Ultrasonic diagnosis equipment and probe control method thereof

Abstract

The embodiment of the invention provides ultrasonic diagnosis equipment and a probe control method of the ultrasonic diagnosis equipment, and the method can directly receive various parameter information input by a user, and determines a control sequence for controlling a stepping motor to rotate based on the parameter information and a preset mapping function. Therefore, the stepping motor is controlled to rotate based on the control sequence. The control sequence is directly determined according to the parameter information input by the user, namely, even if the parameter information is changed, the corresponding control sequence is adaptively determined according to the changed parameter information, so that the operation stability of the stepping motor is enhanced; moreover, the control sequence is obtained based on the smooth curve of the mapping relation between the preset characterization time and the rotating speed of the stepping motor, so that smooth transition of the stepping motor at the variable-speed turning point and the constant-speed turning point can be realized, the damage probability of the stepping motor is reduced, and the operation stability of the stepping motor can be enhanced.

Description

Technical Field

[0001] The present application relates to the technical field of motor control, and in particular to an ultrasonic diagnostic device and a probe control method of the ultrasonic diagnostic device. Background Art

[0002] Four-dimensional ultrasound imaging technology uses a volume probe to perform four-dimensional (three-dimensional space and time dimension) ultrasound scanning to form a real-time three-dimensional ultrasound image. The volume probe is mainly composed of a stepper motor, a transmission device and a transducer. In the volume probe, the motor can drive the transducer to rotate within a certain angle range through the transmission device.

[0003] The transducer goes through three stages when it is running: acceleration, uniform speed, and deceleration. In order to obtain continuous ultrasound images, the transducer generally transmits and receives ultrasound signals in the uniform speed stage. Therefore, the longer the transducer rotates at a uniform speed, the richer the ultrasound echo signal obtained, and the more accurate the reconstructed three-dimensional ultrasound image.

[0004] A stepper motor is a motor that converts electrical pulse signals into corresponding angular displacements. Each time a pulse signal is input, the motor moves forward one step. Currently, the motor's rotation is controlled by uniform acceleration, uniform speed, and uniform deceleration. However, this rotation method does not conform to the speed change law of the stepper motor, which can easily cause the motor to vibrate or even damage the stepper motor. Summary of the invention

[0005] The present application provides an ultrasonic diagnostic device and a probe control method of the ultrasonic diagnostic device, which are used to improve the stability of the operation of a stepper motor.

[0006] In a first aspect, an embodiment of the present application provides an ultrasonic diagnostic device, the ultrasonic diagnostic device comprising an ultrasonic volume probe, a motor control unit and a display screen;

[0007] The ultrasonic volume probe is used to rotate using an internal stepper motor and drive the transducer to rotate through a transmission device to perform ultrasonic scanning on the object to be measured and form a real-time ultrasonic image;

[0008] The display screen is used to display the ultrasound image;

[0009] The motor control unit is used to receive scanning angle information, imaging quality level information and preset parameter information used to characterize the operating state of the stepper motor input by the user, wherein the scanning angle information is the rotation angle information of the stepper motor rotating at a uniform speed, and the imaging quality level information is used to characterize the display quality of the image detected by the ultrasound volume probe;

[0010] Based on the scanning angle information, the imaging quality level information and the preset parameter information, respectively calculating a first number of pulses required for the stepping motor to perform accelerated rotation, a second number of pulses required for uniform rotation and a third number of pulses required for decelerated rotation;

[0011] Based on a preset mapping function, the preset parameter information, the first quantity, the second quantity and the third quantity, a control sequence for controlling the stepper motor to rotate is determined, and the stepper motor is controlled to rotate based on the control sequence, wherein the mapping function is a smooth curve representing the mapping relationship between time and the rotation speed of the stepper motor.

[0012] In some embodiments, the motor control unit is specifically used for:

[0013] Based on the first preset proportionality coefficient and the scanning angle information, determining the acceleration rotation angle information and the deceleration rotation angle information, wherein the acceleration rotation angle information is the rotation angle information corresponding to the stepping motor during the acceleration rotation period, and the deceleration rotation angle information is the rotation angle information corresponding to the stepping motor during the deceleration rotation period;

[0014] Determining uniform rotation speed information corresponding to the stepping motor during uniform rotation based on a second preset proportionality coefficient, the scanning angle information and the imaging quality level information;

[0015] Determining the first quantity based on the acceleration rotation angle information and the preset parameter information;

[0016] determining the second quantity based on the uniform rotation speed information and the preset parameter information;

[0017] The third quantity is determined based on the deceleration rotation angle information and the preset parameter information.

[0018] In some embodiments, the motor control unit is specifically used for:

[0019] The product of the second preset proportionality coefficient and the scanning angle information is used as the first coefficient;

[0020] The ratio of the first coefficient to the imaging quality level information is used as the uniform rotation speed information.

[0021] In some embodiments, the preset parameter information includes a reduction ratio, a step angle, and a subdivision number, wherein the reduction ratio is used to characterize the ratio of the speed of the motor to the speed of the transducer, the step angle is used to characterize the angle of one step of the motor, and the subdivision number is used to characterize the degree of subdivision of a step angle;

[0022] The motor control unit is specifically used for:

[0023] The product of the acceleration rotation angle information, the reduction ratio and the subdivision number is used as a second coefficient;

[0024] The ratio of the second coefficient to the step angle is taken as the first quantity.

[0025] In some embodiments, the motor control unit is specifically used for:

[0026] The product of the uniform rotation speed information, the reduction ratio and the subdivision number is used as a third coefficient;

[0027] The ratio of the third coefficient to the step angle is used as the second quantity.

[0028] In some embodiments, the preset parameter information includes a reduction ratio, a step angle, a subdivision number, and a preset number of correction pulses, wherein the reduction ratio is used to characterize the ratio of the speed of the motor to the speed of the transducer, the step angle is used to characterize the angle of one step of the motor, and the subdivision number is used to characterize the degree of subdivision of a step angle;

[0029] The motor control unit is specifically used for:

[0030] The product of the uniform rotation speed information, the reduction ratio and the subdivision number is taken as a fourth coefficient;

[0031] using a ratio of the fourth coefficient to the step angle as a fifth coefficient;

[0032] The sum of the fifth coefficient and the preset number of correction pulses is taken as the second number.

