IMAGING DIAGNOSIS APPARATUS HAVING NEEDLING NAVIGATION CONTROL SYSTEM AND A NEEDLING NAVIGATION CONTROLLING METHOD
An ultrasound imaging diagnosis apparatus and a method for supporting safe and exact puncturing operation into a target region in a living body of a patient are provided. In the ultrasound imaging diagnosis apparatus, a regions setting unit sets a target tumor region for puncturing and blood vessel regions and organ region that are located near the tumor region based on the volume data acquired by 3-D scans on the object. To avoid insertions into the blood vessel regions and organ region, a puncturing needle position detecting unit detects the tip position and the inserting direction of the puncturing needle at just before and during insertion into the object. An expected inserting position calculating unit calculates an expected inserting position and an insertion error region to the tumor region based on the tip position data, inserting direction data and characteristic data of the puncturing needle. A puncturing navigation data generating unit generates a puncturing navigation data by composing the tumor region data, the organ region and blood vessel regions data, and the data relating to the expected inserting position and the insertion error region.
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This application claims priority from, and the benefit of, Japanese Patent Application No. 2007-303040, filed on Nov. 22, 2007, the contents of which are expressly incorporated herein by reference in their entirety.
BACKGROUND OF THE INVENTION1. Field of the Invention
The present invention relates to an imaging diagnosis apparatus, such as an ultrasound diagnosis apparatus and a computer tomography (CT) apparatus, having a needling navigation control system and a needling navigation controlling method. More particularly, the present invention relates to an imaging diagnosis apparatus and a needling navigation controlling method that can accurately and safely navigate an invasive instrument, such as a puncturing needle, into a diagnostic target organ in the body of an object with monitoring 3-D images of the target organ and surrounding tissues such as the blood vessels that are acquired by an imaging diagnosis apparatus.
2. Background of the Invention
As described above, the puncturing needle navigation control system consistent with the present is applicable to an imaging diagnosis apparatus, such as an ultrasound diagnosis apparatus or a computer tomography (CT) apparatus. To ease understanding of the present invention, hereinafter, an ultrasound imaging diagnosis is explained for applying the puncturing needle navigation control system according to the invention.
An ultrasound imaging diagnosis apparatus transmits ultrasound and receives reflected ultrasound through a plurality of ultrasound transducers installed in an ultrasound probe to and from a target in an object in a plurality of directions in order to display the image of the target on a monitor. Since the ultrasound imaging diagnosis apparatus can easily create and display continuous two dimensional (2-D) images or continuous three dimensional (3-D) images on a monitoring screen in real time by simply contacting with the ultrasound probe onto a patient's body surface, it is widely utilized for imaging diagnosis of various bodily organs or other purposes, such as identifying the existence, location, and size of tumors.
In some circumstances for the ultrasound imaging diagnosis, it is desirable to use an invasive instrument, such as a catheter or a puncturing needle for insertion into the body of a patient in order to remove some tissue samples of an examining or treating portion, such as a tumor, or to perform other medical treatments and medications. To navigate a puncturing needle into a specific position in the tumor portion with monitoring ultrasound images of the tumor, a puncturing adaptor is mounted on the ultrasound prove so as to guide a puncturing needle along a needle guide provided on the adaptor. In conventional techniques, various types of puncturing adaptors have been proposed for attaching on the ultrasound probe, for instance, as illustrated in
To acquire 3-D ultrasound image data by a 1-D array ultrasound probe that includes a plurality of transducers arrayed in one dimension (1-D), it needs to move the 1-D array ultrasound probe over a 3-D area of a diagnostic target organ in the body of an object in a direction orthogonal to an array direction or rotate the 1-D array of transducers. Recently, 2-D array ultrasound probes have been used for acquiring 3-D ultrasound image data of an object. The 2-D array ultrasound probe includes a plurality of transducers arrayed in two dimensions (2-D) (i.e., an azimuth direction and an elevation direction). By using the 2-D array ultrasound probe, it has become possible to significantly shorten the volume scan time for acquiring 3-D image data of the target. 3-D image data are generated and displayed by rendering the acquired 3-D data (hereinafter, frequently referred to as “volume data”). Japanese Patent Application 2005-342109 has proposed a method for inserting a puncturing needle with monitoring the 3-D images of the volume data acquired by the 2-D array ultrasound probe.
