Ultrasonic imaging device and method for controlling ultrasonic imaging device

Abstract

An ultrasonic imaging device is provided, which includes: an ultrasonic probe, which includes a transducer module, a drive device, a magnet and a position sensor, and a controller, which is configured to: determine a first time when a first signal is output as the transducer module rotates in a first direction; control the drive device at a first switching time point when the output signal switches from the first signal to the second signal to switch the rotation direction of the transducer module from the first direction to the second direction; control the drive device during a time period corresponding to the first time for a second switching time point when the output signal switches from the second signal to the first signal after the first switching time point to switch the rotation direction of the transducer module one or more times; determine a second time when the first signal is output after the second switching time point; and determine a tooth side clearance value based on the difference between the first time and the second time.

Description

[0001] This application is based upon and claims the benefit of priority from Korean Patent Application No. 10-2019-0032772 filed on March 22, 2019, in the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference. Technical Field

[0002] The present disclosure relates to an ultrasonic imaging apparatus for providing an ultrasonic image by irradiating an ultrasonic signal to an object and receiving an ultrasonic echo signal reflected from the object, and a method for controlling the ultrasonic imaging apparatus. Background Art

[0003] Recently, there is a need for an ultrasonic imaging apparatus capable of realizing a three-dimensional (3D) image of the internal state of an object. In this regard, there has been an ultrasonic imaging apparatus capable of obtaining a 3D image by rotating a transducer module including an ultrasonic transducer array.

[0004] However, conventional ultrasound imaging devices cannot compensate for mechanical errors that occur when the transducer module turns left or right to generate a 3D image, and when used for many hours, the transducer module has a certain delay (called backlash) before switching direction in response to the motor switching direction.

[0005] Therefore, using an image obtained when the transducer module is rotated in a clockwise direction and an image obtained when the transducer module is rotated in a counterclockwise direction may cause ultrasound image jitter. Summary of the invention

[0006] Therefore, an object of the present disclosure is to provide an ultrasonic imaging device and a method for controlling the ultrasonic imaging device, in which the position of the transducer module is measured based on the output value of the position sensor and compensation is performed for the tooth side clearance value, thereby providing a clear ultrasonic image.

[0007] Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

[0008] Therefore, one aspect of the present disclosure is to provide an ultrasonic imaging device, the ultrasonic imaging device comprising: an ultrasonic probe, the ultrasonic probe comprising: a transducer module including an ultrasonic transducer array; a driving device configured to rotate the transducer module; a magnet configured to rotate as the transducer module rotates; and a position sensor configured to output one of a first signal and a second signal based on a change in magnetic flux density according to the rotation of the magnet, and a controller configured to: determine a first time at which the first signal is output as the transducer module rotates in a first direction; control the driving device at a first switching time point at which the output signal switches from the first signal to the second signal to switch the rotation direction of the transducer module from the first direction to the second direction; control the driving device during a time corresponding to the first time for a second switching time point at which the output signal switches from the second signal to the first signal after the first switching time point to switch the rotation direction of the transducer module one or more times; determine a second time at which the first signal is output after the second switching time point; and determine a tooth side clearance value based on a difference between the first time and the second time.

[0009] The controller may determine the backlash value by dividing the difference between the first time and the second time by the number of times the rotation direction of the transducer module is switched during a time corresponding to the first time for the second switching time point.

[0010] During a time corresponding to the first time for a second switching time point, the controller may control the driving device to rotate the transducer module in the same direction within a preset time from a time point when the rotation direction of the transducer module is switched.

[0011] When the magnetic flux density reaches a first magnetic flux density as the magnet moves toward the position sensor, the position sensor may switch the output signal from the second signal to the first signal, and when the magnetic flux density reaches a second magnetic flux density as the magnet moves away from the position sensor, the position sensor may switch the output signal from the first signal to the second signal.

[0012] The controller may determine a third switching time point at which the output signal switches from the second signal to the first signal as the magnet moves toward the position sensor due to the transducer module rotating in the first direction, and may determine a time difference between the third switching time point and the first switching time point as the first time.

[0013] The controller can determine a fourth switching time point after the time corresponding to the first time for the second switching time point, at which the output signal switches from the first signal to the second signal as the magnet moves away from the position sensor due to the rotation of the transducer module, and can determine the time difference between the second switching time point and the fourth switching time point as the second time.

[0014] The driving device may include a motor configured to generate rotational power for rotating the transducer module.

[0015] The driving device may include a transmission device configured to transmit the rotational power of the motor to the transducer module.

[0016] The controller may control the motor to rotate at a preset speed.

[0017] The controller may further control the ultrasonic probe to determine a backlash value when the ultrasonic probe is connected to a main body of the ultrasonic imaging apparatus.

[0018] The ultrasonic imaging device may further include: an input device for receiving input from a user, wherein the controller may control the ultrasonic probe to determine the tooth side clearance value in response to receiving input regarding capturing a three-dimensional (3D) ultrasonic image from the user through the rotation of the transducer module or in response to receiving input regarding determining the tooth side clearance value.

[0019] The controller may control the ultrasonic probe at preset time intervals to determine the backlash value.

[0020] The ultrasonic imaging apparatus may further include: a display configured to display an ultrasonic image, wherein when the backlash value exceeds a preset threshold, the controller may control the display to output a notification or control the ultrasonic probe to determine the backlash value again.

[0021] The controller may control the driving device to output the rotational power in the same direction during a time from a time corresponding to a tooth backlash value to a preset time when controlling the driving device to switch the rotational direction of the transducer module.

[0022] The controller may offset a rendering image corresponding to a first direction and a rendering image corresponding to a second direction from a central axis of the transducer module by an angle corresponding to the tooth side clearance value along the directions corresponding thereto to generate a rendering image of the ultrasound image.

[0023] The controller may determine a time difference between the first switching time point and the second switching time point as a third time, and may determine a time obtained by subtracting a time corresponding to a tooth backlash value from the third time as an error time due to a hysteresis characteristic of the position sensor.

[0024] When the point at which the output signal switches from the second signal to the first signal due to the rotation of the transducer module in the first direction is set as the central axis of the transducer module, the controller may determine a point that deviates by an error time in the first direction relative to the point at which the output signal switches from the first signal to the second signal due to the rotation of the transducer in the second direction as the central axis of the transducer module.

[0025] Another aspect of the present disclosure is to provide a method for controlling an ultrasonic imaging device, the ultrasonic imaging device comprising an ultrasonic probe, the ultrasonic probe comprising: a transducer module comprising an ultrasonic transducer array; a driving device configured to rotate the transducer module; a magnet configured to rotate as the transducer module rotates; and a position sensor configured to output one of a first signal and a second signal based on a change in magnetic flux density according to the rotation of the magnet, the method comprising: determining a first time at which the first signal is output as the transducer module rotates in a first direction; controlling the driving device at a first switching time point at which the output signal switches from the first signal to the second signal to switch the rotation direction of the transducer module from the first direction to the second direction; controlling the driving device during a time corresponding to the first time for a second switching time point at which the output signal switches from the second signal to the first signal after the first switching time point to switch the rotation direction of the transducer module one or more times; determining a second time at which the first signal is output after the second switching time point; and determining a tooth side clearance value based on a difference between the first time and the second time.

[0026] The step of determining the backlash may include determining the backlash value by dividing a difference between the first time and the second time by the number of times the rotation direction of the transducer module is switched during a time corresponding to the first time for the second switching time point.

[0027] The method may further include controlling the driving device to rotate the transducer module in the same direction within a preset time from a time point at which the rotation direction of the transducer module is switched during a time corresponding to the first time for the second switching time point.

[0028] When the magnetic flux density reaches a first magnetic flux density as the magnet moves toward the position sensor, the position sensor may switch the output signal from the second signal to the first signal, and when the magnetic flux density reaches a second magnetic flux density as the magnet moves away from the position sensor, the position sensor may switch the output signal from the first signal to the second signal.

[0029] The step of determining the first time may include: determining a third switching time point at which the output signal switches from the second signal to the first signal as the magnet moves toward the position sensor due to the transducer module rotating in the first direction, and determining the time difference between the third switching time point and the first switching time point as the first time.

[0030] The step of determining the second time may include: determining a fourth switching time point after the time corresponding to the first time for the second switching time point, at which the output signal switches from the first signal to the second signal as the magnet moves away from the position sensor due to the rotation of the transducer module, and determining the time difference between the second switching time point and the fourth switching time point as the second time.

[0031] The driving device may include a motor configured to generate rotational power for rotating the transducer module.

[0032] The driving device may include a transmission device configured to transmit the rotational power of the motor to the transducer module.

[0033] The method may further include controlling the motor to rotate at a preset speed.

[0034] The determining of the backlash value may include controlling the ultrasonic probe to determine the backlash value when the ultrasonic probe is connected to a main body of the ultrasonic imaging apparatus.

[0035] The ultrasonic imaging device may also include: an input device configured to receive input from a user, wherein the step of determining the tooth side clearance value may include: controlling the ultrasonic probe to determine the tooth side clearance value in response to receiving input regarding capturing a three-dimensional (3D) ultrasonic image from the user through the rotation of the transducer module or in response to receiving input regarding determining the tooth side clearance value.

[0036] The step of determining the backlash value may include controlling the ultrasonic probe at preset time intervals to determine the backlash value.

[0037] The ultrasonic imaging device may further include a display configured to display an ultrasonic image, wherein the method may further include controlling the display to output a notification or controlling the ultrasonic probe to re-determine the tooth backlash value when the tooth backlash value exceeds a preset threshold.

