Drive method, controller and biopsy sampling device

Abstract

This application relates to the field of medical technology and discloses a driving method, controller, and biopsy sampling device. The method includes: upon receiving a preset window opening distance input by a user, determining a corresponding first preset window closing distance compensation value based on the preset window opening distance, where the preset window opening distance is the distance between the puncture needle tube and the cutting blade tube; determining an initial value for the window closing distance and compensating the initial value for the window closing distance using the first preset window closing distance compensation value to obtain a compensated window closing distance; and driving a drive motor according to the compensated window closing distance. Compared to existing methods that use a fixed window closing distance compensation value, this application can determine a corresponding first preset window closing distance compensation value based on different preset window opening distances, thereby reducing the occurrence of incomplete window closure and improving the user experience.

Description

Technical Field

[0001] This application relates to the field of medical technology, and in particular to a driving method, controller and biopsy sampling device. Background Technology

[0002] Biopsy sampling devices are widely used for biopsies of human tissues such as the breast. A biopsy sampling device includes a puncture needle, a cutting blade, and at least one motor. The puncture needle has an axially extending groove and a sampling window on its front side. At least one motor is connected to the cutting blade, driving it to rotate within the groove and move axially to open and close the sampling window. During the opening and closing process, the cutting edge at the front of the cutting blade can cut the tissue within the groove, while the main unit provides negative pressure to aspirate the cut tissue from the cutting blade to complete the sampling.

[0003] However, traditional biopsy sampling devices often fail to close the window properly during sampling, resulting in incomplete tissue severance, which poses certain surgical risks and leads to a poor user experience. Summary of the Invention

[0004] The main purpose of this application is to provide a driving method, controller and biopsy sampling device, which aims to solve the technical problem that existing biopsy sampling devices often have poor window closure during sampling, resulting in a poor user experience.

[0005] To achieve the above objectives, this application provides a driving method applied to a controller for driving the power output of a drive motor in a biopsy sampling device. The biopsy sampling device includes a puncture needle tube with a sampling window and a cutting blade tube with a cutting edge. The drive motor is connected to the cutting blade tube and can drive the cutting blade tube to move forward and backward along the axial direction of the puncture needle tube to open and close the sampling window. The driving method includes:

[0006] When the user inputs a preset window opening distance, a corresponding first preset window closing distance compensation value is determined based on the preset window opening distance. The preset window opening distance is the target window opening distance between the reference position on the front edge of the sampling window and the cutting edge of the cutting tube.

[0007] Determine the initial value of the closed window distance, and compensate the initial value of the closed window distance with the first preset closed window distance compensation value to obtain the compensated closed window distance;

[0008] The drive motor is driven according to the compensated window closing distance.

[0009] In one embodiment, the step of compensating the initial value of the closed window distance with the first preset closed window distance compensation value to obtain the compensated closed window distance includes:

[0010] The corresponding first preset window closing condition is determined based on the preset window opening distance;

[0011] The current window closing distance compensation value is determined based on the first preset window closing condition and the first preset window closing distance compensation value.

[0012] The initial value of the closed window distance is compensated by the current closed window distance compensation value to obtain the compensated closed window distance.

[0013] In one embodiment, the step of determining the current window closing distance compensation value based on the first preset window closing condition and the first preset window closing distance compensation value includes:

[0014] Get the previous window opening distance compensation value, the previous window closing distance total value, and the initial window closing distance value;

[0015] The difference value of the previous window closing distance is determined based on the first preset window closing condition, the previous window opening distance compensation value, the previous window closing distance total value, and the initial value of the window closing distance.

[0016] When the difference value of the previous window closing distance meets the preset difference threshold, the first preset window closing distance compensation value is used as the current window closing distance compensation value.

[0017] When the difference value of the previous window closing distance does not meet the preset difference threshold, the difference value of the previous window closing distance is used as the compensation value for the current window closing distance.

[0018] In one embodiment, the step of determining the previous window closing distance difference value based on the first preset window closing condition, the previous window opening distance compensation value, the previous window closing distance total value, and the initial window closing distance value includes:

[0019] When the previous window opening distance compensation value, the previous window closing distance total value, and the window closing distance initial value all meet the first preset window closing condition, the difference between the previous window closing distance total value and the window closing distance initial value is taken as the previous window closing distance difference value.

[0020] If at least one of the previous window opening distance compensation value, the previous window closing distance total value, and the initial window closing distance value does not meet the first preset window closing condition, the preset difference threshold is used as the previous window closing distance difference value.

[0021] In one embodiment, the step of using the previous window closing distance difference value as the current window closing distance compensation value includes:

[0022] When the distance interval in which the preset window opening distance is located is not the first distance interval, the difference value of the previous window closing distance is used as the compensation value of the current window closing distance.

[0023] When the preset window opening distance falls within the first distance interval, the sum of the first preset window closing distance compensation value and the previous window closing distance difference value is used as the current window closing distance compensation value.

[0024] In one embodiment, the step of determining the corresponding first preset window closing distance compensation value based on the preset window opening distance includes:

[0025] Get the current operating mode;

[0026] When the current operating mode is the normal operating mode, the corresponding first preset window closing distance compensation value is determined according to the preset window opening distance.

[0027] In one embodiment, after the step of obtaining the current operating mode, the method further includes:

[0028] When the current operating mode is dense mode, the previous window opening distance compensation value, the previous window opening distance total value, and the initial window closing distance value are obtained, and the previous window closing distance difference value is determined according to the second preset window closing condition, the previous window opening distance compensation value, the previous window opening distance total value, and the initial window closing distance value.

[0029] The current window closing distance compensation value is determined based on the previous window closing distance difference value.

[0030] The initial value of the closed window distance is compensated by the current closed window distance compensation value to obtain the compensated closed window distance;

[0031] The drive motor is driven according to the compensated window closing distance.

[0032] In one embodiment, the step of determining the previous window closing distance difference value based on the second preset window closing condition, the previous window opening distance compensation value, the previous window opening distance total value, and the initial window closing distance value includes:

[0033] When the previous window opening distance compensation value, the previous window opening distance total value, and the window closing distance initial value all meet the second preset window closing condition, the difference between the previous window closing distance total value and the window closing distance initial value is taken as the previous window closing distance difference value.

[0034] If at least one of the previous window opening distance compensation value, the previous window opening distance total value, and the window closing distance initial value does not meet the second preset window closing condition, the preset difference threshold is used as the previous window closing distance difference value.

[0035] In one embodiment, the step of determining the current window closing distance compensation value based on the previous window closing distance difference value includes:

[0036] When the difference value of the previous closed window distance is higher than the preset difference threshold, the previous closed window distance compensation value and the previous open window distance difference value are obtained, and the current closed window distance compensation value is determined based on the previous closed window distance compensation value and the previous open window distance difference value.

[0037] When the difference value of the previous window closing distance is not higher than the preset difference threshold, the corresponding second preset window closing distance compensation value is determined according to the preset window opening distance, and the current window closing distance compensation value is determined according to the second preset window closing distance compensation value.

[0038] In one embodiment, the step of determining the current window closing distance compensation value based on the second preset window closing distance compensation value includes:

[0039] When the difference value of the previous window closing distance meets the preset difference threshold, the second preset window closing distance compensation value is used as the current window closing distance compensation value.

[0040] When the difference value of the previous window closing distance does not meet the preset difference threshold, the difference value of the previous window closing distance is used as the compensation value for the current window closing distance.

[0041] In one embodiment, the step of using the second preset window closing distance compensation value as the current window closing distance compensation value includes:

[0042] When the distance interval in which the preset window opening distance is located is not the first distance interval or the second distance interval, the second preset window closing distance compensation value shall be used as the current window closing distance compensation value.

[0043] When the distance interval in which the preset window opening distance is located is the first distance interval or the second distance interval, the current sampling number is obtained, and when the current sampling number is even, the second preset window closing distance compensation value is used as the current window closing distance compensation value; when the current sampling number is odd, the adjusted second preset window closing distance compensation value is used as the current window closing distance compensation value.

[0044] In one embodiment, the step of obtaining the current operating mode includes:

[0045] Obtain the current running direction of the cutting tube;

[0046] When the current running direction is the closed window direction, obtain the current running mode.

[0047] In one embodiment, after the step of obtaining the current running direction of the cutting tube, the method further includes:

[0048] When the current running direction is the window opening direction, obtain the total value of the previous window opening distance and the total value of the previous window closing distance;

[0049] The current window opening distance compensation value is determined based on the total value of the previous window opening distance and the total value of the previous window closing distance;

[0050] Obtain the initial value of the window opening distance, and compensate the initial value of the window opening distance using the current window opening distance compensation value;

[0051] The drive motor is driven according to the initial value of the compensated window opening distance.

[0052] In one embodiment, the step of determining the current window opening distance compensation value based on the previous total window opening distance and the previous total window closing distance includes:

[0053] The difference value of the previous window opening distance is determined based on the total value of the previous window opening distance and the total value of the previous window closing distance;

[0054] When the difference in the previous window opening distance is a preset difference threshold, the difference between the total value of the first window closing distance and the total value of the previous window opening distance is used as the compensation value for the current window opening distance.

[0055] When the difference value of the previous window opening distance is not equal to the preset difference threshold, the current window opening distance compensation value is determined based on the total value of the first window closing distance, the total value of the previous window opening distance, and the difference value of the previous window opening distance.

