Ultrasound diagnostic system

Abstract

To improve operability of an ultrasonic probe.SOLUTION: An ultrasonic diagnostic system includes an ultrasonic probe inserted into a subject, and a first operation device for receiving an operation to the ultrasonic probe. The first operation device includes a first operation part for receiving a changing operation for an angle by the foot of an operator. The ultrasonic probe includes an insertion part, a vibrator part, and a bending part. The insertion part is a tube-like member inserted into the subject. The vibrator part is provided in the insertion part, and includes a plurality of vibrators for transmitting and receiving an ultrasonic wave. The bending part provided in the insertion part bends the insertion part according to the changing operation for the angle received by the first operation part.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The embodiments disclosed herein and in the drawings relate to an ultrasound diagnostic system.

[0002] Conventionally, in ultrasound probes such as transesophageal ultrasound probes and laparoscopic ultrasound probes, a bending portion provided at the tip of the ultrasound probe can be bent left and right. A medical professional such as a doctor bends the bending portion to any angle by operating a rotating handle provided on the ultrasound probe with one or both hands.

[0003] However, medical professionals are required to perform a variety of operations in addition to bending the bending portion, and therefore improvement in operability is required. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-8095 Summary of the Invention [Problem to be solved by the invention]

[0005] One of the problems to be solved by the embodiments disclosed in this specification and the drawings is to improve the operability of an ultrasound probe. However, the problems to be solved by the embodiments disclosed in this specification and the drawings are not limited to the above problem. Problems corresponding to the effects of each configuration shown in the embodiments described below can also be positioned as other problems. [Means for solving the problem]

[0006] The ultrasound diagnostic system according to the embodiment includes an ultrasound probe to be inserted into a subject, a first operation device that accepts an operation for the ultrasound probe, and a second operation device that accepts an operation for the ultrasound probe. The first operation device includes a first operation unit that accepts an operation for changing the angle by an operator's foot. The second operation device includes a first operation unit that accepts an operation for changing the angle by an operator's foot. As bending direction The ultrasonic probe includes an insertion section, a transducer section, and a bending section. The insertion section is a tubular member that is inserted into the subject. The transducer section is provided in the insertion section and has a plurality of transducers that transmit and receive ultrasonic waves. The bending section is provided in the insertion section and changes the angle in response to an angle change operation received by the first operation section and an angle change operation in response to an operation received by the second operation section. The aforementioned The insertion portion is bent in a bending direction. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a block diagram showing an example of the configuration of an ultrasound diagnostic system according to the first embodiment. [Figure 2] FIG. 2 is a diagram showing an example of the appearance of the ultrasound probe according to the first embodiment. [Figure 3] FIG. 3 is an explanatory diagram showing an example of the configuration of the first foot operating device according to the first embodiment. [Figure 4] FIG. 4 is an explanatory diagram showing an example of the configuration of the second foot operating device according to the first embodiment. [Figure 5] FIG. 5 is a block diagram showing a detailed configuration example of the ultrasound diagnostic system according to the first embodiment. [Figure 6] FIG. 6 is a diagram showing an example of a method for operating the ultrasound probe according to the first embodiment. [Figure 7] FIG. 7 is a diagram showing an example of a method for operating the ultrasound probe according to the first embodiment. [Figure 8] FIG. 8 is a diagram showing an example of a method of operating the ultrasound probe according to the first modification. [Figure 9]FIG. 9 is a diagram showing an example of a method of operating an ultrasonic probe according to the second modification. [Figure 10] FIG. 10 is an explanatory diagram showing an example of the configuration of the first foot operating device according to the second embodiment. [Figure 11] FIG. 11 is a diagram showing an example of a method of operating the ultrasonic probe according to the second embodiment. [Figure 12] FIG. 12 is a diagram showing an example of a method of operating the ultrasonic probe according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, an ultrasound diagnostic system according to an embodiment will be described with reference to the drawings. In the following embodiments, parts with the same reference numerals perform similar operations, and redundant description will be omitted as appropriate.

[0009] Fig. 1 is a block diagram showing an example of the configuration of an ultrasound diagnostic system 1 according to the first embodiment. As shown in Fig. 1, the ultrasound diagnostic system 1 includes an ultrasound probe 100, an apparatus main body 200, a display 300, an input interface 400, a first foot operation device 500, and a second foot operation device 600. The ultrasound probe 100, the display 300, and the input interface 400 are communicably connected to the apparatus main body 200 via wires. Furthermore, the first foot operation device 500 and the second foot operation device 600 are communicably connected to the apparatus main body 200 via short-range wireless communication.

[0010] The ultrasound probe 100, the display 300, and the input interface 400 may be communicably connected to the device main body 200 by short-range wireless communication. Furthermore, the first foot operation device 500 and the second foot operation device 600 may be communicably connected to the device main body 200 by wire.

[0011] The ultrasound probe 100 is inserted into a subject. For example, the ultrasound probe 100 is a transesophageal probe. The ultrasound probe 100 is used to acquire ultrasound images of the heart, for example, from the esophagus. Note that the ultrasound probe 100 is not limited to a transesophageal probe, and may be a laparoscopic probe for laparoscopy or other probes.

[0012] The ultrasonic probe 100 has a plurality of transducers. These transducers generate ultrasonic waves based on drive signals supplied from a transmission / reception circuit 132 included in the device main body 200. The ultrasonic probe 100 also receives reflected waves from the subject and converts them into electrical signals. The ultrasonic probe 100 is detachably connected to the device main body 200.

[0013] When ultrasonic waves are transmitted from the ultrasonic probe 100 to a subject, the transmitted ultrasonic waves are reflected successively by discontinuous surfaces of acoustic impedance in the subject's internal tissues and are received as reflected wave signals by multiple transducers of the ultrasonic probe 100. The amplitude of the received reflected wave signals depends on the difference in acoustic impedance at the discontinuous surfaces from which the ultrasonic waves are reflected. When the transmitted ultrasonic pulse is reflected by the surface of a moving blood flow, heart wall, or the like, the reflected wave signals undergo a frequency shift due to the Doppler effect depending on the velocity component of the moving object relative to the direction of ultrasonic transmission.

[0014] FIG. 2 is a diagram showing an example of the appearance of the ultrasound probe 100 according to the first embodiment. In the first embodiment, a Cartesian coordinate system consisting of an X1 axis, a Y1 axis, and a Z1 axis is defined in the ultrasound probe 100. The Y1 axis direction is a direction parallel to the longitudinal direction of the ultrasound probe 100. The X1 axis direction is a first direction in which the bending portion 112 bends, and is a direction perpendicular to the Y1 axis and the Z1 axis. The Z1 axis direction is a second direction perpendicular to the first direction in which the bending portion 112 bends, and is a direction perpendicular to the X1 axis and the Y1 axis.

[0015] The ultrasound probe 100 includes an insertion section 110 and an operation section 120 .