[0038] The method may further include controlling the driving device to output rotational power in the same direction during a time from a time corresponding to a tooth backlash value to a preset time when controlling the driving device to switch the rotational direction of the transducer module.

[0039] The method may further include offsetting a rendering image corresponding to the first direction and a rendering image corresponding to the second direction from a central axis of the transducer module by an angle corresponding to the tooth side clearance value along the directions corresponding thereto to generate a rendering image of the ultrasound image.

[0040] The method may further include determining a time difference between the first switching time point and the second switching time point as a third time, and determining a time obtained by subtracting a time corresponding to a tooth backlash value from the third time as an error time due to a hysteresis characteristic of the position sensor.

[0041] The method may further include: when the point at which the output signal switches from the second signal to the first signal due to the rotation of the transducer module in the first direction is set as the central axis of the transducer module, a point deviating by an error time in the first direction relative to the point at which the output signal switches from the first signal to the second signal due to the rotation of the transducer in the second direction is determined as the central axis of the transducer module. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] These and / or other aspects of the present invention will become apparent and more readily understood through the following description of embodiments in conjunction with the accompanying drawings, in which:

[0043] Figure 1 is a diagram showing the appearance of an ultrasonic imaging apparatus according to an embodiment;

[0044] Figure 2 is a control block diagram showing an ultrasonic imaging apparatus according to an embodiment;

[0045] Figure 3 and Figure 4 is a perspective view showing an ultrasound probe according to an embodiment;

[0046] Figure 5 is a schematic diagram of an ultrasound probe according to an embodiment when viewed from the side;

[0047] Figure 6 is a diagram showing the magnetic field strength of a magnet according to an embodiment;

[0048] Figure 7 is a view showing hysteresis characteristics of a position sensor according to an embodiment;

[0049] Figure 8 is a view showing an output signal of a position sensor according to rotation of a transducer module according to an embodiment;

[0050] Fig. 9 is a view showing a tooth side clearance according to an embodiment;

[0051] Fig.10is a diagram showing a backlash value between a transducer module and a driving device according to an embodiment;

[0052] Fig.11 and Fig.12 is a view showing a situation where the ultrasonic imaging apparatus according to the embodiment determines a backlash value;

[0053] Fig.13 is a view showing a case where the ultrasonic imaging apparatus according to the embodiment compensates for a determined backlash value;

[0054] Fig.14 is a view showing a situation in which an ultrasonic imaging apparatus compensates for an error caused by a hysteresis characteristic of a position sensor;

[0055] Fig.15 is a flowchart showing a case where a backlash value is determined by a method for controlling an ultrasonic imaging apparatus according to an embodiment; and

[0056] Fig.16 is a flowchart illustrating a case where an error due to a hysteresis characteristic of a position sensor is compensated by a method for controlling an ultrasonic imaging apparatus according to an embodiment. DETAILED DESCRIPTION

[0057] The embodiments described herein and shown in the configuration of the present disclosure are merely the most preferred embodiments and do not represent the entire technical spirit of the present disclosure, and therefore it should be understood that the embodiments may be replaced by various equivalents and modifications at the time of the present disclosure.

[0058] It will also be understood that the term "connected" or its derivatives refer to both direct and indirect connections, and that indirect connections include connections through wireless communication networks.

[0059] The terms used herein are only used for the purpose of describing specific embodiments and are not intended to limit the present disclosure. It should be understood that, unless the context clearly indicates otherwise, the singular form also includes the plural form. It will be further understood that the terms "comprise", "include" and / or "have" are used in this specification to list the stated features, quantities, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, quantities, steps, operations, elements, components and / or their groups.

[0060] Terms including ordinal numbers (such as "first" and "second") may be used to explain various components, but these components are not limited by the terms. The terms are only used for the purpose of distinguishing one component from another component. For example, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element without departing from the scope of the present disclosure.

[0061] Terms including ordinal numbers such as "first" and "second" may be used to explain various components, but these components are not limited by the terms. The terms are only used for the purpose of distinguishing one component from another. Therefore, without departing from the teachings of the present disclosure, the first element, first component, first region, first layer or first part discussed below may be referred to as a second element, second component, second region, second layer or second part.

[0062] In addition, the terms described in this specification (such as "component", "module" and "unit") refer to units for processing at least one function or operation and can be implemented by software, hardware components (such as a field programmable gate array (FPGA) or an application specific integrated circuit (ASIC)), or a combination of software and hardware.

[0063] The reference numerals used for the method steps are only for convenience of explanation and are not intended to limit the order of the steps. Therefore, unless the context clearly indicates otherwise, the order may also be implemented in other ways.

[0064] Hereinafter, embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings.

[0065] Figure 1 is a diagram showing the appearance of an ultrasonic imaging apparatus according to the embodiment.

[0066] Reference Figure 1 According to an embodiment, the ultrasonic imaging device 10 may include: an ultrasonic probe 200, which transmits an ultrasonic signal to an object, receives an ultrasonic echo signal from the object, and converts the ultrasonic signal into an electrical signal; and a main body 100, including: an inputter 130, which is connected to the ultrasonic probe 200 and receives an input from a user; and a display 150, which is configured to display an ultrasonic image.

[0067] The ultrasound probe 200 according to an embodiment may be connected to the body 100 through the cable 11 to receive various signals required for controlling the ultrasound probe 200 , or transmit an analog signal or a digital signal corresponding to an ultrasound echo received through the ultrasound probe 200 to the body 100 .

[0068] To this end, one end of the cable 11 is connected to the ultrasound probe 200, and the other end of the cable 11 has a connector 12 that can be connected to or separated from the slot 13 of the main body 100. That is, the main body 100 and the ultrasound probe 200 can exchange control commands or data using the cable 11.

[0069] However, embodiments of the ultrasound probe 200 are not limited thereto, and the ultrasound probe 200 may be implemented as a wireless probe to transmit and receive signals through a wireless network formed between the ultrasound probe 200 and the body 100 .

[0070] That is, when the ultrasound probe 200 is implemented as a wireless probe, the ultrasound probe 200 may be connected to the body 100 through a wireless network instead of the cable 11 , and the body 100 and the ultrasound probe 200 may exchange control commands or data via the wireless network.

[0071] In addition, despite the Figure 1 One ultrasound probe 200 is connected to the main body 100 , but the present disclosure is not limited thereto, and a plurality of ultrasound probes 200 may also be connected to one main body 100 .

[0072] Meanwhile, a plurality of casters for moving the ultrasonic imaging device 10 may be provided on the lower side of the main body 100. The plurality of casters may allow the ultrasonic imaging device 10 to be fixed at a specific position or to move the ultrasonic imaging device 10 in a specific direction. Such an ultrasonic imaging device 10 is referred to as a cart-type ultrasonic imaging device.

[0073] However, with Figure 1 Differently, the ultrasonic imaging device 10 according to the embodiment may be a portable ultrasonic imaging device that can be carried for long-distance movement. In this case, the portable ultrasonic imaging device may not include casters. Examples of portable ultrasonic imaging devices may include a picture archiving and communication system (PACS) viewer, a smart phone, a laptop computer, a personal digital assistant (PDA), a tablet personal computer (PC), etc., but are not limited thereto.

[0074] Hereinafter, components of the main body 100 and the ultrasonic probe 200 of the ultrasonic imaging apparatus 10 will be described in detail.

[0075] Figure 2 is a control block diagram showing the ultrasonic imaging apparatus 10 according to the embodiment, Figure 3 and Figure 4 is a perspective view showing an ultrasound probe 200 according to an embodiment, Figure 5 is a schematic diagram of the ultrasound probe 200 according to the embodiment when viewed from the side.

[0076] Reference Figure 2 According to the embodiment, the ultrasound probe 200 of the ultrasound imaging device 10 may include: a transducer module 210, including an ultrasound transducer array; a driving device 220, for rotating the transducer module 210; a magnet 230, which rotates according to the rotation of the transducer module 210; and a position sensor 240, which is configured to output one of a high-level output signal and a low-level output signal based on a change in magnetic flux density according to the rotation of the magnet 230.

[0077] The transducer module 210 according to an embodiment may include a plurality of transducer elements for performing conversion between electrical signals and ultrasonic signals, transmitting ultrasonic signals to an object, and receiving ultrasonic echo signals reflected from the object.

[0078] Since ultrasonic waves are reflected at different angles according to media, the transducer module 210 may acquire information on the internal state of the object by collecting ultrasonic echo signals.

[0079] That is, the transducer module 210 can generate an ultrasonic signal according to a pulse signal or alternating current applied from a power source, and irradiate the ultrasonic signal onto the object. The ultrasonic signal irradiated onto the object is reflected from a target part inside the object as an ultrasonic echo signal. The transducer module 210 receives the reflected ultrasonic echo signal and converts the received ultrasonic echo signal into an electrical signal.

[0080] To this end, the transducer module 210 includes: a piezoelectric layer, in which a piezoelectric material vibrates to perform conversion between an electrical signal and an acoustic signal; a matching layer, which reduces the acoustic impedance difference between the piezoelectric layer and the human body so as to maximize the transmission of ultrasonic waves generated from the piezoelectric layer to a target part of the human body; a lens, which concentrates ultrasonic waves propagating in a forward direction along the piezoelectric layer at a predetermined point; and a backing layer, which prevents ultrasonic waves from propagating in a reverse direction along the piezoelectric layer to prevent image distortion.

[0081] In addition, the transducer module 210 is supplied with current by an external power supply device or an internal power storage device (such as a battery). When powered on, the piezoelectric vibrator or film forming the transducer module 210 vibrates. The transducer module 210 irradiates the ultrasonic wave generated by the vibration of the piezoelectric vibrator or film to the object. When receiving the ultrasonic echo reflected from the object, the piezoelectric vibrator or film vibrates according to the received ultrasonic echo signal. The transducer module 210 generates alternating current at a predetermined frequency corresponding to the vibration frequency of the piezoelectric vibrator or film, so that the ultrasonic echo signal is converted into an electrical signal.

