Source: https://patents.google.com/patent/WO2010125715A1/en
Timestamp: 2020-04-07 21:42:10
Document Index: 295444091

Matched Legal Cases: ['art 1010', 'art 1003', 'art 7132', 'art 1030', 'art 1003', 'Application No. 2009']

WO2010125715A1 - Image diagnosis device and image diagnosis method - Google Patents
Image diagnosis device and image diagnosis method Download PDF
WO2010125715A1
WO2010125715A1 PCT/JP2010/000606 JP2010000606W WO2010125715A1 WO 2010125715 A1 WO2010125715 A1 WO 2010125715A1 JP 2010000606 W JP2010000606 W JP 2010000606W WO 2010125715 A1 WO2010125715 A1 WO 2010125715A1
PCT/JP2010/000606
椀田浩一郎
遠藤隆明
2009-05-01 Priority to JP2009112294A priority Critical patent/JP5400466B2/en
2009-05-01 Priority to JP2009-112294 priority
2010-02-02 Application filed by キヤノン株式会社 filed Critical キヤノン株式会社
2010-11-04 Publication of WO2010125715A1 publication Critical patent/WO2010125715A1/en
238000003745 diagnosis Methods 0 title claims description 14
238000003384 imaging method Methods 0 claims description 202
Provided is a configuration for generating a high-quality ultrasonic image by dynamically setting an image capture parameter suitable for the observation of an attention region on a subject while maintaining the operability for changing the position/posture of a probe. An attention region acquisition unit (1010) acquires region information defining an attention region. A position/posture acquisition unit (1020) acquires position/posture information indicating the position/posture of a probe. A parameter determination unit (1022) determines an image capture parameter on the basis of the positional relationship between an image capture range determined on the basis of the position/posture information and the attention region defined by the region information, and outputs the determined image capture parameter to an image capturing unit (1100).
Diagnostic imaging apparatus and diagnostic imaging method
The present invention relates to an image diagnostic technique (modality) such as ultrasonic diagnosis.
The ultrasonic diagnostic apparatus transmits and receives ultrasonic waves to and from a subject via an ultrasonic probe, and receives a received signal including a reflected wave from the inside of the subject, that is, a tomographic image based on a reflected echo signal. It is a device that generates and provides information useful for diagnosis. In general, an ultrasonic probe is formed by arranging a plurality of transducers at regular intervals in a linear shape, a curved shape, or a planar shape. Then, a plurality of selected transducers are vibrated at the same time to form an ultrasonic beam, a diagnostic region in the subject is scanned, and a tomogram of the subject is copied based on a reflected echo signal composed of a reflected wave or the like. A sound image is generated.
In order to generate high-quality ultrasound images suitable for diagnosis at medical sites that use diagnostic imaging equipment, various imaging parameters that control the diagnostic ultrasound equipment must be set appropriately according to the observation target. There is. As an imaging parameter of the ultrasonic diagnostic apparatus, there is “STC (Sensitive Time Control)” in which the gain of the receiver amplifier is changed in accordance with the return time of the reflected echo. Further, “depth” that is a parameter for controlling the imaging range in the depth direction, “focal position of the ultrasonic beam” that is a parameter for controlling the focus processing, and the like are known as adjustable imaging parameters. In addition, the sound pressure applied to the observation target is also adjusted.
As a focus processing method, for example, an electronic focus is known in which the ultrasonic wave irradiated from each transducer driven at the same time is delayed and the wavefront of the ultrasonic wave emitted from each transducer is matched at an arbitrary focus. ing. In addition, processing for calculating the delay time of the reflected received wave and selectively receiving it is also included in the focus processing. In the case of a linear probe, the depth position in the scanning line direction becomes the focus position.
These imaging parameters are generally adjusted interactively by a doctor or engineer while visually confirming the captured image displayed on the monitor using a dial or lever provided on the control panel of the apparatus. . On the other hand, some approaches for more easily setting imaging parameters have been reported.
For example, Patent Document 1 discloses a method of designating a target position on an ultrasonic image acquired by transmission / reception of an ultrasonic beam and performing focus processing for each scanning line so that the target position becomes a focus position. Yes. Patent Document 2 discloses a method of setting a region of interest (ROI) on an ultrasonic image acquired by transmission / reception of an ultrasonic beam and limiting a range to be scanned by the ultrasonic beam.
On the other hand, two-dimensional ultrasonic images taken freehand are integrated to generate a three-dimensional ultrasonic image (volume data) (three-dimensional reconstruction), and an arbitrary cross section is generated therefrom, thereby further diagnosis. A technique for displaying a suitable ultrasonic image is known (Non-Patent Document 1). According to this, for example, a plurality of modalities can be obtained by imaging the same subject with another diagnostic imaging apparatus (modality) such as MRI, and generating and displaying ultrasonic images corresponding to the cross section of interest. Diagnosis using can be easily performed. Further, for example, Patent Document 3 discloses a technique that indicates the presence or absence of a remaining area by detecting the position and movement of a probe and displaying the probe trajectory based on the detected position and movement.
JP 2003-93389 A JP 2008-99729 A JP 2008-86742 A
O. V. Solberg, F. Lindseth, H. Torp, R. E. Blake, and T. A. N. Hernes, "Freehand 3D ultrasound reconstruction algorithms-a review," Ultrasound in Medicine & 33 Biology no.7, pp.991-1009, July 2007.
However, conventionally, the region of interest can only be specified on the image. For this reason, the imaging parameter cannot be appropriately applied to a region that is not included in the imaging range of the probe. Also, the imaging parameters cannot be changed appropriately by immediately following the position and orientation of the probe. Therefore, when changing the position and orientation of the probe, it is necessary to redesignate the region of interest each time. Or the use conditions were limited, such as having to fix the position and orientation of the probe.
For example, when a part (for example, a cancer mass or a specific organ) that a doctor wants to pay attention to on a specimen is projected in a B-mode image, the target part while maintaining the operability of changing the position and orientation of the probe It was not possible to obtain an image that was always focused on.
The present invention has been made in view of the above problems, and dynamically sets imaging parameters suitable for observation of a region of interest on a subject while maintaining operability to change the position and orientation of a probe. An object is to provide a technique for generating a high-quality ultrasonic image.
On the other hand, in the case where the same subject is imaged by another diagnostic imaging apparatus such as MRI and the cross-sectional image of interest and the ultrasonic image are compared, in order to obtain an ultrasonic image corresponding to the cross-section of interest, It was necessary to reconstruct a three-dimensional ultrasonic image (volume data) of the entire object. However, it has been difficult to confirm whether or not a three-dimensional ultrasonic image for generating a cross-sectional image of interest can be generated.
In response to this problem, the technique disclosed in Patent Document 3 realizes a function of confirming whether a three-dimensional ultrasonic image of the entire target object has been acquired. However, it has not been possible to determine whether or not imaging necessary for obtaining an image of a specific cross-section or site of interest that the doctor is paying attention to has been performed. Therefore, in order to generate a desired cross-sectional image or an image including a region of interest on the cross-sectional image, the diagnostic imaging apparatus performs redundant image capturing processing and image processing, and the operator operates a redundant probe. I needed it. However, another object of the present invention is to provide a technique for efficiently acquiring an image corresponding to a cross section or position of interest of another modality such as MRI.
The present invention is an image diagnostic apparatus connected to an imaging device that captures an image of a subject, wherein the imaging device includes first acquisition means for acquiring region information that defines a region of interest in the subject, and the imaging device. A positional relationship between a second acquisition unit that acquires position and orientation information indicating a position and orientation of the probe, an imaging range of the imaging apparatus determined based on the position and orientation information, and the attention area defined by the area information In accordance with the present invention, there is provided an image diagnostic apparatus comprising calculation means for obtaining an imaging parameter of the imaging apparatus and output means for outputting the imaging parameter.
According to the configuration of the present invention, while maintaining the operability of changing the position and orientation of the probe, imaging parameters appropriate for observing the region of interest on the subject are dynamically set to generate a high-quality ultrasound image can do. Further, it is possible to efficiently acquire an image corresponding to a cross section or position of interest of another modality such as MRI.
