A hand wheel damping dynamic adjustment method, a breast machine, a control device and a storage medium

Abstract

The application discloses a hand wheel damping dynamic adjustment method, a mammary gland machine, a control device and a storage medium, and is applied to the mammary gland machine and comprises the following steps: acquiring a first rotation angle signal when a hand wheel part is subjected to force; controlling a pressing plate to move in a first translation direction to narrow a clamping space between the pressing plate and a bearing plate; acquiring a pressure detection signal detected by a pressure sensor, and forming an electric drive signal according to pressure detection signal processing; outputting the electric drive signal to a magnetic hysteresis brake, the magnetic hysteresis brake being connected with the hand wheel part, and the magnetic hysteresis brake being capable of changing damping resistance applied to the hand wheel part according to the electric drive signal, the damping resistance being used for impeding rotation of the hand wheel part in a first rotation direction, wherein when the pressure represented by the pressure detection signal increases, the damping resistance increases, and when the pressure represented by the pressure detection signal decreases, the damping resistance decreases; the design increases the operation feeling of a doctor, is fast in response, improves the adjustment precision, the safety level and the like, is compact in structure, and reduces the maintenance cost.

Description

Technical Field

[0001] This invention relates to the field of computer technology, and in particular to a method for dynamic adjustment of handwheel damping, a mammography machine, a control device, and a storage medium. Background Technology

[0002] Traditional mammography machines typically include a frame, a support plate, a pressure plate, and an optical detection assembly. The support plate and the pressure plate are both mounted on the frame and can be positioned close to or far apart from each other, forming a clamping area for placing the breast tissue. When detecting breast lesions, the physician places the patient's breast tissue on the support plate and then operates a handwheel mounted on the frame. The handwheel, through a mechanical transmission mechanism, moves the pressure plate closer to the support plate, thereby cooperating with the support plate to clamp and press the breast tissue. The detection assembly then probes the breast tissue.

[0003] However, mechanical transmission mechanisms are generally complex in structure, require regular maintenance, and are large in size and weight, which may cause them to jam and harm the patient.

[0004] Later, the manufacturer improved the traditional mammary gland machine by adding a control module and drive components, eliminating the transmission mechanism. The control module acquires the rotation angle of the handwheel and generates a control signal based on the angle. This signal electrically controls the drive component, which in turn moves the pressure plate closer to the support plate. However, this method has a problem. Previously, when the transmission mechanism moved the pressure plate closer to the support plate, once the pressure plate contacted the mammary gland, the gland would resist further downward pressure. This resistance was transmitted to the handwheel via the transmission mechanism. Physicians can feel the pressure when turning the handwheel and slow down the rotation to prevent excessive pressure on the breast tissue from continuous rotation, which could harm the patient. However, in the improved mammary gland machine, the handwheel and drive assembly are controlled by electrical signals. Therefore, the resistance generated by the breast tissue pressing against the pressure plate cannot be fed back to the handwheel. Physicians can only judge the pressure of the pressure plate on the breast tissue by visual inspection. The handwheel does not provide a direct sense of the physician's rotation operation. Physicians may inadvertently over-rotate the handwheel, leading to accidents. Summary of the Invention

[0005] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a method for dynamic adjustment of handwheel damping, a mammography machine, a control device, and a storage medium, which improves the physician's operating feel, provides rapid response, enhances adjustment accuracy and safety, has a compact structure, and reduces maintenance costs.

[0006] A method for dynamically adjusting the damping of a handwheel according to a first aspect of the present invention, applied to a mammography machine, includes: acquiring a first rotation angle signal when a force is applied to the handwheel, the first rotation angle signal being used to characterize the angle generated by the handwheel rotating in a first rotation direction; controlling a pressure plate to move in a first translational direction to narrow the clamping space between the pressure plate and a support plate; acquiring a pressure detection signal detected by a pressure sensor, and processing the pressure detection signal to form an electric drive signal, wherein the pressure detection signal is used to characterize the pressure exerted by the pressure plate against a mammary gland placed in the clamping space; and outputting the electric drive signal to a hysteresis brake, the hysteresis brake being connected to the handwheel, the hysteresis brake being able to change the damping resistance applied to the handwheel according to the electric drive signal, the damping resistance being used to impede the handwheel rotating in the first rotation direction, wherein when the pressure characterized by the pressure detection signal increases, the damping resistance increases, and when the pressure characterized by the pressure detection signal decreases, the damping resistance decreases.