[0082] Therefore, the transducer module 210 includes a plurality of transducer elements for transmitting ultrasonic signals and receiving ultrasonic echo signals.

[0083] For example, the transducer element may be provided using any of the following transducers: a magnetostrictive ultrasonic transducer using the magnetostrictive effect of a magnet, a piezoelectric ultrasonic transducer using the piezoelectric effect of a piezoelectric material, or a capacitive micromachined ultrasonic transducer (cMUT) using vibrations of hundreds or thousands of micromachined thin films to send and receive ultrasonic waves.

[0084] In addition, the transducer module 210 may receive ultrasonic echo signals corresponding to a plurality of positions while rotating in a clockwise (CW) direction or a counterclockwise (CWW) direction to acquire a three-dimensional (3D) ultrasonic image.

[0085] In this way, the ultrasonic imaging device 10 obtains a two-dimensional (2D) cross-sectional image of the object in response to the received ultrasonic echo signal, stacks the 2D cross-sectional images according to their positions to generate a collection of 3D arrays of discrete data (i.e., volume data), and volume renders the volume data 3D to generate a 3D ultrasonic image.

[0086] To this end, the ultrasound probe 200 may include a driving device 220 for transmitting a rotational force to the transducer module 210 .

[0087] The driving device 220 according to an embodiment includes a motor for generating a rotational force to rotate the transducer module 210 clockwise or counterclockwise.

[0088] In this case, if Figure 3 As shown, the driving device 220 may be directly engaged with the rotating shaft 211 of the transducer module 210 to transmit the rotational force to the transducer module 210 .

[0089] In detail, the gear of the motor 221 of the driving device 220 directly transmits the rotational force to the transmission member 212 of the rotating shaft 211 , thereby rotating the rotating shaft 211 , so that the rotational force is transmitted to the transducer module 210 .

[0090] In addition, if Figure 4 As shown, the driving device 220 according to the embodiment may further include a transmission device 222 that transmits the rotational force generated by the motor 221 to the transducer module 210. In this case, the transmission device 222 may include at least one of a gear, a belt, a cable, or a linkage device.

[0091] In this case, the gear of the motor 221 of the driving device 220 can transmit the rotational force to the transmission device 222, and the transmission device 222 can transmit the rotational force transmitted from the motor 221 to the transmission member 212 of the rotating shaft 211. Therefore, the rotating shaft 211 rotates, so that the rotational force is transmitted to the transducer module 210.

[0092] In this case, the transducer module 210 needs to rotate according to the rotation of the driving device 220. Otherwise, a delay due to the backlash may occur, and image jitter may occur due to the backlash between the rotation of the driving device 220 and the rotation of the transducer module 210. The backlash will be described in detail below.

[0093] The magnet 230 according to an embodiment may rotate according to the rotation of the transducer module 210 .

[0094] To this end, the magnet 230 may be mounted to a surface of the transducer module 210, such as Figure 5 As shown, the magnet 230 may be disposed on the transmission member 212 that rotates according to the rotation of the transducer module 210 .

[0095] However, the position of the magnet 230 is not limited to the above example, and the magnet 230 may be positioned without restriction as long as the magnet 230 can be rotated in the same manner as the transducer module 210 .

[0096] The position sensor 240 according to the embodiment may output one of a high level output signal and a low level output signal based on a change in magnetic flux density according to the rotation of the magnet 230 .

[0097] In detail, when the magnetic flux density reaches a first magnetic flux density as the magnet 230 moves toward the position sensor 240, the position sensor 240 may switch the output signal from a high-level output signal to a low-level output signal, and when the magnetic flux density reaches a second magnetic flux density as the magnet 230 moves away from the position sensor 240, the position sensor 240 may switch the output signal from a low-level output signal to a high-level output signal.

[0098] In this case, the first magnetic flux density for switching the high level output signal to the low level output signal and the second magnetic flux density for switching the low level output signal to the high level output signal are different from each other due to the hysteresis characteristic of the position sensor 240. The hysteresis characteristic of the position sensor 240 will be described in detail below.

[0099] According to an embodiment, the position sensor 240 may be a Hall sensor using the Hall effect, but the present disclosure is not limited thereto and the position sensor 240 may be implemented using various types of sensors as long as the sensor can change an output signal according to a change in magnetic flux density.

[0100] In order to detect the change in magnetic flux density according to the rotation of the magnet 230, the position sensor 240 may be positioned on a path where the position sensor 240 can move according to the rotation of the magnet 230. In detail, Figure 5 As shown, when the magnet 230 is disposed on the transmission member 212 , the position sensor 240 may be positioned at one side of the transmission member 212 to detect a change in magnetic flux density according to the rotation of the magnet 230 .

[0101] However, the position of the position sensor 240 is not limited to the above example, and the position sensor 240 may be positioned in various ways as long as the sensor 240 can measure a change in magnetic flux density according to the rotation of the magnet 230 .

[0102] With such a configuration, the ultrasonic imaging apparatus 10 may determine the rotation of the transducer module 210 and the position change according to the rotation based on the output signal of the position sensor 240 .

[0103] Refer again Figure 2 According to the embodiment, the main body 100 may include: a transmission signal generator 110, which generates a transmission signal for generating an ultrasonic signal irradiated onto an object; a beamformer 120, which performs beamforming on a received signal; an inputter 130, which receives an input from a user; and a controller 140, which determines a tooth side clearance value and generates an ultrasonic image by compensating for the tooth side clearance value; a display 150, which displays an ultrasonic image; and a memory 160, which stores various types of information required for controlling the ultrasonic imaging device 10.

[0104] The transmission signal generator 110 according to the embodiment may generate a transmission signal according to a control command of the controller 140 and transmit the generated transmission signal to the ultrasound probe 200. Here, the transmission signal corresponds to a high voltage electric signal for vibrating a plurality of transducer elements of the ultrasound probe 200.

[0105] The beamformer 120 according to an embodiment may perform conversion between analog signals and digital signals to convert a transmit signal (digital signal) generated from the transmit signal generator 110 into an analog signal, or convert an ultrasonic echo signal (analog signal) received from the ultrasonic probe 200 into a digital signal, thereby supporting communication between the ultrasonic probe 200 and the body 100.

[0106] Furthermore, the beamformer 120 may add a time delay to the digital signal in consideration of the position and focus of the vibrator so as to overcome a time difference taken for the ultrasonic wave to reach the focus or a time difference taken for the ultrasonic wave to reach the vibrator from the focus.

[0107] That is, assuming that a plurality of transducer elements irradiate ultrasonic signals, and a process of collecting all ultrasonic signals at a focal point is called focusing, the beamformer 120 may perform transmit focusing so that ultrasonic signals generated from respective transducer elements are irradiated in an appropriate sequence suitable for overcoming the time difference taken by respective transducer elements to reach the focal point, and the beamformer 120 may perform receive focusing so that ultrasonic echo signals are simultaneously arranged by allocating appropriate time intervals suitable for overcoming the time difference taken by the ultrasonic echo signals to reach respective transducer elements.

[0108] like Figure 2 As shown, although the transmit signal generator 110 and the beamformer 120 may be included in the body 100 , the transmit signal generator 110 and the beamformer 120 may also be provided in the ultrasound probe 200 and perform the functions.

[0109] The inputter 130 according to an embodiment may receive an input related to the control of the ultrasound imaging apparatus 10 from a user.

[0110] In detail, the inputter 130 may receive, for example, a mode selection command related to an amplitude (A) mode, a brightness (B) mode, a motion (M) mode, or a Doppler image.

[0111] In addition, the inputter 130 may receive an input from a user about a 3D ultrasonic image through the rotation of the transducer module 210, and may receive an input for determining a backlash value. In this case, the ultrasonic imaging apparatus 10 may control the ultrasonic probe 200 to determine the backlash value, which will be described in detail below.

[0112] In addition, the inputter 130 may receive a command for starting ultrasound image capturing from a user, or may receive a capturing protocol (eg, a capturing site, a capturing time, etc.).

[0113] To this end, the input device 130 may be provided in the main body 100 of the ultrasonic imaging apparatus 10, for example, using a physical button, a knob, a touch pad, a touch screen, a stick type manipulation device, a track ball foot switch, a foot pedal, etc. In this case, the input device 130 provided as a touch pad or a touch screen may be provided on the display 150.

[0114] In addition, the inputter 130 may be provided as a separate input device (such as a keyboard or a mouse) connected to the ultrasound imaging apparatus 10 in a wired or wireless manner.

[0115] In addition, a foot switch or a foot pedal may be provided at the lower side of the main body 100 , and the user may control the operation of the ultrasonic imaging apparatus 10 using the foot switch or the foot pedal.

[0116] The controller 140 according to an embodiment may generate an ultrasound image based on the ultrasound echo signal received from the ultrasound probe 200 .

[0117] In detail, the controller 140 may generate an ultrasound image by scan-converting the ultrasound echo signal.

[0118] Here, the ultrasound image may include not only a grayscale image obtained by scanning an object in an A mode, a B mode, and an M mode, but also a Doppler image representing a moving object using a Doppler effect.

[0119] The Doppler image may include a blood flow Doppler image (color Doppler image) representing blood flow, a tissue Doppler image representing tissue motion, and a spectral Doppler image displaying a motion speed of an object as a waveform.