[0056] In one embodiment, the step of determining the difference value of the previous window opening distance based on the total value of the previous window opening distance and the total value of the previous window closing distance includes:

[0057] When the difference between the total value of the previous window opening distance and the total value of the previous window closing distance meets the preset window opening conditions, the difference value of the previous window opening distance is determined based on the total value of the previous window opening distance and the total value of the previous window closing distance.

[0058] When the difference between the total value of the previous window opening distance and the total value of the previous window closing distance does not meet the preset window opening condition, the preset difference threshold is used as the difference value of the previous window opening distance.

[0059] In one embodiment, the step of determining the corresponding first preset window closing distance compensation value based on the preset window opening distance includes:

[0060] Obtain the current number of cuts and determine whether the current number of cuts has reached a first preset cut count threshold;

[0061] If the current number of cuts reaches the first preset number of cuts threshold, then the corresponding first preset closing distance compensation value is determined according to the preset opening distance.

[0062] In one embodiment, after the step of determining whether the current number of cuts has reached a first preset cut number threshold, the method further includes:

[0063] If the current number of cuts does not reach the first preset number of cuts threshold, determine whether the current number of cuts reaches the second preset number of cuts threshold, where the second preset number of cuts threshold is lower than the first preset number of cuts threshold.

[0064] When the current number of cuts reaches the second preset number of cuts threshold and the current running direction of the cutting tube is the window closing direction, the current window closing distance compensation value is determined according to the previous window closing distance compensation value, and the initial value of the window closing distance is compensated according to the current window closing distance compensation value before driving the drive motor.

[0065] When the current number of cuts reaches the second preset cut number threshold and the current running direction of the cutting tube is the window opening direction, the current window opening distance compensation value is determined according to the previous window opening distance compensation value, and the initial value of the window opening distance is compensated according to the current window opening distance compensation value before driving the drive motor.

[0066] In one embodiment, after the step of determining whether the current number of cuts has reached the second preset cut number threshold, the method further includes:

[0067] If the current number of cuts has not reached the second preset cut number threshold, then it is determined whether the cutting tube has been reset;

[0068] If the cutting tube has been reset, then the current running direction of the cutting tube is determined;

[0069] When the current running direction is the window closing direction, the window closing distance compensation value is determined according to the initial value of the window opening distance, and the initial value of the window closing distance is compensated according to the current window closing distance compensation value before driving the drive motor.

[0070] When the current running direction is the window opening direction, the window opening distance compensation value is determined according to the preset difference threshold, and the initial value of the window opening distance is compensated according to the window opening distance compensation value before driving the drive motor.

[0071] In one embodiment, after the step of determining whether the cutting blade tube has been reset, the method further includes:

[0072] If the cutting tube is not reset, the current running direction of the cutting tube is determined.

[0073] When the current running direction is the window closing direction, the window closing distance compensation value is determined based on the initial distance value and the displacement distance of the cutting tube, and the initial window closing distance value is compensated based on the current window closing distance compensation value before driving the drive motor.

[0074] When the current running direction is the window opening direction, the current window opening distance compensation value is determined based on the total value of the previous window closing distance and the previous window opening distance compensation value. After compensating the initial value of the window opening distance based on the current window opening distance compensation value, the drive motor is driven.

[0075] Furthermore, to achieve the above objectives, this application also proposes a controller, which includes: a memory, a processor, and a driver stored in the memory and executable on the processor. When the driver is executed by the processor, it implements the steps of the driving method described above.

[0076] In addition, to achieve the above objectives, this application also proposes a biopsy sampling device, which includes: a puncture needle tube with a sampling window, a cutting blade tube with a cutting edge, a drive motor, and a controller as described above.

[0077] The drive motor is connected to the cutting tube and can drive the cutting tube to move forward and backward along the axial direction of the puncture needle tube to open and close the sampling window.

[0078] This application provides a driving method, controller, and biopsy sampling device. The method is applied to a controller that drives the power output of a drive motor in the biopsy sampling device. The biopsy sampling device includes a puncture needle tube with a sampling window and a cutting blade tube with a cutting edge. The drive motor is driven by the cutting blade tube and can drive the cutting blade tube to move forward and backward along the axial direction of the puncture needle tube to open and close the sampling window. The driving method includes: upon receiving a preset opening distance input by a user, determining a corresponding first preset closing distance compensation value based on the preset opening distance, wherein the preset opening distance is a target opening distance between a reference position on the front edge of the sampling window and the cutting edge of the cutting blade tube; determining an initial value for the closing distance and compensating the initial value for the closing distance with the first preset closing distance compensation value to obtain a compensated closing distance; and driving the drive motor according to the compensated closing distance.

[0079] Since different preset window opening distances correspond to different first preset window closing distance compensation values, in actual use, after receiving the preset window opening distance input by the user, the corresponding first preset window closing distance compensation value can be determined firstly based on the preset window opening distance. Then, the initial value of the window closing distance is compensated using the first preset window closing distance compensation value to obtain the compensated window closing distance. Finally, the drive motor is driven according to the compensated window closing distance. Compared to existing methods, this application can determine the corresponding first preset window closing distance compensation value based on different preset window opening distances, thereby reducing the occurrence of incomplete window closure and improving the user experience. Attached Figure Description

[0080] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0081] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0082] Figure 1 This is a schematic diagram of the controller structure of the hardware operating environment involved in the embodiments of this application;

[0083] Figure 2 This is a schematic diagram of the biopsy sampling device involved in the embodiments of this application;

[0084] Figure 3 This is a flowchart illustrating the first embodiment of the driving method of this application;

[0085] Figure 4 This is a flowchart illustrating the process of determining the window-closing distance compensation value in the first embodiment of the driving method of this application under the conditions of the third cut or more, window closure, and normal operation mode.

[0086] Figure 5 This is a schematic diagram of the preset window closing compensation values ​​corresponding to each preset distance interval in the first embodiment of the driving method of this application;

[0087] Figure 6 This is a flowchart illustrating the second embodiment of the driving method of this application;

[0088] Figure 7 This is a flowchart illustrating the process of determining the window-closing distance compensation value in the third cut or more, closed window and dense mode, in the second embodiment of the driving method of this application.

[0089] Figure 8 This is a flowchart illustrating the third embodiment of the driving method of this application;

[0090] Figure 9 This is a flowchart illustrating the process of determining the current window closing distance compensation value in the third embodiment of the driving method of this application under the third cut and the open and dense mode;

[0091] Figure 10 This is a flowchart illustrating the fourth embodiment of the driving method of this application;

[0092] Figure 11 This is a schematic diagram of the process for determining the current window closing distance compensation value under the first and second cuts in the fourth embodiment of the driving method of this application.

[0093] 1 puncture needle 3 Sampling window 2 Cutting blade tube

[0094] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0095] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0096] Reference Figure 1 , Figure 1 This is a schematic diagram of the controller structure of the hardware operating environment involved in the embodiments of this application.

[0097] like Figure 1 As shown, the controller may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may be connected to a display screen; optionally, the user interface 1003 may include a standard wired interface or a wireless interface. In this application, the wired interface of the user interface 1003 may be a USB interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or non-volatile memory (NVM), such as a disk storage device. Alternatively, the memory 1005 may be a storage device independent of the aforementioned processor 1001.

[0098] Those skilled in the art will understand that Figure 1The structure shown does not constitute a limitation on the controller and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0099] like Figure 1 As shown, the memory 1005, which is identified as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a driver.

[0100] exist Figure 1 In the controller shown, the network interface 1004 is mainly used to connect to the backend server and communicate with the backend server; the user interface 1003 is mainly used to connect to the user equipment; the controller calls the driver stored in the memory 1005 through the processor 1001 and executes the steps of the driver method provided in the embodiments of this application.

[0101] It should be noted that biopsy sampling devices are widely used for biopsies of human tissues such as the breast. A biopsy sampling device includes a puncture needle, a cutting blade, and at least one motor, as shown in the reference... Figure 2 , Figure 2 This is a schematic diagram of the biopsy sampling device involved in the embodiments of this application, as shown below. Figure 2 As shown, the puncture needle 1 has an axially extending through groove and a sampling window on its front side, and at least one motor ( Figure 2 (Not shown) is connected to the cutting tube 2 and can drive the cutting tube 2 to rotate and move axially in the through groove to open and close the sampling window 3. During the opening and closing process, the cutting blade at the front end of the cutting tube 2 can be used to cut the tissue in the through groove, while the host provides negative pressure to suck up the tissue that has been cut in the cutting tube 2 to complete the sampling.

[0102] However, when controlling the rotation of the distance motor to close the window, it is generally controlled according to a fixed preset window closing distance value to ensure that the cutting tube 2 is completely closed. But due to inertia and other reasons, the cutting tube 2 may have over-opened the window during the previous opening. As a result, if the window is closed directly according to the user-set preset window closing distance, the window often does not close tightly, resulting in the tissue not being completely cut off, which poses certain surgical risks and a poor user experience.

[0103] Therefore, to address the aforementioned shortcomings, this embodiment provides a driving method. Since different preset window opening distances correspond to different first preset window closing distance compensation values, in actual use, upon receiving the user-inputted preset window opening distance, the corresponding first preset window closing distance compensation value can be determined firstly based on the preset window opening distance. Then, the initial value of the window closing distance is compensated using the first preset window closing distance compensation value to obtain the compensated window closing distance. Finally, the drive motor is driven according to the compensated window closing distance. Compared to existing methods that do not compensate for the window closing distance, this embodiment not only compensates for the window closing distance but also determines the corresponding first preset window closing distance compensation value based on different preset window opening distances, thereby reducing the occurrence of incomplete window closure and improving the user experience.