[0007] A method for dynamically adjusting handwheel damping according to an embodiment of the present invention has at least the following beneficial effects:

[0008] This invention relates to a dynamic adjustment method for handwheel damping. The physician applies force to the handwheel to rotate it, acquiring a first rotation angle signal. Based on this signal, the pressure plate is moved to narrow the clamping space between it and the support plate, allowing the pressure plate to press against the breast tissue placed in the clamping space. A pressure sensor detects the pressure exerted by the pressure plate on the breast tissue and generates a pressure detection signal. This signal is processed to generate an electric drive signal. The hysteresis brake adjusts the damping resistance applied to the handwheel based on the electric drive signal. Thus, the physician can feel the resistance feedback provided by the hysteresis brake when rotating the handwheel. Furthermore, as the pressure indicated by the pressure detection signal increases, the damping resistance also increases. The physician can intuitively grasp the rotation range of the handwheel, preventing over-rotation. This design improves the physician's operating feel, provides rapid response, enhances adjustment accuracy and safety, has a compact structure, and reduces maintenance costs.

[0009] According to some embodiments of the present invention, the electric drive signal includes a drive current. When the pressure represented by the pressure detection signal increases, the drive current increases, and the damping resistance generated by the hysteresis brake according to the drive current increases. Correspondingly, when the pressure represented by the pressure detection signal decreases, the drive current decreases, and the damping resistance generated by the hysteresis brake according to the drive current decreases.

[0010] According to some embodiments of the present invention, when the pressure represented by the pressure detection signal is less than the median pressure threshold, the rate of increase of the driving current is greater than when the pressure represented by the pressure detection signal is greater than the median pressure threshold; when the pressure represented by the pressure detection signal is equal to zero, the magnitude of the driving current is not equal to zero, and the damping resistance is not equal to zero; as the pressure represented by the pressure detection signal increases, the magnitude of the damping resistance approaches but is not equal to the maximum resistance value that the hysteresis brake can provide.

[0011] According to some embodiments of the present invention, the step of acquiring the pressure detection signal detected by the pressure sensor and processing the pressure detection signal to form an electric drive signal includes: inputting the pressure detection signal into a pressure current conversion model to obtain the drive current;

[0012] The pressure-current conversion model is as follows:

[0013]

[0014] Where f(x) is the value of the driving current, x is the pressure value represented by the pressure detection signal, x0 is the median pressure threshold, k is the set slope constant value, and I max The maximum current value that can provide the maximum resistance value to drive the hysteresis brake;

[0015] The handwheel damping dynamic adjustment method further includes: acquiring a first setting instruction, the first setting instruction being used to set a slope constant value k to change the rate of change of the drive current; acquiring a second setting instruction, the second setting instruction being used to set a pressure median threshold x0.

[0016] According to some embodiments of the present invention, the process of controlling the pressure plate to move in a first translational direction to narrow the clamping space between the pressure plate and the support plate includes: acquiring a pressure detection signal detected by a pressure sensor, inputting the pressure represented by the pressure detection signal and the rotation angle represented by the first rotation angle signal into a first stroke conversion model to obtain a first stroke value, and controlling the pressure plate to move according to the first stroke value;

[0017] The first travel conversion model is:

[0018] g(t) = (a / (1+b*x))*t;

[0019] Wherein, g(t) is the first travel value, t is the number of rotations represented by the first angle signal, b is a correction constant, a is the unit travel value of one rotation of the handwheel, and x is the pressure value represented by the pressure detection signal.

[0020] According to some embodiments of the present invention, the handwheel damping dynamic adjustment method further includes: acquiring a second rotation angle signal when the handwheel is subjected to force, the second rotation angle signal being used to characterize the angle generated by the handwheel rotating in a second rotation direction, wherein the first rotation direction and the second rotation direction are opposite to each other; when the rotation angle characterized by the second rotation angle signal is less than a rotation angle threshold, a second travel value is obtained based on the rotation angle characterized by the second rotation angle signal, and the pressure plate is controlled to move in a second translation direction to widen the clamping space between the pressure plate and the bearing plate based on the second travel value; when the rotation angle characterized by the second rotation angle signal is greater than the rotation angle threshold, the pressure plate is controlled to move and reset in the second translation direction.

[0021] According to some embodiments of the present invention, when the rotation angle represented by the second rotation angle signal is less than the rotation angle threshold, the pressure represented by the pressure detection signal and the rotation angle represented by the second rotation angle signal are input into the second stroke conversion model to obtain the second travel value, and the pressure plate is controlled to move according to the second travel value.

[0022] The second travel conversion model is as follows:

[0023] h(r) = (a / (1+b*x))*r;

[0024] Where h(r) is the second travel value, r is the number of rotations represented by the second angle signal, b is a correction constant, a is the unit travel value of one rotation of the handwheel, and x is the pressure value represented by the pressure detection signal.

