Drive circuit of medical electromagnetic coil

Abstract

The invention relates to the technical field of medical equipment, and discloses a medical electromagnetic coil driving circuit, which adopts a plurality of motor driving modules to respectively drive corresponding electromagnetic coils, so that a space-known alternating magnetic field is generated under the driving condition of multiple paths of electromagnetic coils, the stable driving of the electromagnetic coils is realized, and the driving efficiency of the electromagnetic coils is improved. The problem of heating in the driving process is solved in a mode of respectively driving a plurality of motor driving modules, the coil driving stability is improved by combining the performance of inhibiting instantaneous voltage drop and filtering high-frequency noise and ripple waves of the voltage stabilizing module, and particularly, the digital control unit is adopted to carry out digital control on each motor driving module, so that the driving stability of the coil is improved. Compared with the prior art, driving can be more flexibly carried out, the problem of starting failure possibly caused by instantaneous current generated when the electromagnetic coil is started can be solved, the coil driving stability is further improved, meanwhile, stable power supply is carried out through the power supply processing unit, it is ensured that good power supply stability is achieved in the driving process, and noise under the driving condition can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a driving circuit for a medical electromagnetic coil. Background Art

[0002] In medical catheter products, magnetic positioning navigation plays a crucial role. It can improve the operation accuracy, reduce surgical trauma and complications, and improve surgical efficiency. Compared with optical navigation, it can penetrate soft tissues and non-metallic obstacles. The generation of a controllable magnetic field in this product requires a hardware circuit for driving. Most of the past driving methods directly perform power amplification after digital frequency synthesis, so as to drive the coil in a sine / cosine manner. This driving method not only causes a certain startup time for the coil, but also has a heating problem, thus affecting the overall driving stability of the coil. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems in the related art to some extent. For this purpose, the present invention provides a driving circuit for a medical electromagnetic coil, which can improve the driving stability of the electromagnetic coil.

[0004] An embodiment of the present invention provides a driving circuit for a medical electromagnetic coil. The electromagnetic coil is arranged in multiple paths, and the driving circuit includes: A coil driving unit, including a voltage stabilizing module and a plurality of motor driving modules. The voltage stabilizing module is respectively connected to each of the motor driving modules. Wherein, each motor driving module is used to drive one of the electromagnetic coils, so as to generate a spatially known alternating magnetic field when the electromagnetic coils in multiple paths are driven. The voltage stabilizing module is used to stably supply a power supply voltage to each of the motor driving modules and filter out high-frequency noise and ripple of the power supply voltage; A digital control unit, which is respectively connected to each of the motor driving modules, and is used to digitally control each of the motor driving modules to improve the driving flexibility and startup stability of each of the motor driving modules; A power supply processing unit, which is respectively connected to the voltage stabilizing module and the digital control unit, and is used to stably supply power to the coil driving unit and the digital control unit based on the input power supply voltage.

[0005] Optionally, in an embodiment of the present invention, the power processing unit includes a rectification and filtering module, a power boost output module, a first power buck output module, and a second power buck output module. The input end of the rectification and filtering module is connected to the supply voltage, and the output end is respectively connected to the input end of the power boost output module and the input end of the first power buck output module. The output end of the power boost output module is connected to the input end of the voltage stabilization module. The output end of the first power buck output module is connected to the input end of the digital control unit through the second power buck output module. Wherein, the rectification and filtering module is used to rectify and filter the input supply voltage, the power boost output module is used to provide a corresponding drive voltage to the coil drive unit, the first power buck output module is used to step down the input supply voltage, and the second power buck output module is used to convert the output voltage of the first power buck output module into the voltage required by the digital control unit to provide a corresponding operating voltage to the digital control unit.

[0006] Optionally, in an embodiment of the present invention, the power boost output module includes a boost control chip. The digital control unit includes a digital control chip, a power supply indication diode, a wake-up resistor, and a conduction resistor. Wherein, the wake-up pin of the digital control chip is connected to the output end of the second power buck output module through the series-connected power supply indication diode and the wake-up resistor; the switch control pin of the digital control chip is connected to the operation pin of the boost control chip through the conduction resistor to delay the start of the coil drive unit through the boost control chip.