[0033] In some embodiments, the control sequence includes a first control sequence corresponding to the stepping motor performing accelerated rotation, a second control sequence corresponding to the stepping motor performing uniform rotation, and a third control sequence corresponding to the stepping motor performing decelerated rotation;

[0034] The motor control unit is specifically used for:

[0035] For each quantity in the first quantities, the following steps are performed in order from small to large: a first equation for a first product and a first integral value is established, and a second equation for a second product and a second integral value is established, and a control element corresponding to the quantity in the first control sequence is calculated according to the first equation and the second equation, wherein the first product is the product of the quantity and the preset parameter information, and the first integral value is obtained by integrating a mapping function corresponding to the quantity, and the second product is the product of a previous quantity of the quantity and the preset parameter information, and the second integral value is obtained by integrating a mapping function corresponding to the previous quantity; and

[0036] For each of the second quantities, calculating a control element in the second control sequence based on the preset parameter information; and

[0037] For each quantity in the third quantity, perform the following steps in sequence from large to small: establish a third equation for a third product and a third integral value, and establish a fourth equation for a fourth product and a fourth integral value, and calculate the control element corresponding to the quantity in the third control sequence according to the third equation and the fourth equation, wherein the third product is the product of the quantity and the preset parameter information, the third integral value is obtained by integrating the mapping function corresponding to the quantity, and the fourth product is the product of a previous quantity of the quantity and the preset parameter information, and the fourth integral value is obtained by integrating the mapping function corresponding to the previous quantity.

[0038] In a second aspect, an embodiment of the present application further provides a probe control method for an ultrasonic diagnostic device, comprising:

[0039] Receive scanning angle information, imaging quality level information and preset parameter information used to characterize the operating state of the stepper motor input by the user, wherein the scanning angle information is the rotation angle information of the stepper motor rotating at a uniform speed, and the imaging quality level information is used to characterize the display quality of the image detected by the ultrasonic volume probe;

[0040] Based on the scanning angle information, the imaging quality level information and the preset parameter information, respectively calculating a first number of pulses required for the stepping motor to perform accelerated rotation, a second number of pulses required for uniform rotation and a third number of pulses required for decelerated rotation;

[0041] Based on a preset mapping function, the preset parameter information, the first quantity, the second quantity and the third quantity, a control sequence for controlling the stepper motor to rotate is determined, and the stepper motor is controlled to rotate based on the control sequence, wherein the mapping function is a smooth curve that characterizes the mapping relationship between time and the rotation speed of the stepper motor; wherein the ultrasonic volume probe includes the stepper motor, a transmission device and a transducer, and the stepper motor drives the transducer to rotate through the transmission device to perform ultrasonic scanning on the object to be measured to form a real-time ultrasonic image.

[0042] In some embodiments, the first number of required pulses corresponding to the accelerated rotation of the stepper motor, the second number of required pulses corresponding to the uniform rotation of the stepper motor, and the third number of required pulses corresponding to the decelerated rotation of the stepper motor are calculated based on the scanning angle information, the imaging quality level information, and the preset parameter information, respectively, including:

[0043] Based on the first preset proportionality coefficient and the scanning angle information, determining the acceleration rotation angle information and the deceleration rotation angle information, wherein the acceleration rotation angle information is the rotation angle information corresponding to the stepping motor during the acceleration rotation period, and the deceleration rotation angle information is the rotation angle information corresponding to the stepping motor during the deceleration rotation period;

[0044] Determining uniform rotation speed information corresponding to the stepping motor during uniform rotation based on a second preset proportionality coefficient, the scanning angle information and the imaging quality level information;

[0045] Determining the first quantity based on the acceleration rotation angle information and the preset parameter information;

[0046] determining the second quantity based on the uniform rotation speed information and the preset parameter information;

[0047] The third quantity is determined based on the deceleration rotation angle information and the preset parameter information.

[0048] In some embodiments, determining the uniform rotation speed information corresponding to the stepper motor during the uniform rotation period based on the second preset proportionality coefficient, the scanning angle information and the imaging quality level information includes:

[0049] The product of the second preset proportionality coefficient and the scanning angle information is used as the first coefficient;

[0050] The ratio of the first coefficient to the imaging quality level information is used as the uniform rotation speed information.

[0051] In some embodiments, the preset parameter information includes a reduction ratio, a step angle, and a subdivision number, wherein the reduction ratio is used to characterize the ratio of the speed of the motor to the speed of the transducer, the step angle is used to characterize the angle of one step of the motor, and the subdivision number is used to characterize the degree of subdivision of a step angle;

[0052] The determining the first quantity based on the acceleration rotation angle information and the preset parameter information includes:

[0053] The product of the acceleration rotation angle information, the reduction ratio and the subdivision number is used as a second coefficient;

[0054] The ratio of the second coefficient to the step angle is taken as the first quantity.

[0055] In some embodiments, the determining the second quantity based on the uniform rotation speed information and the preset parameter information includes:

[0056] The product of the uniform rotation speed information, the reduction ratio and the subdivision number is used as a third coefficient;

[0057] The ratio of the third coefficient to the step angle is used as the second quantity.

[0058] In some embodiments, the preset parameter information includes a reduction ratio, a step angle, a subdivision number, and a preset number of correction pulses, wherein the reduction ratio is used to characterize the ratio of the speed of the motor to the speed of the transducer, the step angle is used to characterize the angle of one step of the motor, and the subdivision number is used to characterize the degree of subdivision of a step angle;

[0059] The determining the second quantity based on the uniform rotation speed information and the preset parameter information includes:

[0060] The product of the uniform rotation speed information, the reduction ratio and the subdivision number is taken as a fourth coefficient;

[0061] using a ratio of the fourth coefficient to the step angle as a fifth coefficient;

[0062] The sum of the fifth coefficient and the preset number of correction pulses is taken as the second number.

[0063] In some embodiments, the control sequence includes a first control sequence corresponding to the stepping motor performing accelerated rotation, a second control sequence corresponding to the stepping motor performing uniform rotation, and a third control sequence corresponding to the stepping motor performing decelerated rotation;

[0064] The determining of a control sequence for controlling the stepper motor to rotate based on a preset mapping function, the preset parameter information, the first quantity, the second quantity, and the third quantity includes:

[0065] For each quantity in the first quantities, the following steps are performed in order from small to large: a first equation for a first product and a first integral value is established, and a second equation for a second product and a second integral value is established, and a control element corresponding to the quantity in the first control sequence is calculated according to the first equation and the second equation, wherein the first product is the product of the quantity and the preset parameter information, and the first integral value is obtained by integrating a mapping function corresponding to the quantity, and the second product is the product of a previous quantity of the quantity and the preset parameter information, and the second integral value is obtained by integrating a mapping function corresponding to the previous quantity; and

[0066] For each of the second quantities, calculating a control element in the second control sequence based on the preset parameter information; and

[0067] For each quantity in the third quantity, perform the following steps in sequence from large to small: establish a third equation for a third product and a third integral value, and establish a fourth equation for a fourth product and a fourth integral value, and calculate the control element corresponding to the quantity in the third control sequence according to the third equation and the fourth equation, wherein the third product is the product of the quantity and the preset parameter information, the third integral value is obtained by integrating the mapping function corresponding to the quantity, and the fourth product is the product of a previous quantity of the quantity and the preset parameter information, and the fourth integral value is obtained by integrating the mapping function corresponding to the previous quantity.

