ULTRASONIC DIAGNOSTIC SYSTEM

An ultrasonic diagnostic system includes an ultrasonic diagnostic device having a probe, a moving device configured to move the probe, and a control device. When ultrasonic diagnosis is performed on a subject, the control device controls the moving device such that the probe is pressed against a body surface of the subject, and in a case where a specific pattern is designated as a movement pattern of the probe, controls the moving device such that the pressing of the probe on the body surface is canceled or alleviated, then controls the moving device such that the probe is moved with the specific pattern, and when the movement with the specific pattern is ended, performs a specific control for controlling the moving device such that the probe is pressed against the body surface.

TECHNICAL FIELD

The present description discloses an ultrasonic diagnostic system.

BACKGROUND ART

Conventionally, as such an ultrasonic diagnostic system, one in which a treatment head including a diagnostic probe is attached to a tip end of a robot arm has been proposed (see Patent Literature 1, for example). In this system, a force sensor that detects the magnitude and direction of a force acting on the robot arm via the treatment head is provided, and when the diagnostic probe is pressed against a treatment target, a probe driving device is controlled so that the force detected by the force sensor is equal to or less than a threshold value.

PATENT LITERATURE

SUMMARY OF THE INVENTION

Technical Problem

Incidentally, in a case where a probe is moved by a moving device in a specific pattern different from a normal movement pattern, depending on the specific pattern, if the probe is moved in a state of being pressed against a subject, a large burden may be placed on the body of the subject.

It is a main object of the present disclosure to provide a technique for moving a probe by a moving device in ultrasonic diagnosis, which further reduces a burden on a subject when moving the probe in a specific pattern.

Solution to Problem

The present disclosure employs the following means in order to achieve the main object described above.

An ultrasonic diagnostic system of the present disclosure includes an ultrasonic diagnostic device having a probe, a moving device configured to move the probe, and a control device configured to perform a specific pattern control for controlling the moving device such that the probe is pressed against a body surface of a subject, or such that the pressing of the probe against the body surface is canceled or alleviated when ultrasonic diagnosis is performed on the subject.

In the ultrasonic diagnostic system of the present disclosure, the probe is moved by the moving device during ultrasonic diagnosis. The ultrasonic diagnostic system can reduce a burden on the subject during ultrasonic diagnosis.

DESCRIPTION OF EMBODIMENTS

Next, an embodiment of the present disclosure will be described with reference to drawings.FIG.1is an appearance perspective view of an ultrasonic diagnostic system of a first embodiment.FIG.2is a side view of a robot.FIG.3is a block diagram illustrating an electrical connection relationship among the robot, a control device, and an ultrasonic diagnostic device according to the first embodiment. InFIG.1, a left-right direction is an X axis, a front-rear direction is a Y-axis direction, and an up-down direction is a Z-axis direction.

Ultrasonic diagnostic system10of a first embodiment acquires an ultrasonic echo image by holding ultrasonic probe101at the fingertip of robot20and driving robot20automatically or remotely so that ultrasonic probe101is pressed against the body surface of a patient. Ultrasonic diagnostic system10is used, for example, in catheter treatment. An operator who operates a guide wire of a catheter can accurately pass a guide wire through an occlusion portion or a stenosis portion of a blood vessel by advancing the guide wire while recognizing a positional relationship between a tip end of the guide wire and the blood vessel from an ultrasonic echo image obtained by pressing ultrasonic probe101against the body surface of the patient.

Ultrasonic diagnostic device100includes ultrasonic probe101and ultrasonic diagnostic device main body102connected to ultrasonic probe101via cable101a. Ultrasonic diagnostic device main body102includes control section103that controls the entire device, instruction input section104configured to input an instruction to initiate diagnosis or the like, image processing section105that processes a received signal from ultrasonic probe101to generate an ultrasonic echo image, and display section106that displays the generated ultrasonic echo image.

As illustrated inFIG.2, robot20includes first arm21, second arm22, base25, base plate26, first arm driving device35, second arm driving device36, orientation holding device37, lifting and lowering device40, three-axis rotation mechanism50, and holder60. First arm21, second arm22, and three-axis rotation mechanism50may be simply referred to as an arm.