[0104] For ease of understanding, the following is combined with Figures 3 to 11 The driving method provided in the embodiments of this application will be described in detail.

[0105] Reference Figure 3 , Figure 3 This is a flowchart illustrating the first embodiment of the driving method of this application. The first embodiment of the driving method of this application is presented as follows: Figure 3 As shown, in this embodiment, the specific method includes:

[0106] Step S10: Upon receiving the preset window opening distance input by the user, determine the corresponding first preset window closing distance compensation value based on the preset window opening distance. The preset window opening distance is the target window opening distance between the reference position on the front edge of the sampling window and the cutting edge of the cutting tube.

[0107] It is understood that the method in this embodiment can be applied to a controller that drives the output power of the drive motor in the biopsy sampling device. That is, the controller can be connected to the drive motor in the biopsy sampling device to control the drive motor. Of course, it can also be other devices with drive motor movement functions, and this embodiment does not limit this. The execution subject of this method embodiment can use the above-mentioned controller to describe this embodiment and the following embodiments. The above-mentioned drive motor can be a Hall motor, and this embodiment does not limit this. Since the drive motor in this embodiment is described using a Hall motor, the parameters related to distance values ​​in this embodiment and subsequent embodiments can all be used as Hall values ​​for driving the Hall motor to rotate. For example, the axial distance of the inner blade tube along the axial direction corresponding to each rotation of the motor, whether it is the opening distance or the closing distance, can be converted into the rotation speed of the motor, and thus into the Hall value of the motor rotation.

[0108] It is also understood that, in this embodiment, the biopsy sampling device includes a puncture needle tube 1 with a sampling window 3 and a cutting blade tube 2 with a cutting edge. The drive motor is connected to the cutting blade tube 2 and can drive the cutting blade tube 2 to move forward and backward along the axial direction of the puncture needle tube 1 to open and close the sampling window 3. The size and shape of the sampling window 3 can be set according to the actual situation, and the connection method between the drive motor and the cutting tube can also be set according to the actual situation. The specific structure of this biopsy sampling device can be referred to Figure 2 The corresponding descriptions are not elaborated upon in this embodiment.

[0109] It should be understood that the aforementioned preset window opening distance can be the target window opening distance set by the user between the cutting edge of the cutting blade tube 2 and the reference position on the front edge of the sampling window 3 during cutting; it can also be called the opening distance. For example, see... Figure 2 The front edge of sampling window 3 is a rounded edge, and the reference position can be the very front of the rounded edge; if the front edge of sampling window 3 is a straight edge, then the reference position can be any position on the straight edge, and this reference position can be selected according to requirements before leaving the factory. For example, window opening of 5mm, window opening of 6mm, etc., this preset window opening distance can be pre-input into the controller when the user uses the biopsy sampling device. The aforementioned first preset distance compensation value can be a value used to compensate for the initial value of the window closing distance. The aforementioned initial value of the window closing distance can be a value set by the user when the window closing operation is performed, controlling the drive motor to rotate the cutting blade tube 2 to achieve window closing (which can also be understood as the aforementioned preset window closing distance value).

[0110] In actual use, when the user uses the biopsy sampling device to cut, the user can first input the preset window opening distance. The controller can first control the drive motor to perform the window opening operation according to the preset window opening distance. When the controller controls the cutting tube 2 to perform the window closing operation, the controller can determine the corresponding first preset window closing distance compensation value according to the preset window opening distance set by the user.

[0111] Step S20: Determine the initial value of the window closing distance, and compensate the initial value of the window closing distance with the first preset window closing distance compensation value to obtain the compensated window closing distance;

[0112] Step S30: Drive the drive motor according to the compensated window closing distance.

[0113] It should be noted that in this embodiment, a corresponding first preset window closing distance compensation value can be set for different preset window opening distances. The specific first preset window closing distance compensation value can be set according to the actual situation, and this embodiment does not impose any restrictions on it.

[0114] It is understandable that the initial value of the window closing distance mentioned above can be the distance value set by the user when the window closing operation is performed, which is used to control the drive motor to drive the cutting tube 2 to close.

[0115] In this embodiment, after obtaining the first preset window closing distance compensation value, the initial value of the window closing distance can be compensated using the first preset window closing distance compensation value to obtain the compensated window closing distance, and the drive motor is driven according to the compensated window closing distance. Compared with the existing method that does not compensate for the window closing distance, this embodiment not only compensates for the window closing distance, but also determines the corresponding first preset window closing distance compensation value according to different preset window opening distances, thereby reducing the occurrence of incomplete window closure and improving the user experience.

[0116] Furthermore, to achieve more accurate compensation, in this embodiment, the step of compensating the initial value of the closed window distance using the first preset closed window distance compensation value includes:

[0117] The first preset window closing condition is determined based on the preset window opening distance; the current window closing distance compensation value is determined based on the first preset window closing condition and the first preset window closing distance compensation value; the initial value of the window closing distance is compensated by the current window closing distance compensation value to obtain the compensated window closing distance.

[0118] It should also be understood that the aforementioned first preset window closing condition can be used to determine whether the aforementioned first preset window closing distance compensation value needs to be used under the current circumstances. In this embodiment, different first preset window closing conditions are also set for preset window opening distances within different ranges.

[0119] It should be noted that the aforementioned window closing distance compensation value can be the distance compensation value at the time of the current window closing operation. In this embodiment, the corresponding window closing distance compensation value can be determined based on the first preset window closing conditions and the first preset window closing distance compensation value.

[0120] In this embodiment, after obtaining the current distance compensation value, the initial value of the window closing distance can be compensated using this value to obtain the compensated window closing distance. The drive motor is then driven according to the compensated window closing distance. Compared to existing methods that use a fixed window closing distance compensation value, this embodiment can determine the corresponding first preset window closing distance compensation value based on different preset window opening distances, thereby reducing the occurrence of incomplete window closure and improving the user experience.

[0121] Furthermore, in order to determine the current window closing distance compensation value based on the first preset window closing conditions and the first preset window closing distance compensation value, in this embodiment, the step of determining the current window closing distance compensation value based on the first preset window closing conditions and the first preset window closing distance compensation value includes:

[0122] Step S21: Obtain the previous window opening distance compensation value, the previous window closing distance total value, and the initial window closing distance value.

[0123] It should be noted that the aforementioned previous window opening distance compensation value can be a value that compensates for the initial window opening distance value during the previous window opening operation. This initial window opening distance value can be the distance value set by the user to control the drive motor to open the cutting blade tube 2 during the window opening operation.

[0124] The total distance of the previous window closing operation can be the total distance value when the previous window closing operation was performed. Specifically, it can be the sum of the initial value of the window closing distance and the compensation value of the previous window closing distance.

[0125] In actual use, the controller can first obtain the previous window opening distance compensation value, the previous window closing distance total value, and the initial window closing distance value.

[0126] Step S22: Determine the difference value of the previous window closing distance based on the first preset window closing condition, the previous window opening distance compensation value, the previous window closing distance total value, and the initial value of the window closing distance.

[0127] It is understood that the aforementioned difference value of the previous window closing distance can be the difference between the total value of the previous window closing distance and the initial value of the window closing distance when the window was closed previously. In this embodiment, the difference value of the previous window closing distance can be determined based on the first preset window closing condition, the previous window opening distance compensation value, the total value of the previous window closing distance, and the initial value of the window closing distance.

[0128] Specifically, the step of determining the difference value of the previous window closing distance based on the first preset window closing condition, the previous window opening distance compensation value, the previous window closing distance total value, and the initial value of the window closing distance includes:

[0129] Step S221: When the previous window opening distance compensation value, the previous window closing distance total value, and the window closing distance initial value all meet the first preset window closing condition, the difference between the previous window closing distance total value and the window closing distance initial value is taken as the previous window closing distance difference value.

[0130] Step S222: When at least one of the previous window opening distance compensation value, the previous window closing distance total value, and the initial window closing distance value does not meet the first preset window closing condition, the preset difference threshold is used as the previous window closing distance difference value.

[0131] Reference Figure 4 , Figure 4 This is a flowchart illustrating the process of determining the window-closing distance compensation value in the first embodiment of the driving method of this application, under the conditions of the third cut or more, window closing, and normal operation mode. Figure 4As shown, in this embodiment, a corresponding first preset window closing distance compensation value and a corresponding first preset window closing condition can be set according to different preset window opening distances.

[0132] Therefore, in use, this embodiment can first determine the distance range based on a preset window opening distance. For example, such as... Figure 4 As shown, this embodiment can set three distance intervals: 5mm ≤ preset window opening distance ≤ 10mm, 11mm ≤ preset window opening distance ≤ 15mm, and 16mm ≤ preset window opening distance ≤ 30mm. Within each distance interval, a corresponding first window closing condition and a corresponding first preset window closing distance compensation value can be set. (Refer to...) Figure 5 , Figure 5 This is a schematic diagram showing the preset window closing compensation values ​​corresponding to each preset distance interval in the first embodiment of the driving method of this application. For example... Figure 5 As shown, this embodiment can cover a distance range of 5mm ≤ preset window opening distance ≤ 10mm (i.e. Figure 5 The first preset window closing distance compensation value corresponding to the center-opening window (5 to 10 mm) is set to 2 mm, and the distance range of 11 mm ≤ preset window opening distance ≤ 15 mm (i.e., ... Figure 5 The first preset window closing distance compensation value corresponding to the center-opening window (11 to 15 mm) is set to 3 mm, and the distance range of 16 mm ≤ preset window opening distance ≤ 30 mm (i.e., ... Figure 5 The first preset window closing distance compensation value (for center-opening windows of 16 to 30 mm) is set to 4 mm.

