Patent Application
20190082966
The present invention relates to an object information acquiring apparatus and a control method thereof.
Research on photoacoustic apparatuses, which acquire information inside an object (living body) by allowing light (e.g. laser) irradiated from a light source to the object to propagate into the object, is actively ongoing especially in medical fields. As one photoacoustic imaging technique, photoacoustic tomography (PAT) is proposed. PAT is a technique in which a pulsed light generated from the light source is emitted to an object, an acoustic wave, which is generated by a bio-tissue absorbing the light propagated and diffused inside the object, is received, and the received acoustic wave is analyzed and processed, so as to visualize the information related to the optical characteristic inside the object, which is a living body. To diagnose the bio-tissue using an ultrasonic wave, a frequency band of several MHz to a little over 10s MHz is used. Inside the living body, the ultrasonic wave decays in the process of the ultrasonic wave being propagated. The ultrasonic wave decays even more so as the frequency becomes higher, and major decay makes it difficult to diagnose a deep region of the living body. Therefore, in an ultrasonic diagnostic apparatus, the object is held by a cup molded by a material having high transmittance of light, such as PET (polyethylene terephthalate). Further, the space between the cup and the ultrasonic probe is filled with an acoustic matching liquid having intrinsic acoustic impedance (a product of sound velocity and density) close to that of the living body, and the ultrasonic wave is acquired in this state (Japanese Patent Application Laid-open No. 2015-109948).
However, depending on the type of cup which holds the object, waves may be generated in the acoustic matching liquid when the cup and the ultrasonic probe are driven, and bubbles may be generated in the acoustic matching liquid. If bubbles in the acoustic matching liquid enter between the cup and the ultrasonic probe and generate an air layer, the ultrasonic wave is reflected by the interface between the air layer and the acoustic matching liquid because of the difference of the acoustic impedances thereof. As a result, this interferes with the detection of the ultrasonic wave. Besides the photoacoustic imaging apparatus, the same problem occurs to other apparatuses which acquire information inside an object by irradiating the object with an acoustic wave, and receiving the reflected wave of this acoustic wave.
The present invention has been devised in light of the foregoing and it is an object of the present invention to reduce the generation of waves in the acoustic matching liquid.
The present invention provides an object information acquiring apparatus, comprising:
a holding member configured to hold an object;
a liquid tank disposed below the holding member, and configured to store acoustic matching liquid;
a probe disposed in the liquid tank, and configured to receive an acoustic wave propagated from the object;
a position controlling unit configured to control a relative position of the liquid tank and the holding member; and
a driving condition determining unit configured to determine driving conditions of the position controlling unit in accordance with the type of the holding member.
The present invention also provides a method of controlling an object information acquiring apparatus, including a holding member configured to hold an object, a liquid tank disposed below the holding member and configured to store acoustic matching liquid, a probe disposed in the liquid tank and configured to receive an acoustic wave propagated from the object, a position controlling unit, and a driving condition determining unit, the method comprising:
a determining step of determining driving conditions of the position controlling unit in accordance with a type of the holding member by the driving condition determining unit; and
a controlling step of controlling a relative position of the liquid tank and the holding member in accordance with the driving conditions by the position controlling unit.
According to the present invention, the generation of waves in the acoustic matching liquid can be reduced.
Further features of the present invention will become apparent from the following description of exemplary embodiments with reference to the attached drawings.
Preferred embodiments of the present invention will be described with reference to the drawings. Dimensions, materials, shapes and relative positions of the components described below can be appropriately changed depending on the configuration and various conditions of the apparatus to which the invention is applied. Therefore, the following description is not intended to limit the scope of the present invention.
The present invention relates to a technique to detect an acoustic wave propagated from an object, and generate and acquire the characteristic information inside the object (object information). This means that the present invention may be regarded as an acoustic apparatus or a control method thereof, or an object information acquiring apparatus or a control method thereof. The present invention may also be regarded as an object information acquiring method or a signal processing method. The present invention may also be regarded as a program which causes an information processing apparatus equipped with such hardware resources as a CPU and memory to execute the method, or a computer readable non-transitory storage medium storing this program.
The object information acquiring apparatus of the present invention includes a photoacoustic apparatus utilizing the photoacoustic effect, in which an acoustic wave generated inside the object by irradiating the object with light (electromagnetic wave) is received, and the characteristic information of the object is acquired as an image data. In this case, the characteristic information refers to information on the characteristic values corresponding to a plurality of positions inside the object respectively, and [these characteristic values] are generated using the signal which originated from the received photoacoustic wave.