[0068] The technical solution provided by the embodiments of the present application brings at least the following beneficial effects:

[0069] Since the control sequence is directly determined based on the parameter information input by the user, that is to say, even if the parameter information changes, the corresponding control sequence will be adaptively determined based on the changed parameter information, thereby enhancing the stability of the stepper motor operation; and, the control sequence is obtained based on a smooth curve that represents the mapping relationship between the preset characterization time and the rotation speed of the stepper motor, so the stepper motor can achieve a smooth transition at the turning point of variable speed and uniform speed, reducing the probability of damage to the stepper motor, thereby enhancing the stability of the stepper motor operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0071] Figure 1 A schematic diagram of the structure of an ultrasonic diagnostic device provided in an embodiment of the present application;

[0072] Figure 2 A schematic diagram of the structure of another ultrasonic diagnostic device provided in an embodiment of the present application;

[0073] Figure 3 A schematic diagram of the internal structure of the ultrasonic volume probe provided in an embodiment of the present application;

[0074] Figure 4 A schematic diagram of the internal structure of a motor control unit provided in an embodiment of the present application;

[0075] Figure 5 A schematic diagram of the acceleration zone, uniform speed zone and deceleration zone of the transducer movement provided in an embodiment of the present application;

[0076] Figure 6a-6d A schematic diagram of errors caused by forward and reverse movements of a transducer provided in an embodiment of the present application;

[0077] Figure 7 A schematic diagram of the composition structure of the control sequence provided in the embodiment of the present application;

[0078] Figure 8 A schematic diagram of a five-segment S-curve acceleration and deceleration algorithm provided in an embodiment of the present application;

[0079] Fig. 9 A schematic diagram of the internal structure of a control unit subunit and a motor drive subunit provided in an embodiment of the present application;

[0080] Fig.10 A flowchart of a probe control method for an ultrasonic diagnostic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0081] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of this application.

[0082] Furthermore, in the description of the embodiments of the present application, unless otherwise specified, “ / ” means or. For example, A / B can mean A or B. The “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0083] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more.

[0084] Four-dimensional ultrasonic imaging technology uses a volume probe to perform four-dimensional (three-dimensional space and time dimension) ultrasonic scanning to form a real-time three-dimensional ultrasonic image. There are two types of volume probes: mechanical scanning probes and electronic scanning probes. In order to be compatible with product costs and technological innovation, mechanical scanning probes are generally used. The mechanical scanning volume probe consists of a stepper motor, a transmission device, and an ultrasonic transducer. The stepper motor drives the transducer to rotate within a certain angle range through the transmission device. During the uniform rotation process, the ultrasonic transducer emits ultrasonic waves. When the ultrasonic waves reach the human tissue, they will reflect echo signals. The ultrasonic imaging system receives the echo signals and reconstructs the signals to obtain real-time three-dimensional ultrasonic images.

[0085] Generally, the transducer will go through three stages when swinging: acceleration zone, uniform speed zone and deceleration zone. The transducer needs to accelerate from a stationary state to the maximum swing speed, and then decelerate to a stationary state. Furthermore, the longer the transducer rotates at a uniform speed, the richer the ultrasonic echo signal obtained, and the more accurate the reconstructed three-dimensional ultrasonic image. Therefore, in order to accurately obtain ultrasonic images, the rotation angle and rotation speed of the ultrasonic transducer must be precisely controlled during the rotation process.

[0086] The rotation of the transducer is generally driven by a stepper motor through a transmission device. The stepper motor rotates a certain angle under the drive of an electrical pulse signal. Each time an electrical pulse signal is input, the rotor of the stepper motor rotates a fixed angle. In other words, the rotation angle is proportional to the number of input pulse signals, and the rotation speed is proportional to the pulse frequency.

[0087] At present, the control method for the stepper motor of the ultrasonic volume probe is generally to make the running speed of the stepper motor in the acceleration zone, uniform speed zone and deceleration zone satisfy the trapezoidal curve, and use the trapezoidal curve to control the running speed of the stepper motor, that is, to control the stepper motor to perform uniform acceleration in the acceleration zone, uniform speed in the uniform speed zone, and uniform deceleration in the deceleration zone. However, there is a problem with this control method. Since the acceleration of the motor at the turning point of speed change and uniform speed will produce a sudden change, the acceleration will suddenly change to zero at the moment of speed change to uniform speed, which will cause the motor to vibrate. In other words, uniform acceleration and uniform deceleration do not conform to the law of speed change of the stepper motor, and cannot smoothly transition at the turning point of speed change and uniform speed. Therefore, when the stepper motor starts, stops and moves at high speed, it will produce large shocks and vibrations, affecting the stability of the stepper motor operation, and then affecting the service life and user experience of the stepper motor and transducer.

[0088] In addition, the reduction ratio of the stepper motor inside the probes of different manufacturers and the different swing angles set by the user will affect the movement state of the motor. Therefore, how to adapt to probes of different manufacturers and different user parameters is also a difficult problem.

[0089] In order to solve the above problems, the present application provides an ultrasonic diagnostic device, such as Figure 1 As shown, the ultrasonic diagnostic device includes an ultrasonic volume probe 10, a motor control unit 20 and a display screen 30;

[0090] The ultrasonic volume probe 10 is used to rotate using an internal stepping motor and drive the transducer to rotate through a transmission device to perform ultrasonic scanning on the object to be measured and form a real-time ultrasonic image;

[0091] A display screen 30, used for displaying ultrasound images;

[0092] The motor control unit 20 is used to receive various parameter information input by the user, generate a control sequence for controlling the stepper motor to rotate, and control the stepper motor to rotate based on the control sequence.

[0093] In the specific implementation, Figure 2 As shown, the ultrasonic diagnostic device includes, in addition to the ultrasonic volume probe 10, the motor control unit 20 and the display screen 30, a scanning control unit 40, a transmitting / receiving unit 50, a beam forming unit 60, a pre-processing unit 70 and a user control unit 80. Each part is described below:

[0094] For ultrasound volume probes, such as Figure 3As shown, it is a schematic diagram of the structure inside the ultrasonic volume probe, and the ultrasonic volume probe is composed of a probe connector 11, a stepper motor 12, a transmission device 13, a transducer 14, and a centering detection circuit 15. Among them, the stepper motor 12 and the motor control unit 20 are connected by the probe connector 11, and the stepper motor 12 drives the transducer 14 to move through the transmission device 13. The centering detection circuit 15 can monitor whether the transducer 14 passes through the midpoint through the jump of high and low voltages. When the transducer 14 passes through the midpoint, the centering detection circuit 15 obtains a zero-crossing signal and sends it to the motor control unit 20. The stepper motor 12 receives two analog pulse signals from the motor control unit 20. Since there is a phase difference between the two signals, the phase difference of the two-phase current causes the stepper motor to generate torque and rotate. The transmission device 13 can be a gear, a lever linkage, etc., or a combination of multiple methods.