[0120] For example, the controller 140 may extract a B-mode component from the ultrasound echo signal received from the ultrasound probe 200 to generate a B-mode image. Therefore, the controller 140 may generate an ultrasound image in which the intensity of the ultrasound echo signal is represented by brightness based on the B-mode component.

[0121] Similarly, the controller 140 may extract a Doppler component from the ultrasound echo signal, and generate a Doppler image in which the motion of the object is expressed in color or waveform based on the extracted Doppler component.

[0122] In addition, the controller 140 may generate a 3D ultrasound image by performing volume rendering on volume data acquired through the ultrasound echo signal.

[0123] In detail, the controller 140 can obtain 2D cross-sectional images of the object regarding respective ultrasonic echo signals at multiple positions obtained due to the rotation of the transducer module 210, and stack the 2D cross-sectional images in an appropriate order of the positions of the 2D cross-sectional images to generate a collection of 3D arrays of discrete data (i.e., volume data), and perform volume rendering on the volume data to generate a 3D ultrasonic image.

[0124] In addition, the controller 140 may determine a delay time (ie, a backlash value) generated based on a backlash between the transducer module 210 and the driving device 220 before generating an ultrasound image.

[0125] In detail, the transducer module 210 needs to rotate according to the rotation of the driving device 220. Otherwise, a delay caused by the backlash may occur.

[0126] The controller 140 may determine a delay time (ie, a backlash value) generated based on the backlash.

[0127] To this end, the controller 140 may control the driving device 220 to rotate the transducer module 210 in a preset mode. In the preset mode, the transducer module 210 may rotate in a first direction and switch the direction to a second direction at a point where the magnet 230 passes the position sensor 240.

[0128] Subsequently, in the case where the magnet 230 enters an area within the low level output range of the position sensor 240, the transducer module 210 may perform one or more direction switching during a time corresponding to a first time taken for the magnet 230 to pass through the position sensor 240 due to the rotation of the transducer module 210 in the first direction. At this time, the magnet 230 is located within the low level output range of the position sensor 240.

[0129] In this case, the low level output range of position sensor 240 may correspond to a range from a point when the magnetic flux density reaches a first magnetic flux density as magnet 240 moves toward the position sensor to a point before the magnetic flux density reaches a second magnetic flux density as magnet 230 moves away from position sensor 240.

[0130] Furthermore, the first time is a period of time when the magnet 230 moves toward the position sensor 240 and then moves away from the position sensor 240 when the transducer module 210 moves in the first direction (ie, the time taken for the magnet 230 to pass through the low level output range of the position sensor 240).

[0131] The transducer module 210 may then rotate until the magnetic flux density reaches a second magnetic flux density as the magnet 230 moves away from the position sensor 240 (ie, until the magnet 230 deviates from the low-level output range of the position sensor 240 ).

[0132] The controller 140 can determine a second time that the magnet 230 has stayed within the low-level output range of the position sensor 240 after the transducer module 210 switches the rotation direction to the second direction, and determine the tooth side clearance value based on the difference between the first time and the second time taken for the magnet 230 to pass through the position sensor 240 during the first direction rotation of the transducer module.

[0133] In this case, the first direction may correspond to a clockwise direction (CW) or a counterclockwise direction (CCW), and the second direction may correspond to the opposite direction of the first direction. That is, when the first direction corresponds to the clockwise direction, the second direction corresponds to the counterclockwise direction, and when the first direction corresponds to the counterclockwise direction, the second direction corresponds to the clockwise direction.

[0134] In the following, the first direction is described as the clockwise CW direction, and the second direction is described as the counterclockwise CCW direction, but the present disclosure is not limited to this. Therefore, it can also be understood that the first direction can be described as the counterclockwise CCW direction, and the second direction can be described as the clockwise CW direction.

[0135] The determination of the backlash value will be described in detail below.

[0136] In addition, after determining the backlash value, the controller 140 may compensate for the determined backlash value when capturing the ultrasonic image.

[0137] When controlling the transducer module 210 to rotate while irradiating an ultrasonic signal to acquire an ultrasonic image, the controller 140 may compensate for the determined backlash value.

[0138] In detail, when controlling the driving device 220 to switch the rotation direction of the transducer module 210, the controller 140 may control the driving device 220 to output the rotational force in the same direction within a time from a time corresponding to the tooth side clearance value to a preset time.

[0139] In this case, the preset time may correspond to the time set for the transducer module 210 to rotate after switching the direction to provide the rotation angle determined according to the imaging protocol. By compensating for the rotation time of the transducer module 210 using the time from the time corresponding to the backlash value to the preset time as described above, the transducer module 210 may be prevented from rotating an angle smaller than the expected rotation angle due to the backlash value.

[0140] In addition, the controller 140 may compensate for the backlash value by acquiring an ultrasonic image in each of the clockwise and counterclockwise directions and correcting the ultrasonic image corresponding to each of the clockwise and counterclockwise directions.

[0141] In detail, the controller 140 may offset each of the rendered image corresponding to the first direction and the rendered image corresponding to the second direction by an angle corresponding to the tooth side clearance value relative to the central axis of the transducer module 210 in the direction corresponding thereto, thereby generating a rendered image of the ultrasound image. In this way, the ultrasound imaging apparatus 10 can provide an ultrasound image without jitter.

[0142] In addition, the controller 140 according to the embodiment may determine an error time caused by the hysteresis characteristic of the position sensor 240 and compensate for the error time.

[0143] In detail, when the transducer module 210 is controlled to rotate in a predetermined mode, the controller 140 may determine the time from the time point when the magnet 230 passes through the position sensor 240 due to the rotation of the transducer module 210 in the first direction to the time point when the magnet 230 enters the low level output range of the position sensor 240 due to the transducer module 210 switching the direction to the second direction as a third time, and the controller 140 may determine the difference between the third time and the tooth side clearance value as the error time caused by the hysteresis characteristics.

[0144] The controller 140 may control the transducer module 210 so that the transducer module 210 is located on the central axis of the rotation radius for ultrasonic image capture. In this case, the controller 140 may set the point at which the output signal of the position sensor 240 switches from a high-level output signal to a low-level output signal due to the rotation of the transducer module 210 in the first direction as the central axis of the transducer module 210, and store the set point in the memory 160.

[0145] In this case, when the controller 140 determines the point at which the output signal of the position sensor 240 switches from a low-level output signal to a high-level output signal due to the rotation of the transducer module 210 in the second direction as the center axis of the transducer module 210, due to the hysteresis characteristics of the position sensor 240, a difference will appear between the set center axis and the determined center axis.

[0146] Therefore, the controller 140 may determine the point rotated in the first direction for the error time from the point at which the output signal of the position sensor 240 switches from a low level output signal to a high level output signal due to the rotation of the transducer module 210 in the second direction as the central axis of the transducer module 210 .

[0147] The controller 140 may include: at least one memory for storing programs for performing the operations described above and operations to be described below; and at least one processor for executing the stored programs.

[0148] The display 150 according to an embodiment may display an ultrasonic image generated from the controller 140 , and according to an embodiment, the display 150 may display a notification indicating that the backlash value exceeds a preset threshold value.

[0149] To this end, the display 150 may be provided in the main body 100 of the ultrasonic imaging apparatus 10 , or may be provided as a separate display device connected to the ultrasonic imaging apparatus 10 in a wired or wireless manner.

[0150] The display 150 may include, for example, a liquid crystal display (LCD), a light emitting diode (LED) display, an organic light emitting diode (OLED) display, a microelectromechanical system (MEMS) display, or an electronic paper display. However, the type of the display 150 is not limited to the above examples, and the display 150 may be configured as various types of displays capable of displaying an ultrasound image to a user.

[0151] The memory 160 according to an embodiment may store a plurality of pieces of information required for controlling the ultrasonic imaging apparatus 10. For example, the memory 160 may store an ultrasonic image generated by the controller 140, information about a rotation time of the driving device 220 for capturing a 3D ultrasonic image, and information about a rotation time of the driving device 220 according to a photographing protocol.

[0152] To this end, the memory 160 may include a nonvolatile storage device (such as a cache, a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), and a flash memory), a volatile storage device (such as a random access memory (RAM)), or other storage media (such as a hard disk drive (HDD), a CD-ROM, etc.), but the memory 160 is not limited thereto and may be implemented in various ways as long as it is capable of storing various types of information.

[0153] Furthermore, the memory 160 may be a memory implemented as a chip separate from the processor (which has been described above in conjunction with the controller 140 ), or may be implemented as a single chip integrated with the processor.

[0154] Meanwhile, the ultrasonic imaging apparatus 10 may further include a communicator (not shown). In this case, the communicator may be connected to a network in a wired or wireless manner to communicate with an external device or server.

[0155] The communicator may exchange data with a hospital server or other medical devices in a hospital connected through the PACS, and perform data communication according to the Digital Imaging and Communications in Medicine (DICOM) standard.

[0156] In addition, the communicator can perform data communication with a portable terminal of a doctor or a patient and a server or medical equipment in a hospital.

[0157] The communicator can send and receive data related to the diagnosis of the object (such as ultrasound images, echo ultrasound data and Doppler data of the object) through the network, and can also send and receive medical images taken by other medical equipment (such as computed tomography (CT), magnetic resonance imaging (MRI) and X-ray imaging).

[0158] Furthermore, the communicator may receive information about the patient's diagnosis history, treatment plan, etc. from the server and use the information to diagnose the subject.

[0159] To this end, the communicator can be connected to a network in a wired or wireless manner to exchange data with a server, medical equipment or a portable terminal. The communicator may include one or more components capable of communicating with an external device, and may include, for example, a short-range communication module, a wired communication module and a mobile communication module.

