An ultrasound diagnostic device and a probe control method for the ultrasound diagnostic device.

Abstract

This invention discloses an ultrasound diagnostic device and a probe control method for the ultrasound diagnostic device. The ultrasound diagnostic device includes an ultrasound probe and a motor control system. The ultrasound probe includes a motor and a transducer. The motor control system includes a control module, a motor drive module, and a feedback monitoring module. The feedback monitoring module samples a target pulse signal to obtain a sampled voltage signal and determines an output voltage sequence based on the sampled voltage signal. The control module generates a first control signal based on the pulse sequence and the output voltage sequence. Under the control of the first control signal, the motor drive module adjusts the amplitude of the target pulse signal and transmits the adjusted target pulse signal to the motor. The motor drives the transducer to oscillate under the control of the target pulse signal. By generating the first control signal through the output voltage sequence reflecting the working state of the motor, the amplitude of the target pulse signal is adjusted, thereby regulating the working state of the motor and protecting the motor.

Description

Technical Field

[0001] This invention relates to the field of ultrasound diagnostic technology, and in particular to an ultrasound diagnostic device and a probe control method for the ultrasound diagnostic device. Background Technology

[0002] A four-dimensional (4D) ultrasound probe is a device that uses a stepper motor-driven transmission mechanism to move the probe head, thereby achieving four-dimensional ultrasound scanning. The stepper motor in a four-dimensional ultrasound probe controls angular or linear displacement via received pulse signals. Stepper motors have various driving methods, such as pulse width modulation (PWM) driving, dedicated stepper motor integrated chip driving, and sinusoidal pulse width modulation (SPWM) driving. Among these, SPWM constant current subdivision driving is the most commonly used.

[0003] In existing SPWM constant current microstepping drive methods, the control device generates an SPWM wave based on the stepper motor's specifications, such as gear ratio and step size. The stepper motor then subdivides the current based on the received SPWM wave to achieve precise step size, thus ensuring smooth operation. However, if the control device or stepper motor malfunctions, the control device continues to operate in the existing manner, failing to make timely adjustments and potentially damaging either the control device or the stepper motor. Summary of the Invention

[0004] This invention provides an ultrasound diagnostic device and a probe control method for the ultrasound diagnostic device, in order to solve the problem that in existing ultrasound diagnostic devices, the inability to adjust abnormal motors in a timely manner causes damage to the motors.

[0005] In a first aspect, embodiments of the present invention provide an ultrasound diagnostic device, including an electrically connected ultrasound probe and a motor control system, wherein: the ultrasound probe includes a motor and an acoustic head, and the motor control system includes a control module, a motor drive module, and a feedback monitoring module;

[0006] The feedback monitoring module is electrically connected to the motor, the motor drive module, and the control module, respectively, and is used to sample the target pulse signal to obtain a sampled voltage signal, and determine the output voltage sequence based on the sampled voltage signal, wherein the target pulse signal is used to control the motor;

[0007] The control module is also electrically connected to the motor drive module and is used to generate a first control signal based on the pulse sequence and the output voltage sequence, wherein the pulse sequence is determined by the control module based on the relevant control parameters of the motor;

[0008] The motor drive module is also electrically connected to the motor and is used to adjust the amplitude value of the target pulse signal under the control of the first control signal, and transmit the adjusted target pulse signal to the motor, wherein the target pulse signal is generated by the motor drive module according to the pulse sequence;

[0009] The motor is used to drive the sound head to swing under the control of the target pulse signal.

[0010] In one optional embodiment, the feedback monitoring module includes a sampling resistor, a current sampler, and an analog-to-digital converter, wherein:

[0011] The first end of the sampling resistor is electrically connected to the first input terminal of the current sampler and the first output terminal of the motor drive module, respectively; the second end of the sampling resistor is electrically connected to the second input terminal of the current sampler and the first control terminal of the motor, respectively.

[0012] The output terminal of the current sampler is electrically connected to the first input terminal of the analog-to-digital converter.

[0013] The output terminal of the analog-to-digital converter is electrically connected to the first feedback terminal of the control module;

[0014] The current sampler is used to acquire a first voltage value of the target pulse signal at the first end of the sampling resistor and a second voltage value of the target pulse signal at the second end of the sampling resistor, and to perform voltage transformation processing on the first voltage value and the second voltage value to generate the sampling voltage signal.

[0015] The analog-to-digital converter is used to perform analog-to-digital conversion processing on the sampled voltage signal to generate the output voltage sequence;

[0016] The control module is specifically used for:

[0017] The amplitude values ​​of the output voltage sequence and the pulse sequence are compared; if it is determined that the amplitude value of the output voltage sequence is not equal to the amplitude value of the pulse sequence, the first control signal is generated to control the motor drive module to increase or decrease the amplitude value of the target pulse signal.

[0018] In one optional embodiment, the motor drive module includes a first digital-to-analog converter, a first drive unit, and a second drive unit, wherein:

[0019] The input terminal of the first digital-to-analog converter is electrically connected to the first output terminal of the control module, the first output terminal of the first digital-to-analog converter is electrically connected to the input terminal of the first drive unit, and the second output terminal of the first digital-to-analog converter is electrically connected to the input terminal of the second drive unit.

[0020] The output terminal of the first drive unit is electrically connected to the input terminal of the feedback monitoring module and serves as the first output terminal of the motor drive module. The feedback terminal of the first drive unit is electrically connected to the second control terminal of the motor.

[0021] The output terminal of the second drive unit is electrically connected to the third control terminal of the motor and serves as the second output terminal of the motor drive module. The feedback terminal of the second drive unit is electrically connected to the fourth control terminal of the motor.

[0022] The first digital-to-analog converter is configured to, under the control of the first control signal, increase the amplitude values ​​of the first pulse sub-signal and the second pulse sub-signal to increase the amplitude value of the target pulse signal, or decrease the amplitude values ​​of the first pulse sub-signal and the second pulse sub-signal to decrease the amplitude value of the target pulse signal, wherein the first pulse sub-signal and the second pulse sub-signal are obtained by the first digital-to-analog converter performing digital-to-analog conversion on the pulse sequence, and there is a preset phase difference between the first pulse sub-signal and the second pulse sub-signal;

[0023] The first driving unit is used to amplify the first pulse sub-signal to obtain the first target pulse sub-signal;

[0024] The second driving unit is used to amplify the second pulse sub-signal to obtain a second target pulse sub-signal, wherein the target pulse signal includes the first target pulse sub-signal and the second target pulse sub-signal.

[0025] In one alternative embodiment, the system further includes a voltage generation module;

[0026] The voltage generation module is electrically connected to the control module, the motor drive module, and the feedback monitoring module, respectively.

[0027] The voltage generation module is used to generate a positive target voltage signal and a negative target voltage signal according to a voltage sequence, wherein the positive target voltage signal and the negative target voltage signal are used to power the motor drive module, and the voltage sequence is determined by the control module according to the relevant control parameters;

[0028] The feedback monitoring module is further configured to: process the positive target voltage signal to generate a first feedback voltage sequence, and process the negative target voltage signal to generate a second feedback voltage sequence;

[0029] The control module is further configured to: generate a second control signal based on the first feedback voltage sequence, the second feedback voltage sequence, and the voltage sequence, wherein the second control signal is used to enable the motor drive module.

[0030] In one optional embodiment, the voltage generation module includes: a second digital-to-analog converter, a first DC / DC converter, and a second DC / DC converter, wherein:

[0031] The input terminal of the second digital-to-analog converter is electrically connected to the second output terminal of the control module, the first output terminal of the second digital-to-analog converter is electrically connected to the input terminal of the first DC / DC converter, and the second output terminal of the second digital-to-analog converter is electrically connected to the input terminal of the second DC / DC converter.

[0032] The second digital-to-analog converter is used to perform digital-to-analog conversion processing on the voltage sequence to generate positive voltage signals and negative voltage signals;

[0033] The first DC / DC converter is used to perform voltage conversion processing on the positive voltage signal and output the positive target voltage signal;

[0034] The second DC / DC converter is used to perform voltage conversion processing on the negative voltage signal and output the negative target voltage signal.

[0035] In an optional embodiment, the feedback monitoring module further includes a first voltage divider resistor, a second voltage divider resistor, and an inverting operational amplifier, wherein:

[0036] The first voltage divider resistor is connected in series between the first DC / DC converter and the analog-to-digital converter in the feedback monitoring module, and the inverting operational amplifier and the second voltage divider resistor are connected in series in sequence between the second DC / DC converter and the analog-to-digital converter;

[0037] The first voltage divider resistor is used to perform voltage division processing on the positive target voltage signal and transmit the processed voltage signal to the analog-to-digital converter, so that the analog-to-digital converter generates the first feedback voltage sequence according to the processed voltage signal.

[0038] The second voltage divider resistor is used to divide the negative target voltage signal and transmit the processed voltage signal to the analog-to-digital converter so that the analog-to-digital converter generates the second feedback voltage sequence based on the processed voltage signal.