The object information acquired by the photoacoustic apparatus refers to a generation source distribution of an acoustic wave which was generated by the light irradiation, an initial sound pressure distribution inside the object, or a light energy absorption density distribution and an absorption coefficient distribution which are derived from the initial sound pressure distribution, and a concentration distribution of a substance constituting a tissue. The concentration distribution of a substance is, for example, an oxygen saturation distribution, a total hemoglobin concentration distribution, and an oxy/deoxyhemoglobin concentration distribution.
The object information acquiring apparatus of the present invention includes an apparatus utilizing an ultrasonic echo technique, which acquires object information as image data by transmitting an ultrasonic wave to an object and receiving a reflected wave (echo wave) reflected inside the object. In the case of the apparatus utilizing the ultrasonic echo technique, the object information to be acquired is information reflecting the differences of the acoustic impedances of the tissue inside the object.
As the characteristic information, which is the object information at a plurality of positions, a two-dimensional or a three-dimensional characteristic distribution may be acquired. The characteristic distribution may be generated as image data, which indicates the characteristic information inside the object. The image data may be generated as the three-dimensional volume data by image reconstruction.
The acoustic wave in the present invention is typically an ultrasonic wave, including an elastic wave called a “sound wave” or an “acoustic wave”. A signal (e.g. electric signal) converted from an acoustic wave by a transducer or the like is called an “acoustic signal” or a “reception signal”. Such phrases as an ultrasonic wave or an acoustic wave in this description, however, is not intended to limit the wavelengths of these elastic waves. An acoustic wave generated due to the photoacoustic effect is called a “photoacoustic wave” or a “light-induced ultrasonic wave”. A signal (e.g. electric signal) which originated from a photoacoustic wave is called a “photoacoustic signal”.
Embodiment 1 will be described in detail with reference to the drawings. As a rule, the same composing elements are denoted with a same reference number, and description thereof is omitted.
General Configuration of Apparatus
A cup 2, which is a holding member, holds an object 3 which is a measurement target. A support unit 1 supports the cup 2. Each of a plurality of ultrasonic probes 6 (probes) receive a photoacoustic wave propagated from the object 3. A position controlling unit 18 controls the relative position of the object 3 and the ultrasonic probe 6. A light source 11 generates light. An irradiation optical system 19 transfer the generated light, and irradiates the object 3 with the light. A photoacoustic signal from the ultrasonic probe 6 is a weak high frequency analog signal, and is transferred to a signal receiving unit 10 via a coaxial cable 8 or the like, so that such an influence as noise from the outside is not received.
The signal receiving unit 10 sends a photoacoustic digital signal, which is generated by amplifying a photoacoustic signal, after converting the photoacoustic signal from analog to digital, to a signal processing unit 9. The signal processing unit 9 performs integration processing and the like on the photoacoustic digital signal to generate the object information. An operation unit 16 receives the input of the instruction information and parameters for the apparatus 100 from the user (e.g. operator who performs inspection, such as medical staff). The instruction information is an imaging start/end instruction, for example, and the parameters are imaging conditions, for example. An image constructing unit 15 generates an image based on the acquired object information. A display unit 14 displays a generated image and the user interface (UI) to operate the apparatus.
A control processor 12 receives various operations from the user via the operation unit 16, generates control information required to generate the target object information, and controls each function via a system bus 13. A storage unit 17 stores the acquired photoacoustic digital signal data, generated image data, and information on other operations. The object 3 to be imaged is a breast, for example, in the case of a breast cancer diagnosis in a Breast Oncology Department, and limbs in the case of vascular diagnosis in a Dermatology Department and Orthopedic Department. The other segments of the living body and a non-living body sample, such as a phantom, may also be a measurement target.
Detailed Configuration
Each composing element of the apparatus 100 will be described in detail. The specific materials, shapes, positions, relative positional relationships and the like described below are merely examples, and the present invention is not limited to the following examples, as long as the functions required for each composing element can be implemented.
Cup
The cup 2 is a holding unit to hold the object 3, and stabilizes the form and position of the object 3 during measurement. This means that a certain rigidity is demanded for the cup 2. The cup 2 is preferably formed of a material having high transmittance, in order to transmit the pulsed light 28 emitted from the irradiation optical system 19 to the object 3. It is preferable that the cup 2 is formed by molding such a material as PET (polyethylene terephthalate), acryl and polymethyl pentene. As described above, various objects 3 may be measured, including a breast, and limbs. Therefore, a plurality of types of cups having different shapes are provided, and a cup having an appropriate shape (size, depth) is selected and used in accordance with the object 3.