As described above, the conventional techniques have proposed inserting a puncturing needle into a tumor portion with confirming the tip position of the puncturing needle as 2-D image or 3-D image on a monitor. However, during insertion of the puncturing needle, it is not unusual to shift the inserting direction of the puncturing needle from a prescribed slice plane for acquiring image data due to unevenness of living body tissues existing along the insertion route, i.e., differences among muscle portions and fatty portions. In such a case, the proposed conventional techniques could not confirm the inserting status of the puncturing needle on the 2-D image data. Consequently, it has difficult to accurately insert the puncturing needle into the tumor portion without injuring the surrounding tissues of the tumor portion such as the blood vessels and other organs.
SUMMARY OF THE INVENTIONTo solve the above-mentioned conventional problems and defects, the present invention provides a new imaging diagnosis apparatus having a puncturing navigation control system that can navigate an accurate and safe puncturing of an invasive instrument, a catheter or a puncturing needle into a target tumor portion with monitoring ultrasound 3-D images of the puncturing target region and the surrounding regions of the blood vessels and the other organs.
According to the imaging diagnosis apparatus and the needling navigation method consistent with the present invention, since the puncturing needle can be always navigated along the eye direction while unevenness of tissues exist along the inserting direction, it becomes possible to accurately and safely insert the puncturing needle into the tumor portion with avoiding any injuring of the surrounding blood vessels and other organs existing the target tumor portion in the body of an object. Thus, the imaging diagnosis apparatus and the method consistent with the present invention can significantly improve the efficiency and the safety of puncturing diagnostic examinations and treatments by the insertion of a puncturing needle. Further, according to the imaging diagnosis apparatus consistent with the present invention, it can significantly reduce the burdens of the puncturing operators.
One aspect of the image diagnosis system consistent with the present invention is an ultrasound imaging diagnosis apparatus comprising:
a volume data acquiring unit configured to acquire volume data from a volume (3-D) scan region on an object;
a puncturing needle position detecting unit configured to detect a position of a puncturing needle inserted in a body of the object;
a puncturing navigation data generating unit configured to generate puncturing navigation data in order to display an anatomy in a living body that locates in an inserting direction of the puncturing needle based on the detected position of the puncturing needle; and
a display unit configured to display the puncturing navigation data.
One aspect of the needling navigation controlling method for an imaging apparatus consistent with the present invention is a method for controlling puncturing operations applicable to an imaging diagnosis apparatus comprising:
acquiring volume data from a volume (3-D) scan region on an object;
detecting a position of a puncturing needle inserted in a body of the object;
generating puncturing navigation data in order to display an anatomy in a living body that locates in an inserting direction of the puncturing needle based on the detected position of the puncturing needle; and
displaying the puncturing navigation data.
The accompanying drawings, which are incorporated in and constitute part of this specification, illustrate various embodiments and/or features of the present invention, and together with the description, served to explain embodiments of the present invention. Where possible, the same reference number will be used throughout the drawings to describe the same or like parts. In the drawings:
In the preferred embodiment consistent with the present invention, a target tumor region for puncturing (hereinafter, “tumor region”) and, major blood vessel regions (hereinafter, “blood vessel regions”) and other organ region located near to the tumor region (hereinafter, “organ region”) are set based on the volume data acquired by the 3-D scan on the object in order to avoid any possibility of unwanted insertion by the puncturing needle into the blood vessel regions and the organ region located near the tumor region.
In the preferred embodiments of the ultrasound imaging diagnosis apparatus consistent with the present invention, based on 3-D B mode data and 3-D color Doppler data acquired by a 2-D array ultrasound probe in which a plurality of transducers are two-dimensionally arranged, volume data are generated. By using the volume data of the 3-D B mode data, the tumor region and the organ region are approximated as a sphere or an ellipse solid. By using volume data of 3-D color Doppler data, 3-D images of the blood vessel regions themselves are set. Of course, the present invention is applicable to acquiring the volume data by moving the 1-D array ultrasound probe. It is also possible to set the blood vessel region by using the volume data based on the 3-D B mode data at the time of contrast media medication instead of using 3-D color Doppler data.
The ultrasound diagnosis system 100 further includes a multi-planar reconstruction (MPR) image data generating unit 7, a regions setting unit 7, a 3-D data generating unit 8, a punctured needle position detecting unit 10. The MPR image data generating unit 7 generates MPR image data of the B mode volume data at a slice plane set by an input unit 14 that is explained later. The region setting unit 7 sets a 3-D tumor region and 3-D organ regions based on outline data set by the input unit 14 against the tumor and organs located near the tumor on the MPR image data. The region setting unit 7 also sets 3-D blood vessel regions by extracting outlines from color Doppler volume data. The 3-D data generating unit 8 generates monitoring 3-D image data by composing the tumor region data, the organ region data and the blood vessel region data. The punctured needle position detecting unit 9 detects a tip position and an insertion direction of a puncturing needle 150 inserted into the body of an object along a needle guide 161 of a puncturing adaptor 16 mounted on a head portion of the 2-D ultrasound probe 3. The expected puncturing position calculating unit 10 calculates an expected tip position and an expected insertion direction of the puncturing needle to the tumor region based on various data for the puncturing needle 150 including the puncturing position and the insertion direction that will be explained later.
