Ultrasound diagnostic equipment

Abstract

To provide an ultrasonic diagnostic device capable of facilitating an insertion work of a puncture needle into a subject by a user.SOLUTION: An ultrasonic diagnostic device 1 for supporting an insertion work of a puncture needle QT into a subject includes: an ultrasonic probe 20 for acquiring an ultrasonic image of an inner side of the subject by transmission / reception of an ultrasonic wave; first and second photographing sections 30a, 30b attached to the ultrasonic probe 20 so as to photograph the puncture needle QT in the insertion work; an insertion angle detection section 19b for analyzing a first photographed image generated by a first photographing section 30a and a second photographed image generated by a second photographing section 30b, so as to detect an insertion angle of the puncture needle QT with respect to a body surface of the subject with the use of principle of a stereo camera; an arrival prediction position calculation section 19c for calculating an arrival prediction position of the puncture needle QT from the insertion angle; and a display control section 19d for allowing a monitor 16 to display a guide image indicating the arrival prediction position so as to superimpose on the ultrasonic image.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present disclosure relates to an ultrasonic diagnostic apparatus.

Background Art

[0002] There is known an ultrasonic diagnostic apparatus that supports the operation of inserting a puncture needle into a subject by imaging the inside of the subject as an ultrasonic image. The ultrasonic diagnostic apparatus can obtain, as an ultrasonic image, the shape and movement of tissues inside the subject by a simple operation of applying an ultrasonic probe to the body surface of the subject.

[0003] In recent years, subject tissue diagnosis has been performed in which a puncture needle is inserted into the body of a patient as the subject to collect tissues and body fluids. Also, in anesthesiology, intensive care units, pain clinics, etc., treatments using puncture needles are being carried out. In these diagnoses or treatments, an operator such as a doctor (hereinafter referred to as "user") views the ultrasonic image of the subject tissue obtained by the ultrasonic diagnostic apparatus, and while confirming the positions of the subject tissue and the puncture needle, inserts the puncture needle into the subject.

[0004] At that time, in order to reduce the burden on the patient as much as possible and perform the puncture accurately, it is necessary to accurately grasp the positional relationship between the puncture position of the puncture needle on the body surface of the patient and the affected part (i.e., the target) in the ultrasonic image displayed on the monitor.

[0005] From such a background, various techniques for supporting the operation of inserting a puncture needle into a subject (hereinafter also referred to as "puncture operation") have been developed in ultrasonic diagnostic apparatuses.

[0006] For example, Patent Document 1 discloses a needle guide attached to an ultrasonic probe. Patent Document 1 describes configuring the needle guide so that a puncture needle can be inserted into a subject at a predetermined insertion angle, thereby supporting the operation of inserting the puncture needle into the subject. Also, Patent Document 1 describes displaying a guideline of the puncture needle guided by the needle guide on a monitor so that the user can recognize the entry direction of the needle.

[0007] Furthermore, Patent Document 2 describes providing a marker on the surface of the housing of an ultrasound probe to indicate the central position of the ultrasound image (i.e., the central position in the scanning direction), so that the user can accurately recognize the central position in the scanning direction when inserting the puncture needle into the subject. [Prior art documents] [Patent Documents]

[0008] [Patent Document 1] Special Publication No. 2011-505227 [Patent Document 2] Japanese Patent Publication No. 2017-176638 [Overview of the project] [Problems that the invention aims to solve]

[0009] Incidentally, while needle guides like the one described in the prior art document 1 are useful in simplifying the puncture procedure on a subject, such needle guides have a fixed angle at which they can guide the puncture needle, and therefore, in some cases, they may be unusable or even impair convenience.

[0010] For example, in procedures involving puncture of a central vein such as the external jugular vein in humans (e.g., puncture for catheter insertion), the course of the blood vessel is generally confirmed using the parallel method (see the left diagram in Figure 20), and the puncture is performed using the crossed method (see the right diagram in Figure 20). In this case, the user performs the puncture freehand, while checking the insertion status of the puncture needle into the blood vessel by looking at the ultrasound image and correcting the trajectory of the puncture needle. Figure 20 shows how the ultrasound probe is pressed against the body surface of the subject in the parallel method (left diagram in Figure 20) and the crossed method (right diagram in Figure 20), and the ultrasound images acquired at that time. In Figure 20, 20 represents the ultrasound probe, HT represents the subject, and QT represents the puncture needle.

[0011] Furthermore, during puncture procedures, the target site is often located outside the puncture guideline provided by the needle guide. In such cases, the user must remove the needle guide from the ultrasound probe and perform the puncture freehand.

[0012] On the other hand, as in the prior art described in Patent Document 2, the markings on the housing of the ultrasound probe alone make it difficult to accurately grasp the positional relationship between the puncture target site and the puncture needle. Unless the user is skilled, there is a risk that the puncture needle may be inserted from the surface of the subject's body at a position or angle that is deviating from the appropriate position or angle when advancing the puncture needle towards the target location in the subject's tissue (e.g., a central vein). As a result, there is a risk that the puncture needle may damage other tissues (e.g., arteries or nerves).

[0013] This disclosure has been made in view of the above-mentioned problems and aims to provide an ultrasound diagnostic device that makes it easier for users to insert a puncture needle into a subject. [Means for solving the problem]

[0014] The main disclosure that addresses the aforementioned issues is: An ultrasound diagnostic device that assists in the insertion of a puncture needle into a subject, An ultrasound probe that acquires an ultrasound image of the inside of the subject by transmitting and receiving ultrasound waves, Attached to the ultrasound probe are first and second imaging units for photographing the puncture needle during the insertion procedure, An insertion angle detection unit analyzes the first image generated by the first imaging unit and the second image generated by the second imaging unit, and uses the principle of a stereo camera to detect the insertion angle of the puncture needle relative to the body surface of the subject. A unit that calculates the predicted arrival position of the puncture needle from the insertion angle, A display control unit that displays a guidance image indicating the predicted arrival position on a monitor so as to be superimposed on the ultrasonic image, This is an ultrasound diagnostic device equipped with [specific features / features].

Advantages of the Invention

[0015] According to the ultrasonic diagnostic apparatus according to the present disclosure, it is possible to make it easier for a user to insert a puncture needle into a subject.

Brief Description of the Drawings

[0016] [Figure 1] A diagram showing the overall configuration of an ultrasonic diagnostic apparatus according to an embodiment of the present invention [Figure 2] A diagram showing the functional blocks of the ultrasonic diagnostic apparatus main body according to an embodiment of the present invention [Figure 3] A diagram showing the configuration of an ultrasonic probe according to an embodiment of the present invention [Figure 4] A diagram showing the positional relationship between the puncture needle and the imaging regions of the first and second optical cameras, and the positional relationship between the puncture needle and the projection image of the laser light of the laser pointer during the puncture operation [Figure 5] A diagram showing the positional relationship between the puncture needle and the imaging regions of the first and second optical cameras, and the positional relationship between the puncture needle and the projection image of the laser light of the laser pointer during the puncture operation [Figure 6] A diagram showing an example of a monitor screen displayed on the display unit of the ultrasonic diagnostic apparatus in the guidance mode activated during the puncture operation [Figure 7] A diagram showing an example of the functional blocks of the control unit [Figure 8] A diagram showing an example of a monitor screen displayed on the display unit of the ultrasonic diagnostic apparatus when the puncture needle is detected during the puncture operation guidance mode [Figure 9] A diagram schematically showing the arrival prediction position guidance image and the indicator image shown in FIG. 8 [Figure 10] A diagram for explaining the detection process of the insertion angle of the puncture needle by the insertion angle detection unit [Figure 11] A diagram for explaining the detection process of the insertion angle of the puncture needle by the insertion angle detection unit [Figure 12] A diagram for explaining the puncture operation of a user when inserting a puncture needle into the body surface of a subject using the ultrasonic diagnostic apparatus [Figure 13] This figure shows an example of the configuration of the control unit of the ultrasound diagnostic apparatus according to the second embodiment. [Figure 14] This figure shows an example of the notification method when a puncture needle is detected by the display control unit according to the second embodiment. [Figure 15] This figure shows an example of the configuration of the control unit of an ultrasound diagnostic apparatus according to the third embodiment. [Figure 16] This figure shows an example of the display mode of a guidance image indicating the predicted arrival position by the display control unit according to the third embodiment. [Figure 17] This figure shows an example of a method by which the probe posture detection unit detects the inclination angle of the ultrasound probe relative to the body surface of the subject in an ultrasound diagnostic apparatus according to the fourth embodiment. [Figure 18] This figure shows an example of the configuration of the ultrasound probe of an ultrasound diagnostic apparatus according to the fifth embodiment. [Figure 19] This figure shows the differences in the position of shadow formation of the puncture needle depending on the placement of the irradiation unit. [Figure 20] How to press the ultrasound probe against the subject's body surface in the parallel method (left diagram in Figure 20) and the crossed method (right diagram in Figure 20). [Modes for carrying out the invention]