[0133] It should be emphasized that the aforementioned first preset window closing distance compensation value can be set according to actual conditions. In this embodiment, the aforementioned first preset window closing distance compensation value is obtained through experimental measurement. Of course, it can also be obtained through other methods, and this embodiment does not impose any restrictions on this. Furthermore, in this embodiment, the larger the distance range, the larger the corresponding first preset window closing distance compensation value can be.

[0134] Continue as Figure 4 As shown, in this embodiment, the first preset window closing condition corresponding to 5mm≤preset window opening distance≤10mm can be set as follows: the previous window opening distance compensation value (i.e. the previous window opening compensation value) = 0mm and the previous window closing distance total value - the initial window closing distance value ≥ the first preset window closing distance compensation value. Since the first preset window closing distance compensation value corresponding to this distance range is 2mm, the previous window closing distance total value - the initial window closing distance value ≥ 2mm.

[0135] Among them, the previous window opening distance compensation value = 0mm can be used to determine whether there was compensation when the previous window opening operation was performed; the previous window closing distance total value - the initial window closing distance value ≥ 2mm can be used to determine whether the total distance compensation value performed when closing the window up to the completion of the previous window closing operation has reached 2mm.

[0136] Similarly, the first preset window closing condition corresponding to 11mm≤preset window opening distance≤15mm can be set as follows: previous window opening distance compensation value (i.e. previous window opening compensation value) = 0mm and previous window closing distance total value - initial window closing distance value ≥ first preset window closing distance compensation value. Since the first preset window closing distance compensation value corresponding to this distance range is 3mm, the previous window closing distance total value - initial window closing distance value ≥ 3mm.

[0137] It is important to note that the first preset window closing condition for a window opening distance of 16mm ≤ preset opening distance ≤ 30mm is set as follows: previous window opening distance compensation value (i.e., previous window opening compensation value) = 0mm and previous window closing distance total value > initial window closing distance value. This is because when the preset window opening distance is relatively large, in order to ensure window closure, the window closing distance compensation value should be increased as long as the previous window closing distance total value is higher than the initial window closing distance value.

[0138] In practical use, such as Figure 4 As shown, after the controller determines the preset window opening distance, it can first determine the distance range in which the preset window opening distance is located, and then determine the previous window closing distance difference value based on the first preset window closing condition and the first preset window closing distance compensation value corresponding to the distance range.

[0139] Right now Figure 4 In the process, when it is determined that the window opening distance is 5mm≤preset window opening distance≤10mm, it can be determined whether the previous window opening compensation value is 0mm, and whether the difference between the previous total window closing distance and the initial window closing distance is greater than or equal to 2mm.

[0140] When all the first preset window closing conditions are met, it indicates that a large amount of compensation is needed. In this case, the difference between the total value of the previous window closing distance and the initial value of the window closing distance can be used as the previous window closing distance difference value. Alternatively, it can be understood as accumulating all the distance compensation values ​​performed during window closing up to the completion of the previous window closing operation as the previous window closing distance difference value.

[0141] When the current window opening compensation value is not 0mm and / or the difference between the previous total window closing distance and the initial value of the window closing distance is less than 2mm, it indicates that the current compensation required is small. Therefore, a preset difference threshold can be used as the previous window closing distance difference value. In this embodiment, the preset difference threshold can be 0mm, or it can be other values ​​less than the first preset window closing distance compensation value. This embodiment does not limit this, and 0mm can be used for illustration.

[0142] Similarly, when it is determined that the window opening distance is 11mm≤preset window opening distance≤15mm, it can be determined whether the previous window opening compensation value is 0mm, and whether the difference between the previous total window closing distance and the initial window closing distance is greater than or equal to 3mm.

[0143] When all of the first preset window closing conditions are met, it indicates that the current compensation needs to be large. In this case, the difference between the total value of the previous window closing distance and the initial value of the window closing distance can be used as the difference value of the previous window closing distance.

[0144] If the current window opening compensation value is not 0mm and / or the difference between the previous window closing distance total value and the initial window closing distance value is less than 3mm, it indicates that the current compensation required is small. Therefore, the preset difference threshold can be used as the previous window closing distance difference value, i.e., the previous window closing distance difference value is set to 0mm.

[0145] Similarly, when it is determined that the window opening distance is 16mm≤preset window opening distance≤30mm, it can be determined whether the previous window opening compensation value is 0mm, and whether the previous window closing distance total value is greater than the initial window closing distance value.

[0146] When all of the first preset window closing conditions are met, it indicates that the current compensation needs to be large. In this case, the difference between the total value of the previous window closing distance and the initial value of the window closing distance can be used as the difference value of the previous window closing distance.

[0147] If the current window opening compensation value is not 0mm and / or the total value of the previous window closing distance is not greater than the initial value of the window closing distance, it indicates that the current compensation required is small. Therefore, the preset difference threshold can be used as the difference value of the previous window closing distance, i.e., the difference value of the previous window closing distance is set to 0mm.

[0148] Step S23: When the previous window closing distance difference value meets the preset difference threshold, the first preset window closing distance compensation value is used as the current window closing distance compensation value;

[0149] Step S24: When the previous window closing distance difference value does not meet the preset difference threshold, the previous window closing distance difference value is used as the current window closing distance compensation value.

[0150] Continue as Figure 4 As shown, after determining the previous window closing distance difference value, the controller can determine whether the previous window closing distance difference value meets the preset difference threshold, that is, whether the previous window closing distance difference value is 0mm.

[0151] If the previous window closing distance difference was 0mm, then the corresponding first preset window closing distance compensation value can be used as the current window closing distance compensation value. That is... Figure 4 When 5mm ≤ preset window opening distance ≤ 10mm, the compensation value for the closing distance is 2mm; when 11mm ≤ preset window opening distance ≤ 15mm, the compensation value for the closing distance is 3mm; when 16mm ≤ preset window opening distance ≤ 30mm, the compensation value for the closing distance is 4mm.

[0152] If the previous window closing distance difference was not 0mm, then the previous window closing distance difference can be used as the current window closing distance compensation value. That is... Figure 4 The current window closing distance compensation value is equal to the difference in window closing distance from the previous window closing.

[0153] Furthermore, considering that when the preset window opening distance is large, directly using the difference value of the previous window closing distance as the compensation value for the current window closing distance may still result in the window not being able to close completely, therefore, in this embodiment, the step of using the difference value of the previous window closing distance as the compensation value for the current window closing distance includes:

[0154] Step S241: When the distance interval in which the preset window opening distance is located is not the first distance interval, the difference value of the previous window closing distance is used as the compensation value of the current window closing distance.

[0155] Step S241: When the distance interval in which the preset window opening distance is located is the first distance interval, the sum of the first preset window closing distance compensation value and the previous window closing distance difference value is used as the current window closing distance compensation value.

[0156] It should be noted that the first distance interval mentioned above can be the largest distance interval among the divided distance intervals, that is, the distance interval of 16mm≤preset window opening distance≤30mm.

[0157] Continue as Figure 4 As shown, when the controller determines that the difference in the previous window closing distance is not 0mm, it can determine whether the preset window opening distance is within the distance range of 16mm≤preset window opening distance≤30mm.

[0158] If it is not within the range of 5mm≤preset window opening distance≤10mm or 11mm≤preset window opening distance≤15mm, it can be said that the preset window opening distance is small, and the difference value of the previous window closing distance can be directly used as the compensation value of the current window closing distance.

[0159] If it falls within the range of 16mm ≤ preset window opening distance ≤ 30mm, it indicates that the preset window opening distance is relatively large. Therefore, the sum of the first preset window closing distance compensation value and the difference value of the previous window closing distance can be used as the current window closing distance compensation value. Figure 4 The current window closing distance compensation value is equal to the previous window closing distance difference value plus 4mm. Since there is both the previous window closing distance difference value and the first preset window closing distance compensation value, the situation where the window cannot be completely closed can be reduced.

[0160] In this embodiment, different preset window opening distances correspond to different first preset window closing distance compensation values ​​and different first preset window closing conditions. In actual use, the corresponding first preset window closing distance compensation value and the corresponding first preset window closing condition can be determined firstly based on the preset window opening distance. Then, based on the first preset window closing condition and the first preset window closing distance compensation value, the current window closing distance compensation value is determined. Next, the initial value of the window closing distance is compensated using the current window closing distance compensation value to obtain the compensated window closing distance. Finally, the drive motor is driven according to the compensated current window closing distance. Compared with the existing method of using a fixed window closing distance compensation value, this embodiment can determine the corresponding first preset window closing distance compensation value according to different preset window opening distances, thereby reducing the occurrence of incomplete window closure and improving the user experience.

[0161] Reference Figure 6 , Figure 6 This is a flowchart illustrating the second embodiment of the driving method of this application. Based on the first embodiment described above, a second embodiment of the driving method of this application is proposed.

[0162] Considering that the cutting tube 2 may experience different resistance and thus different inertia when cutting different tissues due to varying tissue densities, in order to further improve the integrity of the closed window, such as... Figure 6 As shown, in this embodiment, the step of determining the corresponding first preset window closing distance compensation value based on the preset window opening distance includes:

[0163] Step S11: Obtain the current operating mode;

[0164] Step S12: When the current operating mode is the normal operating mode, determine the corresponding first preset window closing distance compensation value according to the preset window opening distance.