[0025] A breast machine according to a second aspect of the present invention includes: a base frame; a support plate disposed on the base frame; a pressure plate movably disposed on the base frame, wherein a clamping area for placing breast tissue is formed between the pressure plate and the support plate; a drive assembly disposed on the base frame, the drive assembly being connected to the pressure plate and capable of driving the pressure plate to move to narrow or widen the clamping space; a handwheel rotatably disposed on the base frame; an angle sensor disposed between the handwheel and the base frame, the angle sensor being used to detect the angle generated by the rotation of the handwheel; a pressure sensor disposed between the support plate and the pressure plate, the pressure sensor being used to detect a pressure detection signal; a hysteresis brake disposed between the base frame and the handwheel, the hysteresis brake being capable of applying damping resistance to the handwheel; and a control module electrically connected to the angle sensor, the pressure sensor, the hysteresis brake, and the drive assembly, respectively, wherein the control module controls the operation of the hysteresis brake and the drive assembly according to a handwheel damping dynamic adjustment method disclosed in any of the above embodiments.

[0026] The breast machine according to embodiments of the present invention has at least the following beneficial effects:

[0027] This invention relates to a mammography machine. An angle sensor detects the first rotation angle signal of the handwheel. Based on this signal, the control module controls a drive assembly to move a pressure plate, narrowing the clamping space between the pressure plate and the support plate. This allows the pressure plate to press against the breast tissue placed in the clamping space. A pressure sensor detects the pressure exerted by the pressure plate on the breast tissue and generates a pressure detection signal. The control module processes this signal to generate an electric drive signal, which is then applied to a hysteresis brake. The hysteresis brake adjusts the damping resistance applied to the handwheel based on the electric drive signal. Thus, the physician can feel the resistance feedback provided by the hysteresis brake when rotating the handwheel. Furthermore, as the pressure indicated by the pressure detection signal increases, the damping resistance also increases. The physician can intuitively grasp the rotation range of the handwheel, preventing over-rotation. This design improves the physician's operating feel, provides rapid response, enhances adjustment accuracy and safety, has a compact structure, and reduces maintenance costs.

[0028] According to a third aspect of the present invention, a control device includes: one or more memories; one or more processors, configured to execute one or more computer programs stored in the one or more memories, and further configured to execute a handwheel damping dynamic adjustment method disclosed in any of the above embodiments.

[0029] A computer-readable storage medium according to a fourth aspect of the present invention includes instructions that, when executed on a computer, cause the computer to perform a handwheel damping dynamic adjustment method disclosed in any of the above embodiments.

[0030] Additional aspects and advantages 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. Attached Figure Description

[0031] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0032] Figure 1 This is a three-dimensional structural schematic diagram of one embodiment of the breast machine of the present invention;

[0033] Figure 2 This is a schematic diagram of the principle structure of one embodiment of the mammary gland machine of the present invention;

[0034] Figure 3 This is a flowchart of one embodiment of the handwheel damping dynamic adjustment method of the present invention;

[0035] Figure 4 A graph of the pressure-current conversion model;

[0036] Figure 5 This is a schematic diagram of the control device of the present invention in one embodiment.

[0037] Figure label:

[0038] Base frame 100; bearing plate 110; pressure plate 120; drive assembly 130; angle sensor 140; pressure sensor 150; hysteresis brake 200; handwheel 300; control module 400; processor 610; memory 620; input / output interface 630; communication interface 640; bus 650. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0040] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0042] First, according to a first aspect embodiment of the present invention, a method for dynamically adjusting the damping of a handwheel is applied to a mammography machine, such as... Figure 1 , 2As shown, the mammography machine includes a base frame 100, an angle sensor 140, a pressure sensor 150, and a support plate 110, a pressure plate 120, a drive assembly 130, a handwheel 300, a hysteresis brake 200, a control module 400, and a detection assembly mounted on the base frame 100. The pressure plate 120 is movable on the base frame 100, forming a clamping area for placing mammary glands between the pressure plate 120 and the support plate 110. The drive assembly 130 is connected to the pressure plate 120 and can drive the pressure plate 120 to move to narrow or widen the clamping space. The handwheel 300 can move on the base frame 100. The handwheel rotates on the 0-axis. An angle sensor 140 is located between the handwheel component 300 and the base frame 100. The angle sensor 140 is used to detect the angle generated by the rotation of the handwheel component 300. A pressure sensor 150 is located between the support plate 110 and the pressure plate 120. The pressure sensor 150 is used to detect the pressure detection signal. A hysteresis brake 200 is located between the base frame 100 and the handwheel component 300. The hysteresis brake 200 can apply damping resistance to the handwheel component 300. The control module 400 is electrically connected to the angle sensor 140, the pressure sensor 150, the hysteresis brake 200 and the drive assembly 130 respectively.

[0043] The detection component (not shown in the figure) can use X-rays or other methods to detect breast lesions. Specifically, the detection component includes a transmitter and a receiver, one of which is located on the pressure plate 120 and the other is located on the support plate 110.