[0007] Optionally, in an embodiment of the present invention, the motor drive module includes a motor drive chip, a first freewheeling diode, and a second freewheeling diode. One output pin of the motor drive chip is connected to the reference ground through the first freewheeling diode, and the other output pin of the motor drive chip is connected to the reference ground through the second freewheeling diode; the signal input pin of the motor drive chip is connected to the drive signal output end of the digital control chip to receive the coil drive waveform signal output by the digital control chip.

[0008] Optionally, in an embodiment of the present invention, the digital control unit further includes a plurality of enable resistors. One current sampling pin of the digital control chip is connected to the enable pin of one of the motor drive chips through one of the enable resistors to adjust the working state of one of the motor drive chips based on the high and low potential control of the digital control chip.

[0009] Optionally, in an embodiment of the present invention, the voltage stabilizing module includes a driving function pin, a plurality of first capacitor elements, and a plurality of second capacitor elements. The motor driving module further includes a filtering capacitor. The plurality of first capacitor elements and the plurality of second capacitor elements are connected in parallel to form a stable power supply path. One end of the stable power supply path is connected to the driving function pin and the other end is connected to the reference ground. The driving function pin is connected to the power supply pin of the motor driving chip through the filtering capacitor.

[0010] Optionally, in an embodiment of the present invention, the capacitance value of the first capacitor element is greater than that of the second capacitor element, and the number of the first capacitor elements is less than or equal to that of the second capacitor elements.

[0011] Optionally, in an embodiment of the present invention, the output voltage of the power boost output module is 40V, the output voltage of the first power buck output module is 5V, and the output voltage of the second power buck output module is 3.3V.

[0012] A driving circuit for a medical electromagnetic coil proposed by the present invention, compared with the coil driving method in the related prior art, uses multiple motor driving modules to drive the corresponding electromagnetic coils respectively, so as to generate a spatially known alternating magnetic field when the multiple electromagnetic coils are driven, realizing the stable driving of the electromagnetic coils. In this process, multiple motor driving modules are used for driving respectively, solving the heating problem in the driving process. Combining the performance of the voltage stabilizing module to suppress the instantaneous voltage drop and filter out high-frequency noise and ripple, the coil driving stability is further improved. In particular, using a digital control unit to flexibly digitally control each motor driving module can drive more flexibly, and can solve the problem of startup failure that may be caused by the instantaneous current generated when the electromagnetic coil starts, thereby further improving the coil driving stability. At the same time, a power supply processing unit is also used to stably supply power to the coil driving unit and the digital control unit based on the input supply voltage, ensuring good power supply stability throughout the driving process and being able to reduce the noise in the driving situation. Description of the Drawings

[0013] Figure 1 is a schematic structural diagram of a driving circuit for a medical electromagnetic coil provided by an embodiment of the present invention; Figure 2 is a schematic structural diagram of a power supply processing unit provided by an embodiment of the present invention; Figure 3 is a circuit schematic diagram of a rectifying and filtering module provided by an embodiment of the present invention; Figure 4 is a circuit schematic diagram of a power boost output module provided by an embodiment of the present invention; Figure 5 It is the circuit schematic diagram of the first power supply buck output module provided by an embodiment of the present invention; Figure 6 It is the circuit schematic diagram of the second power supply buck output module provided by an embodiment of the present invention; Figure 7 It is the circuit schematic diagram of the digital control unit provided by an embodiment of the present invention; Figure 8 It is the circuit schematic diagram of the motor drive module provided by an embodiment of the present invention; Figure 9 It is the circuit schematic diagram of the voltage stabilization module provided by an embodiment of the present invention. Detailed implementation manners

[0014] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0015] It should be noted that although the functional modules are divided in the device schematic diagram, in some cases, the division can be different from the modules in the device.