[0160] Hereinafter, determining the rotation and position of the transducer module 210 based on the output of the position sensor 240 according to the rotation of the transducer module 210 will be described in detail.

[0161] Figure 6is a diagram showing the magnetic field strength of the magnet 230 according to the embodiment, Figure 7 is a view showing the hysteresis characteristic of the position sensor 240 according to the embodiment, Figure 8 2 is a view illustrating an output signal of the position sensor 240 according to the rotation of the transducer module 210 according to the embodiment.

[0162] Reference Figure 6 It can be seen that the magnetic field strength of the magnet 230 decreases from the center point of the magnet 230 to the surface of the magnet 230 .

[0163] For example, the magnetic field strength of the magnet 230 may decrease exponentially from a center point of the magnet 230 toward a surface of the magnet 230 .

[0164] Therefore, the magnet 230 may be divided into a central portion having a magnetic field strength greater than or equal to a first magnetic flux density and a peripheral portion having a magnetic field strength less than the first magnetic flux density and greater than or equal to a second magnetic flux density.

[0165] In this case, the first magnetic flux density corresponds to a magnetic flux density when the position sensor 240 switches the output signal from a high-level output signal to a low-level output signal as the measured magnetic flux density increases.

[0166] Furthermore, the second magnetic flux density corresponds to a magnetic flux density when the position sensor 240 switches the output signal from a low-level output signal to a high-level output signal as the measured magnetic flux density decreases.

[0167] like Figure 7 As shown, when the magnetic flux density increases with the measured magnetic flux density, it reaches B op(operate point) When the position sensor 240 switches the output signal from the second signal (high level output signal) to the first signal (low level output signal), and when the magnetic flux density reaches B as the measured magnetic flux density decreases, rp(release point) , the position sensor 240 switches the output signal from the first signal to the second signal.

[0168] In this case, the first magnetic flux density that switches the second signal to the first signal and the second magnetic flux density that switches the first signal to the second signal are different from each other due to the hysteresis characteristics of the position sensor 240. That is, the magnitude of the magnetic field strength between the first magnetic flux density and the second magnetic flux density can be different from B HYS(hysteresis) correspond.

[0169] Therefore, the first magnetic flux density can be related to the B of the position sensor 240. op(operate point) Corresponding to, and the second magnetic flux density can be related to B of the position sensor 240 rp(release point) correspond.

[0170] The ultrasonic imaging apparatus 10 may determine the rotation and position of the transducer module 210 based on the characteristics of the magnet 230 and the position sensor 240 described above.

[0171] For details, refer to Figure 8 The position sensor 240 according to the embodiment may output one of the first signal and the second signal through the position sensor 240 based on the magnet 230 rotating as the transducer module 210 rotates.

[0172] Hereinafter, for convenience of description, it is assumed that the position sensor 240 measures magnetic flux density based on the side edge of the position sensor 240. That is, the position sensor 240 may measure magnetic flux densities of different magnitudes according to the portion of the magnet 230 located at the side edge of the position sensor 240.

[0173] When the driving device 220 is driven in the second direction (CCW) to rotate the transducer module 210 in the second direction (CCW), when the magnetic flux density reaches the first magnetic flux density B as the magnet 230 moves toward the position sensor 240, op At (point B), the position sensor 240 may switch the output signal from the second signal to the first signal, and when the magnetic flux density reaches the second magnetic flux density B as the magnet 230 moves away from the position sensor 240 rp (Point D), the position sensor 240 may switch the output signal from the first signal to the second signal.

[0174] The controller 140 according to the embodiment may determine the position of the transducer module 210 based on the switching point of the output signal of the position sensor 240. In detail, the controller 140 may determine the position of the magnet 230 based on the switching point of the output signal of the position sensor 240, and may determine the position of the transducer module 210 based on the rotation direction of the driving device 220 and the position of the magnet 230. To this end, information about the position of the transducer module 210 corresponding to the rotation direction of the driving device 220 and information about the position of the magnet 230 may be stored in the memory 160 at the design stage.

[0175] Hereinafter, the backlash between the transducer module 210 and the driving device 220 and the delay generated due to the backlash will be described in detail.

[0176] Fig. 9 is a view showing a tooth side clearance according to an embodiment, Fig.10 2 is a diagram illustrating a backlash value between the transducer module 210 and the driving device 220 according to an embodiment.

[0177] Tooth backlash refers to the distance between a pair of gears required to allow them to rotate smoothly. Fig. 9As shown, in order for the gears to engage with each other and rotate relative to each other, the upper gear and the lower gear need to engage at regular intervals to operate smoothly.

[0178] In this case, when the backlash is too small, the interval of the gears to be engaged and rotated is not sufficiently guaranteed, so that the friction between the gears increases due to insufficient lubrication, which may cause the gears to break or malfunction. On the contrary, when the backlash is too large, the gears cannot be engaged and rotated in sequence, which causes the gears to dislocate or fall off, which in turn makes it difficult to operate smoothly.

[0179] Therefore, an appropriate backlash is required for the rotation of the gear. However, when the backlash changes compared to the initial state, the gear may operate incorrectly, so it is necessary to prevent this phenomenon.

[0180] In other words, the backlash may represent a delay that occurs when the rotational motion of the motor 221 of the driving device 220 is transmitted to the transducer module 210 .

[0181] As the ultrasonic imaging device 10 is used for a longer time, the tooth side clearance between the transducer module 210 and the drive device 220 may increase based on changes in characteristics such as wear or degradation, and therefore, the conversion module 210 cannot rotate according to the rotation of the drive device 220, but rotates after a predetermined time delay.

[0182] In detail, Fig.10 As shown in FIG. 1 , when the driving device switches the direction of the output rotational force, the transducer module 210 does not immediately switch the direction according to the switching of the direction of the driving device 220, but performs the direction switching after a certain time. In this case, the delay corresponding to the time taken for the transducer module 210 to start switching the direction after the driving device 220 switches the direction is caused by the tooth side clearance between the transducer module 210 and the driving device 220. The delay time can be defined as the tooth side clearance value.

[0183] As a result, the backlash between the transducer module 210 and the driving device 220 may change as the use time of the ultrasonic imaging apparatus 10 increases, and such a change in the backlash value may cause the acquired ultrasonic image to jitter.

[0184] In detail, when the transducer module 210 rotates clockwise and counterclockwise, the ultrasonic imaging apparatus 10 may synthesize an image received in a clockwise direction (CW image) and an image received in a counterclockwise direction (CCW image) to implement a first ultrasonic image.

[0185] In this case, when the speed of ultrasonic waves transmitted in the clockwise direction or the counterclockwise direction is delayed due to the tooth side clearance, the two received images are not correctly overlapped, which may cause image jitter.

[0186] Therefore, in order to obtain an ultrasonic image without jitter, it is necessary to determine the tooth side clearance value of the ultrasonic probe 200 and compensate for the tooth side clearance value.

[0187] Hereinafter, determining the backlash value based on the backlash between the transducer module 210 and the driving device 220 will be described in detail.

[0188] Fig.11 and Fig.12 : is a view showing a case where the ultrasonic imaging apparatus 10 according to the embodiment determines a backlash value.

[0189] Reference Fig.11 Before generating an ultrasound image, the controller 140 may control the driving device 220 to rotate the transducer module 210 in a predetermined pattern to determine a delay time (ie, a tooth side clearance value) caused by a tooth side clearance between the transducer module 210 and the driving device 220.

[0190] The controller 140 may control the driving device 220 to rotate the transducer module 210 in a preset mode. In the preset mode, the transducer module 210 rotates in a first direction (from point A to point C) and switches the direction to a second direction at a point (point C) where the magnet 230 passes through the position sensor 240.

[0191] That is, when the magnetic flux density reaches the second magnetic flux density (point C) as the magnet 230 moves away from the position sensor 240 due to the rotation of the transducer module 210 in the first direction, the controller 140 may control the driving device 220 to rotate the transducer module 210 in the second direction.

[0192] In this case, after the transducer module 210 switches the direction to the second direction, the position sensor 240 may output the second signal (high-level output signal) until the central portion of the magnet 230 reaches the position sensor 240 (i.e., until the magnetic flux density of the magnet 230 reaches the first magnetic flux density B). op (up to point D).

[0193] In this case, if Fig.11 As shown, the time period for outputting the second signal depends on the hysteresis characteristic of the position sensor 240 and may include an error time caused by the hysteresis characteristic.

[0194] In addition, when there is a backlash between the transducer module 210 and the drive device 220 ( Fig.11 (B) in FIG. 2 ), and the case where there is no tooth side clearance between the transducer module 210 and the driving device 220 ( Fig.11Different from (A) in FIG. 1 , the transducer module 210 may switch direction after a certain delay time, without switching direction according to the direction switching of the driving device 220, so the time period for outputting the second signal may include the tooth side clearance value.

[0195] Subsequently, in the case where the magnet 230 enters an area within the low-level output range of the position sensor 240 (after point D), the transducer module 210 may switch directions one or more times during a time corresponding to a first time T taken for the magnet 230 to pass through the position sensor 240 due to the rotation of the transducer module 210 in the first direction. In this case, the magnet 230 is located within the low-level output range of the position sensor 240.

[0196] In this case, the low level output range of the position sensor 240 may be the same as the magnetic flux density reaching the first magnetic flux density B as the magnet 230 moves toward the position sensor 240. op The magnetic flux density reaches a second magnetic flux density B as the magnet 230 moves away from the position sensor 240. rp The range of the previous points corresponds.

[0197] In addition, the first time is the time period (from point B to point C) in which the magnet 230 moves toward the position sensor and then moves away from the position sensor 240 when the transducer module 210 moves along the first direction, that is, the time taken for the magnet 230 to pass through the low level output range of the position sensor 240 (from point B to point C).