The base end portion of first arm21is coupled to base25via first joint shaft31extending in the up-down direction (Z-axis direction). First arm driving device35includes motor35aand encoder35b. The rotation shaft of motor35ais connected to first joint shaft31via a deceleration device (not illustrated). First arm driving device35causes first arm21to turn (pivot) along a horizontal plane (XY-plane) around first joint shaft31as a fulcrum by rotationally driving first joint shaft31by motor35a. Encoder35bis attached to the rotation shaft of motor35a, and is configured as a rotation encoder that detects a rotational displacement amount of motor35a.

The base end portion of second arm22is coupled to the tip end portion of first arm21via second joint shaft32extending in the up-down direction. Second arm driving device36includes motor36aand encoder36b. The rotation shaft of motor36ais connected to second joint shaft32via a deceleration device (not illustrated). Second arm driving device36causes second arm22to turn (pivot) along a horizontal plane around second joint shaft32as a fulcrum by rotationally driving second joint shaft32by motor36a. Encoder36bis attached to the rotation shaft of motor36a, and is configured as a rotation encoder that detects the rotational displacement amount of motor36a.

Base25is provided so as to be lifted and lowered with respect to base plate26by lifting and lowering device40installed on base plate26. As illustrated inFIGS.1and2, lifting and lowering device40includes slider41fixed to base25, guide member42fixed to base plate26and extending in the up-down direction to guide the movement of slider41, ball screw shaft43(a lifting and lowering shaft) extending in the up-down direction and screwed into a ball screw nut (not illustrated) fixed to slider41, motor44for rotationally driving ball screw shaft43, and encoder45(seeFIG.3). Lifting and lowering device40causes base25fixed to slider41to move in the up-down direction along with guide member42by rotationally driving ball screw shaft43by motor44. Encoder45is configured as a linear encoder that detects a position in the up-down direction (a lifting and lowering position) of slider41(base25).

Three-axis rotation mechanism50is coupled to the tip end portion of second arm22via orientation holding shaft33extending in the up-down direction. Three-axis rotation mechanism50includes first rotation shaft51, second rotation shaft52, and third rotation shaft53that are orthogonal to each other, first rotation device55that rotates first rotation shaft51, second rotation device56that rotates second rotation shaft52, and third rotation device57that rotates third rotation shaft53. First rotation shaft51is supported in an orientation orthogonal to orientation holding shaft33. Second rotation shaft52is supported in an orientation orthogonal to first rotation shaft51. Third rotation shaft53is supported in an orientation orthogonal to second rotation shaft52. First rotation device55includes motor55afor rotationally driving first rotation shaft51, and encoder55battached to the rotation shaft of motor55ato detect the rotational displacement amount of motor55a. Second rotation device56includes motor56afor rotationally driving second rotation shaft52, and encoder56battached to the rotation shaft of motor56ato detect the rotational displacement amount of motor56a. Third rotation device57includes motor57afor rotationally driving third rotation shaft53, and encoder57battached to the rotation shaft of motor57ato detect the rotational displacement amount of motor57a. Holder60for holding ultrasonic probe101is attached to third rotation shaft53. In the present embodiment, ultrasonic probe101is held by holder60so as to be positioned coaxially with third rotation shaft53.

Robot20of the present embodiment can move ultrasonic probe101to any position in any orientation by a combination of the translational movement in three directions of the X-axis direction, the Y-axis direction, and the Z-axis direction by first arm driving device35, second arm driving device36, and lifting and lowering device40, and the rotational movement in three directions of the X axis (pitching), the Y axis (rolling), and the Z axis (yawing) by three-axis rotation mechanism50.

Orientation holding device37holds the orientation of three-axis rotation mechanism50(the direction of first rotation shaft51) in a fixed direction regardless of the orientations of first arm21and second arm22. Orientation holding device37includes motor37aand encoder37b. The rotation shaft of motor37ais connected to orientation holding shaft33via a deceleration device (not illustrated). Orientation holding device37sets a target rotation angle of orientation holding shaft33based on the rotation angle of first joint shaft31and the rotation angle of second joint shaft32such that the axial direction of first rotation shaft51is always in the left-right direction (the X-axis direction), and drives to control motor37asuch that orientation holding shaft33is at the target rotation angle. As a result, the control of the translational movement in the three directions and the control of the rotational movement in the three directions can be independently performed to facilitate the control.

Force sensor28is attached to the tip end of the arm, and detects a force component acting in each axial direction of the X axis, the Y axis, and the Z axis as an external force acting on the arms, and a torque component acting around each axis.