Sensor Tub
A sensor tub 4 is a member which is disposed below the cup 2, supports the ultrasonic probe 6, and stores liquid like a liquid tank (tub). The sensor tub 4 includes a hemispherical (bowl-shaped) probe on which the ultrasonic probe 6 is disposed, so as to receive the ultrasonic wave from the object 3 efficiently. It is preferable to use a plurality of ultrasonic probes 6 in order to improve image quality and reduce measurement time. In this case, the plurality of ultrasonic probes 6 may be arranged on the probe one-dimensionally (linear), two-dimensionally (planar) or three-dimensionally (stereoscopic). In the case of a three-dimensional arrangement, a concentric or spiral arrangement is preferable. The ultrasonic probe 6 can be any conversion element that receives an acoustic wave and converts an acoustic wave into an electric signal, and conversion elements utilizing the piezoelectric phenomena, the resonance of light or a change in capacitance may be used.
The sensor tub 4 is a member having the shape of a container for containing acoustic matching liquid 5, to suppress the decay of an acoustic wave by acoustically coupling the object 3 and the ultrasonic probe 6. For the acoustic matching liquid 5, water, oil or the like may be used. The acoustic matching liquid may also be disposed between the cup 2 and the object 3. The sensor tub 4 is one-dimensionally or two-dimensionally scanned by the position controlling unit 18, and the relative position between the cup 2 and the ultrasonic probe 6 is controlled. The ultrasonic probe and the liquid tank may be separate components, without being integrated. The scanning of the sensor tub 4 may also be three-dimensionally scanned, but in this case, it is preferable to fill the acoustic matching liquid 5 between the ultrasonic probe 6 and the cup 2.
Signal Receiving Unit
The signal receiving unit amplifies a photoacoustic signal received by the ultrasonic probe 6, in accordance with the synchronization signal that is inputted from the irradiation optical system 19, and converts the amplified photoacoustic signal into a digital signal, that is, a photoacoustic digital signal. The signal receiving unit 10 is constituted by a signal amplifying unit that amplifies an analog signal from the ultrasonic probe 6, and an A/D converting unit that converts the analog signal into a digital signal.
Signal Processing Unit
For the photoacoustic digital signal generated by the signal receiving unit 10, the signal processing unit 9 corrects the sensitivity dispersion of the ultrasonic probe 6, and performs interpolation to estimate the values of transducers, which are not physically or electrically present. The signal processing unit 9 can also perform integration processing to reduce noise. A photoacoustic signal, that is acquired by detecting the photoacoustic wave emitted from a light absorbing substance inside the object 3, is normally a weak signal. By performing integrating and averaging processing on the photoacoustic signals which were repeatedly acquired from the object at a same position, SN of the photoacoustic signals can be improved with reducing the system noise. The signal receiving unit 10 and the signal processing unit 9 may be constructed by elements (e.g. an A/D converter, a signal amplifier, an adder), and circuits (e.g. FPGA, ASIC).
Light Source
For the light source 11, a solid-state laser (e.g. Yttrium-Aluminum-Garnet laser, Titan-Sapphire laser), which can emit a pulsed light (width: 100 nsec or less) having a central wavelength in the near infrared region, is normally used. Such a laser as a gas laser, dye laser and semiconductor laser may also be used. And instead of laser, a light emitting diode, a flash lamp or the like may also be used.
The wavelength of the light is selected in accordance with the light absorbing substance inside the object to be measured. The light absorbing substance is, for example, oxyhemoglobin, deoxyhemoglobin, blood vessels which contain large quantities of oxy/deoxyhemoglobin, a malignant tumor containing many newly generated blood vessels, glucose and cholesterol. A case of measuring hemoglobin inside a newly generated blood vessels of a breast cancer will be considered, for example. Hemoglobin normally absorbs light in a 600 to 1000 nm range. The light absorption of water constituting a living body, on the other hand, reaches the minimum at around 830 nm, hence light absorption by hemoglobin becomes relatively high in a 750 to 850 nm range. The absorptivity of the light changes depending on the wavelength of the light due to the state of hemoglobin (e.g. the bonding state of hemoglobin and oxygen), therefore the functional change of the living body can be measured using this dependency on wavelength. In the case of measuring the oxygen saturation degree and substance concentration, it is preferable to use a light source which can radiate light beams with a plurality of wavelengths (e.g. a wavelength-variable laser light source, a light source in which a plurality of lasers having mutually different emission wavelengths are combined).