[0039] The control module is specifically used to: compare the amplitude value of the first feedback voltage sequence with the amplitude value of the voltage sequence, and the amplitude value of the second feedback voltage sequence with the amplitude value of the voltage sequence; if there is a first preset difference between the amplitude value of the first feedback voltage sequence and the amplitude value of the voltage sequence, and a second preset difference between the amplitude value of the second feedback voltage sequence and the amplitude value of the voltage sequence, then generate the second control signal.

[0040] In one optional embodiment, the device further includes a temperature monitoring module;

[0041] The temperature monitoring module is connected in series between the temperature output terminal of the motor drive module and the second feedback terminal of the control module, and is used to obtain the actual temperature of the internal components of the motor drive module in real time when the motor drive module is working.

[0042] The control module is also used to generate a third control signal to control the motor drive module to stop working when the actual temperature is greater than a preset temperature threshold.

[0043] In an optional embodiment, the feedback monitoring module is further configured to: receive a centering detection signal characterizing the position of the acoustic head at the center of the ultrasonic probe, and perform analog-to-digital conversion processing on the centering detection signal to obtain a centering detection voltage sequence;

[0044] The control module is further configured to: detect the center detection voltage sequence based on a preset voltage range; if, within a preset time period, no voltage value within the preset voltage range is detected in the center detection voltage sequence, generate a third control signal to control the motor drive module to stop working.

[0045] In a second aspect, embodiments of the present invention provide a probe control method for an ultrasound diagnostic device, the ultrasound diagnostic device including an electrically connected ultrasound probe and a motor control system, the ultrasound probe including a motor and an acoustic head, the method comprising:

[0046] The target pulse signal is sampled to obtain a sampled voltage signal, and the output voltage sequence is determined based on the sampled voltage signal, wherein the target pulse signal is used to control the motor;

[0047] A first control signal is generated based on the pulse sequence and the output voltage sequence, wherein the pulse sequence is determined based on the relevant control parameters of the motor;

[0048] Under the control of the first control signal, the amplitude value of the target pulse signal is adjusted, and the adjusted target pulse signal is transmitted to the motor, wherein the target pulse signal is generated according to the pulse sequence;

[0049] Under the control of the target pulse signal, the motor drives the sound head to swing.

[0050] In one optional embodiment, generating the first control signal based on the pulse sequence and the output voltage sequence includes:

[0051] Compare the amplitude values ​​of the output voltage sequence and the amplitude values ​​of the pulse sequence;

[0052] If it is determined that the amplitude value of the output voltage sequence is not equal to the amplitude value of the pulse sequence, then the first control signal is generated so that the amplitude value of the target pulse signal increases or decreases under the control of the first control signal.

[0053] The technical solutions provided by the embodiments of the present invention bring at least the following beneficial effects:

[0054] In the ultrasound diagnostic device provided in this embodiment of the invention, the feedback monitoring module samples the target pulse signal used to control the motor and generates an output voltage sequence corresponding to the target pulse signal. The output voltage sequence reflects the phase current of the motor, thereby determining the working state of the motor. The control module compares the output voltage sequence with the pulse sequence used to generate the target pulse signal and generates a first control signal. Under the control of the first control signal, the motor drive module adjusts the amplitude value of the target pulse signal. The motor works under the control of the adjusted target pulse signal, thereby adjusting the working state of the motor, reducing the probability of the motor speed being too fast or too slow, and achieving the purpose of protecting the motor. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 This is a structural schematic diagram of an application scenario of an ultrasound diagnostic device provided in an embodiment of the present invention;

[0057] Figure 2 This is a schematic diagram of the structure of an ultrasound diagnostic device provided in an embodiment of the present invention;

[0058] Figure 3 This is a schematic diagram of another ultrasound diagnostic device provided in an embodiment of the present invention;

[0059] Figure 4This is a schematic diagram of another ultrasound diagnostic device provided in an embodiment of the present invention;

[0060] Figure 5 A schematic diagram of the circuit structure of a motor drive module provided in an embodiment of the present invention;

[0061] Figure 6 A schematic diagram of a circuit structure for converting a supply voltage into a reference voltage, provided in an embodiment of the present invention;

[0062] Figure 7 This is a schematic diagram of another ultrasound diagnostic device provided in an embodiment of the present invention;

[0063] Figure 8 This is a schematic diagram of another ultrasound diagnostic device provided in an embodiment of the present invention;

[0064] Figure 9 This is a schematic diagram of another ultrasound diagnostic device provided in an embodiment of the present invention;

[0065] Figure 10 This is a schematic diagram of another ultrasound diagnostic device provided in an embodiment of the present invention;

[0066] Figure 11 This is a schematic diagram of another ultrasound diagnostic device provided in an embodiment of the present invention;

[0067] Figure 12 This is a schematic diagram of another ultrasound diagnostic device provided in an embodiment of the present invention;

[0068] Figure 13 A waveform diagram of a first target sub-pulse signal and a sampled voltage signal provided in an embodiment of the present invention;

[0069] Figure 14 This is a schematic diagram of the circuit structure of a current sampler provided in an embodiment of the present invention;

[0070] Figure 15 This is a schematic diagram of another ultrasound diagnostic device provided in an embodiment of the present invention;

[0071] Figure 16 This is a schematic diagram of another ultrasound diagnostic device provided in an embodiment of the present invention;

[0072] Figure 17 This is a waveform diagram of a centering detection signal provided in an embodiment of the present invention;

[0073] Figure 18 A schematic flowchart illustrating a probe control method for an ultrasound diagnostic device provided in an embodiment of the present invention;

[0074] Figure 19This is a complete flowchart illustrating a probe control method for an ultrasound diagnostic device provided in an embodiment of the present invention.

[0075] Figure 20 A complete flowchart illustrating another probe control method for an ultrasound diagnostic device provided in an embodiment of the present invention. Detailed Implementation

[0076] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0077] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention 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 the invention described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0078] This invention provides an ultrasound diagnostic device and a probe control method for the ultrasound diagnostic device. By acquiring the voltage information of the target pulse signal used to control the motor, the operating state of the motor is determined, thereby adjusting the motor to maintain it in the rated operating state, reducing the probability of the motor speed being too fast or too slow, and achieving the purpose of protecting the motor.

[0079] The objectives, functional features, and advantages of this invention will be further explained in conjunction with the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention.

[0080] The optional ultrasound diagnostic device provided in this embodiment of the invention is applicable to medical ultrasound scanning applications. Figure 1 This invention provides a schematic diagram illustrating the application scenario of an ultrasound diagnostic device. Figure 1In the application scenario shown, the ultrasound diagnostic device 10 includes an ultrasound host 11 and an ultrasound probe 12 electrically connected. The ultrasound host 11 integrates a motor control system 111, and the ultrasound probe 12 includes a motor 121 and an acoustic head 122. Under the control of the target pulse signal generated by the motor control system 11, the motor 121 in the ultrasound probe 12 operates, thereby driving the acoustic head 122 to move, thus realizing the scanning task of the ultrasound diagnostic device.

[0081] It should be noted that the motor 121 in the embodiments of the present invention can be a stepper motor, or other motors that can be controlled by pulse signals. The embodiments of the present invention do not impose any restrictions on this.

[0082] Of course, the methods provided in the embodiments of the present invention are not limited to... Figure 1 The application scenarios shown can also be used in other possible scenarios, and the embodiments of the present invention do not impose limitations. Figure 1 The functions that each part of the application scenario shown can achieve will be described in subsequent embodiments, and will not be elaborated on here.

[0083] The ultrasound diagnostic device 10 provided in the above application scenario is described below through specific embodiments, such as... Figure 2 As shown, the ultrasound diagnostic device 10 includes an ultrasound probe 12 and a motor control system 111 electrically connected, wherein: the ultrasound probe 12 includes a motor 121 and a transducer 122, and the motor control system 111 includes a control module 21, a motor drive module 22, and a feedback monitoring module 23, wherein:

[0084] The feedback monitoring module 23 is electrically connected to the motor 121, the motor drive module 22 and the control module 21 respectively. It is used to sample the target pulse signal to obtain the sampled voltage signal and determine the output voltage sequence based on the sampled voltage signal. The target pulse signal is used to control the motor 121.

[0085] The control module 21 is also electrically connected to the motor drive module 22 and is used to generate a first control signal based on the pulse sequence and the output voltage sequence, wherein the pulse sequence is determined by the control module 22 based on the relevant control parameters of the motor 121;

[0086] The motor drive module 22 is also electrically connected to the motor 121 and is used to adjust the amplitude value of the target pulse signal under the control of the first control signal, and transmit the adjusted target pulse signal to the motor 121. The target pulse signal is generated by the motor drive module 22 according to the pulse sequence.

[0087] Motor 121 is used to drive the sound head 122 to swing under the control of the target pulse signal.