[0044] Angle sensor 140 can be selected from conventional encoders, Hall sensors, etc. Pressure sensor 150 can be semiconductor piezoelectric diaphragm, resistive strain gauge, etc. Drive assembly 130 can be selected from conventional servo motors or cylinders. Generally speaking, pressure plate 120 and support plate 110 are arranged vertically, with pressure plate 120 located above support plate 110. Control module 400 controls drive assembly 130 to drive pressure plate 120 to move up or down to move closer to or away from support plate 110.

[0045] The control module 400 can be selected from processing chips such as MCU or CPU and auxiliary circuits. The control module 400 also includes a digital-to-analog converter circuit and an analog-to-digital converter circuit. Angle sensor 140 and pressure sensor 150 are connected to the control module 400 through the analog-to-digital converter circuit. The control module 400 is connected to the hysteresis brake 200 through the digital-to-analog converter circuit. Specifically, the analog-to-digital converter circuit can be a variable impedance amplifier circuit composed of AD8422 operational amplifier, which outputs a signal of 0-3.3V. The digital-to-analog converter circuit can be an MMBT2222A-NPN bipolar transistor driver circuit, which can adjust the output current of 0-600mA to control the hysteresis brake 200.

[0046] The hysteresis brake 200 generally includes a stator and a rotor. The stator is equipped with a magnetic block and an excitation coil, and the rotor is also equipped with a magnetic block and a driven coil. The stator is mounted on the base frame 100, and the rotor is connected to the handwheel 300. The control module 400 adjusts the excitation current and other electric drive signals and outputs them to the excitation coil. The driven coil senses the motor and applies damping resistance to the handwheel 300 through the rotor.

[0047] Specifically, there are two handwheel components 300, which are respectively located on both sides of the mammary gland machine. Both handwheel components 300 can generate control signals, and both handwheel components 300 synchronously control the drive assembly 130.

[0048] like Figure 3 As shown, the dynamic adjustment method for handwheel damping includes:

[0049] S510. Obtain the first rotation angle signal when the handwheel component 300 is subjected to force. The first rotation angle signal is used to characterize the angle generated by the handwheel component 300 rotating in the first rotation direction.

[0050] S520, control the pressure plate 120 to move in the first translational direction to narrow the clamping space between the pressure plate 120 and the bearing plate 110;

[0051] S530: Acquire the pressure detection signal detected by the pressure sensor 150, and process the pressure detection signal to form an electric drive signal. The pressure detection signal is used to characterize the pressure of the pressure plate 120 pressing against the mammary gland placed in the clamping space.

[0052] S540, The electric drive signal is output to the hysteresis brake 200. The hysteresis brake 200 is connected to the handwheel component 300. The hysteresis brake 200 can change the damping resistance applied to the handwheel component 300 according to the electric drive signal. The damping resistance is used to prevent the handwheel component 300 from rotating in the first rotation direction. When the pressure represented by the pressure detection signal increases, the damping resistance increases. When the pressure represented by the pressure detection signal decreases, the damping resistance decreases.

[0053] This invention relates to a method for dynamically adjusting the damping of a handwheel. The physician applies force to the handwheel 300 to rotate it, acquiring a first rotation angle signal. Based on this signal, the pressure plate 120 is moved to narrow the clamping space between it and the support plate 110, causing the pressure plate 120 to press against the breast tissue placed in the clamping space. A pressure sensor 150 detects the pressure exerted by the pressure plate 120 on the breast tissue and generates a pressure detection signal. This signal is then processed to generate an electric drive signal. A hysteresis brake 200 adjusts the damping resistance applied to the handwheel 300 based on the electric drive signal. Thus, the physician can feel the resistance feedback provided by the hysteresis brake 200 when rotating the handwheel 300. Furthermore, as the pressure indicated by the pressure detection signal increases, the damping resistance also increases. The physician can intuitively grasp the rotation range of the handwheel 300, preventing over-rotation. This design enhances the physician's operational feel, provides rapid response, improves adjustment accuracy and safety, has a compact structure, and reduces maintenance costs.

[0054] In some embodiments of the present invention, the electric drive signal includes a drive current. If the pressure represented by the pressure detection signal increases, the drive current increases, and the damping resistance generated by the hysteresis brake 200 according to the drive current increases. Correspondingly, if the pressure represented by the pressure detection signal decreases, the drive current decreases, and the damping resistance generated by the hysteresis brake 200 according to the drive current decreases.

[0055] The control module 400 can adjust the PWM signal to change the magnitude of the drive current based on the increase in pressure represented by the pressure detection signal, and use the magnitude of the drive current to change the damping resistance.