The ultrasound diagnosis system 100 further includes a puncturing navigation data generating unit 11, a display unit 12, a warning unit 13, an input unit 14 and a system control unit 15. The puncturing navigation data generating unit 11 generates puncturing navigation data based on a puncturing expect position data and insertion error region data in connection with tumor region data, organ region data and blood vessel region data. The display unit 12 displays MPR image data, 3-D data and puncturing navigation data. The warning unit 13 issues warning signals in a case that the organ region or the blood vessel regions in the puncturing navigation data being included in the insertion error region. The input unit 14 sets slice planes for MPR image data and outlines of the tumor and the surrounding organs on the MPR image data. The system control unit 15 totally controls the above-mentioned all units.
The ultrasound probe 3 includes a plurality (N) of 2-D arrayed transducers provided on a top surface portion of the probe. Ultrasound transmission and reception of echo ultrasound are performed by touching the top surface portion to a body surface of an object. Often, a gel is used as an intermediary between the body surface and probe surface. The transducers convert driving pulse signals to transmission signals composed of ultrasound pulses during transmission time, and convert ultrasound echoes to receiving signals during reception time. Each of the plurality N of transducers is coupled to the transmission and reception unit 2 through a multi-channel cable. A puncturing adaptor 16 is mounted on the ultrasound probe 3 in order to insert a puncturing needle 150 into the body of an object along a needle guide 161 provided on the puncturing adaptor 16. Thus, an insertion position and an insertion direction of the puncturing needle 150 are primarily determined by the needle guide 161.
In the ultrasound diagnosis system 100 in accordance with preferred embodiments of the present invention, as an example of the ultrasound probe 3, a 2-D array sector scan ultrasound probe including a plurality of N transducers is used. Of course, it is also possible to use, for example, a linear scan ultrasound probe or a convex scan ultrasound probe.
The transmission unit 21 includes a rate pulse generator 211, a transmission delay circuit 212 and a driving circuit 213. The rate pulse generator 211 generates rate pulses which determine a recycle period for transmission ultrasound. The generated rate pulses are supplied to the transmission delay circuit 212. The transmission delay circuit 212 includes a plurality of independent delay circuits of the same number of transducers N as used for transmission. The transmission delay circuit 212 gives a convergence delay time for converging the transmission ultrasound into a prescribed depth and a deviation delay time for transmitting ultrasound in a prescribed direction (θp, φq) to the rate pulses and supplies to the driving circuit 213.
The reception unit 22 includes a plurality of (N channels) of pre-amplifiers 221, a plurality of (N channels) of A/D converters 222, a plurality of (N channels) of reception delay circuits 223 and a plurality of (N channels) of adders so as to obtain a sufficient S/N ratio by amplifying weak signals. The plurality of (N channels) of reception signals amplified in the pre-amplifier 221 are converted to digital signals in the A/D converter 222 and supplied to the reception delay circuit 223. The reception delay circuit 223 gives each of the reception signals outputted from the A/D converter 222 a convergence delay time for converging reception ultrasound from a prescribed depth and a deviation delay time for setting a reception directivity to a predetermined direction (θp, φq). The reception signals acquired from the prescribed direction (θp, φq) are added in the adder 224.
The reception signals processing unit 4 shown in
The Doppler signal detection unit 42 includes a π/2 phase converter (shifter) 421, mixers 422-1 and 422-2 and low pass filters (LPFS) 423-1 and 423-2 in order to detect Doppler signals by orthogonally detecting the phases of the reception signals supplied from the adders 224 in the reception unit 22.
The color Doppler data generation unit 43 includes a Doppler signals memory circuit 431, a MTI filter 432 and an auto-correlation computing unit 433. The Doppler signals memory circuit 431 stores Doppler signals detected by the Doppler signals detection unit 42. The MTI filter 432 removes Doppler clutter components that are generated due to fixed reflectors in an organ and breathing movements or pulse movements of the organ from the detected Doppler signals. The auto-correlation computing unit 433 generates color Doppler data by using three kinds of characteristic values, i.e., a mean velocity value, a dispersing value and a power value of blood flows based on the self-correlation value.
