ULTRASONIC DIAGNOSTIC APPARATUS AND PROGRAM THEREFOR

To provide an ultrasonic diagnostic apparatus enabling one to easily know the correspondence between a needle in an ultrasonic image and an actual needle. An ultrasonic diagnostic apparatus 1 comprises: a first position detecting section for detecting information on a position of a needle N inserted into a subject; an operating section 7 for accepting from a user inputs for, for a plurality of needles N inserted into the subject, appending distinguishing information for distinguishing each of the plurality of needles and storing information on a position detected by the first position detecting section for a needle appended with the distinguishing information; a second position detecting section for detecting information on a position of an ultrasound transmission/reception plane; and a display control section for displaying, in the case that a needle N whose information on a position is stored is included in the ultrasound transmission/reception plane, a marker indicating the needle in an ultrasonic image displayed in a display section for the transmission/reception plane in a manner that the needle is distinguishable from another needle based on the distinguishing information.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Japan patent application number 2015-168515, filed on Aug. 28, 2015, the entirety of which is incorporated herein by reference.

BACKGROUND

The present invention relates to an ultrasonic diagnostic apparatus and a program therefor enabling one to easily know the correspondence between a needle in an ultrasonic image and an actual needle when a plurality of needles are inserted into a subject.

Sometimes is applied a therapeutic procedure involving burning a lesion by radiofrequency waves from a needle inserted into a subject. Other times, a needle is inserted into a subject for collecting living tissue from the subject.

An ultrasonic diagnostic apparatus is capable of displaying an ultrasonic image of a subject in real time. Therefore, a procedure has been conventionally practiced in the art involving a user confirming by an ultrasonic image whether or not a needle has reached a position to be burnt or a position for taking living tissue (see Patent Document 1, for example).

In some cases, a plurality of needles are inserted into a subject. In such cases, it is sometimes difficult to recognize which one of the needles a needle observed in an ultrasonic image is. Accordingly, for a user to identify which one of actual needles inserted into a subject a needle observed in an ultrasonic image is, an operation of applying micro-vibration to a needle is sometimes practiced. As such, identification of the correspondence between a needle in an ultrasonic image and an actual needle is cumbersome when a plurality of needles are used.

The invention, in one aspect, for solving the aforementioned problem is an ultrasonic diagnostic apparatus characterized in comprising: a first position detecting section for detecting information on a position of a needle inserted into a subject in a specified coordinate system in a three-dimensional (3D) space; an input section for accepting from a user inputs for, for a plurality of needles inserted into said subject, appending distinguishing information for distinguishing each of said plurality of needles and storing information on a position detected by said first position detecting section for a needle appended with said distinguishing information; a second position detecting section for detecting information on a position in said 3D space of an ultrasound transmission/reception plane formed by an ultrasonic probe performing ultrasound transmission/reception to/from said subject; and a display control section for displaying, in the case that a needle whose information on a position is stored is included in said ultrasound transmission/reception plane whose information on a position is detected by said second position detecting section, a marker indicating said needle in an ultrasonic image displayed in a display section for said transmission/reception plane in a manner that said needle is distinguishable from another needle based on said distinguishing information.

According to the invention in the aspect described above, for a plurality of needles inserted into a subject, the input section accepts from a user an input for appending distinguishing information for distinguishing each of the plurality of needles and storing information on a position detected by the first position detecting section for a needle appended with the distinguishing information, whereby a marker indicating the needle may be displayed in an ultrasonic image in a manner that the needle is distinguishable from another needle. Thus, even in the case that a plurality of needles are inserted into a subject, one may easily know the correspondence between needles in an ultrasonic image and actual needles.

BRIEF SUMMARY OF THE INVENTION

An ultrasonic diagnostic apparatus characterized in comprising a first position detecting section for detecting information on a position of a needle inserted into a subject in a specified coordinate system in a three-dimensional (3D) space, an input section for accepting from a user inputs for, for a plurality of needles inserted into said subject, appending distinguishing information for distinguishing each of said plurality of needles and storing information on a position detected by said first position detecting section for a needle appended with said distinguishing information, a second position detecting section for detecting information on a position in said 3D space of an ultrasound transmission/reception plane formed by an ultrasonic probe performing ultrasound transmission/reception to/from said subject, and a display control section for displaying, in the case that a needle whose information on a position is stored is included in said ultrasound transmission/reception plane whose information on a position is detected by said second position detecting section, a marker indicating said needle in an ultrasonic image displayed in a display section for said transmission/reception plane in a manner that said needle is distinguishable from another needle based on said distinguishing information.