[0017] Preferred embodiments of this disclosure will be described in detail below with reference to the attached drawings. In this specification and the drawings, components having substantially the same function are denoted by the same reference numerals, and redundant descriptions will be omitted.

[0018] [Overall configuration of an ultrasound diagnostic system] First, with reference to Figures 1 to 3, the overall configuration of an ultrasound diagnostic device according to one embodiment of the present invention (hereinafter referred to as "ultrasound diagnostic device 1") will be described.

[0019] Figure 1 shows the overall configuration of the ultrasound diagnostic device 1 according to this embodiment. Figure 2 shows the functional blocks of the ultrasound diagnostic device body 10 according to this embodiment. Figure 3 shows the configuration of the ultrasound probe 20 according to this embodiment.

[0020] The ultrasound diagnostic device 1 comprises an ultrasound diagnostic device body 10, an ultrasound probe 20, a first optical camera 30a, a second optical camera 30b, and a laser pointer 40. The ultrasound probe 20, the first optical camera 30a, the second optical camera 30b, and the laser pointer 40 are connected to the ultrasound diagnostic device body 10 via cables 20C, 30aC, 30bC, and 40C, respectively.

[0021] In the puncture procedure using the ultrasound diagnostic device 1 according to this embodiment, the puncture needle QT is assumed to be inserted into the subject's HT freehand by the user, for example. The user operates the ultrasound diagnostic device 1 by bringing the ultrasonic beam transmitting and receiving surface of the ultrasound probe 20 into contact with the body surface of the subject's HT and obtains an ultrasound image of the subject's HT. The user then looks at the monitor 16 to confirm the target position within the subject's HT as shown in the ultrasound image (R1 region in Figure 1), and from the optical image acquired by the first optical camera 30a (R2 region in Figure 1), the user grasps the target insertion position and target orientation of the puncture needle QT when inserting it into the subject's HT, and performs the puncture procedure.

[0022] In particular, in the ultrasound diagnostic device 1 according to this embodiment, the insertion angle of the puncture needle QT is detected from the images captured by the first optical camera 30a and the second optical camera 30b, and a guide image R1a indicating the predicted arrival position of the puncture needle QT is displayed superimposed on the ultrasound image. Furthermore, in the ultrasound diagnostic device 1 according to this embodiment, the tilt angle of the puncture needle QT is detected from the images captured by the first optical camera 30a and / or the second optical camera 30b, and an indicator image R2e indicating the tilt angle of the puncture needle QT is displayed. This allows the user to accurately perform the puncture procedure while adjusting the insertion angle and tilt angle of the puncture needle QT and understanding the positional relationship between the predicted arrival position of the puncture needle QT and the target position within the subject's HT (see Figure 8 for further details).

[0023] Furthermore, "insertion angle of the puncture needle QT" refers to the insertion angle of the puncture needle QT relative to the body surface of the subject HT in a lateral view, and "angle of tilt of the puncture needle QT" refers to the orientation of the puncture needle QT in a plan view (i.e., the field of view from above the body surface of the subject HT).

[0024] Furthermore, in the ultrasound diagnostic apparatus 1 according to this embodiment, the optical image R2 acquired by the first optical camera 30a displays a projection image 40L formed on the body surface of the subject by the laser light emitted from the laser pointer 40. This allows the user to insert the puncture needle QT into the subject HT without shifting the tilt angle of the puncture needle QT (see Figure 8, described later).

[0025] The ultrasonic probe 20 transmits an ultrasonic beam (for example, about 1 to 30 MHz) into the subject HT (for example, the human body) and functions as an acoustic sensor that receives ultrasonic echoes reflected from the transmitted ultrasonic beam within the subject HT and converts them into electrical signals. In this embodiment, a linear probe is shown as an example of the ultrasonic probe 20, but any other probe such as a convex probe, sector probe, or three-dimensional probe can be applied to the ultrasonic probe 20.

[0026] The ultrasonic probe 20 is composed of, for example, a housing 21 and a transducer array 22 disposed at the probe tip 20a of the housing 21 (see Figure 3).

[0027] The housing 21, for example, has an elongated shape and also serves as a gripping part that can be held by the user. An attachment 20T is attached to the base end of the housing 21, and the first optical camera 30a, the second optical camera 30b, and the laser pointer 40 are fixed to the housing 21 via the attachment 20T.

[0028] The transducer array 22 is arranged on the probe tip 20a of the housing 21 so as to form an ultrasonic transmitting and receiving surface. The transducer array 22 is composed of a plurality of transducers (e.g., piezoelectric elements) arranged along the long axis direction (20LL direction in Figure 3) of the probe tip 20a of the housing 21. When acquiring an ultrasonic image, the on / off state of each transducer of the transducer array 22 is switched sequentially, thereby performing an ultrasonic scan within the subject HT along the long axis direction of the probe tip 20a, and generating an ultrasonic image representing the two-dimensional structure in the cross-section including the ultrasonic transmission direction (i.e., the depth direction of the subject HT) and the ultrasonic scanning direction (i.e., the long axis direction of the probe tip 20a).

[0029] The ultrasound diagnostic device main unit 10 includes an operation input unit 11, a transmission unit 12, a reception unit 13, an ultrasound image generation unit 14, a display image generation unit 15, a monitor 16, a first optical image acquisition unit 17a, a second optical image acquisition unit 17b, an oscillation control unit 18, and a control unit 19.

[0030] The operation input unit 11 receives input such as commands to instruct the start of diagnosis or information about the subject's HT. The operation input unit 11 includes, for example, an operation panel with multiple input switches, a keyboard, and a mouse. The operation input unit 11 may also be configured as a touch panel integrated with the monitor 16.

[0031] The transmitting unit 12 is a transmitter that sends voltage pulses, which are drive signals, to the ultrasonic probe 20 according to the instructions of the control unit 19. The transmitting unit 12 is composed of, for example, a high-frequency pulse oscillator and a pulse setting unit. The transmitting unit 12 adjusts the voltage pulses generated by the high-frequency pulse oscillator to the voltage amplitude, pulse width, and transmission timing set by the pulse setting unit, and sends them out for each channel of the ultrasonic probe 20.

[0032] The transmitting unit 12 has a pulse setting unit for each of the multiple channels of the ultrasonic probe 20, allowing the voltage amplitude, pulse width, and transmission timing of the voltage pulse to be set for each of the multiple channels. For example, the transmitting unit 12 can change the target depth or generate different pulse waveforms by setting an appropriate delay time for multiple channels.

[0033] The receiving unit 13 is a receiver that receives and processes the received signal related to the ultrasonic echo generated by the ultrasonic probe 20, in accordance with the instructions of the control unit 19. The receiving unit 13 is composed of, for example, a preamplifier, an AD converter, and a receiving beamformer.