1 is a block diagram showing an example functional configuration of an ultrasonic diagnostic apparatus according to a first embodiment. FIG. 11 is a block diagram illustrating a hardware configuration example of a computer applicable to the information processing unit 1000 and the information processing unit 7100. The flowchart of the process which the attention area acquisition part 1010 performs. The flowchart of the process for producing | generating the three-dimensional ultrasonic image containing an attention area. The figure which shows an example of the attention area | region in a reference coordinate system, the imaging area of a probe, and these intersection area | regions. Schematic which showed the relationship of the probe 601, the imaging area 602, and the crossing area | region 603 at the time of seeing from the orthogonal | vertical direction with respect to the plane used as an imaging area. The block diagram which shows the function structural example of the ultrasonic diagnosing device which concerns on the 2nd Embodiment of this invention. The flowchart of the process for producing | generating the three-dimensional ultrasonic image containing an object area | region. The flowchart which shows the detail of the process performed in step S301. The figure explaining the process in step S801, S803. The figure explaining the process for calculating | requiring a target area | region when an attention area | region is a point. The figure which shows the relationship between the volume data 1001 of MRI, the attention cross section 1002, the lesioned part 1003, and the partial attention area 1004. The figure which shows the example of a display of the ultrasonic image of an attention cross section. The figure which shows the example of a display of the ultrasonic image of an attention cross section.
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The embodiment described below shows an example when the present invention is specifically implemented, and is one of the specific examples of the configurations described in the claims.
The diagnostic imaging apparatus according to the present embodiment captures the attention area by a focus process appropriate for capturing the attention area defined in the reference coordinate system, and generates a three-dimensional ultrasound image focused on the attention area. This is an ultrasonic diagnostic apparatus.
<Configuration of Ultrasonic Diagnostic Device According to the Present Embodiment>
FIG. 1 is a block diagram illustrating a functional configuration example of the ultrasonic diagnostic apparatus according to the present embodiment. As shown in FIG. 1, the ultrasonic diagnostic apparatus according to the present embodiment includes an information processing unit 1000, an imaging unit 1100, and a position / orientation measurement unit 1200.
First, the position / orientation measurement unit 1200 will be described. The position / orientation measurement unit 1200 measures the position and orientation of an ultrasonic probe (not shown) constituting a part of the imaging unit 1100 in the reference coordinate system defined in the real space, and the measured position and orientation of the probe. Is transmitted to the information processing unit 1000. As the position / orientation measurement unit 1200, any sensor such as a magnetic sensor, a mechanical sensor, or an optical sensor may be used. In the following description, it is assumed that the position / orientation measurement unit 1200 is calibrated in advance, and the position / orientation information of the probe in the reference coordinate system can be acquired.
Here, the reference coordinate system is, for example, a point in the real space where the ultrasonic diagnostic apparatus according to the present embodiment is arranged as an origin (for example, a stationary point such as a sleeping bed of a patient), and this origin Represents a coordinate system in which three axes orthogonal to each other are defined as an X axis, a Y axis, and a Z axis, respectively. However, the following embodiment may be implemented using the subject coordinate system (patient coordinate system) as a reference coordinate system by regarding the subject (patient) as a rigid body. In this case, the position and orientation of the subject may be measured using the position and orientation measurement unit 1200, and the position and orientation of the probe in the subject coordinate system may be calculated from the relative position and orientation relationship between the subject and the probe. The subject coordinate system represents a coordinate system in which one point on the subject is defined as an origin, and three axes orthogonal to each other at the origin are defined as an X axis, a Y axis, and a Z axis, respectively.
Next, the imaging unit 1100 (imaging device) will be described. The imaging unit 1100 captures an ultrasonic image of the subject according to the imaging parameters supplied from the information processing unit 1000. Then, the ultrasonic image obtained by such imaging is transmitted to the information processing unit 1000. In the present embodiment, it is assumed that the ultrasound probe included in the imaging unit 1100 is a linear method, and the ultrasound image captured by the imaging unit 1100 is a two-dimensional B-mode image. The imaging unit 1100 may have the same configuration as a general ultrasonic diagnostic apparatus except that imaging parameters can be controlled from the outside.
Next, the information processing unit 1000 will be described. The information processing unit 1000 obtains appropriate imaging parameters for imaging the region of interest in the subject, and transmits the obtained imaging parameters to the imaging unit 1100 for setting. In the present embodiment, the focus position is used as the imaging parameter. The information processing unit 1000 acquires an ultrasound image from the imaging unit 1100 in which such imaging parameters are set, and integrates the acquired ultrasound image to generate a three-dimensional ultrasound image related to the region of interest.
As illustrated in FIG. 1, the information processing unit 1000 includes an attention area acquisition unit 1010, an attention area information storage unit 1011, a position / orientation acquisition unit 1020, an intersection area calculation unit 1021, a parameter determination unit 1022, an ultrasound image acquisition unit 1030, an image A generating unit 1031;
The attention area acquisition unit 1010 acquires area information that defines the attention area of the subject in the real space (in the reference coordinate system) (first acquisition). This region information may be any information as long as it can define the region of interest of the subject in the real space. For example, the region information indicates the three-dimensional coordinate value of the center position of the region and its radius. It may also be mathematical formula information for deriving this. In the present embodiment, the attention area is a sphere, and the area information is information indicating the three-dimensional coordinate value of the center of the sphere and the radius of the sphere. Note that the area information input mode for the information processing unit 1000 is not particularly limited, and may be received from an external device via a network, or may be input by a user operating a keyboard, a mouse, or the like. good. When the region-of-interest acquisition unit 1010 acquires the region information input in this way, the region-of-interest acquisition unit 1010 temporarily stores it in the region-of-interest information storage unit 1011.
The position / orientation acquisition unit 1020 acquires position / orientation information indicating the position / orientation of the probe of the imaging unit 1100 in the reference coordinate system from the position / orientation measurement unit 1200 (second acquisition). Then, the position / orientation acquisition unit 1020 sends the acquired position / orientation information to the subsequent intersection area calculation unit 1021.
The intersection region calculation unit 1021 performs the following process using the region information stored in the attention region information storage unit 1011 and the position and orientation information sent from the position and orientation acquisition unit 1020. That is, a cross section in the imaging range of the imaging unit 1100 determined based on the position and orientation information of the attention area defined by the area information is obtained as an intersection area. Then, the intersection area calculation unit 1021 sends information indicating the intersection area thus obtained (intersection area information) to the parameter determination unit 1022 at the subsequent stage. In addition, the intersection area calculation unit 1021 sends the area information and position / orientation information to the subsequent image generation unit 1031.
The parameter determination unit 1022 calculates optimal imaging parameters to be set in the imaging unit 1100 using the intersection area information sent from the intersection area calculation unit 1021. In the present embodiment, a focus position is calculated so as to focus on an area on the subject corresponding to the intersection area. The parameter determination unit 1022 transmits the calculated imaging parameter to the imaging unit 1100. In addition, the parameter determination unit 1022 sends the obtained imaging parameter and the intersection area information used for obtaining the imaging parameter to the subsequent image generation unit 1031.
The ultrasonic image acquisition unit 1030 acquires the ultrasonic image captured by the imaging unit 1100. It is assumed that the acquired ultrasonic image is associated with the imaging parameter obtained by the parameter determination unit 1022 and various types of information used for obtaining the imaging parameter. For example, the same identifier can be added to the imaging parameters and the various types of information used by the parameter determination unit 1022, and the captured ultrasound images can also be associated with each other by attaching the same identifier. Further, when the imaging parameters are uniquely determined for each position and orientation of the probe, the position and orientation information of the probe may be used as identification information. Alternatively, various types of information used in the parameter determination unit 1022 may be transmitted to the imaging unit 1100 together with the imaging parameters, added to the ultrasound image, and input to the ultrasound image acquisition unit 1030 again.
The image generation unit 1031 integrates the ultrasonic image group acquired by the ultrasonic image acquisition unit 1030 and generates a three-dimensional ultrasonic image (volume data) including the region of interest. Then, the image generation unit 1031 outputs the generated three-dimensional ultrasonic image. The output destination is not particularly limited, and may be transmitted to an external device via a network, or may be output to a display device for display purposes.