[0095] For motor control units, such as Figure 4 As shown, the motor control unit 20 can be subdivided into a calculation subunit 21, a control subunit 22 and a motor driving subunit 23. The motor control unit 20 controls the motor to rotate after receiving parameters sent from the scanning control unit 40 and the user control unit 80, and transmits motion state information to the scanning control unit 40.

[0096] The computing subunit 21 is also the execution body of the probe control method of the ultrasonic diagnostic device provided in the embodiment of the present application, and the computing subunit 21 is used to:

[0097] Receive scanning angle information, imaging quality level information and preset parameter information used to characterize the operating state of the stepper motor input by the user, wherein the scanning angle information is the rotation angle information of the stepper motor rotating at a uniform speed, and the imaging quality level information is used to characterize the display quality of the image detected by the ultrasonic volume probe;

[0098] Based on the scanning angle information, the imaging quality level information and the preset parameter information, respectively calculate the first number of pulses required for the stepping motor to accelerate rotation, the second number of pulses required for uniform rotation and the third number of pulses required for decelerate rotation;

[0099] The preset parameter information here may include but is not limited to:

[0100] 1. The reduction ratio R refers to the ratio of the motor speed to the transducer speed.

[0101] 2. Step Angle V step , refers to the angle of the motor's one step. Specifically, the step angle can be set to 1.5° or 1.8°.

[0102] 3. Number of subdivisions N sub, refers to the degree of subdivision of a step angle; the subdivision of the stepper motor is generated by the driver accurately controlling the phase current of the motor. Its purpose is to weaken or eliminate the low-frequency vibration of the stepper motor. Specifically, the subdivision number can be set to a multiple of 2, such as 64, 128, 256, etc.

[0103] 4. FPGA clock frequency f clk .

[0104] 5. Number of correction pulses N adj , used to correct the asymmetry of the uniform speed area during forward and reverse motion. Under the correction pulse number, the motor / transducer is in a uniform speed state.

[0105] 6. Scanning Angle V scan , refers to the angle at which the motor rotates in the uniform speed area.

[0106] A complete motion cycle of the transducer consists of three parts, namely the acceleration zone, the uniform speed zone and the deceleration zone. Figure 5 As shown, from point A to point B is the acceleration zone, from point B to point C is the uniform speed zone, and from point C to point D is the deceleration zone.

[0107] In a specific implementation, based on the scanning angle information, the imaging quality level information and the preset parameter information, respectively calculating the first number of required pulses corresponding to the accelerated rotation of the stepper motor, the second number of required pulses corresponding to the uniform rotation and the third number of required pulses corresponding to the decelerated rotation, may include:

[0108] Based on the first preset proportionality coefficient and the scanning angle information, determine the acceleration rotation angle information and the deceleration rotation angle information, wherein the acceleration rotation angle information is the rotation angle information corresponding to the stepping motor during the acceleration rotation period, and the deceleration rotation angle information is the rotation angle information corresponding to the stepping motor during the deceleration rotation period;

[0109] The scanning angle refers to the angle of the motor in the uniform speed zone. The rotation angle of acceleration and deceleration can be obtained from the scanning angle. Generally, the angle V of the deceleration zone is d Angle V with the acceleration zone motion a The same can be obtained by the following formula:

[0110] V a =V d =k 1 V scan

[0111] Among them, k 1 is the first preset proportionality factor, k 1 <1. Exemplary, k 1 The range can be set to 0.05-0.1.

[0112] Based on the second preset proportional coefficient, the scanning angle information and the imaging quality level information, the uniform rotation speed information corresponding to the stepper motor during uniform rotation is determined; specifically, the product of the second preset proportional coefficient and the scanning angle information is used as the first coefficient; the ratio of the first coefficient to the imaging quality level information is used as the uniform rotation speed information.

[0113] That is, the rotation speed v of the uniform speed zone can be determined based on the scanning angle and the imaging quality level. u , as follows:

[0114]

[0115] Among them, k 2 is the second preset proportionality factor, k 2 <1. Since the calculation of the rotation speed in the uniform speed zone and the rotation angle in the acceleration / deceleration zone are both obtained by a series of known preset parameters, it is adaptive.

[0116] Based on the acceleration rotation angle information and the preset parameter information, the first quantity is determined; specifically, the product of the acceleration rotation angle information, the reduction ratio and the subdivision number is used as the second coefficient; and the ratio of the second coefficient to the step angle is used as the first quantity.

[0117] That is, the first number N a Calculated by the following formula:

[0118]

[0119] Based on the uniform rotation speed information and the preset parameter information, the second quantity is determined; specifically, the product of the uniform rotation speed information, the reduction ratio and the subdivision number is used as the third coefficient; and the ratio of the third coefficient to the step angle is used as the second quantity.

[0120] That is, the second number N u Calculated by the following formula:

[0121]

[0122] like Figures 6a to 6dAs shown, during the movement of the transducer, it will experience forward acceleration, forward uniform speed, forward deceleration, reverse acceleration, reverse uniform speed, reverse deceleration... and continue to swing in sequence. During the actual swinging process, the transducer may not swing according to the actual angle due to the loss of pulse signals or the actual swing angle of each step being less than the step angle, that is, there is an error. The error in the acceleration and deceleration area will not have any effect, but the error in the uniform speed area will affect the probe detection image, because the transducer only transmits and receives ultrasonic signals in the uniform speed area. In summary, during the repeated swinging of the transducer, there is a problem of asymmetry in the uniform speed area during forward and reverse motion.

[0123] Therefore, the embodiment of the present application may further add a preset number of correction pulses, that is, as a preferred embodiment, the second number may also be determined in the following manner:

[0124] The product of the uniform rotation speed information, the reduction ratio and the subdivision number is taken as a fourth coefficient;

[0125] using a ratio of the fourth coefficient to the step angle as a fifth coefficient;

[0126] The sum of the fifth coefficient and the preset number of correction pulses is taken as the second number.

[0127] That is, the second number N u It can also be calculated by the following formula:

[0128]

[0129] By sending additional correction pulses to the stepper motor in the uniform speed area, so that the stepper motor drives the transducer to swing in the uniform speed area, the problem of asymmetry in the uniform speed area when the transducer moves forward and backward can be solved, and the problem of image jitter during 4D scanning can be effectively alleviated. The specific preset number of correction pulses can be determined based on experiments, and the preset number value can be obtained by mathematical statistical analysis through multiple experiments, which will not be given as an example here.