[0034] The receiving unit 13 uses a preamplifier to amplify the received signals related to the weak ultrasonic echo for each channel, and the AD converter converts the received signals into digital signals. Then, the receiving unit 13 uses a receiving beamformer to combine the received signals of multiple channels into a single signal by phase-correcting summation, thereby obtaining acoustic line data.

[0035] The ultrasound image generation unit 14 acquires a received signal (acoustic line data) from the receiving unit 13 and generates an ultrasound image (i.e., a tomographic image) of the inside of the subject's HT.

[0036] The ultrasound image generation unit 14, for example, continuously stores the signal intensity of the ultrasound echo detected after the ultrasound probe 20 transmits a pulsed ultrasound beam in the depth direction in line memory over time. Then, as the ultrasound beam from the ultrasound probe 20 scans the inside of the subject HT, the ultrasound image generation unit 14 sequentially stores the signal intensity of the ultrasound echo at each scanning position in line memory, generating two-dimensional data in frame units. The ultrasound image generation unit 14 then converts the signal intensity of the two-dimensional data into brightness values ​​to generate an ultrasound image representing the two-dimensional structure in the cross-section, including the ultrasound transmission direction and the ultrasound scanning direction.

[0037] The display image generation unit 15 acquires ultrasound image data from the ultrasound image generation unit 14 and optical image data from the first optical image acquisition unit 17a. The display image generation unit 15 then generates a display image that displays the ultrasound image and optical image on the same display screen (see Figure 6). The display image generation unit 15 then sends the generated display image data to the monitor 16. Each time the display image generation unit 15 acquires new ultrasound image data from the ultrasound image generation unit 14 and / or new optical image data from the first optical image acquisition unit 17a, it updates the display image in real time and displays the display image on the monitor 16 in video format.

[0038] Furthermore, the display image generation unit 15 may be capable of changing the display mode of the ultrasound image and / or optical image within the display image in accordance with the instructions of the control unit 19 (or the settings entered into the operation input unit 11).

[0039] Furthermore, the display image generation unit 15 may generate a display image after performing predetermined image processing on the ultrasound image output from the ultrasound image generation unit 14 or the optical image output from the first optical image acquisition unit 17a.

[0040] The monitor 16 is composed of, for example, a liquid crystal display, an organic EL display, or a CRT display. The monitor 16 acquires display image data from the display image generation unit 15 in accordance with the instructions of the control unit 19 and displays the display image on its own monitor 16.

[0041] The first optical image acquisition unit 17a acquires image signals related to the optical image from the first optical camera 30a and generates image data related to the optical image. For example, the first optical image acquisition unit 17a generates continuous frame-by-frame image data based on the image signals sequentially obtained from the first optical camera 30a to generate dynamic image data of the optical image. The first optical image acquisition unit 17a sends the generated image data of the optical image to the display image generation unit 15 and the control unit 19.

[0042] The second optical image acquisition unit 17b acquires image signals related to the optical image from the second optical camera 30b and generates image data related to the optical image. The second optical image acquisition unit 17b generates motion image data of the optical image by continuously generating frame-by-frame image data based on the image signals sequentially obtained from the second optical camera 30b. The second optical image acquisition unit 17b sends the generated image data of the optical image to the control unit 19.

[0043] Furthermore, the first optical image acquisition unit 17a may be built into the first optical camera 30a. Similarly, the second optical image acquisition unit 17b may be built into the second optical camera 30b.

[0044] The oscillation control unit 18 controls the drive current flowing through the laser diode of the laser pointer 40, thereby controlling the on / off operation of the laser pointer 40. The oscillation control unit 18 operates according to the instructions of the control unit 19.

[0045] Furthermore, the transmitting unit 12, receiving unit 13, ultrasonic image generation unit 14, display image generation unit 15, first optical image acquisition unit 17a, second optical image acquisition unit 17b, and oscillation control unit 18 are composed of dedicated or general-purpose hardware (electronic circuits) such as DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), and PLD (Programmable Logic Device), which are appropriate for each process, and work in cooperation with the control unit 19 to realize each function.

[0046] The control unit 19 controls the entire ultrasound diagnostic device 1 by controlling the operation input unit 11, the transmission unit 12, the reception unit 13, the ultrasound image generation unit 14, the display image generation unit 15, the monitor 16, the first optical image acquisition unit 17a, the second optical image acquisition unit 17b, and the oscillation control unit 18 according to their respective functions.

[0047] The control unit 19 includes a CPU (Central Processing Unit) 191 as an arithmetic / control device, and ROM (Read Only Memory) 192 and RAM (Random Access Memory) 193 as main memory. The ROM 192 stores basic programs and basic setting data. The CPU 191 reads a program corresponding to the processing content from the ROM 192, expands it into the RAM 193, and executes the expanded program to centrally control the operation of each functional block of the ultrasound diagnostic device main unit 10 (operation input unit 11, transmission unit 12, reception unit 13, ultrasound image generation unit 14, display image generation unit 15, monitor 16, first optical image acquisition unit 17a, second optical image acquisition unit 17b, and oscillation control unit 18).

[0048] [Detailed configuration of the first optical camera 30a, the second optical camera 30b, and the laser pointer 40] Figures 4 and 5 show the positional relationship between the puncture needle QT and the imaging areas of the first optical camera 30a and the second optical camera 30b during the puncture procedure, as well as the positional relationship between the puncture needle QT and the projected image 40L of the laser beam from the laser pointer 40.

[0049] Figure 4 is a perspective view of the ultrasound probe 20 from diagonally above, Figure 5A is a side view of the ultrasound probe 20 (meaning a view of the short axis side of the ultrasound probe 20; the same applies hereafter), and Figure 5B is a front view of the ultrasound probe 20 (meaning a view of the long axis side of the ultrasound probe 20; the same applies hereafter).

[0050] Figure 6 shows an example of the screen displayed on the monitor 16 of the ultrasound diagnostic device 1 in the guidance mode activated during a puncture procedure (hereinafter referred to as the "puncture procedure guidance mode"). In Figure 6, the left region R1 of the monitor screen displays the ultrasound image acquired by the ultrasound probe 20, and the right region R2 of the monitor screen displays the optical image generated by the first optical camera 30a. In other words, here, the optical image and the ultrasound image are displayed side by side on the same monitor 16. Note that Figure 6 is the monitor screen displayed when the puncture needle QT is not detected.

[0051] The first optical camera 30a is a general visible light camera that acquires optical images using, for example, a built-in image sensor. The first optical camera 30a has, for example, a zoom lens, which allows for magnified imaging of the target object (in this case, the body surface area of ​​the subject HT).

[0052] The first optical camera 30a is attached to the proximal end of the ultrasound probe 20 and captures images of the area near the position of the probe tip 20a of the ultrasound probe 20 on the body surface of the subject HT. Specifically, the first optical camera 30a is attached to the ultrasound probe 20 so that, during the puncture procedure, the probe tip 20a of the ultrasound probe 20, the projected image 40L formed by the laser light from the laser pointer 40 projected onto the body surface of the subject HT, and the area of ​​the ultrasound image of the subject HT's body surface are all visible in the optical image it generates.

[0053] This allows the user to recognize the relative positional relationship between the probe tip 20a of the ultrasound probe 20 and the ultrasound scan cross-section (i.e., the tomographic plane of the ultrasound image) on the body surface of the subject HT, as well as the target insertion position and target orientation of the puncture needle QT on the body surface of the subject HT during the puncture procedure, from the optical image displayed on the monitor 16 (see Figure 6, described later).

[0054] The second optical camera 30b is a general visible light camera that acquires optical images using a built-in image sensor, similar to the first optical camera 30a. The second optical camera 30b has, for example, a zoom lens, which allows for magnified imaging of the target (in this case, the body surface area of ​​the subject HT).