The interpolation processing unit 53 generates 3-D B mode data by reading out a plurality of B mode data at a prescribed time phase in order to arrange the plurality of B mode data so as to correspond to their transmission/reception directions. The interpolation processing unit 53 further generates B mode volume data comprised of equal interval voxels by performing interpolation processes for the unequal interval voxels of the generated B mode data.
Similarly, the interpolation processing unit 53 generates 3-D color Doppler data by reading out a plurality of color Doppler data at a prescribed time phase so as to arrange the plurality of color Doppler data corresponding to each transmission/reception directions. The interpolation processing unit 53 further generates color Doppler volume data by performing interpolation processes for the 3-D color Doppler data. The generated 3-D color Doppler data and the 3-D color Doppler data are stored in the volume data memory unit 54.
Turning to
On the other hand, the blood vessel region setting unit 73 reads out color Doppler volume data stored in the volume data memory unit 54 in the volume data generating unit 5. Based on the blood flow data in the color Doppler volume data, the main blood vessels which run the neighborhood of tumor portion Tm are set as three-dimensional (3-D) blood vessel region.
The 3-D data generating unit 8 shown in
To display these 3-D data, the eye direction setting unit 144 in the input unit 14 can arbitrarily set a desired eye direction. Thus, the eye direction setting unit 144 can set the eye direction so that the inserting direction or the expected inserting position of the puncturing marker Bn to the tumor region Tr can be observed without blocking by the blood vessel region Vr and/or the organ region Rr.
The puncturing needle position detecting unit 9 (
With performing 3-D scan on the object, the puncturing needle position detecting unit 9 further detects the tip position of the puncturing needle 150 during insertion into the body is detected based on the ultrasound reflected from the tip portion of the puncturing needle 150. The inserting direction of the puncturing needle 150 is detected based on the time variation of the tip position. In order to detect the tip position of the puncturing needle 150 in high accuracy, it is desirable to form a minute irregularity on the tip surface of the puncturing needle 150 so as to acquire a bigger amplitude of the ultrasound reflected from the tissues of the living body.
It is also possible to detect the tip position of the puncturing needle 150 based on the insertion distance of the puncturing needle that is detected by a sensor provided on the needle guide. It is applicable to use an encoder that mechanically acts on the puncturing needle 150 as the sensor. Of course, an optical sensor or a magneto metric sensor is also possible to use as a sensor. When the puncturing needle 150 is freely inserted without using the needle guide 161, it may be possible to detect the tip position of the needle by using a position sensor mounted on a portion of the puncturing needle 150.
The expected inserting position calculating unit 10 (
The expected inserting position calculating unit 10 further calculates an insertion error region by presuming a possible bent degree of the puncturing needle 150 during the insertion based on the various data, such as the distance data between the needle tip and the tumor region, material data of the puncturing needle, such as a hardness of the puncturing needle, and living body data, such as tissue hardness of the living body of the object that are supplied from the system control unit 15. Based on the presumed bent degree of the puncturing needle, a possible error region of the expected inserting position is calculated as the insertion error region.
The puncturing navigation data generating unit 11 (
During the generation of the puncturing navigation data, the eye direction is set in accordance with the insertion direction of the puncturing needle 150. For example,
The display unit 12 (
The display unit 12 includes a display data generating circuit, a conversion circuit and a monitor (not shown). The display data generating circuit in the display unit 12 generates displaying data by superimposing supplementary data, such as object data to the MPR image data, 3-D data and puncturing navigation data. The conversion circuit in the display unit 12 executes D/A conversions and television format conversions of the display data so as to display the display data on the monitor. On the monitor, it is desirable to display the blood vessel region data Vr by using different colors or brightness in accordance with the depth of the blood vessel region. For instance, each of the blood vessel regions Vr1 to Vr4 illustrated in
As illustrated in
If the organ region Rr or blood vessel region Vr in the puncturing navigation data overlap or contact to the insertion error region Av for the expected inserting position Pi, the warning unit 13 (
As illustrated in
The input unit 14 includes an MPR plane setting unit 141, an outline setting unit 142, a support data selection unit 143 and an eye direction setting unit 144. The MPR plane setting unit 141 sets one or a plurality of MPR planes against the volume data acquired through the 3-D scan on the object. The outline setting unit 142 sets outlines of the tumor and major organs existing near to the tumor in the MPR image data generated at the plurality of MPR planes. The support data selection unit 143 selects the puncturing navigation data at the front and the backward of the tumor region. The eye direction setting unit 144 sets an eye direction of the 3-D data
These setting operations are executed by using input devices, such as, a display panel, a keyboard unit, selection buttons or a mouse. Thus, the selected input devices set the volume data acquisition conditions, display conditions for displaying the MPR image data, 3-D data and puncturing navigation data. The input devices further set various command signals.