[0016] Figure 1 It is the structural schematic diagram of the driving circuit of the medical electromagnetic coil provided by an embodiment of the present invention.

[0017] As Figure 1 shown, for the driving circuit of the medical electromagnetic coil, the electromagnetic coil is set to be multiple paths, and the driving circuit specifically includes but is not limited to: The coil driving unit 100 includes a voltage stabilization module 110 and multiple motor driving modules 120. The voltage stabilization module 110 is respectively connected to each motor driving module 120. Among them, each motor driving module 120 is used to drive one path of the electromagnetic coil, so as to generate a spatially known alternating magnetic field when the multiple paths of electromagnetic coils are driven. The voltage stabilization module 110 is used to stably supply the power supply voltage to each of the motor driving modules 120 and filter out the high-frequency noise and ripple of the power supply voltage, thereby improving the stability of each motor driving module 120; The digital control unit 300 is respectively connected to each motor driving module 120, and is used to digitally control each motor driving module 120 to improve the driving flexibility and starting stability of each motor driving module 120; at the same time, the digital control unit 300 can communicate with an external module and synchronize with the signal receiving end; The power supply processing unit 200 is respectively connected to the voltage stabilizing module 110 and the digital control unit 300, and is used for stably supplying power to the coil driving unit 100 and the digital control unit 300 based on the input supply voltage.

[0018] It can be seen that, compared with the coil driving method in the related prior art, multiple motor driving modules 120 are adopted to drive the corresponding electromagnetic coils respectively, so that a spatially known alternating magnetic field is generated when the multiple electromagnetic coils are driven, realizing the stable driving of the electromagnetic coils. In this process, multiple motor driving modules 120 are used for driving respectively, solving the heating problem in the driving process. Combining with the performance of the voltage stabilizing module 110 to suppress the instantaneous voltage drop and filter out high-frequency noise and ripple, the coil driving stability is further improved. In particular, the digital control unit 300 is adopted to perform flexible digital control on each motor driving module 120, which can drive more flexibly, and can solve the problem of startup failure that may be caused by the instantaneous current generated when the electromagnetic coil starts up, thereby further improving the coil driving stability. At the same time, the power supply processing unit 200 is also adopted to stably supply power to the coil driving unit 100 and the digital control unit 300 based on the input supply voltage, ensuring good power supply stability in the whole driving process and being able to reduce the noise in the driving situation.

[0019] It should be noted that the specific number of the motor driving modules 120 is usually determined according to the number of paths of the electromagnetic coils. For example, in this embodiment, preferably, the electromagnetic coils are set to 9 paths, then the motor driving modules 120 can be correspondingly set to at least 9. Of course, considering the unexpected situations in the actual process, the number of the motor driving modules 120 can be set to 8 or less, or may also be more to match the actual working conditions (that is, there is no limit to the number of the motor driving modules 120 here), so as to provide the motor driving modules 120 as alternatives in case of emergencies.

[0020] In one embodiment, as Figure 2As shown in the figure, the power supply processing unit 200 includes a rectification and filtering module 210, a power supply boost output module 220, a first power supply buck output module 230, and a second power supply buck output module 240. The input end of the rectification and filtering module 210 is connected to the supply voltage, and the output end is respectively connected to the input ends of the power supply boost output module 220 and the first power supply buck output module 230. The output end of the power supply boost output module 220 is connected to the input end of the voltage stabilization module 110. The output end of the first power supply buck output module 230 is connected to the input end of the digital control unit 300 through the second power supply buck output module 240. Among them, the rectification and filtering module 210 is used to rectify and filter the input supply voltage. The power supply boost output module 220 is used to provide a corresponding drive voltage to the coil drive unit 100. The first power supply buck output module 230 is used to step down the input supply voltage. The second power supply buck output module 240 is used to convert the output voltage of the first power supply buck output module 230 into the voltage required by the digital control unit 300 to provide a corresponding operating voltage to the digital control unit 300.