[0055] The second optical camera 30b is attached to the proximal end of the ultrasound probe 20, for example, similar to the first optical camera 30a, and captures an area on the body surface of the subject HT near the position of the probe tip 20a of the ultrasound probe 20. The second optical camera 30b is attached to the ultrasound probe 20 so that, for example, during a puncture procedure, the probe tip 20a of the ultrasound probe 20, the projected image 40L formed by the laser light from the laser pointer 40 projected onto the body surface of the subject HT, and the area of ​​the ultrasound image of the subject HT's body surface are all visible in the second optical image it generates.

[0056] For the sake of explanation, in the following, the optical image generated by the first optical camera 30a will be referred to as the "first optical image," and the optical image generated by the second optical camera 30b will be referred to as the "second optical image."

[0057] Here, the first optical image generated by the first optical camera 30a is used for display on the monitor 16, so the first optical camera 30a is mounted on the proximal end of the ultrasound probe 20 so that, in a front view, its optical axis coincides with the sound axis center of the ultrasound probe 20. On the other hand, the second optical image acquired by the second optical camera 30b is used together with the first optical image acquired by the first optical camera 30a and is used solely for calculating the insertion angle of the puncture needle QT during the puncture procedure, based on the principle of a stereo camera (see Figures 8 and 9, which will be described later). For this reason, the second optical camera 30b is mounted on the proximal end of the ultrasound probe 20 so that its optical axis is offset to the left or right of the sound axis center of the ultrasound probe 20 and is parallel to the optical axis of the first optical camera 30a (see Figure 5B).

[0058] The laser pointer 40 is a general semiconductor laser that emits visible colored laser light (for example, red laser light with a wavelength of 635 nm to 690 nm). The laser pointer 40 is attached to the proximal end of the ultrasound probe 20 and emits laser light onto the body surface of the subject HT to form a predetermined projection image 40L, thereby helping to prevent deviation of the tilt angle of the puncture needle QT when inserting the puncture needle QT into the subject HT.

[0059] The laser pointer 40 outputs laser light, for example, using its built-in diffraction grating or slit, so that the shape of the projected image 40L of the laser light onto the surface of the subject HT (i.e., the irradiation shape) is linear. The projected image 40L formed by the laser light of the laser pointer 40 extends onto the surface of the subject HT, starting from the central position 20aa (hereinafter also referred to as the "sound axis center") in the long axis direction (the direction of 20LL shown in Figure 3) of the probe tip 20a of the ultrasound probe 20, and extending in a direction perpendicular to the long axis direction (i.e., away from the probe tip 20a).

[0060] This makes it possible for the user to recognize the central position 20aa of the probe tip 20a of the ultrasound probe 20 in the direction of the long axis, and the direction perpendicular to the said long axis, on the body surface of the subject HT.

[0061] Figures 4 and 5 show the relationship between the target site HTa within the subject's HT, the target insertion position HTb of the puncture needle QT into the body surface, and the target insertion angle θ of the puncture needle QT into the body surface. For example, as shown in Figure 4, if the target site HTa is located 2 cm from the body surface of the subject's HT, the target insertion position HTb of the puncture needle QT is set to a position 2 cm away from the central position 20aa in the longitudinal direction of the probe tip 20a, and the target insertion angle θ of the puncture needle QT into the body surface of the subject's HT is set to 45°. As a result, the puncture needle QT inserted from the body surface will advance to the location of the target site HTa within the subject's HT. However, the target insertion angle θ of the puncture needle QT into the body surface of the subject's HT may be other than 45°. In that case, the target insertion position HTb of the puncture needle QT should be set according to the target insertion angle θ of the puncture needle QT.

[0062] When a puncture procedure is performed under ultrasound guidance, the ultrasound probe 20 is usually first moved on the body surface of the subject's HT by the user so that the target site (i.e., the puncture site) HTa within the subject's HT is at the center of the scanning direction of the ultrasound image R1 (i.e., the center position 20aa in the longitudinal direction of the probe tip 20a of the ultrasound probe 20). Then, during the puncture procedure, the angle of the puncture needle QT is adjusted to zero degrees (i.e., the direction of extension of the puncture needle QT is perpendicular to the longitudinal direction of the probe tip 20a of the ultrasound probe 20).

[0063] The first optical camera 30a and the laser pointer 40 are set up so that, in a front view, the sound axis center of the ultrasound probe 20, the optical axis of the first optical camera 30a, and the optical axis of the laser pointer 40 coincide (see Figure 5B). In other words, the optical axis of the first optical camera 30a and the sound axis center of the ultrasound probe 20 are set up so that, when projected onto the body surface of the subject HT, they coincide with the central axis of the projected image 40L of the laser beam output by the laser pointer 40. As a result, the projected image 40L of the laser beam projected onto the body surface of the subject HT points in a direction perpendicular to the long axis, starting from the central position 20aa in the long axis direction of the probe tip 20a of the ultrasound probe 20.

[0064] Furthermore, the second optical camera 30b is attached to the proximal end of the ultrasound probe 20 such that its own optical axis is parallel to the optical axis of the first optical camera 30a. This makes it possible to determine the distance to each position of the puncture needle QT using the first optical camera 30a and the second optical camera 30b, based on the principle of a stereo camera, and to determine the insertion angle of the puncture needle QT relative to the body surface of the subject HT. However, the optical axes of the first optical camera 30a and the second optical camera 30b do not need to be parallel to the extending direction (i.e., the vertical direction) of the housing 21 of the ultrasound probe 20.

[0065] In the ultrasound diagnostic apparatus 1 according to this embodiment, the first optical camera 30a, the second optical camera 30b, and the laser pointer 40 are attached to the housing 21 of the ultrasound probe 20 via a detachable attachment 20T so as to be in a predetermined positional relationship with the ultrasound probe 20 (see Figure 3). The positional relationship of the first optical camera 30a, the second optical camera 30b, and the laser pointer 40 with respect to the ultrasound probe 20 is determined by the attachment 20T.

[0066] When the puncture work support mode is activated, the display image generation unit 15 generates a display image on the same screen of the monitor 16 (i.e., within the display image) with the ultrasound image R1 acquired by the ultrasound probe 20 and the first optical image R2 generated by the first optical camera 30a (i.e., the first optical image R2 showing a magnified view of the body surface of the observation target area of ​​the subject HT) side by side.

[0067] Furthermore, at this time, the display image generation unit 15 superimposes and displays, for example, as shown in Figure 6, a vertical imaginary line R2a indicating the optical axis line of the first optical camera 30a and a horizontal imaginary line R2b indicating a line perpendicular to the optical axis of the first optical camera 30a within the optical image R2 of the display image. The vertical imaginary line R2a and the horizontal imaginary line R2b, together with the projected image 40L formed by the laser light of the laser pointer 40, guide the target orientation and target insertion position of the puncture needle QT.

[0068] Specifically, the vertical dashed line R2a functions to allow the user to recognize the central position 20aa in the long axis direction of the probe tip 20a, and the angular displacement (i.e., tilt angle) during insertion of the puncture needle QT. The horizontal dashed line R2b functions to allow the user to recognize the distance of the insertion position of the puncture needle QT from the probe tip 20a. Figure 6 shows the horizontal dashed lines R2b displayed at positions of 1 cm, 2 cm, 3 cm, 4 cm, and 5 cm from the probe tip 20a. The distance from the probe tip 20a within the first optical image R2 is predetermined from the holding state of the camera 30 in the attachment 20T.

[0069] Furthermore, display control of the display image generation unit 15 in puncture work support mode is performed by the control unit 19 (display control unit 19d, described later).

[0070] [Regarding operation in puncture procedure guidance mode] Next, the operation of the ultrasound diagnostic device 1 in the puncture procedure guidance mode according to this embodiment will be described.