The system control unit 15 shown in
After completing the initial settings, the operator inputs start commands for generating the puncturing navigation data through the input unit 14 (
To acquire volume data for using generation of the puncturing navigation data, the rate pulse generator 211 in the transmission unit 21 (
As explained before in
The envelope detector 411 and the logarithmic converter 412 in the B mode data generating B mode data by detecting the envelope of the reception signals and performing logarithmic conversions. The generated B mode data are stored in the B mode data memory 51 in the volume data generating unit 5 with attaching transmission/reception directions as affixed data.
When the generation of the B mode data along the first transmission/reception direction (θ1, φ1) has completed and stored them, the system control unit 15 controls the respective delay times of the transmission delay circuit 212 in the transmission unit 21 and the reception delay circuit 223 in the reception unit 22 so as to successively perform 3-D scans by transmitting and receiving ultrasound along the transmission/reception directions (θp, φq) with successively renewing along the azimuth (θ) direction by Δθ and along the elevation (φ) direction by Δφ as illustrated in
The system control unit 15 further performs ultrasound transmission/reception for acquiring color Doppler data in the transmission/reception directions with substantially parallel to the ultrasound transmission/reception for acquiring B mode data to the above-described transmission/reception directions (θp, φq), (p=1 to P, q=1 to Q). Thus, at first, the system control unit 15 repeats the ultrasound transmission/reception by a predetermined times (L times) along the transmission/reception directions (θ1, φ1) by controlling the transmission delay times at the transmission delay time in the transmission unit 21 and the reception delay times at the reception delay circuit 212 in the reception delay circuit 223 in the reception unit 22 in order to supply the reception signals acquired from the reception unit 22 in each of the ultrasound transmission/reception to Doppler signal detection unit 42. In the Doppler signal detection unit 42, an orthogonal phase detection is carried out from the reception signals. The detected Doppler signals are stored in the Doppler signal memory circuit 431 in the color Doppler data generating unit 43.
When the storage of the Doppler signals acquired by performing the predetermined L times of the ultrasound transmission and reception in the first transmission/reception direction (θ1, φ1) has completed, the system control unit 15 successively reads L numbers of Doppler signals corresponded to a prescribed position or depth among the Doppler signals stored in the Doppler signal memory circuit 431 and supplies to the MTI filter 432. The MTI filter 432 extracts Doppler components due to the blood flow by performing a filtering process of the supplied Doppler signals and supplies to the auto-correlation computing unit 433.
The auto-correlation computing unit 433 performs the auto-correlation calculation by using Doppler signals supplied from the MTI filter 432 and further calculates blood flow data based on the result of the auto-correlation calculation. The same calculations are performed at the different positions or the depths. The blood flow data in the calculated transmission/reception direction (θ1, φ1) are stored in the color Doppler data memory unit 52 in the volume data generating unit 5 as an affixed data.
The system control unit 15 further performs 3-D scans by transmitting and receiving ultrasound in each of the transmission/reception directions (θp, φq) (θp=θ1+(p-1)Δθ (p=2 to P), φq=φ1+(q-1)Δφ (q=2 to Q). The acquired color Doppler data in each of the transmission/reception directions are stored in the color Doppler data memory unit 52 in the volume data generating unit 5 as affixed data.