In an embodiment, an ultrasonic diagnostic apparatus includes a processor, and an input device, said apparatus being characterized in that: said processor executes a first position detecting function, a second position detecting function, and a display control function by a program, wherein: said first position detecting function is a function of detecting information on a position of a needle inserted into a subject in a specified coordinate system in a three-dimensional (3D) space, said input device is for accepting from a user inputs for, for a plurality of needles inserted into said subject, appending distinguishing information for distinguishing each of said plurality of needles and storing information on a position detected by said first position detecting function for a needle appended with said distinguishing information, said second position detecting function is a function of detecting information on a position in said 3D space of an ultrasound transmission/reception plane formed by an ultrasonic probe performing ultrasound transmission/reception to/from said subject, and said display control function is a function of displaying, in the case that a needle whose information on a position is stored is included in said ultrasound transmission/reception plane whose information on a position is detected by said second position detecting function, a marker indicating said needle in an ultrasonic image displayed in a display section for said transmission/reception plane in a manner that said needle is distinguishable from another needle based on said distinguishing information.

Now an embodiment of the present invention will be described. An ultrasonic diagnostic apparatus1shown inFIG. 1comprises an ultrasonic probe2, a transmission/reception (T/R) beamformer3, an echo data processing section4, a display processing section5, a display section6, an operating section7, a control section8, and a storage section9. The ultrasonic diagnostic apparatus1has a configuration as a computer.

The T/R beamformer3, echo data processing section4, display processing section5, display section6, operating section7, control section8, and storage section9are provided in an apparatus main unit la of the ultrasonic diagnostic apparatus1. The apparatus main unit la and the ultrasonic probe2are connected with each other via a cable. The apparatus main unit la is also connected via a cable with a first magnetic sensor10attached with a needle N.

The ultrasonic probe2is configured to have a plurality of ultrasonic vibrators (not shown) arranged in an array, and by the ultrasonic vibrators, ultrasound is transmitted to a subject and echo signals thereof are received. The ultrasonic probe2represents an exemplary embodiment of the ultrasonic probe in the present invention.

The ultrasonic probe2is provided with a second magnetic sensor11constructed from a Hall element, for example. By the second magnetic sensor11, magnetism generated from a magnetism generating section12constructed from a magnetism generating coil, for example, is detected. By the magnetism generated from the magnetism generating section12, a coordinate system is formed in a 3D space. The coordinate system is one having its origin lying at the magnetism generating section12, and represents an exemplary embodiment of the specified coordinate system in the present invention.

A detected signal at the second magnetic sensor11is directed to be input to the display processing section5. The detected signal at the second magnetic sensor11may be input to the display processing section5via a cable, which is not shown, or it may be wirelessly input to the display processing section5. The magnetism generating section12and second magnetic sensor11are provided for detecting a position and an orientation of the ultrasonic probe2and a position of an ultrasound transmission/reception plane in the coordinate system in the 3D space, which will be described below.

The T/R beamformer3supplies an electric signal to the ultrasonic probe2for transmitting ultrasound in specified scan conditions from the ultrasonic probe2based on a control signal from the control section8. The T/R beamformer3also performs signal processing, such as A/D conversion and phased addition processing, on echo signals received by the ultrasonic probe2, and outputs signal-processed echo data to the echo data processing section4.

The echo data processing section4performs processing for producing an ultrasonic image on the echo data output from the T/R beamformer3. For example, the echo data processing section4performs B-mode processing, including logarithmic compression processing and envelope detection processing, to generate B-mode data.

The display processing section5has a first position locating section51, a second position locating section52, and a display image control section53, as shown inFIG. 2. The first position locating section51detects information on a position of the needle N inserted into the subject in the coordinate system in the 3D space having its origin lying at the magnetism generating section12. More specifically, the needle N is provided with the first magnetic sensor10constructed from a Hall element, for example, via a bracket BK. The first magnetic sensor10is removably attached to the needle.

By the first magnetic sensor10, magnetism generated from the magnetism generating section12is detected. The detected signal at the first magnetic sensor10is input to the display processing section5. The first position locating section51first locates coordinates of the position of the first magnetic sensor10in the coordinate system in the 3D space having its origin lying at the magnetism generating section12based on the magnetism-detecting signal from the magnetic sensor10. The first position locating section51then locates coordinates of the position of the needle N attached with the first magnetic sensor10based on the coordinates of the position of the first magnetic sensor10, a positional relationship between the needle N from its one end to the other end and the first magnetic sensor10, and the length of the needle N. The first position locating section51may also locate coordinates of the position of an extension line of the needle N attached with the first magnetic sensor10. The first position locating section51and first magnetic sensor10represent an exemplary embodiment of the first position detecting section in the present invention.