[0016] The insertion section 110 is a tubular member that is inserted into a subject. The insertion section 110 is covered with an exterior member. The insertion section 110 includes a tip section 111 and a bending section 112.

[0017] The tip portion 111 is provided at the tip of the insertion portion 110. The tip portion 111 also includes a transducer portion 131 (see FIG. 5) having a plurality of transducers. The insertion portion 110 has, inside the exterior member, a cable that propagates reflected wave signals received by the plurality of transducers.

[0018] The bending portion 112 is provided in the insertion portion 110 and bends the insertion portion 110 in response to an angle change operation received by the first operation unit of the first foot operation device 500. More specifically, the bending portion 112 is disposed closer to the operation unit 120 than the tip portion 111. The bending portion 112 changes the traveling direction of the insertion portion 110 by bending. The bending portion 112 bends in the left-right direction, which is a first direction. That is, the bending portion 112 bends in the X1-axis direction. Furthermore, the bending portion 112 bends in the up-down direction, which is a second direction perpendicular to the first direction. That is, the bending portion 112 bends in the Z1-axis direction. The bending portion 112 includes a bellows-shaped bellows member and a wire that pulls the bellows member. The wire stretches and contracts the bellows member by pulling the bellows member. In this way, the bending portion 112 bends due to the expansion and contraction of the bellows member.

[0019] The operation unit 120 is a part that is held by an operator such as a doctor, etc. The operation unit 120 also has a plurality of operation buttons 121 that accept various operations.

[0020] Returning to FIG. 1 , the input interface 400 accepts various instructions and information input operations from an operator. Specifically, the input interface 400 converts the input operations accepted by the operator into electrical signals and outputs them to the processing circuit 270 (see FIG. 5 ) of the device main body 200. For example, the input interface 400 may be realized by a trackball, switch buttons, a mouse, a keyboard, a touchpad that performs input operations by touching the operation surface, a touchscreen that integrates a display screen and a touchpad, a non-contact input circuit using an optical sensor, and a voice input circuit. Note that the input interface 400 is not limited to those that include physical operation components such as a mouse and a keyboard. For example, an electrical signal processing circuit that receives an electrical signal corresponding to an input operation from an external input device provided separately from the device and outputs the electrical signal to a control circuit is also included as an example of the input interface 400.

[0021] The display 300 displays various types of information and images. Specifically, the display 300 converts information and image data sent from the processing circuitry 270 into electrical signals for display and outputs the signals. For example, the display 300 may be implemented by a liquid crystal monitor, a CRT (Cathode Ray Tube) monitor, a touch panel, or the like. Note that the output device provided in the ultrasound diagnostic system 1 is not limited to the display 300 and may include, for example, a speaker. For example, the speaker outputs a predetermined sound, such as a beep, to notify the operator of the processing status of the device main body 200.

[0022] The first foot operation device 500 and the second foot operation device 600 are devices that accept operation of the ultrasound probe 100 by the feet of the operator. In the first embodiment, a Cartesian coordinate system consisting of an X2 axis, a Y2 axis, and a Z2 axis is defined in the first foot operation device 500 and the second foot operation device 600. The X2 axis direction is a direction parallel to the longitudinal direction of the first foot operation device 500 or the second foot operation device 600. The Y2 axis direction is a direction parallel to the lateral direction of the first foot operation device 500 or the second foot operation device 600. The Z2 axis direction is a direction orthogonal to the X2 axis direction and the Y2 axis direction, and is perpendicular to the sole portion 520.

[0023] The first foot operating device 500 and the second foot operating device 600 receive operations on the ultrasound probe 100. The first foot operating device 500 is an example of a first operating device. The second foot operating device 600 is an example of a second operating device. For example, the first foot operating device 500 and the second foot operating device 600 have a shape similar to footwear worn on the feet, such as shoes or slippers.

[0024] 3 is an explanatory diagram showing an example of the configuration of a first foot operating device 500 according to the first embodiment. The first foot operating device 500 includes an upper part 510 that covers the instep of the foot, and a sole part 520 that forms the bottom surface of the first foot operating device 500. The upper part 510 is a member for attaching the first foot operating device 500 to the operator's foot. The sole part 520 includes a contact part 521, a rotating body 522, a gear 523, a first vibration part 524, an encoding part 525, a communication part 526, and a second vibration part 527.

[0025] The contact portion 521, the rotation axis 5222, and the encoding portion 525 receive an angle change operation performed by the operator's foot. The contact portion 521, the rotation axis 5222, and the encoding portion 525 are an example of a first operating portion. The contact portion 521 is a disk-shaped member that comes into contact with the ground. The contact portion 521 is formed at a position corresponding to the heel of the operator when the first foot operating device 500 is worn. The contact portion 521 is formed of a material with high friction, such as rubber. The contact portion 521 is provided separate from the bottom surface of the sole portion 520.

[0026] The rotating body 522 has a fringe portion 5221. The fringe portion 5221 of the rotating body 522 is bonded to the contact portion 521. The rotating body 522 has a rotation axis 5222 that is approximately perpendicular to the contact portion 521 and is located approximately in the center of the contact portion 521. The rotation axis 5222 is an example of a first rotation axis. The rotating body 522 is supported rotatably relative to the sole portion 520. The rotating body 522 rotates around the rotation axis 5222 that is approximately perpendicular to the ground. This allows the rotating body 522 to change its angle using the operator's foot.

[0027] Gear 523 is a member having irregularities on its periphery. Gear 523 is provided on rotation shaft 5222 of rotor 522. Gear 523 rotates integrally with rotation shaft 5222 of rotor 522.

[0028] First vibrating part 524 generates vibrations when rotor 522 rotates. First vibrating part 524 is a member such as a ball plunger. First vibrating part 524 is pressed against gear 523 and fixed to sole part 520. When gear 523 rotates, first vibrating part 524 moves the ball at the tip of the ball plunger in and out due to the concave and convex parts of gear 523. In this way, first vibrating part 524 positions gear 523 and generates vibrations due to the restoring force of the elastic body caused by the movement of the ball in and out.

[0029] The encoding unit 525 acquires the angle of rotation around the rotation axis 5222 as an angle change operation. The encoding unit 525 is an example of a first acquisition unit. More specifically, the encoding unit 525 acquires the angle of rotation of the first foot operating device 500 around the rotation axis 5222. For example, the encoding unit 525 acquires the angle of rotation of the first foot operating device 500 by optically reading a scale provided on the rotating body 522. Then, the encoding unit 525 generates rotation angle information indicating the angle of rotation of the first foot operating device 500 around the rotation axis 5222.

[0030] The second vibration unit 527 generates vibration when the first operation unit receives a change operation that changes the angle by more than a threshold value. For example, the second vibration unit 527 is a motor in which a weight with an offset center of gravity is attached to a shaft. The second vibration unit 527 generates vibration by rotating the shaft. For example, the second vibration unit 527 generates vibration when the communication unit 526 receives vibration request information.