[0088] In the ultrasound diagnostic device 10 provided in this embodiment of the invention, the feedback monitoring module 23 samples the target pulse signal used to control the motor 121 and generates an output voltage sequence corresponding to the target pulse signal. The output voltage sequence reflects the phase current of the motor 121, thereby determining the working state of the motor 121. The control module 21 compares the output voltage sequence with the pulse sequence used to generate the target pulse signal and generates a first control signal. Under the control of the first control signal, the motor drive module 22 adjusts the amplitude value of the target pulse signal. The motor 121 works under the control of the adjusted target pulse signal, thereby adjusting the working state of the motor 121, reducing the probability of the motor 121 rotating too fast or too slow, and achieving the purpose of protecting the motor 121.

[0089] Optionally, the target pulse signal in this embodiment of the invention can be an SPWM (Sinusoidal Pulse Width Modulation) signal.

[0090] Optionally, the ultrasonic probe 12 in this embodiment of the invention can be a 4D (Four-Dimensional) ultrasonic probe.

[0091] In one or more embodiments, such as Figure 3 As shown, the control module 21 includes a host computer 211, a main control unit 212, and a slave control unit 213. The host computer 211 is electrically connected to the main control unit 212 via a PCIE (Peripheral Component Interconnect Express) interface. The main control unit 212 is electrically connected to the slave control unit 213 via an SPI1 (Serial Peripheral Interface) interface. The slave control unit 213 is electrically connected to the motor drive module 22 via an SPI2 interface. The slave control unit 213 is electrically connected to the feedback monitoring module 23 via an SPI3 interface.

[0092] It should be noted that the host computer 211 in the embodiments of the present invention can be a PC (Personal Computer), a host computer, or other computing devices that can directly send control commands. The embodiments of the present invention do not impose any restrictions on this.

[0093] Furthermore, the main control unit 212 in this embodiment of the invention may include a field-programmable gate array (FPGA), a central processing unit (CPU), or other electronic devices with control functions. This embodiment of the invention does not impose any limitations on these aspects.

[0094] Similarly, the slave control unit 214 in the embodiments of the present invention may include a field programmable gate array (FPGA), a programmable logic controller (PLC), or other electronic devices with control functions. The embodiments of the present invention do not impose any limitations on this.

[0095] Optionally, the main control unit 212 may include a first FPGA, and the slave control unit 213 may include a second FPGA.

[0096] In practice, the user selects the type of ultrasonic probe 12 through the host computer 211 according to actual business needs, and sends the identification number corresponding to the selected ultrasonic probe 12 to the main control unit 212 through the PCIE interface.

[0097] After receiving the identification number corresponding to the ultrasonic probe 12, the main control unit 212 determines the configuration parameters corresponding to the ultrasonic probe 12 based on the identification number, and sends the determined configuration parameters to the slave control unit 213 through the SPI1 interface. The configuration parameters include the relevant control parameters of the motor 121.

[0098] After receiving the configuration parameters from the control unit 213, the control unit 213 parses the configuration parameters to obtain information such as the relevant control parameters of the motor 121 and the scanning method of the sound head 122. The relevant control parameters of the motor 121 include the specifications of the motor 121, the number of subdivision steps of the motor 121, and the pulse sequence corresponding to the motor 121. The parsed pulse sequence is then sent to the motor drive module 22 through the SPI2 interface.

[0099] In one alternative embodiment, such as Figure 4 As shown, the motor drive module 22 includes a first digital-to-analog converter (DAC) DAC1, a first drive unit 221, and a second drive unit 222, wherein:

[0100] The input terminal of the first digital-to-analog converter DAC1 is electrically connected to the first output terminal of the control module 21, the first output terminal of the first digital-to-analog converter DAC1 is electrically connected to the input terminal of the first drive unit 221, and the second output terminal of the first digital-to-analog converter DAC1 is electrically connected to the input terminal of the second drive unit 222.

[0101] The output terminal of the first drive unit 221 is electrically connected (A+) to the input terminal of the feedback monitoring module 23 and the first control terminal of the motor 12, and serves as the first output terminal of the motor drive module 22. The feedback terminal of the first drive unit 221 is electrically connected (A-) to the second control terminal of the motor 12.

[0102] The output terminal of the second drive unit 222 is electrically connected to the third control terminal (B+) of the motor 12 and serves as the second output terminal of the motor drive module 22. The feedback terminal of the second drive unit 222 is electrically connected to the fourth control terminal (B-) of the motor 12.

[0103] The first digital-to-analog converter DAC1 is used to perform digital-to-analog conversion on the pulse sequence to obtain a first pulse sub-signal and a second pulse sub-signal, and under the control of a first control signal, to increase the amplitude of the first pulse sub-signal and the second pulse sub-signal to increase the amplitude of the target pulse signal, or to decrease the amplitude of the first pulse sub-signal and the second pulse sub-signal to decrease the amplitude of the target pulse signal, wherein there is a preset phase difference between the first pulse sub-signal and the second pulse sub-signal;

[0104] The first driving unit 221 is used to amplify the first pulse sub-signal to obtain the first target pulse sub-signal;

[0105] The second driving unit 222 is used to amplify the second pulse sub-signal to obtain the second target pulse sub-signal, wherein the target pulse signal includes the first target pulse sub-signal and the second target pulse sub-signal.

[0106] Optionally, the preset phase difference in this embodiment of the invention can be a 90-degree phase difference.

[0107] In a specific implementation, after receiving the pulse sequence sent by the control module 21, the first digital-to-analog converter DAC1 performs analog-to-digital conversion on the pulse sequence to obtain a first pulse sub-signal and a second pulse sub-signal, and sends the first pulse sub-signal to the first driving unit 221 and the second pulse sub-signal to the second driving unit 222.

[0108] For example, the duty cycle of the first pulse sub-signal output by the first digital-to-analog converter DAC1 changes in a sine wave pattern, and the duty cycle of the second pulse sub-signal output by the first digital-to-analog converter DAC1 changes in a cosine wave pattern, that is, there is a 90-degree phase difference between the first pulse sub-signal and the second pulse sub-signal.

[0109] In one optional embodiment, the motor drive module 22 includes a first digital-to-analog converter DAC1, a first drive unit 221, and a second drive unit 222, wherein:

[0110] The input terminal of the first digital-to-analog converter DAC1 is electrically connected to the first output terminal of the control module 21, the first output terminal of the first digital-to-analog converter DAC1 is electrically connected to the input terminal of the first drive unit 221, and the second output terminal of the first digital-to-analog converter DAC1 is electrically connected to the input terminal of the second drive unit 222.

[0111] The output terminal of the first drive unit 221 is electrically connected to the first control terminal of the motor 12 (A+) and serves as the first output terminal of the motor drive module 22. The feedback terminal of the first drive unit 221 is electrically connected to the second control terminal of the motor 12 (A-).

[0112] The output terminal of the second drive unit 222 is electrically connected to the input terminal of the feedback monitoring module 23 and the third control terminal (B+) of the motor 12, and serves as the second output terminal of the motor drive module 22. The feedback terminal of the second drive unit 222 is electrically connected to the fourth control terminal (B-) of the motor 12.

[0113] It should be noted that, in the embodiments of the present invention, there is only a preset phase difference between the amplitude values ​​of the first target pulse sub-signal and the second target pulse sub-signal. Therefore, the feedback monitoring module 23 can collect the first target pulse sub-signal or the second target pulse sub-signal. The embodiments of the present invention do not impose any restrictions on this.

[0114] In one alternative embodiment, such as Figure 5 As shown, the first driving unit 221 includes a first proportional operational amplifier P_AMP1, a first negative feedback operational amplifier F_AMP1, a first power operational amplifier OPA1, and a first feedback resistor R1, wherein:

[0115] The non-inverting input of the first proportional operational amplifier P_AMP1 serves as the input of the first driving unit 221, used to input the first pulse sub-signal. The inverting input of the first proportional operational amplifier P_AMP1 is electrically connected to the reference voltage terminal VREF. The output of the first proportional operational amplifier P_AMP1 is electrically connected to the inverting input of the first negative feedback operational amplifier F_AMP1.

[0116] The output terminal of the first negative feedback operational amplifier F_AMP1 is electrically connected to the input terminal of the first power operational amplifier OPA1, and the feedback terminal of the first negative feedback operational amplifier F_AMP1 is electrically connected to the first terminal of the first feedback resistor R1, serving as the feedback terminal of the first drive unit 221.

[0117] The output terminal of the first power operational amplifier OPA1 serves as the output terminal of the first driving unit 221, used to output the first target pulse sub-signal.

[0118] The positive power supply terminals of the first proportional operational amplifier P_AMP1, the first negative feedback operational amplifier F_AMP1, and the first power operational amplifier OPA1 are all used to input positive target voltage signals, while the negative power supply terminals of the first proportional operational amplifier P_AMP1, the first negative feedback operational amplifier F_AMP1, and the first power operational amplifier OPA1 are all used to input negative target voltage signals.

[0119] The non-inverting input of the first negative feedback operational amplifier F_AMP1 and the second terminal of the first feedback resistor R1 are both grounded.