[0056] In some embodiments of the present invention, the rate of increase of the driving current when the pressure represented by the pressure detection signal is less than the median pressure threshold is greater than the rate of increase of the driving current when the pressure represented by the pressure detection signal is greater than the median pressure threshold. The purpose of this design is to increase the rate of increase of the damping resistance when the pressure plate 120 contacts the breast and the pressure sensor 150 generates a pressure detection signal representing a pressure greater than zero and less than the median pressure threshold. This is equivalent to increasing the sensitivity of the resistance feedback of the hysteresis brake 200. The physician can quickly sense and know that the pressure plate 120 has contacted the breast. Furthermore, in the initial stage after the pressure plate 120 contacts the breast, each descent of the pressure plate 120 is crucial; even a small descent poses a risk of harm to the patient. Therefore, the damping resistance applied to the handwheel 300 is rapidly increased here. This serves two purposes: firstly, to provide the physician with a tactile feedback experience, and secondly, to hinder the physician from rapidly rotating the handwheel 300, thus reducing the rate at which the physician rotates the handwheel 300 and improving operational accuracy and safety. When the pressure represented by the pressure detection signal exceeds the median pressure threshold, the damping resistance is already large enough that it is difficult for the physician to rotate the handwheel 300. At this point, the rate of increase in damping resistance can be reduced to prevent the handwheel 300 from locking up directly, which would affect the physician's tactile feedback. It can be understood that when the handwheel 300 locks up directly, the physician will be directly and rigidly blocked when pushing the handwheel 300, without any small-amplitude rotation buffer space. The physician's applied force and the damping resistance directly and rigidly cancel each other out, resulting in a poor operating experience.

[0057] When the pressure represented by the pressure detection signal is zero, the magnitude of the driving current is not zero, and the damping resistance is not zero. When the pressure plate 120 does not contact the mammary gland, the pressure represented by the pressure detection signal is zero. At this time, the control module 400 will also output a certain driving current to the hysteresis brake 200, so that the hysteresis brake 200 will provide a certain damping resistance to the handwheel component 300, providing the doctor with a certain operating feel, so as not to rotate the handwheel component 300 quickly, and also to prevent the pressure plate 120 from falling rapidly due to the rapid rotation of the handwheel component 300, which could cause damage to the mammary gland.

[0058] As the pressure represented by the pressure detection signal increases, the magnitude of the damping resistance approaches but is not equal to the maximum resistance value that the hysteresis brake 200 can provide. When the pressure represented by the pressure detection signal increases to a large value, it can prevent the handwheel component 300 from locking up directly, thus affecting the doctor's operating feel.

[0059] In some embodiments of the present invention, acquiring the pressure detection signal detected by the pressure sensor 150 and processing the pressure detection signal to form an electric drive signal includes: inputting the pressure detection signal into a pressure current conversion model to obtain the drive current.

[0060] like Figure 4 As shown, the pressure-current conversion model is as follows:

[0061]

[0062] Where f(x) is the value of the driving current, x is the pressure value represented by the pressure detection signal, x0 is the median pressure threshold, k is the set slope constant value, and I max The maximum current value that can provide the maximum resistance value to drive the hysteresis brake;

[0063] Based on the above embodiments, the rate of increase of the driving current when the pressure represented by the pressure detection signal is less than the median pressure threshold is greater than the rate of increase of the driving current when the pressure represented by the pressure detection signal is greater than the median pressure threshold. When the pressure represented by the pressure detection signal is equal to zero, the magnitude of the driving current is not equal to zero. In addition, as the pressure represented by the pressure detection signal increases, the magnitude of the damping resistance approaches but is not equal to the maximum resistance value that the hysteresis brake can provide. Therefore, a pressure-current conversion model is formulated.

[0064] Assuming the slope constant k is set to 0.04, the median pressure threshold x0 is 80N, and the maximum current value I... max The current is 200mA. When x is 0N, f(x) = 200 / (1+e -0.4(0-80) f(x) = 7.83 mA; when x is 125 N, f(x) = 200 / (1+e^(-1 / 2)) -0.4(125-80) f(x) = 171.63 mA; when x is 250 N, f(x) = 200 / (1+e^(-1 / 2)) -0.04(250-80) =199.77mA.

[0065] By developing a nonlinear pressure-current conversion model, it is possible to control the hysteresis brake, thereby improving the operator's feel and the safety performance of the mammography machine.

[0066] The handwheel damping dynamic adjustment method further includes: acquiring a first setting command, which is used to set a slope constant value k to change the rate of change of the drive current. As can be seen from the pressure-current conversion model, by setting the slope constant value k, the damping can be adjusted as follows: Figure 4 The slope of the curve shown changes the rate of change of the driving current, which in turn changes the rate of change of the damping resistance. The mammography machine is equipped with a keyboard and other input tools. The input tools are connected to the control module 400. The physician can input the first setting command at the input tool, so as to adjust the rate of change of the driving current according to the actual needs, making it more flexible and reliable to use.

[0067] The handwheel damping dynamic adjustment method also includes: obtaining a second setting command, which is used to set the median pressure threshold x_0. Similarly, changing the median pressure threshold x_0 can change the position of the range where the rate of change of the driving current is large, which is equivalent to adjusting the operating sensitivity in a certain range. Likewise, the physician can input the second setting command at the input tool to set it, making the operation more flexible and reliable.