[0031] The communication unit 526 communicates with the device body 200. For example, the communication unit 526 transmits the rotation angle information generated by the encoding unit 525 to the device body 200. The communication unit 526 also receives vibration request information from the device body 200 that requests vibration of the second vibrating unit 527.

[0032] The operator rotates the heel around the rotation axis 5222 while pressing the contact part 521 against the ground. Here, the rotating body 522 is rotatably supported, but does not rotate because it is pressed against the contact part 521. On the other hand, the sole part 520 rotates around the rotation axis 5222 of the rotating body 522 because the rotating body 522 is rotatably supported.

[0033] Furthermore, as gear 523 rotates in response to the rotation of rotor 522 around its axis, first vibrating unit 524 moves the ball at the tip in and out due to the concave and convex portions of gear 523. As a result, first vibrating unit 524 generates vibrations when rotor 522 rotates. That is, first vibrating unit 524 generates vibrations when first operating unit receives an operation to change the angle. The operator can then recognize that the rotation is being caused to occur around rotation axis 5222.

[0034] Furthermore, the first foot operating device 500 transmits the rotation angle information generated by the encoding unit 525 to the device main body 200. This allows the first foot operating device 500 to input the angle of the first foot operating device 500 to the device main body 200.

[0035] Furthermore, when the apparatus main body 200 determines that the angle of rotation around the rotation axis 5222 is equal to or greater than a threshold based on the rotation angle information, the first foot operating device 500 receives vibration request information from the apparatus main body 200. Then, when the second vibrator receives the vibration request information, it vibrates. This allows the operator to know to what angle the first foot operating device 500 has been rotated.

[0036] 4 is an explanatory diagram showing an example of the configuration of a second foot operating device 600 according to the first embodiment. The second foot operating device 600 includes an upper part 610 that covers the instep of the foot, and a sole part 620 that forms the bottom surface of the second foot operating device 600. The upper part 610 is a member that is worn on the operator's foot.

[0037] The sole part 620 includes a switch 621 and a communication unit 622. The switch 621 is provided on the upper surface of the sole part 620 at a position corresponding to the toes when the second foot operating device 600 is worn. The switch 621 accepts operation, for example, by being pressed. The communication unit 622 transmits switch information indicating that the switch 621 has been pressed to the device main body 200. This allows the second foot operating device 600 to input to the device main body 200 an operation indicating that the switch 621 has been pressed.

[0038] The first foot operating device 500 and the second foot operating device 600 may be formed for either the left or right foot of the operator. Furthermore, the switch 621 may be provided in the first foot operating device 500, not limited to the second foot operating device 600.

[0039] FIG. 5 is a block diagram showing a detailed configuration example of the ultrasound diagnostic system 1 according to the first embodiment.

[0040] The ultrasonic probe 100 includes a transducer unit 131 , a transmitting / receiving circuit 132 , an operation button 121 , a connection unit 134 , a first driving unit 135 , and a second driving unit 136 .

[0041] The transducer unit 131 is provided in the insertion section 110 of the ultrasound probe 100 and has a plurality of transducers that transmit and receive ultrasound waves. For example, the transducer unit 131 has a plurality of transducers arranged in a row. The transducer unit 131 is rotatably supported by the distal end portion 111. When the transducer unit 131 has a plurality of transducers arranged in a row, the row of transducers is tilted by rotating the transducer unit 131. Therefore, the angle at which ultrasound waves are transmitted can be changed by rotating the transducer unit 131.

[0042] The transmission / reception circuit 132 has a pulse generator, a transmission delay unit, a pulser, etc., and supplies a drive signal to the ultrasonic probe 100. The pulse generator repeatedly generates rate pulses for generating transmitted ultrasonic waves at a predetermined rate frequency. The transmission delay unit focuses the ultrasonic waves generated from the ultrasonic probe 100 into a beam and provides a delay time for each transducer required to determine the transmission directivity to each rate pulse generated by the pulse generator. The pulser applies a drive signal (drive pulse) to the ultrasonic probe 100 at a timing based on the rate pulse. In other words, the transmission delay unit changes the delay time provided to each rate pulse to arbitrarily adjust the transmission direction of the ultrasonic waves transmitted from the transducer surface.

[0043] The transmission / reception circuit 132 also has a preamplifier, an A / D (Analog to Digital) converter, a reception delay unit such as a quadrature detection circuit, an adder, etc., and performs various processes on the reflected wave signal received by the ultrasound probe 100 to generate reflected wave data.

[0044] The preamplifier amplifies the reflected wave signal for each channel and performs gain adjustment (gain correction). The A / D converter converts the gain-corrected reflected wave signal into a digital signal by A / D converting it. The quadrature detection circuit converts the A / D converted reflected wave signal into an in-phase signal (I signal, I: In-phase) and a quadrature signal (Q signal, Q: Quadrature-phase) in the baseband.

[0045] The quadrature detection circuit outputs an I signal and a Q signal as reflected wave data. Hereinafter, the I signal and the Q signal will be collectively referred to as an IQ signal. Furthermore, since the IQ signal is A / D converted digital data, it is also called IQ data.

[0046] The receive delay unit provides the delay time required to determine the receive directivity. The adder generates reflected wave data by adding the reflected wave signals processed by the receive delay unit. The adder's addition process emphasizes the reflected wave components from the direction corresponding to the receive directivity of the reflected wave signals, and an overall ultrasonic beam is formed by the receive directivity and transmit directivity.

[0047] Here, the form of the output signal from the transmission / reception circuit 132 can be selected from various forms, such as a signal containing phase information called an RF (Radio Frequency) signal, or amplitude information after envelope detection processing.

[0048] The connection unit 134 is an interface that connects the ultrasonic probe 100 and the device main body 200 by wire. For example, the connection unit 134 transmits ultrasound data generated by the transmission / reception circuit 132 to the device main body 200. When the operation button 121 is pressed, the connection unit 134 transmits operation button information indicating that the operation button 121 has been pressed. Note that the connection unit 134 is not limited to a wired connection, and may also connect the ultrasonic probe 100 and the device main body 200 wirelessly.

[0049] The first driving unit 135 generates power to bend the bending portion 112. For example, the first driving unit 135 is a driving device such as a motor. The first driving unit 135 pulls the wire of the bending portion 112 by performing an operation such as winding up the wire. In this way, the first driving unit 135 bends the bending portion 112.

[0050] The second drive unit 136 generates power to rotate the vibrator unit 131. For example, the second drive unit 136 is a drive device such as a motor. The second drive unit 136 pulls the wire of the vibrator unit 131 by winding up the wire, for example. In this way, the second drive unit 136 rotates the vibrator unit 131.

[0051] The device main body 200 is a device that generates an ultrasound image based on a reflected wave signal received by the ultrasound probe 100. The device main body 200 also controls the ultrasound probe 100. For example, the device main body 200 generates a two-dimensional ultrasound image based on two-dimensional reflected wave data received by the ultrasound probe 100. The device main body 200 also generates a three-dimensional ultrasound image based on three-dimensional reflected wave data received by the ultrasound probe 100. The device main body 200 also controls the ultrasound probe 100.