[0120] In a specific implementation, after receiving the first pulse sub-signal sent by the first digital-to-analog converter DAC1, the first proportional operational amplifier P_AMP1 amplifies the amplitude of the first pulse sub-signal according to the reference voltage Vref provided by the reference voltage terminal VREF and the gain of the first proportional operational amplifier P_AMP1 itself, and sends the processed pulse signal to the first negative feedback operational amplifier F_AMP1.

[0121] For example, assuming the gain of the first proportional operational amplifier P_AMP1 is A1 = 4, the reference voltage provided by the reference voltage terminal VREF is Vref = 1.25V, and the amplitude of the first pulse sub-signal is V1 = 0V to 2.5V, then the amplitude of the pulse signal output by the first proportional operational amplifier P_AMP1 is Vout1 = A1 × (V1 - Vref) = 4(V1 - 1.25V) = -5V to +5V. That is, the minimum amplitude of the pulse signal output by the first proportional operational amplifier P_AMP1 is -5V, and the maximum amplitude is +5V.

[0122] In one or more embodiments, the reference voltage Vref provided by the reference voltage terminal VREF can be determined based on the power supply voltage Vcc of the motor control system.

[0123] Figure 6 A schematic diagram of a circuit structure for converting the supply voltage Vcc to a reference voltage Vref is shown, as follows. Figure 6As shown, the circuit includes capacitors C1, C2, and C3, resistors R3 and R4, and a voltage reference chip VOL1. The first terminal of capacitor C1 is electrically connected to the power supply voltage terminal VCC, and the first terminal of capacitor C2 is electrically connected to the first terminal of resistor R3. The second terminal of resistor R3 is electrically connected to the first terminal of resistor R4, the cathode (CATHODE) of voltage reference chip VOL1, the first terminal of capacitor C3, and the reference voltage terminal VREF. The reference terminal (REF) of voltage reference chip VOL1 is electrically connected to the second terminal of resistor R4. The second terminals of capacitors C1, C2, VOL1, and C3 are all grounded.

[0124] In a specific implementation, after receiving the pulse signal processed by the first proportional operational amplifier P_AMP1, the first negative feedback operational amplifier F_AMP1 performs reverse amplification processing on the received pulse signal according to its own gain and the feedback voltage received from the motor 121 at the feedback terminal, and sends the processed pulse signal to the first power operational amplifier OPA1.

[0125] For example, assuming the current gain of the first negative feedback operational amplifier F_AMP1 is Ai = 15, the voltage gain is Av = 2.14, and the amplitude of the pulse signal received by the first negative feedback operational amplifier F_AMP1 is Vout1 = -5V to +5V, then the amplitude of the pulse signal output by the first negative feedback operational amplifier F_AMP1 is Vout2 = -(Vfb × Ai + Vout1 × Av) = -(15Vfb + 2.14Vout1).

[0126] In specific implementation, after receiving the pulse signal processed by the first negative feedback operational amplifier F_AMP1, the first power operational amplifier OPA1 amplifies the received pulse signal according to its own gain to generate the first target pulse sub-signal.

[0127] For example, assuming the gain of the first power operational amplifier OPA1 is A2 = -1.5, and the amplitude of the pulse signal received by the first power operational amplifier OPA1 is Vout2, then the amplitude of the first target pulse sub-signal output by the first power operational amplifier OPA1 is Vout3 = A2 × Vout2 = -1.5Vout2, that is, the amplitude of the first target pulse sub-signal is Vout3.

[0128] In one alternative embodiment, such as Figure 5 As shown, the second drive unit 222 includes a second proportional operational amplifier P_AMP2, a second negative feedback operational amplifier F_AMP2, a second power operational amplifier OPA2, and a second feedback resistor R2, wherein:

[0129] The non-inverting input of the second proportional operational amplifier P_AMP2 serves as the input of the second driving unit 222, used to input the second pulse sub-signal. The inverting input of the second proportional operational amplifier P_AMP2 is electrically connected to the reference voltage terminal VREF. The output of the second proportional operational amplifier P_AMP2 is electrically connected to the inverting input of the second negative feedback operational amplifier F_AMP2.

[0130] The output terminal of the second negative feedback operational amplifier F_AMP2 is electrically connected to the input terminal of the second power operational amplifier OPA2, and the feedback terminal of the second negative feedback operational amplifier F_AMP2 is electrically connected to the first terminal of the second feedback resistor R2, serving as the feedback terminal of the second drive unit 222.

[0131] The output terminal of the second power operational amplifier OPA2 serves as the output terminal of the second driving unit 222, used to output the second target pulse sub-signal;

[0132] The positive power supply terminals of the second proportional operational amplifier P_AMP2, the second negative feedback operational amplifier F_AMP2, and the second power operational amplifier OPA2 are all used to input positive target voltage signals. The negative power supply terminals of the second proportional operational amplifier P_AMP2, the second negative feedback operational amplifier F_AMP2, and the second power operational amplifier OPA2 are all used to input negative target voltage signals.

[0133] The non-inverting input of the second negative feedback operational amplifier F_AMP2 and the second terminal of the second feedback resistor R2 are both grounded.

[0134] Since the working principle of each operational amplifier in the second driving unit 222 is similar to that of each operational amplifier in the first driving unit 221, the implementation of the functions of each operational amplifier in the second driving unit 222 can refer to the description of the implementation of the functions of each operational amplifier in the first driving unit 221, and will not be elaborated further here.

[0135] In specific implementation, each operational amplifier in the first driving unit 221 and each operational amplifier in the second driving unit 222 are powered by a positive target voltage signal and a negative target voltage signal. The positive target voltage signal and the negative target voltage signal can be generated in the following way:

[0136] In one alternative embodiment, such as Figure 7 As shown, the motor control system 10 also includes a voltage generation module 71;

[0137] The voltage generation module 71 is electrically connected to the control module 21, the motor drive module 22, and the feedback monitoring module 23, respectively.

[0138] The voltage generation module 71 is used to generate a positive target voltage signal and a negative target voltage signal according to the voltage sequence. The positive target voltage signal and the negative target voltage signal are used to power the motor drive module 22. The voltage sequence is determined by the control module 21 according to relevant control parameters.

[0139] The feedback monitoring module 23 is also used to: process the positive target voltage signal to generate a first feedback voltage sequence, and process the negative target voltage signal to generate a second feedback voltage sequence;

[0140] The control module 21 is also used to generate a second control signal based on the first feedback voltage sequence, the second feedback voltage sequence, and the voltage sequence, wherein the second control signal is used to enable the motor drive module 22.

[0141] It should be noted that, due to the different types of ultrasonic probes 12 selected, the operating conditions of the motor 12 are also different, and correspondingly, the target voltage signal used to power the motor drive module 22 is also different.

[0142] For example, if ultrasonic probe 1 is selected, the motor drive module 22 is required to operate with a target voltage signal power supply of 6V; if ultrasonic probe 2 is selected, the motor drive module 22 is required to operate with a target voltage signal power supply of 10V; and if ultrasonic probe 3 is selected, the motor drive module 22 is required to operate with a target voltage signal power supply of 5.5V.

[0143] In a specific implementation, the control module 21 determines the voltage sequence based on the relevant control parameters of the motor 121 and transmits the determined voltage sequence to the voltage generation module 71. After receiving the voltage sequence, the voltage generation module 71 generates a positive target voltage signal and a negative target voltage signal based on the voltage sequence, and sends the generated positive target voltage signal and negative target voltage signal to the feedback monitoring module 23 and the motor drive module 22, respectively.

[0144] In one alternative embodiment, such as Figure 8 As shown, the voltage generation module 71 includes: a second digital-to-analog converter DAC2, a first direct current-to-direct current converter (DC / DC1) and a second direct current-to-direct current converter (DC / DC2), wherein:

[0145] The input terminal of the second digital-to-analog converter DAC2 is electrically connected to the second output terminal of the control module 21, the first output terminal of the second digital-to-analog converter DAC2 is electrically connected to the input terminal of the first DC / DC converter DC / DC1, and the second output terminal of the second digital-to-analog converter DAC2 is electrically connected to the input terminal of the second DC / DC converter DC / DC2.

[0146] The second digital-to-analog converter DAC2 is used to perform digital-to-analog conversion on the voltage sequence to generate positive and negative voltage signals.

[0147] The first DC / DC converter DC / DC1 is used to perform voltage conversion processing on the positive voltage signal and output a positive target voltage signal.

[0148] The second DC / DC converter, DC / DC2, is used to perform voltage transformation processing on the negative voltage signal and output a negative target voltage signal.

[0149] Optionally, in this embodiment of the invention, the first DC / DC converter DC / DC1 can be a buck DC / DC converter, and the second DC / DC converter DC / DC2 can be a buck-boost DC / DC converter.