[0165] It should be noted that in this embodiment, the biopsy sampling device can be set to two operating modes: a normal operating mode and a dense mode. The normal operating mode is suitable for cutting tissues of normal density, while the dense mode is suitable for cutting tissues of higher density. Users can choose between the normal and dense operating modes when using the biopsy sampling device.

[0166] Reference Figure 7 , Figure 7 This is a flowchart illustrating the process of determining the window-closing distance compensation value in the second embodiment of the driving method of this application, under the conditions of the third cut or more, closed window, and dense mode. Figure 7 As shown, when the current operating mode is the normal operating mode, the controller can execute the steps of determining the corresponding first preset window closing distance compensation value and the corresponding first preset window closing condition based on the preset window opening distance, that is... Figure 7 The process begins by determining the distance range within which the preset window opening distance is located. Figure 4 The steps.

[0167] Furthermore, after the step of obtaining the current operating mode, the method further includes:

[0168] Step S13: When the current operating mode is dense mode, obtain the previous window opening distance compensation value, the previous window opening distance total value and the initial window closing distance value, and determine the previous window closing distance difference value according to the second preset window closing condition, the previous window opening distance compensation value, the previous window opening distance total value and the initial window closing distance value.

[0169] It should be noted that the aforementioned total value of the previous window opening distance can be the total distance value during the previous window opening operation, specifically the sum of the initial window opening distance and the previous window opening distance compensation value. The aforementioned second preset window closing condition can be used to determine whether the second preset window closing distance compensation value needs to be used under the current circumstances.

[0170] In actual use, when the controller determines that the current operating mode is dense mode, it can first obtain the previous window opening distance compensation value, the previous window opening distance total value and the initial window closing distance value, and determine the previous window closing distance difference value according to the second preset window closing condition, the previous window opening distance compensation value, the previous window opening distance total value and the initial window closing distance value.

[0171] Step S14: Determine the current window closing distance compensation value based on the previous window closing distance difference value;

[0172] Step S15: Compensate the initial value of the closing window distance with the current closing window distance compensation value to obtain the compensated closing window value;

[0173] Step S16: Drive the drive motor according to the compensated window closing distance.

[0174] Understandably, after obtaining the previous window closing distance difference value, the current window closing distance compensation value can be determined based on the previous window closing distance difference value. Then, the initial window closing distance value is compensated using the current window closing distance compensation value, and the drive motor is driven according to the compensated window closing distance.

[0175] Furthermore, in order to determine the difference value of the previous window closing distance, in this embodiment, the step of determining the difference value of the previous window closing distance based on the second preset window closing condition, the previous window opening distance compensation value, the previous window opening distance total value, and the initial value of the window closing distance includes:

[0176] Step S131: When the previous window opening distance compensation value, the previous window opening distance total value, and the window closing distance initial value all meet the second preset window closing condition, the difference between the previous window closing distance total value and the window closing distance initial value is taken as the previous window closing distance difference value.

[0177] Step S132: When at least one of the previous window opening distance compensation value, the previous window opening distance total value, and the window closing distance initial value does not meet the second preset window closing condition, the preset difference threshold is used as the previous window closing distance difference value.

[0178] It should be understood that the second preset window closing condition in this embodiment may be: whether the previous window opening distance compensation value is 0mm, and whether the difference between the previous total window opening distance and the initial value of the window closing distance is greater than or equal to 40mm.

[0179] like Figure 7 As shown, in actual use, when the current window opening distance compensation value is 0mm and the difference between the previous total window opening distance and the initial value of the window closing distance is greater than or equal to 40mm, it can be said that the compensation value is large at this time. The difference between the previous total window closing distance and the initial value of the window closing distance can be used as the previous window closing distance difference value.

[0180] If the previous window opening distance compensation value is 0mm and / or the difference between the previous total window opening distance and the initial value of the window closing distance is greater than or equal to 40mm, it indicates that the compensation value is small at this time. The preset difference threshold can be used as the previous window closing distance difference value, that is, the previous window closing distance difference value = 0mm.

[0181] Furthermore, considering that when the difference in the previous window closing distance is greater than 0mm, it indicates a large difference in compensation value, requiring more compensation, therefore, in this embodiment, the step of determining the compensation value for the current window closing distance based on the previous window closing distance difference value includes:

[0182] Step S141: When the previous window closing distance difference value is higher than the preset difference threshold, obtain the previous window closing distance compensation value and the previous window opening distance difference value, and determine the current window closing distance compensation value based on the previous window closing distance compensation value and the previous window opening distance difference value.

[0183] Step S142: When the difference value of the previous window closing distance is not higher than the preset difference threshold, determine the corresponding second preset window closing distance compensation value according to the preset window opening distance, and determine the current window closing distance compensation value according to the second preset window closing distance compensation value.

[0184] It should be understood that the preset difference threshold mentioned above in this embodiment can also be described as 0mm.

[0185] In practical use, such as Figure 7As shown, when the controller determines that the difference in the previous window closing distance is greater than 0mm, it indicates that the window closing compensation is excessive. Therefore, the difference in the previous window opening distance can be obtained. This difference in the previous window opening distance can be the difference between the total value of the previous window opening distance and the initial value of the window opening distance during the previous window opening. The initial value of the window opening distance can be the distance value set by the user to control the drive motor to open the cutting blade tube 2 during the window opening operation. Then, the difference between the previous window closing distance compensation value and the previous window opening distance difference value is used as the current window closing distance compensation value. This is because the value obtained by subtracting the previous window opening distance difference value from the previous window closing distance compensation value can characterize the impact of subtracting the compensation from the previous window opening.

[0186] It should be emphasized that when using the difference between the previous window closing distance compensation value and the previous window opening distance difference value as the current window closing distance compensation value, the controller can also set the current window opening distance difference value to a preset difference threshold, i.e., 0mm, so that the current window closing distance compensation value can be directly used as the next window closing distance compensation value when closing the window for the next time.

[0187] When the controller determines that the previous distance difference value is not higher than 0mm, it indicates that the window closing compensation is insufficient. Therefore, the distance range in which the preset window opening distance is located can be determined, and the corresponding second preset window closing distance compensation value can be determined based on the distance range in which it is located. The current window closing distance compensation value can be determined based on the second preset window closing distance compensation value.

[0188] Furthermore, in order for the controller to determine the current window closing distance compensation value based on the second preset window closing distance compensation value when it determines that the previous distance difference value is not higher than 0mm, the current window closing distance compensation value can be determined based on the second preset window closing distance compensation value. In this embodiment, the step of determining the current window closing distance compensation value based on the second preset window closing distance compensation value includes:

[0189] Step S1421: When the previous window closing distance difference value meets the preset difference threshold, the second preset window closing distance compensation value is used as the current window closing distance compensation value.

[0190] Step S1421: When the previous window closing distance difference value does not meet the preset difference threshold, the previous window closing distance difference value is used as the current window closing distance compensation value.

[0191] It should be understood that when the controller determines that the difference in the previous window closing distance is not higher than 0mm, it can first determine the second preset window closing distance compensation value based on the distance range in which the preset window opening distance is located, and then determine the corresponding second preset window closing distance compensation value based on the distance range in which it is located. Figure 5 As shown, in the dense mode, if 5mm ≤ preset window opening distance ≤ 10mm, the second preset window closing distance compensation value can be set to 4mm; if 11mm ≤ preset window opening distance ≤ 30mm, the second preset window closing distance compensation value can be set to 5mm.

[0192] It should be emphasized that the second preset window closing distance compensation value mentioned above in this embodiment can be set according to the actual situation. It is only necessary that the second preset window closing distance compensation value when 11mm ≤ preset window opening distance ≤ 30mm is higher than that when 5mm ≤ preset window opening distance ≤ 10mm. The second preset window closing distance compensation value mentioned above in this embodiment can be obtained through experimental measurement, and of course, it can also be obtained through other methods. This embodiment does not impose any restrictions on this.

[0193] In actual use, after determining the corresponding second preset window closing distance compensation value, it can be determined whether the previous window closing distance difference value meets the preset difference threshold, that is, whether it is 0mm.

[0194] If the value is 0mm, it indicates a small difference, and the corresponding second preset window closing distance compensation value can be directly used as the current window closing distance compensation value. Figure 7 When the window opening distance is 5mm ≤ preset opening distance ≤ 10mm, 4mm is used as the compensation value for the closing distance. When the window opening distance is 11mm ≤ preset opening distance ≤ 30mm, 5mm is used as the compensation value for the closing distance.

[0195] If the value is not 0mm, it indicates a significant difference, and the previous window closing distance difference can be used as the compensation value for the current window closing distance (i.e., Figure 7 The current window closing distance compensation value = the difference value of the previous window closing distance.

[0196] Furthermore, testing revealed that in dense mode, when 11mm ≤ preset window opening distance ≤ 30mm, the degree of window opening differs between odd and even numbers of current samples. This current sample count can be the number of times the cutting tube 2 takes samples, which can be understood as one window opening plus one window closing equals one sample. Therefore, in this embodiment, the step of using the second preset window closing distance compensation value as the current window closing distance compensation value includes:

[0197] Step S14211: When the distance interval in which the preset window opening distance is located is not the first distance interval or the second distance interval, the second preset window closing distance compensation value is used as the current window closing distance compensation value.