[0052] 5, the device main body 200 has a connection unit 210, a signal processing circuit 220, an image generation circuit 230, a memory circuit 240, a NW (network) interface 250, a communication unit 260, and a processing circuit 270. The connection unit 210, the signal processing circuit 220, the image generation circuit 230, the memory circuit 240, the NW interface 250, the communication unit 260, and the processing circuit 270 are connected to each other so that they can communicate with each other.

[0053] The connection unit 210 is an interface that connects the ultrasonic probe 100 and the device main body 200 by wire. For example, the connection unit 210 receives ultrasound data from the ultrasonic probe 100. The connection unit 210 also receives operation button information from the ultrasonic probe 100. Note that the connection unit 210 is not limited to a wired connection, and may also connect the ultrasonic probe 100 and the device main body 200 wirelessly.

[0054] The signal processing circuit 220 receives the reflected wave data from the transmitting / receiving circuit 132 and performs processes such as logarithmic amplification and envelope detection to generate data (B-mode data) in which signal strength is expressed as brightness of luminance. The signal processing circuit 220 also performs frequency analysis on velocity information from the reflected wave data received from the transmitting / receiving circuit 132, extracts blood flow, tissue, and contrast agent echo components due to the Doppler effect, and generates data (Doppler data) in which moving object information such as velocity, dispersion, and power is extracted for multiple points.

[0055] The signal processing circuit 220 can process both two-dimensional reflected wave data and three-dimensional reflected wave data. That is, the signal processing circuit 220 generates two-dimensional B-mode data from two-dimensional reflected wave data, and generates three-dimensional B-mode data from three-dimensional reflected wave data. The signal processing circuit 220 also generates two-dimensional Doppler data from two-dimensional reflected wave data, and generates three-dimensional Doppler data from three-dimensional reflected wave data.

[0056] The image generation circuit 230 generates an ultrasound image from the data generated by the signal processing circuit 220. For example, the image generation circuit 230 generates a two-dimensional B-mode image from the two-dimensional B-mode data generated by the signal processing circuit 220, in which the intensity of the reflected wave is represented by brightness.

[0057] Furthermore, for example, the image generation circuit 230 generates a two-dimensional Doppler image in which blood flow information is visualized from the two-dimensional Doppler data generated by the signal processing circuit 220. The two-dimensional Doppler image is velocity image data representing the average velocity of the blood flow, variance image data representing the variance of the blood flow, power image data representing the power of the blood flow, or image data combining these. Furthermore, the image generation circuit 230 generates a color Doppler image in which blood flow information such as the average velocity, variance, and power of the blood flow are displayed in color, or a Doppler image in which one piece of blood flow information is displayed in grayscale.

[0058] Furthermore, for example, the image generating circuitry 230 can also generate an M-mode image from time-series data of B-mode data on one scanning line generated by the signal processing circuitry 220. Furthermore, the image generating circuitry 230 can also generate a Doppler waveform in which velocity information of blood flow and tissue is plotted in time series from the Doppler data generated by the signal processing circuitry 220.

[0059] Here, the image generation circuit 230 generally converts (scan converts) a scan line signal sequence of an ultrasonic scan into a scan line signal sequence of a video format, such as that of a television, to generate an ultrasonic image for display. Specifically, the image generation circuit 230 generates an ultrasonic image for display by performing coordinate conversion according to the ultrasonic scanning form of the ultrasonic probe 100. In addition to scan conversion, the image generation circuit 230 also performs various image processing, such as image processing (smoothing processing) that regenerates an average brightness image using multiple image frames after scan conversion, and image processing (edge ​​enhancement processing) that uses a differential filter within the image. The image generation circuit 230 also combines text information of various parameters, scales, body marks, etc. with the ultrasonic image data.

[0060] That is, the B-mode data and Doppler data are data before scan conversion processing, and the data generated by the image generation circuit 230 is image data for display after scan conversion processing. Hereinafter, the data before scan conversion processing (B-mode data and Doppler data) will also be referred to as "RAW data."

[0061] The image generation circuit 230 generates a two-dimensional ultrasound image, such as a two-dimensional B-mode image or a two-dimensional Doppler image, from the two-dimensional B-mode data or two-dimensional Doppler data, which are raw data. The image generation circuit 230 can also generate a superimposed image, for example, by superimposing a color Doppler image on a two-dimensional B-mode image.

[0062] The memory circuitry 240 stores various types of data. For example, the memory circuitry 240 stores control programs for transmitting and receiving ultrasound, image processing, and display processing, as well as various types of data such as diagnostic information (e.g., patient ID, doctor's findings, etc.), diagnostic protocols, and various body marks. For example, the memory circuitry 240 is realized by a semiconductor memory element such as a RAM (Random Access Memory) or a flash memory, a hard disk drive (HDD), an optical disk, etc.

[0063] The data stored in the memory circuitry 240 can be transferred to an external device via the NW interface 250. The external device may be, for example, a personal computer (PC) or tablet terminal used by a doctor who performs image diagnosis, an image storage device that stores images, a printer, or the like.

[0064] The NW interface 250 controls communication between the device main body 200 and an external device. Specifically, the NW interface 250 receives various information from the external device and outputs the received information to the processing circuit 270. For example, the NW interface 250 is realized by a network card, a network adapter, a NIC (Network Interface Controller), or the like.

[0065] The communication unit 260 communicates with the first foot operating device 500 or the second foot operating device 600. For example, the communication unit 260 receives rotation angle information indicating an angle accepted by the first operating unit of the first foot operating device 500. The communication unit 260 is an example of a receiving unit. The communication unit 260 also transmits vibration request information to the first foot operating device 500. The communication unit 260 also receives switch information from the second foot operating device 600.

[0066] The processing circuitry 270 controls the overall processing of the ultrasound diagnostic system 1. Specifically, the processing circuitry 270 controls the operations of the connection unit 210, the signal processing circuitry 220, and the image generation circuitry 230 based on various setting requests input by the operator via the input interface 400 and various control programs and various data read from the storage circuitry 240. The processing circuitry 270 also controls the display of ultrasound images.

[0067] The processing circuitry 270 also executes a drive control function 271, a vibration control function 272, and a display control function 273. Here, for example, each of the processing functions of the processing circuitry 270, i.e., the drive control function 271, the vibration control function 272, and the display control function 273, is stored in the storage circuitry 240 in the form of a computer-executable program. The processing circuitry 270 is a processor. For example, the processing circuitry 270 reads the program from the storage circuitry 240 and executes it to realize the function corresponding to each program. In other words, the processing circuitry 270 in a state in which each program has been read has each function shown in the processing circuitry 270 of FIG. 5. Note that, although FIG. 5 illustrates the processing functions performed by the drive control function 271, the vibration control function 272, and the display control function 273 being realized by a single processor, the processing circuitry 270 may be configured by combining multiple independent processors, and each processor may execute a program to realize the function. Furthermore, although FIG. 5 illustrates a single memory circuit 240 storing a program corresponding to each processing function, multiple memory circuits may be distributed and arranged, and the processing circuit 270 may read out the corresponding program from each memory circuit.

