist=vdistance(V p ,G CL )=√((0.5-0.5) 2 +(0.5-0.55) 2 )=0.05 Clr F =clamp(vDist / G D ,0,1)=0.05 / 0.3=0.17 Color P =G NEAR ×(1-Clr F )+G FAR ×Clr F =(1.00,0.95,0.48)×0.83+(0.20,0.47,1.00)×0.17=(0.86,0.86,0.57)

[0123] In step S8, the control unit 41 of the diagnosis support device 11 may adjust the position of the reference line in accordance with the position of the opening 62 formed in step S7.

[0124] In step S8, if the difference in color tone relative to the difference in distance from the reference line for at least a portion of the point group in the three-dimensional data 52 within the range displayed on the display 16 as the three-dimensional image 53 does not satisfy the conditions, the control unit 41 of the diagnostic support device 11 may correct the color tone of each pixel of the three-dimensional image 53 in accordance with the conditions.

[0125] In step S5, the control unit 41 of the diagnosis support device 11 may accept, via the input unit 44, an operation to change the difference in color tone corresponding to the difference in distance from the reference line for at least a part of the point cloud in the three-dimensional data 52 within the range to be displayed on the display 16 as the three-dimensional image 53. Then, in step S8, the control unit 41 may change the color tone of each pixel of the three-dimensional image 53 in response to the operation accepted in step S5.

[0126] In step S5, the control unit 41 of the diagnosis support device 11 may accept an operation to change the position of the reference line via the input unit 44. Then, in step S8, the control unit 41 may change the color tone of each pixel of the three-dimensional image 53 in response to the operation accepted in step S5.

[0127] As described above, in this embodiment, the control unit 41 of the diagnosis support device 11 generates three-dimensional data 52 of the biological tissue 60 based on the tomographic data 51 of the biological tissue 60. The control unit 41 displays the generated three-dimensional data 52 as a three-dimensional image 53 on the display 16. The control unit 41 adjusts the color tone of each pixel of the three-dimensional image 53 according to the distance from the reference point Ps in the three-dimensional space to each point of the three-dimensional data 52.

[0128] According to this embodiment, the user can easily grasp the unevenness or depth in three-dimensional space. For example, if the user is a surgeon, the user can easily grasp the shape of the biological tissue 60, which makes it easier to perform treatment.

[0129] In this embodiment, once the position of the opening 62 is determined, the positions of the camera 71 and the light source 72 are moved so that the inside of the biological tissue 60 can be viewed through the opening 62. Therefore, when the position of the opening 62 is changed to another position, it is possible to avoid a situation in which only the outer wall surface of the biological tissue 60 is visible and the target of interest cannot be confirmed.

[0130] According to this embodiment, it is possible to express unevenness in a three-dimensional space. It is also possible to express depth in a three-dimensional space. When the position of the opening 62, the camera 71, and the light source 72 are changed, the color tone is also changed accordingly, making it easy to express unevenness.

[0131] In this embodiment, the color tone is changed depending on the distance from the reference point Ps, making it easier to grasp unevenness or depth.

[0132] In this embodiment, whenever the position of the opening 62 is changed, the reference point Ps is automatically changed, and therefore the usefulness of the diagnosis support system 10 is improved.

[0133] The present disclosure is not limited to the above-described embodiments. For example, multiple blocks shown in the block diagrams may be integrated, or a single block may be divided. Instead of executing multiple steps shown in the flowcharts in chronological order as described, steps may be executed in parallel or in a different order depending on the processing capabilities of the device executing each step, or as needed. Other modifications are possible within the scope of the present disclosure.