[0198] Step S14212: When the distance interval in which the preset window opening distance is located is the first distance interval or the second distance interval, obtain the current sampling number, and when the current sampling number is even, use the second preset window closing distance compensation value as the current window closing distance compensation value, and when the current sampling number is odd, use the adjusted second preset window closing distance compensation value as the current window closing distance compensation value.

[0199] It should be noted that in this embodiment, the distance interval corresponding to 5mm≤preset window opening distance≤10mm can be set as the third distance interval, the distance interval corresponding to 11mm≤preset window opening distance≤15mm can be set as the second distance interval, and the distance interval corresponding to 16mm≤preset window opening distance≤30mm can be set as the third distance interval.

[0200] Furthermore, after determining that the difference in the previous window closing distance is 0mm, it can be determined whether the preset window opening distance falls within the first and second distance intervals, i.e., whether it is within 11mm ≤ preset window opening distance ≤ 30mm. For example... Figure 7 As shown, if it is not within 11mm≤preset window opening distance≤30mm, it means it is within 5mm≤preset window opening distance≤10mm, and the second preset window closing distance compensation value can be directly used as the window closing distance compensation value for this time.

[0201] If the distance is within the range of 11mm ≤ preset window opening distance ≤ 30mm, it indicates that the degree of window opening differs when the current sample number is odd versus even. Therefore, the current sample number can be obtained first, and it can be determined whether the current sample number is odd or even. When the sample number is even, the second preset window closing distance compensation value can be directly used as the current window closing distance compensation value, i.e., 5mm. When the sample number is odd, the second preset window closing distance compensation value can be increased or adjusted. In this embodiment, an increase of 1mm is used, i.e., the adjusted second preset window closing distance compensation value is 6mm. This adjusted second preset window closing distance compensation value is then used as the current window closing distance compensation value, i.e., 6mm is used as the current window closing distance compensation value (i.e., current window closing distance compensation value = 6mm).

[0202] Reference Figure 8 , Figure 8 This is a flowchart illustrating the third embodiment of the driving method of this application. Based on the above embodiments, the third embodiment of the driving method of this application is proposed.

[0203] Considering that the compensation value differs depending on the running direction of the cutting tube 2, the window closing distance compensation value described in the above embodiment can be applied when the cutting tube 2 is closing the window, that is, when the current running direction of the cutting tube 2 is the forward direction. Therefore, in this embodiment, as... Figure 8 As shown, the steps for obtaining the current operating mode include:

[0204] Step S01: Obtain the current running direction of the cutting tube;

[0205] Step S02: When the current running direction is the closed window direction, obtain the current running mode.

[0206] It should be noted that the aforementioned current operating direction can include both the window closing direction and the window opening direction, combined with... Figure 2 The aforementioned window-closing direction can be the direction in which the window-closing operation is performed, that is, the direction in which the cutting blade tube 2 moves closer to the front end of the puncture needle tube 1. The aforementioned window-opening direction can be the direction in which the window-opening operation is performed, that is, the direction in which the cutting blade tube 2 moves away from the front end of the puncture needle tube 1.

[0207] Reference Figure 9 , Figure 9 This is a flowchart illustrating the process of determining the current window closing distance compensation value in the third embodiment of the driving method of this application, under the conditions of the third cut or more, and in both open and dense modes. Figure 9 As shown in this embodiment, when the controller needs to obtain the current operating mode, it can first obtain the current operating direction of the cutting tube 2 and determine whether the current operating direction is the closed window direction.

[0208] If the window is closed, then it can be executed. Figure 7 The steps shown will allow you to obtain the current operating mode.

[0209] Furthermore, if the direction is the opening direction, in order to compensate, in this embodiment, after the step of obtaining the current running direction of the cutting blade tube 2, the following is also included:

[0210] Step S03: When the current running direction is the window opening direction, obtain the total value of the previous window opening distance and the total value of the previous window closing distance;

[0211] Step S04: Determine the current window opening distance compensation value based on the previous total window opening distance and the previous total window closing distance.

[0212] It should be noted that when the controller determines that the current running direction is the window opening direction, it can first obtain the total value of the previous window opening distance and the total value of the previous window closing distance, and then determine the current window opening distance compensation value based on the total value of the previous window opening distance and the total value of the previous window closing distance.

[0213] Step S05: Obtain the initial value of the window opening distance, and compensate the initial value of the window opening distance using the current window opening distance compensation value;

[0214] Step S06: Drive the drive motor according to the initial value of the compensated window opening distance.

[0215] After obtaining the current window opening distance compensation value, the initial window opening distance value can be compensated, and the drive motor can be driven by the compensated initial window opening distance value.

[0216] Furthermore, in order to obtain the current window opening distance compensation value, in this embodiment, the step of determining the current window opening distance compensation value based on the previous total window opening distance and the previous total window closing distance includes:

[0217] Step S041: Determine the difference value of the previous window opening distance based on the total value of the previous window opening distance and the total value of the previous window closing distance.

[0218] It is understandable that the aforementioned difference in the previous window opening distance can be the difference between the total value of the previous window opening distance and the initial value of the window opening distance when the window was opened the previous time.

[0219] To obtain the previous window opening distance difference value, the step of determining the previous window opening distance difference value based on the previous total window opening distance value and the previous total window closing distance value includes:

[0220] Step S0411: When the difference between the total value of the previous window opening distance and the total value of the previous window closing distance meets the preset window opening conditions, determine the previous window opening distance difference value based on the total value of the previous window opening distance and the total value of the previous window closing distance.

[0221] Step S0412: When the difference between the total value of the previous window opening distance and the total value of the previous window closing distance does not meet the preset window opening condition, the preset difference threshold is used as the difference value of the previous window opening distance.

[0222] It should be understood that the aforementioned preset window opening conditions can be used to determine whether the compensation is too large; this embodiment uses 10mm for illustration. For example... Figure 9 As shown in this embodiment, when the controller determines that the current running direction is the window opening direction, it can first obtain the total value of the previous window opening distance and the total value of the previous window closing distance.

[0223] Next, it is determined whether the difference between the total distance of the previous window opening and the total distance of the previous window closing is greater than or equal to 10mm. If it is greater than or equal to 10mm, it can be determined that the preset window opening condition is met, indicating that the distance the cutting blade tube 2 moves when the window is opened is much greater than the distance the cutting blade tube 2 moves when the window is closed. Therefore, a larger compensation value is required. Thus, in this embodiment, the difference between the total distance of the previous window opening and the total distance of the previous window closing can be multiplied by the first preset ratio as the difference value of the previous window opening distance.

[0224] like Figure 9 As shown, in this embodiment, the first preset ratio can be described as 3, that is, the difference value of the previous window opening distance = (the total value of the previous window opening distance - the total value of the previous window closing distance) * 3.

[0225] When the difference is less than 10mm, it indicates that the compensation value is small, and the preset difference threshold can be directly used as the previous window opening distance difference value. That is, the previous window opening distance difference value is 0mm.

[0226] Step S042: When the difference value of the previous window opening distance is a preset difference threshold, the difference between the total value of the first window closing distance and the total value of the previous window opening distance is used as the window opening distance compensation value for this time.

[0227] Step S043: When the difference value of the previous window opening distance is not the preset difference threshold, determine the current window opening distance compensation value based on the total value of the first window closing distance, the total value of the previous window opening distance, and the difference value of the previous window opening distance.

[0228] It should be noted that the total initial window closing distance mentioned above can be the sum of the initial window closing distance and the window closing distance compensation value when performing the first window closing operation.

[0229] After determining the difference value of the previous window opening distance, it can be determined whether the difference value of the previous window opening distance is the preset difference threshold, that is, whether it is 0mm.

[0230] like Figure 7 As shown, when the difference in the current window opening distance is 0mm, the difference between the total value of the first window closing distance and the total value of the previous window opening distance can be directly used as the compensation value for the current window opening distance. When the difference in the current window opening distance is not 0mm, the sum of the difference between the total value of the first window closing distance and the total value of the previous window opening distance and the previous window opening distance difference value can be used as the compensation value for the current window opening distance.

[0231] Reference Figure 10 , Figure 10 This is a flowchart illustrating the fourth embodiment of the driving method of this application. Based on the above embodiments, the fourth embodiment of the driving method of this application is proposed.

[0232] Considering that the required compensation value may vary depending on the number of cuts made, the impact is relatively small in the first few cuts. Compensation is then applied after a certain number of cuts are made, reducing operational complexity while ensuring window closure. Therefore, if... Figure 10 As shown, in this embodiment, the step of determining the corresponding first preset window closing distance compensation value based on the preset window opening distance includes:

[0233] Step S001: Obtain the current number of cuts and determine whether the current number of cuts has reached the first preset cut number threshold;

[0234] Step S002: If the current number of cuts reaches the first preset number of cuts threshold, then determine the corresponding first preset closing distance compensation value based on the preset opening distance.

[0235] It should be noted that the aforementioned current cut count can be the number of cuts performed by the cutting tube 2. In this embodiment, one opening and one closing of the window can be considered as one cut.

[0236] Reference Figure 11 , Figure 11This is a schematic diagram illustrating the process of determining the current window closing distance compensation value under the first and second cuts in the fourth embodiment of the driving method of this application. Figure 11 As shown, when the controller starts the drive motor, it can first obtain the current number of cuts and determine whether the current number of cuts has reached the first preset cut number threshold. The first preset cut number threshold can be the number of cuts used to determine whether compensation is required using the first preset window closing distance compensation value and the second preset window closing distance compensation value. In this embodiment, the third cut can be used as the first preset cut number threshold for explanation.