[0071] Figure 7 shows an example of a functional block of the control unit 19.

[0072] Figure 8 shows an example of the screen displayed on the monitor 16 of the ultrasound diagnostic device 1 when the puncture needle QT is detected during puncture procedure guidance mode. Figure 9 is a schematic diagram showing the predicted arrival position guidance image R1a and indicator image R2e shown in Figure 8.

[0073] The control unit 19 includes a tilt angle detection unit 19a, an insertion angle detection unit 19b, a predicted arrival position calculation unit 19c, and a display control unit 19d, and performs display control in the puncture work guidance mode.

[0074] The tilt angle detection unit 19a detects the tilt angle of the puncture needle QT relative to the central axis of the ultrasound probe 20 by image analysis of the first optical image.

[0075] The tilt angle detection unit 19a detects the puncture needle QT and its extension direction by, for example, performing edge detection processing on the first optical image and then line detection processing (similar to the method shown in Figure 10). The tilt angle detection unit 19a then calculates the current tilt angle of the puncture needle QT from the angle between the direction perpendicular to the long axis direction of the probe tip 20a of the ultrasound probe 20 (the direction of 20LL shown in Figure 3) (i.e., the vertical dashed line R2a in Figure 8) and the extension direction of the puncture needle QT as seen in the first optical image.

[0076] However, the tilt angle detection unit 19a may detect the puncture needle QT from the first optical image using a conventionally known pattern recognition method, and also detect the direction of extension of the puncture needle QT.

[0077] As described above, during the puncture procedure, it is desirable that the puncture needle QT be inserted into the subject's HT along a direction perpendicular to the long axis direction of the probe tip 20a of the ultrasound probe 20 (the direction of 20LL shown in Figure 3). From this viewpoint, the display control unit 19d displays the tilt angle of the puncture needle QT detected by the tilt angle detection unit 19a on the monitor 16 using an indicator image R2e (see Figure 8) in order to assist the user in the puncture procedure.

[0078] The indicator image R2e is an image that recognizes the angle of deviation of the tilt angle of the puncture needle QT from the state of zero tilt angle of the puncture needle QT (in the direction perpendicular to the long axis direction of the probe tip 20a of the ultrasound probe 20). For example, as shown in Figure 8, the current tilt angle of the puncture needle QT is recognized by displaying an indicator mark R2e1 at the position corresponding to the current tilt angle of the puncture needle QT on a bar image R2e2 that extends horizontally and represents the tilt angle of the puncture needle QT from -30 degrees to +30 degrees from the left end to the right end.

[0079] Furthermore, the display control unit 19d may change the color of the indicator image R2e according to the magnitude of the tilt angle of the lancet QT (i.e., the tilt angle) in order to allow the user to recognize the amount of deviation in the tilt angle of the lancet QT.

[0080] The insertion angle detection unit 19b performs image analysis on the first optical image generated by the first optical camera 30a and the second optical image generated by the second optical camera 30b, and uses the principle of a stereo camera to detect the insertion angle of the puncture needle QT relative to the body surface of the subject HT. The second optical camera 30b is positioned so that its optical axis is parallel to the optical axis of the first optical camera 30a. This makes it possible to calculate the parallax of each point of the puncture needle QT from the first optical image and the second optical image, and from the principle of a stereo camera, the depth distance of each point of the puncture needle QT can be calculated. The insertion angle of the puncture needle QT relative to the body surface can be calculated from the depth distance of each point of the puncture needle QT.

[0081] Figures 10 and 11 illustrate an example of the process by which the insertion angle detection unit 19b detects the insertion angle of the puncture needle QT.

[0082] Specifically, the insertion angle detection unit 19b first detects the puncture needle QT from the first optical image and the second optical image, respectively. One example of a method by which the insertion angle detection unit 19b detects the puncture needle QT is to perform edge detection processing on the first optical image and the second optical image, followed by line detection processing. However, the insertion angle detection unit 19b may also detect the puncture needle QT from the first optical image and the second optical image, respectively, using conventionally known pattern recognition.

[0083] Next, the insertion angle detection unit 19b identifies the coordinates of a first representative point (e.g., tip position) of the puncture needle QT as seen in the first optical image, and also identifies the coordinates of a first representative point (e.g., tip position) of the puncture needle QT as seen in the second optical image, and calculates the parallax Sa of the first representative point (e.g., tip position) of the puncture needle QT between the images. Furthermore, the insertion angle detection unit 19b identifies the coordinates of a second representative point (e.g., the image edge position of the puncture needle QT within the first optical image) of the puncture needle QT as seen in the first optical image, and also identifies the coordinates of a second representative point (e.g., the image edge position of the puncture needle QT within the second optical image) of the puncture needle QT as seen in the second optical image, and calculates the parallax Sb of the second representative point (e.g., the image edge position of the puncture needle QT) between the images.

[0084] At this time, the distance Za from the first optical camera 30a to the first representative point of the puncture needle QT (for example, the tip position) can be calculated from the principle of stereo cameras as shown in equation (1) below. Za = (B × f) / Sa … Equation (1) (However, Za: distance from the first optical camera 30a to the first representative point of the puncture needle QT, Sa: parallax of the first representative point of the puncture needle QT between images, B: baseline length (distance between cameras), f: focal length of the lenses of the first and second optical cameras 30a and 30b)

[0085] Similarly, the distance Zb from the first optical camera 30a to the second representative point of the puncture needle QT (for example, the image edge position of the puncture needle QT) can be calculated from the principle of stereo cameras as shown in equation (2) below. Zb=(B×f) / Sb … Equation (2) (However, Zb: distance from the first optical camera 30a to the second representative point of the puncture needle QT, Sb: parallax of the second representative point of the puncture needle QT between images, B: baseline length (distance between cameras), f: focal length of the lenses of the first and second optical cameras 30a and 30b)

[0086] Furthermore, in this case, the distance Xa from the probe tip 20a of the ultrasound probe 20 to the first representative point of the puncture needle QT in a plan view is detectable on the first optical image. Similarly, the distance Xb from the probe tip 20a of the ultrasound probe 20 to the second representative point of the puncture needle QT in a plan view is detectable on the first optical image.

[0087] Therefore, the insertion angle θ of the puncture needle QT can be calculated as shown in equation (3) below. tan(θ)=(Za-Zb) / (Xb-Xa) … Equation (3) (wherein θ: insertion angle of the puncture needle QT relative to the body surface of the subject HT, Xa: distance from the probe tip 20a of the ultrasound probe 20 to the first representative point of the puncture needle QT, Xb: distance from the probe tip 20a of the ultrasound probe 20 to the second representative point of the puncture needle QT)

[0088] The insertion angle detection unit 19b calculates the insertion angle of the puncture needle QT relative to the body surface of the subject HT using equations (1), (2), and (3) as described above.

[0089] The predicted arrival position calculation unit 19c calculates the predicted arrival position of the puncture needle QT based on the insertion angle of the puncture needle QT detected by the insertion angle detection unit 19b. The "predicted arrival position of the puncture needle QT" refers to the predicted position reached when the puncture needle QT has advanced to the area directly below the ultrasound probe 20 in the subject's HT.

[0090] The predicted arrival position calculation unit 19c calculates the predicted arrival position of the puncture needle QT using, for example, the following equation (4). Z _object = Xa×tan(θ) … Equation (4) (However, Z _object : Predicted arrival position of the puncture needle QT, and depth from the body surface of the subject H.

[0091] As described above, during the puncture procedure, the insertion angle of the puncture needle QT must be appropriate in order for the puncture needle QT to puncture a predetermined target within the subject's HT. If the insertion angle of the puncture needle QT is inappropriate, the user must be made aware that the insertion angle of the puncture needle QT is inappropriate. From this perspective, the display control unit 19d displays a guide image R1a indicating the predicted arrival position calculated by the predicted arrival position calculation unit 19c on the monitor 16 so as to be superimposed on the ultrasound image (see Figure 8).