[0021] The following gives a specific circuit topology of the rectification and filtering module 210, the power supply boost output module 220, the first power supply buck output module 230, and the second power supply buck output module 240 to illustrate their working principles in detail. However, it can be understood that the actual circuit topologies of the rectification and filtering module 210, the power supply boost output module 220, the first power supply buck output module 230, and the second power supply buck output module 240 can be set accordingly according to different scenarios on the basis of the above embodiments, and are not limited here.

[0022] Specifically, as Figure 3 shown, the rectification and filtering module inputs the circuit board power supply through J2, J10 or J1. The voltage compatibility range is 12~24Vdc. A TVS diode D23 is connected in series at the power supply end for overvoltage protection. L1 is a common mode inductor used to filter out the common mode interference in the power line. C2, C3, C4, C5, and C6 are all decoupling capacitors, whose function is to filter out the high-frequency ripple and noise in the power supply output to make the power supply output more stable. D1 is a Schottky rectifier diode used for power rectification.

[0023] As Figure 4 shown, the input voltage of the power supply boost output module is 12~24Vdc, and the output voltage is adjustable. A boost control chip U1 is provided, and its model and the corresponding pin connection conditions are in Figure 4As shown in the figure, where C6, C7, C8, C9, and C10 are all decoupling capacitors, whose function is to filter out high-frequency ripples and noise in the power supply output, making the power supply output more stable; the RUN pin of the boost control chip U1 is a control port, and by raising and lowering the voltage through the digital control unit, the start and stop of the corresponding motor drive module at the back end can be controlled; Q1 and Q2 can be, but are not limited to, N-channel semiconductor field effect transistors, which, as power switches, can improve the efficiency of the power supply; among them, the corresponding output voltage can be adjusted through resistors R10 and R11 The size of is adjusted by the following relationship: ; C13, C15, C104, C105, and C185 are bypass capacitors, used to filter out high-frequency ripples and noise in the output voltage of the boost control chip U1, making the power supply output more stable; D24 and D25 are both Schottky diodes, whose functions are rectification, freewheeling, and power supply protection; C14, C16, C17, C18, and C103 are bypass capacitors, and FB1, FB2, FB3, FB12, and FB14 are magnetic beads, whose function is to suppress high-frequency noise and electromagnetic interference; U14 is a linear voltage regulator, whose function is to control the voltage output by the boost control chip U1 through an external resistor to output a more stable voltage with less ripple and noise, thereby improving the performance and stability of the circuit. The corresponding adjustment relationship can be: ; Among them, represents 、 The equivalent resistance value after the two are connected in parallel, Figure 4 The output voltage of the circuit shown can be, but is not limited to, set to 40V (or around 40V).

[0024] Such as Figure 5 As shown, the input voltage of this first power supply buck output module is 12 - 24Vdc, the output voltage is adjustable, and a buck control chip U3 is provided. Its model and the corresponding pin connection situation are shown in Figure 5 As shown in the figure, where C23, C24, C25, C26, and C186 are decoupling capacitors, whose function is to filter out high-frequency ripples and noise in the power supply output, making the power supply output more stable; Q3 can be, but is not limited to, an N-channel semiconductor field effect transistor, which, as a power switch, can improve the efficiency of the power supply; C35, C38, C115, C36, and C116 are bypass capacitors, and FB4, FB5, FB3, and FB43 are magnetic beads, whose function is to suppress high-frequency noise and electromagnetic interference; among them, the corresponding output voltage can be adjusted through resistors R16 and R18 The size of is adjusted by the following relationship: ; Figure 5 The output voltage of the shown circuit can be, but is not limited to, 5V (or around 5V).

[0025] As Figure 6 shown, the second power supply step-down output module uses a linear voltage regulator U2. Through the connection shown, it can convert the 5Vdc output into 3.3Vdc for output. Among them, C30, C32, C31, and C33 are decoupling capacitors. Figure 6 shown, the second power supply step-down output module uses a linear voltage regulator U2. Through the connection shown, it can convert the 5Vdc output into 3.3Vdc for output. Among them, C30, C32, C31, and C33 are decoupling capacitors.