[0134] For example, the control unit 41 may use a method for setting the color tone of each pixel of the three-dimensional image 53 not only by calculation based on the RGB values ​​described above, but also by calculation based on another index for expressing color, such as an ARGB value that includes transparency in the RGB value. [Explanation of symbols]

[0135] 10 Diagnostic Support System 11 Diagnostic support device 12 Cable 13 Drive unit 14 keyboards 15 Mouse 16 Display 17 Connection terminal 18 Cart Unit 20 probes 21 Drive shaft 22 Hub 23 Sheath 24 Outer tube 25 Ultrasonic transducer 26 Relay connector 31 Scanner unit 32 Slide unit 33 Bottom cover 34 Probe connection 35 Scanner motor 36 Outlet 37 Probe clamp part 38 Slide motor 39 Switches 41 Control Unit 42 Storage section 43 Communications Department 44 Input section 45 Output section 51 Fault data 52 3D data 53 3D images 60 Biological Tissue 61 Inner wall surface 62 Aperture 63 Extension 71 Camera 72 Light source 80 screens

Claims

1. 1. A diagnostic support device that generates three-dimensional data of a biological tissue based on tomographic data of the biological tissue and displays the generated three-dimensional data as a three-dimensional image on a display, a control unit that adjusts the color tone of each pixel of the three-dimensional image according to the distance from a reference point, a reference line, or a reference plane in a three-dimensional space to each point of the three-dimensional data; a storage unit for storing data; Equipped with The control unit Calculating the distance from the reference point, the reference line, or the reference plane to each point of the three-dimensional data; storing the calculated distances to each point of the three-dimensional data in the storage unit; For each point of the three-dimensional data, the distance stored in the storage unit is converted into a color tone using a preset conversion formula or conversion table; analyzing the relationship between the distance stored in the storage unit and the color tone calculated using the conversion formula or the conversion table for a point cloud within a predetermined range of the point cloud of the three-dimensional data; A diagnostic support device that corrects the color tone of the point cloud in the specified range when the ratio of the difference in color tone to the difference between the distance from the reference point, the reference line, or the reference surface to a first point included in the point cloud in the specified range and the distance from the reference point, the reference line, or the reference surface to a second point different from the first point included in the point cloud in the specified range is below a ratio set as a condition.

2. 1. A diagnostic support device that generates three-dimensional data of a biological tissue based on tomographic data of the biological tissue and displays the generated three-dimensional data as a three-dimensional image on a display, a control unit that adjusts the color tone of each pixel of the three-dimensional image according to the distance from a reference point, a reference line, or a reference plane in a three-dimensional space to each point of the three-dimensional data; an input unit that accepts user operations; Equipped with The control unit displaying on the display a graph showing the relationship between the distance from the reference point, the reference line, or the reference plane to each point of the three-dimensional data and the color tone of each pixel of the three-dimensional image, and receiving a user operation via the input unit to change the slope of the graph; A diagnostic support device that changes the color tone of a pixel corresponding to each point of the three-dimensional data in the three-dimensional image so that the slope of the graph corresponds to a magnitude corresponding to a user operation received.

3. 3. The diagnostic support device according to claim 1, wherein the control unit forms an opening in the three-dimensional data that exposes an inner wall surface of the biological tissue to the outside of the biological tissue in the three-dimensional image, and adjusts the position of the reference point, the reference line, or the reference plane depending on the position of the formed opening.

4. 4. The diagnostic support device according to claim 3, wherein the control unit positions the reference point on a line passing through a viewpoint when the three-dimensional image is displayed on the display and a midpoint of a line connecting a first edge of the opening and a second edge of the opening in the cross section of the biological tissue.

5. The diagnosis support device according to claim 3 , wherein the control unit locates the reference point on a line drawn perpendicularly to a line connecting a first edge of the opening and a second edge of the opening from the midpoint of the line.

6. 6. The diagnostic support device according to claim 1, wherein the control unit changes the color tone of each pixel of the three-dimensional image in response to an operation to change the position of the reference point, the reference line, or the reference plane.

7. The diagnosis support device according to any one of claims 1 to 6, a sensor that acquires the tomographic data while moving through the biological tissue; A diagnostic support system comprising:

8. The diagnosis support system according to claim 7 , further comprising the display.

Images