The second position locating section52locates information on a position of an ultrasound transmission/reception plane formed by the ultrasonic probe2. The information on a position is the information on a position in the 3D space having its origin lying at the magnetism generating section12. More particularly, the second position locating section52first locates coordinates of the position and orientation of the ultrasonic probe2in the coordinate system in the 3D space having its origin lying at the magnetism generating section12based on a magnetism-detecting signal from the second magnetic sensor11. The second position locating section52then locates coordinates of the position of the ultrasound transmission/reception plane formed by the ultrasonic probe2in the coordinate system in the 3D space based on the coordinates of the position and orientation of the ultrasonic probe2. The second position locating section52and second magnetic sensor11represent an exemplary embodiment of the second position detecting section in the present invention.

It should be noted here that the needle N is a needle used in radiofrequency ablation (RFA), for example, and emits radiofrequency waves. In the present example, the ablation with radiofrequency waves is achieved by a plurality of the needles N. The needles N are connected with an RFA apparatus main unit100a. The needles N and RFA apparatus main unit100aconstitute an RFA apparatus100. It is by the RFA apparatus main unit100athat emission of radiofrequency waves by the needles N is controlled.

The display image control section53scan-converts data input from the echo data processing section4by a scan converter to generate ultrasonic image data. The display image control section53then displays an ultrasonic image based on the ultrasonic image data in the display section6. For example, the display image control section53scan-converts B-mode data to generate B-mode image data, and displays a two-dimensional B-mode image in the displays display section6.

The display image control section53also displays a marker MK (seeFIG. 5) indicating a needle N in an ultrasonic image, such as a B-mode image, displayed in the display section6. Details thereof will be discussed later. The display image control section53represents an exemplary embodiment of the display control section in the present invention.

The display section6is an LCD (Liquid Crystal Display) or an organic EL (Electro-Luminescence) display. The display section6represents an exemplary embodiment of the display section in the present invention.

The operating section7is configured to comprise an input device, such as a keyboard for accepting a command and/or information from the user, and a pointing device such as a button and a trackball, etc., although not particularly shown. For example, the operating section7accepts from the user an input for, for a plurality of needles N inserted into the subject, appending distinguishing information for distinguishing each of the plurality of needles N and storing information on a position located by the first position locating section51of the needle N appended with the distinguishing information. In the present example, the distinguishing information is information on a color different from each other set for each of a plurality of markers MK. The distinguishing information appended in response to the input at the operating section7is stored in the storage section9along with the information on a position of the needle N appended with the distinguishing information. The operating section7represents an exemplary embodiment of the input section in the present invention.

The control section8is a processor such as a CPU (Central Processing Unit). The control section8loads thereon a program stored in the storage section9to control each section in the ultrasonic diagnostic apparatus1. For example, the control section8loads thereon programs stored in the storage section9, and performs functions of the T/R beamformer3, echo data processing section4, and display processing section5according to the loaded program.

The control section8may execute all of the functions of the T/R beamformer3, all of the functions of the echo data processing section4, and all of the functions of the display processing section5by the programs, or only part of the functions by the programs. In the case that the control section8executes only part of the functions, the remaining functions may be executed by hardware such as circuitry.

Additionally, the functions of the T/R beamformer3, echo data processing section4, and display processing section5may be implemented by hardware such as circuitry.

The storage section9is an HDD (Hard Disk Drive), and/or semiconductor memory such as RAM (Random Access Memory) and ROM (Read Only Memory). The ultrasonic diagnostic apparatus1may have all of the HDD, RAM, and ROM as the storage section9. The storage section9may also be a portable storage medium, such as a CD (Compact Disk) or a DVD (Digital Versatile Disk).

The programs executed by the control section8are stored in a non-transitory storage medium, such as HDD and/or ROM. The programs may be stored in a portable non-transitory storage medium, such as a CD (Compact Disk) or a DVD (Digital Versatile Disk).

The storage section9also stores therein the information on a position of the needle N detected by the first position locating section51and the distinguishing information appended to the needle N. The information on a position of a needle N is information on a position of the needle N from its one end to the other end. Alternatively, information on positions of the needle N per se and an extension line of the needle N may be stored in the storage section9as the information on a position of a needle N. The information on a position of a needle N stored in the storage section9also includes information on a position of the needle tip of the needle N.

Moreover, the storage section9stores therein a plurality pieces of distinguishing information, for example, with their order of appending to the needles N specified. Since the distinguishing information is information on a color in the present example, information on a plurality of different colors is stored with its order of appending to the needles N specified.