[0130] Based on the deceleration rotation angle information and the preset parameter information, a third number is determined. Specifically, the third number N d Calculated by the following formula:

[0131]

[0132] It is worth noting that due to the angle V of the deceleration zone d Angle V with the acceleration zone motion a The same, so the first number N can also be directly a The value of the third quantity N d , thereby simplifying the algorithm and improving computational efficiency.

[0133] Based on a preset mapping function, preset parameter information, a first quantity, a second quantity and a third quantity, a control sequence for controlling the stepper motor to rotate is determined, and the stepper motor is controlled to rotate based on the control sequence, wherein the mapping function is a smooth curve representing the mapping relationship between time and the rotation speed of the stepper motor.

[0134] Here the mapping function is applied in the acceleration zone and the deceleration zone. Since the acceleration zone and the deceleration zone are symmetrical, the following takes the acceleration zone as an example for explanation:

[0135] During the acceleration process, the speed v a With time t n The relationship is given by the mapping function f(t n ) decided, that is

[0136] v a =f(t n );

[0137] Wherein, n represents the nth pulse.

[0138] It is worth noting that the mapping function f satisfies a smooth curve, specifically an S-shaped curve, but its calculation formula is not limited. The S-shaped speed curve makes the speed transition between the acceleration and deceleration area and the uniform speed area smooth, and the motor can run smoothly during starting, stopping and high-speed operation, reducing the probability of the stepper motor losing step or being damaged.

[0139] For a subdivided pulse, its angle ΔS can be calculated by the following formula:

[0140]

[0141] Specifically, Figure 7 As shown, the control sequence includes a first control sequence corresponding to the stepping motor performing accelerated rotation, a second control sequence corresponding to the stepping motor performing uniform rotation, and a third control sequence corresponding to the stepping motor performing decelerated rotation;

[0142] Determining a control sequence for controlling the stepper motor to rotate based on a preset mapping function, preset parameter information, the first quantity, the second quantity, and the third quantity may include:

[0143] For each quantity in the first quantity, the following steps are performed in order from small to large: a first equation for a first product and a first integral value is established, and a second equation for a second product and a second integral value is established, and a control element corresponding to the quantity in the first control sequence is calculated according to the first equation and the second equation, wherein the first product is the product of the quantity and the preset parameter information, the first integral value is obtained by integrating the mapping function corresponding to the quantity, the second product is the product of the previous quantity of the quantity and the preset parameter information, and the second integral value is obtained by integrating the mapping function corresponding to the previous quantity; and

[0144] For each number in the second number, calculating a control element in a second control sequence based on preset parameter information; and

[0145] For each quantity in the third quantity, perform the following steps in sequence from large to small: establish a third equation for the third product and the third integral value, and establish a fourth equation for the fourth product and the fourth integral value, and calculate the control element corresponding to the quantity in the third control sequence according to the third equation and the fourth equation, wherein the third product is the product of the quantity and the preset parameter information, the third integral value is obtained by integrating the mapping function corresponding to the quantity, and the fourth product is the product of the previous quantity of the quantity and the preset parameter information, and the fourth integral value is obtained by integrating the mapping function corresponding to the previous quantity.

[0146] For ease of understanding, the following is explained in the form of a formula:

[0147] The relationship between the distance and time of n subdivided pulse movements can be obtained by integrating the velocity:

[0148]

[0149] Similarly, the relationship between the distance and time of n-1 subdivided pulse movements is as follows:

[0150]

[0151] The above two equations can be solved to get t n and t n-1 , the time interval between two subdivided pulses can be obtained by the following formula:

[0152] Δt n =t n -t n-1

[0153] The time interval of the uniform velocity zone can be obtained by the following formula:

[0154]

[0155] In summary, the control sequence can be obtained as The first control sequence is The second control sequence is The third control sequence is

[0156] Then, the stepper motor is controlled to rotate according to the control sequence obtained above, which can make the transition of the stepper motor between the acceleration and deceleration area and the uniform speed area smooth, and the motor can run smoothly during starting, stopping and high-speed operation, thereby reducing the probability of the stepper motor losing step or being damaged.

[0157] A specific embodiment is used to illustrate the following. Figure 8 As shown in FIG. 1 , a five-segment S-curve acceleration / deceleration algorithm is provided in an embodiment of the present application. The OB segment is a variable acceleration segment, the BC segment is a uniform speed segment, and the CE segment is a variable deceleration segment. In the OA segment, the motor acceleration increases uniformly from 0 to a max , in segment AB, max The speed is uniformly reduced to 0. Since the variable acceleration process and the variable deceleration process are symmetrical, the parameters of the variable deceleration process can be obtained by simply calculating the parameters in the variable acceleration process. Control sequence C seq ={Δt 1 ,Δt 2 ,…,Δt T-1 ,Δt T} is an S-type control curve, where T is the number of pulses used in the variable acceleration and deceleration stage, Δt n Represents the time difference between the nth pulse and the n-1th pulse.

[0158] Assume that the time taken for the OA segment, OB segment, and OC segment is t 1 ,t 2 ,t 3 Assume that the total number of steps / pulses of the motor in one motion cycle is N, and the number of steps in the variable acceleration section and the uniform speed section in one motion cycle is N. a 、N u , the maximum / constant speed value is V u , the acceleration is J a .

[0159] Since the acceleration in the uniform speed section is 0, t 1 and t 2 Satisfies the following formula:

[0160] J a t 1 -J a (t 2 -t 1 )=0

[0161] Therefore, we can get:

[0162] t2 =2t 1

[0163] The acceleration of the OA segment at time t is:

[0164] A=J a t,0≤t≤t 1

[0165] The speed value of the OA segment at time t is:

[0166]

[0167] The distance traveled by segment OA at time t is:

[0168]

[0169] The acceleration of segment AB at time t is:

[0170] A=2J a t 1 -jt,t 1 ≤t≤t 2

[0171] The velocity value of segment AB at time t is:

[0172]

[0173] The distance traveled by segment AB at time t is:

[0174]

[0175] Combining all the above formulas, it can be concluded that in the variable acceleration stage, the speed, acceleration and movement distance satisfy the following formula:

[0176]

[0177]

[0178]

[0179] The angle of each pulse of the stepper motor is fixed, so the angle / radian that the transducer travels in one pulse time is also fixed, assuming it is ΔS. In order to unify the units, the distance calculated here is expressed in radians, specifically:

[0180]

[0181] According to the speed formula of the variable acceleration section, the following equation can be obtained:

[0182]

[0183] Solving for this yields:

[0184]

[0185] Combined with the distance formula of the variable acceleration section, it can be obtained that the time interval between the 0th pulse and the 1st pulse satisfies the following formula:

[0186]

[0187] Solving for this yields:

[0188]

[0189] It can be deduced that in [0,t 1 ] interval, the time interval between the k-1th pulse and the kth pulse satisfies the following formula:

[0190]

[0191] Since in [t 1 ,t 2 ], the distance traveled by the motor is a cubic equation about time t. The specific values ​​need to be substituted to solve the following equation according to the Cardan formula:

[0192]

[0193] From the above formula, the pulse interval time of the variable acceleration section can be obtained as

[0194] The pulse interval time of the uniform speed section can be obtained by the following formula:

[0195]

[0196] Since the number of steps in the variable deceleration stage is the same as that in the variable acceleration stage, the number of steps in the constant speed stage can be obtained by the following formula:

[0197] N unifom =N-2N acc

[0198] The pulse interval time of the variable deceleration section is symmetrical to that of the variable acceleration section and can be expressed as

[0199] S-shaped control curve parameters for a complete cycle

[0200] like Fig. 9As shown, the control subunit 22 is composed of an FPGA (221) and a digital-to-analog conversion circuit 222. The FPGA (221) receives the parameters transmitted by the calculation subunit 21 through data communication, generates a digital pulse signal, converts it into an analog pulse signal through the digital-to-analog conversion circuit 222, and outputs it to the motor drive subunit 23. The control subunit 22 returns the current motion state information of the probe to the scanning control unit 40. The specific motion state information may include the current position of the transducer, the current speed of the transducer, whether the transducer is in an abnormal state (including shelling, jamming, speed not within the normal range, etc.), and whether the transducer is centered. The communication method includes but is not limited to I2C, SPI, etc.

[0201] It is worth noting that the analog pulse signal is divided into two paths, and the phase difference between the two signals is 90 degrees, that is, one signal is a SIN signal and the other signal is a COS signal. Specifically, the stepper motor uses a four-wire two-phase stepper motor. The characteristic of the two-phase stepper motor is that the current flow direction is two-phase, and there are two current loops in the motor. The driving signal current I of the two-phase stepper motor satisfies the following formula:

[0202]

[0203] Among them, I rated is the rated current of the stepper motor, and the phase difference between the two-phase drive signal current is 90°.

[0204] like Fig. 9 As shown, the motor drive subunit 23 is composed of a power amplifier 231 and a grounding resistor 232. The power amplifier amplifies the analog pulse signal, i.e., the SIN signal and the COS signal, sent by the control subunit 22, and the amplified analog pulse signals are respectively connected to the two input terminals of the stepper motor 12, and the other two interfaces of the stepper motor 12 are respectively connected to the grounding resistor 232 and then grounded, forming a complete closed-loop circuit.

[0205] Refer again Figure 2 , when the scanning control unit 40 receives a signal that the transducer 14 is in the uniform speed zone, it controls the transmitting / receiving unit 50 to transmit and receive waveforms when the transducer 14 moves at a uniform speed. The scanning control unit 40 specifies parameters such as the time interval of the transducer transmitting the waveform, the number of times the waveform is transmitted, the type of the transmitted waveform, and the frequency of the transmitted waveform;

[0206] The transmitting / receiving unit 50 is controlled by the scanning control unit 40 to transmit / receive waveforms;

[0207] The beam forming unit 60 combines the received waveforms, suppresses non-target direction signals, enhances target direction signals, and focuses on signals in a specific direction, thereby improving the signal-to-noise ratio of the signal.

[0208] The pre-processing unit 70 analyzes and processes the beamformed signal to obtain a grayscale image for the doctor to observe;

[0209] A user control unit 80, through which the user can switch probes of different manufacturers and scanning parameters, including scanning angle Vu and imaging quality level L. Specifically, the imaging quality level includes six levels: low, medium 1, medium 2, high 1, high 2, and maximum. When performing public calculations, each imaging quality level corresponds to a specific value, which can be set according to actual conditions;

[0210] The display screen 30 is used to display the grayscale image obtained by the pre-processing unit 70 .

[0211] Based on the same concept, the embodiment of the present application also provides a probe control method for an ultrasonic diagnostic device. The implementation of this method can refer to the implementation of the ultrasonic diagnostic device discussed above, and will not be described in detail here. Fig.10 As shown, the probe control method of the ultrasonic diagnostic equipment includes:

[0212] S1001, receiving scanning angle information, imaging quality level information, and preset parameter information for characterizing the operating state of a stepper motor input by a user, wherein the scanning angle information is rotation angle information of the stepper motor rotating at a uniform speed, and the imaging quality level information is used to characterize the display quality of an image detected by an ultrasonic volume probe;

[0213] S1002, based on the scanning angle information, the imaging quality level information and the preset parameter information, respectively calculating a first number of required pulses corresponding to the accelerated rotation of the stepping motor, a second number of required pulses corresponding to the uniform rotation of the stepping motor and a third number of required pulses corresponding to the decelerated rotation of the stepping motor;

[0214] S1003, determining a control sequence for controlling the stepper motor to rotate based on a preset mapping function, preset parameter information, the first number, the second number, and the third number, and controlling the stepper motor to rotate based on the control sequence, wherein the mapping function is a smooth curve representing a mapping relationship between time and the rotation speed of the stepper motor;

[0215] The ultrasonic volume probe includes a stepper motor, a transmission device and a transducer. The stepper motor drives the transducer to rotate through the transmission device to perform ultrasonic scanning on the object to be measured and form a real-time ultrasonic image.

[0216] In some embodiments, based on the scanning angle information, the imaging quality level information and the preset parameter information, respectively calculating the first number of pulses required for the stepper motor to accelerate rotation, the second number of pulses required for the stepper motor to rotate at a constant speed and the third number of pulses required for the stepper motor to decelerate rotation includes:

[0217] Based on the first preset proportionality coefficient and the scanning angle information, determine the acceleration rotation angle information and the deceleration rotation angle information, wherein the acceleration rotation angle information is the rotation angle information corresponding to the stepping motor during the acceleration rotation period, and the deceleration rotation angle information is the rotation angle information corresponding to the stepping motor during the deceleration rotation period;

[0218] Determine the uniform rotation speed information corresponding to the stepping motor during the uniform rotation period based on the second preset proportionality coefficient, the scanning angle information and the imaging quality level information;

[0219] Determining a first quantity based on the acceleration rotation angle information and the preset parameter information;

[0220] Determining a second quantity based on the uniform rotation speed information and the preset parameter information;

[0221] Based on the deceleration rotation angle information and the preset parameter information, a third quantity is determined.