Control Processor
The control processor 12 operates an operating system (OS) which controls and manages basic resources in the program operation, reads the program codes stored in the storage unit 17, and executes the functions described below. The control processor 12 also receives an event notification which is generated in various operations (e.g. imaging start), performed by the user via the operation unit 16, and manages operations to acquire the object information. Further, the control processor 12 controls each hardware via the system bus 13. Furthermore, the control processor 12 controls the irradiation of the pulsed light 28 which is required to generate the target object information, and controls the position of the ultrasonic probe 6 using the position controlling unit 18.
Display Unit
The display unit 14 displays a photoacoustic image constructed by the image constructing unit 15, and the UI to operate images and apparatuses. For the display unit 14, a liquid display, organic EL (Electro Luminescence) display or the like may be used.
Image Constructing Unit
The image constructing unit 15 generates images of the tissue information inside the object based on the photoacoustic digital signal. Then, the image constructing unit 15 constructs an image data so that a 3D display image, a tomographic image at an arbitrary cross-section or the like is displayed on the display unit 14. Further, by applying various correction processing operations such as brightness correction, distortion correction, and extraction of region of interest, to the constructed image, the image constructing unit 15 constructs information that is more relevant for diagnosis. Furthermore, in accordance with the operation by the user via the operation unit 16, the image constructing unit 15 adjusts the parameters related to the configuration of the photoacoustic image, and displays images.
The photoacoustic image is acquired by performing the image reconstruction processing on three-dimensional photoacoustic digital signals generated by the ultrasonic probe 6, and characteristic information (e.g. acoustic impedance) and object information (e.g. optical characteristic value distribution) can be visualized. For the image reconstruction processing, a reverse projection method in the time domain or Fourier domain, a delay and sum method or an inverse problem analysis method using repeated processing, for example, may be used. By using a probe with an acoustic lens or the like having a reception focusing function, the object information may be visualized without performing the image reconstruction.
Operation Unit
The operation unit 16 is an input device for the user to perform image processing operations, such as setting the parameters on imaging (e.g. visualizing range of object information), and instructing the start of imaging. Normally the operation unit 16 is constituted of a mouse, a keyboard, a touch panel and the like, and notifies events for the software (e.g. OS) running on the control processor 12.
Storage Unit
The storage unit 17 is constituted of a memory required for the control processor 12 to operate, a memory that temporarily holds data during the object information acquiring operation, and a storage medium, such as a hard disk, to store generated photoacoustic image data, and related object information and diagnostic information. The storage unit 17 also stores program codes of the software which implements various functions of the apparatus.
Position Controlling Unit
The position controlling unit 18 is a mechanism constituted of mechanical components, such as a motor, an XY stage and a ball screw, for the driving mechanism and driving force transfer mechanism. The position controlling unit 18 controls the position of the ultrasonic probe 6 installed in the sensor tub 4 in accordance with the control information (e.g. acceleration, speed, position) from the control processor 12. By repeating the signal acquisition while emitting the pulsed light 28 to the object 3 and two-dimensionally scanning the ultrasonic probe 6, a wide range of object information can be acquired. The position controlling unit 18 outputs the current position control information to the control processor 12, synchronizing with each emission control of the pulsed light 28 by the irradiation optical system 19.
The above mentioned image constructing unit 15 and the later mentioned cup identifying unit 20 (identifying unit), an angle information acquiring unit 21, a depth information acquiring unit 22, and a driving condition determining unit 23 may be implemented by an information processing apparatus, which includes such arithmetic processing resources as the control processor 12 and the storage unit 17. Each composing element may be implemented by an independent information processing apparatus (e.g. computer, workstation) or processing circuit, or each composing element may be implemented as an independent program module that is executed by a same information processing apparatus or processing circuit. The display unit 14 and the operation unit 16 may be implemented using a display and input device of the information processing apparatus. If a GPU (Graphics Processing Unit) having a high performance arithmetic processing function and graphic display function is used as the image constructing unit 15, the time required for the image reconstructing processing and display image generation can be decreased. A program which causes the information processing apparatus to function as the image constructing unit, the cup identifying unit, the angle information acquiring unit, the depth information acquiring unit and the driving conditions determining unit, and a non-transitory storage medium which records this program and can be read by the information processing apparatus, are included within the scope of the present invention.