[0092] The "Guidance Image R1a" (hereinafter also referred to as the "Guidance Image R1a") is an image that allows the user to recognize the predicted position to be reached when the ultrasound probe 20 has advanced to the area directly below the subject's HT. The "Guidance Image R1a" may, for example, have a circular mark added to the predicted position of the puncture needle QT, as shown in Figure 8, or it may indicate the predicted position of the puncture needle QT with other characters or pictures.

[0093] This allows the user to recognize in advance the location of the tissue to be punctured by the tip of the QT needle on the monitor 16. In other words, this enables the user to perform the puncture while adjusting the insertion angle of the QT needle to align the predicted position of the tip of the QT needle with the tissue site to be punctured, thus making it easier to puncture the target.

[0094] The display control unit 19d controls the display image generated by the display image generation unit 15 based on the calculation results and detection results of the tilt angle detection unit 19a, the insertion angle detection unit 19b, and the predicted arrival position calculation unit 19c, etc. In the above description, the predicted arrival position guidance image R1a and the indicator image R2e were described as examples of images that the display control unit 19d controls to display, but the display control unit 19d may also display other images to assist the user's puncture work.

[0095] The display control unit 19d may, for example, add an edge-enhanced image R2d to highlight the edge of the puncture needle QT in the first optical image displayed on the monitor 16 during the puncture procedure guidance mode (see Figure 8). This makes it possible for the user to clearly recognize the location of the puncture needle QT.

[0096] Furthermore, the display control unit 19d may, for example, display an indicator image R2c on the monitor 16 that shows the insertion angle of the puncture needle QT detected by the insertion angle detection unit 19b (see Figure 8). This makes it possible to clearly recognize the current insertion angle of the puncture needle QT to the user.

[0097] Figure 12 illustrates the user's puncture procedure when inserting the puncture needle QT into the body surface of the subject HT using the ultrasound diagnostic device 1.

[0098] Figure 12 shows the steps or operations that the user will perform sequentially during the puncture procedure. The steps or operations shown in Figure 12 are performed with the camera 30 and laser pointer 40 set up so that, in a front view, the sound axis center of the ultrasound probe 20, the optical axis of the camera 30, and the optical axis of the laser pointer 40 coincide (see Figures 5A and 5B). At this time, the user may check whether the setting is complete by looking at the optical image R2 displayed on the monitor 16 and confirming whether the vertical imaginary line R2a, the projection image 40L of the line-shaped laser beam from the laser pointer 40 formed on the body surface of the subject HT, and the marker (not shown) attached to the central position 20aa along the long axis of the probe tip 20a overlap.

[0099] First, the user activates the puncture procedure guidance mode on the ultrasound diagnostic device 1, and then, while viewing the ultrasound image R1 displayed on the monitor 16, moves the ultrasound probe 20 so that the target site HTa within the subject's HT is at the center of the scanning direction of the ultrasound image R1 (i.e., the center position 20aa in the long axis direction of the probe tip 20a) (step S1).

[0100] Next, the user looks at the ultrasound image R1 and optical image R2 (first optical image) displayed on monitor 16 to confirm the target insertion position and target insertion angle of the puncture needle QT (for example, target site depth: 2 cm, target insertion position: 2 cm from the probe end, target insertion angle: 45°) (step S2).

[0101] Next, the user adjusts the tilt angle of the puncture needle QT while viewing the vertical imaging line R2a (or the laser beam projection image 40L) of the optical image R2 (first optical image), and inserts the puncture needle QT into the subject HT from the target insertion position on the body surface of the subject HT (step S3).

[0102] Furthermore, in this case, the user may, for example, use the position of the horizontal imaging line R2b superimposed in the optical image R2 as a reference to confirm the target insertion position of the puncture needle QT (a position 2 cm from the center position 20aa in the long axis direction of the probe tip 20a) within the optical image R2. Alternatively, the user may compare the ultrasound image R1 and the optical image R2 to confirm the target insertion position so that the distance from the probe tip 20a to the target site HTa on the ultrasound image R1 is the same as the distance from the probe tip 20a to the target insertion position on the optical image R2.

[0103] Next, the user looks at the ultrasound image R1 on the monitor 16 and advances the puncture needle QT into the subject's HT while adjusting the insertion angle so that the predicted arrival position guide image R1a of the puncture needle QT displayed on the ultrasound image R1 overlaps with the target site shown on the ultrasound image R1 (step S4).

[0104] Through the above operation and procedure, the QT puncture needle reaches the target site HTa within the subject's HT without requiring any adjustment during puncture. The user then confirms in the ultrasound image R1 that the tip of the QT puncture needle appears at the target site HTa (in this case, 2 cm from the body surface of the subject's HT) and completes the puncture procedure (step S5). The tip of the QT puncture needle will normally appear as a white bright spot in the ultrasound image R1.

[0105] [effect] As described above, the ultrasound diagnostic device 1 according to this embodiment is An ultrasound probe 20 acquires an ultrasound image of the inside of a subject's HT by transmitting and receiving ultrasound waves, The ultrasound probe 20 is attached to a first and second imaging unit 30a, 30b which images the puncture needle QT during insertion, The insertion angle detection unit 19b analyzes the first image generated by the first imaging unit 30a and the second image generated by the second imaging unit 30b, and uses the principle of a stereo camera to detect the insertion angle of the puncture needle QT relative to the body surface of the subject HT, A predicted arrival position calculation unit 19c calculates the predicted arrival position of the puncture needle QT from the insertion angle, A display control unit 19d displays a guidance image indicating the predicted arrival location on the monitor 16 so as to be superimposed on the ultrasound image, It is equipped with.

[0106] Therefore, according to the ultrasound diagnostic device 1 of this embodiment, even when the user performs the insertion of the puncture needle QT into the subject's HT freehand, it is possible to assist the user so that they can accurately insert the puncture needle QT into the target site HTa within the subject's HT without relying on intuition.

[0107] In particular, the ultrasound diagnostic device 1 according to this embodiment allows the user to recognize in advance the tissue location to be punctured by the tip of the puncture needle QT on the monitor 16. That is, this makes it possible for the user to perform the puncture operation while adjusting the insertion angle of the puncture needle QT so that the predicted arrival position of the tip of the puncture needle QT is aligned with the tissue site to be punctured, thereby making it easy to puncture the puncture target.

[0108] (Second embodiment) Figure 13 shows an example of the configuration of the control unit 19 of the ultrasound diagnostic device 1 according to the second embodiment.

[0109] The control unit 19 according to this embodiment further includes an ultrasound image analysis unit 19e that analyzes the video of ultrasound images sequentially generated on the ultrasound probe 20 to detect when the tip of the puncture needle QT is visible in the ultrasound image. The display control unit 19d (corresponding to the notification unit) notifies the user when the ultrasound image analysis unit 19e detects that this condition has occurred, which is different from the control unit 19 according to the first embodiment. Note that the configuration common to the first embodiment will not be described (the same applies to other embodiments below).

[0110] Since the puncture procedure is performed using the cross-sectional method (right diagram in Figure 20), the tip of the puncture needle QT suddenly appears in the ultrasound image R1 on the monitor 16 as the user pushes the puncture needle QT into the subject's HT. As a result, some users may not notice that the puncture needle QT has advanced to the area directly below the ultrasound probe 20 in the subject's HT, and may push the puncture needle QT further than necessary, potentially damaging tissue within the subject's HT. From this perspective, in the puncture procedure guidance mode according to this embodiment, when the puncture needle QT becomes detectable in the ultrasound image as it advances into the subject's HT during the puncture procedure, the system notifies that the puncture needle QT has been detected.