<Processing procedure performed by the ultrasonic diagnostic apparatus>
Next, processing performed by the ultrasonic diagnostic apparatus according to the present embodiment will be described. FIG. 3 is a flowchart of processing performed by the attention area acquisition unit 1010. First, in step S301, the attention area acquisition unit 1010 acquires area information that defines the attention area of the subject in the real space (in the reference coordinate system). Next, in step S <b> 302, the attention area acquisition unit 1010 temporarily stores the acquired area information in the attention area information storage unit 1011.
Next, processing for generating a three-dimensional ultrasound image including a region of interest will be described below with reference to FIG. 4 showing a flowchart of the processing. The process according to the flowchart of FIG. 4 is executed after the process according to the flowchart of FIG. 3 is completed. Of course, at the time when the process according to the flowchart of FIG. 4 is started, the ultrasonic diagnostic apparatus is activated, an ultrasonic image can be taken, and the position and orientation of the probe are also measured.
First, in step S401, the position / orientation acquisition unit 1020 acquires the position / orientation information of the probe from the position / orientation measurement unit 1200, and sends the acquired position / orientation information to the subsequent intersection region calculation unit 1021. Next, in step S402, the intersection area calculation unit 1021 calculates information (imaging area information) indicating the imaging area (imaging area) of the probe in the reference coordinate system using the position and orientation information of the probe. Here, the imaging area is information representing an area in the real space captured in an image captured by the probe. The imaging area is defined by a plane (imaging plane) in the real space and an area on the plane. The imaging plane is uniquely defined in the reference coordinate system according to the position and orientation of the probe. On the other hand, the area on the plane is calculated based on the number of transducers, the pitch between the transducers, the depth in the direction in which the ultrasonic signal is transmitted, and the like. It is assumed that the number of vibrators, pitch, beam forming model, etc. are known information.
Next, in step S403, the intersection area calculation unit 1021 uses the area information stored in the attention area information storage unit 1011 and the imaging area information calculated in step S402, to calculate the attention area in the imaging area. A cross section is obtained as an intersection region. In this embodiment, since the attention area is expressed by a sphere, the calculated intersection area is described by a circle (center coordinates and radius) on the ultrasonic image. In addition, since the parameter of the circle on the plane when the sphere in the space is cut by the plane can be derived using elementary geometry, detailed description thereof is omitted here.
FIG. 5 is a diagram illustrating an example of a region of interest, a probe imaging region, and an intersection region thereof in the reference coordinate system. In FIG. 5, reference numeral 501 denotes an attention area (sphere), 502 denotes a probe, 503 denotes an imaging area calculated based on the position and orientation information of the probe, and 504 denotes a circle (intersection area) indicating a cross section of the attention area 501 in the imaging area 503 ). In FIG. 5, a portion of the attention area 501 shown in the drawing that is in front of the intersection area 504 is omitted for ease of explanation.
Then, the intersection area calculation unit 1021 sends information indicating the intersection area obtained in this way (intersection area information) to the parameter determination unit 1022 at the subsequent stage. In addition, the intersection area calculation unit 1021 sends the area information and position / orientation information to the subsequent image generation unit 1031.
Next, in step S404, the intersection area calculation unit 1021 determines whether or not the intersection area has been obtained in step S403. If the intersection area cannot be obtained as a result of the determination, the process returns to step S401, and the processes of steps S401 to S403 are repeated based on the position and orientation information of the probe input at the next time. On the other hand, if the intersection area can be obtained, the process proceeds to step S405.
In step S405, the parameter determination unit 1022 obtains an imaging parameter based on the intersection area information. FIG. 6 is a schematic diagram illustrating a relationship among the probe 601, the imaging region 602, and the intersecting region 603 when viewed from the direction perpendicular to the plane serving as the imaging region. In FIG. 6, the intersection region 603 can be regarded as a region on a plane showing the imaging region 602.
There are various methods for determining the focus position 605. In this embodiment, the user may select one of them, or a predetermined determination method may be used. For example, when it is desired to focus near the boundary of the intersection area 603, the distance to the intersection area 603 is determined as the focus position 605 independently for each scanning line 604. When it is desired to focus inside the intersection area 603, as shown at 606, an intermediate position between intersections (two points) between the scanning line 604 and the intersection area 603 may be set as the focus position. Further, the distance to the center point of the intersecting region 603 may be set as a focus position common to all scanning lines. In addition, any determination method may be used as long as it can focus on the intersection region 603. For example, it is possible to apply a method for determining a focus position as disclosed in Patent Document 1.
Next, in step S406, the parameter determination unit 1022 sends the obtained imaging parameters to the imaging unit 1100. Thereby, the imaging unit 1100 can set the imaging parameter obtained by the parameter determination unit 1022 to itself, and can capture an ultrasonic image according to the set imaging parameter. Then, the imaging unit 1100 transmits the captured ultrasonic image to the information processing unit 1000. In addition, the parameter determination unit 1022 sends the obtained imaging parameter and the intersection area information used for obtaining the imaging parameter to the subsequent image generation unit 1031.
In step S406, the ultrasound image acquisition unit 1030 acquires the ultrasound image transmitted from the imaging unit 1100, and sends this to the subsequent image generation unit 1031. Next, in step S <b> 407, the image generation unit 1031 accumulates the ultrasound image sent from the ultrasound image acquisition unit 1030 in a memory (not shown) in the information processing unit 1000. At this time, as described above, the ultrasound image is associated with the imaging parameter obtained by the parameter determination unit 1022 and various types of information used for obtaining the imaging parameter.
Then, the image generation unit 1031 performs a three-dimensional reconstruction process using the position and orientation information of the probe using all the ultrasonic images stored up to this point, and generates a three-dimensional ultrasonic image (volume data). ) Is generated. The 3D reconstruction process may be any method as long as it can reconstruct a 3D volume from a plurality of ultrasonic images. As an example, the method described in the following document can be used.
A. Fenster, "3-Dimensional Ultrasound Imaging," Imaging Economics, 2004.
The processes in steps S401 to S407 as described above are repeated according to the ultrasonic image transmission rate by the imaging unit 1100. When the user changes the position and orientation of the probe in the same way as normal diagnosis, imaging of the ultrasound image is repeated, and appropriate imaging parameters are set to capture the region of interest regardless of the position and orientation of the probe. (I.e., focus processing is always performed on the region of interest). Then, by integrating these images, it is possible to generate a three-dimensional ultrasonic image focused on the region of interest.
In the present embodiment, the information processing unit 1000 and the image capturing unit 1100 are separate devices. However, the information processing unit 1000 and the imaging unit 1100 may be combined into one device, and the system can be used as long as the above functions according to the present embodiment are realized. The configuration of is not particularly limited. In addition, for example, the information processing unit 1000 may be configured inside a three-dimensional medical imaging apparatus such as MRI, and the system may be implemented as a system that controls imaging parameters of the ultrasonic diagnostic apparatus.
As described above, according to the present embodiment, it is possible to apply imaging parameters suitable for observing the site of interest on the subject. In addition, since the imaging parameters are appropriately changed by following immediately after the position and orientation of the probe change, it is possible to save the trouble of redesignating the region of interest. Therefore, it is possible to observe the attention site without impairing the operability of the user.
Also, it becomes possible to designate the attention area before imaging, and it is possible to designate the attention area based on other three-dimensional image data. Furthermore, a high-quality image of the entire region of interest can be obtained by integrating a plurality of images (each image partially including the region of interest) captured with imaging parameters suitable for observation of the region of interest. Is possible.
Here, some modified examples will be described below. However, these modified examples should not be treated as modified examples of only the first embodiment, but modified examples of the second and subsequent embodiments, and some modified examples. It should be taken as a modification to the combination of the embodiments.
In the first embodiment, the attention area is expressed as a sphere. However, the method of expressing the attention area is not limited to this. Further, as described in the first embodiment, there are various acquisition modes of the region information of the attention region by the attention region acquisition unit 1010, and the present invention is not limited to any one.