[0150] In specific implementation, such as Figure 8 As shown, the second digital-to-analog converter (DAC2) receives a voltage sequence sent from the control unit 213 via the SPI4 interface. It performs digital-to-analog conversion on the received voltage sequence to generate a positive voltage signal and a negative voltage signal. The positive voltage signal is sent to the first DC / DC converter (DC / DC1), and the negative voltage signal is sent to the second DC / DC converter (DC / DC2). Upon receiving the positive voltage signal, the first DC / DC converter (DC / DC1) performs voltage conversion processing to obtain a positive target voltage signal. Similarly, upon receiving the negative voltage signal, the second DC / DC converter (DC / DC2) performs voltage conversion processing to obtain a negative target voltage signal.

[0151] In one or more embodiments, the adjustable range of the voltage value of the positive target voltage signal is 0V to +12V, and the adjustable range of the voltage value of the negative target voltage signal is -12V to 0V.

[0152] In one alternative embodiment, such as Figure 9 As shown, the motor control system 10 also includes a temperature monitoring module 91;

[0153] The temperature monitoring module 91 is connected in series between the temperature output terminal of the motor drive module 22 and the second feedback terminal of the control module 21, and is used to obtain the actual temperature of the internal components of the motor drive module 22 in real time when the motor drive module 22 is working.

[0154] The control module 21 is also used to generate a third control signal to control the motor drive module 22 to stop working when the actual temperature is greater than the preset temperature threshold.

[0155] Optionally, in this embodiment of the invention, the preset temperature threshold is an empirical value, for example, the preset temperature threshold can be set to 60°C.

[0156] In one alternative embodiment, such as Figure 10 As shown, the temperature output terminal of the second drive unit 222 serves as the temperature output terminal of the motor drive module 22. The input terminal of the temperature monitoring module 91 is electrically connected to the temperature output terminal of the second drive unit 222, and the output terminal of the temperature monitoring module 91 is connected via I... 2 The C (Inter-Integrated Circuit) interface is electrically connected to the slave control unit 213. The temperature monitoring module 91 is specifically used to: acquire the actual temperature of the second power operational amplifier OPA2 in the second drive unit 222, and transmit the acquired actual temperature through the I... 2 The C interface sends the data to the control unit 213.

[0157] In one alternative embodiment, such as Figure 11 As shown, the temperature output terminal of the first drive unit 221 serves as the temperature output terminal of the motor drive module 22. The input terminal of the temperature monitoring module 91 is electrically connected to the temperature output terminal of the first drive unit 221, and the output terminal of the temperature monitoring module 91 is connected via I... 2 The C (Inter-Integrated Circuit) interface is electrically connected to the slave control unit 213. The temperature monitoring module 91 is specifically used to: acquire the actual temperature of the first power operational amplifier OPA1 in the first drive unit 221, and transmit the acquired actual temperature through the I... 2 The C interface sends the data to the control unit 213.

[0158] In specific implementation, since the functions of the first drive unit 221 and the second drive unit 222 are similar, when the motor drive module 22 is working, the device temperature of the first power operational amplifier OPA1 in the first drive unit 221 is basically the same as the device temperature of the second power operational amplifier OPA2 in the second drive unit 222. The purpose of temperature monitoring can be achieved by setting a temperature monitoring module 91 in only one drive unit.

[0159] The following explanation uses the temperature monitoring module 91 to obtain the actual temperature of the first power operational amplifier OPA1 as an example:

[0160] For example, a preset temperature threshold is set as Tmax = 60℃. If the actual temperature obtained by the temperature monitoring module 91 is T1 = 40℃, then the control unit 213 detects that T1 = 40℃ < Tmax = 60℃, indicating that the chip temperature of the first power operational amplifier OPA1 is normal. Therefore, no control signal is generated, and the motor drive module 22 works normally. If the actual temperature obtained by the temperature monitoring module 91 is T1 = 62℃, then the control unit 213 detects that T1 = 62℃ > Tmax = 60℃, indicating that the chip temperature of the first power operational amplifier OPA1 is too high and there is a risk of burnout. Therefore, a third control signal and an alarm signal are generated. On the one hand, the third control signal is sent to the first digital-to-analog converter DAC1 to control the first digital-to-analog converter DAC1 to stop working, thereby controlling the motor drive module 22 to stop working to protect the first power operational amplifier OPA1 and the second power operational amplifier OPA2. On the other hand, the alarm signal informs the staff to repair the ultrasound diagnostic equipment in time.

[0161] In this embodiment of the invention, errors in the target pulse signal driving motor 121, overvoltage or overcurrent of motor 121, runaway, overspeed, stalling, etc., can all cause the chip inside the motor drive module 22 to overheat.

[0162] In one or more embodiments, the temperature monitoring module 91 in the present invention may include a temperature sensor.

[0163] In one alternative embodiment, such as Figure 12 As shown, the feedback monitoring module 23 includes a sampling resistor Rs, a current sampler SAM1, and an analog-to-digital converter (ADC) ADC1, wherein:

[0164] The first end of the sampling resistor Rs is electrically connected to the first input terminal of the current sampler SAM1 and the first output terminal of the motor drive module 22, respectively. The second end of the sampling resistor Rs is electrically connected to the second input terminal of the current sampler SAM1 and the first control terminal of the motor 121, respectively.

[0165] The output of the current sampler SAM1 is electrically connected to the first input of the analog-to-digital converter ADC1.

[0166] The output terminal of analog-to-digital converter ADC1 is electrically connected to the first feedback terminal of control module 21;

[0167] The current sampler SAM1 is used to acquire the first voltage value of the target pulse signal at the first end of the sampling resistor Rs and the second voltage value of the target pulse signal at the second end of the sampling resistor Rs, and to perform voltage transformation processing on the first voltage value and the second voltage value to generate a sampled voltage signal.

[0168] The analog-to-digital converter ADC1 is used to perform analog-to-digital conversion on the sampled voltage signal to generate an output voltage sequence.

[0169] The control module 21 is specifically used to: compare the amplitude value of the output voltage sequence with the amplitude value of the pulse sequence; if it is determined that the amplitude value of the output voltage sequence is not equal to the amplitude value of the pulse sequence, then generate a first control signal to control the motor drive module 22 to increase or decrease the amplitude value of the target pulse signal.

[0170] The following embodiment uses the sampling of the pulse signal output by the first drive unit 221 by the feedback monitoring module 23 as an example for illustration:

[0171] In a specific implementation, the first target sub-pulse signal output by the first drive unit 221 is transmitted to the first control terminal (A+) of the motor 121 via the sampling resistor RS; the current sampler SAM1 samples and processes the voltage across the sampling resistor RS to obtain the sampled voltage signal, and transmits the sampled voltage signal to the analog-to-digital converter ADC1.

[0172] For example, Figure 13 A waveform diagram of a first target sub-pulse signal and a sampled voltage signal is shown, as follows: Figure 13 As shown, the minimum amplitude Vmin1 of the first target sub-pulse signal output by the first driving unit 221 is negative, and the maximum amplitude Vmax1 is positive; while the minimum amplitude Vmin2 and the maximum amplitude Vmax2 of the sampled voltage signal output by the current sampler SAM1 are both positive, thereby realizing the conversion of the first target sub-pulse signal with positive and negative voltages into a sampled voltage signal with positive voltage.

[0173] In one or more embodiments, Figure 14 A schematic diagram of the circuit structure of a current sampler SAM1 is shown, as follows: Figure 14 As shown, the current sampler SAM1 includes a current detection chip INA1, a capacitor C4, and a resistor R5, wherein:

[0174] The first input terminal (+IN) of the current sensing chip INA1 serves as the first input terminal of the current sampler SAM1, and the second input terminal (-IN) of the current sensing chip INA1 serves as the second input terminal of the current sampler SAM1. The power supply terminal (V+) of the current sensing chip INA1 is electrically connected to the first reference terminal (V+) of the current sensing chip INA1, the first terminal of capacitor C4, and the power supply voltage terminal VCC. The ground terminal (REF1), the second reference terminal (REF2) of the current sensing chip INA1, and the second terminal of capacitor C4 are all grounded. The floating terminal (NC) of the current sensing chip INA1 is left empty.

[0175] The output terminal (OUT) of the current detection chip INA1 is electrically connected to the first terminal of resistor R5, and the second terminal of resistor R5 serves as the output terminal of the current sampler SAM1.

[0176] In a specific implementation, the analog-to-digital converter ADC1 performs analog-to-digital conversion on the received sampled voltage signal to obtain an output voltage sequence, and transmits the output voltage sequence to the slave control unit 213 through the SPI3 interface.

[0177] In one or more embodiments, the amplitude values ​​of the output voltage sequence can be determined in the following way:

[0178] The analog-to-digital converter ADC1 reads the voltage value Vout from the sampled voltage signal. Based on the supply voltage Vcc provided by the supply voltage terminal VCC, the amplification factor A3 of the current detection chip INA1, and the resistance value of the sampling resistor Rs, it uses the formula: The phase current Ipha of motor 121 can then be calculated;

[0179] For example, assuming the analog-to-digital converter ADC1 reads the voltage value of the sampled voltage signal as Vout = 2V, the supply voltage is Vcc = 3.3V, the amplification factor of the current detection chip INA1 is A3 = 50, and the resistance value of the sampling resistor Rs is Rs = 10mΩ, then the phase current of motor 121 is:

[0180]

[0181] After determining the phase current Ipha of motor 121, the phase voltage Vpha at the first control terminal (A+) of motor 121 can be calculated using the formula: Vpha=Ipha×(Rs+Rx+R1), thus determining the amplitude value of the output voltage sequence.