[0198] For example, Fig.11 As shown, the transducer module 210 may perform a direction switch once during a time period corresponding to the first time T. Fig.11 As shown, the transducer module 210 may maintain the same rotational direction for a time corresponding to half of the first time before and after the point (point E) at which the direction is switched.

[0199] In the case where there is no tooth side clearance between the transducer module 210 and the drive device 220 ( Fig.11 In (A)), the magnet 230 passes through the position sensor 240 according to the transducer module 210 rotating at the same angular velocity (regardless of the rotation direction during the time period corresponding to the first time T), and the position sensor 240 can correspondingly switch the output signal from the first signal to the second signal.

[0200] However, in the case where there is a backlash between the transducer module 210 and the drive device 220 ( Fig.11In (B)), the delay time occurs in proportion to the number of times the transducer module 210 switches in direction during the time corresponding to the first time (T). Therefore, the magnet 230 may pass the position sensor 240 after further rotating by the delay time. In this case, the backlash value may correspond to the delay time of the direction switching according to one turn, and may be determined by dividing the total delay time by the number of times the direction switching is performed.

[0201] In this case, relative to the switching point when there is no tooth side clearance between the transducer module 210 and the drive device 220, the position sensor 240 can switch the output signal from the first signal to the second signal at a point (point F) rotated by the transducer module 210 that is almost equal to the tooth side clearance value.

[0202] In other words, when there is a tooth side gap between the transducer module 210 and the drive device 220, the transducer module 210 can rotate further until the magnetic flux density reaches a second magnetic flux density (point F) due to the magnet 230 moving away from the position sensor 240 after the first time T (i.e., until the magnet 230 deviates from the low level output range of the position sensor 240).

[0203] The controller 140 may determine a second time that the magnet 230 remains within the low-level output range of the position sensor 240 after the transducer module 210 switches its direction to a second direction, and determine a tooth side clearance value based on a difference between the first time taken for the magnet 230 to pass through the position sensor 240 due to the transducer module 210 rotating in the first direction and the determined second time.

[0204] In the following, reference is made to Fig.12 , the determination of the tooth side clearance value will be described in more detail from the perspective of the controller 140.

[0205] The controller 140 may determine a first time at which the first signal is output due to the transducer module 210 rotating in the first direction.

[0206] In this case, the controller 140 controls the transducer module 210 to rotate in the first direction from the time point when the output signal of the position sensor 240 switches from the second signal to the first signal (the third switching time point) to the time point when the output signal switches to the second signal again as the magnet 230 moves toward and through the position sensor 240 (the first switching time point).

[0207] That is, the controller 140 may control the driving device 220 to switch the rotation direction of the transducer module 210 from the first direction to the second direction at a first switching time point when the output signal of the position sensor 240 switches from the first signal to the second signal.

[0208] In this case, the controller 140 can determine a third switching time point at which the output signal switches from the second signal to the first signal as the magnet 230 moves toward the position sensor 240 due to the rotation of the transducer module 210 in the first direction, and determine the time difference between the third switching time point and the first switching time point as the first time.

[0209] The controller 140 may control the driving device 220 to switch the rotation direction of the transducer module 210 one or more times during a time corresponding to the first time for a second switching time point at which the output signal switches from the second signal to the first signal after the first switching time point.

[0210] In this case, the number of rotation direction switching during the time corresponding to the first time is not limited, e.g. Fig.12 As shown, a switch can be performed.

[0211] However, in order to generate a delay time corresponding to the tooth side clearance value according to the switching of the rotation direction, during the time corresponding to the first time for the second switching time point, the controller 140 may control the driving device 220 to make the transducer module 210 rotate in the same direction within a preset time from the time point when the rotation direction of the transducer module 210 is switched.

[0212] In this case, the preset time may be set to have a length longer than the delay time caused by the tooth side clearance between the transducer module 210 and the driving device 220 during the design phase and stored in the memory 160, or the preset time may be set by the user through the input 130 and stored in the memory 160.

[0213] The controller 140 may determine a second time to output the first signal after the second switching time point.

[0214] In detail, after a time corresponding to the first time, the controller 140 may control the driving device 220 to rotate the transducer module 210 until a fourth switching time point at which the position sensor 240 switches the output signal from the first signal to the second signal.

[0215] In other words, after a time corresponding to the first time from the second switching time point, the controller 140 can determine a fourth switching time point at which the output signal switches from the first signal to the second signal as the magnet 230 moves away from the position sensor 240 due to the rotation of the transducer module 210, and the time difference between the second switching time point and the fourth switching time point can be determined as the second time.

[0216] Thereafter, the controller 140 may determine the backlash value based on the difference between the first time and the second time.

[0217] In detail, the controller 140 may determine the backlash value by dividing the difference between the first time and the second time by the number of times the rotation direction of the transducer module 210 is switched during a time corresponding to the first time for the second switching time point.

[0218] As described above, the ultrasonic imaging apparatus 10 may determine the backlash value generated by the backlash between the transducer module 210 and the driving device 220 by rotating the transducer module 210 according to a predetermined pattern.

[0219] In this case, when controlling the driving device 220 to determine the tooth side clearance value, the controller 140 can control the motor of the driving device 220 to rotate at a preset speed, so that the driving device 220 transmits a constant rotational force to the transducer module 210, so that the transducer module 210 rotates at a constant speed.

[0220] In this case, according to an embodiment, the preset speed may be set in advance at a design stage and stored in the memory 160 , or may be adjusted by a user through the input 130 .

[0221] Furthermore, the operation for determining the backlash value may be performed before irradiating an ultrasonic signal onto the object (ie, before capturing an ultrasonic image).

[0222] In detail, the controller 140 may determine the backlash value by controlling the driving device 220 of the ultrasonic probe 200 at a time point when the ultrasonic probe 200 is connected to the main body 100 of the ultrasonic imaging apparatus 10 so that the transducer module 210 rotates in a preset mode.

[0223] In this case, the connection of the ultrasound probe 200 to the main body 100 may include: initially connecting the ultrasound probe 200 to the main body 100 in a wired or wireless manner; and activating the previously connected ultrasound probe 200 for use by a user selection.

[0224] In addition, according to an embodiment, the controller 140 may determine the tooth side clearance value by controlling the driving device 220 of the ultrasonic probe 200 to rotate the transducer module 210 in a preset mode in response to receiving an input about capturing a 3D ultrasound image by rotating the transducer module 210 or receiving an input about determining the tooth side clearance value by the user through the input 130.

[0225] In addition, according to an embodiment, the controller 140 may determine the backlash value by controlling the driving device 220 of the ultrasonic probe 200 at predetermined time intervals to rotate the transducer module 210 in a preset pattern.

[0226] In addition, the controller 140 according to an embodiment may control the display 150 to output a notification, or may control the ultrasonic probe 200 to redetermine the side clearance value, thereby redetermining the side clearance value when the determined side clearance value exceeds a preset threshold value.

[0227] In this case, the preset threshold may be a value corresponding to a backlash value that is too large to be compensated, and the preset threshold may be pre-set in a design stage and stored in the memory 160 .

[0228] In addition, the controller 140 according to the embodiment may generate a jitter-free ultrasonic image by compensating for the determined backlash value.

[0229] Hereinafter, generation of a jitter-free ultrasonic image by compensating for the backlash value will be described in detail.

[0230] Fig.13 1 is a diagram showing a case where the ultrasonic imaging apparatus 10 according to the embodiment performs compensation for a determined backlash value.

[0231] Reference Fig.13 When the transducer module 210 rotates clockwise and counterclockwise, the controller 140 may synthesize an image received in a clockwise direction (CW image) and an image received in a counterclockwise direction (CCW image) to realize a first ultrasound image.

[0232] In this case, if Fig.13 As shown in (A) in FIG. 1 , when the speed of ultrasonic waves transmitted in a clockwise or counterclockwise direction may be delayed due to the tooth side clearance, the two received images cannot be correctly overlapped, which may cause image jitter.

[0233] That is, in Fig.13 In (A), when the circle on the left is an image received in a clockwise direction and the circle on the right is an image received in a counterclockwise direction, the two circles do not overlap with each other, resulting in jitter of the ultrasound image.

[0234] Image jitter is a phenomenon caused by the tooth side clearance, and occurs when the transducer module 210 , which needs to be rotated in the same direction as the driving device 220 by the rotation of the driving device 220 , fails to rotate according to the rotation of the driving device 220 .

[0235] For example, when the motor 221 of the driving device 220 rotates in a clockwise direction and then in a counterclockwise direction, a delay occurs (wherein the transducer module 210 does not rotate immediately to correspond to the switch), thereby generating a tooth side clearance value that is almost equal to the delay interval, and the arrangement axis (central axis) of the driving device 220 and the transducer module 210 is inconsistent with the initial axis, so that the clockwise image and the counterclockwise image do not match relative to the central axis, thereby causing image jitter.

[0236] Therefore, the controller 140 may generate a rendered image of an ultrasound image by offsetting a rendered image corresponding to a clockwise direction and a rendered image corresponding to a counterclockwise direction relative to the central axis of the transducer module 210 in a direction corresponding thereto by an angle corresponding to the tooth side clearance value.

[0237] In detail, Fig.13 As shown in (B) in FIG. 1 , the controller 140 can correct the image jitter by offsetting the clockwise image (CW) and the counterclockwise image (CCW) that do not match each other to the extent of the tooth side clearance delay relative to the central axis by image correction. That is, the jitter is eliminated by matching the clockwise image and the counterclockwise image.