[0026] In one embodiment, as Figure 4 shown, the power supply boost output module includes a boost control chip U1. At the same time, referring to Figure 7 , the digital control unit includes a digital control chip U13, a power supply indication diode D22, a wake-up resistor R57, and a conduction resistor R86. Among them, the wake-up pin of the digital control chip U13 is connected to the output terminal of the second power supply step-down output module through the serially connected power supply indication diode D22 and wake-up resistor R57; the switch control pin of the digital control chip U13 is connected to the operation pin RUN of the boost control chip U1 through the conduction resistor R86 to delay the start of the coil drive unit through the boost control chip U1.

[0027] In one embodiment, as Figure 8 shown, the circuit topologies of each motor drive module are the same. Each motor drive module can, but is not limited to, include a motor drive chip U4, a first freewheeling diode D4, and a second freewheeling diode D7. One output pin of the motor drive chip U4 is connected to the reference ground through the first freewheeling diode D4, and the other output pin of the motor drive chip U4 is connected to the reference ground through the second freewheeling diode D7; the signal input pin of the motor drive chip U4 is connected to the drive signal output terminal of the digital control chip U13 to receive the coil drive waveform signal output by the digital control chip U13.

[0028] In one embodiment, as Figure 9 shown, the voltage regulation module includes a drive function pin motor_power, a number of first capacitor elements, and a number of second capacitor elements. The motor drive module also includes a filter capacitor C60. The number of first capacitor elements (i.e., Figure 9 the capacitors C107, C48, C43, C44, C45, C46, C47, C112, and C113 shown in Figure 9The capacitors C108, C49, C50, C122, C123, C124, C125, C126, C127, C128, C129, C130, and C131 shown in [figure] are connected in parallel to form a stable power supply path (since a number of first capacitor elements and a number of second capacitor elements are all connected in parallel, for the sake of clear illustration, Figure 9 the stable power supply path in [figure] is shown in three parts, which does not affect the illustration of the overall connection of a number of first capacitor elements and a number of second capacitor elements). One end of the stable power supply path is connected to the drive function pin motor_power and the other end is connected to the reference ground. The drive function pin motor_power is connected to the power supply pin of the motor drive chip U4 through the filter capacitor C60.

[0029] In one embodiment, as Figure 7 shown, the digital control unit further includes a number of enable resistors. One of the current sampling pins of the digital control chip U13 is connected to one of the enable pins of one of the motor drive chips U4 through one of the enable resistors to control the operating state of one of the motor drive chips U4 based on the high or low potential of the digital control chip U13. That is to say, the digital control chip U13 is in one-to-one correspondence with each enable resistor and each motor drive chip U4, and can effectively adjust the operating state of each motor drive chip U4 to ensure good drive stability of the motor drive chip U4.