[0182] For example, assuming the internal resistance of motor 121 is Rx = 7Ω, the resistance of sampling resistor Rs is Rs = 10mΩ, and the resistance of first feedback resistor R1 is R1 = 0.33Ω, then the phase voltage Vpha of motor 121 is: Vpha = Ipha × (Rs + Rx + R1) = 0.7A × (10mΩ + 7Ω + 0.33Ω) = 5.138V.

[0183] In this embodiment of the invention, when the motor 121 operates at its rated power, the speed of the motor 121 remains stable, and the phase current Ipha of the motor 121 is the rated current. At this time, the phase voltage Vpha of the motor 121 should be consistent with the amplitude value of the pulse sequence determined by the control module 12 according to the relevant control parameters of the motor 121.

[0184] When the motor 121 is running at high speed, the phase current Ipha of the motor 121 will decrease accordingly due to the excessive speed of the motor 121. At this time, the phase voltage Vpha of the motor 121 will also decrease accordingly and be less than the amplitude value of the pulse sequence determined by the control module 12 according to the relevant control parameters of the motor 121.

[0185] When the motor 121 is running at low speed, the phase current Ipha of the motor 121 will increase accordingly due to the slow speed of the motor 121. At this time, the phase voltage Vpha of the motor 121 will also increase accordingly and be greater than the amplitude value of the pulse sequence determined by the control module 12 according to the relevant control parameters of the motor 121.

[0186] In a specific implementation, after receiving the output voltage sequence via the SPI3 interface, the control module 21 compares the amplitude value of the output voltage sequence with the amplitude value of the pulse sequence parsed by the control module 21. If the amplitude value of the output voltage sequence is not equal to the amplitude value of the pulse sequence:

[0187] When the amplitude of the output voltage sequence is determined to be less than the amplitude of the pulse sequence, it indicates that the motor 121 is in a high-speed running state and the speed of the motor 121 is too fast. At this time, the first control signal is generated to control the motor drive module 22 to increase the amplitude of the target pulse signal, so as to increase the current of the motor 121 when it is running at high speed, thereby enabling the motor 121 to maintain its speed.

[0188] When the amplitude of the output voltage sequence is determined to be greater than the amplitude of the pulse sequence, it indicates that the motor 121 is in a low-speed operation state and the speed of the motor 121 is too slow. At this time, the first control signal is generated to control the motor drive module 22 to reduce the amplitude of the target pulse signal, so as to reduce the current of the motor 121 when it is running at low speed, thereby enabling the motor 121 to maintain its speed.

[0189] In one alternative embodiment, such as Figure 15 As shown, the feedback monitoring module 23 also includes a first voltage divider resistor R6, a second voltage divider resistor R7, and an inverting operational amplifier AMP1, wherein:

[0190] The first voltage divider resistor R6 is connected in series between the first DC / DC converter DC / DC1 and the analog-to-digital converter ADC1 in the feedback monitoring module 23, and the inverting operational amplifier AMP1 and the second voltage divider resistor R7 are connected in series between the second DC / DC converter DC / DC2 and the analog-to-digital converter ADC1.

[0191] The first voltage divider resistor R6 is used to divide the positive target voltage signal and transmit the processed voltage signal to the analog-to-digital converter ADC1 so that the analog-to-digital converter ADC1 generates the first feedback voltage sequence according to the processed voltage signal.

[0192] The second voltage divider resistor R7 is used to divide the negative target voltage signal and transmit the processed voltage signal to the analog-to-digital converter ADC1 so that the analog-to-digital converter ADC1 generates a second feedback voltage sequence based on the processed voltage signal.

[0193] The control module 21 is specifically used to: compare the amplitude value of the first feedback voltage sequence with the amplitude value of the voltage sequence, and the amplitude value of the second feedback voltage sequence with the amplitude value of the voltage sequence; if there is a first preset difference between the amplitude value of the first feedback voltage sequence and the amplitude value of the voltage sequence, and there is a second preset difference between the amplitude value of the second feedback voltage sequence and the amplitude value of the voltage sequence, then generate a second control signal.

[0194] In a specific implementation, the first DC / DC converter DC / DC1 sends the generated positive target voltage signal to the first drive circuit 221, the second drive circuit 222, and the feedback monitoring module 23, respectively. After receiving the positive target voltage signal, the feedback monitoring module 23 uses the first voltage divider resistor R6 to step down the voltage of the signal, for example, converting the 10V positive target voltage signal into a 2V voltage signal. The step-down voltage signal is then sent to the analog-to-digital converter ADC1 for analog-to-digital conversion to obtain the first feedback voltage sequence.

[0195] The second DC / DC converter 2 generates a negative target voltage signal and sends it to the first drive circuit 221, the second drive circuit 222, and the feedback monitoring module 23, respectively. After receiving the negative target voltage signal, the feedback monitoring module 23 first amplifies it in reverse to convert it into a voltage signal with a positive voltage value, for example, converting a -10V negative target voltage signal into a 15V voltage signal. Then, it uses the second voltage divider resistor R7 to step down the voltage signal with a positive voltage value, for example, converting the 15V voltage signal into a 1.8V voltage signal. The step-down voltage signal is then sent to the analog-to-digital converter ADC1 for analog-to-digital conversion to obtain the second feedback voltage sequence.

[0196] It should be noted that the amplitude values ​​of the first feedback voltage sequence and the second feedback voltage sequence in the embodiments of the present invention may be the same or different, and the embodiments of the present invention do not impose any restrictions on this.

[0197] In specific implementation, after the feedback monitoring module 23 generates the first feedback voltage sequence and the second feedback voltage sequence, it sends them to the slave control unit 213 via the SPI3 interface. The slave control unit 213 compares the amplitude values ​​of the first feedback voltage sequence and the voltage sequence, and simultaneously compares the amplitude values ​​of the second feedback voltage sequence and the voltage sequence.

[0198] When the control unit 213 determines that there is a first preset difference between the amplitude value of the first feedback voltage sequence and the amplitude value of the voltage sequence, and determines that there is a second preset difference between the amplitude value of the second feedback voltage sequence and the amplitude value of the voltage sequence, it indicates that the positive target voltage signal and the negative target voltage signal generated by the voltage generation unit 71 meet the working requirements of the selected ultrasound probe 12. At this time, a second control signal is generated and transmitted to the motor drive unit 22. The motor drive unit 22 starts to work under the control of the second control signal. For example, the second control signal can be the enable signal of the first digital-to-analog converter DAC1.

[0199] For example, assuming the first preset difference is 4.6V, the second preset difference is 4.8V, the amplitude of the first feedback voltage sequence is 2V, the amplitude of the second feedback voltage sequence is 1.8V, and the amplitude of the voltage sequence is 6.6V, since the difference between the amplitude of the voltage sequence and the amplitude of the first feedback voltage sequence is 4.6V, which is the same as the first preset difference, and the difference between the amplitude of the voltage sequence and the amplitude of the second feedback voltage sequence is 4.8V, which is the same as the second preset difference, it means that the positive target voltage signal and the negative target voltage signal generated by the voltage generation module 71 meet the working requirements.

[0200] It should be noted that the first preset difference and the second preset difference in the embodiments of the present invention are related to the actual parameters of each electronic device in the feedback monitoring module 23, such as the gain of the first digital-to-analog converter DAC1, the resistance value of the first voltage divider resistor R6, the resistance value of the second voltage divider resistor R7, the gain of the inverting operational amplifier AMP1, etc. The operator can flexibly set them according to the actual circuit composition, and the embodiments of the present invention do not impose any restrictions on this.

[0201] When the control unit 213 determines that the difference between the amplitude value of the first feedback voltage sequence and the amplitude value of the voltage sequence is not the first preset difference, or determines that the difference between the amplitude value of the second feedback voltage sequence and the amplitude value of the voltage sequence is not the second preset difference, it indicates that the positive target voltage signal and the negative target voltage signal generated by the voltage generation unit 71 do not meet the actual business requirements, that is, they cannot meet the working requirements of the selected ultrasound probe 12. At this time, the control unit 213 generates an alarm signal to remind the staff to inspect and repair the ultrasound diagnostic equipment.

[0202] In one or more embodiments, the control module 21 is specifically used to: compare the amplitude value of the first feedback voltage sequence with the amplitude value of the voltage sequence, and the amplitude value of the second feedback voltage sequence with the amplitude value of the voltage sequence; if there is a first preset relationship between the amplitude value of the first feedback voltage sequence and the amplitude value of the voltage sequence, and there is a second preset relationship between the amplitude value of the second feedback voltage sequence and the amplitude value of the voltage sequence, then generate a second control signal.