Irradiation Optical System
The irradiation optical system 19 guides the pulsed light emitted from the light source 11 toward the object, forms a pulsed light 28 which is appropriate for signal acquisition, and emits this pulsed light 28 from an emitting end. The irradiation optical system 19 is normally comprised of such optical components as a lens, prism, mirror, light diffusing plate and optical waveguide (e.g. optical fiber). In
The irradiation optical system 19 detects the emission of the pulsed light 28, and generates a synchronization signal to control the reception and recording of the photoacoustic signal synchronizing with the emission of the pulsed light 28. The emission of the pulsed light 28 can be detected by, for example, dividing a part of the pulsed light generated by the light source 11 using such an optical system as a half mirror, guiding this light to the optical sensor, and the optical sensor generating a detection signal based on the guided light. If a bundle fiber is used to guide the pulsed light, a part of the fibers is branched and guided to the optical sensor, whereby the pulsed light can be detected. The synchronization signal generated based on this detection is inputted to the signal receiving unit 10 and the position controlling unit 18.
Wave Generating State
A problem of acquiring a photoacoustic image by scanning the ultrasonic probe 6 will be described with reference to
Characteristic Configuration and Control of Present Invention
In the present invention, as illustrated in
The shape of the holding member of the object 3 may be rectangular or trapezoidal instead of a hemispherical cup shape. Even in the case of using these shapes, the angle formed by the liquid surface of the acoustic matching liquid 5 and the tangential line of the side face of the holding member on the liquid surface is assumed to be the angle a (contact angle). The angle a can be determined, for example, by acquiring the tangential plane of the holding member on the liquid surface, and determining the cross-section when this tangential plane is sectioned by a vertical plane. The depth from the liquid surface of the acoustic matching liquid 5 to the bottom face of the holding member is assumed to be the depth d. The depth d can be determined, for example, by determining the distance between the plane which includes the bottom face (lowest end) of the holding member, and the plane which includes the liquid surface of the acoustic matching liquid, as illustrated in
As illustrated in
Cup Identifying Unit 20
Alternatively, a user (e.g. physician, technician) may manually input the size of the holding member and the holding member ID using the operation unit 16 when the cup is replaced. Further, the user may manually input the liquid level, contact angle, depth, driving conditions, correction value and the like via the operation unit.
The holding member identifying member 24 may be a barcode, and the cup identifying unit 20 may be a barcode reader, whereby the type of the cup is identified.
Angle Information Acquiring Unit 21
Here the size of each portion of the cup, as illustrated in
Even if the holding member is not cup-shaped, the angle information acquiring unit 21 may acquire the angle a in accordance with the liquid level L using the same method. In other words, the shape of the holding member is known, hence it is easy to store a mathematical expression to calculate the angle in accordance with the liquid level L in the storage unit, or to store the angle a at each liquid level L in the storage unit 17 as a table.
Depth Information Acquiring Unit 22
The depth information acquiring unit 22 acquires the depth d, as illustrated in
Driving Condition Determining Unit 23
The driving condition determining unit 23 determines the relative driving conditions of the cup 2 and the ultrasonic probe 6 based on the angle a from the angle information acquiring unit 21 and the depth d from the depth information acquiring unit 22. Here consideration required to set the speed and acceleration in particular will be explained. If the angle formed by the end face of the cup and the acoustic matching liquid surface is small, the fluid resistance, received from the acoustic matching liquid 5, is small, hence few waves are generated in the acoustic matching liquid, even if the scanning speed is relatively fast. Further, if the depth from the acoustic matching liquid surface to the bottom face of the cup is shallow, the fluid resistance, received from the acoustic matching liquid 5, is small, hence few waves are generated even if the scanning speed is relatively fast. On the other hand, if the angle formed by the side face of the cup and the liquid surface is large, or if the depth from the liquid surface to the bottom face of the cup is deep, then fluid resistance is large, and the speed and acceleration must be suppressed.
In the case of
In other words, as the angle between the end face of the cup and the matching liquid surface is sharper (smaller), the relative speed and acceleration between the holding member and the probe can be increased when scanning. Further, as the depth from the matching liquid surface to the bottom face of the cup is shallower (distance thereof is smaller), the relative speed and acceleration between the holding member and the probe can be increased when scanning. Therefore, as depicted in
The driving conditions are sent from the driving condition determining unit 23 to the control processor via the system bus 13, and in the end, the position controlling unit 18, having a motor and the like, performs driving. The driving conditions are, for example, the relative speed and acceleration between the cup and the ultrasonic probe.