As illustrated inFIG.3, control device70is configured as a microprocessor centered on CPU71, and includes ROM72, RAM73, an input/output port, and a communication port (not illustrated) in addition to CPU71. The detection signal from force sensor28, detection signals from respective encoders35b,36b,37b,45,55b,56b,57b, and the like are input to control device70via input ports. In addition, a drive signal to each of motors35a,36a,37a,44,55a,56a, and57ais output from control device70via output ports. Control device70communicates with control section103of ultrasonic diagnostic device100via a communication port to exchange data.

Next, an operation of ultrasonic diagnostic system10according to the present embodiment configured as described above will be described.FIG.4is a flowchart illustrating an example of ultrasonic diagnostic processing executed by CPU71of control device70. This processing is executed, for example, when a user instructs instruction input section104to initiate a diagnosis.

When the ultrasonic diagnostic processing is executed, CPU71first drives and causes the corresponding motor of robot20to start the movement of ultrasonic probe101with respect to the patient (step S100). The movement of ultrasonic probe101is performed as follows. That is, CPU71determines a target position and a target orientation of an arm holding ultrasonic probe101according to a task program created in advance. Subsequently, CPU71sets a target rotation angle of first joint shaft31, a target rotation angle of second joint shaft32, a target rotation angle of orientation holding shaft33, a target lifting and lowering position of base25, a target rotation angle of first rotation shaft51, a target rotation angle of second rotation shaft52, and a target rotation angle of third rotation shaft53, respectively, for moving the arm to a target position in a target orientation. Then, CPU71controls the corresponding motor such that the rotation angle or the lifting and lowering position detected by respective encoders35b,36b,37b,45,55b,56b, and57bcoincides with the corresponding target rotation angle or target lifting and lowering position. When ultrasonic diagnostic processing is applied to catheter treatment, CPU71controls robot20by setting the movement route and the movement speed such that ultrasonic probe101moves in accordance with the progress of the guide wire of a catheter while aligning the scanning direction of ultrasonic probe101with the center axial direction (length direction) of the blood vessel of the patient.

When the movement of ultrasonic probe101is started, CPU71sets predetermined value δ1as target value δtag of the pressing force when ultrasonic probe101is pushed into the body surface of the patient (step S110). Next, CPU71acquires pressing force δ of ultrasonic probe101from force sensor28(step S120), and controls each of motors35a,36a,37a,44,55a,56a,57aof robot20such that the pressing force δ matches target value δtag (step S130). Here, predetermined value δ1can be determined in advance by experiments or the like so that the distance between ultrasonic probe101and the blood vessel as a diagnosis target falls within the effective depth of the ultrasonic wave within a range in which the patient does not feel pain or discomfort. By controlling the pressing of ultrasonic probe101by setting predetermined value δ1as target value δtag, ultrasonic probe101can be pressed against the patient by an appropriate force, and a good ultrasonic echo image can be acquired without applying an excessive burden to the patient.

Next, CPU71determines whether the execution condition of the operation (specific operation) with a specific pattern is satisfied (step S140). The execution condition of the specific operation may be satisfied at a predetermined timing, or may be satisfied when the user instructs instruction input section104to execute a specific operation. When it is determined that the execution condition of the specific operation is not satisfied, CPU71determines whether the current diagnosis is ended (step S190). This determination may be made based on whether ultrasonic probe101has reached a predetermined position, or may be made based on whether the user instructs instruction input section104to end the diagnosis. When it is determined that the current diagnosis is not ended, CPU71returns to step S120, and continues the movement of ultrasonic probe101while maintaining pressing force δ at target value Stag. On the other hand, when it is determined that the current diagnosis is ended, CPU71stops the movement of ultrasonic probe101(step S195), and ends the ultrasonic diagnostic processing.

In step S140, when it is determined that the execution condition of the specific operation is satisfied, CPU71temporarily stops the movement of ultrasonic probe101(step S150) and executes specific operation processing (step S160). Here, the specific operation is an operation in which the burden on the patient is excessive when ultrasonic probe101is performed in a state of being pressed against the body surface of the patient, and examples thereof include a rotation operation for rotating ultrasonic probe101by 90 degrees about the axis, a movement operation for moving ultrasonic probe101one time by a predetermined distance or more, and the like. The rotation operation is performed, for example, in catheter treatment, to change the orientation from a state in which ultrasonic probe101scans the blood vessel in the length direction to a state in which ultrasonic probe101scans the blood vessel in the width direction, and to inspect whether the guide wire of the catheter deviates from the center of the blood vessel from the acquired ultrasonic echo image of the cross section of the blood vessel in the width direction. In addition, the movement operation is performed, for example, to move to another diagnosis portion after the diagnosis of one diagnosis portion is ended when diagnosing multiple portions at one time. The specific operation processing will now be described in more detail.FIG.5is a flowchart illustrating an example of the specific operation processing executed by CPU71.