For example, the region information of the region of interest may be acquired from a three-dimensional medical image captured by another modality such as MRI, CT, or PET. In this case, the region of interest in the three-dimensional medical image may be extracted automatically, semi-automatically or manually, and this may be used as region information of the region of interest. Examples of the region of interest include a region suspected of having a cancer mass in volume data obtained by MRI, and a three-dimensional region such as a segmented organ.
The region information of the attention region is described as, for example, labeled volume data (a set of three-dimensional point groups). Alternatively, the obtained region may be approximated by a sphere or a rectangle, or may be described more simply using only three-dimensional coordinates that represent the position of the site of interest (center position, center of gravity position). The segmentation result may be described by a function (for example, an implicit polynomial). The attention area acquisition unit 1010 acquires the area information of the attention area from the device that performs the above segmentation or the device that holds the result. Based on the area information acquired in this way, the user may perform an operation such as enlarging or reducing the attention area via an input device such as a mouse or a keyboard.
Note that it is considered that the alignment between the three-dimensional medical image and the reference coordinate system has already been completed by other means (that is, coordinate conversion from the coordinate system of the three-dimensional medical image to the reference coordinate system is possible). . Alternatively, the attention area may be specified two-dimensionally on the ultrasound image and converted into area information of the attention area in the reference coordinate system based on the position and orientation information of the probe.
In the first embodiment, the attention area is described as the three-dimensional shape data, but an arbitrary cross section in the three-dimensional shape data of another medical imaging apparatus (for example, MRI) can be designated as the attention area.
In this case, in step S301, the three-dimensional shape data of MRI is displayed by volume rendering on the GUI, and a cross section on the three-dimensional shape data of MRI is designated by an operation using a mouse or a keyboard. Then, the cross section is coordinate-transformed into a plane in the reference coordinate system. In step S403, an intersection region 504 is acquired as an intersection line between the target plane and a plane indicating the imaging region of the probe. In step S405, the focus is set for each scanning line with respect to the above intersection line. In step S407, two-dimensional ultrasound corresponding to an arbitrary cross section of the designated MRI is projected by projecting the pixel value on the intersection line of the ultrasound image captured by the imaging unit 1100 as the pixel value of the plane of interest. An image may be generated. That is, according to this modification, a high-quality ultrasonic image can be acquired in the same region as the cross section in the three-dimensional shape data of a medical imaging apparatus such as MRI.
In the first embodiment, the imaging parameter is determined using the intersection area between the area (attention area) indicated by the area information and the imaging area. However, any other method can be used as long as the imaging parameter is determined based on the positional relationship between the probe and the region of interest (the positional relationship between the imaging range determined based on the position and orientation information of the probe and the region indicated by the region information). A method may be used.
For example, even when there is no intersection area between the imaging area and the attention area, one point in the imaging area closest to the attention area is selected, and the distance to this one point is set as the focus value. Also good. For example, when the attention area is designated by a point, in most cases, the intersection with the imaging area does not occur. Therefore, the coordinates of the foot of the perpendicular line dropped from the attention point to the imaging plane are set as the focus position. Become. More simply, the coordinates in the depth direction of the center of gravity of the region of interest in the probe coordinate system may be simply set as the focus position.
In the first embodiment, the case where the imaging parameter is the focus position has been described, but other types of parameters may be used. For example, STC, depth, focus range, and sound pressure may be adjusted.
For example, when adjusting the focus area, in step S406, the imaging parameters may be adjusted so that the intersection line between the scanning line 604 and the intersection area 603 falls within the focus area. When adjusting the depth, an intersection area between the imaging plane (a plane including the imaging area) and the attention area may be calculated, and the depth may be adjusted so that the intersection area is included in the imaging area. When adjusting the sound pressure, the magnitude of the sound pressure is adjusted according to the position of the center of gravity of the target area (the sound pressure is increased if the position of the center of gravity is far, and the sound pressure is decreased if the position of the center of gravity is close). Only one of these parameters may be adjusted, or a plurality of parameters may be adjusted.
In the first embodiment, the three-dimensional ultrasonic image is generated by synthesizing the ultrasonic images acquired by the imaging unit 1100, but this configuration is not necessarily required. For example, a configuration that only controls imaging parameters of the imaging unit 1100 may be used. In this case, the image captured by the imaging unit 1100 may be displayed on a display device such as a monitor.
In the first embodiment, the ultrasonic image to be picked up uses a one-dimensional array of probes that acquire a two-dimensional image. However, it goes without saying that the same effects as those described in the first embodiment can be obtained even when a two-dimensional array probe that acquires a three-dimensional image is used. In this case, the intersection area between the attention area and the imaging area is a three-dimensional area in the reference coordinate system.
Instead of generating the three-dimensional volume data using the entire acquired ultrasonic image, only the attention area information may be used to perform three-dimensional reconstruction of only the attention area. In this case, when the pixel value of the attention area is determined from the pixel value of the intersection area 603, only a part of the pixels in the intersection area 603 that can be expected to be imaged well is acquired and the pixels of the attention area are obtained. It may be a value.
For example, the length of the focus area is fixed, and among the line segments where the intersecting area 603 and the scanning line 604 overlap, only the pixels on the line segment within the focus area may be acquired as the pixel value of the attention area. Good. At this time, among the region information stored in the region-of-interest information storage unit 1011, the region where the pixel value of the ultrasound image that falls within the focus region in the region of interest has been acquired can be identified. You can also. By repeating the processes in steps S401 to S408 for an unacquired area of the attention area, an ultrasound image of the attention area composed only of pixels that fall within a specific focus area is generated. It can be generated with pixel values of an ultrasound image that falls within the area. As an example of a method for identifying unacquired areas, a method may be used in which a flag is set for each pixel on a coordinate or volume data, a pixel on a plane or a straight line, or information indicating an unacquired area is added separately. Also good.
In step S406, in addition to the positional relationship between the region of interest in the reference coordinate system and the probe, imaging parameters may be determined in consideration of attenuation of ultrasonic waves in the living body. For example, by using the positional relationship between the region of interest in the reference coordinate system and the probe, it is possible to specify the frequency dependent attenuation (FDA) of the living body that the ultrasound transmits (skin, breast, organ, etc.) . The attenuation amount of the ultrasonic echo can be calculated for each ultrasonic frequency. For each position and orientation of the probe, calculate the amount of attenuation of the intensity of the ultrasound that irradiates and reflects the area of interest, and the intensity of the ultrasound transmitted to each point in the area of interest and the intensity of the ultrasound at the time of reception are uniform Imaging parameter determination may be performed as follows.
In step S406, if the intersection region 603 between the imaging region of the probe and the attention region is included in the imaging region 602, the direction of the scanning line is controlled so that the scanning line 604 that does not overlap the intersection region 603 corresponds to the attention region. Good. That is, the imaging parameter may be determined so that the direction of the scanning line 604 is changed so that all the scanning lines of the probe overlap the intersection region 603. As an example of a method of changing the direction of the scanning line of the probe, a method of changing the time delay of the transducer of the probe may be used, or another method may be used.
In the present embodiment, the method for obtaining the intersecting region is changed according to the expression form of the attention region (sphere, rectangular parallelepiped, point, etc.). In the following description of the present embodiment, only differences from the already described embodiment will be described, and the rest will be the same as the already described embodiment unless otherwise noted.
FIG. 7 is a block diagram illustrating a functional configuration example of the ultrasonic diagnostic apparatus according to the present embodiment. As shown in FIG. 7, the ultrasonic diagnostic apparatus according to this embodiment includes an information processing unit 7100, an imaging unit 1100, and a position / orientation measuring unit 1200. That is, the components other than the information processing unit 7100 are the same as those in the first embodiment. Therefore, the information processing unit 7100 will be described below.
As illustrated in FIG. 7, the information processing unit 7100 includes an attention area acquisition unit 1010, an attention area information storage unit 1011, a position / orientation acquisition unit 1020, a target area calculation unit 7121, a parameter determination unit 1022, an ultrasound image acquisition unit 1030, a display Part 7132. That is, except for the target area calculation unit 7121 and the display unit 7132, it is the same as that shown in FIG. 1, and the description thereof is also the same as that of the first embodiment. The display portion 7132 will be described.