[0222] In some embodiments, based on the second preset proportionality coefficient, the scanning angle information and the imaging quality level information, determining the uniform rotation speed information corresponding to the stepping motor during the uniform rotation period includes:

[0223] The product of the second preset proportionality coefficient and the scanning angle information is used as the first coefficient;

[0224] The ratio of the first coefficient to the imaging quality level information is used as the uniform rotation speed information.

[0225] In some embodiments, the preset parameter information includes a reduction ratio, a step angle, and a subdivision number, wherein the reduction ratio is used to characterize the ratio of the motor speed to the transducer speed, the step angle is used to characterize the angle of one step of the motor, and the subdivision number is used to characterize the subdivision degree of a step angle;

[0226] Determining a first quantity based on the acceleration rotation angle information and the preset parameter information includes:

[0227] The product of the acceleration rotation angle information, the reduction ratio and the subdivision number is used as the second coefficient;

[0228] The ratio of the second coefficient to the step angle is taken as the first quantity.

[0229] In some embodiments, determining the second quantity based on the uniform rotation speed information and the preset parameter information includes:

[0230] The product of the uniform rotation speed information, the reduction ratio and the subdivision number is used as the third coefficient;

[0231] The ratio of the third coefficient to the step angle is taken as the second quantity.

[0232] In some embodiments, the preset parameter information includes a reduction ratio, a step angle, a subdivision number, and a preset number of correction pulses, wherein the reduction ratio is used to characterize the ratio of the motor speed to the transducer speed, the step angle is used to characterize the angle of one step of the motor, and the subdivision number is used to characterize the degree of subdivision of a step angle;

[0233] Determining a second quantity based on the uniform rotation speed information and the preset parameter information includes:

[0234] The product of the uniform rotation speed information, the reduction ratio and the subdivision number is used as the fourth coefficient;

[0235] The ratio of the fourth coefficient to the step angle is taken as the fifth coefficient;

[0236] The sum of the fifth coefficient and the preset number of correction pulses is taken as the second number.

[0237] In some embodiments, the control sequence includes a first control sequence corresponding to the stepper motor performing accelerated rotation, a second control sequence corresponding to the stepper motor performing uniform rotation, and a third control sequence corresponding to the stepper motor performing decelerated rotation;

[0238] Based on a preset mapping function, preset parameter information, a first quantity, a second quantity, and a third quantity, a control sequence for controlling the stepper motor to rotate is determined, including:

[0239] For each quantity in the first quantity, the following steps are performed in order from small to large: a first equation for a first product and a first integral value is established, and a second equation for a second product and a second integral value is established, and a control element corresponding to the quantity in the first control sequence is calculated according to the first equation and the second equation, wherein the first product is the product of the quantity and the preset parameter information, the first integral value is obtained by integrating the mapping function corresponding to the quantity, the second product is the product of the previous quantity of the quantity and the preset parameter information, and the second integral value is obtained by integrating the mapping function corresponding to the previous quantity; and

[0240] For each number in the second number, calculating a control element in a second control sequence based on preset parameter information; and

[0241] For each quantity in the third quantity, perform the following steps in sequence from large to small: establish a third equation for the third product and the third integral value, and establish a fourth equation for the fourth product and the fourth integral value, and calculate the control element corresponding to the quantity in the third control sequence according to the third equation and the fourth equation, wherein the third product is the product of the quantity and the preset parameter information, the third integral value is obtained by integrating the mapping function corresponding to the quantity, and the fourth product is the product of the previous quantity of the quantity and the preset parameter information, and the fourth integral value is obtained by integrating the mapping function corresponding to the previous quantity.

[0242] The embodiment of the present application provides an ultrasonic diagnostic device and a probe control method for the ultrasonic diagnostic device, the probe control method for the ultrasonic diagnostic device comprising: receiving scanning angle information, imaging quality level information and preset parameter information input by a user for characterizing the operating state of a stepper motor, wherein the scanning angle information is rotation angle information of the stepper motor rotating at a uniform speed, and the imaging quality level information is used to characterize the display quality of an image detected by an ultrasonic volume probe; based on the scanning angle information, the imaging quality level information and the preset parameter information, respectively calculating a first number of required pulses corresponding to accelerated rotation of the stepper motor, a second number of required pulses corresponding to uniform rotation and a third number of required pulses corresponding to decelerated rotation; based on a preset mapping function, the preset parameter information, the first number, the second number and the third number, determining a control sequence for controlling the stepper motor to rotate, and controlling the stepper motor to rotate based on the control sequence, wherein the mapping function is a smooth curve characterizing the mapping relationship between time and the rotation speed of the stepper motor.

[0243] The probe control method of the ultrasonic diagnostic equipment provided in the embodiment of the present application can directly receive various parameter information input by the user, and determine the control sequence for controlling the stepper motor to rotate based on the parameter information and the pre-set mapping function, so as to control the stepper motor to rotate based on the control sequence. Since the control sequence is directly determined according to the parameter information input by the user, that is, even if the parameter information changes, the corresponding control sequence will be adaptively determined according to the changed parameter information, thereby enhancing the stability of the stepper motor operation; and, the control sequence is obtained based on a smooth curve of the mapping relationship between the pre-set characterization time and the rotation speed of the stepper motor, so that the stepper motor can achieve a smooth transition at the turning point of the variable speed and the uniform speed, reducing the probability of damage to the stepper motor, thereby enhancing the stability of the stepper motor operation.

[0244] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0245] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0246] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0247] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0248] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. An ultrasonic diagnostic device, characterized in that: The ultrasonic diagnostic device comprises an ultrasonic volume probe, a motor control unit and a display screen; The ultrasonic volume probe is used to rotate using an internal stepper motor and drive the transducer to rotate through a transmission device to perform ultrasonic scanning on the object to be measured and form a real-time ultrasonic image; The display screen is used to display the ultrasound image; The motor control unit is used to receive scanning angle information, imaging quality level information and preset parameter information used to characterize the operating state of the stepper motor input by the user, wherein the scanning angle information is the rotation angle information of the stepper motor rotating at a uniform speed, and the imaging quality level information is used to characterize the display quality of the image detected by the ultrasound volume probe; Based on the scanning angle information, the imaging quality level information and the preset parameter information, respectively calculating a first number of pulses required for the stepping motor to perform accelerated rotation, a second number of pulses required for uniform rotation and a third number of pulses required for decelerated rotation; Based on a preset mapping function, the preset parameter information, the first quantity, the second quantity and the third quantity, a control sequence for controlling the stepper motor to rotate is determined, and the stepper motor is controlled to rotate based on the control sequence, wherein the mapping function is a smooth curve representing the mapping relationship between time and the rotation speed of the stepper motor.