[0068] In the above embodiments, in order to improve the doctor's operating feel, the rate of increase of the driving current gradually slows down when the pressure represented by the pressure detection signal is greater than the median pressure threshold. Furthermore, as the pressure represented by the pressure detection signal increases, the magnitude of the damping resistance approaches but is not equal to the maximum resistance value that the hysteresis brake 200 can provide.

[0069] This design aims to provide a buffer zone for physicians to rotate the handwheel 300 after the pressure plate 120 has been pressed against the breast tissue and is relatively firmly and stably clamped. This allows physicians to rotate the handwheel 300 with sufficient force, rather than locking it completely, thus improving the ease of operation. However, the problem is that the angle sensor 140 detects the rotation angle of the handwheel 300 to drive the pressure plate downward. If the handwheel 300 can still rotate, the drive assembly 130 will continue to drive the pressure plate 120 downward, potentially damaging the breast tissue. Faced with this contradictory problem, this design further proposes:

[0070] In some embodiments of the present invention, the control of the pressure plate 120 to move in a first translational direction to narrow the clamping space between the pressure plate 120 and the support plate 110 includes:

[0071] The pressure detection signal detected by the pressure sensor 150 is acquired, and the pressure represented by the pressure detection signal and the rotation angle represented by the first rotation angle signal are input into the first stroke conversion model to obtain the first stroke value. The pressure plate 120 is controlled to move according to the first stroke value.

[0072] The first-stroke conversion model is:

[0073] g(t) = (a / (1+b*x))*t;

[0074] Where g(t) is the first travel value, t is the number of rotations represented by the first angle signal, b is the correction constant, a is the unit travel value of one rotation of the handwheel, and x is the pressure value represented by the pressure detection signal.

[0075] As can be seen from the first stroke conversion model, when the pressure represented by the pressure detection signal is not equal to zero and as the pressure value increases, the downward stroke of the pressure plate 120 when the handwheel 300 rotates one revolution will gradually decrease. This means that when the pressure value is at a relatively high level, even if the handwheel 300 rotates a large angle, the pressure plate 120 will not have much downward stroke, thus providing reliable safety performance while also taking into account the doctor's operating feel.

[0076] In addition, it can be seen that when the pressure represented by the pressure detection signal is equal to zero, it is equivalent to the pressure plate 120 not yet pressing against the mammary gland. At this time, the stroke value of the handwheel 300 rotating one revolution is always the unit stroke value a, which can make the pressure plate 120 descend quickly and operate flexibly.

[0077] In some embodiments of the present invention, the handwheel damping dynamic adjustment method further includes: acquiring a second rotation angle signal when the handwheel component 300 is subjected to force, the second rotation angle signal being used to characterize the angle generated by the handwheel component 300 rotating in a second rotation direction, wherein the first rotation direction and the second rotation direction are opposite to each other;

[0078] When the rotation angle represented by the second rotation angle signal is less than the rotation angle threshold, the second travel value is obtained based on the rotation angle represented by the second rotation angle signal. Based on the second travel value, the pressure plate 120 is controlled to move in the second translation direction to widen the clamping space between the pressure plate 120 and the bearing plate 110. When the rotation angle represented by the second rotation angle signal is greater than the rotation angle threshold, the pressure plate 120 is controlled to move in the second translation direction to reset.

[0079] When the physician finds that the pressure plate 120 is pressed down too much and needs to be raised slightly, the physician can operate the handwheel 300 to rotate in the second rotation direction. At this time, the control module 400 will control the pressure plate 120 to rise according to the rotation angle represented by the second rotation angle signal.

[0080] Furthermore, this design includes a rotation angle threshold. For example, the rotation angle threshold can be one full turn (i.e., 360°), or it can be half a turn, two turns, three turns, etc. The rotation angle threshold can be set according to the actual situation and is not specifically limited here. Generally speaking, the physician needs to slightly adjust the position of the pressure plate 120, but the magnitude will not be large. When the rotation angle represented by the second rotation angle signal is greater than the rotation angle threshold, the control module 400 can determine that there may be a critical situation, and then automatically move the pressure plate 120 upward to reset, thereby ensuring the patient's safety. It should be noted that the reset here can mean controlling the pressure plate 120 to rise until it reaches the position where the pressure represented by the pressure detection signal is equal to zero, or it can mean controlling the pressure plate 120 to rise to the maximum limit value.

[0081] In some embodiments of the present invention, when the rotation angle represented by the second rotation angle signal is less than the rotation angle threshold, the pressure represented by the pressure detection signal and the rotation angle represented by the second rotation angle signal are input into the second stroke conversion model to obtain the second travel value, and the pressure plate is controlled to move according to the second travel value.