The interpolation processing unit 53 in the volume data generating unit 5 generates 3-D B mode data by arranging the plurality of B mode data read out from the B mode data memory 51 as to correspond to each of the transmission/reception directions (θp, φq), here, θp=θ1+(p-1)Δθ (p=1 to P), φq=φ1+(q-1) Δφ (q=1 to Q). The interpolation processing unit 53 further generates B mode volume data by performing interpolation process for the 3-D B mode data. Similarly, the interpolation processing unit 53 generates 3-D color Doppler by arranging the plurality of color Doppler data read out from the color Doppler data memory 52 as to correspond to each of the transmission/reception directions and further generates color Doppler volume data by performing interpolation process for the 3-D color Doppler data. The generated B mode volume data and color Doppler volume data are stored in the volume data memory unit 54 (
The MPR image data generating unit 6 reads out the B mode volume data stored in the volume data memory unit 54 in the volume data generating unit 5 in order to set a plurality of MPR planes that are crossing at a desired position on the tumor based on the MPR plane data supplied from the MPR plane setting unit 141 in the input unit 14. A plurality of MPR image data is generated by extracting voxels of the B mode volume data corresponded to these MPR planes. The generated MPR image data are displayed on the monitor in the display unit 12 (
By observing the plurality of MPR image data displayed on the display unit 12, an operator sets each outline of the tumor portion and other organs located near to the tumor portion based on each of the MPR image data by using the outline setting unit 142 in the input unit 14. By receiving the outline data of the tumor portion from the outline setting unit 142 through the system control unit 15, the tumor region setting unit 71 in the regions setting unit 7 sets 3-D tumor region designated by an approximate sphere body or a rotating elliptical body based on the outline data of the tumor portion. Similarly, the organ region setting unit 72 in the regions setting unit 7 sets 3-D organ regions designated by an approximate sphere body or a rotating elliptical body based on the outline data of the organs received by the outline setting unit 142 (
The blood vessel region setting unit 73 reads the color Doppler volume data stored in the volume data memory unit 54 in the volume data generating unit 5 and sets the 3-D main blood vessels located surrounding the tumor portion as blood vessels regions based on the blood flow data of the color Doppler volume data (
In parallel to the settings of the respective tumor region, organ region and blood vessel regions based on the above-mentioned volume data and MPR image data, the puncturing needle position detecting unit 9 detects the tip position and the inserting direction of the puncturing needle 150 at just before the insertion based on the slant angle data of the needle guide 161 supplied from the system control unit 15 (
By receiving the tip position data and inserting direction data of the puncturing needle 150 at just before the insertion from the puncturing needle position detecting unit 9, the expected inserting position calculating unit 10 calculates a distance between the tip position of the puncturing needle 150 and the tumor region. The expected inserting position calculating unit 10 further calculates an expected inserting position to the tumor region by supposing that the puncturing needle 150 goes straight in the living body to the distance between the tip position of the puncturing needle and the tumor region (
The expected inserting position calculating unit 10 further calculates an insertion error region of a possible error scope of the expected inserting position by assuming a bend degree during the insertion of the puncturing needle 150 based on various data of the distance between the tip position of the puncturing needle and the tumor region, material data of the puncturing needle 150 supplied from the system control unit 15 and the anatomy data of the living body (
The puncturing navigation data generating unit 11 generates the puncturing navigation data just before the insertion based on the data supplied from the regions setting unit 7, i.e., tumor region data, blood vessel regions data and organ region data, the inserting direction data of the puncturing needle 150 supplied from the puncturing needle position detecting unit 9, the expected inserting position data to the tumor region and the insertion error region data that are supplied from the expected inserting position calculating unit 10. The generated puncturing navigation data are displayed on a monitor in the display unit 12 (
In parallel to the generation of the puncturing navigation data, the 3-D data generating unit 8 generates 3-D data by composing the 3-D data of tumor region, organ region and blood vessel regions and the data of tip position and inserting direction of the puncturing needle 150 that are detected by the puncturing needle position detecting unit 9. The generated 3-D data are displayed on the display unit 12 as reference data for the puncturing navigation data depend on a necessity.
When it is confirmed that the expected inserting position and the insertion error region do not pile up nor contact to the organ region or the blood vessels regions in the puncturing navigation data by observing the puncturing navigation data displayed on the monitor in the display unit 12, thus, if no possibility of dangerous insertion is confirmed (
When the puncturing needle 150 has inserted into the body of the object at the step S12, if the tip portion of the puncturing needle 150 has not yet reached to the tumor region (
The tip position data and inserting direction data of the puncturing needle 150 during the insertion detected by the puncturing needle position detecting unit 9 are supplied to the expected inserting position calculating unit 10 (
The puncturing navigation data generating unit 11 (
The insertion of the puncturing needle 150 into the body proceeds with monitoring the puncturing navigation data displayed on the monitor in the display unit 12 (
According to the embodiment in consistent with the present invention, as explained above, the tumor region and the neighboring organ region are approximated as a sphere body or a rotation ellipse body and the main blood vessels region are indicated by the outlines. Thus, the puncturing navigation data is generated by composing these regions data. Consequently, it becomes possible to emphasize such a notable tumor portion, other organ or blood vessels during the treatments by using the puncturing needle in the monitor display. Thus, according to the ultrasound imaging diagnosis apparatus consistent with the present invention, it becomes possible to significantly improve the efficiency and the safety of puncturing diagnostic examinations and treatments and can significantly reduce the burdens of the puncturing operators and risks of injury to the patient.
According to the embodiment in consistent with the present invention, it becomes possible to eliminate the organ region or the blood vessel regions that are located at the front portion of the tip portion of the puncturing needle in accordance with the insertion depth of the puncturing needle. Thus, the organ region or the blood vessel regions that are located at the dangerous insertion region only can be displayed as emphasized puncturing navigation data.