[0238] That is, the calculated tooth side clearance value is expressed in units of time t, so that the distance by which the transducer module 210 is delayed due to the tooth side clearance is identified based on the tooth side clearance value using the tooth side clearance value and the speed v of the motor 221 of the driving device 220, that is, the increased angle is identified, and the controller 140 can perform image correction when rendering the ultrasound image to correspond to the delay value.

[0239] Hereinafter, a case where a single image is rendered using a clockwise rendering image and a counterclockwise rendering image is briefly described. For example, a single 3D image is generated by arranging 50 clockwise cross-sectional images, and a single 3D image is generated by arranging 50 counterclockwise cross-sectional images, and these images are synthesized and rendered into a single image.

[0240] In this case, the controller 140 may allow the clockwise image and the counterclockwise image delayed by the backlash to shift by the delay amount to generate a jitter-free image. That is, the controller 140 corrects the image by offsetting the amount of jitter due to the backlash.

[0241] Regarding the time period or time point at which the rendered image is corrected, the correction may be performed always using the backlash value calculated in real time, or may be performed by setting a predetermined time period or a predetermined duration.

[0242] In addition, the controller 140 may compensate for the tooth backlash value by controlling the driving device 220 .

[0243] In detail, when the driving device 220 is controlled to switch the rotation direction of the transducer module 210 to acquire an ultrasonic image by irradiating an ultrasonic signal to an object, the controller 140 can control the driving device 220 to output a rotational force in the same direction for a period of time, and the time period is from the time corresponding to the tooth side clearance value to a preset time.

[0244] In this case, the preset time may correspond to the time set for the transducer module 210 to rotate after switching the direction, thereby providing a rotation angle determined according to the imaging protocol. By compensating for the rotation time of the transducer module 210 using the time from the time corresponding to the backlash value to the preset time as described above, the transducer module 210 may be prevented from rotating an angle smaller than the expected rotation angle due to the backlash value.

[0245] As described above, the ultrasonic imaging apparatus 10 determines the delay time (ie, the backlash value) generated based on the backlash between the transducer module 210 and the driving device 220 and compensates for the determined backlash value, thereby providing ultrasonic waves without jitter.

[0246] In addition, the ultrasonic imaging apparatus 10 may determine an error time due to the hysteresis characteristic of the position sensor 240 and compensate for the error time.

[0247] Hereinafter, determination of the error time due to the hysteresis characteristic of the position sensor 240 will be described in detail.

[0248] Fig.14 2 is a view showing a case where the ultrasonic imaging apparatus 10 compensates for an error due to the hysteresis characteristic of the position sensor 240 .

[0249] Reference Fig.14 , the controller 140 may determine an error time due to the hysteresis characteristic of the position sensor 240 and compensate for the error time.

[0250] In detail, when the transducer module 210 is controlled to rotate in a predetermined mode, the controller 140 can determine the time from the time point when the magnet 230 passes through the position sensor 240 due to the rotation of the transducer module 210 in the first direction to the time point when the magnet 230 enters the low-level output range of the position sensor 240 due to the transducer module 210 switching the direction to the second direction as a third time, and can determine the difference between the third time and the tooth side clearance value as the error time caused by the hysteresis characteristics.

[0251] That is, Fig.12As shown, the controller 140 can determine the time difference between the first switching time point and the second switching time point as the third time, and determine the time obtained by subtracting the time corresponding to the tooth side clearance value from the third time as the error time caused by the hysteresis characteristics of the position sensor 240.

[0252] The controller 140 may control the transducer module 210 so that the transducer module 210 is located on the central axis of the rotation radius for ultrasonic image capture. In this case, the controller 140 may set the point (CW drop) at which the output signal of the position sensor 240 switches from a high-level output signal to a low-level output signal due to the rotation of the transducer module 210 in the first direction (①) as the central axis of the transducer module 210, and store the point (CW drop) in the memory 160.

[0253] In this case, when the controller 140 determines the point (CCW rise) at which the output signal of the position sensor 240 switches from a low-level output signal to a high-level output signal due to the rotation of the transducer module 210 in the second direction (②) as the center axis of the transducer module 210, a difference occurs between the set center axis and the determined center axis due to the hysteresis characteristics of the position sensor 240.

[0254] Therefore, the controller 140 can determine point ③, which is the point at which the output signal of the position sensor 240 switches from a low-level output signal to a high-level output signal due to the rotation of the transducer module 210 in the second direction, and rotates for an error time in the first direction as the center axis of the transducer module 210.

[0255] That is, the ultrasonic imaging apparatus 10 compensates for the error time caused by the hysteresis characteristic of the position sensor 240 so that the transducer module 210 can be positioned on the same central axis regardless of the direction in which the transducer module 210 is rotated.

[0256] Hereinafter, a method for controlling the ultrasonic imaging apparatus 10 according to an embodiment will be described. The ultrasonic imaging apparatus 10 according to the above-described embodiment may be applied to the method for controlling the ultrasonic imaging apparatus 10 to be described below. Therefore, unless otherwise mentioned, the above references to Figures 1 to 14 The description made is equally applicable to the method for controlling the ultrasonic imaging apparatus 10 according to the embodiment.

[0257] Fig.15 : is a flowchart showing a case where a backlash value is determined by a method for controlling the ultrasonic imaging apparatus 10 according to the embodiment.

[0258] Reference Fig.15, the controller 140 according to the embodiment may control the driving device 220 to rotate the transducer module 210 in a first direction ( 1510 ), and may determine a first time to output a first signal ( 1520 ).

[0259] That is, the controller 140 may determine a first time at which the first signal is output as the transducer module 210 rotates in the first direction.

[0260] In this case, from the time point when the output signal of the position sensor 240 switches from the second signal to the first signal (the third switching time point) to the time point when the output signal switches to the second signal again as the magnet 230 moves toward and passes through the position sensor 240 (the first switching time point), the controller 140 controls the transducer module 210 to rotate in the first direction.

[0261] In addition, the controller 140 may control the driving device 220 to switch the rotation direction of the transducer module 210 to the second direction at a first switching time point when the output signal of the position sensor 240 switches from the first signal to the second signal ( 1530 ).

[0262] In this case, the controller 140 may determine a third switching time point when the output signal switches from the second signal to the first signal as the magnet 230 moves toward the position sensor 240 due to the rotation of the transducer module 210 in the first direction, and determine the time difference between the third switching time point and the first switching time point as the first time.

[0263] The controller 140 may determine a second switching time point (1540) at which the output signal switches from the second signal to the first signal after the first switching time point, and may control the driving device 220 to switch the rotation direction of the transducer module 210 one or more times (1550) during a time period corresponding to the first time for the second switching time point.

[0264] However, in order to generate a delay time corresponding to the tooth side clearance value according to the switching of the rotation direction, during the time corresponding to the first time for the second switching time point, the controller 140 may control the driving device 220 to make the transducer module 210 rotate in the same direction within a preset time from the time point when the rotation direction of the transducer module 210 is switched.

[0265] In this case, the preset time may be set to have a length longer than the delay time caused by the tooth side clearance between the transducer module 210 and the driving device 220 during the design phase and stored in the memory 160, or the preset time may be set by the user through the input 130 and stored in the memory 160.

[0266] The controller 140 may determine a second time to output the first signal after the second switching time point ( 1560 ).

[0267] In detail, after a time corresponding to the first time, the controller 140 may control the driving device 220 to rotate the transducer module 210 until a fourth switching time point at which the position sensor 240 switches the output signal from the first signal to the second signal.

[0268] In other words, after a time corresponding to the first time from the second switching time point, the controller 140 can determine a fourth switching time point at which the output signal switches from the first signal to the second signal as the magnet 230 moves away from the position sensor 240 due to the rotation of the transducer module 210, and the time difference between the second switching time point and the fourth switching time point can be determined as the second time.

[0269] Thereafter, the controller 140 may determine a backlash value based on a difference between the first time and the second time ( 1570 ).

[0270] In detail, the controller 140 may determine the backlash value by dividing the difference between the first time and the second time by the number of times the rotation direction of the transducer module 210 is switched during a time corresponding to the first time for the second switching time point.

[0271] As described above, the ultrasonic imaging apparatus 10 may determine the backlash value generated due to the backlash between the transducer module 210 and the driving device 220 by rotating the transducer module 210 according to a predetermined pattern.

[0272] In addition, the controller 140 may compensate for the determined backlash value when the ultrasonic image is captured ( 1580 ).

[0273] That is, when controlling the transducer module 210 to rotate while irradiating an ultrasonic signal to capture an ultrasonic image, the controller 140 may compensate for the determined backlash value.

[0274] In detail, when controlling the driving device 220 to switch the rotation direction of the transducer module 210, the controller 140 may control the driving device 220 to output rotational force in the same direction for a period of time from a time corresponding to the tooth side clearance value to a preset time.

[0275] In this case, the preset time may correspond to the time set for the transducer module 210 to rotate after the direction switching to provide the rotation angle determined according to the imaging protocol. By compensating for the rotation time of the transducer module 210 using the time from the time corresponding to the backlash value to the preset time as described above, the transducer module 210 can be prevented from rotating an angle smaller than the expected rotation angle due to the backlash value.

[0276] In addition, the controller 140 may compensate for the backlash value by acquiring an ultrasonic image in each of the clockwise and counterclockwise directions and correcting the ultrasonic image corresponding to each of the clockwise and counterclockwise directions.

[0277] In detail, the controller 140 may offset each of the rendering image A corresponding to the first direction and the rendering image B corresponding to the second direction from the central axis of the transducer module 210 along the direction corresponding thereto by an angle corresponding to the tooth side clearance value, thereby generating a rendering image of the ultrasound image. In this way, the ultrasound imaging apparatus 10 can provide an ultrasound image without jitter.