Now processing of appending distinguishing information to a needle and storing information on a position of the needle in the ultrasonic diagnostic apparatus1in the present example will be described based on the flow chart inFIG. 3. First, at Step S1, the user puts the ultrasonic probe2onto a body surface of the subject, and starts ultrasound transmission/reception. A B-mode image, for example, is thus displayed in the display section6.

Next, at Step S2, the user attaches the first magnetic sensor10to one of the needles N. The present example assumes that three needles N1, N2, N3are employed, as will be discussed later. Here, the user attaches the first magnetic sensor10to the needle N1.

Next, at Step S3, the user inputs a command at the operating section7for appending distinguishing information to the needle N1attached with the first magnetic sensor10. Upon the input, the control section8stores distinguishing information for the needle N1attached with the first magnetic sensor10in the storage section9. For example, by the user pressing a specified button in the operating section7once, the control section8stores the distinguishing information for the needle N1into the storage section9.

The distinguishing information for the needle N1is color information for differentiating it from the other needles N2, N3. The color information is appended in the order stored in the storage section9. For example, in the case that an operation that red should be first appended is stored in the storage section9, the needle N1is appended with red.

Next, at Step S4, the display image control section53displays a marker MK in an ultrasonic image UI displayed in the display section6, as shown inFIG. 4. The display image control section53displays the marker MK in the same color as that in the color information appended at Step S3, i.e., in red.

Here, the marker MK is comprised of a straight line portion L indicating the position of an extension line of the needle N. In the present example, the straight line portion L is a dashed line. The display image control section53locates the position of the extension line of the needle N in the ultrasonic image UI displayed in the display section6based on the information on a position detected by the first position locating section51, and displays the marker MK at a corresponding position.

Next, at Step S5, the user inserts the needle N1attached with the first magnetic sensor10into the subject. The user inserts the needle N1while observing the B-mode image displayed in the display section6. Once the needle N1has been inserted at Step S5, the display image control section53displays a cross portion C indicating a needle tip of the needle N1in the ultrasonic image UI according to the position of the needle tip, as shown inFIG. 5. The cross portion C constitutes the marker MK. When the cross portion C is displayed as part of the marker MK, the straight line portion L indicates the position of the extension line of the needle N, and besides, it indicates the position of the needle N1per se. The display image control section53displays the marker MK based on the information on a position detected by the first position locating section51.

Once the needle N1has been inserted to reach a specified position at Step S5, the flow goes to processing at Step S6. At Step S6, the user makes an input at the operating section7for storing into the storage section9the information on a position of the needle N1attached with the first magnetic sensor10and appended with the distinguishing information. For example, by the user pressing a specified button in the operating section7once, the control section8stores the information on a position into storage section9.

The information on a position of the needle N1is information on a position located by the first position locating section51for the needle N1attached with the first magnetic sensor10. The information on a position of the needle N1is stored in the storage section9in connection with the color information appended to the needle N1.

Next, at Step S7, a decision is made as to whether or not storage of the distinguishing information and information on a position is completed. For example, at Step S7here, an image for asking the user whether or not he/she will further perform storage of the distinguishing information and information on a position for another needle may be displayed in the display section6. In the case that the user makes an input at the operating section7indicating that he/she will further perform storage of the distinguishing information and information on a position for another needle, the control section8decides that storage of the distinguishing information and information on a position is not completed (“NO” at Step S5), and the flow goes back to the processing at Step S2.

Returning from Step S5to Step S2, the user removes the first magnetic sensor10from the needle N1, and attaches it to another needle N, as shown inFIG. 6. For example, the user attaches the first magnetic sensor10to the needle N2. In the present example, the number of the first magnetic sensor10is one, and the first magnetic sensor10is attached to a needle N whose distinguishing information and information on a position are to be stored.

At Step S3, once the button for storing the distinguishing information has been pressed, the control section8stores color information for differentiating the needle N2attached with the first magnetic sensor10from the other needles N1, N3in the storage section9. In the case that an operation that blue is to be appended next to red is stored in the storage section9, for example, color information appended to the needle N2is blue. At Step S4, a marker MK in blue is displayed. Then, at Step S5, the needle N2is inserted into the subject, and information on a position is stored at Step S5.