Also in this embodiment, the attention area acquisition unit 1010 acquires area information. As described in the first embodiment, various expression forms can be considered for this area information. For example, when the attention area is a point (attention point), the three-dimensional coordinates of the attention point in the reference coordinate system are acquired as area information. Moreover, you may describe the attention area | region which has a solid shape with other shapes, such as a rectangular parallelepiped and a polyhedron.
Also, the region information can be described as labeled volume data (three-dimensional point cloud), and the point cloud representing the region of interest can be approximated by a polyhedron or a polynomial. In particular, when a region of interest such as a tumor is extracted from a 3D medical image previously captured by another modality such as a nuclear magnetic resonance imaging apparatus (MRI) and used as a region of interest, these expression methods are effective. It is. In this case, it is desirable that the user designates an MRI connected to the ultrasonic diagnostic apparatus over a network or a file in which area information on the image server is described, and the attention area acquisition unit 1010 reads the file.
When using data of other modalities, it is assumed that data alignment with respect to the reference coordinate system has already been performed by other means, and this data has already been coordinate-converted into the reference coordinate system. Alternatively, a coordinate system that defines an image of this modality may be used as the reference coordinate system.
The target area calculation unit 7121 uses the area information stored in the attention area information storage unit 1011 and the position / orientation information transmitted from the position / orientation acquisition unit 1020 as the target area. The processing to be obtained is performed. Then, the target area calculation unit 7121 sends information indicating the target area thus obtained (target area information) to the parameter determination unit 1022 at the subsequent stage. Further, the target area calculation unit 7121 sends the area information and the position / orientation information to the subsequent image generation unit 1031.
The display unit 7132 can display the ultrasonic image generated by the image generation unit 1031 or display a GUI (graphical user interface) for the user. Note that the image generation by the image generation unit 1031 and the image display by the display unit 7132 can be sequentially executed for every image pickup by the image pickup unit 1100, or can be executed for a predetermined number of times and for a predetermined time. These are set by an instruction input from the user.
Next, processing performed by the ultrasonic diagnostic apparatus according to the present embodiment will be described. Since the processing performed by the attention area acquisition unit 1010 is the same as that in the first embodiment, the processing follows the flowchart shown in FIG. 3, but in this embodiment, the area information of various expression forms is displayed. Allow input.
When the attention area is a sphere, the area information indicates the three-dimensional coordinate value of the sphere and the radius of the sphere, as in the first embodiment. When the attention area is a rectangular parallelepiped or a polyhedron, the area information indicates the coordinates of each vertex and a mathematical expression indicating the position and area of the rectangular parallelepiped or polyhedron. When the attention area is a point (attention point), the area information indicates the coordinates of the attention point. Further, when the attention area is labeled volume data, the area information may indicate a point group, or may indicate a mathematical expression or information indicating the position and shape of the volume data.
Thus, in this embodiment, input of various area information is permitted. Of course, the attention area acquisition unit 1010 may read the file in which such area information is described, thereby acquiring the file. Such area information is temporarily stored in the attention area information storage unit 1011.
Next, processing for generating a three-dimensional ultrasound image including the target area will be described below with reference to FIG. 8 showing a flowchart of the processing. In FIG. 8, steps that perform the same processing as in FIG. 4 are given the same step numbers, and descriptions thereof are omitted.
Note that the process according to the flowchart of FIG. 8 is executed after the process according to the flowchart of FIG. 3 is completed. Of course, at the time when the processing according to the flowchart of FIG. 8 is started, the ultrasonic diagnostic apparatus is activated, an ultrasonic image can be taken, and the position and orientation of the probe are also measured.
In step S801, the target area calculation unit 7121 uses the area information stored in the attention area information storage unit 1011 and the imaging area information calculated in step S402 to use the target area to obtain the imaging parameters. Ask for. Here, the target area calculation unit 7121 selects an appropriate method determined in advance according to the expression form of the attention area, and calculates the target area according to the selected method.
Specifically, when the attention area is expressed in the shape of each of a sphere, a rectangular parallelepiped, a polyhedron, and labeled volume data, the intersection area between the attention area and the imaging area is calculated as the target area. On the other hand, when the attention area is represented by a point, the vicinity area is calculated as the target area. It is assumed that the attention area is associated with the expression form of the attention area and the corresponding target area calculation method in advance, and is managed by the target area calculation unit 7121.
For example, when the attention area is a sphere, the target area calculation unit 7121 calculates an intersection area between the attention area and the imaging area as the target area, as in the first embodiment. Further, for example, when the attention area is a rectangular parallelepiped, the target area calculation unit 7121 calculates the intersection area between the attention area and the imaging area as the target area, as in the case of the sphere. Specifically, a polygonal area formed by intersecting lines of each plane of the rectangular parallelepiped and a plane indicating the imaging area is set as a target area.
For example, when the attention area is a polyhedron, the target area calculation unit 7121 calculates the intersection area between the attention area and the imaging area as the target area, as in the case of the sphere. Specifically, a polygonal area formed by intersecting lines of the entire plane of the polyhedron and the plane indicating the imaging area is set as the target area.
Also, for example, when the attention area is indicated by labeled volume data, the target area calculation unit 7121 is a point of a perpendicular line whose distance from each point of the volume data to the plane indicating the imaging area is within a predetermined threshold value To extract. And let the area | region used as the convex hull of the point group used as the leg | foot of the perpendicular on the extracted imaging area be an object area | region.
Here, when the intersecting region is clearly determined, it is desirable to calculate the intersecting region as the target region, but when the attention region is a point, in the normal probe operation, between the imaging region and the attention region, The frequency of occurrence of intersection areas may be low. In this case, as shown in FIG. 11, a vertical line 901 is dropped from the attention area 501 to the imaging area 503, and a neighboring area 902 generated by a point on the imaging area 503 that becomes the foot of the vertical line 901 is calculated as a target area. . By using this neighborhood region 902 as a target region, the focus position of the ultrasonic diagnostic apparatus can be adjusted in the same manner as the intersection region 504.
That is, when the attention area is a point, the attention area 501 becomes an attention point indicated by three-dimensional coordinates, and the target area calculation unit 7121 calculates a neighboring area for the attention point. The target area calculation unit 7121 calculates, as the neighboring area 902, a point on the imaging area 503 that becomes a leg of the perpendicular when the perpendicular line 901 drawn from the attention point to the imaging area 503 has a length equal to or shorter than a predetermined threshold. This region (point) is set as a target region.
It should be noted that the method for selecting a region to be obtained in the target region calculation is not limited to the method described above. For example, if there is a crossing region between the region of interest and the imaging region, the crossing region is set as the target region, and if there is no crossing region, a neighboring region is obtained and set as the target region. can do. In addition, during the photographing operation, it is possible to change which one of the intersection area and the vicinity area is used according to an instruction input by the user.
Then, the target area calculation unit 7121 sends information indicating the target area thus obtained (target area information) to the parameter determination unit 1022 at the subsequent stage. Further, the target area calculation unit 7121 sends the area information and the position / orientation information to the subsequent image generation unit 1031.
Next, in step S802, the target area calculation unit 7121 determines whether the target area has been obtained in step S801. If the target area cannot be obtained as a result of the determination, the process returns to step S401, and the processes of steps S401, S402, and S801 are performed based on the position and orientation information of the probe input at the next time. repeat. On the other hand, if the target area can be obtained, the process proceeds to step S803.
In step S803, the parameter determination unit 1022 obtains an imaging parameter based on the target area information. The process in this step is substantially the same as the process in step S405. For example, the end point on the near side of the line segment where the scan line and the target region overlap is determined as the focus position independently for each scan line. According to this, it is possible to focus on the vicinity of the boundary of the attention area, particularly when the target area is an intersection area.
Note that the method for determining the focus position is not limited to this as described in the first embodiment. For example, if you want to image the entire inside of a wide area such as an organ before deciding the best focus position for a specific part, set the distance to the center point of the target area to the focus position common to all scan lines. Can also be set.
Finally, in step S408, the display unit 7132 displays the three-dimensional ultrasonic image (volume data) generated by the image generation unit 1031. For example, when it is desired to compare with a cross-sectional image captured by another modality, the display unit 7132 displays a three-dimensional ultrasonic image in three orthogonal cross sections according to an instruction from the user.