[0278] Fig.16 2 is a flowchart illustrating a case where an error due to the hysteresis characteristic of the position sensor 240 is compensated for by a method for controlling the ultrasonic imaging apparatus 10 according to an embodiment.

[0279] Reference Fig.16 , the controller 140 may set the point at which the output signal of the position sensor 240 switches from the second signal to the first signal due to the rotation of the transducer module 210 in the first direction as the central axis of the transducer module 210 ( 1610 ).

[0280] The controller 140 may control the driving device 220 to rotate the transducer module 210 in the first direction (1620), and at a first switching time point when the output signal is switched from the first signal to the second signal, the driving device 220 may be controlled to switch the direction of the transducer module 210 to the second direction (1630), and a second switching time point at which the output signal is switched from the second signal to the first signal after the first switching time point may be determined (1640). Since the description thereof is the same as the above description, the detailed description thereof will be omitted.

[0281] The controller 140 may determine a time difference between the first switching time point and the second switching time point as a third time ( 1650 ), and determine a time obtained by subtracting a time corresponding to the tooth side clearance value from the determined third time as an error time ( 1660 ).

[0282] In detail, when the transducer module 210 is controlled to rotate in a predetermined mode, the controller 140 can determine the time from the time point when the magnet 230 passes through the position sensor 240 due to the rotation of the transducer module 210 in the first direction to the time point when the magnet 230 enters the low level output range of the position sensor 240 due to the transducer module 210 switching the direction to the second direction as the third time, and can determine the difference between the third time and the tooth side clearance value as the error time caused by the hysteresis characteristics.

[0283] In addition, the controller 140 may determine a point (1670) at which the output signal switches from the first signal to the second signal due to the transducer module 210 rotating in the second direction, and may determine a point rotated from the determined point by an error time in the first direction as a central axis (1680).

[0284] That is, the controller 140 may control the transducer module 210 to be positioned on the central axis of the rotation radius for ultrasound image capture. In this case, as described in operation 1610, the controller 140 may set the point (CW drop) at which the output signal of the position sensor 240 switches from a high-level output signal to a low-level output signal due to the rotation of the transducer module 210 in the first direction as the central axis of the transducer module 210, and store the point (CW drop) in the memory 160.

[0285] In this case, when the controller 140 determines the point (CCW rise) at which the output signal of the position sensor 240 switches from a low-level output signal to a high-level output signal due to the rotation of the transducer module 210 in the second direction as the center axis of the transducer module 210, a difference occurs between the set center axis and the determined center axis due to the hysteresis characteristics of the position sensor 240.

[0286] Therefore, the controller 140 can determine the point where the output signal of the position sensor 240 switches from a low-level output signal to a high-level output signal due to the rotation of the transducer module 210 in the second direction for an error time as the central axis of the transducer module 210.

[0287] That is, the ultrasonic imaging apparatus 10 compensates for an error time that may be generated due to the hysteresis characteristic of the position sensor 240 so that the transducer module 210 can be positioned on the same central axis regardless of the direction in which the transducer module 210 rotates.

[0288] Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. The instructions may be stored in the form of program codes, which may generate program modules when executed by a processor to perform the operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

[0289] The computer-readable recording medium includes various recording media in which instructions decodable by a computer are stored, such as read-only memory (ROM), random access memory (RAM), magnetic tapes, magnetic disks, flash memories, optical data storage devices, and the like.

[0290] As is apparent from the above, the ultrasonic imaging apparatus and the method for controlling the ultrasonic imaging apparatus can provide a clear ultrasonic image by measuring the position of the transducer module based on the output value of the position sensor and compensating for the backlash value.

[0291] Although the embodiments of the present disclosure have been described for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions may be made without departing from the scope and spirit of the present disclosure. Therefore, the embodiments of the present disclosure are not described for limiting purposes.

Claims

1. An ultrasonic imaging device, comprising: An ultrasound probe, the ultrasound probe comprising: a transducer module including an ultrasound transducer array; a driving device configured to rotate the transducer module; a magnet configured to rotate with the rotation of the transducer module; and a position sensor configured to output one of a first signal and a second signal based on a change in magnetic flux density according to the rotation of the magnet, and A controller, configured to: determine a first time at which a first signal is output as the transducer module rotates in a first direction; control the drive device at a first switching time point at which the output signal switches from the first signal to the second signal to switch the rotation direction of the transducer module from the first direction to the second direction; control the drive device during a time period corresponding to the first time for a second switching time point at which the output signal switches from the second signal to the first signal after the first switching time point to switch the rotation direction of the transducer module one or more times; determine a second time at which the first signal is output after the second switching time point; and determine a tooth side clearance value based on a difference between the first time and the second time, wherein, when the magnetic flux density reaches a first magnetic flux density as the magnet moves toward the position sensor, the position sensor switches the output signal from the second signal to the first signal, and when the magnetic flux density reaches a second magnetic flux density as the magnet moves away from the position sensor, the position sensor switches the output signal from the first signal to the second signal, wherein the first signal and the second signal are different from each other due to a hysteresis characteristic of the position sensor, and The controller determines a third switching time point when the output signal switches from the second signal to the first signal as the magnet moves toward the position sensor due to the transducer module rotating in the first direction, and determines the time difference between the third switching time point and the first switching time point as the first time.

2. The ultrasonic imaging device according to claim 1, wherein: The controller determines the backlash value by dividing the difference between the first time and the second time by the number of times the rotation direction of the transducer module is switched during a time corresponding to the first time for a second switching time point.

3. The ultrasonic imaging device according to claim 1, wherein: During a time corresponding to the first time for a second switching time point, the controller controls the driving device to rotate the transducer module in the same direction within a preset time from a time point when the rotation direction of the transducer module is switched.

4. The ultrasonic imaging device according to claim 1, wherein: The controller determines a fourth switching time point after a time corresponding to the first time for the second switching time point, at which the output signal switches from the first signal to the second signal as the magnet moves away from the position sensor due to the rotation of the transducer module, and determines the time difference between the second switching time point and the fourth switching time point as the second time.

5. The ultrasonic imaging device according to claim 1, wherein: The driving device further comprises: a motor configured to generate rotational power for rotating the transducer module; and a transmission device configured to transmit the rotational power of the motor to the transducer module, Wherein, the controller controls the motor to rotate at a preset speed.

6. The ultrasonic imaging device according to claim 1, wherein: When the ultrasonic probe is connected to the main body of the ultrasonic imaging apparatus, the controller controls the ultrasonic probe to determine a backlash value.

7. The ultrasonic imaging device according to claim 1, further comprising: an input device configured to receive input from a user, The controller controls the ultrasonic probe to determine the tooth backlash value in response to receiving input regarding capturing a three-dimensional ultrasonic image from a user through rotation of the transducer module or in response to receiving input regarding determining the tooth backlash value.

8. The ultrasonic imaging device according to claim 1, wherein: The controller controls the ultrasonic probe to determine the backlash value at preset time intervals.

9. The ultrasonic imaging device according to claim 1, further comprising: a display configured to display an ultrasound image, When the tooth side clearance value exceeds a preset threshold, the controller controls the display to output a notification or controls the ultrasonic probe to determine the tooth side clearance value again.

10. The ultrasonic imaging device according to claim 1, wherein: The controller controls the driving device to output rotational power in the same direction during a time period in which a delay time corresponding to a tooth backlash value is increased by a preset time when controlling the driving device to switch the rotational direction of the transducer module.

11. The ultrasonic imaging device according to claim 1, wherein: The controller offsets a rendering image corresponding to a first direction and a rendering image corresponding to a second direction from a central axis of the transducer module by an angle corresponding to the tooth side clearance value along the directions corresponding thereto to generate a rendering image of an ultrasound image.

12. The ultrasonic imaging device according to claim 1, wherein: The controller determines a time difference between a first switching time point and a second switching time point as a third time, and determines a time obtained by subtracting a delay time corresponding to a backlash value from the third time as an error time due to a hysteresis characteristic of the position sensor.

13. A method for controlling an ultrasonic imaging device, wherein: The ultrasonic imaging device includes an ultrasonic probe, the ultrasonic probe including: a transducer module including an ultrasonic transducer array; a driving device configured to rotate the transducer module; a magnet configured to rotate with the rotation of the transducer module; and a position sensor configured to output one of a first signal and a second signal based on a change in magnetic flux density according to the rotation of the magnet, the method comprising: Determining a first time at which the transducer module outputs a first signal as the transducer module rotates in a first direction; Controlling the driving device at a first switching time point when the output signal switches from the first signal to the second signal so that the rotation direction of the transducer module switches from the first direction to the second direction; controlling the drive device to switch the rotation direction of the transducer module one or more times during a time corresponding to the first time for a second switching time point at which the output signal switches from the second signal to the first signal after the first switching time point; determining a second time at which the first signal is output after the second switching time point; and determining a backlash value based on a difference between the first time and the second time, wherein, when the magnetic flux density reaches a first magnetic flux density as the magnet moves toward the position sensor, the position sensor switches the output signal from the second signal to the first signal, and when the magnetic flux density reaches a second magnetic flux density as the magnet moves away from the position sensor, the position sensor switches the output signal from the first signal to the second signal, wherein the first signal and the second signal are different from each other due to a hysteresis characteristic of the position sensor, and The steps for determining the first time include: determining a third switching time point at which the output signal switches from the second signal to the first signal as the magnet moves toward the position sensor due to the transducer module rotating in the first direction, wherein the third switching time point is a time point before the first switching time point, and A time difference between the third switching time point and the first switching time point is determined as the first time.

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