[0203] It should be noted that the first preset relationship and the second preset relationship in the embodiments of the present invention are related to the actual parameters of each electronic device in the feedback monitoring module 23, such as the gain of the first digital-to-analog converter DAC1, the resistance value of the first voltage divider resistor R6, the resistance value of the second voltage divider resistor R7, the gain of the inverting operational amplifier AMP1, etc. The operator can flexibly set them according to the actual circuit composition, and the embodiments of the present invention do not impose any restrictions on this.

[0204] In one alternative embodiment, such as Figure 16 As shown, the feedback monitoring module 23 is also used to: receive the centering detection signal HALL, which characterizes the position of the acoustic head 122 in the middle of the ultrasonic probe 12, and perform analog-to-digital conversion on the centering detection signal HALL to obtain the centering detection voltage sequence.

[0205] The control module 21 is also used to: detect the center detection voltage sequence based on a preset voltage range; if no voltage value within the preset voltage range is detected in the center detection voltage sequence within a preset time period, generate a third control signal to control the motor drive module 22 to stop working.

[0206] In specific implementation, when the ultrasonic probe 12 moves normally, the centering detection signal HALL can identify the operational amplifier direction and position of the acoustic head 121. Whenever the acoustic head 122 moves to the middle position of the ultrasonic probe 12, the centering detection signal HALL will undergo a level transition. For example, the centering detection signal HALL will transition from a high level to a low level, or from a low level to a high level. During the level transition, the voltage value of the centering detection signal HALL will become a voltage value between the maximum voltage value and the minimum voltage value.

[0207] For example, Figure 17 A waveform diagram of a centering detection signal HALL is shown, as follows: Figure 17 As shown, when the acoustic head 122 moves to the middle position of the ultrasonic probe 12, the centering detection signal HALL changes from high level to low level.

[0208] The feedback monitoring module 23 collects the voltage value of the centering detection signal HALL and feeds it back to the control module 21 for monitoring, so as to know the working status of the ultrasonic probe 121 in real time. For example, if the control module 21 detects that the amplitude value of the centering detection voltage sequence is between the maximum and minimum amplitude values ​​within a preset time, it means that the ultrasonic probe 122 is working normally. If the control module 21 does not detect that the amplitude value of the centering detection voltage sequence is between the maximum and minimum amplitude values ​​within a preset time, it means that the ultrasonic probe 122 is working abnormally, such as the ultrasonic probe 122 is stuck, shell-bursting, or losing synchronization. The control module 21 generates a third control signal to control the motor drive module 22 to stop working, thereby stopping the ultrasonic probe 12 and reducing damage to the ultrasonic probe 12.

[0209] Based on the same concept, embodiments of the present invention also provide a probe control method for an ultrasound diagnostic device. The ultrasound diagnostic device includes an electrically connected ultrasound probe and a motor control system. The ultrasound probe includes a motor and a transducer, such as... Figure 18 As shown, the method includes the following steps:

[0210] Step S1801: Sample the target pulse signal to obtain a sampled voltage signal, and determine the output voltage sequence based on the sampled voltage signal, wherein the target pulse signal is used to control the motor;

[0211] Step S1802: Generate a first control signal based on the pulse sequence and the output voltage sequence, wherein the pulse sequence is determined based on the relevant control parameters of the motor;

[0212] Step S1803: Under the control of the first control signal, the amplitude value of the target pulse signal is adjusted, and the adjusted target pulse signal is transmitted to the motor. The target pulse signal is generated based on the pulse sequence.

[0213] In step S1804, under the control of the target pulse signal, the motor drives the sound head to swing.

[0214] Figure 19 A complete flowchart of a motor control method provided by an embodiment of the present invention is shown, as follows: Figure 19 As shown, the method includes the following steps:

[0215] Step S1901: The ultrasound diagnostic equipment is powered on, and the control module detects the presence signal of the ultrasound probe.

[0216] In step S1902, the control module determines the configuration parameters of the ultrasonic probe based on the identification code of the ultrasonic probe, and parses the configuration parameters of the ultrasonic probe to determine the relevant control parameters of the motor.

[0217] In step S1903, the control module determines the pulse sequence and voltage sequence according to the relevant control parameters of the motor, and sends the pulse sequence to the motor drive module and the voltage sequence to the voltage generation module, while enabling the voltage generation module.

[0218] In step S1904, the voltage generation module generates a positive target voltage signal and a negative target voltage signal according to the voltage sequence, and sends the positive target voltage signal and the negative target voltage signal to the motor drive module and the feedback monitoring module respectively;

[0219] In step S1905, the feedback monitoring module generates a first feedback voltage sequence based on the positive target voltage signal and a second feedback voltage sequence based on the negative target voltage signal, and sends the first feedback voltage sequence and the second feedback voltage sequence to the control module.

[0220] Step S1906: The control module detects the amplitude values ​​of the first feedback voltage sequence and the second feedback voltage sequence based on the amplitude values ​​of the voltage sequence.

[0221] In step S1907, the control module determines whether the positive target voltage signal and the negative target voltage signal are the matching voltages of the ultrasonic probe based on the detection results. If they are, step S1908 is executed; otherwise, step S1920 is executed.

[0222] In step S1908, the control module generates a second control signal to enable the motor drive module;

[0223] In step S1909, the motor drive module generates a target pulse signal based on the pulse sequence and sends the target pulse signal to the motor to control the motor to run;

[0224] In step S1910, the feedback monitoring module samples the target pulse signal to obtain a sampled voltage signal, determines the output voltage sequence based on the sampled voltage signal, and sends the output voltage sequence to the control module.

[0225] Step S1911: The control module determines whether the amplitude value of the output voltage sequence is equal to the amplitude value of the pulse sequence. If so, step S1912 is executed; otherwise, step S1913 is executed.

[0226] In step S1912, the control module does not generate a control signal to ensure stable operation of the motor;

[0227] Step S1913: The control module generates a first control signal and sends the first control signal to the motor drive module;

[0228] In step S1914, the motor drive module, under the control of the first control signal, adjusts the amplitude value of the target pulse signal, thereby achieving the adjustment of the motor.

[0229] Step S1915: The temperature monitoring module monitors the actual temperature of the internal components of the motor drive module in real time and sends the actual temperature to the control module.

[0230] Step S1916: The control module determines whether the actual temperature is less than the preset temperature threshold. If so, step S1912 is executed; otherwise, step S1917 is executed.

[0231] In step S1917, the control module generates a third control signal to stop the motor drive module from working, and at the same time generates an alarm signal to notify the staff.

[0232] Step S1918: The feedback monitoring module acquires the centering detection signal, generates a centering detection voltage sequence based on the centering detection signal, and sends the centering detection voltage sequence to the control module;

[0233] In step S1919, the control module determines within a preset time period whether there is a voltage value within a preset voltage range in the centered detection voltage sequence. If so, step S1912 is executed; otherwise, step S1917 is executed.

[0234] Step S1920: Generate an alarm signal to notify staff.

[0235] Figure 20 A complete flowchart of another motor control method provided by an embodiment of the present invention is shown, as follows: Figure 20 As shown, the method includes the following steps:

[0236] Step S2001: The ultrasound diagnostic equipment is powered on, and the control module does not detect the presence signal of the ultrasound probe. The ultrasound diagnostic equipment enters self-test mode.

[0237] In step S2002, the control module enables the voltage generation module and sends the test voltage sequence to the voltage generation module.

[0238] In step S2003, the voltage generation module generates a positive test voltage signal and a negative test voltage signal according to the test voltage sequence, and sends the positive test voltage signal and the negative test voltage signal to the motor drive module and the feedback monitoring module respectively;

[0239] In step S2004, the feedback monitoring module generates a first test voltage sequence based on the positive test voltage signal and a second test voltage sequence based on the negative test voltage signal, and sends the first test voltage sequence and the second test voltage sequence to the control module.

[0240] Step S2005: Based on the amplitude values ​​of the test voltage sequence, the control module determines whether the amplitude values ​​of the first test voltage sequence and the second test voltage sequence are correct. If they are correct, step S2006 is executed; otherwise, step S2011 is executed.

[0241] Step S2006: The control module generates a second control signal to enable the motor drive module;

[0242] Step S2007: The motor drive module generates a test pulse signal based on the test pulse sequence;

[0243] In step S2008, the feedback monitoring module samples the test pulse signal to obtain a sampled test voltage signal, determines the third test voltage sequence based on the sampled test voltage signal, and sends the third test voltage sequence to the control module.

[0244] In step S2009, the control module determines whether the amplitude value of the third test voltage sequence is equal to the amplitude value of the test pulse sequence. If so, step S2010 is executed; otherwise, step S2011 is executed.

[0245] In step S2010, the control module outputs a self-test completion signal and controls the voltage generation module to stop working;

[0246] In step S2011, the control module generates an alarm signal to notify the staff.