[0068] The term "processor" used in the above description refers to a circuit such as a CPU (Central Processing Unit), a GPU (Graphical Processing Unit), an Application Specific Integrated Circuit (ASIC), a programmable logic device (e.g., a Simple Programmable Logic Device (SPLD), a Complex Programmable Logic Device (CPLD), and a Field Programmable Gate Array (FPGA)). The processor realizes its functions by reading and executing a program stored in the memory circuit 240. Note that instead of storing a program in the memory circuit 240, the processor may be configured so that the program is directly embedded in its circuitry. In this case, the processor realizes its functions by reading and executing the program embedded in its circuitry.

[0069] The drive control function 271 controls the drive of the first drive unit 135. That is, the drive control function 271 bends the bending portion 112 by driving the first drive unit 135. More specifically, the drive control function 271 controls the bending of the bending portion 112 based on rotation angle information received from the first foot operation device 500. The drive control function 271 is an example of a bending control unit. The drive control function 271 specifies the direction and angle of bending of the bending portion 112 based on the angle indicated in the rotation angle information. Then, the drive control function 271 bends the bending portion 112 by controlling the first drive unit 135 based on the rotation angle information. As a result, the bending portion 112 bends at the angle received by the first foot operation device 500 and in a direction corresponding to the angle.

[0070] Furthermore, when an axis switching operation is received, the drive control function 271 switches the axis that bends the bending portion 112. As a result, when an axis switching operation that changes the bending direction is received, the bending portion 112 bends in a direction different from that before receiving the axis switching operation.

[0071] More specifically, the drive control function 271 switches from bending in the X1-axis direction, which is the left-right direction, to bending in the Z1-axis direction, which is the up-down direction. Alternatively, the drive control function 271 switches from bending in the Z1-axis direction, which is the up-down direction, to bending in the X1-axis direction, which is the left-right direction. The axis switching operation is, for example, an operation of pressing the switch 621 of the second foot operating device 600. That is, the switch 621 of the second foot operating device 600 accepts a press as an axis switching operation that changes the direction in which the bending portion 112 is bent. The switch 621 is an example of a second operating unit. Note that the axis switching operation is not limited to pressing the switch 621 of the second foot operating device 600, but may also be pressing the operation button 121 of the ultrasound probe 100, an operation accepted by the input interface 400, or another operation.

[0072] The vibration control function 272 controls the vibration operation of the second vibration unit 527 of the first foot operating device 500. More specifically, when the vibration control function 272 receives rotation amount information from the first foot operating device 500, it determines whether to vibrate the second vibration unit 527 based on the received rotation angle information. For example, the vibration control function 272 determines whether the first foot operating device 500 has been rotated to an angle equal to or greater than a threshold based on the rotation angle information. Then, when it is determined that the first foot operating device 500 has been rotated to an angle equal to or greater than the threshold, the vibration control function 272 causes the communication unit 260 to transmit vibration request information. Here, the angle equal to or greater than the threshold is not limited to one, and there may be multiple angles. For example, the angle equal to or greater than the threshold is an angle in increments of 10 degrees. Alternatively, the threshold may be an angle set by the operator, etc.

[0073] The display control function 273 displays settings related to the operation of the ultrasound probe 100 using the first foot operating device 500 on the display 300. The display control function 273 is an example of a display control unit. For example, the display control function 273 displays the direction in which the bending portion 112 of the ultrasound probe 100 is bent. That is, the display control function 273 displays whether the setting is for bending in the X1 axis direction, which is the left-right direction, or in the Z1 axis direction, which is the up-down direction.

[0074] Next, a method of operating the ultrasound probe 100 using the first foot operated device 500 and the second foot operated device 600 will be described.

[0075] 6 is a diagram showing an example of a method for operating the ultrasound probe 100 according to the first embodiment. As shown in FIG. 6, the operator rotates the first foot operating device 500 around the rotation axis 5222. For example, the operator rotates the first foot operating device 500 45 degrees to the left. The encoding unit 525 of the first foot operating device 500 generates rotation angle information indicating the angle by which the first foot operating device 500 has rotated around the rotation axis 5222. In addition, the communication unit 526 of the first foot operating device 500 transmits the rotation angle information to the apparatus main body 200.

[0076] The communication unit 260 of the device main body 200 receives the rotation angle information. The drive control function 271 of the device main body 200 identifies the direction and angle of bending of the bending portion 112 of the ultrasonic probe 100 based on the rotation angle information. The drive control function 271 then controls the first drive unit 135 of the ultrasonic probe 100 to bend the bending portion 112. Figure 6 shows a state in which the bending portion 112 is bent 45 degrees to the left.

[0077] 7 is a diagram showing an example of a method of operating the ultrasound probe 100 according to the first embodiment. As shown in FIG. 7, the operator presses the switch 621 of the second foot operating device 600. The communication unit 622 of the second foot operating device 600 transmits switch information indicating that the switch 621 has been pressed to the apparatus main body 200. The connection unit 210 of the apparatus main body 200 receives the switch information. The drive control function 271 of the apparatus main body 200 also accepts the switch information as an axis switching operation. That is, the drive control function 271 switches the bending direction of the bending portion 112 from bending in the X1-axis direction, which is the left-right direction, to bending in the Z1-axis direction, which is the up-down direction.

[0078] As shown in Fig. 7, the operator rotates the first foot operating device 500 around the rotation axis 5222. In Fig. 7, the operator rotates the first foot operating device 500 45 degrees to the right. The encoding unit 525 of the first foot operating device 500 generates rotation angle information indicating the angle by which the first foot operating device 500 has rotated around the rotation axis 5222. In addition, the communication unit 526 of the first foot operating device 500 transmits the rotation angle information to the apparatus main body 200.

[0079] The communication unit 260 of the device main body 200 receives the rotation angle information. The drive control function 271 of the device main body 200 determines the direction and angle of bending of the bending portion 112 of the ultrasonic probe 100 based on the rotation angle information. Here, the drive control function 271 switches the direction of bending of the bending portion 112 to bending in the Z1 axis direction, which is the up-down direction. Therefore, the drive control function 271 controls the first drive unit 135 of the ultrasonic probe 100 to bend the bending portion 112 in the Z1 axis direction, which is the up-down direction. In FIG. 7, the bending portion 112 is bent downward by 45 degrees.