Here, the volume data may be displayed by any display method depending on the purpose of the user. For example, when the user observes a three-dimensional shape, the volume rendering display is designated. You can also. Further, the display may be such that a MIP (Maximum Intensity Projection) image projected on each plane of a rectangular parallelepiped that volume data circumscribes and the MIP image can be displayed. The presence / absence of the display of the ultrasonic image and the display method can be set in the ultrasonic diagnostic apparatus in advance or switched during the imaging operation according to a user instruction.
Further, when it is designated by the user's instruction to perform the image display process in step S408, the processes in steps S401 to S408 are repeated according to the transmission rate. Accordingly, during the user's imaging operation, the image generation unit 1031 sequentially generates a three-dimensional ultrasound image focused on the region of interest, and the display unit 7132 sequentially generates the generated three-dimensional ultrasound image. It can also be displayed.
In the second embodiment, the attention area is designated based on the volume data obtained from the direct input of a numerical value by the user or the three-dimensional image of another modality. In the present embodiment, the attention area is set by a method different from that in the second embodiment. Specifically, the second point is that the user operates the probe while viewing the ultrasonic image captured by the imaging unit 1100, and sets the attention area based on the area designated by the user on the attention ultrasonic image. This is different from the embodiment. Hereinafter, only the difference from the second embodiment will be described in the present embodiment.
The configuration of the ultrasonic diagnostic apparatus according to this embodiment is the same as that of the second embodiment, but the function of the attention area acquisition unit 1010 is different from that of the second embodiment. In addition, the position and orientation information acquired by the position and orientation acquisition unit 1020 is also supplied to the attention region acquisition unit 1010, and the ultrasound image acquired by the ultrasound image acquisition unit 1030 is also supplied to the attention region acquisition unit 1010. This is also different from the second embodiment.
The attention area acquisition unit 1010 collects information about an area (attention area) designated by the user on the ultrasound image supplied from the ultrasound image acquisition unit 1030. Then, the attention area acquisition unit 1010 obtains area information that defines the attention area in the reference coordinate system using the collected information and the position and orientation information supplied from the position and orientation acquisition section 1020.
Next, processing performed by the ultrasonic diagnostic apparatus according to the present embodiment will be described. Regarding the processing performed by the attention area acquisition unit 1010, the following processing is performed in step S301 in the flowchart shown in FIG.
In step S301, the attention area acquisition unit 1010 acquires the attention ultrasound image from the ultrasound image acquisition part 1030. This acquisition may be based on an input instruction from the user, for example. Then, the attention area acquisition unit 1010 causes the display unit 7132 to display the acquired ultrasonic image sequentially (as a live moving image). The user designates a region of interest while viewing the ultrasonic image displayed on the display unit 7132. For example, a predetermined key on the keyboard (hereinafter referred to as “still image acquisition key”) is pressed in a state where the probe is fixed to the affected part so that an ultrasonic image in which the lesion of interest is depicted is displayed. The attention area acquisition unit 1010 continues to display the ultrasonic image displayed on the display unit 7132 as the attention ultrasonic image on the display unit 7132 when the “still image acquisition key” is pressed. Further, the position / orientation information of the image capturing unit 1100 when this attention ultrasonic image is captured is acquired from the position / orientation acquiring unit 1020 and stored in a memory (not shown).
The attention area acquisition unit 1010 further collects information related to the area designated by the user on the attention ultrasonic image. Specifically, a GUI for the user to specify the attention area on the attention ultrasonic image displayed on the display unit 7132 is provided, and information related to the attention area specified by the user is collected. Then, the attention area acquisition unit 1010 defines the attention area in the reference coordinate system based on the collected information and the position / orientation information supplied from the position / orientation acquisition unit 1020 when the attention ultrasonic image is captured. Region information to be obtained.
In addition, as a method for the user to specify a region on the target ultrasonic image, for example, a method of specifying a circular region (a center point of a circle and an arbitrary point on the circumference) on the ultrasonic image may be used. Good. Then, a sphere having the same center and the same radius as the designated circle is determined as the attention area. Any other method may be used for designating an area on the image, and any method such as inputting a rectangle or a free shape as used in a normal paint tool or the like may be used. Good. In addition, a point or a set of points on the image may be designated as a seed, and a result of automatically extracting a region having image characteristics similar to them (or a circle approximating the region) may be used. When regions on the image are specified by these methods, as a region of interest in the reference coordinate system, for example, a spheroid obtained by rotating these regions around an appropriate axis, or a spheroid rotated around several axes Set the product of the body. Alternatively, the position of interest on the focused ultrasound image may be designated by a point, and the focused area may be described as the position of the point in the reference coordinate system. Alternatively, a region may be designated by any method on two or more ultrasonic images of interest, and a three-dimensional region derived from these regions by the visual volume intersection method may be used as the region of interest. The subsequent points are the same as in the second embodiment.
As described above, according to the present embodiment, the user can specify a region of interest while viewing an ultrasonic image captured by a probe in an arbitrary position and orientation. In particular, a three-dimensional region in the reference coordinate system can be designated as a region of interest only by an operation of designating a two-dimensional region on a two-dimensional ultrasonic image. In addition, since the range of the image displayed in the imaging area can be designated as the attention area by the same operation and display as those of a normal ultrasonic diagnostic apparatus, the attention area can be designated intuitively and easily for the user.
In the above embodiment, a point on the subject or a three-dimensional set of points is designated as the region of interest. In the present embodiment, as a form of the attention area different from the above-described embodiment, a cross section on the subject is designated as the attention area (attention section). In particular, an arbitrary cross section in a three-dimensional image acquired by another medical image photographing apparatus (for example, MRI) is designated as a target cross section. A high-quality ultrasonic image of the same cross section as the target cross section is generated. Only differences from the second embodiment will be described below.
The configuration of the ultrasonic diagnostic apparatus according to the present embodiment is the same as that of the second embodiment, but the region of interest acquisition unit 1010 defines, as region information, a partial region of interest on the cross section in the reference coordinate system. Is different from the above embodiment. The functions of the target area calculation unit 7121, parameter determination unit 1022, and image generation unit 1031 are also different from those in the above-described embodiment corresponding to the attention area being a cross section. Furthermore, the display unit 7132 is different from the above embodiment in that an ultrasonic image corresponding to the cross section of interest is displayed and information on the partial region of interest is displayed.
The attention area acquisition unit 1010 acquires a three-dimensional image of a subject imaged in advance by MRI or the like, and selects one of a plurality of cross sections (tomographic images) included in the acquired three-dimensional image as a user. To select. When the user selects any one cross section (attention cross section), information indicating the selected cross section (attention cross section information) is generated. The attention section information is expressed by, for example, the coordinates of one point on the section and the normal vector.
Further, the attention area acquisition unit 1010 collects information (partial attention area information) indicating an area (partial attention area) designated by the user in the attention section. The attention area acquisition unit 1010 generates area information that defines the partial attention area in the reference coordinate system using the collected information and the position and orientation information acquired by the position and orientation acquisition unit 1020. The generated area information is stored in the attention area information storage unit 1011 as in the above embodiment. On the other hand, the partial attention area information is sent to the display unit 7132. A more detailed description of the attention area acquisition unit 1010 and a description of the target area calculation unit 7121, the parameter determination unit 1022, and the image generation unit 1031 will be described later.
The display unit 7132 sequentially displays ultrasonic images having the same cross section as the target cross section generated by the image generation unit 1031. Further, information indicating the partial attention area is superimposed on the ultrasonic image and displayed. A more detailed description of the display unit 7132 will be described later.
Next, processing performed by the ultrasonic diagnostic apparatus according to the present embodiment will be described. The implementation procedure of the present embodiment is started when a three-dimensional image of the subject acquired in advance by MRI is input to the attention area acquisition unit 1010.
The attention area acquisition unit 1010 performs processing according to the flowchart of FIG. 3, but in step S301, performs processing according to the flowchart shown in FIG. FIG. 9 is a flowchart showing details of the processing performed in step S301.