In the specific operation processing, CPU71first sets predetermined value δ2that is smaller than the above-described predetermined value δ1to target value δtag of the pressing force (step S200). Subsequently, CPU71acquires pressing force δ of ultrasonic probe101from force sensor28(step S210), and controls the corresponding motor of robot20such that pressing force δ matches target value δtag (step S220). In this processing, the pressing of ultrasonic probe101is controlled by setting predetermined value δ2smaller than normal to target value δtag of the pressing force such that the pressing of ultrasonic probe101is canceled or alleviated. In the present embodiment, predetermined value δ2is determined, for example, in the vicinity of a value 0 such that the pressing of ultrasonic probe101is canceled. Then, CPU71determines whether pressing force δ matches target value Stag (step S230). When it is determined that pressing force δ does not match target value Stag, CPU71returns to step S210to repeat the control for canceling or alleviating the pressing force, and when it is determined that pressing force δ matches target value Stag, starts the specific operation (step S240), and ends the specific operation processing. As described above, when the specific operation is performed in a state in which ultrasonic probe101is pressed against the body surface of the patient, the burden on the patient is excessively large, and therefore the burden on the patient can be reduced by canceling or alleviating the pressing of the ultrasonic probe101before the execution of the specific operation. As described above, in the catheter treatment, in a case where the rotation operation is performed as a specific operation and the blood vessel into which the guide wire is inserted is scanned in the width direction, and the deviation amount of the guide wire with respect to the center of the blood vessel is inspected from the acquired ultrasonic echo image, ultrasonic diagnostic device100may output a warning to display section106when the deviation amount exceeds a predetermined amount.

Returning to the ultrasonic diagnostic processing, when the specific operation is started, CPU71waits for the specific operation to be ended (step S170), resumes the movement of ultrasonic probe101(step S180), and returns to step S110. That is, CPU71returns target value Stag of the pressing force from predetermined value δ2to predetermined value δ1, presses ultrasonic probe101against the body surface of the patient with target value δtag of predetermined value δ1, and resumes the movement of ultrasonic probe101.

Here, a correspondence relationship between main elements of the embodiment and main elements of the present disclosure recited in claims will be described. That is, ultrasonic probe101of the present embodiment corresponds to the probe of the present disclosure, ultrasonic diagnostic device100corresponds to an ultrasonic diagnostic device, robot20corresponds to a moving device, and control device70corresponds to a control device. In addition, force sensor28corresponds to a force sensor.

Needless to say, the present disclosure is not limited to the embodiment that has been described heretofore in any way and may be implemented in various forms without departing from the technical scope of the present disclosure.

For example, in the above embodiment, when executing a specific operation, CPU71cancels or alleviates the pressing of ultrasonic probe101on the body surface of the patient by controlling the pressing force based on a signal from force sensor28before the execution. On the other hand, the ultrasonic diagnostic system of a second embodiment controls the position of ultrasonic probe101such that the pressing of ultrasonic probe101on the body surface of the patient is cancelled or alleviated.FIG.6is a block diagram illustrating an electrical connection relationship between a robot, a control device, and an ultrasonic diagnostic device according to a second embodiment. As illustrated, in the second embodiment, robot120includes position measurement sensor128in place of force sensor28as a sensor used for controlling the position of ultrasonic probe101when ultrasonic probe101is pressed against the body surface of the patient. Examples of position measurement sensor128may include a camera sensor, an eddy current type displacement sensor, a reflective laser displacement sensor, a capacitive displacement sensor, a magnetic induction type displacement sensor, and the like.

FIG.7is a flowchart illustrating ultrasonic diagnostic processing according to the second embodiment. In addition,FIG.8is a flowchart illustrating specific operation processing of the second embodiment. In the ultrasonic diagnostic processing inFIG.7, the same processing as the ultrasonic diagnostic processing inFIG.4is denoted by the same step number, and repetitive descriptions thereof will be omitted.