According to the embodiment in consistent with the present invention, it becomes possible to easily confirm each of position relationship among the blood vessel regions or the organ region in the puncturing navigation data by displaying different colors or brightness in accordance with the distances from the body surface. Further, it becomes possible to easily recognize the tumor region, the organ region and the blood vessel regions by using different displaying colors or brightness.
According to the embodiment in consistent with the present invention, when the organ region or blood vessel regions in the puncturing navigation data are displayed by overlapping or contacting to the expected inserting position or the insertion error region, the warning signals are generated in order to re-setup the inserting position or the inserting direction of the puncturing needle. Consequently, it can perfectly prevent a dangerous insertion from occurring. Further, since the expected inserting position or the surrounded portion is displayed with blinking in the puncturing navigation data, it becomes possible to accurately confirm a timing that the tip portion of the puncturing needle reaches to the tumor. Consequently, it can prevent an excessive insertion into the tumor region from occurring.
According to the embodiment in consistent with the present invention, the puncturing navigation data is generated by composing the tumor region, organ region and blood vessel regions together with the expected inserting position and the insertion error region along the eye direction corresponded with the inserting direction of the puncturing needle. Consequently, it can easily and accurately know the position relationship between the puncturing needle and each of the tumor region, organ region and blood vessel regions.
According to the embodiment in consistent with the present invention, it becomes possible to significantly improve the efficiency and the safety of puncturing diagnostic examinations and treatments. It becomes also possible to significantly reduce the burdens of the puncturing operators and risks of injury to the patient. Particularly, not only the expected insertion region of the puncturing needle but the insertion error region also is set the tumor region in the puncturing navigation data with considering possible flexion of the puncturing needle during the insertion. This is significantly efficient to improve the safety of ultrasound diagnostic examinations and treatments by using the puncturing needle.
The present invention is not limited to the above-mentioned embodiment. In the above-mentioned embodiment, the volume data are generated based on the 3-D B mode data and 3-D color Doppler data acquired through the 2-D array ultrasound probe in which a plurality of transducers are arranged in two directions. And the 3-D tumor region, 3-D organ region and 3-D blood vessel regions are approximately set as a sphere or an ellipse body by using the generated volume data. It is also possible to acquire the volume data by mechanically moving the 1-D array ultrasound probe. Moreover, it is possible to set the blood vessel region by using the volume data based on the B mode data at the time of contrast media medication instead of the usage of the color Doppler data.
In the above-mentioned embodiment, 3-D tumor region or 3-D other organ region are set as an approximated sphere or a rotation ellipse body based on the outline data that are manually set to the MPR image data. Of course, it is also possible to automatically set the tumor region or other organ region by performing binary conversion of the volume data.
As the puncturing needle applicable to the present invention, various types of catheters are included, such as an RFA (Radio Frequency Ablation) puncturing needle that can perform ablation for the inspection/treated areas, such as a tumor, and other catheters that can perform medication or organization extraction to the inspection/treated area.
In the above-mentioned embodiment, an ultrasound diagnosis apparatus has explained. Of course, the puncturing navigation control system consistent with the present invention can be applicable to another type of an imaging diagnosis apparatus, such as a CT apparatus.
Other embodiments consistent with the present invention will be apparent to those skilled in the art from consideration of the specification and practice of the present invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the present invention being indicated by the following claims.
Claims
1. An imaging diagnosis apparatus comprising:
- a volume data acquiring unit configured to acquire volume data from a volume (3-D) scan region on an object;
- a puncturing needle position detecting unit configured to detect a position of a puncturing needle inserted in a body of the object;
- a puncturing navigation data generating unit configured to generate puncturing navigation data in order to display an anatomic feature in the body that is located in an inserting direction of the puncturing needle based on the detected position of the puncturing needle; and
- a display unit configured to display the puncturing navigation data.
2. The imaging diagnosis apparatus according to claim 1, further comprising a region setting unit configured to set a target tumor region and at least either one of blood vessel regions or an organ region located near the target tumor region in the object based on the volume data,
- wherein the puncturing navigation data generates the puncturing navigation data for displaying anatomic features in body of the object based on tumor region data and at least one of either the blood vessel regions or the organ region.
3. The imaging diagnosis apparatus according to claim 2, wherein the puncturing navigation data generating unit generates the puncturing navigation data by performing a rendering process or a projection process of blood vessel regions data or organ region data along an inserting direction of the puncturing needle as an eye direction.
4. The imaging diagnosis apparatus according to claim 3, further comprising an expected inserting position calculating unit configured to calculate an expected inserting position to the tumor region based on a position of the puncturing needle,
- wherein the puncturing navigation data generating unit generates the puncturing navigation data based on the expected inserting position.