[0111] Furthermore, the ultrasound image analysis unit 19e performs image analysis of the ultrasound images sequentially generated by the ultrasound probe 20, for example, by known pattern recognition processing, and detects the tip of the puncture needle QT that is exposed in the ultrasound image.

[0112] Figure 14 shows an example of the notification method when the puncture needle QT is detected by the display control unit 19d according to this embodiment. In Figure 14, as an example of the notification method when the puncture needle QT is detected by the display control unit 19d, the message "Needle tip has appeared" is displayed on the screen of the monitor 16.

[0113] Furthermore, the notification method when a lancet QT is detected is not limited to message notification, but may also be a notification method using pictures or patterns. Also, the notification method when a lancet QT is detected is not limited to display on the monitor 16, but may also be a notification method using a speaker or lighting device.

[0114] As described above, the ultrasound diagnostic device 1 according to this embodiment is useful in that it can reliably allow the user to recognize that the tip of the puncture needle QT has reached the area directly below the ultrasound image R1.

[0115] (Third embodiment) Figure 15 shows an example of the configuration of the control unit 19 of the ultrasound diagnostic device 1 according to the third embodiment. Figure 14 shows an example of the notification method when a puncture needle QT is detected by the display control unit 19d according to this embodiment.

[0116] The control unit 19 according to this embodiment further includes an ultrasound image analysis unit 19f that analyzes the ultrasound image R1 and detects a target area visible in the ultrasound image R1, and the display control unit 19d changes the display mode of the guide image R1a indicating the predicted arrival position based on whether or not the predicted arrival position of the puncture needle QT overlaps with the target area, thus differing from the control unit 19 according to the first embodiment.

[0117] During a puncture procedure, it would be convenient for the user if they could more easily recognize whether the predicted arrival position of the puncture needle QT coincides with the position of the target site. From this perspective, in the puncture procedure guidance mode according to this embodiment, during a puncture procedure, whether the predicted arrival position of the puncture needle QT coincides with the position of the target site is indicated by a change in the display of the predicted arrival position guidance image R1a.

[0118] Furthermore, the ultrasound image analysis unit 19f performs image analysis of the ultrasound image, for example, using known pattern recognition processing, and detects the position of the target area visible in the ultrasound image.

[0119] Figure 16 shows an example of how the display control unit 19d according to this embodiment displays the guidance image R1a indicating the predicted arrival position.

[0120] The display control unit 19d, for example as shown in Figure 16, displays the predicted arrival position guidance image R1a of the puncture needle QT as a dotted circle image within the ultrasound image R1 if the predicted arrival position of the puncture needle QT does not overlap with the target site in the ultrasound image R1. Then, the display control unit 19d changes the display to highlight the predicted arrival position guidance image R1a of the puncture needle QT as a double circle image within the ultrasound image if the predicted arrival position of the puncture needle QT overlaps with the target site in the ultrasound image.

[0121] As described above, the ultrasound diagnostic device 1 according to this embodiment is useful in that it allows the user to more easily recognize the positional relationship between the position of the target site HTa shown in the ultrasound image R1 and the predicted arrival position predicted from the current insertion angle of the puncture needle QT.

[0122] (Fourth embodiment) Normally, the ultrasound probe 20 is used at approximately a right angle to the body surface of the subject HT. However, some users may use the ultrasound probe 20 at a slight angle to the body surface of the subject HT. The insertion angle detection unit 19b described in the first embodiment is configured to calculate the insertion angle of the puncture needle QT on the premise that the ultrasound probe 20 is at approximately a right angle to the body surface of the subject HT. Therefore, if the ultrasound probe 20 is tilted to the body surface of the subject HT, the calculation result will contain an error (for example, an angle error corresponding to the tilt angle of the ultrasound probe 20).

[0123] From this viewpoint, the ultrasound diagnostic apparatus 1 according to this embodiment further includes a probe posture detection unit that detects the inclination angle of the ultrasound probe 20 with respect to the body surface of the subject HT, and outputs the inclination angle as correction information when calculating the insertion angle of the puncture needle QT, or as guidance information for the user to adjust the posture of the ultrasound probe 20.

[0124] Figure 17 shows an example of how the probe posture detection unit detects the tilt angle of the ultrasound probe 20 relative to the body surface of the subject HT.

[0125] In this embodiment, the probe posture detection unit detects the tilt angle of the ultrasound probe 20 relative to the body surface of the subject HT, using a line-shaped projection image 40L of the laser beam emitted from the laser pointer 40 on the body surface of the subject HT as a reference. Specifically, for example, when the ultrasound probe 20 is pressed against the body surface of the subject HT, the probe posture detection unit performs image analysis of the first optical image and the second optical image captured by the first optical camera 30a and the second optical camera 30b, respectively, and uses the principle of a stereo camera to detect the tilt angle of the ultrasound probe 20 relative to the body surface of the subject HT.

[0126] The method for calculating the tilt angle using the principle of a stereo camera is the same as the method for detecting the insertion angle of the puncture needle QT as explained with reference to Figure 11, so a detailed explanation is omitted here. However, when the ultrasound probe 20 is approximately perpendicular to the body surface of the subject HT, the distance from the first optical camera 30a to each point of the linear projection image 40L is the same. However, when the ultrasound probe 20 has an tilt angle with respect to the body surface of the subject HT, the tilt angle can be calculated from the difference in distance from the first optical camera 30a to each point of the linear projection image 40L.

[0127] In this embodiment, the control unit 19 calculates (i.e., corrects) the final insertion angle θ' of the puncture needle QT by subtracting the tilt angle detected by the probe attitude detection unit from the insertion angle θ of the puncture needle QT calculated by the insertion angle detection unit 19b.

[0128] In this document, we have mainly described an embodiment in which the inclination angle of the ultrasound probe 20 relative to the body surface of the subject HT is used as correction information when calculating the insertion angle of the puncture needle QT. However, the inclination angle of the ultrasound probe 20 relative to the body surface of the subject HT may also be used as guidance information to prompt the user to position the ultrasound probe 20 so that it is approximately perpendicular to the body surface of the subject HT.

[0129] (Fifth embodiment) Figure 18 shows an example of the configuration of the ultrasound probe 20 of the ultrasound diagnostic device 1 according to the fifth embodiment.

[0130] The ultrasound probe 20 according to this embodiment includes an irradiation unit 50 (for example, an LED lamp) attached to the proximal end of the ultrasound probe 20 for irradiating the body surface of the subject HT during insertion. However, the position of the irradiation unit 50 is such that, in a front view, it is on the same line as the first optical camera 30a or in the opposite area from the second optical camera 30b, with reference to the long axis center of the ultrasound probe 20.

[0131] The illumination unit 50 is provided so as to be able to detect the puncture needle QT in the first optical image and the second optical image even in darkness. However, the illumination light from the illumination unit 50 creates a shadow of the puncture needle QT, which may, in some cases, induce erroneous detection of the direction of extension of the puncture needle QT. This is because the puncture needle QT itself is, for example, gray in color, and if a shadow of the puncture needle QT exists in its vicinity, subsequent image processing (e.g., edge detection processing and line detection processing) cannot clearly separate the puncture needle QT from the shadowed area of ​​the puncture needle QT, leading to an incorrect calculation of the direction of extension of the puncture needle QT.

[0132] From this perspective, in the ultrasound probe 20 according to this embodiment, the position of the irradiation unit 50 is set such that the puncture needle QT itself and the shadow of the puncture needle QT are separated in the first optical image and the second optical image.

[0133] Figure 19 shows the differences in the shadow formation position of the puncture needle QT depending on the placement position of the irradiation unit 50. Figure 19A shows the shadow formation position of the puncture needle QT (dotted line position in the figure) when the irradiation unit 50 is located in the same area as the second optical camera 30b, with reference to the long axis center of the ultrasound probe 20 in a front view. Figure 19B shows the shadow formation position of the puncture needle QT (dotted line position in the figure) when the irradiation unit 50 is located in the area opposite to the second optical camera 30b, with reference to the long axis center of the ultrasound probe 20 in a front view.