[0030] Specifically, referring to Figures 7 to 9 , C60 is a decoupling capacitor. Pins 1, 10, 11, 20, and 21 of the motor drive chip U4 are grounded. Pins 4 and 6 are connected to the output of the drive coil. Pin 5 is connected to the drive function pin motor_power for power supply. Pin 7 is connected to pin 6 through the capacitor C57 to ensure the effective drive of the power DMOS transistor. Pin 14 is connected to pin 4 through the capacitor C51 to ensure the effective drive of the power DMOS transistor; The first freewheeling diode D4 and the second freewheeling diode D7 can both be but are not limited to Schottky diodes, which play a freewheeling role. When the inductor current undergoes a sudden change, they can provide a freewheeling path for the current to prevent the generation of excessive back electromotive force, thereby protecting the circuit components; Pins 8 and 13 of the motor drive chip U4 are input pins, and the voltage is raised or lowered through the boost control chip U1 to control the output of pins 4 and 6. Pin 15 is the internal voltage reference, which is connected to the ground through the capacitor C54 and has the functions of stabilizing the voltage and decoupling. Pin 17 is the enable terminal of the motor drive chip U4, and the voltage is raised or lowered through the digital control chip U13 to control the real-time operating state (start or not start) of the motor drive chip U4; Among them, FB8 is a ferrite bead, whose function is electromagnetic interference suppression and noise filtering; C87, C88, C89, C90, C91 and C121 are decoupling capacitors; Pins 1, 9, 24, 36 and 48 of the digital control chip U13 are connected to the 3.3V power supply, pins 8, 23, 35 and 47 are connected to the ground, Y1 is a passive crystal oscillator, and is connected to the ground and to pins 5 and 6 of the digital control chip U13 through two capacitors C92 and C93 respectively (the function of the capacitors here is to stabilize the vibration frequency and improve the signal quality), serving as the crystal oscillator of the digital control chip U13; Pin 7 of the digital control chip U13 is a reset pin, active low. In this circuit, it is pulled high by 3.3V and resistor R56, and at the same time, capacitor C94 is added for voltage regulation; Pin 10 of the digital control chip U13 is a wake-up pin, powered by 3.3V and connected in series with the power supply indication diode D22 and the wake-up resistor R57 to achieve the wake-up of the digital control chip U13 and the normal indication of power supply; Pins 11 and 12 of the digital control chip U13 are used as ports for communication with the remaining modules, which will not be elaborated here; Pin 15 of the digital control chip U13 is connected to pin 8 of the boost control chip U1 through resistor R86, serving as the working switch of the boost control chip U1. The purpose is to control the power supply of the boost control chip U1 to the motor drive module through the digital control chip U13, so as to achieve a delayed start and reduce its instantaneous current; Pins 16, 17, 18, and 19 of the digital control chip U13 are connected to the signal input ports of the motor drive chip U4. The digital control chip U13 can control the output of square waves, SPWM waves, etc. on pins 16, 17, 18, and 19 for the drive of the coil. For example, the generated SPWM wave can generate a sinusoidal current in the coil. Through such an output waveform method, more flexible driving can be achieved, and the driving effect is better and more effective.

[0031] In addition, pins 21, 22, 25, 26, 41, 42, 43, 45, and 46 of the digital control chip U13 are respectively connected to the enable pins of each motor drive chip U4 (corresponding to the multiple Figure 8 shown motor drive modules) through resistors R33, R35, R37, R39, R41, R43, R45, R47, and R49 to control the start and stop of each motor drive chip U4 by pulling up or pulling down the voltage. Pins 30 and 31 of the digital control chip U13 are for debugging and will not be elaborated here; Pins 34 and 37 of the digital control chip U13 are the serial debugging clock interface and the serial debugging data input / output interface respectively, which can be used for the program (programming) download of the digital control chip U13; Pin 44 of the digital control chip U13 is connected to the ground through a pull-down resistor R53 to ensure the stability of the startup mode and facilitate debugging and maintenance.

[0032] In one embodiment, since the motor drive chip U4 has high power consumption and generates instantaneous current during startup, it is necessary to add a capacitor component with a large capacitance value to improve the stability of the power supply for the motor drive chip U4. This stability is reflected in filtering, energy storage, etc. of the power supply. Therefore, as Figure 9 shown, it is possible but not limited to set the capacitance value of the first capacitor element to be greater than that of the second capacitor element. At the same time, considering the stability requirements of the overall control, it is possible but not limited to set the number of the first capacitor elements to be less than or equal to the number of the second capacitor elements. Through the above settings, based on the voltage stabilization module, it is possible to stably supply the motor drive chip U4 with a power supply voltage as much as possible, suppress its instantaneous voltage drop, and filter out high-frequency noise and ripple at the same time.

[0033] It should be noted that the drive circuit and application scenario of the medical electromagnetic coil described in the embodiments of the present invention are for more clearly explaining the technical solutions of the embodiments of the present invention, and do not constitute a limitation to the technical solutions provided by the embodiments of the present invention. Those skilled in the art can know that with the evolution of the drive circuit of the medical electromagnetic coil and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present invention are also applicable to similar technical problems.