2. The ultrasonic diagnostic equipment according to claim 1, characterized in that: The motor control unit is specifically used for: Based on the first preset proportionality coefficient and the scanning angle information, determining the acceleration rotation angle information and the deceleration rotation angle information, wherein the acceleration rotation angle information is the rotation angle information corresponding to the stepping motor during the acceleration rotation period, and the deceleration rotation angle information is the rotation angle information corresponding to the stepping motor during the deceleration rotation period; Determining uniform rotation speed information corresponding to the stepping motor during uniform rotation based on a second preset proportionality coefficient, the scanning angle information and the imaging quality level information; Determining the first quantity based on the acceleration rotation angle information and the preset parameter information; determining the second quantity based on the uniform rotation speed information and the preset parameter information; The third quantity is determined based on the deceleration rotation angle information and the preset parameter information.

3. The ultrasonic diagnostic equipment according to claim 2, characterized in that: The motor control unit is specifically used for: The product of the second preset proportionality coefficient and the scanning angle information is used as the first coefficient; The ratio of the first coefficient to the imaging quality level information is used as the uniform rotation speed information.

4. The ultrasonic diagnostic equipment according to claim 2, characterized in that: The preset parameter information includes a reduction ratio, a step angle and a subdivision number, wherein the reduction ratio is used to characterize the ratio of the motor speed to the transducer speed, the step angle is used to characterize the angle of one step of the motor, and the subdivision number is used to characterize the subdivision degree of a step angle; The motor control unit is specifically used for: The product of the acceleration rotation angle information, the reduction ratio and the subdivision number is used as a second coefficient; The ratio of the second coefficient to the step angle is taken as the first quantity.

5. The ultrasonic diagnostic equipment according to claim 4, characterized in that: The motor control unit is specifically used for: The product of the uniform rotation speed information, the reduction ratio and the subdivision number is used as a third coefficient; The ratio of the third coefficient to the step angle is used as the second quantity.

6. The ultrasonic diagnostic equipment according to claim 2, characterized in that: The preset parameter information includes a reduction ratio, a step angle, a subdivision number, and a preset number of correction pulses, wherein the reduction ratio is used to characterize the ratio of the motor speed to the transducer speed, the step angle is used to characterize the angle of one step of the motor, and the subdivision number is used to characterize the subdivision degree of a step angle; The motor control unit is specifically used for: The product of the uniform rotation speed information, the reduction ratio and the subdivision number is taken as a fourth coefficient; using a ratio of the fourth coefficient to the step angle as a fifth coefficient; The sum of the fifth coefficient and the preset number of correction pulses is taken as the second number.

7. The ultrasonic diagnostic equipment according to any one of claims 1 to 6, characterized in that: The control sequence includes a first control sequence corresponding to the stepping motor performing accelerated rotation, a second control sequence corresponding to the stepping motor performing uniform rotation, and a third control sequence corresponding to the stepping motor performing decelerated rotation; The motor control unit is specifically used for: For each quantity in the first quantities, the following steps are performed in order from small to large: a first equation for a first product and a first integral value is established, and a second equation for a second product and a second integral value is established, and a control element corresponding to the quantity in the first control sequence is calculated according to the first equation and the second equation, wherein the first product is the product of the quantity and the preset parameter information, and the first integral value is obtained by integrating a mapping function corresponding to the quantity, and the second product is the product of a previous quantity of the quantity and the preset parameter information, and the second integral value is obtained by integrating a mapping function corresponding to the previous quantity; and For each of the second quantities, calculating a control element in the second control sequence based on the preset parameter information; and For each quantity in the third quantity, perform the following steps in sequence from large to small: establish a third equation for a third product and a third integral value, and establish a fourth equation for a fourth product and a fourth integral value, and calculate the control element corresponding to the quantity in the third control sequence according to the third equation and the fourth equation, wherein the third product is the product of the quantity and the preset parameter information, the third integral value is obtained by integrating the mapping function corresponding to the quantity, and the fourth product is the product of a previous quantity of the quantity and the preset parameter information, and the fourth integral value is obtained by integrating the mapping function corresponding to the previous quantity.

8. A probe control method for ultrasonic diagnostic equipment, characterized in that: include: Receive scanning angle information, imaging quality level information and preset parameter information for characterizing the operating state of the stepper motor input by the user, wherein the scanning angle information is the rotation angle information of the stepper motor rotating at a uniform speed, and the imaging quality level information is used to characterize the display quality of the image detected by the ultrasonic volume probe; Based on the scanning angle information, the imaging quality level information and the preset parameter information, respectively calculating a first number of pulses required for the stepping motor to perform accelerated rotation, a second number of pulses required for uniform rotation and a third number of pulses required for decelerated rotation; Based on a preset mapping function, the preset parameter information, the first number, the second number and the third number, a control sequence for controlling the stepper motor to rotate is determined, and the stepper motor is controlled to rotate based on the control sequence, wherein the mapping function is a smooth curve that characterizes the mapping relationship between time and the rotation speed of the stepper motor; wherein the ultrasonic volume probe includes the stepper motor, a transmission device and a transducer, and the stepper motor drives the transducer to rotate through the transmission device to perform ultrasonic scanning on the object to be measured to form a real-time ultrasonic image.

9. The probe control method according to claim 8, characterized in that: The method of calculating, based on the scanning angle information, the imaging quality level information and the preset parameter information, respectively a first number of pulses required for the stepping motor to perform accelerated rotation, a second number of pulses required for the stepping motor to perform uniform rotation and a third number of pulses required for the stepping motor to perform decelerated rotation, comprises: Based on the first preset proportionality coefficient and the scanning angle information, determining the acceleration rotation angle information and the deceleration rotation angle information, wherein the acceleration rotation angle information is the rotation angle information corresponding to the stepping motor during the acceleration rotation period, and the deceleration rotation angle information is the rotation angle information corresponding to the stepping motor during the deceleration rotation period; Determining uniform rotation speed information corresponding to the stepping motor during uniform rotation based on a second preset proportionality coefficient, the scanning angle information and the imaging quality level information; Determining the first quantity based on the acceleration rotation angle information and the preset parameter information; determining the second quantity based on the uniform rotation speed information and the preset parameter information; The third quantity is determined based on the deceleration rotation angle information and the preset parameter information.

10. The probe control method according to claim 9, characterized in that: The step of determining the uniform rotation speed information corresponding to the stepping motor during the uniform rotation period based on the second preset proportionality coefficient, the scanning angle information, and the imaging quality level information includes: The product of the second preset proportionality coefficient and the scanning angle information is used as the first coefficient; The ratio of the first coefficient to the imaging quality level information is used as the uniform rotation speed information.

Images