[0080] As described above, the ultrasound diagnostic system 1 according to the first embodiment includes the ultrasound probe 100 and the first foot operation device 500. The first foot operation device 500 accepts an angle change operation performed by the operator's foot. The ultrasound probe 100 also includes a bending section 112 provided on a tubular insertion section 110 inserted into a subject, which bends the insertion section 110 in response to the angle change operation received by the first foot operation device 500. In this manner, the ultrasound diagnostic system 1 accepts an angle change operation performed by the operator's foot and bends the bending section 112. In other words, the ultrasound diagnostic system 1 can now accept operations performed by the operator's foot, which previously required manual manipulation, thereby reducing the burden on the operator during manual manipulation. This allows the ultrasound diagnostic system 1 to improve the operability of the ultrasound probe 100.

[0081] (Variation 1) In the first embodiment, it has been explained that the drive control function 271 bends the bending portion 112 by the same angle as the angle at which the first foot operation device 500 has rotated. In the first modification, the drive control function 271 bends the bending portion 112 by an angle different from the angle at which the first foot operation device 500 has rotated, in accordance with the operation.

[0082] When the drive control function 271 receives a ratio change operation, it changes the ratio of the angle at which the bending portion 112 is bent. The drive control function 271 receives, for example, switch information indicating that the switch 621 of the second foot operating device 600 has been pressed as a ratio change operation. That is, the switch 621 of the second foot operating device 600 receives the press as a ratio change operation to change the ratio of the angle at which the bending portion 112 is bent relative to the angle received by the first operating unit. The switch 621 is an example of a third operating unit. Note that the ratio change operation is not limited to pressing the switch 621 of the second foot operating device 600, but may also be pressing the operation button 121 of the ultrasound probe 100, an operation received by the input interface 400, or another operation.

[0083] For example, when a ratio change operation is received, the drive control function 271 doubles the ratio of the angle at which the bending portion 112 bends to the angle at which the first foot operating device 500 is rotated. As a result, when a ratio change operation is received that changes the ratio of the angle at which the bending portion 112 bends to the rotation received by the rotation shaft 5222 of the first foot operating device 500, the bending portion 112 bends by an angle according to the ratio.

[0084] For example, when a ratio change operation is received and the angle of the rotation operation received via the first foot operating device 500 is 22.5 degrees, the drive control function 271 bends the bending portion 112 by 45 degrees. Note that the ratio is not limited to 2x, but may be 3x or more, or may be changed to any ratio by setting. Furthermore, the ratio may be such that the angle at which the bending portion 112 is bent is reduced. For example, the ratio may be 1 / 2, 1 / 3, or less than 1 / 4.

[0085] The display control function 273 displays the ratio of the angle at which the bending portion 112 is bent relative to the angle received by the first operation unit of the first foot operation device 500. For example, the display control function 273 displays ratios such as 2x, 3x, 1 / 2, 1 / 3, and 1 / 4.

[0086] Fig. 8 is a diagram showing an example of a method of operating the ultrasound probe 100 according to Modification 1. As shown in Fig. 8, the operator presses the switch 621 of the second foot operating device 600. The communication unit 622 of the second foot operating device 600 transmits switch information indicating that the switch 621 has been pressed to the device main body 200. The connection unit 210 of the device main body 200 receives the switch information. Furthermore, the drive control function 271 of the device main body 200 accepts the switch information as a ratio change operation. That is, the drive control function 271 doubles the ratio of the angle at which the bending portion 112 bends to the angle at which the first foot operating device 500 has rotated.

[0087] As shown in Fig. 8, the operator rotates the first foot operating device 500 around the rotation axis 5222. In Fig. 8, the operator rotates the first foot operating device 500 22.5 degrees to the right. The encoding unit 525 of the first foot operating device 500 generates rotation angle information indicating the angle by which the first foot operating device 500 has rotated around the rotation axis 5222. In addition, the communication unit 526 of the first foot operating device 500 transmits the rotation angle information to the apparatus main body 200.

[0088] The communication unit 260 of the device main body 200 receives the rotation angle information. The drive control function 271 of the device main body 200 identifies the direction and angle of bending of the bending portion 112 of the ultrasonic probe 100 based on the rotation angle information. Here, the drive control function 271 doubles the ratio of the angle of bending of the bending portion 112 to the angle of rotation of the first foot operating device 500. Therefore, the drive control function 271 bends the bending portion 112 45 degrees to the right by controlling the first drive unit 135 of the ultrasonic probe 100.

[0089] As described above, the ultrasound diagnostic system 1 according to the first modification changes the ratio of the angle at which the bending portion 112 is bent to the angle received by the first foot operating device 500. This allows the operator to increase or decrease the angle at which the foot is bent relative to the rotation. This allows the ultrasound diagnostic system 1 according to the first modification to improve the operability of the ultrasound probe 100.

[0090] (Variation 2) In the first embodiment, it has been described that the drive control function 271 bends the bending portion 112 by controlling the first drive unit 135. In the second modification, the drive control function 271 changes the object to be controlled to the second drive unit 136 in response to an operation.

[0091] When the drive control function 271 receives a target change operation, it changes the target to be controlled to the second drive unit 136. The drive control function 271 receives, for example, operation button information as the target change operation. That is, the operation button 121 of the ultrasound probe 100 receives a press as a target change operation to change the target operated by the first foot operation device 500. The operation button 121 is an example of a fourth operation unit. Note that the target change operation is not limited to pressing the operation button 121 of the ultrasound probe 100, but may also be pressing the switch 621 of the second foot operation device 600, an operation received by the input interface 400, or another operation.

[0092] When an object change operation is received, the drive control function 271 controls the second drive unit 136 based on the rotation angle information, thereby controlling the rotation of the vibrator unit 131. The drive control function 271 is an example of a rotation control unit. In this way, the drive control function 271 rotates the vibrator unit 131. In other words, when an operation to change the object operated by the first foot operating device 500 is received, the vibrator unit 131 rotates according to the angle received by the first operating unit of the first foot operating device 500.

[0093] More specifically, when the drive target is set to the second drive unit 136 by the target change operation and rotation angle information is received from the first foot operating device 500, the drive control function 271 drives the second drive unit 136 based on the received rotation angle information. The drive control function 271 receives, for example, operation button information as the target change operation.

[0094] The drive control function 271 specifies the direction and angle of rotation of the vibrator unit 131 based on the angle indicated in the rotation angle information. Then, the drive control function 271 rotates the vibrator unit 131 in the specified direction by the specified angle.

[0095] For example, the drive control function 271 rotates the vibrator unit 131 in the same direction as the rotation direction of the first foot operating device 500 and by the same angle as the angle by which the first foot operating device 500 has rotated. Furthermore, when the drive control function 271 receives a ratio change operation, it changes the ratio of the angle by which the vibrator unit 131 is rotated relative to the angle by which the first foot operating device 500 has rotated. For example, the drive control function 271 rotates the vibrator unit 131 by twice the angle by which the first foot operating device 500 has rotated.