[0237] That is, in Figure 11 In the middle, when the controller determines that the current number of cuts has reached the third cut (i.e. Figure 11 If the cut is the third cut or more, then the step of determining the corresponding first preset closing distance compensation value based on the preset opening distance can be executed. Specifically, it can be to start executing... Figure 9 The steps to obtain the current running direction.

[0238] Furthermore, when the controller determines that the current number of cuts has not reached the third cut, in this embodiment, after the step of determining whether the current number of cuts has reached the first preset cut threshold, the method further includes:

[0239] Step S003: If the current number of cuts has not reached the first preset number of cuts threshold, determine whether the current number of cuts has reached the second preset number of cuts threshold, wherein the second preset number of cuts threshold is lower than the first preset number of cuts threshold.

[0240] It is understood that the aforementioned second preset cut number threshold can be a threshold that is less than the first preset cut number threshold but is not the first cut number. Since the first preset cut number threshold is the third cut, the second preset cut number threshold in this embodiment can be the second cut.

[0241] Therefore, if it is determined that the current number of cuts has not reached the third cut, it can be determined whether the current number of cuts has reached the second cut (i.e., ...). Figure 11 (Is this the second cut?)

[0242] Step S004: When the current number of cuts reaches the second preset number of cuts threshold and the current running direction of the cutting tube is the window closing direction, determine the current window closing distance compensation value based on the previous total window closing distance and the initial value of the window closing distance, and drive the drive motor after compensating the initial value of the window closing distance based on the current window closing distance compensation value;

[0243] Step S005: When the current number of cuts reaches the second preset cut number threshold and the current running direction of the cutting tube is the window opening direction, determine the current window opening distance compensation value based on the previous total window opening distance value and the initial window opening distance value, and drive the drive motor after compensating the initial window opening distance value based on the current window opening distance compensation value.

[0244] In practical use, such as Figure 11 As shown, when the current number of cuts reaches the second cut, the controller can first obtain the current running direction of the cutting tube 2 and determine whether the current running direction is the opening direction or the closing direction.

[0245] When the window is closed, this embodiment can use the difference between the total value of the previous window closing distance and the initial value of the window closing distance as the compensation value for the current window closing distance. The initial value of the window closing distance is then compensated using the compensation value to obtain the compensated window closing distance. The drive motor can then be driven according to the compensated window closing distance.

[0246] When the window is in the opening direction, this embodiment can use the difference between the total value of the previous window opening distance and the initial value of the window opening distance as the current window opening distance compensation value. The initial value of the window opening distance is then compensated by the current window opening distance compensation value, and the drive motor is driven according to the compensated initial value of the window opening distance.

[0247] Furthermore, when it is the first cut, in this embodiment, after the step of determining whether the current number of cuts has reached the second preset cut threshold, it further includes:

[0248] Step S006: When the current number of cuts has not reached the second preset cut number threshold, determine whether the cutting tube has been reset;

[0249] Step S007: If the cutting tube has been reset, determine the current running direction of the cutting tube;

[0250] Step S008: When the current running direction is the window closing direction, determine the window closing distance compensation value according to the initial value of the window opening distance, and drive the drive motor after compensating the initial value of the window closing distance according to the current window closing distance compensation value;

[0251] Step S009: When the current running direction is the window opening direction, determine the current window opening distance compensation value according to the preset difference threshold, and drive the drive motor after compensating the initial value of the window opening distance according to the current window opening distance compensation value.

[0252] It is important to emphasize that, considering that whether the cutting tube 2 has been reset during the first cut affects subsequent compensation, in this embodiment, when the controller determines that the current cut count has not reached the second cut, it can determine that the current cut is the first cut, and then it can first determine whether the cutting tube 2 has reached the preset reset position (i.e., Figure 11 (Whether the biopsy needle has reset). If the cutting tube 2 reaches the preset reset position, it indicates that the cutting tube 2 has been reset, and the current running direction can be obtained first.

[0253] When the current running direction is the closed window direction, the window opening distance compensation value can be determined based on the initial window opening distance value. The initial window opening distance value is then compensated using the current window opening distance compensation value, and the drive motor is driven according to the compensated initial window opening distance value.

[0254] When the current running direction is the window opening direction, the window opening distance compensation value can be determined according to the preset difference threshold, that is, the window opening distance compensation value is 0mm. Then, the initial value of the window opening distance is compensated by the current window opening distance compensation value, and then the drive motor is driven according to the compensated initial value of the window opening distance.

[0255] Furthermore, considering the difference in inertia between the dense mode and the normal operating mode, in this embodiment, the step of determining the current window closing distance compensation value based on the initial value of the window opening distance when the current operating direction is the window closing direction includes:

[0256] Step S0081: When the current running direction is the closed window direction, determine whether the current running mode is the dense mode;

[0257] Step S0082: When the current operating mode is the dense mode, determine the closing distance compensation value for this time according to the second preset ratio and the initial value of the opening distance;

[0258] Step S0083: When the current operating mode is the normal operating mode, determine the current window closing distance compensation value according to the third preset ratio and the initial value of the window opening distance, wherein the second preset ratio is higher than the third preset ratio.

[0259] It should be noted that the second and third preset ratios can be set according to the actual situation. In this embodiment, the second preset ratio can be 1 / 3 and the third preset ratio can be 1 / 4.

[0260] In practical use, such as Figure 11 As shown, when the current running direction is the closed window direction and the current running mode is the dense mode, 1 / 3 of the initial value of the open window distance can be used as the compensation for the current closed window distance (i.e., Figure 11 The current window closing distance compensation value = initial window opening distance / 3).

[0261] When the current operating direction is the closed window direction and the current operating mode is the normal operating mode, 1 / 4 of the initial window opening distance can be used as the compensation value for the current window closing distance (i.e., Figure 11 The current window closing distance compensation value = initial window opening distance / 4).

[0262] Furthermore, considering that the cutting blade tube 2 has not been reset, in this embodiment, after the step of determining whether the cutting blade tube 2 has been reset, the method further includes:

[0263] Step S0010: If the cutting tube is not reset, determine the current running direction of the cutting tube;

[0264] Step S0011: When the current running direction is the window closing direction, determine the current window closing distance compensation value based on the initial distance value and the displacement distance of the cutting tube, and drive the drive motor after compensating the initial window closing distance value based on the current window closing distance compensation value.

[0265] Step S0012: When the current running direction is the window opening direction, determine the current window opening distance compensation value based on the previous window closing distance total value and the previous window opening distance compensation value, and drive the drive motor after compensating the initial value of the window opening distance based on the current window opening distance compensation value.

[0266] In practical use, if the cutting blade tube 2 is not in the preset reset position, it can be determined that the cutting blade tube 2 has not been reset. Furthermore, the current running direction can be obtained first, and it can be determined whether the current running direction is the closed window direction.

[0267] like Figure 11 As shown, if the direction is closed, the displacement distance of the cutting blade tube 2 can be obtained first, that is, the distance between the cutting blade tube 2 and the preset reset position. Then, the current window closing distance compensation value is determined based on the previous total distance value, displacement distance, and the fourth preset ratio. Next, the initial value of the window closing distance is compensated according to the current window closing distance compensation value, and then the drive motor is driven.

[0268] It is understood that the fourth preset ratio mentioned above in this embodiment can be the ratio between the distance value and the displacement distance of the cutting tube 2, which can be obtained in advance based on experiments. In this embodiment, the fourth preset ratio mentioned above can be 0.1mm.

[0269] Furthermore, if the direction is closed, the current window closing distance compensation value can be the difference between the previous total window closing distance and 0.1 times the displacement distance (i.e., Figure 11 The compensation value for the current window closing distance = the total value of the previous window closing distance - the displacement distance * 0.1).

[0270] If the direction is the window opening direction, the current window opening distance compensation value can be the difference between the previous window closing distance compensation value and the previous window opening distance compensation value. Then, the initial window opening distance value is compensated based on the current window opening distance compensation value before driving the drive motor.

[0271] In addition, this application also proposes a biopsy sampling device, which includes: a puncture needle tube 1 with a sampling window 3, a cutting blade tube 2 with a cutting edge, a drive motor, and a controller as described above.

[0272] The drive motor is connected to the cutting tube 2 and can drive the cutting tube 2 to move forward and backward along the axial direction of the puncture needle tube 1 so that the cutting tube 2 opens and closes the sampling window 3.

[0273] It should be emphasized that the specific implementation of the biopsy sampling device described in this application can refer to the above embodiments, and will not be repeated here.