5. The imaging diagnosis apparatus according to claim 1, wherein the puncturing needle position detecting unit detects a tip position of the puncturing needle, and
- the puncturing navigation data generating unit generates the puncturing navigation data for displaying anatomic features of the body located along the inserting direction of the puncturing needle based on the detected tip position of the puncturing needle.
6. The imaging diagnosis apparatus according to claim 5, wherein the puncturing navigation data generating unit generates the puncturing navigation data between the tumor region and a body surface of the object based on either one of the blood vessel regions or the organ region that are located between the tip position of the puncturing needle and the tumor region, tumor region data, and expected inserting position data.
7. The imaging diagnosis apparatus according to claim 5, further comprising an outline setting unit configured to set outline data of the inspection/treated area on a generated one or a plurality of MPR image data; and
- a region setting unit configured to set the tumor region based on the outline data set by the outline setting unit.
8. The ultrasound imaging diagnosis apparatus according to claim 7, wherein the region setting unit sets the 3-D tumor region approximated by a sphere or a rotation ellipse body based on the outline data set by the outline setting unit on the MPR image data.
9. The imaging diagnosis apparatus according to claim 7, further comprising
- an MPR plane setting unit configured to MPR planes to the volume data; and
- an MPR image data generating unit configured to generates MPR image data based on the voxels of the volume data corresponded to the MPR planes set by the MPR plane setting unit.
10. The imaging diagnosis apparatus according to claim 5, wherein the puncturing navigation data generating unit generates the puncturing navigation data by overlapping expected inserting position data on the tumor region and either the blood vessel regions or the organ region and performing a rendering process or a projection process along the inserting direction of the puncturing needle as an eye direction.
11. The imaging diagnosis apparatus according to claim 4, wherein the expected inserting position calculation unit further calculates an insertion error region indicating an error scope of the expected inserting position based on a tip position and an inserting direction of the puncturing needle, material data of the puncturing needle or body anatomy data of the object; and
- the puncturing navigation data generating unit generates the puncturing navigation data based on either blood vessel region data or organ region data, tumor region data, the expected inserting position data and insertion error region data.
12. The imaging diagnosis apparatus according to claim 5, further comprising a warning unit configured to issue warning signals of a dangerous insertion of the puncturing needle when the insertion error region in the puncturing navigation data overlaps or contacts on or to either a blood vessel region or an organ region in the puncturing navigation data.
13. The imaging diagnosis apparatus according to claim 5, wherein the display unit displays either blood vessel regions or an organ region with different colors or brightness corresponding to distances from a body surface of the object.
14. The imaging diagnosis apparatus according to claim 5, wherein the display unit displays a tumor region, blood vessel regions and an organ region with different colors or brightness.
15. The imaging diagnosis apparatus according to claim 5, wherein the display unit displays an expected inserting position or an adjacent position thereof with blinks when the tip position of the puncturing needle reaches the tumor region.
16. The imaging diagnosis apparatus according to claim 5, further comprising an eye direction setting unit configured to set a desired eye direction; and
- a 3-D data generating unit configured to generate 3-D data of a tumor region, one of a blood vessel region and an organ region, and the inserting direction of the puncturing needle based on the desired eye direction set by the eye direction setting unit.
17. An ultrasound diagnosis apparatus comprising:
- a volume data acquiring unit configured to acquire volume data from a volume (3-D) scan region on an object;
- a puncturing needle position detecting unit configured to detect a position of a puncturing needle inserted in a body of the object;
- a puncturing navigation data generating unit configured to generate puncturing navigation data in order to display an anatomic feature of the body that is located in an inserting direction of the puncturing needle based on the detected position of the puncturing needle; and
- a display unit configured to display the puncturing navigation data.
18. A needling navigation controlling method for an imaging diagnosis apparatus comprising:
- acquiring volume data from a volume (3-D) scan region on an object;
- detecting a position of a puncturing needle inserted in a body of the object;
- generating puncturing navigation data in order to display an anatomic feature of the body that is located in an inserting direction of the puncturing needle based on the detected position of the puncturing needle; and
- displaying the puncturing navigation data.
Type: Application
Filed: Nov 21, 2008
Publication Date: May 28, 2009
Applicants: Kabushiki Kaisha Toshiba (Tokyo), TOSHIBA MEDICAL SYSTEMS CORPORATION (Otawara-shi)
Inventors: Masao Takimoto (Tochigi-ken), Fumiyasu Sakaguchi (Tochigi-ken)
Application Number: 12/275,886
International Classification: A61B 8/14 (20060101);