Scanning Locus
An example of the driving pattern when the ultrasonic probe 6 scans the object 3 will be described.
As described above, according to the method of Embodiment 1, the driving conditions are controlled by the shape of the holding member, such as a cup, and the level of the liquid surface. Therefore, even if the type of the holding member is changed, the relative driving conditions between the holding member and the ultrasonic probe can be appropriately controlled, and the generation of waves in the acoustic matching liquid can be reduced. As a result, the generation of bubbles in the acoustic matching liquid can be suppressed, therefore image deterioration, caused by the entry of bubbles between the holding member and the ultrasonic probe, can be suppressed.
Embodiment 2 will be described in detail with reference to the drawings.
In Embodiment 2 as well, the driving condition determining unit 23 determines the driving conditions based on the angle information from the angle information acquiring unit 21, and the depth information from the depth information acquiring unit 22. In other words, as depicted in
In a case of interrupting imaging due to an unexpected error or the like in the middle of imaging, and restarting imaging, the behavior (degree of wave generation) of the acoustic matching liquid 5 may become different from previous settings. Here in Embodiment 2, the driving condition correcting unit 27 corrects the driving conditions based on the information from the camera 25, which observes the behavior (degree of wave generation) of the acoustic matching liquid 5, and information on the liquid level from a plurality of liquid level sensors 26. If it is determined that the waves generated in the acoustic matching liquid 5 is greater than the previous setting as a result of processing the information from the camera 25 and information from the plurality of liquid level sensors 26, the driving conditions can be corrected in real-time by decreasing the relative speed, for example.
According to Embodiment 2, in addition to the effects of Embodiment 1, the driving conditions can be corrected to reduce the generation of waves even if scanning is interrupted due to an unexpected problem, thereby a good photoacoustic image can be acquired.
Embodiment 3 will be described. An object information acquiring apparatus of Embodiment 3 is not a photoacoustic apparatus, but an ultrasonic echo apparatus. Therefore, this object information acquiring apparatus does not include such composing elements as a light source and irradiation optical system. Instead the ultrasonic probe 6 transmits the ultrasonic wave to the object 3, and receives the echo wave which is reflected on or inside the object. The image constructing unit 15 of Embodiment 3 generates the characteristic information of the object based on the electric signal converted from the echo wave.
In this ultrasonic echo apparatus as well, a possible problem is the generation of bubbles caused by the generation of waves in the acoustic matching liquid 5 inside the sensor tub 4 during scanning. Therefore, in Embodiment 3 as well, the driving conditions (e.g. speed, acceleration) are set in advance in accordance with the shape and size of the holding member, or the driving conditions are set in real-time. Thereby even if the holding member is replaced, the generation of bubbles that interfere with imaging can be suppressed, and a good photoacoustic can be acquired.
As described above, according to the present invention, the relative driving conditions between the cup and the ultrasonic probe can be appropriately controlled when the acoustic wave is acquired, so that the generation of waves in the acoustic matching liquid is prevented. As a result, the generation of bubbles in the acoustic matching liquid can be reduced, and good object information can be acquired.
Embodiment(s) of the present invention can also be realized by a computer of a system or apparatus that reads out and executes computer executable instructions (e.g., one or more programs) recorded on a storage medium (which may also be referred to more fully as a ‘non-transitory computer-readable storage medium’) to perform the functions of one or more of the above-described embodiment(s) and/or that includes one or more circuits (e.g., application specific integrated circuit (ASIC)) for performing the functions of one or more of the above-described embodiment(s), and by a method performed by the computer of the system or apparatus by, for example, reading out and executing the computer executable instructions from the storage medium to perform the functions of one or more of the above-described embodiment(s) and/or controlling the one or more circuits to perform the functions of one or more of the above-described embodiment(s). The computer may comprise one or more processors (e.g., central processing unit (CPU), micro processing unit (MPU)) and may include a network of separate computers or separate processors to read out and execute the computer executable instructions. The computer executable instructions may be provided to the computer, for example, from a network or the storage medium. The storage medium may include, for example, one or more of a hard disk, a random-access memory (RAM), a read only memory (ROM), a storage of distributed computing systems, an optical disk (such as a compact disc (CD), digital versatile disc (DVD), or Blu-ray Disc (BD)™), a flash memory device, a memory card, and the like.
While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. The scope of the following claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.
This application claims the benefit of Japanese Patent Application No. 2017-178788, filed on Sep. 19, 2017, which is hereby incorporated by reference herein in its entirety.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2017-178788 | Sep 2017 | JP | national |