[0096] The display control function 273 displays an object to be operated by the first foot operating device 500. For example, the display control function 273 displays whether the bending portion 112 or the vibrator portion 131 is the object to be operated by the first foot operating device 500.

[0097] Fig. 9 is a diagram showing an example of a method of operating the ultrasound probe 100 according to Modification 2. As shown in Fig. 9, the operator presses the switch 621 of the second foot operating device 600. The communication unit 622 of the second foot operating device 600 transmits switch information indicating that the switch 621 has been pressed to the apparatus main body 200. The connection unit 210 of the apparatus main body 200 receives the switch information. In addition, the drive control function 271 of the apparatus main body 200 accepts the switch information as a ratio change operation.

[0098] 9, the operator presses the operation button 121 of the ultrasound probe 100. The drive control function 271 accepts the operation button information as a target change operation. The drive control function 271 also accepts a ratio change operation. Therefore, the drive control function 271 doubles the ratio of the angle by which the transducer unit 131 is rotated to the angle by which the first foot operating device 500 is rotated.

[0099] As shown in FIG. 9, when first foot operating device 500 is not rotating, transducer section 131 transmits ultrasonic waves from tip section 111 at an angle of 90 degrees with respect to the X1 axis direction.

[0100] 9, when the first foot operating device 500 is rotated 45 degrees, the ratio of the angle at which the transducer unit 131 is rotated to the angle at which the first foot operating device 500 is rotated is twice as large, so the drive control function 271 rotates the transducer unit 131 90 degrees. As a result, the tip unit 111 transmits ultrasound from an angle of 0 degrees with respect to the X1 axis direction.

[0101] As described above, the ultrasound diagnostic system 1 according to the second modification can change the operation target using the operation button 121 of the ultrasound probe 100. That is, the operator can operate various objects with his / her feet. Therefore, the ultrasound diagnostic system 1 according to the first modification can improve the operability of the ultrasound probe 100.

[0102] (Second embodiment) In the first embodiment, the first foot operation device 500 is described as rotating about the rotation axis 5222a of the rotating body 522 that is approximately perpendicular to the ground. However, the first foot operation device 500a may have the rotation axis 5222a that is approximately horizontal with respect to the pedal 528.

[0103] FIG. 10 is an explanatory diagram showing an example of the configuration of a first foot operating device 500a according to the second embodiment. The first foot operating device 500a includes a pedal 528 and a rotating shaft 5222a. The pedal 528 is stepped on by the foot of the operator. The rotating shaft 5222a rotatably supports the pedal 528 and is disposed approximately parallel to the pedal 528. The rotating shaft 5222a is an example of a second rotating shaft. A gear 523a is fixed to the end of the rotating shaft 5222a. Therefore, when the rotating shaft 5222a rotates, the gear 523a rotates.

[0104] Furthermore, the first vibrating part 524a is pressed against the gear 523a and is fixed to the sole part 520. When the gear 523a rotates, the first vibrating part 524a moves the ball at the tip in and out due to the concave and convex parts of the gear 523a. This causes the first vibrating part 524a to generate vibrations.

[0105] The encoding unit 525a also acquires the angle of rotation around the rotation axis 5222a as the angle change operation. The encoding unit 525a is an example of a second acquisition unit. More specifically, the encoding unit 525a acquires the angle of rotation of the first foot operating device 500a by optically reading a scale provided on the gear 523a. The encoding unit 525a then generates rotation angle information indicating the angle of rotation of the pedal 528 of the first foot operating device 500a around the rotation axis 5222a.

[0106] Next, a method for operating the ultrasound probe 100 using the first foot operating device 500a will be described.

[0107] Fig. 11 is a diagram showing an example of a method for operating the ultrasound probe 100 according to the second embodiment. As shown in Fig. 11, the operator rotates the pedal 528 of the first foot operating device 500a around the rotation axis 5222a. In Fig. 11, the operator rotates the pedal 528 of the first foot operating device 500a upward by 45 degrees.

[0108] The encoding unit 525a of the first foot operating device 500a generates rotation angle information indicating the angle by which the pedal 528 of the first foot operating device 500a has rotated around the rotation axis 5222a. The communication unit 526 of the first foot operating device 500a transmits the rotation angle information to the apparatus main body 200.

[0109] The communication unit 260 of the device main body 200 receives the rotation angle information. The drive control function 271 of the device main body 200 identifies the direction and angle of bending of the bending portion 112 of the ultrasonic probe 100 based on the rotation angle information. The drive control function 271 then controls the first drive unit 135 of the ultrasonic probe 100 to bend the bending portion 112. In FIG. 12 , the bending portion 112 is bent 45 degrees to the left.

[0110] Fig. 12 is a diagram showing an example of a method for operating the ultrasound probe 100 according to the second embodiment. In Fig. 12, the operator rotates the pedal 528 of the first foot operating device 500a downward by 45 degrees.

[0111] The encoding unit 525a of the first foot operating device 500a generates rotation angle information indicating the angle by which the pedal 528 of the first foot operating device 500a has rotated around the rotation axis 5222a. The communication unit 526 of the first foot operating device 500a transmits the rotation angle information to the apparatus main body 200.

[0112] The communication unit 260 of the device main body 200 receives the rotation angle information. The drive control function 271 of the device main body 200 identifies the direction and angle of bending of the bending portion 112 of the ultrasonic probe 100 based on the rotation angle information. The drive control function 271 then controls the first drive unit 135 of the ultrasonic probe 100 to bend the bending portion 112. In FIG. 12 , the bending portion 112 is bent 45 degrees to the right.

[0113] In the second embodiment, it has been described that the bending portion 112 bends to the left when the pedal 528 rotates upward, and bends to the right when the pedal 528 rotates downward. However, the bending portion 112 may bend to the right when the pedal 528 rotates upward, and bend to the left when the pedal 528 rotates downward.

[0114] As described above, the first foot operating device 500a of the ultrasound diagnostic system 1 according to the second embodiment accepts an operation to change the angle at which the bending portion 112 is bent by stepping on the pedal 528, rather than by twisting the foot. In this case, the ultrasound diagnostic system 1 also accepts operations that were previously concentrated on the hands from the feet, thereby reducing the burden on manual operation. Therefore, the ultrasound diagnostic system 1 can improve the operability of the ultrasound probe 100.

[0115] Furthermore, the first foot operating device 500, 500a and the second foot operating device 600 according to the first embodiment, Modification 1, Modification 2, and the second embodiment have been described as having a shape similar to footwear worn on the feet, such as shoes or slippers. However, the first foot operating device 500, 500a and the second foot operating device 600 are not limited to a shape similar to footwear, and may have other shapes. For example, the first foot operating device 500, 500a and the second foot operating device 600 may have a shape similar to a foot pedal.

[0116] According to at least one of the embodiments described above, the operability of the ultrasound probe 100 can be improved.

[0117] Although several embodiments have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, modifications, and combinations of embodiments can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, as well as within the scope of the invention and its equivalents as defined in the claims.