[0274] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0275] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0276] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as a read-only memory image (ROM) / random access memory (RAM), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0277] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A driving method, characterized in that, The driving method is applied to a controller for the power output of a drive motor in a biopsy sampling device. The biopsy sampling device includes a puncture needle tube with a sampling window and a cutting blade tube with a cutting edge. The drive motor is connected to the cutting blade tube and can drive the cutting blade tube to move forward and backward along the axial direction of the puncture needle tube to open and close the sampling window. The driving method includes: Upon receiving the preset window opening distance input by the user, the current operating mode is obtained; When the current operating mode is the normal operating mode, a corresponding first preset window closing distance compensation value is determined according to the preset window opening distance. The preset window opening distance is the target window opening distance between the reference position on the front edge of the sampling window and the cutting edge of the cutting tube. An initial value for the closed window distance is determined, and a corresponding first preset closed window condition is determined based on a preset open window distance. The previous open window distance compensation value, the previous total closed window distance value, and the initial closed window distance value are obtained. A previous closed window distance difference value is determined based on the first preset closed window condition, the previous open window distance compensation value, the previous total closed window distance value, and the initial closed window distance value. When the previous closed window distance difference value meets a preset difference threshold, the first preset closed window distance compensation value is used as the current closed window distance compensation value. When the previous closed window distance difference value does not meet the preset difference threshold, the previous closed window distance difference value is used as the current closed window distance compensation value. The initial closed window distance value is compensated using the current closed window distance compensation value to obtain the compensated closed window distance. The drive motor is driven according to the compensated closed window distance. When the current operating mode is dense mode, the previous window opening distance compensation value, the previous window opening distance total value, and the initial window closing distance value are obtained. Based on the second preset window closing condition, the previous window opening distance compensation value, the previous window opening distance total value, and the initial window closing distance value, the previous window closing distance difference value is determined. The current window closing distance compensation value is determined based on the previous window closing distance difference value. The initial window closing distance value is compensated using the current window closing distance compensation value to obtain the compensated window closing distance. The drive motor is driven according to the compensated window closing distance.

2. The driving method as described in claim 1, characterized in that, The step of determining the previous window closing distance difference value based on the first preset window closing condition, the previous window opening distance compensation value, the previous window closing distance total value, and the initial window closing distance value includes: When the previous window opening distance compensation value, the previous window closing distance total value, and the window closing distance initial value all meet the first preset window closing condition, the difference between the previous window closing distance total value and the window closing distance initial value is taken as the previous window closing distance difference value. If at least one of the previous window opening distance compensation value, the previous window closing distance total value, and the initial window closing distance value does not meet the first preset window closing condition, the preset difference threshold is used as the previous window closing distance difference value.

3. The driving method as described in claim 1, characterized in that, The step of using the previous window closing distance difference value as the current window closing distance compensation value includes: When the distance interval in which the preset window opening distance is located is not the first distance interval, the difference value of the previous window closing distance is used as the compensation value of the current window closing distance. When the preset window opening distance falls within the first distance interval, the sum of the first preset window closing distance compensation value and the previous window closing distance difference value is used as the current window closing distance compensation value.

4. The driving method as described in claim 1, characterized in that, The step of determining the difference value of the previous window closing distance based on the second preset window closing condition, the previous window opening distance compensation value, the previous window opening distance total value, and the initial value of the window closing distance includes: When the previous window opening distance compensation value, the previous window opening distance total value, and the window closing distance initial value all meet the second preset window closing condition, the difference between the previous window closing distance total value and the window closing distance initial value is taken as the previous window closing distance difference value. If at least one of the previous window opening distance compensation value, the previous window opening distance total value, and the window closing distance initial value does not meet the second preset window closing condition, the preset difference threshold is used as the previous window closing distance difference value.

5. The driving method as described in claim 1, characterized in that, The step of determining the current window closing distance compensation value based on the previous window closing distance difference value includes: When the difference value of the previous closed window distance is higher than the preset difference threshold, the previous closed window distance compensation value and the previous open window distance difference value are obtained, and the current closed window distance compensation value is determined based on the previous closed window distance compensation value and the previous open window distance difference value. When the difference value of the previous window closing distance is not higher than the preset difference threshold, the corresponding second preset window closing distance compensation value is determined according to the preset window opening distance, and the current window closing distance compensation value is determined according to the second preset window closing distance compensation value.

6. The driving method as described in claim 5, characterized in that, The step of determining the current window closing distance compensation value based on the second preset window closing distance compensation value includes: When the difference value of the previous window closing distance meets the preset difference threshold, the second preset window closing distance compensation value is used as the current window closing distance compensation value. When the difference value of the previous window closing distance does not meet the preset difference threshold, the difference value of the previous window closing distance is used as the compensation value for the current window closing distance.

7. The driving method as described in claim 6, characterized in that, The step of using the second preset window closing distance compensation value as the current window closing distance compensation value includes: When the distance interval in which the preset window opening distance is located is not the first distance interval or the second distance interval, the second preset window closing distance compensation value shall be used as the current window closing distance compensation value. When the distance interval in which the preset window opening distance is located is the first distance interval or the second distance interval, the current sampling number is obtained, and when the current sampling number is even, the second preset window closing distance compensation value is used as the current window closing distance compensation value; when the current sampling number is odd, the adjusted second preset window closing distance compensation value is used as the current window closing distance compensation value.

8. The driving method as described in claim 1, characterized in that, The step of obtaining the current operating mode includes: Obtain the current running direction of the cutting tube; When the current running direction is the closed window direction, obtain the current running mode.

9. The driving method as described in claim 8, characterized in that, After the step of obtaining the current running direction of the cutting tube, the method further includes: When the current running direction is the window opening direction, obtain the total value of the previous window opening distance and the total value of the previous window closing distance; The current window opening distance compensation value is determined based on the total value of the previous window opening distance and the total value of the previous window closing distance; Obtain the initial value of the window opening distance, and compensate the initial value of the window opening distance using the current window opening distance compensation value; The drive motor is driven according to the initial value of the compensated window opening distance.

10. The driving method as described in claim 9, characterized in that, The step of determining the current window opening distance compensation value based on the previous total window opening distance and the previous total window closing distance includes: The difference value of the previous window opening distance is determined based on the total value of the previous window opening distance and the total value of the previous window closing distance; When the difference in the previous window opening distance is a preset difference threshold, the difference between the total value of the first window closing distance and the total value of the previous window opening distance is used as the compensation value for the current window opening distance. When the difference value of the previous window opening distance is not equal to the preset difference threshold, the current window opening distance compensation value is determined based on the total value of the first window closing distance, the total value of the previous window opening distance, and the difference value of the previous window opening distance.

11. The driving method as described in claim 10, characterized in that, The step of determining the difference value of the previous window opening distance based on the previous total window opening distance and the previous total window closing distance includes: When the difference between the total value of the previous window opening distance and the total value of the previous window closing distance meets the preset window opening conditions, the difference value of the previous window opening distance is determined based on the total value of the previous window opening distance and the total value of the previous window closing distance. When the difference between the total value of the previous window opening distance and the total value of the previous window closing distance does not meet the preset window opening condition, the preset difference threshold is used as the difference value of the previous window opening distance.

12. The driving method as described in claim 1, characterized in that, The step of determining the corresponding first preset closing distance compensation value based on the preset window opening distance includes: Obtain the current number of cuts and determine whether the current number of cuts has reached a first preset cut count threshold; If the current number of cuts reaches the first preset number of cuts threshold, then the corresponding first preset closing distance compensation value is determined according to the preset opening distance.

13. The driving method as described in claim 12, characterized in that, After the step of determining whether the current number of cuts has reached the first preset cut number threshold, the method further includes: If the current number of cuts does not reach the first preset number of cuts threshold, determine whether the current number of cuts reaches the second preset number of cuts threshold, where the second preset number of cuts threshold is lower than the first preset number of cuts threshold. When the current number of cuts reaches the second preset number of cuts threshold and the current running direction of the cutting tube is the window closing direction, the current window closing distance compensation value is determined according to the previous window closing distance compensation value, and the initial value of the window closing distance is compensated according to the current window closing distance compensation value before driving the drive motor. When the current number of cuts reaches the second preset cut number threshold and the current running direction of the cutting tube is the window opening direction, the current window opening distance compensation value is determined according to the previous window opening distance compensation value, and the initial value of the window opening distance is compensated according to the current window opening distance compensation value before driving the drive motor.

14. The driving method as described in claim 13, characterized in that, After the step of determining whether the current number of cuts has reached the second preset cut number threshold, the method further includes: If the current number of cuts has not reached the second preset cut number threshold, then it is determined whether the cutting tube has been reset; If the cutting tube has been reset, then the current running direction of the cutting tube is determined; When the current running direction is the window closing direction, the window closing distance compensation value is determined according to the initial value of the window opening distance, and the initial value of the window closing distance is compensated according to the current window closing distance compensation value before driving the drive motor. When the current running direction is the window opening direction, the window opening distance compensation value is determined according to the preset difference threshold, and the initial value of the window opening distance is compensated according to the window opening distance compensation value before driving the drive motor.

15. The driving method as described in claim 14, characterized in that, After the step of determining whether the cutting blade tube has been reset, the method further includes: If the cutting tube is not reset, the current running direction of the cutting tube is determined. When the current running direction is the window closing direction, the window closing distance compensation value is determined based on the initial distance value and the displacement distance of the cutting tube, and the initial window closing distance value is compensated based on the current window closing distance compensation value before driving the drive motor. When the current running direction is the window opening direction, the current window opening distance compensation value is determined based on the total value of the previous window closing distance and the previous window opening distance compensation value. After compensating the initial value of the window opening distance based on the current window opening distance compensation value, the drive motor is driven.

16. A controller, characterized in that, The controller includes: a memory, a processor, and a driver stored in the memory and executable on the processor, wherein the driver, when executed by the processor, implements the steps of the driving method as described in any one of claims 1 to 15.

17. A biopsy sampling device, characterized in that, The biopsy sampling device includes: a puncture needle with a sampling window, a cutting blade with a cutting edge, a drive motor, and a controller as described in claim 16; The drive motor is connected to the cutting tube and can drive the cutting tube to move forward and backward along the axial direction of the puncture needle tube to open and close the sampling window.

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