In the case that color information and information on a position for a needle N (needle N1) other than the needle N2have been already stored in the storage section9, the display image control section53may display the marker MK1indicating the needle N1along with the marker MK2indicating the needle N2in the ultrasonic image UI, as exemplarily shown inFIG. 7. This is the case in which information on a position stored in the storage section9exists in a cross section of the ultrasonic image UI whose information on a position is located by the second position locating section52. In this case, the display image control section53displays the marker MK1based on the color information and information on a position stored in the storage section9. On the other hand, the marker MK2is displayed based on the information on a position located by the first position locating section51.

The processing at Steps from S2to S7is repeated until storage of the distinguishing information and information on a position is completed. In the present example, the processing at Steps from S2to S7is repeated until storage of the distinguishing information and information on a position for the needles N1, N2, N3is completed. Therefore, when storage of the information on a position for the needle N2has been performed at Step S6, it is decided that storage of the distinguishing information and information on a position is not completed at next Step S7, and the flow goes back to the processing at Step S2. Then, at Step S2here, the user removes the first magnetic sensor10from the needle N2and attaches it to the needle N3. Next, at Step S3, color information for differentiating the needle N3from the other needles N1, N2is stored in the storage section9. In the case that an operation that yellow is to be appended next to blue is stored in the storage section9, for example, color information to be appended to the needle N3is yellow. At Step S4, a marker MK in yellow is displayed. Similarly, thereafter, the processing at Steps S5and S6is performed.

At Step S7, for example, in the case that the user makes an input indicating that storage of distinguishing information and information on a position is completed, the control section8decides that storage of distinguishing information and information on a position is completed (“YES” at Step S5), and terminates the processing.

In the case that a real-time ultrasonic image UI is displayed after the color information and information on a position for the three needles N1, N2, N3have been stored in the storage section9, markers MK indicating the needles N1, N2, N3may be displayed in the ultrasonic image UI. Specifically, in the case that coordinates of the position of a needle N stored in the storage section9are included in an ultrasound transmission/reception plane whose information on a position is located by the second position locating section52, the display image control section53displays a marker MK in the ultrasonic image UI. The color of the marker MK is the same as that in the color information stored in the storage section9. The display image control section53displays the marker MK as a point in the ultrasonic image UI in the case that the ultrasound transmission/reception plane intersects the coordinates of the position of the needle N stored in the storage section9.

Since the markers MK1, MK2, MK3are displayed in different colors according to the present example, the user can easily know the correspondence between the actual needles N1, N2, N3inserted into the subject and the markers MK1, MK2, MK3displayed in the ultrasonic image UI. The needles N1, N2, N3may be attached with labels in the same colors as those for the markers MK1, MK2, MK3.

Since the user can easily know the correspondence between the actual needles N1, N2, N3and markers MK1, MK2, MK3, he/she can easily recognize which needle to move in the ultrasonic image UI when he/she wants to adjust the position of the needles N1, N2, N3.

Moreover, distinguishing information for a needle whose information on a position is to be stored may be appended in response to an input by the user at the operating section7. In addition, the storage section9stores therein information on a plurality of different colors with their order of appending to the needles N specified and the user can append the information on a color merely by pressing a button on the operating section7once, so that the information on a color may be easily appended.

Furthermore, since the number of the first magnetic sensor10is only one, the number of cables for connecting the first magnetic sensor10with the apparatus main unit la may be reduced as compared with a case in which three first magnetic sensors10are respectively attached to the needles N1, N2, N3.

Next, a variation of the embodiment above will be described. First, a first variation will be described. In the embodiment above, an operation of appending the information on a color in an order of red, blue, and yellow is stored in the storage section9; however, the order of appending the information on a color stored in the storage section9may be modified by the operating section7accepting an input from the user.

Next, a second variation will be described. In the case that a needle N moves after the information on a position of the needle N has been stored, the display image control section53may move a marker MK according to the movement of the needle N. Specifically, once the information on a position located by the first position locating section51has changed, the display image control section53moves a marker MK corresponding to one of the needles N1, N2, N3whose information on positions is stored, wherein the one is attached with the first magnetic sensor10and its information on a position located by a position-detecting signal from the first magnetic sensor10matches the information on a position stored in the storage section9. Thus, when the user adjusts the position of a needle N, its marker MK is moved, so that the user can easily confirm the position of the needle N.

Next, a third variation will be described. The distinguishing information is not limited to color information. For example, the distinguishing information may be numeric, character or symbol information. In such cases, the display image control section53displays a number, a character or a symbol along with a marker MK based on numeric, character or symbol information stored in the storage section9.FIG. 8shows a number N displayed along with a marker MK.

While the present invention has been described with reference to the embodiment, it will be easily recognized that the present invention may be practiced with several modifications without changing the spirit and scope thereof. For example, while the marker MK is not limited to that in the embodiment above.