[0118] (Appendix 1) An ultrasound diagnostic system having an ultrasound probe to be inserted into a subject and a first operation device that accepts operations on the ultrasound probe, The first operating device is a first operation unit that accepts an angle change operation by an operator's foot; The ultrasonic probe includes: a tubular insertion section to be inserted into the subject; a transducer unit provided in the insertion section and having a plurality of transducers for transmitting and receiving ultrasonic waves; a bending portion provided in the insertion portion and bending the insertion portion in response to an angle change operation received by the first operation portion; An ultrasound diagnostic system comprising: (Appendix 2) The bending portion may be bent at an angle received by the first operating portion and in a direction according to the angle. (Appendix 3) When an operation to change the bending direction is received, the bending portion may bend in a direction different from that before receiving the operation. (Appendix 4) When an operation to change a ratio of an angle at which the bending portion is bent to an angle accepted by the first operation unit is accepted, the bending portion may bend at an angle according to the ratio. (Appendix 5) When an operation to change an object operated by the first operation device is received, the vibrator section may rotate according to an angle received by the first operation section. (Appendix 6) The first operating device is The touch panel may further include a first vibration unit that generates vibration when the first operation unit receives an angle change operation. (Appendix 7) The first operating device is The touch panel may further include a second vibration unit that generates vibration when the first operation unit receives a change operation that changes the angle to a threshold value or more. (Appendix 8) The first operation unit is a disk-shaped contact portion that comes into contact with the ground; a first rotation axis disposed at a substantially center of the contact portion and substantially perpendicular to the contact portion; The apparatus may further include a first acquisition unit that acquires an angle of rotation around the first rotation axis as an angle change operation. (Appendix 9) The first operation unit is A pedal to be stepped on by the operator's foot; a second rotation shaft that rotatably supports the pedal and is substantially parallel to the pedal; The image forming apparatus may further include a second acquisition unit that acquires an angle of rotation around the second rotation axis as an angle change operation. (Appendix 10) Further, a device main body for controlling the ultrasonic probe is provided. The device body includes: a receiving unit that receives rotation angle information indicating the angle received by the first operating unit; The device may further include a bending control unit that controls bending of the bending portion based on the rotation angle information. (Appendix 11) Further, a second operation device is provided to receive an operation on the ultrasonic probe, The second operation device is The device may further include a second operating unit that accepts an operation to change the direction in which the bending portion is bent. (Appendix 12) The second operation device is The device may further include a third operating unit that accepts an operation to change the ratio of the angle at which the bending portion is bent to the angle accepted by the first operating unit. (Appendix 13) The ultrasonic probe includes: The device may further include a fourth operation unit that accepts an operation to change an object operated by the first operation device. (Appendix 14) The ultrasonic probe includes: Further, a first driving unit that generates power to bend the bending portion is provided, The bending control section may bend the bending section by controlling the first driving section based on the rotation angle information. (Appendix 15) The ultrasonic probe includes: Further, a second driving unit is provided which generates power to rotate the vibrator unit, The device body includes: The device may further include a rotation control section that controls the second driving section based on the rotation angle information, thereby controlling the rotation of the transducer section. (Appendix 16) The device body includes: The apparatus may further include a display control unit that displays settings related to operation of the ultrasound probe using the first operation device. (Appendix 17) The display control unit may display a direction in which the bending portion is bent. (Appendix 18) The display control unit may display a ratio of an angle at which the bending portion is bent to an angle accepted by the first operation unit. (Appendix 19) The display control unit may display an object operated by the first operation device. [Explanation of symbols]

[0119] 1. Ultrasound diagnostic system 100 Ultrasound Probe 110 Insertion section 111 Tip 112 Bend 121 Operation Button 131 Oscillator section 134, 210 Connection 135 First Drive Unit 136 Second drive unit 200 Device body 260, 526, 622 Communications Department 270 Processing Circuit 271 Drive control function 272 Vibration control function 273 Display Control Function 300 displays 500, 500a First foot-operated device 521 Contact part 522 Rotating Body 5222, 5222a Rotating shaft 524, 524a 1st vibration section 525, 525a Encoding section 527 Second vibration part 528 Pedals 600 Second foot operation device 621 Switch

Claims

1. An ultrasound diagnostic system having an ultrasound probe to be inserted into a subject, a first operation device that accepts an operation on the ultrasound probe, and a second operation device that accepts an operation on the ultrasound probe, The first operation device is a first operation unit that accepts an angle change operation by an operator's foot; The second operation device is a second operation unit that receives an operation to change an axis as a bending direction to be bent by an operator's foot, The ultrasonic probe includes: a tubular insertion section to be inserted into the subject; a transducer unit provided in the insertion section and having a plurality of transducers for transmitting and receiving ultrasonic waves; a bending portion provided in the insertion portion, the bending portion bending the insertion portion in the bending direction according to the operation received by the second operation portion in response to the angle change operation received by the first operation portion; An ultrasound diagnostic system comprising:

2. the bending portion bends at an angle accepted by the first operation portion and in a direction according to the angle; The ultrasound diagnostic system of claim 1 .

3. When an operation to change the bending direction is received, the bending portion bends in a direction different from that before receiving the operation.

3. The ultrasound diagnostic system according to claim 1.

4. When an operation for changing a ratio of an angle at which the bending portion is bent to an angle accepted by the first operation unit is accepted, the bending portion bends by an angle according to the ratio. The ultrasound diagnostic system according to any one of claims 1 to 3.

5. When an operation for changing an object operated by the first operation device is accepted, the vibrator unit rotates according to an angle accepted by the first operation unit. The ultrasound diagnostic system according to any one of claims 1 to 4.

6. The first operation device is The touch panel further includes a first vibration unit that generates vibration when the first operation unit receives an angle change operation. The ultrasound diagnostic system according to any one of claims 1 to 5.

7. The first operation device is a second vibration unit that generates vibration when the first operation unit receives a change operation that changes the angle to a threshold value or more; The ultrasound diagnostic system according to any one of claims 1 to 6.

8. The first operation unit is a disk-shaped contact portion that comes into contact with the ground; a first rotation axis disposed at a substantially center of the contact portion and substantially perpendicular to the contact portion; a first acquisition unit that acquires an angle of rotation around the first rotation axis as an angle change operation, The ultrasound diagnostic system according to any one of claims 1 to 7.

9. The first operation unit is A pedal to be stepped on by the operator's foot; a second rotation shaft that rotatably supports the pedal and is substantially parallel to the pedal; a second acquisition unit that acquires an angle of rotation around the second rotation axis as an angle change operation, The ultrasound diagnostic system according to any one of claims 1 to 7.

10. Further, a device main body for controlling the ultrasonic probe is provided. The device body includes: a receiving unit that receives rotation angle information indicating the angle received by the first operation unit; a bending control unit that controls bending of the bending portion based on the rotation angle information, The ultrasound diagnostic system according to any one of claims 1 to 9.

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