[0082] The second-stroke conversion model is:

[0083] h(r) = (a / (1+b*x))*r;

[0084] Where h(r) is the second travel value, r is the number of rotations represented by the second angle signal, b is the correction constant, a is the unit travel value of one rotation of the handwheel, and x is the pressure value represented by the pressure detection signal.

[0085] Similarly, when the pressure plate 120 presses against the breast and the control module 400 makes fine adjustments to the upward movement of the pressure plate 120, if the physician turns the handwheel 300 and the pressure plate 120 moves upward with a large stroke, it is difficult for the physician to control the accuracy of the upward movement, which may lead to the physician having to repeatedly adjust the position of the pressure plate 120. This design uses a second stroke conversion model to adjust the second movement stroke value, thereby improving the accuracy of the adjustment.

[0086] Specifically, it can be seen from the second stroke conversion model that when the pressure represented by the pressure detection signal is not equal to zero and the pressure value is large, the stroke of the pressure plate 120 rising when the handwheel 300 rotates one revolution in the opposite direction of the second rotation will be small, thus the adjustment accuracy will be high. When the pressure value gradually decreases, the stroke of the pressure plate 120 rising when the handwheel 300 rotates one revolution in the opposite direction of the second rotation will increase, and the doctor can also quickly move the pressure plate upward.

[0087] According to a second aspect of the present invention, the control module 400 controls the operation of the hysteresis brake 200 and the drive assembly 130 according to a handwheel damping dynamic adjustment method disclosed in any of the above embodiments.

[0088] Angle sensor 140 sends a first angle signal to the handwheel 300. Control module 400 controls drive assembly 130 to move pressure plate 120 to narrow the clamping space between pressure plate 120 and support plate 110, so that pressure plate 120 presses against the breast placed in the clamping space. Pressure sensor 150 detects the pressure of pressure plate 120 against breast and generates a pressure detection signal. Control module 400 processes the pressure detection signal to generate an electric drive signal and applies it to hysteresis brake 200. Hysteresis brake 200 changes the damping resistance applied to handwheel 300 according to the electric drive signal. Thus, the physician can feel the resistance feedback provided by hysteresis brake 200 when rotating handwheel 300. As the pressure represented by the pressure detection signal increases, the damping resistance increases. The physician can intuitively grasp the rotation range of handwheel 300 and is less likely to over-rotate. This design improves the physician's operating feel, responds quickly, improves adjustment accuracy and safety level, has a compact structure, and reduces maintenance costs.

[0089] According to a third aspect of the present invention, the control device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the handwheel damping dynamic adjustment method disclosed in any of the above embodiments.

[0090] The control device can be any intelligent terminal, including a central computer, a remote equipment terminal computer, or any other intelligent terminal.

[0091] like Figure 5 As shown, Figure 5 The hardware structure of a control device according to another embodiment is also illustrated. The control device includes:

[0092] The processor 610 can be implemented using a general-purpose central processing unit (CPU), a microprocessor 610, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0093] The memory 620 can be implemented as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 620 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 620 and is called and executed by the processor 610 to execute the handwheel damping dynamic adjustment method of the embodiments of this application.

[0094] The input / output interface 630 is used to realize information input and output;

[0095] The communication interface 640 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0096] Bus 650 transmits information between various components of the device (e.g., processor 610, memory 620, input / output interface 630, and communication interface 640);

[0097] The processor 610, memory 620, input / output interface 630 and communication interface 640 are connected to each other within the device via bus 650.

[0098] According to a fourth aspect of the present invention, a computer-readable storage medium stores a computer program, characterized in that, when executed by a processor, the computer program implements the handwheel damping dynamic adjustment method disclosed in any of the above embodiments.

[0099] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0100] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0101] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0102] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0103] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0104] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0105] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A method for dynamic adjustment of handwheel damping, applied to a mammography machine, characterized in that, include: Acquire a first rotation angle signal when the handwheel component is subjected to applied force, the first rotation angle signal being used to characterize the angle generated by the handwheel component rotating in a first rotation direction; The pressure plate is controlled to move in a first translational direction to narrow the clamping space between the pressure plate and the bearing plate; The pressure detection signal detected by the pressure sensor is acquired, and the pressure detection signal is processed to form an electric drive signal. The pressure detection signal is used to characterize the pressure of the pressure plate pressing against the mammary gland placed in the clamping space. An electric drive signal is output to a hysteresis brake, which is connected to the handwheel assembly. The hysteresis brake can change the damping resistance applied to the handwheel assembly according to the electric drive signal. The damping resistance is used to prevent the handwheel assembly from rotating in a first rotation direction. When the pressure represented by the pressure detection signal increases, the damping resistance increases; when the pressure represented by the pressure detection signal decreases, the damping resistance decreases. The electric drive signal includes a drive current, and the rate of change of the drive current when the pressure represented by the pressure detection signal is less than the median pressure threshold is greater than the rate of change of the drive current when the pressure represented by the pressure detection signal is greater than the median pressure threshold. When the pressure represented by the pressure detection signal is equal to zero, the magnitude of the driving current is not equal to zero, and the damping resistance is not equal to zero either; As the pressure represented by the pressure detection signal increases, the magnitude of the damping resistance approaches, but is not equal to, the maximum resistance value that the hysteresis brake can provide.