[0247] Those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims and their equivalents, this invention is also intended to include these modifications and variations.

Claims

1. An ultrasonic diagnostic apparatus, characterized by comprising: The application relates to an ultrasonic probe and a motor control system connected by electricity, wherein the ultrasonic probe comprises a motor and a sound head, and the motor control system comprises a control module, a motor driving module and a feedback monitoring module. The feedback monitoring module comprises a sampling resistor, a current sampler and an analog-digital converter; the first end of the sampling resistor is electrically connected with the first input end of the current sampler and the first output end of the motor driving module respectively, and the second end of the sampling resistor is electrically connected with the second input end of the current sampler and the first control end of the motor respectively; the output end of the current sampler is electrically connected with the first input end of the analog-digital converter; The output end of the analog-digital converter is electrically connected with the first feedback end of the control module; The current sampler is used for acquiring the first voltage value of a target pulse signal at the first end of the sampling resistor, acquiring the second voltage value of a target pulse signal at the second end of the sampling resistor, and performing voltage conversion processing on the first voltage value and the second voltage value to generate a sampling voltage signal, wherein the target pulse signal is used for controlling the motor; The analog-digital converter is used for performing analog-digital conversion processing on the sampling voltage signal to generate an output voltage sequence; The control module is used for comparing the amplitude value of the output voltage sequence with the amplitude value of a pulse sequence; in the case that the amplitude value of the output voltage sequence is determined to be different from the amplitude value of the pulse sequence, a first control signal is provided to the motor driving module, wherein the pulse sequence is determined by the control module according to the relevant control parameters of the motor; The motor driving module is also electrically connected with the motor and is used for adjusting the amplitude value of the target pulse signal under the control of the first control signal and transmitting the adjusted target pulse signal to the motor, wherein the target pulse signal is generated by the motor driving module according to the pulse sequence; The motor is used for driving the sound head to swing under the control of the target pulse signal.

2. The apparatus of claim 1, wherein, The motor driving module comprises a first digital-analog converter, a first driving unit and a second driving unit, wherein: The input end of the first digital-analog converter is electrically connected with the first output end of the control module; the first output end of the first digital-analog converter is electrically connected with the input end of the first driving unit; and the second output end of the first digital-analog converter is electrically connected with the input end of the second driving unit; The output end of the first driving unit is electrically connected with the input end of the feedback monitoring module and serves as the first output end of the motor driving module; the feedback end of the first driving unit is electrically connected with the second control end of the motor; The output end of the second driving unit is electrically connected with the third control end of the motor and serves as the second output end of the motor driving module; and the feedback end of the second driving unit is electrically connected with the fourth control end of the motor. The first digital-to-analog converter is configured to increase amplitude values of the first pulse sub-signal and the second pulse sub-signal under control of the first control signal, so as to increase an amplitude value of the target pulse signal, or to decrease the amplitude values of the first pulse sub-signal and the second pulse sub-signal, so as to decrease the amplitude value of the target pulse signal, wherein the first pulse sub-signal and the second pulse sub-signal are obtained by performing a digital-to-analog conversion operation on the pulse sequence by the first digital-to-analog converter, and a preset phase difference exists between the first pulse sub-signal and the second pulse sub-signal; The first driving unit is configured to amplify the first pulse sub-signal to obtain a first target pulse sub-signal; The second driving unit is configured to amplify the second pulse sub-signal to obtain a second target pulse sub-signal, and the target pulse signal comprises the first target pulse sub-signal and the second target pulse sub-signal.

3. The apparatus of claim 1, wherein, The motor control system further comprises a voltage generation module; The voltage generation module is electrically connected to the control module, the motor driving module and the feedback monitoring module respectively; The voltage generation module is configured to generate a positive target voltage signal and a negative target voltage signal according to a voltage sequence, wherein the positive target voltage signal and the negative target voltage signal are used to supply power to the motor driving module, and the voltage sequence is determined by the control module according to the related control parameters; The feedback monitoring module is further configured to process the positive target voltage signal to generate a first feedback voltage sequence, and process the negative target voltage signal to generate a second feedback voltage sequence; The control module is further configured to generate a second control signal according to the first feedback voltage sequence, the second feedback voltage sequence and the voltage sequence, wherein the second control signal is used to enable the motor driving module.

4. The apparatus of claim 3, wherein, The voltage generation module comprises a second digital-to-analog converter, a first direct current / direct current converter and a second direct current / direct current converter, wherein: The input end of the second digital-to-analog converter is electrically connected to the second output end of the control module, the first output end of the second digital-to-analog converter is electrically connected to the input end of the first direct current / direct current converter, and the second output end of the second digital-to-analog converter is electrically connected to the input end of the second direct current / direct current converter; The second digital-to-analog converter is configured to perform digital-to-analog conversion processing on the voltage sequence to generate a positive voltage signal and a negative voltage signal; The first direct current / direct current converter is configured to perform voltage conversion processing on the positive voltage signal to output the positive target voltage signal; The second direct current / direct current converter is configured to perform voltage conversion processing on the negative voltage signal to output the negative target voltage signal.

5. The apparatus of claim 4, wherein, The feedback monitoring module further comprises a first voltage dividing resistor, a second voltage dividing resistor and a reverse operational amplifier, wherein: The first voltage dividing resistor is connected in series between the first direct current / direct current converter and an analog-to-digital converter in the feedback monitoring module, and the reverse operational amplifier and the second voltage dividing resistor are connected in series between the second direct current / direct current converter and the analog-to-digital converter in sequence; The first voltage dividing resistor is configured to divide the positive target voltage signal and transmit a processed voltage signal to the analog-to-digital converter, so that the analog-to-digital converter generates the first feedback voltage sequence according to the processed voltage signal. The second voltage dividing resistor is configured to divide the negative target voltage signal and transmit a processed voltage signal to the analog-to-digital converter, so that the analog-to-digital converter generates the second feedback voltage sequence according to the processed voltage signal. The control module is specifically configured to: compare the amplitude values of the first feedback voltage sequence and the voltage sequence, and the amplitude values of the second feedback voltage sequence and the voltage sequence; and if there is a first preset difference between the amplitude values of the first feedback voltage sequence and the amplitude values of the voltage sequence, and there is a second preset difference between the amplitude values of the second feedback voltage sequence and the amplitude values of the voltage sequence, generate the second control signal.

6. The apparatus of claim 1, wherein, The temperature monitoring module is further included; The temperature monitoring module is connected in series between a temperature output end of the motor driving module and a second feedback end of the control module, and is configured to acquire an actual temperature of internal devices of the motor driving module in real time when the motor driving module is working. The control module is further configured to generate a third control signal for controlling the motor driving module to stop working when the actual temperature is greater than a preset temperature threshold.

7. The apparatus of any one of claims 1-6, wherein The feedback monitoring module is further configured to: receive a centering detection signal for representing that the sound head is located at a middle position of the ultrasonic probe, and perform analog-to-digital conversion processing on the centering detection signal to obtain a centering detection voltage sequence. The control module is further configured to: detect the centering detection voltage sequence based on a preset voltage range. If no voltage value in the preset voltage range is detected in the centering detection voltage sequence within a preset time length, a third control signal for controlling the motor driving module to stop working is generated.

8. A probe control method of an ultrasonic diagnostic apparatus, characterized by, The ultrasonic diagnostic equipment includes an ultrasonic probe and a motor control system connected by electricity, the ultrasonic probe includes a motor and a sound head, and the motor control system includes a control module, a motor driving module and a feedback monitoring module; the method includes: The first voltage value of a target pulse signal at a first end of a sampling resistor in the feedback monitoring module and the second voltage value of the target pulse signal at a second end of the sampling resistor are acquired by a current sampler in the feedback monitoring module, and voltage conversion processing is performed on the first voltage value and the second voltage value to generate a sampling voltage signal, wherein the target pulse signal is used to control the motor; An output voltage sequence is generated by performing analog-to-digital conversion processing on the sampling voltage signal by an analog-to-digital converter in the feedback monitoring module; The control module compares the amplitude values of the output voltage sequence and the amplitude values of a pulse sequence, and generates a first control signal in a case where the amplitude values of the output voltage sequence are determined to be different from the amplitude values of the pulse sequence, wherein the pulse sequence is determined according to relevant control parameters of the motor. Under control of the first control signal, the motor driving module adjusts the amplitude value of the target pulse signal, and transmits the adjusted target pulse signal to the motor, wherein the target pulse signal is generated according to the pulse sequence; Under control of the target pulse signal, the motor drives the tonearm to swing; In the feedback monitoring module, the first end of the sampling resistor is electrically connected with the first input end of the current sampler and the first output end of the motor driving module respectively, and the second end of the sampling resistor is electrically connected with the second input end of the current sampler and the first control end of the motor respectively; the output end of the current sampler is electrically connected with the first input end of the analog-digital converter; and the output end of the analog-digital converter is electrically connected with the first feedback end of the control module.

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