[0134] As can be seen from Figures 19A and 19B, on the second optical image, the proximity between the puncture needle QT itself and the shadow formation position of the puncture needle QT (dotted line position in the figure) differs considerably depending on whether the position of the irradiation unit 50 is on the same side as the second optical camera 30b or on the opposite side, with reference to the long axis center of the ultrasound probe 20 in a front view. That is, as shown in Figure 19B, by positioning the irradiation unit 50 on the opposite side of the second optical camera 30b with reference to the long axis center of the ultrasound probe 20 in a front view, or by positioning it on the same line as the first optical camera 30a with reference to the long axis center of the ultrasound probe 20 in a front view, it is possible to clearly separate the puncture needle QT and the shadow area of ​​the puncture needle QT on the second optical image.

[0135] As described above, the ultrasound diagnostic device 1 according to this embodiment is useful in that it can accurately display the predicted arrival position of the puncture needle QT, etc., even when the irradiation unit 50 is attached to the ultrasound probe 20 and the puncture procedure is being performed while irradiating from the irradiation unit 50.

[0136] (Sixth embodiment) The control unit 19 according to this embodiment has a configuration that switches the output of the laser beam from the laser pointer 40 to OFF when the insertion of the puncture needle QT into the subject HT is detected.

[0137] The projection image 40L of the laser beam from the laser pointer 40 onto the body surface of the subject HT is linear. Therefore, when the insertion angle detection unit 19b detects the puncture needle QT from the first and second optical images, there is a risk that the projection image 40L may be mistakenly identified as the puncture needle QT. In other words, the projection image 40L from the laser beam of the laser pointer 40 is not particularly necessary after the insertion of the puncture needle QT into the subject HT has begun. Therefore, from an image processing perspective, it is preferable to have the projection image 40L absent after the insertion of the puncture needle QT into the subject HT has begun.

[0138] From this perspective, the control unit 19 in this embodiment switches the output of the laser beam from the laser pointer 40 to OFF when it detects that the insertion of the puncture needle QT into the subject's HT has begun. A method for detecting the insertion of the puncture needle QT into the subject's HT may be, for example, a method of determining whether the tip of the puncture needle QT coincides with the target insertion position of the puncture needle QT by image analysis of the first optical image.

[0139] As described above, the ultrasound diagnostic device 1 according to this embodiment is useful in that it can more accurately display the predicted arrival position of the puncture needle QT, etc.

[0140] Although specific examples of the present invention have been described in detail above, these are merely illustrative and do not limit the scope of the claims. The technologies described in the claims include various modifications and changes to the specific examples illustrated above. [Industrial applicability]

[0141] The ultrasound diagnostic device described herein makes it possible to make the user's procedure of inserting a puncture needle into a living body easier. [Explanation of Symbols]

[0142] 1. Ultrasound diagnostic equipment 10. Ultrasound diagnostic device main unit 11. Operation Input Section 12 Transmitter 13 Receiving Unit 14 Ultrasound Image Generation Unit 15 Display Image Generation Unit 16 monitors 17a First optical image acquisition section 17b Second optical image acquisition section 18 Oscillation Control Unit 19 Control Unit 19a Angle detection unit 19b Insertion angle detection unit 19c Predicted arrival position calculation unit 19d Display Control Unit 19e Ultrasound Image Analysis Department 19f Ultrasound Image Analysis Department 20 Ultrasound probes Attachment for 20T ultrasound probe 30a First Optical Camera 30b Second Optical Camera 40 Laser Pointers 50 Irradiation area HT subject HTa target site HTb target insertion position QT puncture needle

Claims

1. An ultrasound diagnostic device that assists in the insertion of a puncture needle into a subject, An ultrasound probe that acquires an ultrasound image of the inside of the subject by transmitting and receiving ultrasound waves, Attached to the ultrasound probe are first and second imaging units for photographing the puncture needle during the insertion procedure, An insertion angle detection unit analyzes the first image generated by the first imaging unit and the second image generated by the second imaging unit, and uses the principle of a stereo camera to detect the insertion angle of the puncture needle relative to the body surface of the subject. A unit that calculates the predicted arrival position of the puncture needle from the insertion angle, A display control unit that displays a guidance image indicating the predicted arrival position on a monitor so as to be superimposed on the ultrasonic image, Equipped with, The first imaging unit is a first optical camera attached to the proximal end of the ultrasonic probe, and is characterized in that the optical axis of the first imaging unit is mounted so as to coincide with the center of the sound axis in a front view of the ultrasonic probe. Ultrasound diagnostic equipment.

2. The second imaging unit is a second optical camera attached to the proximal end of the ultrasonic probe, and is characterized in that the optical axis of the second imaging unit is mounted parallel to the optical axis of the first imaging unit. The ultrasound diagnostic apparatus according to claim 1.

3. The first imaging unit and the second imaging unit are characterized in that they image the ultrasonic probe. The ultrasound diagnostic apparatus according to claim 1.

4. An ultrasound image analysis unit analyzes the video of ultrasound images sequentially generated by the ultrasound probe to detect when the tip of the puncture needle is visible in the ultrasound image. If the ultrasound image analysis unit detects that the aforementioned condition has occurred during the insertion procedure, the notification unit notifies the user that the aforementioned condition has occurred. The ultrasound diagnostic apparatus according to claim 1, further comprising:

5. The system further includes an ultrasound image analysis unit that analyzes the ultrasound image to detect a target region visible within the ultrasound image. The display control unit changes the display mode of the guide image indicating the predicted arrival position based on whether or not the predicted arrival position of the puncture needle overlaps with the target area. The ultrasound diagnostic apparatus according to claim 1.

6. The display control unit displays the first captured image and the ultrasound image side by side on the same monitor. The ultrasound diagnostic apparatus according to claim 1.

7. The display control unit displays the first captured image on the monitor in such a way that it highlights the edge of the puncture needle visible in the first captured image. The ultrasound diagnostic apparatus according to claim 6.

8. The device further includes a tilt angle detection unit that detects the tilt angle of the puncture needle relative to the central axis of the ultrasound probe by image analysis of the first captured image, The display control unit displays the detected angle of the puncture needle in the monitor as an indicator image. The ultrasound diagnostic apparatus according to claim 1.

9. The system further includes a probe posture detection unit that detects the inclination angle of the ultrasound probe relative to the body surface of the subject, and outputs the inclination angle as correction information when calculating the insertion angle of the puncture needle, or as guidance information for the user to adjust the posture of the ultrasound probe. The ultrasound diagnostic apparatus according to claim 1.

10. The ultrasound probe further includes a laser pointer attached to its proximal end, which emits laser light onto the surface of the subject's body to form a predetermined projection image, thereby guiding the target orientation of the puncture needle when inserting it into the subject. The ultrasound diagnostic apparatus according to claim 1.

11. The system further includes a control unit that switches the output of the laser light from the laser pointer to OFF when the insertion of the puncture needle into the subject is detected. The ultrasound diagnostic apparatus according to claim 10.

12. The laser pointer is attached to the ultrasonic probe such that the optical axis of the laser pointer coincides with the center of the sound axis in a front view of the ultrasonic probe. The ultrasound diagnostic apparatus according to claim 10 or claim 11.

13. The ultrasound probe is equipped with an irradiation unit attached to its proximal end, which irradiates light onto the body surface of the subject during the insertion procedure. The irradiation unit is positioned in a front view, with reference to the long axis center of the ultrasonic probe, on the same line as the first imaging unit or in a region opposite to the second imaging unit. The ultrasound diagnostic apparatus according to claim 1.

Images