In the ultrasonic diagnostic processing of the second embodiment, when the movement of ultrasonic probe101is started in step S100, CPU71sets position P1as target value Ptag of the position (probe position) of ultrasonic probe101(step S110B). Here, when a camera sensor is used as position measurement sensor128, CPU71images the body surface of the patient with the camera sensor in advance before diagnosis, and measures the position of the body surface as a reference position from the acquired captured image. Target value Ptag is determined as the position (position P1) of ultrasonic probe101when ultrasonic probe101is pushed into the reference position by a predetermined amount. Subsequently, CPU71acquires probe position P from position measurement sensor128(step S120B), and controls each of motors35a,36a,37a,44,55a,56a, and57asuch that acquired probe position P matches target value Ptag (step S130B). Then, when it is determined in step S140that the execution condition of the specific operation is not satisfied and it is determined in step S190that the diagnosis is not ended, CPU71returns to step S120B and continues the movement of ultrasonic probe101while maintaining probe position P at target value Ptag. On the other hand, when it is determined that the execution condition of the specific operation is satisfied in step S140, CPU71temporarily stops the movement of ultrasonic probe101, then executes the specific operation processing, and when the specific operation is ended, resumes the movement of ultrasonic probe101(steps S150to S180), and returns to step S110B.

In the specific operation processing of the second embodiment, CPU71sets position P2as target value Ptag of the probe position (step S300). Position P2is determined as a position spaced apart from the body surface of the patient by a predetermined distance or more than when ultrasonic probe101is pushed in with position P1as target value Ptag in the ultrasonic diagnostic processing ofFIG.7. Next, CPU71acquires probe position P (step S310). Subsequently, CPU71controls each of motors35a,36a,37a,44,55a,56a, and57asuch that acquired probe position P matches target value Ptag (step S320). Then, CPU71then determines whether probe position P matches target value Ptag (step S330). When it is determined that probe position P does not match target value Ptag, CPU71returns to step S310to repeat the processing, and when it is determined that probe position P matches target value Ptag, starts the specific operation (step S340), and ends the specific operation processing.

In the second embodiment, CPU71acquires probe position P from position measurement sensor128, and controls the pressing of ultrasonic probe101based on acquired probe position P and reference position. However, CPU71may calculate arm position P by forward kinematics based on the rotation angle or the lifting and lowering position detected by encoders35b,36b,37b,45,55b,56b, and57bof each joint shaft or each rotation shaft, and control the pressing of ultrasonic probe101based on calculated probe position P and the reference position.

The ultrasonic diagnostic system of a third embodiment controls the pressing torque of ultrasonic probe101to cancel or alleviate the pressing of ultrasonic probe101on the body surface of the patient.FIG.9is a flowchart illustrating specific operation processing of a third embodiment.

In the specific operation processing of the third embodiment, CPU71sets predetermined torque T2as target value Ttag of the torque of the motor that outputs the pressing torque for pressing ultrasonic probe101against the body surface of the patient (step S400). Predetermined torque T2is determined to be a torque that is approximately smaller than torque T1in the pressing direction required when ultrasonic probe101is pressed against the body surface of the patient in the ultrasonic diagnostic processing. Next, CPU71acquires torque command value T of the motor outputting the torque in the pressing direction of ultrasonic probe101(step S410). Subsequently, CPU71controls the corresponding motor by reducing torque command value T such that acquired torque command value T matches target value Ttag (step S420). Then, CPU71then determines whether torque command value T matches target value Ptag (step S430). When it is determined that torque command value T does not match target value Ttag, CPU71returns to step S410to repeat the processing, and when it is determined that torque command value T matches target value Ttag, executes the specific operation (step S440), and ends the specific operation processing.

The ultrasonic system of a fourth embodiment cancels or alleviates the pressing of ultrasonic probe101on the body surface of the patient by spacing ultrasonic probe101apart from the patient until the blood vessel of the patient cannot be recognized by the ultrasonic echo image.FIG.10is a flowchart illustrating specific operation processing of a fourth embodiment.