In step S701, the attention area acquisition unit 1010 displays the three-dimensional image acquired from the MRI on the GUI displayed on the display unit 7132 by volume rendering. At this time, in the subsequent processing (the processing in this step is also executed after step S702), if the parameter for specifying the cross section of interest is set, the three-dimensional image is extracted in a form in which the cross section of interest is cut out. Display with rendering. The image of the cross section of interest is also displayed as a two-dimensional image without a perspective. The attention area acquisition unit 1010 also displays a graphic operation object (for example, a control point) for receiving an instruction from the user regarding the operation of the cross section. After finishing the above display, the attention area acquisition unit 1010 waits for an instruction input from the user.
In step S702, the attention area acquisition unit 1010 determines an operation from the user, and if it is determined that the attention section is designated (updated) by an operation of the displayed control point, the parameter representing the attention section is changed. The process returns to step S701. On the other hand, if it is determined that an operation for determining the cross section of interest has been input, the process proceeds to step S703.
In step S703, the attention area acquisition unit 1010 accepts designation of a partial attention area on the attention section. The received designation, that is, partial attention area information is sent to the display unit 7132. The partial attention area is a partial area that the operator wants to pay more attention to (such as taking an ultrasonic image) on the cross section of interest, such as a lesion such as a tumor mass or an area with a high possibility of abnormality. As the partial attention area, for example, a circle, an ellipse, a rectangle, or other area is designated by an operation instruction from the user on the two-dimensional image of the MRI attention section displayed on the display unit 7132 in step S701. FIG. 12 is a diagram showing a relationship among MRI volume data 1001, a cross section of interest 1002, a lesioned part 1003, and a partial attention area 1004.
As another method of specifying a partial attention area, the attention area acquisition unit 1010 acquires information on the position of a lesion area automatically or manually extracted from a three-dimensional image of MRI by another means, and the information is obtained. It is also possible to determine the partial attention area based on the original. In this case, for example, a lesion area on the attention cross section 1002 may be used as partial attention area information as it is. Further, for example, an ellipse or a rectangular area including a lesion area may be used as the partial attention area information.
Returning to FIG. 9, next, in step S <b> 704, the attention area acquisition unit 1010 converts the parameter representing the attention cross section designated by the processing in steps S <b> 701 and S <b> 702 into a description based on the reference coordinate system. As a result, region information that defines the region of interest in the reference coordinate system can be generated. In step S302, this region information is stored in the region of interest information storage unit 1011.
Next, processing for generating a three-dimensional ultrasonic image focused on the cross section of interest will be described below with reference to FIG. 8 showing a flowchart of the processing. Note that the process for generating a three-dimensional ultrasound image focused on the cross section of interest is a process in which the following changes are made in the flowchart of FIG.
Steps S401 and S402 are the same as those in the second embodiment. In step S801, the target area is calculated based on the positional relationship between the imaging area and the attention area, as in the second embodiment. In the present embodiment, as shown in FIG. 10, an intersection area defined as an intersection line 801 between a plane showing the cross section of interest and a plane showing the imaging area of the probe is calculated as the target area.
Step S802 is the same as in the second embodiment. In step S803, the parameter determination unit 1022 determines the imaging parameter (the focus position of each scanning line) based on the target area obtained in step S801, as in the second embodiment. In the present embodiment, as shown in FIG. 10, the intersection between the intersection line 801 obtained in step S801 and the scanning line is set as the focus position for each scanning line. Step S406 is the same as that in the second embodiment.
In step S407, the image generation unit 1031 stores the ultrasound image captured by the imaging unit 1100, and integrates all the ultrasound images stored up to this point, as in the second embodiment. Then, an ultrasonic image of the cross section of interest (corresponding to the cross section of interest) is generated. For example, after generating a three-dimensional ultrasonic image as in the second embodiment, an image obtained by cutting out the same cross section as the target cross section from the three-dimensional ultrasonic image is generated using a known method. Note that the image generation processing in this step is preferably a high-speed processing that can be repeatedly executed according to the transmission rate of the ultrasonic image by the imaging unit 1100. Therefore, in the image generation process, the 3D ultrasound image generated in the process of this step one time before is held, and the 3D ultrasound image is updated using the ultrasound image newly acquired in step S406. Such a method is suitable.
Note that the method of generating the ultrasonic image of the cross section of interest is not limited to this, and the image of the cross section of interest may be generated without using a three-dimensional ultrasonic image. For example, by sequentially plotting the pixel values of the pixels on the intersection line 801 on each captured ultrasonic image on the generated image, a desired image is generated without going through the three-dimensional ultrasonic image. be able to.
Next, in step S408, the display unit 7132 displays the ultrasonic image of the cross section of interest generated in step S407. Further, as shown in FIG. 13, a display showing the position of the partial attention area 1004 (dotted circle in FIG. 13) is performed on the attention sectional image 1101. This display is desirably displayed side by side with the image of the cross section of interest of the MRI, as in step S701. In particular, displaying the images of both modalities at the same magnification makes it possible to easily grasp the correspondence between the modalities.
Note that the image display form performed in step S408 is not limited to the above. For example, MRI volume rendering may be performed in the same manner as in step S701, and the generated ultrasonic image may be superimposed (or replaced) on the section of interest. Further, a frame (wire frame) or a surface representing the imaging area of the ultrasonic image may be displayed in the same coordinate system as the volume rendering. Further, the ultrasonic image acquired in step S406 may be displayed (for example, in a translucent state) within the imaging region. By performing such display, it becomes easy to grasp the positional relationship between the cross section of interest and the probe. It should be noted that which form of display is to be performed in step S408 can be selected by user instruction input.
Further, as shown in FIG. 14, the display unit 7132 displays the high-quality area 1201 in the cross-sectional image of interest 1101 so that it can be distinguished from the other areas by a color or luminance gradation different from other areas as shown in FIG. Is also possible. Here, the high image quality region 1201 is configured by pixels generated using a number of ultrasonic images equal to or greater than a threshold when, for example, a captured ultrasonic image is used to generate each pixel of a cross-sectional image of interest. Area. In general, when reconstructing an image using a plurality of ultrasonic images, it is known that using a large number of ultrasonic images results in higher image quality. In addition, this high-quality area is an area formed by pixels that are generated by pixels whose distance from the focus position from the captured ultrasonic image is within a predetermined threshold on the cross section of interest. Pixels within a predetermined distance from the focus position are imaged with pixels that are more accurate than pixels farther than the predetermined distance, and an area reconstructed from these pixels is an area with higher image quality than other areas. Become.
The processing described above is repeatedly executed according to the transmission rate of the ultrasonic image by the imaging unit 1100. As a result, when the user changes the position and orientation of the probe in the same way as in normal diagnosis, imaging of ultrasound images is repeated, and imaging parameters appropriate for observation of the cross section of interest are set regardless of the position and orientation of the probe. (That is, focus processing is always performed on the cross section of interest). Then, by integrating these images, it is possible to generate a high-quality ultrasonic image of the cross section focused on the cross section of interest.
Furthermore, by repeatedly executing the above processing according to the transmission rate, an ultrasonic image of the cross section of interest is sequentially generated during the user's imaging operation, and the generated (at that time) ultrasonic image is sequentially generated. Displayed. As a result, the user can determine whether the imaging is sufficient or whether the imaging position is appropriate while viewing the target ultrasound image. Furthermore, by superimposing and displaying information related to the position of the partial attention area, the position of the lesion portion drawn on the MRI attention section (to be imaged with ultrasound) and whether or not an image of the portion has been generated. Can be confirmed at a glance. As a result, it is possible to efficiently acquire a target ultrasonic image. With the procedure described above, a high-quality ultrasonic image corresponding to the target section of MRI can be captured by efficient work.
In addition, in this embodiment, although the process of step S407 and step S408 was performed for every acquisition frame, this process does not necessarily need to be performed for every acquisition frame. For example, when the processing of step S407 and step S408 cannot be performed with a full frame, the processing of step S407 and step S408 may be executed in the background every several frames. Alternatively, the imaging process from step S401 to step S406 may be performed for only a sufficient number of frames, and then the process of step S407 and step S408 may be performed.