2. The method for dynamically adjusting handwheel damping according to claim 1, characterized in that: When the pressure represented by the pressure detection signal increases, the driving current increases, and the damping resistance generated by the hysteresis brake according to the driving current increases. Conversely, when the pressure represented by the pressure detection signal decreases, the driving current decreases, and the damping resistance generated by the hysteresis brake according to the driving current decreases.

3. The method for dynamically adjusting handwheel damping according to claim 1, characterized in that, The process of acquiring the pressure detection signal from the pressure sensor and processing the pressure detection signal to form the electric drive signal includes: The pressure detection signal is input into the pressure-current conversion model to obtain the driving current; The pressure-current conversion model is as follows: ； in, The value of the drive current. The pressure value represented by the pressure detection signal. The median pressure threshold. This is the set slope constant value. The maximum current value that can provide the maximum resistance value to drive the hysteresis brake; The handwheel damping dynamic adjustment method also includes: Obtain a first setting instruction, which is used to set a slope constant value. To change the rate of change of the driving current; Obtain a second setting command, which is used to set the median pressure threshold. .

4. The method for dynamically adjusting handwheel damping according to claim 1, characterized in that, The control of the pressure plate moving in a first translational direction to narrow the clamping space between the pressure plate and the support plate includes: The pressure detection signal detected by the pressure sensor is obtained, and the pressure represented by the pressure detection signal and the rotation angle represented by the first rotation angle signal are input into the first stroke conversion model to obtain the first stroke value. The pressure plate is controlled to move according to the first stroke value. The first travel conversion model is: ； in, This is the first travel distance value. The first rotation angle signal represents the number of rotations. To correct the constant, This is the unit stroke value of one revolution of the handwheel component. The pressure value is represented by the pressure detection signal.

5. The method for dynamically adjusting handwheel damping according to claim 1, characterized in that, Also includes: The second rotation angle signal is obtained when the handwheel component is subjected to force. The second rotation angle signal is used to characterize the angle generated by the handwheel component rotating in a second rotation direction, wherein the first rotation direction and the second rotation direction are opposite to each other. When the rotation angle represented by the second rotation angle signal is less than the rotation angle threshold, the second travel value is obtained based on the rotation angle represented by the second rotation angle signal, and the pressure plate is controlled to move in the second translation direction to widen the clamping space between the pressure plate and the bearing plate based on the second travel value. When the rotation angle represented by the second rotation angle signal is greater than the rotation angle threshold, the pressure plate is controlled to move and reset in the second translation direction.

6. The method for dynamically adjusting handwheel damping according to claim 5, characterized in that, When the rotation angle represented by the second rotation angle signal is less than the rotation angle threshold, the pressure represented by the pressure detection signal and the rotation angle represented by the second rotation angle signal are input into the second stroke conversion model to obtain the second travel value, and the pressure plate is controlled to move according to the second travel value. The second travel conversion model is as follows: ； in, This is the second travel distance value. The second rotation angle signal represents the number of rotations. To correct the constant, This is the unit stroke value of one revolution of the handwheel component. The pressure value is represented by the pressure detection signal.

7. A mammary gland machine, characterized in that, include: Base frame; The support plate is mounted on the base frame; A pressure plate is movably mounted on the base frame, and a clamping area for placing the mammary gland is formed between the pressure plate and the support plate; A drive assembly is disposed on the base frame and connected to the pressure plate. The drive assembly can drive the pressure plate to move to narrow or widen the clamping space. The handwheel is rotatably mounted on the base frame; An angle sensor is disposed between the handwheel component and the base frame, and the angle sensor is used to detect the angle generated by the rotation of the handwheel component; A pressure sensor is disposed between the support plate and the pressure plate, and the pressure sensor is used to detect pressure detection signals; A hysteresis brake is disposed between the base frame and the handwheel assembly, and the hysteresis brake is capable of applying damping resistance to the handwheel assembly; The control module is electrically connected to the angle sensor, the pressure sensor, the hysteresis brake, and the drive assembly, respectively. The control module controls the operation of the hysteresis brake and the drive assembly according to a handwheel damping dynamic adjustment method as described in any one of claims 1-6.

8. A control device, characterized in that, include: One or more memory units; One or more processors are configured to execute one or more computer programs stored in the one or more memories, and to execute a handwheel damping dynamic adjustment method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The instructions, when executed on a computer, cause the computer to perform a handwheel damping dynamic adjustment method as described in any one of claims 1-6.

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