In the specific operation processing of the fourth embodiment, CPU71acquires an ultrasonic echo image (step S500). Subsequently, CPU71performs image processing for recognizing a diagnosis target (blood vessel) from the acquired ultrasonic echo image (step S510), and determines whether the recognition is successful (step S520). The image processing can be performed, for example, by applying pattern matching to the acquired ultrasonic echo image. When it is determined that the recognition is successful, CPU71controls the corresponding motor such that ultrasonic probe101is spaced apart from the body surface of the patient by a predetermined amount (step S530), returns to step S500, and repeats the processing of steps S500to S520. Then, when it is determined in step S520that the recognition of the diagnosis target has failed in the course of the repetition of the processing, CPU71executes the specific operation (step S540) and ends the specific operation processing. When ultrasonic probe101is spaced from the body surface of the patient by the predetermined amount, the resolution of the acquired ultrasonic echo image gradually decreases. Accordingly, at the time when the diagnosis target (blood vessel) cannot be recognized from the ultrasonic echo image, CPU71can determine that ultrasonic probe101is sufficiently spaced from the body surface, and the pressing of ultrasonic probe101is canceled or alleviated.

In the above embodiment, robot20is configured as a seven-axis articulated robot capable of translational movement in three directions and rotational movement in three directions. However, the number of axes may be any number. Robot20may be configured by a so-called vertical articulated robot, a horizontal articulated robot, or the like.

In the above-described embodiment, ultrasonic diagnostic system10includes robot20that automatically operates in accordance with a task program. However, the ultrasonic diagnostic system may include a master device installed at a remote location and operable by an operator, and a remote control robot connected to the master device via a communication line and holding the ultrasonic probe in the arm and operating the arm in accordance with the operation of the master device.

As described above, in the ultrasonic diagnostic system of the present disclosure, when a specific pattern is designated as the movement pattern of the probe, the control device cancels or alleviates the pressing of the probe against the body surface of the subject, and then moves the probe with the specific pattern. Then, when the movement with the specific pattern is ended, the control device presses the probe against the body surface. By determining a movement pattern that easily places a burden on the subject as a specific pattern, it is possible to reduce the burden on the subject during ultrasonic diagnosis.

In addition, in the ultrasonic diagnostic system of the present disclosure, the following configuration can be adopted. In other words, in the ultrasonic diagnostic system of the present disclosure, the specific pattern may be a pattern for rotating the probe about an axis or a pattern for moving the probe by a predetermined distance or more.

Further, in the ultrasonic diagnostic system of the present disclosure, a force sensor for detecting a reaction force acting on the probe may be provided, and the control device may control the moving device as the specific pattern control such that the pressing against the body surface is canceled or alleviated based on the reaction force detected by the force sensor. In this manner, it is possible to appropriately cancel or alleviate the pressing of the probe.

In addition, in the ultrasonic diagnostic system of the present disclosure, a position measurement sensor for measuring a position of the probe may be provided, and the control device may control the moving device as the specific pattern control such that the pressing against the body surface is canceled or alleviated based on a position measured by the position measurement sensor. In this manner, it is possible to appropriately cancel or alleviate the pressing of the probe.

In addition, in the ultrasonic diagnostic system of the present disclosure, the moving device may move the probe by driving a motor based on a torque command value, and the control device may control the moving device as the specific pattern control such that the pressing against the body surface is canceled or alleviated by reducing the torque command value. In this way, it is possible to appropriately cancel or alleviate the pressing of the probe without using the sensor.

In addition, in the ultrasonic diagnostic system of the present disclosure, the control device may control the moving device as the specific pattern control such that the pressing against the body surface is canceled or alleviated based on a change in an ultrasonic image acquired from the ultrasonic diagnostic device. In this way, it is possible to appropriately cancel or alleviate the pressing of the probe without using the sensor.

In addition, in the ultrasonic diagnostic system of the present disclosure, the moving device may be an arm robot having an articulated arm, and the probe may be attached to a tip end portion of the articulated arm.

A second ultrasonic diagnostic system of the present disclosure includes an ultrasonic diagnostic device having a probe, a moving device for moving the probe, a force sensor for detecting a reaction force acting on the probe, and a control device for controlling the moving device such that the probe is pressed against the body surface of a subject based on the reaction force detected by the force sensor when ultrasonic diagnosis is performed on the subject, or such that the pressing of the probe against the body surface is canceled or alleviated.

A third ultrasonic diagnostic system of the present disclosure includes an ultrasonic diagnostic device having a probe, a moving device for moving the probe, a position measurement sensor for measuring the position of the probe, and a control device for controlling the moving device such that the probe is pressed against the body surface of a subject based on a position measured by the position measurement sensor or such that the pressing of the probe against the body surface is canceled or alleviated when performing ultrasonic diagnosis on the subject.

INDUSTRIAL APPLICABILITY

The present disclosure can be applied to the manufacturing industry of an ultrasonic diagnostic system and the like.

REFERENCE SIGNS LIST