In the present embodiment, an example of a two-dimensional image is shown as the partial attention area on the attention cross section, but it goes without saying that the present invention can be similarly implemented even in the case of a partial attention area in a three-dimensional attention area. .
In the above embodiment, the imaging parameter is determined, and the imaging unit 1100 is controlled using the determined imaging parameter. However, the determined imaging parameter may be manually set by the user. In this case, the information processing unit 7100 displays the determined imaging parameter on the display unit 7132. When viewing the display, the user manually sets the displayed imaging parameters in the imaging unit 1100.
In the above-described embodiment, an ultrasonic diagnostic imaging apparatus that measures ultrasonic echoes has been described as an example of an diagnostic imaging apparatus. However, the diagnostic imaging apparatus may have other modalities. For example, it may be a photo-acoustic tomography (PAT) apparatus that images a subject using a probe having a laser light source and a receiving ultrasonic probe. In this case, for example, it is possible to adjust the laser intensity according to the position of the target region on the imaging region as the imaging parameter. Various embodiments and modifications described so far may be combined as appropriate.
1 has been described as being configured by hardware in the above-described embodiment. Each unit configuring the information processing unit 1000 illustrated in FIG. 1 and each unit configuring the information processing unit 7100 illustrated in FIG. However, the attention area information storage unit 1011 may be implemented by a memory, the display unit 7132 by a monitor, and the other units by a computer program. In this case, a computer having the attention area information storage unit 1011 as a memory, a display unit 7132 as a monitor, and a CPU that executes each other unit as a computer program functions as the information processing unit 1000 and the information processing unit 7100. Will do.
FIG. 2 is a block diagram illustrating a hardware configuration example of a computer applicable to the information processing unit 1000 and the information processing unit 7100.
The CPU 100 controls the entire computer using computer programs and data stored in the main memory 101, and executes the processes described above as performed by the information processing unit 1000 and the information processing unit 7100.
The main memory 101 has an area for temporarily storing computer programs and data loaded from the magnetic disk 102, data received from the outside via the I / F (interface) 106, and the like. Furthermore, the main memory 101 also has a work area used by the CPU 100 for executing various processes. That is, the main memory 101 can provide various areas as appropriate. The main memory 101 also functions as the attention area information storage unit 1011, for example.
The magnetic disk 102 is a large-capacity information storage device that functions as a hard disk drive device. The magnetic disk 102 stores an OS (operating system) and computer programs and data for causing the CPU 100 to execute the functions of each unit other than the attention area information storage unit 1011 and the display unit 7132 in FIGS. Yes. Such data includes data described as known data in the above description and data to be processed. Computer programs and data stored in the magnetic disk 102 are appropriately loaded into the main memory 101 under the control of the CPU 100 and are processed by the CPU 100.
The input unit 105 is configured by a keyboard, a mouse, and the like, and can input various instructions and data when operated by the user. In the above description, anything described as being input by the user is input by the user operating the input unit 105.
The I / F 106 is used to connect the position / orientation measurement unit 1200 and the imaging unit 1100 to the computer, and includes an IEEE 1394, USB, Ethernet (registered trademark) port, and the like. The computer performs data communication with the position / orientation measurement unit 1200 and the imaging unit 1100 via the I / F 106.
The display memory 103 is for temporarily storing screen data to be displayed on the monitor 104. The monitor 104 displays a screen according to the screen data stored in the display memory 103. Will be.
The monitor 104 is configured by a CRT, a liquid crystal screen, or the like, and can display the processing result by the CPU 100 using images, characters, or the like. The monitor 104 functions as the display portion 7132. A bus 107 connects the above-described units.
Note that the configuration of the apparatus applicable to the information processing unit 1000 and the information processing unit 7100 is not limited to the configuration shown in FIG. 2, and any configuration that can realize the functional configuration shown in FIGS. Any configuration may be used.
The present invention can also be realized by executing the following processing. That is, software (program) that realizes the functions of the above-described embodiments is supplied to a system or apparatus via a network or various storage media, and the computer (or CPU, MPU, etc.) of the system or apparatus reads the program. It is a process to be executed.
The present invention is not limited to the above embodiment, and various changes and modifications can be made without departing from the spirit and scope of the present invention. Therefore, in order to make the scope of the present invention public, the following claims are attached.
This application claims priority on the basis of Japanese Patent Application No. 2009-112294 filed on May 1, 2009, the entire contents of which are incorporated herein by reference.
An image diagnostic apparatus connected to an imaging apparatus that captures an image of a subject,
First acquisition means for acquiring region information defining a region of interest in the subject;
Second acquisition means for acquiring position and orientation information indicating a position and orientation of a probe included in the imaging apparatus;
Calculation means for obtaining an imaging parameter of the imaging apparatus based on a positional relationship between an imaging range of the imaging apparatus determined based on the position and orientation information and the attention area defined by the area information;
An image diagnostic apparatus comprising: output means for outputting the imaging parameter.
The first acquisition means acquires region information that defines the region of interest in a reference coordinate system,
The image diagnostic apparatus according to claim 1, wherein the second acquisition unit acquires position and orientation information indicating a position and orientation of the probe in the reference coordinate system.
A first means for obtaining an intersection area between the imaging range and the attention area defined by the area information using the area information and the position and orientation information;
The diagnostic imaging apparatus according to claim 1, further comprising: a second unit that obtains the imaging parameter based on the intersecting region.
4. The diagnostic imaging apparatus according to claim 3, wherein the first means obtains a cross section in the imaging range of a region of interest defined by the region information as the intersecting region.
The imaging parameter is a focus position;
The diagnostic imaging apparatus according to claim 3 or 4, wherein the second means obtains the vicinity of the intersection region as the focus position.
5. The diagnostic imaging apparatus according to claim 3, wherein the second means obtains the inside or boundary of the intersecting region as the focus position. 6.
The image diagnosis apparatus according to claim 1, wherein the calculation unit obtains a position of one point closest to the attention area indicated by the area information without the imaging range as the focus position.
8. The diagnostic imaging apparatus according to claim 1, wherein the output unit outputs the imaging parameter to the imaging apparatus so as to set the imaging parameter to the imaging apparatus. 9. .
The image processing apparatus includes: a unit that acquires an ultrasonic image captured by the imaging apparatus in which the imaging parameter output by the output unit is set, and generates a three-dimensional ultrasonic image using the acquired ultrasonic image. The diagnostic imaging apparatus according to any one of claims 1 to 8.
The image diagnostic apparatus according to claim 1, wherein the region information is obtained for a region designated from a tomogram selected from a plurality of tomograms.
An image diagnostic method performed by an image diagnostic apparatus connected to an imaging apparatus that captures an image of a subject,
A first acquisition step of acquiring region information defining a region of interest in the subject;
A second acquisition step of acquiring position and orientation information indicating a position and orientation of a probe included in the imaging device;
A calculation step of obtaining an imaging parameter of the imaging device based on a positional relationship between an imaging range of the imaging device determined based on the position and orientation information and the attention area defined by the area information;
An image diagnostic method comprising: an output step of outputting the imaging parameter.
A computer program for causing a computer to function as each means included in the diagnostic imaging apparatus according to any one of claims 1 to 10.
A computer-readable storage medium storing the computer program according to claim 12.
PCT/JP2010/000606 2009-05-01 2010-02-02 Image diagnosis device and image diagnosis method WO2010125715A1 (en)
JP2009112294A JP5400466B2 (en) 2009-05-01 2009-05-01 Diagnostic imaging apparatus and diagnostic imaging method
JP2009-112294 2009-05-01
US12/871,634 US20100324422A1 (en) 2009-05-01 2010-08-30 Image diagnosis apparatus and image diagnosis method
US15/398,045 US20170112468A1 (en) 2009-05-01 2017-01-04 Image diagnosis apparatus and image diagnosis method
US12/871,634 Continuation US20100324422A1 (en) 2009-05-01 2010-08-30 Image diagnosis apparatus and image diagnosis method
WO2010125715A1 true WO2010125715A1 (en) 2010-11-04
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PCT/JP2010/000606 WO2010125715A1 (en) 2009-05-01 2010-02-02 Image diagnosis device and image diagnosis method
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