[0034] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A driving circuit for a medical electromagnetic coil, characterized in that: The electromagnetic coil is configured as a multi-channel, and the driving circuit includes: The coil driving unit comprises a voltage stabilizing module and a plurality of motor driving modules, wherein the voltage stabilizing modules are respectively connected to each of the motor driving modules, wherein each of the motor driving modules is used to drive one of the electromagnetic coils, so as to generate a spatially known alternating magnetic field through the plurality of electromagnetic coils when driven, and the voltage stabilizing module is used to stably provide a power supply voltage to each of the motor driving modules and filter out high-frequency noise and ripple of the power supply voltage; A digital control unit, connected to each of the motor drive modules respectively, for digitally controlling each of the motor drive modules to improve the driving flexibility and starting stability of each of the motor drive modules; The power processing unit is connected to the voltage stabilizing module and the digital control unit respectively, and is used to provide stable power supply to the coil driving unit and the digital control unit based on the input power supply voltage.

2. The driving circuit of the medical electromagnetic coil according to claim 1, characterized in that: The power processing unit includes a rectifier and filter module, a power boost output module, a first power buck output module and a second power buck output module, wherein the input end of the rectifier and filter module is connected to the power supply voltage and the output end is respectively connected to the input end of the power boost output module and the input end of the first power buck output module, the output end of the power boost output module is connected to the input end of the voltage stabilizing module, and the output end of the first power buck output module is connected to the input end of the digital control unit through the second power buck output module, wherein the rectifier and filter module is used to rectify and filter the input power supply voltage, the power boost output module is used to provide the corresponding driving voltage to the coil drive unit, the first power buck output module is used to buck the input power supply voltage, and the second power buck output module is used to convert the output voltage of the first power buck output module into the voltage required by the digital control unit to provide the corresponding working voltage to the digital control unit.

3. The driving circuit of the medical electromagnetic coil according to claim 2, characterized in that: The power boost output module includes a boost control chip, and the digital control unit includes a digital control chip, a power supply indication diode, a wake-up resistor and an on-resistance, wherein the wake-up pin of the digital control chip is connected to the output end of the second power buck output module through the power supply indication diode and the wake-up resistor connected in series; the switch control pin of the digital control chip is connected to the running pin of the boost control chip through the on-resistance, so as to delay the start of the coil drive unit through the boost control chip.

4. The driving circuit of the medical electromagnetic coil according to claim 3, characterized in that: The motor drive module includes a motor drive chip, a first freewheeling diode and a second freewheeling diode, one output pin of the motor drive chip is connected to a reference ground through the first freewheeling diode, and another output pin of the motor drive chip is connected to a reference ground through the second freewheeling diode; a signal input pin of the motor drive chip is connected to a drive signal output end of the digital control chip to receive a coil drive waveform signal output by the digital control chip.

5. The driving circuit of the medical electromagnetic coil according to claim 4, characterized in that: The digital control unit also includes a plurality of enable resistors, and one of the current sampling pins of the digital control chip is connected to the enable pin of one of the motor drive chips through one of the enable resistors, so as to adjust the working state of one of the motor drive chips based on the high and low potential control of the digital control chip.

6. The driving circuit of the medical electromagnetic coil according to claim 4, characterized in that: The voltage stabilizing module includes a driving function pin, a plurality of first capacitor elements and a plurality of second capacitor elements. The motor driving module also includes a filter capacitor. The plurality of first capacitor elements and the plurality of second capacitor elements are connected in parallel to form a stable power supply path. One end of the stable power supply path is connected to the driving function pin and the other end is connected to a reference ground. The driving function pin is connected to the power supply pin of the motor driving chip through the filter capacitor.

7. The driving circuit of the medical electromagnetic coil according to claim 6, characterized in that: The capacitance value of the first capacitance element is greater than the capacitance value of the second capacitance element, and the number of the first capacitance elements is less than or equal to the number of the second capacitance elements.

8. The driving circuit of the medical electromagnetic coil according to claim 2, characterized in that: The output voltage of the power boost output module is 40V, the output voltage of the first power buck output module is 5V, and the output voltage of the second power buck output module is 3.3V.

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